boolean RF22ReliableDatagram::sendtoWait(uint8_t* buf, uint8_t len, uint8_t address)
{
// Assemble the message
uint8_t thisSequenceNumber = ++_lastSequenceNumber;
Timer t;
uint8_t retries = 0;
while (retries++ <= _retries)
{
setHeaderId(thisSequenceNumber);
setHeaderFlags(0);
sendto(buf, len, address);
waitPacketSent(3000);
// Never wait for ACKS to broadcasts:
if (address == RF22_BROADCAST_ADDRESS)
return true;
if (retries > 1)
_retransmissions++;
t.start();
unsigned long thisSendTime = t.read_ms(); // Timeout does not include original transmit time
// Compute a new timeout, random between _timeout and _timeout*2
// This is to prevent collisions on every retransmit
// if 2 nodes try to transmit at the same time
uint16_t timeout = _timeout + (_timeout * (rand() % 100) / 100);
while (t.read_ms() < (thisSendTime + timeout))
{
if (available()) {
clearRxBuf(); // Not using recv, so clear it ourselves
uint8_t from = headerFrom();
uint8_t to = headerTo();
uint8_t id = headerId();
uint8_t flags = headerFlags();
// Now have a message: is it our ACK?
if ( from == address
&& to == _thisAddress
&& (flags & RF22_FLAGS_ACK)
&& (id == thisSequenceNumber))
{
// Its the ACK we are waiting for
return true;
}
else if ( !(flags & RF22_FLAGS_ACK)
&& (id == _seenIds[from]))
{
// This is a request we have already received. ACK it again
acknowledge(id, from);
}
// Else discard it
}
// Not the one we are waiting for, maybe keep waiting until timeout exhausted
}
// Timeout exhausted, maybe retry
}
return false;
}
uint8_t RF22::recv(uint8_t* buf, uint8_t* len)
{
if (!available())
return false;
if (*len > _bufLen)
*len = _bufLen;
memcpy(buf, _buf, *len);
clearRxBuf();
return true;
}
void RF22::setModeTx() {
if (_mode != RF22_MODE_TX) {
setMode(_idleMode | RF22_TXON);
_mode = RF22_MODE_TX;
// Hmmm, if you dont clear the RX FIFO here, then it appears that going
// to transmit mode in the middle of a receive can corrupt the
// RX FIFO
resetRxFifo();
clearRxBuf();
}
}
bool RF22::recv(uint8_t* buf, uint8_t* len) {
if (!available())
return false;
//TODO check
piLock(1);
if (*len > _bufLen)
*len = _bufLen;
memcpy(buf, _buf, *len);
clearRxBuf();
// printBuffer("recv:", buf, *len);
piUnlock(1);
return true;
}
bool RH_TCP::recv(uint8_t* buf, uint8_t* len)
{
if (!available())
return false;
if (buf && len)
{
if (*len > _rxBufLen)
*len = _rxBufLen;
memcpy(buf, _rxBuf, *len);
}
clearRxBuf();
return true;
}
bool RH_RF95::recv(uint8_t* buf, uint8_t* len)
{
if (!available())
return false;
if (buf && len)
{
ATOMIC_BLOCK_START;
// Skip the 4 headers that are at the beginning of the rxBuf
if (*len > _bufLen-RH_RF95_HEADER_LEN)
*len = _bufLen-RH_RF95_HEADER_LEN;
memcpy(buf, _buf+RH_RF95_HEADER_LEN, *len);
ATOMIC_BLOCK_END;
}
clearRxBuf(); // This message accepted and cleared
return true;
}
bool RH_RF22::recv(uint8_t* buf, uint8_t* len)
{
if (!available())
return false;
if (buf && len)
{
ATOMIC_BLOCK_START;
if (*len > _bufLen)
*len = _bufLen;
memcpy(buf, _buf, *len);
ATOMIC_BLOCK_END;
}
clearRxBuf();
// printBuffer("recv:", buf, *len);
return true;
}
boolean RF22::init()
{
// Wait for RF22 POR (up to 16msec)
delay(16);
// Initialise the slave select pin
pinMode(_slaveSelectPin, OUTPUT);
digitalWrite(_slaveSelectPin, HIGH);
// start the SPI library:
// Note the RF22 wants mode 0, MSB first and default to 1 Mbps
_spi->begin();
_spi->setDataMode(SPI_MODE0);
