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#include "RF12B.h"
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#include "RF_defs.h"
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#include <algorithm>
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#include "system.h"
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#include "globals.h"
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RF12B::RF12B(PinName _SDI,
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PinName _SDO,
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PinName _SCK,
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PinName _NCS,
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PinName _NIRQ):spi(_SDI, _SDO, _SCK),
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NCS(_NCS), NIRQ(_NIRQ), NIRQ_in(_NIRQ) {// rfled(LED3) {
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// SPI frequency, word lenght, polarity and phase */
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spi.format(16,0);
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spi.frequency(2000000);
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// Set ~CS high
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NCS = 1;
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// Initialise RF Module
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init();
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// Setup interrupt to happen on falling edge of NIRQ
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NIRQ.fall(this, &RF12B::rxISR);
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}
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// Returns the packet length if data is available in the receive buffer, 0 otherwise
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//unsigned int RF12B::available() {
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// return fifo.size();
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//}
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// Reads a packet of data, with length "size" Returns false if read failed. TODO: make a metafifo to isolate packets
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/*bool RF12B::read(unsigned char* data, unsigned int size) {
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if (fifo.size() == 0) {
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return false;
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} else {
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unsigned int i = 0;
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while (fifo.size() > 0 && i < size) {
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data[i++] = fifo.front();
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fifo.pop();
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}
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return true;
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}
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}
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*/
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// Reads a byte of data from the receive buffer
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/*
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unsigned char RF12B::read() {
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if (available()) {
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unsigned char data = fifo.front();
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fifo.pop();
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return data;
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} else {
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return 0xFF; // Error val although could also be data...
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}
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}
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*/
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// Sends a packet of data to the RF module for transmission TODO: Make asych
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void RF12B::write(unsigned char *data, unsigned char length) {
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unsigned char crc = 0;
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// Transmitter mode
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changeMode(TX);
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writeCmd(0x0000);
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send(0xAA); // PREAMBLE
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send(0xAA);
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send(0xAA);
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send(0x2D); // SYNC
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send(0xD4);
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// Packet Length
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send(length);
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crc = crc8(crc, length);
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send(crc);
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crc = crc8(crc, crc);
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// Packet Data
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for (unsigned char i=0; i<length; i++) {
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send(data[i]);
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crc = crc8(crc, data[i]);
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}
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send(crc);
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send(0xAA); // DUMMY BYTES
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send(0xAA);
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send(0xAA);
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// Back to receiver mode
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changeMode(RX);
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status();
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}
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// Transmit a 1-byte data packet
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void RF12B::write(unsigned char data) {
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write(&data, 1);
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}
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/*
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void RF12B::write(queue<char> &data, int length) {
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char crc = 0;
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char length_byte = 0;
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// -1 means try to transmit everything in the queue
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if (length == -1) {
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length = data.size();
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}
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// max length of packet is 255
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length_byte = min(length, 255);
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// Transmitter mode
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changeMode(TX);
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writeCmd(0x0000);
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send(0xAA); // PREAMBLE
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send(0xAA);
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send(0xAA);
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send(0x2D); // SYNC
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send(0xD4);
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// Packet Length
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send(length_byte);
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crc = crc8(crc, length_byte);
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send(crc);
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crc = crc8(crc, crc);
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// Packet Data
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for (char i=0; i<length_byte; i++) {
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send(data.front());
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crc = crc8(crc, data.front());
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data.pop();
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}
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send(crc);
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send(0xAA); // DUMMY BYTES
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send(0xAA);
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send(0xAA);
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// Back to receiver mode
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changeMode(RX);
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status();
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}
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*/
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/**********************************************************************
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* PRIVATE FUNCTIONS
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*********************************************************************/
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// Initialises the RF12B module
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void RF12B::init() {
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// writeCmd(0x80E7); //EL,EF,868band,12.0pF
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changeMode(RX);
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writeCmd(0xA640); //frequency select
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writeCmd(0xC647); //4.8kbps
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writeCmd(0x94A0); //VDI,FAST,134kHz,0dBm,-103dBm
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writeCmd(0xC2AC); //AL,!ml,DIG,DQD4
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writeCmd(0xCA81); //FIFO8,SYNC,!ff,DR
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writeCmd(0xCED4); //SYNC=2DD4
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writeCmd(0xC483); //@PWR,NO RSTRIC,!st,!fi,OE,EN
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writeCmd(0x9850); //!mp,90kHz,MAX OUT
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writeCmd(0xCC17); //OB1, COB0, LPX, Iddy, CDDIT�CBW0
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writeCmd(0xE000); //NOT USED
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writeCmd(0xC800); //NOT USED
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164
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writeCmd(0xC040); //1.66MHz,2.2V
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165
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166
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writeCmd(
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167
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RFM_CONFIG_EL |
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168
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RFM_CONFIG_EF |
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169
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RFM_CONFIG_BAND_433 //|
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170
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//RFM_CONFIG_X_11_0pf // meh, using default
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);
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172
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173
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// 2. Power Management Command
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174
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// leave everything switched off for now
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175
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/*
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176
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writeCmd(
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177
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RFM_POWER_MANAGEMENT // switch all off
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178
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);
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179
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*/
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180
|
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181
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// 3. Frequency Setting Command
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182
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writeCmd(
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183
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RFM_FREQUENCY |
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184
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RFM_FREQ_433Band(435.7) //I totally made this value up... if someone knows where the sweetspots are in this band, tell me!
