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RPi SPI functionality and RPi fix for startWrite

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- Enabled use of hardware CS1 pin
- Removed custom_cs code for software driven CSN
- Modified BCM driver to allow use of hardware SPI pins not in use while
SPI is active.
- Updated constructor in examples
This commit is contained in:
TMRh20
2014-04-25 19:38:08 -06:00
parent cd8bb19dc3
commit 6530f954a1
10 changed files with 376 additions and 398 deletions
Download Patch File Download Diff File Expand all files Collapse all files
RPi/RF24/RF24.cpp
+85 -72
View File
@@ -4,12 +4,12 @@
This program is free software; you can redistribute it and/or
modify it under the terms of the GNU General Public License
version 2 as published by the Free Software Foundation.
03/17/2013 : Charles-Henri Hallard (http://hallard.me)
Modified to use with Arduipi board http://hallard.me/arduipi
Changed to use modified bcm2835 library
Changed to use modified bcm2835 library
TMRh20 2014: Updated to work with optimized RF24 and RF24 Network Arduino libs.
*/
@@ -53,7 +53,7 @@ uint8_t RF24::read_register(uint8_t reg)
*ptx++ = ( R_REGISTER | ( REGISTER_MASK & reg ) );
*ptx++ = NOP ; // Dummy operation, just for reading
bcm2835_spi_transfernb( (char *) spi_txbuff, (char *) spi_rxbuff, 2);
result = *++prx; // result is 2nd byte of receive buffer
@@ -71,12 +71,12 @@ uint8_t RF24::write_register(uint8_t reg, uint8_t value)
*ptx++ = ( W_REGISTER | ( REGISTER_MASK & reg ) );
*ptx = value ;
bcm2835_spi_transfernb( (char *) spi_txbuff, (char *) spi_rxbuff, 2);
status = *prx++; // status is 1st byte of receive buffer
if (debug)
if (debug)
printf("write_register(%02x,%02x)\r\n",reg,value);
return status;
@@ -90,7 +90,7 @@ uint8_t RF24::write_register(uint8_t reg, const uint8_t* buf, uint8_t len)
uint8_t * prx = spi_rxbuff;
uint8_t * ptx = spi_txbuff;
uint8_t size = len + 1; // Add register value to transmit buffer
*ptx++ = ( W_REGISTER | ( REGISTER_MASK & reg ) );
while ( len-- )
*ptx++ = *buf++;
@@ -98,7 +98,7 @@ uint8_t RF24::write_register(uint8_t reg, const uint8_t* buf, uint8_t len)
bcm2835_spi_transfernb( (char *) spi_txbuff, (char *) spi_rxbuff, size);
status = *prx; // status is 1st byte of receive buffer
return status;
}
@@ -110,15 +110,15 @@ uint8_t RF24::write_payload(const void* buf, uint8_t len, const uint8_t writeTyp
uint8_t status;
uint8_t * prx = spi_rxbuff;
uint8_t * ptx = spi_txbuff;
uint8_t size ;
uint8_t size ;
const uint8_t* current = reinterpret_cast<const uint8_t*>(buf);
uint8_t data_len = min(len,payload_size);
uint8_t blank_len = dynamic_payloads_enabled ? 0 : payload_size - data_len;
size = data_len + blank_len + 1 ; // Add register value to transmit buffer
if (debug)
printf("[Writing %u bytes %u blanks]",data_len,blank_len);
@@ -126,13 +126,13 @@ uint8_t RF24::write_payload(const void* buf, uint8_t len, const uint8_t writeTyp
while ( data_len-- )
*ptx++ = *current++;
while ( blank_len-- )
*ptx++ = 0;
*ptx++ = 0;
bcm2835_spi_transfernb( (char *) spi_txbuff, (char *) spi_rxbuff, size);