_spi->setBitOrder(MSBFIRST);
_spi->setClockDivider(SPI_CLOCK_DIV16); // (16 Mhz / 16) = 1 MHz
delay(100);
// Software reset the device
reset();
// Get the device type and check it
// This also tests whether we are really connected to a device
_deviceType = spiRead(RF22_REG_00_DEVICE_TYPE);
if ( _deviceType != RF22_DEVICE_TYPE_RX_TRX
&& _deviceType != RF22_DEVICE_TYPE_TX)
return false;
// Set up interrupt handler
if (_interrupt == 0)
{
_RF22ForInterrupt[0] = this;
attachInterrupt(0, RF22::isr0, LOW);
}
else if (_interrupt == 1)
{
_RF22ForInterrupt[1] = this;
attachInterrupt(1, RF22::isr1, LOW);
}
else
return false;
clearTxBuf();
clearRxBuf();
// Most of these are the POR default
spiWrite(RF22_REG_7D_TX_FIFO_CONTROL2, RF22_TXFFAEM_THRESHOLD);
spiWrite(RF22_REG_7E_RX_FIFO_CONTROL, RF22_RXFFAFULL_THRESHOLD);
spiWrite(RF22_REG_30_DATA_ACCESS_CONTROL, RF22_ENPACRX | RF22_ENPACTX | RF22_ENCRC | RF22_CRC_CRC_16_IBM);
// Configure the message headers
// Here we set up the standard packet format for use by the RF22 library
// 8 nibbles preamble
// 2 SYNC words 2d, d4
// Header length 4 (to, from, id, flags)
// 1 octet of data length (0 to 255)
// 0 to 255 octets data
// 2 CRC octets as CRC16(IBM), computed on the header, length and data
// On reception the to address is check for validity against RF22_REG_3F_CHECK_HEADER3
// or the broadcast address of 0xff
// If no changes are made after this, the transmitted
// to address will be 0xff, the from address will be 0xff
// and all such messages will be accepted. This permits the out-of the box
// RF22 config to act as an unaddresed, unreliable datagram service
spiWrite(RF22_REG_32_HEADER_CONTROL1, RF22_BCEN_HEADER3 | RF22_HDCH_HEADER3);
spiWrite(RF22_REG_33_HEADER_CONTROL2, RF22_HDLEN_4 | RF22_SYNCLEN_2);
setPreambleLength(8);
uint8_t syncwords[] = { 0x2d, 0xd4 };
setSyncWords(syncwords, sizeof(syncwords));
setPromiscuous(false);
// Check the TO header against RF22_DEFAULT_NODE_ADDRESS
spiWrite(RF22_REG_3F_CHECK_HEADER3, RF22_DEFAULT_NODE_ADDRESS);
// Set the default transmit header values
setHeaderTo(RF22_DEFAULT_NODE_ADDRESS);
setHeaderFrom(RF22_DEFAULT_NODE_ADDRESS);
setHeaderId(0);
setHeaderFlags(0);
// Ensure the antenna can be switched automatically according to transmit and receive
// This assumes GPIO0(out) is connected to TX_ANT(in) to enable tx antenna during transmit
// This assumes GPIO1(out) is connected to RX_ANT(in) to enable rx antenna during receive
spiWrite (RF22_REG_0B_GPIO_CONFIGURATION0, 0x12) ; // TX state
spiWrite (RF22_REG_0C_GPIO_CONFIGURATION1, 0x15) ; // RX state
// Enable interrupts
spiWrite(RF22_REG_05_INTERRUPT_ENABLE1, RF22_ENTXFFAEM | RF22_ENRXFFAFULL | RF22_ENPKSENT | RF22_ENPKVALID | RF22_ENCRCERROR | RF22_ENFFERR);
spiWrite(RF22_REG_06_INTERRUPT_ENABLE2, RF22_ENPREAVAL);
// Set some defaults. An innocuous ISM frequency, and reasonable pull-in
setFrequency(434.0, 0.05);
// setFrequency(900.0);
// Some slow, reliable default speed and modulation
setModemConfig(FSK_Rb2_4Fd36);
// setModemConfig(FSK_Rb125Fd125);
// Minimum power
setTxPower(RF22_TXPOW_8DBM);
// setTxPower(RF22_TXPOW_17DBM);
return true;
}
// C++ level interrupt handler for this instance
void RF22::handleInterrupt()
{
uint8_t _lastInterruptFlags[2];
// Read the interrupt flags which clears the interrupt
spiBurstRead(RF22_REG_03_INTERRUPT_STATUS1, _lastInterruptFlags, 2);
#if 0
