def PullData():
print("pull data")
spi = SPI(1, 0)
spi.msh = 100000
spi.bpw = 8
spi.writebytes([0x30])
sleep(0.1)
moistureVals = spi.readbytes(3)
moisture = str(moistureVals[0]) + str(moistureVals[1]) + str(moistureVals[2])
spi.writebytes([0x31])
sleep(0.1)
moistureVals1 = spi.readbytes(3)
moisture1 = str(moistureVals1[0]) + str(moistureVals1[1]) + str(moistureVals1[2])
spi.writebytes([0x35])
sleep(0.1)
lightVals = spi.readbytes(3)
light = str(lightVals[0]) + str(lightVals[1]) + str(lightVals[2])
Data = []
Data.append(moisture)
Data.append(moisture1)
Data.append(light)
spi.close()
return Data
def __init__(self, bus):
# Use Adafruit_BBIO.SPI to initialize the cap
# and the spi bus configuration
s = SPI(bus, self.__DEVICE)
s.msh = self.__SPEED
s.mode = self.__MODE
s.close()
# Use normal file for writing bytes
dev = '/dev/spidev%s.%s' % (bus + 1, self.__DEVICE)
self.spi = open(dev, 'wb')
print 'Opened %s, Freq: %sHz' % (dev, self.__SPEED)
def __init__(self, bus): # Use Adafruit_BBIO.SPI to initialize the cap # and the spi bus configuration s = SPI(bus, self.__DEVICE) s.msh = self.__SPEED s.mode = self.__MODE s.close() # Use normal file for writing bytes dev = '/dev/spidev%s.%s' % (bus + 1, self.__DEVICE) self.spi = open(dev, 'wb') print 'Opened %s, Freq: %sHz' % (dev, self.__SPEED)
def getMoist_ch1():
#print("Reading Moisture CH 1")
spi = SPI(1, 0)
spi.msh = 100000
spi.bpw = 8
spi.writebytes([0x31])
sleep(0.01)
moistureVals = spi.readbytes(3)
moisture = str(moistureVals[0]) + str(moistureVals[1]) + str(moistureVals[2])
spi.close()
return moisture
def getLight():
#print("Reading Light Data")
spi = SPI(1, 0)
spi.msh = 100000
spi.bpw = 8
spi.writebytes([0x35])
sleep(0.01)
lightVals = spi.readbytes(3)
light = str(lightVals[0]) + str(lightVals[1]) + str(lightVals[2])
spi.close()
return light
def Watering():
print("watering")
spi = SPI(1, 0)
spi.msh = 100000
spi.bpw = 8
list = []
i=0
while i<50:
spi.writebytes([0x31])
sleep(0.1)
list.append(spi.readbytes(3))
print(list.pop())
++i
sleep(0.5)
spi.close()
def stopWatering():
print("Stopping watering")
session['watering_command_status'] = "OFF"
# send the signal to arduino to stop watering
spi = SPI(1, 0)
spi.msh = 100000
spi.bpw = 8
# send the appropriate signal
spi.writebytes([0x37]) # '7'
print(spi.readbytes(1))
spi.close()
return flask.redirect("/")
def startWatering():
print("Started watering...")
session['watering_command_status'] = "ON"
# send the signal to arduino to start watering
spi = SPI(1, 0)
spi.msh = 100000
spi.bpw = 8
# send the appropriate signal
spi.writebytes([0x36]) # '6'
print(spi.readbytes(1))
spi.close()
return flask.redirect("/")
class NRF24:
# Some limits
MAX_CHANNEL = 127
MAX_PAYLOAD_SIZE = 32
# PA Levels
PA_MIN = 0x00
PA_LOW = 0x01
PA_HIGH = 0x02
PA_MAX = 0x03
PA_ERROR = 0x04
# Bit rates
BR_1MBPS = 0
BR_2MBPS = 1
BR_250KBPS = 2
# CRC
CRC_DISABLED = 0
CRC_8 = 1
CRC_16 = 2
# Registers
CONFIG = 0x00
EN_AA = 0x01
EN_RXADDR = 0x02
SETUP_AW = 0x03
SETUP_RETR = 0x04
RF_CH = 0x05
RF_SETUP = 0x06
STATUS = 0x07
OBSERVE_TX = 0x08
RPD = 0x09 # CD on Non-P version
RX_ADDR_P0 = 0x0A
RX_ADDR_P1 = 0x0B
RX_ADDR_P2 = 0x0C
RX_ADDR_P3 = 0x0D
RX_ADDR_P4 = 0x0E
RX_ADDR_P5 = 0x0F
TX_ADDR = 0x10
RX_PW_P0 = 0x11
RX_PW_P1 = 0x12
RX_PW_P2 = 0x13
RX_PW_P3 = 0x14
RX_PW_P4 = 0x15
RX_PW_P5 = 0x16
FIFO_STATUS = 0x17
DYNPD = 0x1C
FEATURE = 0x1D
# Bit Mask Mnemonics - CONFIG register
MASK_RX_DR = 0x40
MASK_TX_DS = 0x20
MASK_MAX_RT = 0x10
EN_CRC = 0x08
CRCO = 0x04
PWR_UP = 0x02
PRIM_RX = 0x01
# Bit Mask Mnemonics - STATUS register
RX_DR = 0x40
TX_DS = 0x20
MAX_RT = 0x10
TX_FULL = 0x01
RX_P_NO_MASK = 0x0E # isolate pipe number
# Bit Mask Mnemonics - FIFO_STATUS register
TX_REUSE = 0x40
TXFIFO_FULL = 0x20
TXFIFO_EMPTY = 0x10
RXFIFO_FULL = 0x02
RXFIFO_EMPTY = 0x01
# Bit Mask Mnemonics - DYNPD register
DPL_P5 = 0x20
DPL_P4 = 0x10
DPL_P3 = 0x08
DPL_P2 = 0x04
DPL_P1 = 0x02
DPL_P0 = 0x01
# Bit Mask Mnemonics - FEATURE register
EN_DPL = 0x04
EN_ACK_PAY = 0x02
EN_DYN_ACK = 0x01
# Shift counts
ARD = 4
ARC = 0
PLOS_CNT = 4
ARC_CNT = 0
RX_P_NO = 1
# Instruction Mnemonics
R_REGISTER = 0x00
W_REGISTER = 0x20
REGISTER_MASK = 0x1F
ACTIVATE = 0x50
R_RX_PL_WID = 0x60
R_RX_PAYLOAD = 0x61
W_TX_PAYLOAD = 0xA0
W_ACK_PAYLOAD = 0xA8
FLUSH_TX = 0xE1
FLUSH_RX = 0xE2
REUSE_TX_PL = 0xE3
NOP = 0xFF
# Non-P omissions
LNA_HCURR = 0x01
LNA_ON = 1
LNA_OFF = 0
# P model Mask Mnemonics
RF_DR_LOW = 0x20
RF_DR_HIGH = 0x08
RF_PWR_LOW = 0x02
RF_PWR_HIGH = 0x04
datarate_e_str_P = ["1MBPS", "2MBPS", "250KBPS"]
model_e_str_P = ["nRF24L01", "nRF24l01+"]
crclength_e_str_P = ["Disabled", "8 bits", "16 bits"]
pa_dbm_e_str_P = ["PA_MIN", "PA_LOW", "PA_HIGH", "PA_MAX"]
@staticmethod
def print_single_status_line(name, value):
"""Prints name = value"""
print("{0:<16}= {1}".format(name, value))
@staticmethod
def _to_8b_list(data):
"""Convert an arbitray iteratable or single int to a list of ints
where each int is smaller than 256."""