status = *prx; // status is 1st byte of receive buffer
return status;
}
@@ -143,30 +143,30 @@ uint8_t RF24::read_payload(void* buf, uint8_t len)
uint8_t status;
uint8_t * prx = spi_rxbuff;
uint8_t * ptx = spi_txbuff;
uint8_t size ;
uint8_t size ;
uint8_t* current = reinterpret_cast<uint8_t*>(buf);
uint8_t data_len = min(len,payload_size);
uint8_t blank_len = dynamic_payloads_enabled ? 0 : payload_size - data_len;
size = data_len + blank_len + 1; // Add register value to transmit buffer
if (debug)
printf("[Reading %u bytes %u blanks]",data_len,blank_len);
*ptx++ = R_RX_PAYLOAD;
while(size--)
*ptx++ = NOP;
// Size has been lost during while, re affect
size = data_len + blank_len + 1; // Add register value to transmit buffer
bcm2835_spi_transfernb( (char *) spi_txbuff, (char *) spi_rxbuff, size);
// 1st byte is status
status = *prx++;
// Decrement before to skip 1st status byte
while ( --size )
*current++ = *prx++;
@@ -264,7 +264,7 @@ void RF24::print_address_register(const char* name, uint8_t reg, uint8_t qty)
/****************************************************************************/
RF24::RF24(uint8_t _cepin, uint8_t _cspin, uint32_t _spi_speed):
ce_pin(_cepin), csn_pin(_cspin), spi_speed(_spi_speed), wide_band(true), p_variant(false),
ce_pin(_cepin), csn_pin(_cspin), spi_speed(_spi_speed), wide_band(true), p_variant(false),
payload_size(32), dynamic_payloads_enabled(false),
pipe0_reading_address(0)
{
@@ -324,7 +324,7 @@ static const char rf24_pa_dbm_e_str_0[] = "PA_MIN";
static const char rf24_pa_dbm_e_str_1[] = "PA_LOW";
static const char rf24_pa_dbm_e_str_2[] = "PA_HIGH";
static const char rf24_pa_dbm_e_str_3[] = "PA_MAX";
static const char * const rf24_pa_dbm_e_str_P[] = {
static const char * const rf24_pa_dbm_e_str_P[] = {
rf24_pa_dbm_e_str_0,
rf24_pa_dbm_e_str_1,
rf24_pa_dbm_e_str_2,
@@ -335,7 +335,7 @@ static const char rf24_csn_e_str_0[] = "CE0 (PI Hardware Driven)";
static const char rf24_csn_e_str_1[] = "CE1 (PI Hardware Driven)";
static const char rf24_csn_e_str_2[] = "CE2 (PI Hardware Driven)";
static const char rf24_csn_e_str_3[] = "Custom GPIO Software Driven";
static const char * const rf24_csn_e_str_P[] = {
static const char * const rf24_csn_e_str_P[] = {
rf24_csn_e_str_0,
rf24_csn_e_str_1,
rf24_csn_e_str_2,
@@ -352,13 +352,13 @@ void RF24::printDetails(void)
printf("CSN Pin \t = %s\n",rf24_csn_e_str_P[csn_pin]);
}
else
{
printf("CSN Pin \t = Custom GPIO%d%s\n", csn_pin,
{
printf("CSN Pin \t = Custom GPIO%d%s\n", csn_pin,
csn_pin==RPI_V2_GPIO_P1_26 ? " (CE1) Software Driven" : "" );
}
printf("CE Pin \t = Custom GPIO%d\n", ce_pin );
// SPI Bus Speed
printf("Clock Speed\t = " );
switch (spi_speed)
@@ -409,32 +409,45 @@ bool RF24::begin(void)
{
debug = false;
//debug = true;
// This initialize the SPI bus with
// csn pin as chip select (custom or not)
// Init BCM2835 chipset for talking with us
if (!bcm2835_init()){
return false;
}
// Initialise the CE pin of NRF24 (chip enable)
bcm2835_gpio_fsel(ce_pin, BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_write(ce_pin, LOW);