// Caution: Serial printing in this interrupt routine can cause mysterious crashes
Serial.print("interrupt ");
Serial.print(_lastInterruptFlags[0], HEX);
Serial.print(" ");
Serial.println(_lastInterruptFlags[1], HEX);
if (_lastInterruptFlags[0] == 0 && _lastInterruptFlags[1] == 0)
Serial.println("FUNNY: no interrupt!");
#endif
#if 0
// TESTING: fake an RF22_IFFERROR
static int counter = 0;
if (_lastInterruptFlags[0] & RF22_IPKSENT && counter++ == 10)
{
_lastInterruptFlags[0] = RF22_IFFERROR;
counter = 0;
}
#endif
if (_lastInterruptFlags[0] & RF22_IFFERROR)
{
// Serial.println("IFFERROR");
resetFifos(); // Clears the interrupt
if (_mode == RF22_MODE_TX)
restartTransmit();
else if (_mode == RF22_MODE_RX)
clearRxBuf();
}
// Caution, any delay here may cause a FF underflow or overflow
if (_lastInterruptFlags[0] & RF22_ITXFFAEM)
{
// See if more data has to be loaded into the Tx FIFO
sendNextFragment();
// Serial.println("ITXFFAEM");
}
if (_lastInterruptFlags[0] & RF22_IRXFFAFULL)
{
// Caution, any delay here may cause a FF overflow
// Read some data from the Rx FIFO
readNextFragment();
// Serial.println("IRXFFAFULL");
}
if (_lastInterruptFlags[0] & RF22_IEXT)
{
// This is not enabled by the base code, but users may want to enable it
handleExternalInterrupt();
// Serial.println("IEXT");
}
if (_lastInterruptFlags[1] & RF22_IWUT)
{
// This is not enabled by the base code, but users may want to enable it
handleWakeupTimerInterrupt();
// Serial.println("IWUT");
}
if (_lastInterruptFlags[0] & RF22_IPKSENT)
{
// Serial.println("IPKSENT");
_txGood++;
// Transmission does not automatically clear the tx buffer.
// Could retransmit if we wanted
// RF22 transitions automatically to Idle
_mode = RF22_MODE_IDLE;
}
if (_lastInterruptFlags[0] & RF22_IPKVALID)
{
uint8_t len = spiRead(RF22_REG_4B_RECEIVED_PACKET_LENGTH);
// Serial.println("IPKVALID");
// Serial.println(len);
// Serial.println(_bufLen);
// May have already read one or more fragments
// Get any remaining unread octets, based on the expected length
// First make sure we dont overflow the buffer in the case of a stupid length
// or partial bad receives
if ( len > RF22_MAX_MESSAGE_LEN
|| len < _bufLen)
{
_rxBad++;
_mode = RF22_MODE_IDLE;
clearRxBuf();
return; // Hmmm receiver buffer overflow.
}
spiBurstRead(RF22_REG_7F_FIFO_ACCESS, _buf + _bufLen, len - _bufLen);
_rxGood++;
_bufLen = len;
_mode = RF22_MODE_IDLE;
_rxBufValid = true;
}
if (_lastInterruptFlags[0] & RF22_ICRCERROR)
{
// Serial.println("ICRCERR");
_rxBad++;
clearRxBuf();
resetRxFifo();
_mode = RF22_MODE_IDLE;
setModeRx(); // Keep trying
}
if (_lastInterruptFlags[1] & RF22_IPREAVAL)
{
// Serial.println("IPREAVAL");
_lastRssi = spiRead(RF22_REG_26_RSSI);
clearRxBuf();
}
}
bool RH_RF22::init()
{
if (!RHSPIDriver::init())
return false;
// Determine the interrupt number that corresponds to the interruptPin
int interruptNumber = digitalPinToInterrupt(_interruptPin);
if (interruptNumber == NOT_AN_INTERRUPT)
return false;
// Software reset the device
reset();
// Get the device type and check it
// This also tests whether we are really connected to a device
_deviceType = spiRead(RH_RF22_REG_00_DEVICE_TYPE);
if ( _deviceType != RH_RF22_DEVICE_TYPE_RX_TRX
&& _deviceType != RH_RF22_DEVICE_TYPE_TX)
{
return false;
}
// Add by Adrien van den Bossche <*****@*****.**> for Teensy
// ARM M4 requires the below. else pin interrupt doesn't work properly.