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185
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);
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186
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0:7583de124698
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187
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188
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// 4. Data Rate Command
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189
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writeCmd(RFM_DATA_RATE_9600);
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190
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191
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192
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// 5. Receiver Control Command
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193
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writeCmd(
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194
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RFM_RX_CONTROL_P20_VDI |
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195
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RFM_RX_CONTROL_VDI_FAST |
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196
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//RFM_RX_CONTROL_BW(RFM_BAUD_RATE) |
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197
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RFM_RX_CONTROL_BW_134 | // CHANGE THIS TO 67 TO IMPROVE RANGE! (though the bitrate must then be below 8kbaud, and fsk modulation changed)
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198
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RFM_RX_CONTROL_GAIN_0 |
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199
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RFM_RX_CONTROL_RSSI_103 // Might need adjustment. Datasheet says around 10^-5 bit error rate at this level and baudrate.
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200
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);
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201
|
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202
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// 6. Data Filter Command
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203
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writeCmd(
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204
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RFM_DATA_FILTER_AL |
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205
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RFM_DATA_FILTER_ML |
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206
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RFM_DATA_FILTER_DIG //|
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207
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//RFM_DATA_FILTER_DQD(4)
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208
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);
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209
|
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210
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// 7. FIFO and Reset Mode Command
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211
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writeCmd(
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212
|
RFM_FIFO_IT(8) |
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213
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RFM_FIFO_DR |
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| narshu |
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214
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0x8 //turn on 16bit sync word
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215
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);
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216
|
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217
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// 8. FIFO Syncword
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218
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// Leave as default: 0xD4
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219
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|
| narshu |
0:7583de124698
|
220
|
// 9. Receiver FIFO Read
|
| narshu |
0:7583de124698
|
221
|
// when the interupt goes high, (and if we can assume that it was a fifo fill interrupt) we can read a byte using:
|
| narshu |
0:7583de124698
|
222
|
// result = RFM_READ_FIFO();
|
| narshu |
0:7583de124698
|
223
|
|
| narshu |
0:7583de124698
|
224
|
// 10. AFC Command
|
| narshu |
0:7583de124698
|
225
|
writeCmd(
|
| narshu |
0:7583de124698
|
226
|
//RFM_AFC_AUTO_VDI | //Note this might be changed to improve range. Refer to datasheet.
|
| narshu |
0:7583de124698
|
227
|
RFM_AFC_AUTO_INDEPENDENT |
|
| narshu |
0:7583de124698
|
228
|
RFM_AFC_RANGE_LIMIT_7_8 |
|
| narshu |
0:7583de124698
|
229
|
RFM_AFC_EN |
|
| narshu |
0:7583de124698
|
230
|
RFM_AFC_OE |
|
| narshu |
0:7583de124698
|
231
|
RFM_AFC_FI
|
| narshu |
0:7583de124698
|
232
|
);
|
| narshu |
0:7583de124698
|
233
|
|
| narshu |
0:7583de124698
|
234
|
// 11. TX Configuration Control Command
|
| narshu |
0:7583de124698
|
235
|
writeCmd(
|
| narshu |
0:7583de124698
|
236
|
RFM_TX_CONTROL_MOD_60 |
|
| narshu |
0:7583de124698
|
237
|
RFM_TX_CONTROL_POW_0
|
| narshu |
0:7583de124698
|
238
|
);
|
| narshu |
0:7583de124698
|
239
|
|
| narshu |
0:7583de124698
|
240
|
|
| narshu |
0:7583de124698
|
241
|
// 12. PLL Setting Command
|
| narshu |
0:7583de124698
|
242
|
writeCmd(
|
| narshu |
0:7583de124698
|
243
|
0xCC77 & ~0x01 // Setting the PLL bandwith, less noise, but max bitrate capped at 86.2
|
| narshu |
0:7583de124698
|
244
|
// I think this will slow down the pll's reaction time. Not sure, check with someone!