if isinstance(data, str):
data = [ord(x) & 0xFF for x in data]
elif isinstance(data, (int, long)):
data = [data & 0xFF]
else:
data = [int(x) & 0xFF for x in data]
return data
def __init__(self, major=None, minor=None, ce_pin=None, irq_pin=None):
"""Construtor.
major and minor selects SPI port,
ce_pin is optional GPIO pin number for CE signal
irq_pin is optional GPIO pin number for IRQ signal"""
# defaults and miscelaneous initialization
self.payload_size = 32 # *< Fixed size of payloads
self.ack_payload_available = False # *< Whether there is an ack payload waiting
self.dynamic_payloads_enabled = False # *< Whether dynamic payloads are enabled.
self.ack_payload_length = 5 # *< Dynamic size of pending ack payload.
self.pipe0_reading_address = None # *< Last address set on pipe 0 for reading.
self.spidev = None
self.last_error = 0
self.auto_ack = 0
self.address_length = 5
# If all parameters are available, lets start the radio!
if major is not None and minor is not None and irq_pin is not None:
self.begin(major, minor, ce_pin, irq_pin)
def begin(self, major, minor, ce_pin, irq_pin):
"""Radio initialization, must be called before anything else.
major and minor selects SPI port,
ce_pin is GPIO pin number for CE signal
irq_pin is optional GPIO pin number for IRQ signal"""
# Initialize SPI bus
if ADAFRUID_BBIO_SPI:
self.spidev = SPI(major, minor)
self.spidev.bpw = 8
try:
self.spidev.msh = 10000000 # Maximum supported by NRF24L01+
except IOError:
pass # Hardware does not support this speed
else:
self.spidev = spidev.SpiDev()
self.spidev.open(major, minor)
self.spidev.bits_per_word = 8
try:
self.spidev.max_speed_hz = 10000000 # Maximum supported by NRF24L01+
except IOError:
pass # Hardware does not support this speed
self.spidev.cshigh = False
self.spidev.mode = 0
self.spidev.loop = False
self.spidev.lsbfirst = False
self.spidev.threewire = False
# Save pin numbers
self.ce_pin = ce_pin
self.irq_pin = irq_pin
# If CE pin is not used, CE signal must be always high
if self.ce_pin is not None:
GPIO.setup(self.ce_pin, GPIO.OUT)
# IRQ pin is optional
if self.irq_pin is not None:
GPIO.setup(self.irq_pin, GPIO.IN, pull_up_down=GPIO.PUD_UP)
time.sleep(5 / 1000000.0)
# Reset radio registers
self.reset()
# Restore our default PA level
self.setPALevel(NRF24.PA_MAX)
# Determine if this is a p or non-p RF24 module and then
# reset our data rate back to default value. This works
# because a non-P variant won't allow the data rate to
# be set to 250Kbps.
self.p_variant = False # False for RF24L01 and true for RF24L01P
if self.setDataRate(NRF24.BR_250KBPS):
self.p_variant = True
# Then set the data rate to the slowest (and most reliable) speed supported by all
# hardware.
self.setDataRate(NRF24.BR_1MBPS)
# Set 1500uS (minimum for 32B payload in ESB@250KBPS) timeouts, to make testing a little easier
# WARNING: If this is ever lowered, either 250KBS mode with AA is broken or maximum packet
# sizes must never be used. See documentation for a more complete explanation.
# This must be done after setDataRate()
self.setRetries(int('0101', 2), 15)
# Line bellow will set maximum (4ms) delay
#self.setRetries(15, 15)
# Initialize CRC and request 2-byte (16bit) CRC
self.setCRCLength(NRF24.CRC_16)
# Disable dynamic payloads, to match dynamic_payloads_enabled setting
self.write_register(NRF24.DYNPD, 0)
# Set up default configuration. Callers can always change it later.
# This channel should be universally safe and not bleed over into adjacent
# spectrum.
self.channel = 76
self.setChannel(self.channel)
# Powers up the radio, this can take up to 4.5ms
# when CE is low radio will be in standby and will initiate
# reception or transmission very shortly after CE is raised
# If CE pin is not used, will Power up only on startListening and stopListening
if self.ce_pin is not None:
self.powerUp()
# Reset current status
# Notice reset and flush is the last thing we do
self.write_register(NRF24.STATUS, NRF24.RX_DR | NRF24.TX_DS | NRF24.MAX_RT)
# Flush buffers
self.flush_rx()
self.flush_tx()
self.clear_irq_flags()
def end(self):
""" End use of the radio """
self.ce(0)
if self.spidev:
self.powerDown()
self.spidev.close()
self.spidev = None
def startListening(self):
""" Set radio for reception
Use openReadingPipe to set up reception pipes before listening """
self.write_register(NRF24.CONFIG, self.read_register(NRF24.CONFIG) | NRF24.PWR_UP | NRF24.PRIM_RX)
self.flush_tx()
self.flush_rx()
self.clear_irq_flags()
# Restore the pipe0 address, if exists
if self.pipe0_reading_address:
self.write_register(self.RX_ADDR_P0, self.pipe0_reading_address)
# Go!
self.ce(1)
# wait for the radio to come up
if self.ce_pin is None:
time.sleep(45 / 10000.0) # 4.5 ms
else:
time.sleep(130 / 1000000.0) # 130us
def ce(self, level, pulse=0):
""" Controls CE pin """
# CE Pin is optional (but highly recommended)
if self.ce_pin is not None:
GPIO.output(self.ce_pin, level)
if pulse > 0:
time.sleep(pulse)
GPIO.output(self.ce_pin, 1 - level)
def irqWait(self, timeout=30000):
""" Wait for IRQ pin LOW, timeout in miliseconds """
if self.irq_pin is None:
return True
# TODO: A race condition may occur here. => wait for level?
if GPIO.input(self.irq_pin) == 0: # Pin is already down. Packet is waiting?
return True
try:
return GPIO.wait_for_edge(self.irq_pin, GPIO.FALLING, timeout) == 1
except TypeError: # Timeout parameter not supported
return GPIO.wait_for_edge(self.irq_pin, GPIO.FALLING) == 1
except AttributeError:
raise RuntimeError("GPIO lib does not support wait_for_edge()")
def read_register(self, reg, length=1):
""" Read one or more registers """
buf = [NRF24.R_REGISTER | (NRF24.REGISTER_MASK & reg)]
buf += [NRF24.NOP] * max(1, length)
resp = self.spidev.xfer2(buf)
if length == 1:
return resp[1]
return resp[1:]
def write_register(self, reg, value):
""" Write register value """
buf = [NRF24.W_REGISTER | (NRF24.REGISTER_MASK & reg)]
buf += self._to_8b_list(value)
self.spidev.xfer2(buf)
def write_payload(self, buf):
""" Writes data to the payload register, automatically padding it
to match the required length. Returns the number of bytes
actually written. """
buf = self._to_8b_list(buf)
if self.dynamic_payloads_enabled:
if len(buf) > self.MAX_PAYLOAD_SIZE:
raise RuntimeError("Dynamic payload is larger than the " +
"maximum size.")