// On all other platforms, its innocuous, belt and braces
pinMode(_interruptPin, INPUT);
// Enable interrupt output on the radio. Interrupt line will now go high until
// an interrupt occurs
spiWrite(RH_RF22_REG_05_INTERRUPT_ENABLE1, RH_RF22_ENTXFFAEM | RH_RF22_ENRXFFAFULL | RH_RF22_ENPKSENT | RH_RF22_ENPKVALID | RH_RF22_ENCRCERROR | RH_RF22_ENFFERR);
spiWrite(RH_RF22_REG_06_INTERRUPT_ENABLE2, RH_RF22_ENPREAVAL);
// Set up interrupt handler
// Since there are a limited number of interrupt glue functions isr*() available,
// we can only support a limited number of devices simultaneously
// On some devices, notably most Arduinos, the interrupt pin passed in is actually the
// interrupt number. You have to figure out the interruptnumber-to-interruptpin mapping
// yourself based on knowledge of what Arduino board you are running on.
_deviceForInterrupt[_interruptCount] = this;
if (_interruptCount == 0)
attachInterrupt(interruptNumber, isr0, FALLING);
else if (_interruptCount == 1)
attachInterrupt(interruptNumber, isr1, FALLING);
else if (_interruptCount == 2)
attachInterrupt(interruptNumber, isr2, FALLING);
else
return false; // Too many devices, not enough interrupt vectors
_interruptCount++;
setModeIdle();
clearTxBuf();
clearRxBuf();
// Most of these are the POR default
spiWrite(RH_RF22_REG_7D_TX_FIFO_CONTROL2, RH_RF22_TXFFAEM_THRESHOLD);
spiWrite(RH_RF22_REG_7E_RX_FIFO_CONTROL, RH_RF22_RXFFAFULL_THRESHOLD);
spiWrite(RH_RF22_REG_30_DATA_ACCESS_CONTROL, RH_RF22_ENPACRX | RH_RF22_ENPACTX | RH_RF22_ENCRC | (_polynomial & RH_RF22_CRC));
// Configure the message headers
// Here we set up the standard packet format for use by the RH_RF22 library
// 8 nibbles preamble
// 2 SYNC words 2d, d4
// Header length 4 (to, from, id, flags)
// 1 octet of data length (0 to 255)
// 0 to 255 octets data
// 2 CRC octets as CRC16(IBM), computed on the header, length and data
// On reception the to address is check for validity against RH_RF22_REG_3F_CHECK_HEADER3
// or the broadcast address of 0xff
// If no changes are made after this, the transmitted
// to address will be 0xff, the from address will be 0xff
// and all such messages will be accepted. This permits the out-of the box
// RH_RF22 config to act as an unaddresed, unreliable datagram service
spiWrite(RH_RF22_REG_32_HEADER_CONTROL1, RH_RF22_BCEN_HEADER3 | RH_RF22_HDCH_HEADER3);
spiWrite(RH_RF22_REG_33_HEADER_CONTROL2, RH_RF22_HDLEN_4 | RH_RF22_SYNCLEN_2);
setPreambleLength(8);
uint8_t syncwords[] = { 0x2d, 0xd4 };
setSyncWords(syncwords, sizeof(syncwords));
setPromiscuous(false);
// Set some defaults. An innocuous ISM frequency, and reasonable pull-in
setFrequency(434.0, 0.05);
// setFrequency(900.0);
// Some slow, reliable default speed and modulation
setModemConfig(FSK_Rb2_4Fd36);
// setModemConfig(FSK_Rb125Fd125);
setGpioReversed(false);
// Lowish power
setTxPower(RH_RF22_TXPOW_8DBM);
return true;
}
bool RF22::init() {
//TODO check.