switch(csn_pin){ //Ensure valid hardware CS pin
case 0: break;
case 1: break;
case 8: csn_pin = 0; break;
case 7: csn_pin = 1; break;
default: csn_pin = 0; break;
}
bcm2835_spi_begin();
// used to drive custom I/O to trigger my logic analyser
// bcm2835_gpio_fsel(GPIO_CTRL_PIN , BCM2835_GPIO_FSEL_OUTP);
// start the SPI library:
// Note the NRF24 wants mode 0, MSB first and default to 1 Mbps
bcm2835_spi_setBitOrder(BCM2835_SPI_BIT_ORDER_MSBFIRST);
bcm2835_spi_setDataMode(BCM2835_SPI_MODE0);
bcm2835_spi_setBitOrder(BCM2835_SPI_BIT_ORDER_MSBFIRST);
bcm2835_spi_setDataMode(BCM2835_SPI_MODE0);
// Set SPI bus Speed
bcm2835_spi_setClockDivider(spi_speed);
if(csn_pin <= BCM2835_SPI_CS_NONE){
bcm2835_spi_chipSelect(csn_pin);
}
// This initialize the SPI bus with
// csn pin as chip select (custom or not)
bcm2835_spi_begin(csn_pin);
// Choose hardware CSN pin
bcm2835_spi_chipSelect(csn_pin);
// Initialise the CE pin of NRF24 (chip enable) after the CSN pin, so that
// The input mode is not changed if using one of the hardware CE pins
bcm2835_gpio_fsel(ce_pin, BCM2835_GPIO_FSEL_OUTP);
bcm2835_gpio_write(ce_pin, LOW);
// wait 100ms
delay(100);
@@ -453,14 +466,14 @@ bool RF24::begin(void)
{
p_variant = true ;
}
// Then set the data rate to the slowest (and most reliable) speed supported by all
// hardware.
setDataRate( RF24_1MBPS ) ;
// Initialize CRC and request 2-byte (16bit) CRC
setCRCLength( RF24_CRC_16 ) ;
// Reset current status
// Notice reset and flush is the last thing we do
write_register(STATUS,_BV(RX_DR) | _BV(TX_DS) | _BV(MAX_RT) );
@@ -479,7 +492,7 @@ bool RF24::begin(void)
// Enable PTX, do not write CE high so radio will remain in standby I mode ( 130us max to transition to RX or TX instead of 1500us from powerUp )
// PTX should use only 22uA of power
write_register(CONFIG, ( read_register(CONFIG) ) & ~_BV(PRIM_RX) );
return true;
}
@@ -501,7 +514,7 @@ void RF24::startListening(void)
// Go!
bcm2835_gpio_write(ce_pin, HIGH);
// wait for the radio to come up (130us actually only needed)
//delayMicroseconds(130);
}
@@ -514,7 +527,7 @@ void RF24::stopListening(void)
flush_tx();
flush_rx();
write_register(CONFIG, ( read_register(CONFIG) ) & ~_BV(PRIM_RX) );
}
/****************************************************************************/
@@ -528,7 +541,7 @@ void RF24::powerDown(void)
/****************************************************************************/
void RF24::powerUp(void)
{
{
bool up = read_register(CONFIG) & _BV(PWR_UP);
if(! up ){
@@ -536,7 +549,7 @@ void RF24::powerUp(void)
delay(5);
}
}
/******************************************************************/
@@ -544,13 +557,13 @@ void RF24::powerUp(void)
bool RF24::write( const void* buf, uint8_t len, const bool multicast ){
// Begin the write
startWrite(buf,len, multicast);
startFastWrite(buf,len, multicast);
//Wait until complete or failed
// If this hangs, it ain't coming back, no sense in timing out
while( ! ( get_status() & ( _BV(TX_DS) | _BV(MAX_RT) ))) { }
uint8_t status = write_register(STATUS,_BV(RX_DR) | _BV(TX_DS) | _BV(MAX_RT) );