blank_len = 0
else:
if len(buf) > self.payload_size:
raise RuntimeError("Payload is larger than the fixed payload" +
"size (%d vs. %d bytes)" % (len(buf), self.payload_size))
blank_len = self.payload_size - len(buf)
txbuffer = [NRF24.W_TX_PAYLOAD] + buf + ([0x00] * blank_len)
self.spidev.xfer2(txbuffer)
return len(txbuffer) - 1
def read_payload(self, buf, buf_len=-1):
""" Reads data from the payload register and clears the
DR bit of the STATUS register. """
if buf_len < 0:
buf_len = self.payload_size
if not self.dynamic_payloads_enabled:
data_len = min(self.payload_size, buf_len)
blank_len = self.payload_size - data_len
else:
data_len = self.getDynamicPayloadSize()
blank_len = 0
txbuffer = [NRF24.R_RX_PAYLOAD] + [NRF24.NOP] * (blank_len + data_len)
payload = self.spidev.xfer2(txbuffer)
del buf[:]
buf += payload[1:data_len + 1]
self.write_register(NRF24.STATUS, NRF24.RX_DR)
return data_len
def flush_rx(self):
""" Flush RX buffer, return status """
return self.spidev.xfer2([NRF24.FLUSH_RX])[0]
def flush_tx(self):
""" Flush TX buffer, return status """
return self.spidev.xfer2([NRF24.FLUSH_TX])[0]
def get_status(self):
""" Read status register """
return self.spidev.xfer2([NRF24.NOP])[0]
def print_status(self, status):
""" Print decoded status """
status_str = "0x{0:02x} RX_DR={1:x} TX_DS={2:x} MAX_RT={3:x} RX_P_NO={4:x} TX_FULL={5:x}".format(
status,
1 if status & NRF24.RX_DR else 0,
1 if status & NRF24.TX_DS else 0,
1 if status & NRF24.MAX_RT else 0,
((status >> NRF24.RX_P_NO) & int("111", 2)),
1 if status & NRF24.TX_FULL else 0)
self.print_single_status_line("STATUS", status_str)
def print_observe_tx(self, value):
""" Print decoded observe_tx register:
lost packets (accumulated) and retransmited packets (last tx) """
tx_str = "OBSERVE_TX=0x{0:02x}: POLS_CNT={2:x} ARC_CNT={2:x}\r\n".format(
value,
(value >> NRF24.PLOS_CNT) & int("1111", 2),
(value >> NRF24.ARC_CNT) & int("1111", 2))
self.print_single_status_line("OBSERVE_TX", tx_str)
def print_byte_register(self, name, reg, qty=1):
""" Print byte registers """
registers = ["0x{:0>2x}".format(self.read_register(reg+r)) for r in range(0, qty)]
self.print_single_status_line(name, " ".join(registers))
def print_address_register(self, name, reg, qty=1):
""" Print address register (LSB to MSB) """
address_registers = ["0x{0:>02x}{1:>02x}{2:>02x}{3:>02x}{4:>02x}".format(
*self.read_register(reg+r, 5))
for r in range(qty)]
self.print_single_status_line(name, " ".join(address_registers))
def setChannel(self, channel):
""" Set radio channel (0 to MAX_CHANNEL) """
if channel < 0 or channel > self.MAX_CHANNEL:
raise RuntimeError("Channel number out of range")
self.channel = channel
self.write_register(NRF24.RF_CH, channel)
def getChannel(self):
""" Read channel register """
return self.read_register(NRF24.RF_CH)
def setPayloadSize(self, size):
""" Set payload size """
self.payload_size = min(max(size, 1), NRF24.MAX_PAYLOAD_SIZE)
def getPayloadSize(self):
""" Get payload size """
return self.payload_size
def printDetails(self):
""" Prints register values and other information """
self.print_status(self.get_status())
self.print_address_register("RX_ADDR_P0-1", NRF24.RX_ADDR_P0, 2)
self.print_byte_register("RX_ADDR_P2-5", NRF24.RX_ADDR_P2, 4)
self.print_address_register("TX_ADDR", NRF24.TX_ADDR)
self.print_byte_register("RX_PW_P0-6", NRF24.RX_PW_P0, 6)
self.print_byte_register("EN_AA", NRF24.EN_AA)
self.print_byte_register("EN_RXADDR", NRF24.EN_RXADDR)
self.print_byte_register("RF_CH", NRF24.RF_CH)
self.print_byte_register("RF_SETUP", NRF24.RF_SETUP)
self.print_byte_register("SETUP_AW", NRF24.SETUP_AW)
self.print_byte_register("OBSERVE_TX", NRF24.OBSERVE_TX)
self.print_byte_register("CONFIG", NRF24.CONFIG)
self.print_byte_register("FIFO_STATUS", NRF24.FIFO_STATUS)
self.print_byte_register("DYNPD", NRF24.DYNPD)
self.print_byte_register("FEATURE", NRF24.FEATURE)
self.print_single_status_line("Data Rate", NRF24.datarate_e_str_P[self.getDataRate()])
self.print_single_status_line("Model", NRF24.model_e_str_P[self.isPVariant()])
self.print_single_status_line("CRC Length", NRF24.crclength_e_str_P[self.getCRCLength()])
self.print_single_status_line("PA Power", NRF24.pa_dbm_e_str_P[self.getPALevel()])
def stopListening(self):
""" Stop listenning and set up transmission """
self.ce(0)
self.flush_tx()
self.flush_rx()
self.clear_irq_flags()
# Enable TX
self.write_register(NRF24.CONFIG,
(self.read_register(NRF24.CONFIG) | NRF24.PWR_UP) & ~NRF24.PRIM_RX)
# Enable pipe 0 for auto-ack
self.write_register(NRF24.EN_RXADDR, self.read_register(NRF24.EN_RXADDR) | 1)
# wait for the radio to come up
if self.ce_pin is None:
time.sleep(45 / 10000.0) # 4.5 ms
else:
time.sleep(130 / 1000000.0) # 130us
def powerDown(self):
""" Power down radio """
self.write_register(NRF24.CONFIG, self.read_register(NRF24.CONFIG) & ~ NRF24.PWR_UP)
def powerUp(self):
""" Power up radio """
self.write_register(NRF24.CONFIG, self.read_register(NRF24.CONFIG) | NRF24.PWR_UP)
time.sleep(4.5e-3)
def write(self, buf):
""" Sends buf and wait for end of transmission and acknowledgement
call stopListenning and openWritingPipe before sending
buf can be a single int or a container of char or int """
self.last_error = None
length = self.write_payload(buf)
self.ce(1)
sent_at = monotonic()
packet_time = ((1 + length + self.crc_length + self.address_length) * 8 + 9)/(self.data_rate_bits * 1000.)