|
| narshu |
0:7583de124698
|
245
|
);
|
| narshu |
0:7583de124698
|
246
|
|
| narshu |
0:7583de124698
|
247
|
changeMode(RX);
|
| narshu |
0:7583de124698
|
248
|
resetRX();
|
| narshu |
0:7583de124698
|
249
|
status();
|
| narshu |
0:7583de124698
|
250
|
}
|
| narshu |
0:7583de124698
|
251
|
|
| narshu |
0:7583de124698
|
252
|
/* Write a command to the RF Module */
|
| narshu |
0:7583de124698
|
253
|
unsigned int RF12B::writeCmd(unsigned int cmd) {
|
| narshu |
0:7583de124698
|
254
|
NCS = 0;
|
| narshu |
0:7583de124698
|
255
|
unsigned int recv = spi.write(cmd);
|
| narshu |
0:7583de124698
|
256
|
NCS = 1;
|
| narshu |
0:7583de124698
|
257
|
return recv;
|
| narshu |
0:7583de124698
|
258
|
}
|
| narshu |
0:7583de124698
|
259
|
|
| narshu |
0:7583de124698
|
260
|
/* Sends a byte of data across RF */
|
| narshu |
0:7583de124698
|
261
|
void RF12B::send(unsigned char data) {
|
| narshu |
0:7583de124698
|
262
|
while (NIRQ);
|
| narshu |
0:7583de124698
|
263
|
writeCmd(0xB800 + data);
|
| narshu |
0:7583de124698
|
264
|
}
|
| narshu |
0:7583de124698
|
265
|
|
| narshu |
0:7583de124698
|
266
|
/* Change the mode of the RF module to Transmitting or Receiving */
|
| narshu |
0:7583de124698
|
267
|
void RF12B::changeMode(rfmode_t _mode) {
|
| narshu |
0:7583de124698
|
268
|
mode = _mode;
|
| narshu |
0:7583de124698
|
269
|
if (_mode == TX) {
|
| narshu |
0:7583de124698
|
270
|
writeCmd(0x8239); //!er,!ebb,ET,ES,EX,!eb,!ew,DC
|
| narshu |
0:7583de124698
|
271
|
} else { /* mode == RX */
|
| narshu |
0:7583de124698
|
272
|
writeCmd(0x8299); //er,!ebb,ET,ES,EX,!eb,!ew,DC
|
| narshu |
0:7583de124698
|
273
|
}
|
| narshu |
0:7583de124698
|
274
|
}
|
| narshu |
0:7583de124698
|
275
|
|
| narshu |
1:0370ea94b64a
|
276
|
// Interrupt routine for data reception */
|
| narshu |
0:7583de124698
|
277
|
void RF12B::rxISR() {
|
| narshu |
0:7583de124698
|
278
|
|
| narshu |
0:7583de124698
|
279
|
unsigned int data = 0;
|
| narshu |
0:7583de124698
|
280
|
static int i = -2;
|
| narshu |
0:7583de124698
|
281
|
static unsigned char packet_length = 0;
|
| narshu |
0:7583de124698
|
282
|
static unsigned char crc = 0;
|
| narshu |
1:0370ea94b64a
|
283
|
static unsigned char temp;
|
| narshu |
0:7583de124698
|
284
|
|
| narshu |
0:7583de124698
|
285
|
//Loop while interrupt is asserted
|
| narshu |
0:7583de124698
|
286
|
while (!NIRQ_in && mode == RX) {
|
| narshu |
1:0370ea94b64a
|
287
|
|
| narshu |
0:7583de124698
|
288
|
// Grab the packet's length byte
|
| narshu |
0:7583de124698
|
289
|
if (i == -2) {
|
| narshu |
0:7583de124698
|
290
|
data = writeCmd(0x0000);
|
| narshu |
0:7583de124698
|
291
|
if ( (data&0x8000) ) {
|
| narshu |
0:7583de124698
|
292
|
data = writeCmd(0xB000);
|
| narshu |
0:7583de124698
|
293
|