wiringPiSetup();
// // Wait for RF22 POR (up to 16msec)
// delay(16);
if (wiringPiSPISetup(_slaveSelectPin, 1000000) == -1) {
printf("Could not initialize SPI\n");
return false;
}
delay(20);
// Software reset the device
reset();
delay(1);
// Get the device type and check it
// This also tests whether we are really connected to a device
_deviceType = spiRead(RF22_REG_00_DEVICE_TYPE);
if (_deviceType != RF22_DEVICE_TYPE_RX_TRX && _deviceType != RF22_DEVICE_TYPE_TX)
return false;
// Set up interrupt handler
if (_interrupt == 0) {
_RF22ForInterrupt[0] = this;
//attaching interrupt to gpio pins. see wiringPi.com -> gpio chart
wiringPiISR(6, INT_EDGE_FALLING, RF22::isr0);
} else if (_interrupt == 1) {
_RF22ForInterrupt[1] = this;
wiringPiISR(4, INT_EDGE_FALLING, RF22::isr1);
} else
return false;
clearTxBuf();
clearRxBuf();
// Most of these are the POR default
spiWrite(RF22_REG_7D_TX_FIFO_CONTROL2, RF22_TXFFAEM_THRESHOLD);
spiWrite(RF22_REG_7E_RX_FIFO_CONTROL, RF22_RXFFAFULL_THRESHOLD);
spiWrite(RF22_REG_30_DATA_ACCESS_CONTROL, RF22_ENPACRX | RF22_ENPACTX | RF22_ENCRC | RF22_CRC_CRC_16_IBM);
// Configure the message headers
// Here we set up the standard packet format for use by the RF22 library
// 8 nibbles preamble
// 2 SYNC words 2d, d4
// Header length 4 (to, from, id, flags)
// 1 octet of data length (0 to 255)
// 0 to 255 octets data
// 2 CRC octets as CRC16(IBM), computed on the header, length and data
// On reception the to address is check for validity against RF22_REG_3F_CHECK_HEADER3
// or the broadcast address of 0xff
// If no changes are made after this, the transmitted
// to address will be 0xff, the from address will be 0xff
// and all such messages will be accepted. This permits the out-of the box
// RF22 config to act as an unaddresed, unreliable datagram service
spiWrite(RF22_REG_32_HEADER_CONTROL1, RF22_BCEN_HEADER3 | RF22_HDCH_HEADER3);
spiWrite(RF22_REG_33_HEADER_CONTROL2, RF22_HDLEN_4 | RF22_SYNCLEN_2 | 0x1);
setPreambleLength(8);
uint8_t syncwords[] = { 0x2d, 0xd4 };
setSyncWords(syncwords, sizeof(syncwords));
setPromiscuous(false);
// Check the TO header against RF22_DEFAULT_NODE_ADDRESS
spiWrite(RF22_REG_3F_CHECK_HEADER3, RF22_DEFAULT_NODE_ADDRESS);
// Set the default transmit header values
setHeaderTo(RF22_DEFAULT_NODE_ADDRESS);
setHeaderFrom(RF22_DEFAULT_NODE_ADDRESS);
setHeaderId(0);
setHeaderFlags(0);
// Ensure the antenna can be switched automatically according to transmit and receive
// This assumes GPIO0(out) is connected to TX_ANT(in) to enable tx antenna during transmit
// This assumes GPIO1(out) is connected to RX_ANT(in) to enable rx antenna during receive
spiWrite(RF22_REG_0B_GPIO_CONFIGURATION0, 0x12); // TX state
spiWrite(RF22_REG_0C_GPIO_CONFIGURATION1, 0x15); // RX state
//spiWrite(RF22_REG_0D_GPIO_CONFIGURATION2, 0x14); //raw data to port 4 have to activate it later?
//put into a mode where the interrupt frequency is not as high as the clock of the rfm22.