if self.auto_ack != 0:
packet_time *= 2
if self.retries != 0 and self.auto_ack != 0:
timeout = sent_at + (packet_time + self.delay)*self.retries
else:
timeout = sent_at + packet_time * 2 # 2 is empiric
while monotonic() < timeout:
time.sleep(packet_time)
status = self.get_status()
if status & NRF24.TX_DS:
self.ce(0)
return True
if status & NRF24.MAX_RT:
self.last_error = 'MAX_RT'
self.ce(0)
break
self.ce(0)
if self.last_error is None:
self.last_error = 'TIMEOUT'
self.flush_tx() # Avoid leaving the payload in tx fifo
return False
def startFastWrite(self, buf):
""" Starts sending of buf but do not wait for end of transmission. CE is left high."""
self.write_payload(buf)
self.ce(1)
def startWrite(self, buf):
""" Starts sending of buf but do not wait for end of transmission. CE is pulsed."""
self.write_payload(buf)
self.ce(1, 10e-6) # Pulse CE to start tranmission
def getDynamicPayloadSize(self):
""" Reads the size of received payload when using dynamic payloads """
return self.spidev.xfer2([NRF24.R_RX_PL_WID, NRF24.NOP])[1]
def available(self, pipe_num=None, irq_wait=False, irq_timeout=30000):
""" Tests if there is a reception available
pipe_num should be None or a list. If not None, it will receive information
on pipes with available data.
if irq_wait is True, will wait for IRQ line to change from HIGH to LOW
irq_timeout is the timeout for this wait, in miliseconds """
status = self.get_status()
result = False
# Sometimes the radio specifies that there is data in one pipe but
# doesn't set the RX flag...
if status & NRF24.RX_DR or (status & NRF24.RX_P_NO_MASK != NRF24.RX_P_NO_MASK):
result = True
else:
if irq_wait: # Will use IRQ wait
if self.irqWait(irq_timeout): # Do we have a packet?
status = self.get_status() # Seems like we do!
if status & NRF24.RX_DR or (status & NRF24.RX_P_NO_MASK != NRF24.RX_P_NO_MASK):
result = True
if pipe_num is not None:
del pipe_num[:]
if result:
pipe_num.append((status & NRF24.RX_P_NO_MASK) >> NRF24.RX_P_NO)
# Handle ack payload receipt
if status & NRF24.TX_DS:
self.write_register(NRF24.STATUS, NRF24.TX_DS)
return result
def read(self, buf, buf_len=-1):
""" Read payload from received packet. Returns != 0 if there are more packets in the FIFO. """
# Fetch the payload
self.read_payload(buf, buf_len)
# was this the last of the data available?
return self.read_register(NRF24.FIFO_STATUS) & NRF24.RXFIFO_EMPTY
def clear_irq_flags(self):
""" Clear flags in status register. """
self.write_register(NRF24.STATUS, NRF24.RX_DR | NRF24.TX_DS | NRF24.MAX_RT)
def whatHappened(self):
""" Read the status & reset the status in one easy call
Returns a dictionary informing tx_ok, tx_fail and rx_ready
"""
status = self.spidev.xfer2(NRF24.STATUS, NRF24.RX_DR | NRF24.TX_DS | NRF24.MAX_RT)[0]
# Report to the user what happened
tx_ok = status & NRF24.TX_DS
tx_fail = status & NRF24.MAX_RT
rx_ready = status & NRF24.RX_DR
return {'tx_ok': tx_ok, "tx_fail": tx_fail, "rx_ready": rx_ready}
def openWritingPipe(self, address):
""" Sets tx address
address is the address in transmited packet (2 to 5 bytes), LSB to MSB
"""
self.write_register(NRF24.RX_ADDR_P0, address)
self.write_register(NRF24.TX_ADDR, address)
if not self.dynamic_payloads_enabled:
self.write_register(NRF24.RX_PW_P0, self.payload_size)
def openReadingPipe(self, pipe, address):
""" Sets rx address for a pipe and enables it for recieving
pipe should be 0 to 5
address is the address
for pipe 0 or 1, 2 to 5 bytes LSB to MSB
for pipes 2 to 5, 1 byte (LSB, MSB cames from pipe 1)
"""
if pipe >= 6:
raise RuntimeError("Invalid pipe number")
if (pipe >= 2 and len(address) > 1) or len(address) > 5:
raise RuntimeError("Invalid adress length")
# If this is pipe 0, cache the address. This is needed because
# openWritingPipe() will overwrite the pipe 0 address, so
# startListening() will have to restore it.
if pipe == 0:
self.pipe0_reading_address = address
self.write_register(NRF24.RX_ADDR_P0 + pipe, address)
if not self.dynamic_payloads_enabled:
self.write_register(NRF24.RX_PW_P0 + pipe, self.payload_size)
# Note it would be more efficient to set all of the bits for all open
# pipes at once. However, I thought it would make the calling code
# more simple to do it this way.
self.write_register(NRF24.EN_RXADDR,
self.read_register(NRF24.EN_RXADDR) | (1 << pipe))
def closeReadingPipe(self, pipe):
""" Disabe a receiving pipe """
self.write_register(NRF24.EN_RXADDR,
self.read_register(NRF24.EN_RXADDR) & ~(1 << pipe))
def toggle_features(self):
""" Enable DUNPD and FEATURE registers on non P variant """
buf = [NRF24.ACTIVATE, 0x73]
self.spidev.xfer2(buf)
def enableDynamicPayloads(self):
""" Enables dynamic size payloads """
# First try writing to the features
self.write_register(NRF24.FEATURE, self.read_register(NRF24.FEATURE) | NRF24.EN_DPL)
# If it didn't work, the features are not enabled
if not self.read_register(NRF24.FEATURE):
# So enable them and try again
self.toggle_features()
self.write_register(NRF24.FEATURE, self.read_register(NRF24.FEATURE) | NRF24.EN_DPL)
# Enable dynamic payload on all pipes
# Not sure the use case of only having dynamic payload on certain
# pipes, so the library does not support it.
self.write_register(NRF24.DYNPD, self.read_register(NRF24.DYNPD) | 0b00111111)
self.dynamic_payloads_enabled = True
def enableAckPayload(self):
""" Enable ack payload and dynamic payload features """
# First try writing to the features
self.write_register(NRF24.FEATURE,
self.read_register(NRF24.FEATURE) | NRF24.EN_ACK_PAY | NRF24.EN_DPL)
# If it didn't work, the features are not enabled
if not self.read_register(NRF24.FEATURE):
# So enable them and try again
self.toggle_features()
self.write_register(NRF24.FEATURE,
self.read_register(NRF24.FEATURE) | NRF24.EN_ACK_PAY | NRF24.EN_DPL)
# Enable dynamic payload on pipes 0 & 1
self.write_register(NRF24.DYNPD, self.read_register(NRF24.DYNPD) | NRF24.DPL_P1 | NRF24.DPL_P0)
def writeAckPayload(self, pipe, buf, buf_len):
""" Write payload for acknowledgement """
txbuffer = [NRF24.W_ACK_PAYLOAD | (pipe & 0x7)]
max_payload_size = 32
data_len = min(buf_len, max_payload_size)
txbuffer.extend(buf[0:data_len])
self.spidev.xfer2(txbuffer)
def isAckPayloadAvailable(self):
""" Check if there is a payload in a acknowledgement.