packet_length = (data&0x00FF);
|
| narshu |
0:7583de124698
|
294
|
crc = crc8(crc, packet_length);
|
| narshu |
0:7583de124698
|
295
|
i++;
|
| narshu |
0:7583de124698
|
296
|
}
|
| narshu |
0:7583de124698
|
297
|
}
|
| narshu |
0:7583de124698
|
298
|
|
| narshu |
0:7583de124698
|
299
|
//If we exhaust the interrupt, exit
|
| narshu |
0:7583de124698
|
300
|
if (NIRQ_in)
|
| narshu |
0:7583de124698
|
301
|
break;
|
| narshu |
0:7583de124698
|
302
|
|
| narshu |
0:7583de124698
|
303
|
// Check that packet length was correct
|
| narshu |
0:7583de124698
|
304
|
if (i == -1) {
|
| narshu |
0:7583de124698
|
305
|
data = writeCmd(0x0000);
|
| narshu |
0:7583de124698
|
306
|
if ( (data&0x8000) ) {
|
| narshu |
0:7583de124698
|
307
|
data = writeCmd(0xB000);
|
| narshu |
0:7583de124698
|
308
|
unsigned char crcofsize = (data&0x00FF);
|
| narshu |
0:7583de124698
|
309
|
if (crcofsize != crc) {
|
| narshu |
0:7583de124698
|
310
|
//It was wrong, start over
|
| narshu |
0:7583de124698
|
311
|
i = -2;
|
| narshu |
0:7583de124698
|
312
|
packet_length = 0;
|
| narshu |
0:7583de124698
|
313
|
crc = 0;
|
| narshu |
0:7583de124698
|
314
|
//temp = queue<unsigned char>();
|
| narshu |
0:7583de124698
|
315
|
resetRX();
|
| narshu |
0:7583de124698
|
316
|
} else {
|
| narshu |
0:7583de124698
|
317
|
crc = crc8(crc, crcofsize);
|
| narshu |
0:7583de124698
|
318
|
i++;
|
| narshu |
0:7583de124698
|
319
|
}
|
| narshu |
0:7583de124698
|
320
|
}
|
| narshu |
0:7583de124698
|
321
|
}
|
| narshu |
0:7583de124698
|
322
|
|
| narshu |
0:7583de124698
|
323
|
//If we exhaust the interrupt, exit
|
| narshu |
0:7583de124698
|
324
|
if (NIRQ_in)
|
| narshu |
0:7583de124698
|
325
|
break;
|
| narshu |
0:7583de124698
|
326
|
|
| narshu |
1:0370ea94b64a
|
327
|
// Grab the packet's data
|
| narshu |
0:7583de124698
|
328
|
if (i >= 0 && i < packet_length) {
|
| narshu |
0:7583de124698
|
329
|
data = writeCmd(0x0000);
|
| narshu |
0:7583de124698
|
330
|
if ( (data&0x8000) ) {
|
| narshu |
0:7583de124698
|
331
|
data = writeCmd(0xB000);
|
| narshu |
1:0370ea94b64a
|
332
|
temp = data&0x00FF;
|
| narshu |
0:7583de124698
|
333
|
//temp.push(data&0x00FF);
|
| narshu |
0:7583de124698
|
334
|
crc = crc8(crc, (unsigned char)(data&0x00FF));
|
| narshu |
0:7583de124698
|
335
|
i++;
|
| narshu |
0:7583de124698
|
336
|
}
|
| narshu |
0:7583de124698
|
337
|
}
|
| narshu |
0:7583de124698
|
338
|
|
| narshu |
0:7583de124698
|
339
|
//If we exhaust the interrupt, exit
|
| narshu |
0:7583de124698
|
340
|
if (NIRQ_in)
|
| narshu |
0:7583de124698
|
341
|
break;
|
| narshu |
0:7583de124698
|
342
|
|
| narshu |
0:7583de124698
|
343
|
if (i >= packet_length) {
|
| narshu |
0:7583de124698
|
344
|
data = writeCmd(0x0000);
|
| narshu |
0:7583de124698
|