//the raspberry is connected to that pin and would freeze if an isr is registered.
spiWrite(RF22_REG_0D_GPIO_CONFIGURATION2, 0x13);
// Enable interrupts
spiWrite(RF22_REG_05_INTERRUPT_ENABLE1,
RF22_ENTXFFAEM | RF22_ENRXFFAFULL | RF22_ENPKSENT | RF22_ENPKVALID | RF22_ENCRCERROR | RF22_ENFFERR);
spiWrite(RF22_REG_06_INTERRUPT_ENABLE2, RF22_ENPREAVAL);
// Set some defaults. An innocuous ISM frequency, and reasonable pull-in
setFrequency(434.0, 0.05);
// setFrequency(900.0);
// Some slow, reliable default speed and modulation
setModemConfig(FSK_Rb2_4Fd36);
// setModemConfig(FSK_Rb125Fd125);
// Minimum power
setTxPower(RF22_TXPOW_8DBM);
// setTxPower(RF22_TXPOW_17DBM);
return true;
}
// C++ level interrupt handler for this instance
void RF22::handleInterrupt() {
uint8_t _lastInterruptFlags[2];
// Read the interrupt flags which clears the interrupt
spiBurstRead(RF22_REG_03_INTERRUPT_STATUS1, _lastInterruptFlags, 2);
if (_lastInterruptFlags[0] & RF22_IFFERROR) {
// cout << "RFM22 handleInterrupt(): IFFERROR\n";
resetFifos(); // Clears the interrupt
if (_mode == RF22_MODE_TX) {
restartTransmit();
} else if (_mode == RF22_MODE_RX) {
clearRxBuf();
setModeIdle();
setModeRx();
}
}
// Caution, any delay here may cause a FF underflow or overflow
if (_lastInterruptFlags[0] & RF22_ITXFFAEM) {
// See if more data has to be loaded into the Tx FIFO
sendNextFragment();
//cout << "RFM22 handleInterrupt(): ITXFFAEM\n";
}
if (_lastInterruptFlags[0] & RF22_IRXFFAFULL) {
// Caution, any delay here may cause a FF overflow
// Read some data from the Rx FIFO
readNextFragment();
cout << "RFM22 handleInterrupt(): IRXFFAFULL\n";
}
if (_lastInterruptFlags[0] & RF22_IEXT) {
// This is not enabled by the base code, but users may want to enable it
handleExternalInterrupt();
cout << "RFM22 handleInterrupt(): IEXT\n";
}
if (_lastInterruptFlags[1] & RF22_IWUT) {
// This is not enabled by the base code, but users may want to enable it
handleWakeupTimerInterrupt();
}
if (_lastInterruptFlags[0] & RF22_IPKSENT) {
_txGood++;
// Transmission does not automatically clear the tx buffer.
// Could retransmit if we wanted
// RF22 transitions automatically to Idle
_mode = RF22_MODE_IDLE;
}
if (_lastInterruptFlags[0] & RF22_IPKVALID) {
// cout << "RFM22 handleInterrupt(): IPKVALID\n";
fflush(stdout);
uint8_t len = spiRead(RF22_REG_4B_RECEIVED_PACKET_LENGTH);
// May have already read one or more fragments
// Get any remaining unread octets, based on the expected length
// First make sure we dont overflow the buffer in the case of a stupid length
// or partial bad receives
if (len > RF22_MAX_MESSAGE_LEN || len < _bufLen) {
_rxBad++;
_mode = RF22_MODE_IDLE;
clearRxBuf();
return; // Hmmm receiver buffer overflow.
}
spiBurstRead(RF22_REG_7F_FIFO_ACCESS, _buf, 64);
resetRxFifo();
setModeIdle();
setModeRx();
// spiBurstRead(RF22_REG_7F_FIFO_ACCESS, _buf + _bufLen, len - _bufLen);
_rxGood++;
_bufLen = len;
_mode = RF22_MODE_IDLE;
_rxBufValid = true;
//notify registered dispatcherModule
dispatcher->receiveMessage(this);
}
if (_lastInterruptFlags[0] & RF22_ICRCERROR) {
cout << "RFM22 handleInterrupt(): ICRCERR\n";
_rxBad++;
clearRxBuf();
resetRxFifo();
_mode = RF22_MODE_IDLE;
setModeRx(); // Keep trying
}
if (_lastInterruptFlags[1] & RF22_IPREAVAL) {
// cout << "RFM22 handleInterrupt(): IPREAVAL\n";
_lastRssi = spiRead(RF22_REG_26_RSSI);
// clearRxBuf();
}
}