Note: this will clear the ack payload flag. """
result = self.ack_payload_available
self.ack_payload_available = False
return result
def isPVariant(self):
""" Returns true if nRF24L01+, False if nRF24L01 """
return self.p_variant
def setAutoAck(self, enable):
""" Enable or disable auto acknoledge for all pipes """
if enable:
self.write_register(NRF24.EN_AA, 0x3F)
self.auto_ack = 0x3f
if self.self.getCRCLength() == NFR24.CRC_DISABLED:
self.setCRCLength(NRF24.CRC_8) # Enhanced Shockburst requires at least 1 byte CRC
else:
self.auto_ack = 0
self.write_register(NRF24.EN_AA, 0)
def setAutoAckPipe(self, pipe, enable):
""" Enable or disable auto acknoledge for an specific pipe """
if pipe <= 6:
en_aa = self.read_register(NRF24.EN_AA)
if enable:
if self.self.getCRCLength() == NFR24.CRC_DISABLED:
self.setCRCLength(NRF24.CRC_8) # Enhanced Shockburst requires at least 1 byte CRC
en_aa |= 1 << pipe
self.auto_ack |= 1 << pipe
else:
en_aa &= ~1 << pipe
self.auto_ack &= ~1 << pipe
self.write_register(NRF24.EN_AA, en_aa)
def setAddressWidth(self, width):
""" Set address width (2 to 5 bytes) """
if width >= 2 and width <= 5:
self.write_register(NRF24.SETUP_AW, width - 2)
self.address_width = width
def testCarrier(self):
""" Tests if there is a radio signal at current channel. """
return self.read_register(NRF24.RPD) & 1
def setPALevel(self, level):
""" Set transmission level """
setup = self.read_register(NRF24.RF_SETUP)
setup &= ~(NRF24.RF_PWR_LOW | NRF24.RF_PWR_HIGH)
if level == NRF24.PA_MAX:
setup |= NRF24.RF_PWR_LOW | NRF24.RF_PWR_HIGH
elif level == NRF24.PA_HIGH:
setup |= NRF24.RF_PWR_HIGH
elif level == NRF24.PA_LOW:
setup |= NRF24.RF_PWR_LOW
elif level == NRF24.PA_MIN:
pass
elif level == NRF24.PA_ERROR:
# On error, go to maximum PA
setup |= NRF24.RF_PWR_LOW | NRF24.RF_PWR_HIGH
self.write_register(NRF24.RF_SETUP, setup)
def getPALevel(self):
""" Inform current transmission level """
power = self.read_register(NRF24.RF_SETUP) & (NRF24.RF_PWR_LOW | NRF24.RF_PWR_HIGH)
if power == (NRF24.RF_PWR_LOW | NRF24.RF_PWR_HIGH):
return NRF24.PA_MAX
elif power == NRF24.RF_PWR_HIGH:
return NRF24.PA_HIGH
elif power == NRF24.RF_PWR_LOW:
return NRF24.PA_LOW
else:
return NRF24.PA_MIN
def setDataRate(self, speed):
""" Set data rate. returns True if success. """
setup = self.read_register(NRF24.RF_SETUP)
setup &= ~(NRF24.RF_DR_LOW | NRF24.RF_DR_HIGH)
if speed == NRF24.BR_250KBPS:
# Must set the RF_DR_LOW to 1 RF_DR_HIGH (used to be RF_DR) is already 0
# Making it '10'.
self.data_rate_bits = 250
self.data_rate = NRF24.BR_250KBPS
setup |= NRF24.RF_DR_LOW
elif speed == NRF24.BR_2MBPS:
# Set 2Mbs, RF_DR (RF_DR_HIGH) is set 1
# Making it '01'
self.data_rate_bits = 2000
self.data_rate = NRF24.BR_2MBPS
setup |= NRF24.RF_DR_HIGH
else:
# 1Mbs
self.data_rate_bits = 1000
self.data_rate = NRF24.BR_1MBPS
self.write_register(NRF24.RF_SETUP, setup)
# Verify our result
return self.read_register(NRF24.RF_SETUP) == setup
def getDataRate(self):
""" Inform current data rate """
dr = self.read_register(NRF24.RF_SETUP) & (NRF24.RF_DR_LOW | NRF24.RF_DR_HIGH)
# Order matters in our case below
if dr == NRF24.RF_DR_LOW:
# '10' = 250KBPS
return NRF24.BR_250KBPS
elif dr == NRF24.RF_DR_HIGH:
# '01' = 2MBPS
return NRF24.BR_2MBPS
else:
# '00' = 1MBPS
return NRF24.BR_1MBPS
def setCRCLength(self, length):
""" Set CRC length
length = CRC_DISABLED, CRC_8 or CRC_16 """
config = self.read_register(NRF24.CONFIG) & ~(NRF24.EN_CRC | NRF24.CRCO)
if length == NRF24.CRC_DISABLED:
self.crc_length = 0
elif length == NRF24.CRC_8:
config |= NRF24.EN_CRC
self.crc_length = 1
else:
config |= NRF24.EN_CRC
config |= NRF24.CRCO
self.crc_length = 2
self.write_register(NRF24.CONFIG, config)
def getCRCLength(self):
""" Get CRC length
returns CRC_DISABLED, CRC_8 or CRC_16 """
result = NRF24.CRC_DISABLED
config = self.read_register(NRF24.CONFIG) & (NRF24.CRCO | NRF24.EN_CRC)
if config & NRF24.EN_CRC:
if config & NRF24.CRCO:
result = NRF24.CRC_16
else:
result = NRF24.CRC_8
return result
def disableCRC(self):
""" Disable CRC """
disable = self.read_register(NRF24.CONFIG) & ~NRF24.EN_CRC
self.write_register(NRF24.CONFIG, disable)
def setRetries(self, delay, count):
""" Set timeout and number of retries
delay (timeout) 0-15 as per datasheet
count 0-15 max number of retries (0=disable retries)"""
self.write_register(NRF24.SETUP_RETR, (delay & 0xf) << NRF24.ARD | (count & 0xf) << NRF24.ARC)
self.delay = delay * 0.000250
self.retries = count
self.max_timeout = (self.payload_size / float(self.data_rate_bits) + self.delay) * self.retries
self.timeout = (self.payload_size / float(self.data_rate_bits) + self.delay)
def getRetries(self):
""" Return current retry configuration. """
return self.read_register(NRF24.SETUP_RETR)
def getMaxTimeout(self):
""" Return current maximum timeout (no ack after all retries). """
return self.max_timeout
def getTimeout(self):
""" Return current timeout for one transmission. """
return self.timeout
def reset(self):
""" Make sure the NRF is in the same state as after power up
to avoid problems resulting from left over configuration
from other programs."""