bcm2835_gpio_write(ce_pin, LOW);
@@ -566,7 +579,7 @@ bool RF24::write( const void* buf, uint8_t len, const bool multicast ){
bool RF24::write( const void* buf, uint8_t len ){
return write(buf,len,0);
}
}
/****************************************************************************/
@@ -600,7 +613,7 @@ bool RF24::writeBlocking( const void* buf, uint8_t len, uint32_t timeout )
void RF24::reUseTX(){
write_register(STATUS,_BV(MAX_RT) ); //Clear max retry flag
//spiTrans( REUSE_TX_PL );
bcm2835_spi_transfer( REUSE_TX_PL);
bcm2835_spi_transfer( REUSE_TX_PL);
bcm2835_gpio_write(ce_pin, LOW); //Re-Transfer packet
bcm2835_gpio_write(ce_pin, HIGH);
}
@@ -648,18 +661,18 @@ void RF24::startFastWrite( const void* buf, uint8_t len, const bool multicast){
bcm2835_gpio_write(ce_pin, HIGH);
}
/****************************************************************************/
void RF24::startWrite( const void* buf, uint8_t len, const bool multicast )
{
// Send the payload
write_payload( buf, len,multicast ? W_TX_PAYLOAD_NO_ACK : W_TX_PAYLOAD ) ;
bcm2835_gpio_write(ce_pin, HIGH);
//bcm2835_gpio_write(ce_pin, LOW);
delayMicroseconds(10);
bcm2835_gpio_write(ce_pin, LOW);
}
/****************************************************************************/
@@ -736,7 +749,7 @@ bool RF24::available(uint8_t* pipe_num)
//Check the FIFO buffer to see if data is waitng to be read
if (!( read_register(FIFO_STATUS) & _BV(RX_EMPTY) )){
// If the caller wants the pipe number, include that
if ( pipe_num ){
@@ -840,12 +853,12 @@ void RF24::toggle_features(void)
void RF24::enableDynamicPayloads(void)
{
// So enable them and try again
toggle_features();
write_register(FEATURE,read_register(FEATURE) | _BV(EN_DPL) );
if (debug)
if (debug)
printf("FEATURE=%i\r\n",read_register(FEATURE));
// Enable dynamic payload on all pipes
@@ -900,14 +913,14 @@ void RF24::writeAckPayload(uint8_t pipe, const void* buf, uint8_t len)
{
uint8_t * ptx = spi_txbuff;
uint8_t size ;
uint8_t size ;
const uint8_t* current = reinterpret_cast<const uint8_t*>(buf);
uint8_t data_len = min(len,payload_size);
size = data_len + 1 ; // Add register value to transmit buffer
if (debug){
printf("[Writing %u bytes]",data_len);
}
@@ -917,9 +930,9 @@ void RF24::writeAckPayload(uint8_t pipe, const void* buf, uint8_t len)
}
bcm2835_spi_transfern( (char *) spi_txbuff, size);
}
}
/****************************************************************************/
bool RF24::isAckPayloadAvailable(void)
@@ -1053,7 +1066,7 @@ rf24_datarate_e RF24::getDataRate( void )
{
rf24_datarate_e result ;
uint8_t dr = read_register(RF_SETUP) & (_BV(RF_DR_LOW) | _BV(RF_DR_HIGH));
// switch uses RAM (evil!)
// Order matters in our case below
if ( dr == _BV(RF_DR_LOW) )
@@ -1079,11 +1092,11 @@ rf24_datarate_e RF24::getDataRate( void )
void RF24::setCRCLength(rf24_crclength_e length)
{
uint8_t config = read_register(CONFIG) & ~( _BV(CRCO) | _BV(EN_CRC)) ;
// switch uses RAM (evil!)
if ( length == RF24_CRC_DISABLED )
{
// Do nothing, we turned it off above.
// Do nothing, we turned it off above.
}
else if ( length == RF24_CRC_8 )
{