345
|
if ( (data&0x8000) ) {
|
| narshu |
0:7583de124698
|
346
|
data = writeCmd(0xB000);
|
| narshu |
0:7583de124698
|
347
|
if ((unsigned char)(data & 0x00FF) == crc) {
|
| narshu |
0:7583de124698
|
348
|
//If the checksum is correct, add our data to the end of the output buffer
|
| narshu |
0:7583de124698
|
349
|
//while (!temp.empty()) {
|
| narshu |
1:0370ea94b64a
|
350
|
//fifo.push(temp);
|
| narshu |
1:0370ea94b64a
|
351
|
// temp.pop();
|
| narshu |
1:0370ea94b64a
|
352
|
#ifdef ROBOT_SECONDARY
|
| narshu |
1:0370ea94b64a
|
353
|
if (callbackfunc)
|
| narshu |
1:0370ea94b64a
|
354
|
(*callbackfunc)(temp);
|
| narshu |
1:0370ea94b64a
|
355
|
|
| narshu |
1:0370ea94b64a
|
356
|
if (callbackobj && mcallbackfunc)
|
| narshu |
1:0370ea94b64a
|
357
|
(callbackobj->*mcallbackfunc)(temp);
|
| narshu |
1:0370ea94b64a
|
358
|
#endif
|
| narshu |
1:0370ea94b64a
|
359
|
// }
|
| narshu |
0:7583de124698
|
360
|
}
|
| narshu |
0:7583de124698
|
361
|
|
| narshu |
0:7583de124698
|
362
|
// Tell RF Module we are finished, and clean up
|
| narshu |
0:7583de124698
|
363
|
i = -2;
|
| narshu |
0:7583de124698
|
364
|
packet_length = 0;
|
| narshu |
0:7583de124698
|
365
|
crc = 0;
|
| narshu |
0:7583de124698
|
366
|
//temp = queue<unsigned char>();
|
| narshu |
0:7583de124698
|
367
|
resetRX();
|
| narshu |
0:7583de124698
|
368
|
}
|
| narshu |
0:7583de124698
|
369
|
}
|
| narshu |
0:7583de124698
|
370
|
}
|
| narshu |
1:0370ea94b64a
|
371
|
|
| narshu |
0:7583de124698
|
372
|
}
|
| narshu |
0:7583de124698
|
373
|
|
| narshu |
0:7583de124698
|
374
|
unsigned int RF12B::status() {
|
| narshu |
0:7583de124698
|
375
|
return writeCmd(0x0000);
|
| narshu |
0:7583de124698
|
376
|
}
|
| narshu |
0:7583de124698
|
377
|
|
| narshu |
1:0370ea94b64a
|
378
|
// Tell the RF Module this packet is received and wait for the next */
|
| narshu |
0:7583de124698
|
379
|
void RF12B::resetRX() {
|
| narshu |
0:7583de124698
|
380
|
writeCmd(0xCA81);
|
| narshu |
0:7583de124698
|
381
|
writeCmd(0xCA83);
|
| narshu |
0:7583de124698
|
382
|
};
|
| narshu |
0:7583de124698
|
383
|
|
| narshu |
1:0370ea94b64a
|
384
|
// Calculate CRC8 */
|
| narshu |
0:7583de124698
|
385
|
unsigned char RF12B::crc8(unsigned char crc, unsigned char data) {
|
| narshu |
0:7583de124698
|
386
|
crc = crc ^ data;
|
| narshu |
0:7583de124698
|
387
|
for (int i = 0; i < 8; i++) {
|
| narshu |
0:7583de124698
|
388
|
if (crc & 0x01) {
|
| narshu |
0:7583de124698
|
389
|
crc = (crc >> 1) ^ 0x8C;
|
| narshu |
0:7583de124698
|
390
|
} else {
|
| narshu |
0:7583de124698
|
391
|
crc >>= 1;
|
| narshu |
0:7583de124698
|
392
|
}
|
| narshu |
0:7583de124698
|
393
|
}
|
| narshu |
0:7583de124698
|
394
|
return crc;
|
| narshu |
0:7583de124698
|
395
|
} |
Shuto Naruse