self.ce(0)
reset_values = {0: 0x08, 1: 0x3F, 2: 0x03, 3: 0x03, 4: 0x03, 5: 0x02, 6: 0x0e,
0x0a: [0xe7, 0xe7, 0xe7, 0xe7, 0xe7],
0x0b: [0xc2, 0xc2, 0xc2, 0xc2, 0xc2],
0x0c: 0xc3, 0x0d: 0xc4, 0x0e: 0xc5, 0x0f: 0xc6,
0x10: [0xe7, 0xe7, 0xe7, 0xe7, 0xe7],
0x11: 0, 0x12: 0, 0x13: 0, 0x14: 0, 0x15: 0, 0x16: 0,
0x1c: 0, 0x1d: 0}
for reg, value in reset_values.items():
self.write_register(reg, value)
self.flush_rx()
self.flush_tx()
class NRF24:
MAX_CHANNEL = 127
MAX_PAYLOAD_SIZE = 32
# PA Levels
PA_MIN = 0
PA_LOW = 1
PA_HIGH = 2
PA_MAX = 3
PA_ERROR = 4
# Bit rates
BR_1MBPS = 0
BR_2MBPS = 1
BR_250KBPS = 2
# CRC
CRC_DISABLED = 0
CRC_8 = 1
CRC_16 = 2
CRC_ENABLED = 3
# Registers
CONFIG = 0x00
EN_AA = 0x01
EN_RXADDR = 0x02
SETUP_AW = 0x03
SETUP_RETR = 0x04
RF_CH = 0x05
RF_SETUP = 0x06
STATUS = 0x07
OBSERVE_TX = 0x08
CD = 0x09
RX_ADDR_P0 = 0x0A
RX_ADDR_P1 = 0x0B
RX_ADDR_P2 = 0x0C
RX_ADDR_P3 = 0x0D
RX_ADDR_P4 = 0x0E
RX_ADDR_P5 = 0x0F
TX_ADDR = 0x10
RX_PW_P0 = 0x11
RX_PW_P1 = 0x12
RX_PW_P2 = 0x13
RX_PW_P3 = 0x14
RX_PW_P4 = 0x15
RX_PW_P5 = 0x16
FIFO_STATUS = 0x17
DYNPD = 0x1C
FEATURE = 0x1D
# Bit Mnemonics */
MASK_RX_DR = 6
MASK_TX_DS = 5
MASK_MAX_RT = 4
EN_CRC = 3
CRCO = 2
PWR_UP = 1
PRIM_RX = 0
ENAA_P5 = 5
ENAA_P4 = 4
ENAA_P3 = 3
ENAA_P2 = 2
ENAA_P1 = 1
ENAA_P0 = 0
ERX_P5 = 5
ERX_P4 = 4
ERX_P3 = 3
ERX_P2 = 2
ERX_P1 = 1
ERX_P0 = 0
AW = 0
ARD = 4
ARC = 0
PLL_LOCK = 4
RF_DR = 3
RF_PWR = 6
RX_DR = 6
TX_DS = 5
MAX_RT = 4
RX_P_NO = 1
TX_FULL = 0
PLOS_CNT = 4
ARC_CNT = 0
TX_REUSE = 6
FIFO_FULL = 5
TX_EMPTY = 4
RX_FULL = 1
RX_EMPTY = 0
DPL_P5 = 5
DPL_P4 = 4
DPL_P3 = 3
DPL_P2 = 2
DPL_P1 = 1
DPL_P0 = 0
EN_DPL = 2
EN_ACK_PAY = 1
EN_DYN_ACK = 0
# Instruction Mnemonics
R_REGISTER = 0x00
W_REGISTER = 0x20
REGISTER_MASK = 0x1F
ACTIVATE = 0x50
R_RX_PL_WID = 0x60
R_RX_PAYLOAD = 0x61
W_TX_PAYLOAD = 0xA0
W_ACK_PAYLOAD = 0xA8
FLUSH_TX = 0xE1
FLUSH_RX = 0xE2
REUSE_TX_PL = 0xE3
NOP = 0xFF
# Non-P omissions
LNA_HCURR = 0x00
# P model memory Map
RPD = 0x09
# P model bit Mnemonics
RF_DR_LOW = 5
RF_DR_HIGH = 3
RF_PWR_LOW = 1
RF_PWR_HIGH = 2
# Signal Mnemonics
LOW = 0
HIGH = 1
datarate_e_str_P = ["1MBPS", "2MBPS", "250KBPS"]
model_e_str_P = ["nRF24L01", "nRF24l01+"]
crclength_e_str_P = ["Disabled", "8 bits", "16 bits"]
pa_dbm_e_str_P = ["PA_MIN", "PA_LOW", "PA_MED", "PA_HIGH"]
child_pipe = [
RX_ADDR_P0, RX_ADDR_P1, RX_ADDR_P2, RX_ADDR_P3, RX_ADDR_P4, RX_ADDR_P5
]
child_payload_size = [
RX_PW_P0, RX_PW_P1, RX_PW_P2, RX_PW_P3, RX_PW_P4, RX_PW_P5
]
child_pipe_enable = [ERX_P0, ERX_P1, ERX_P2, ERX_P3, ERX_P4, ERX_P5]
def __init__(self):
self.ce_pin = "P9_15"
self.irq_pin = "P9_16"
self.channel = 76
self.data_rate = NRF24.BR_1MBPS
self.wide_band = False # 2Mbs data rate in use?
self.p_variant = False # False for RF24L01 and true for RF24L01P
self.payload_size = 5 #*< Fixed size of payloads
self.ack_payload_available = False #*< Whether there is an ack payload waiting
self.dynamic_payloads_enabled = False #*< Whether dynamic payloads are enabled.
self.ack_payload_length = 5 #*< Dynamic size of pending ack payload.
self.pipe0_reading_address = None #*< Last address set on pipe 0 for reading.
self.spidev = None
def ce(self, level):
if level == NRF24.HIGH:
GPIO.output(self.ce_pin, GPIO.HIGH)
else:
GPIO.output(self.ce_pin, GPIO.LOW)
return
def irqWait(self, timeout=30000):
# CHANGE: detect module name because wait_for_edge is not available in
# other libraries
if GPIO.__name__ != "Adafruit_BBIO.GPIO":
return False
# TODO: A race condition may occur here.
if GPIO.input(
self.irq_pin) == 0: # Pin is already down. Packet is waiting?
return True
return GPIO.wait_for_edge(self.irq_pin, GPIO.FALLING, timeout) == 1
def read_register(self, reg, blen=1):
buf = [NRF24.R_REGISTER | (NRF24.REGISTER_MASK & reg)]
for col in range(blen):
buf.append(NRF24.NOP)
resp = self.spidev.xfer2(buf)
if blen == 1:
return resp[1]
return resp[1:blen + 1]
def write_register(self, reg, value, length=-1):
buf = [NRF24.W_REGISTER | (NRF24.REGISTER_MASK & reg)]
if isinstance(value, (int, long)):
if length < 0:
length = 1
length = min(4, length)
for i in range(length):
buf.insert(1, int(value & 0xff))
value >>= 8
elif isinstance(value, list):
if length < 0:
length = len(value)
for i in range(min(len(value), length)):
buf.append(int(value[len(value) - i - 1] & 0xff))
else:
raise Exception("Value must be int or list")
return self.spidev.xfer2(buf)[0]
def write_payload(self, buf):
data_len = min(self.payload_size, len(buf))
blank_len = 0
if not self.dynamic_payloads_enabled:
blank_len = self.payload_size - data_len
txbuffer = [NRF24.W_TX_PAYLOAD]
for n in buf:
t = type(n)
if t is str:
txbuffer.append(ord(n))
elif t is int:
txbuffer.append(n)
else:
raise Exception("Only ints and chars are supported: Found " +
str(t))
if blank_len != 0:
blank = [0x00 for i in range(blank_len)]
txbuffer.extend(blank)
return self.spidev.xfer2(txbuffer)
def read_payload(self, buf, buf_len=-1):
if buf_len < 0:
buf_len = self.payload_size
data_len = min(self.payload_size, buf_len)
blank_len = 0
if not self.dynamic_payloads_enabled:
blank_len = self.payload_size - data_len
txbuffer = [NRF24.NOP for i in range(0, blank_len + data_len + 1)]
txbuffer[0] = NRF24.R_RX_PAYLOAD
payload = self.spidev.xfer2(txbuffer)
del buf[:]
buf.extend(payload[1:data_len + 1])
return data_len
def flush_rx(self):
return self.spidev.xfer2([NRF24.FLUSH_RX])[0]
def flush_tx(self):
return self.spidev.xfer2([NRF24.FLUSH_TX])[0]
def get_status(self):
return self.spidev.xfer2([NRF24.NOP])[0]
def print_status(self, status):
status_str = "STATUS\t = 0x{0:02x} RX_DR={1:x} TX_DS={2:x} MAX_RT={3:x} RX_P_NO={4:x} TX_FULL={5:x}".format(
status, 1 if status & _BV(NRF24.RX_DR) else 0,
1 if status & _BV(NRF24.TX_DS) else 0,
1 if status & _BV(NRF24.MAX_RT) else 0,
((status >> NRF24.RX_P_NO) & int("111", 2)),
1 if status & _BV(NRF24.TX_FULL) else 0)
print status_str
def print_observe_tx(self, value):
tx_str = "OBSERVE_TX=0x{0:02x}: POLS_CNT={2:x} ARC_CNT={2:x}\r\n".format(
value, (value >> NRF24.PLOS_CNT) & int("1111", 2),
(value >> NRF24.ARC_CNT) & int("1111", 2))
print tx_str
def print_byte_register(self, name, reg, qty=1):
extra_tab = '\t' if len(name) < 8 else 0
print "%s\t%c =" % (name, extra_tab),
while qty > 0:
print "0x%02x" % (self.read_register(reg)),
qty -= 1
reg += 1
print ""
def print_address_register(self, name, reg, qty=1):
extra_tab = '\t' if len(name) < 8 else 0
print "%s\t%c =" % (name, extra_tab),
while qty > 0:
qty -= 1
buf = reversed(self.read_register(reg, 5))
reg += 1
sys.stdout.write(" 0x"),
for i in buf:
sys.stdout.write("%02x" % i)
print ""
def setChannel(self, channel):
self.channel = min(max(0, channel), NRF24.MAX_CHANNEL)
self.write_register(NRF24.RF_CH, self.channel)
def getChannel(self):
return self.read_register(NRF24.RF_CH)
def setPayloadSize(self, size):
self.payload_size = min(max(size, 1), NRF24.MAX_PAYLOAD_SIZE)
def getPayloadSize(self):
return self.payload_size
def printDetails(self):
self.print_status(self.get_status())
self.print_address_register("RX_ADDR_P0-1", NRF24.RX_ADDR_P0, 2)
self.print_byte_register("RX_ADDR_P2-5", NRF24.RX_ADDR_P2, 4)
self.print_address_register("TX_ADDR", NRF24.TX_ADDR)
self.print_byte_register("RX_PW_P0-6", NRF24.RX_PW_P0, 6)
self.print_byte_register("EN_AA", NRF24.EN_AA)
self.print_byte_register("EN_RXADDR", NRF24.EN_RXADDR)
self.print_byte_register("RF_CH", NRF24.RF_CH)
self.print_byte_register("RF_SETUP", NRF24.RF_SETUP)
self.print_byte_register("CONFIG", NRF24.CONFIG)
self.print_byte_register("DYNPD/FEATURE", NRF24.DYNPD, 2)
#
print "Data Rate\t = %s" % NRF24.datarate_e_str_P[self.getDataRate()]
print "Model\t\t = %s" % NRF24.model_e_str_P[self.isPVariant()]
print "CRC Length\t = %s" % NRF24.crclength_e_str_P[
self.getCRCLength()]
print "PA Power\t = %s" % NRF24.pa_dbm_e_str_P[self.getPALevel()]
def begin(self, major, minor, ce_pin, irq_pin):
# Initialize SPI bus
self.spidev = SPI(major, minor)
self.ce_pin = ce_pin
self.irq_pin = irq_pin
GPIO.setup(self.ce_pin, GPIO.OUT)
GPIO.setup(self.irq_pin, GPIO.IN, pull_up_down=GPIO.PUD_UP)
time.sleep(5 / 1000000.0)
# Set 1500uS (minimum for 32B payload in ESB@250KBPS) timeouts, to make testing a little easier
# WARNING: If this is ever lowered, either 250KBS mode with AA is broken or maximum packet
# sizes must never be used. See documentation for a more complete explanation.
self.write_register(NRF24.SETUP_RETR, (int('0100', 2) << NRF24.ARD) |
(int('1111', 2) << NRF24.ARC))
# Restore our default PA level
self.setPALevel(NRF24.PA_MAX)
# Determine if this is a p or non-p RF24 module and then
# reset our data rate back to default value. This works
# because a non-P variant won't allow the data rate to
# be set to 250Kbps.
if self.setDataRate(NRF24.BR_250KBPS):
self.p_variant = True
# Then set the data rate to the slowest (and most reliable) speed supported by all
# hardware.
self.setDataRate(NRF24.BR_1MBPS)
# Initialize CRC and request 2-byte (16bit) CRC
self.setCRCLength(NRF24.CRC_16)
# Disable dynamic payloads, to match dynamic_payloads_enabled setting
self.write_register(NRF24.DYNPD, 0)
# Reset current status
# Notice reset and flush is the last thing we do
self.write_register(
NRF24.STATUS,
_BV(NRF24.RX_DR) | _BV(NRF24.TX_DS) | _BV(NRF24.MAX_RT))
# Set up default configuration. Callers can always change it later.
# This channel should be universally safe and not bleed over into adjacent
# spectrum.
self.setChannel(self.channel)
# Flush buffers
self.flush_rx()
self.flush_tx()
def end(self):
if self.spidev:
self.spidev.close()
self.spidev = None
def startListening(self):
self.write_register(
NRF24.CONFIG,
self.read_register(NRF24.CONFIG) | _BV(NRF24.PWR_UP)
| _BV(NRF24.PRIM_RX))
self.write_register(
NRF24.STATUS,
_BV(NRF24.RX_DR) | _BV(NRF24.TX_DS) | _BV(NRF24.MAX_RT))
# Restore the pipe0 address, if exists
if self.pipe0_reading_address:
self.write_register(self.RX_ADDR_P0, self.pipe0_reading_address, 5)
# Go!
self.ce(NRF24.HIGH)
# wait for the radio to come up (130us actually only needed)
time.sleep(130 / 1000000.0)
def stopListening(self):
self.ce(NRF24.LOW)
self.flush_tx()
self.flush_rx()
def powerDown(self):
self.write_register(
NRF24.CONFIG,
self.read_register(NRF24.CONFIG) & ~_BV(NRF24.PWR_UP))
def powerUp(self):
self.write_register(
NRF24.CONFIG,
self.read_register(NRF24.CONFIG) | _BV(NRF24.PWR_UP))
time.sleep(150 / 1000000.0)
def write(self, buf):
# Begin the write
self.startWrite(buf)
timeout = self.getMaxTimeout() #s to wait for timeout
sent_at = time.time()
while True:
#status = self.read_register(NRF24.OBSERVE_TX, 1)
status = self.get_status()
if (status & (_BV(NRF24.TX_DS) | _BV(NRF24.MAX_RT))) or (
time.time() - sent_at > timeout):
break
time.sleep(10 / 1000000.0)
what = self.whatHappened()
result = what['tx_ok']
# Handle the ack packet
if what['rx_ready']:
self.ack_payload_length = self.getDynamicPayloadSize()
return result
def startWrite(self, buf):
# Transmitter power-up
self.write_register(
NRF24.CONFIG,
(self.read_register(NRF24.CONFIG) | _BV(NRF24.PWR_UP))
& ~_BV(NRF24.PRIM_RX))
# Send the payload
self.write_payload(buf)
# Allons!
self.ce(NRF24.HIGH)
time.sleep(10 / 1000000.0)
self.ce(NRF24.LOW)
def getDynamicPayloadSize(self):
return self.spidev.xfer2([NRF24.R_RX_PL_WID, NRF24.NOP])[1]
def available(self, pipe_num=None, irq_wait=False, irq_timeout=30000):
if not pipe_num:
pipe_num = []
status = self.get_status()
result = False
# Sometimes the radio specifies that there is data in one pipe but
# doesn't set the RX flag...
if status & _BV(NRF24.RX_DR) or (status & 0b00001110 != 0b00001110):
result = True
else:
if irq_wait: # Will use IRQ wait
if self.irqWait(irq_timeout): # Do we have a packet?
status = self.get_status() # Seems like we do!
if status & _BV(NRF24.RX_DR) or (status & 0b00001110 !=
0b00001110):
result = True
if result:
# If the caller wants the pipe number, include that
if len(pipe_num) >= 1:
pipe_num[0] = (status >> NRF24.RX_P_NO) & 0b00000111
# Clear the status bit
# ??? Should this REALLY be cleared now? Or wait until we
# actually READ the payload?
self.write_register(NRF24.STATUS, _BV(NRF24.RX_DR))
# Handle ack payload receipt
if status & _BV(NRF24.TX_DS):
self.write_register(NRF24.STATUS, _BV(NRF24.TX_DS))
return result
def read(self, buf, buf_len=-1):
# Fetch the payload
self.read_payload(buf, buf_len)
# was this the last of the data available?
return self.read_register(NRF24.FIFO_STATUS) & _BV(NRF24.RX_EMPTY)
def whatHappened(self):
# Read the status & reset the status in one easy call
# Or is that such a good idea?
status = self.write_register(
NRF24.STATUS,
_BV(NRF24.RX_DR) | _BV(NRF24.TX_DS) | _BV(NRF24.MAX_RT))
# Report to the user what happened
tx_ok = status & _BV(NRF24.TX_DS)
tx_fail = status & _BV(NRF24.MAX_RT)
rx_ready = status & _BV(NRF24.RX_DR)
return {'tx_ok': tx_ok, "tx_fail": tx_fail, "rx_ready": rx_ready}
def openWritingPipe(self, value):
# Note that the NRF24L01(+)
# expects it LSB first.
self.write_register(NRF24.RX_ADDR_P0, value, 5)
self.write_register(NRF24.TX_ADDR, value, 5)
max_payload_size = 32
self.write_register(NRF24.RX_PW_P0,
min(self.payload_size, max_payload_size))
def openReadingPipe(self, child, address):
# If this is pipe 0, cache the address. This is needed because
# openWritingPipe() will overwrite the pipe 0 address, so
# startListening() will have to restore it.
if child == 0:
self.pipe0_reading_address = address
if child <= 6:
# For pipes 2-5, only write the LSB
if child < 2:
self.write_register(NRF24.child_pipe[child], address, 5)
else:
self.write_register(NRF24.child_pipe[child], address, 1)
self.write_register(NRF24.child_payload_size[child],
self.payload_size)
# Note it would be more efficient to set all of the bits for all open
# pipes at once. However, I thought it would make the calling code
# more simple to do it this way.
self.write_register(
NRF24.EN_RXADDR,
self.read_register(NRF24.EN_RXADDR)
| _BV(NRF24.child_pipe_enable[child]))
def closeReadingPipe(self, pipe):
self.write_register(
NRF24.EN_RXADDR,
self.read_register(EN_RXADDR)
& ~_BV(NRF24.child_pipe_enable[pipe]))
def toggle_features(self):
buf = [NRF24.ACTIVATE, 0x73]
self.spidev.xfer2(buf)
def enableDynamicPayloads(self):
# Enable dynamic payload throughout the system
self.write_register(
NRF24.FEATURE,
self.read_register(NRF24.FEATURE) | _BV(NRF24.EN_DPL))
# If it didn't work, the features are not enabled
if not self.read_register(NRF24.FEATURE):
# So enable them and try again
self.toggle_features()
self.write_register(
NRF24.FEATURE,
self.read_register(NRF24.FEATURE) | _BV(NRF24.EN_DPL))
# Enable dynamic payload on all pipes
# Not sure the use case of only having dynamic payload on certain
# pipes, so the library does not support it.
self.write_register(
NRF24.DYNPD,
self.read_register(NRF24.DYNPD) | _BV(NRF24.DPL_P5)
| _BV(NRF24.DPL_P4) | _BV(NRF24.DPL_P3) | _BV(NRF24.DPL_P2)
| _BV(NRF24.DPL_P1) | _BV(NRF24.DPL_P0))
self.dynamic_payloads_enabled = True
def enableAckPayload(self):
# enable ack payload and dynamic payload features
self.write_register(
NRF24.FEATURE,
self.read_register(NRF24.FEATURE) | _BV(NRF24.EN_ACK_PAY)
| _BV(NRF24.EN_DPL))
# If it didn't work, the features are not enabled
if not self.read_register(NRF24.FEATURE):
# So enable them and try again
self.toggle_features()
self.write_register(
NRF24.FEATURE,
self.read_register(NRF24.FEATURE) | _BV(NRF24.EN_ACK_PAY)
| _BV(NRF24.EN_DPL))
# Enable dynamic payload on pipes 0 & 1
self.write_register(
NRF24.DYNPD,
self.read_register(NRF24.DYNPD) | _BV(NRF24.DPL_P1)
| _BV(NRF24.DPL_P0))
def writeAckPayload(self, pipe, buf, buf_len):
txbuffer = [NRF24.W_ACK_PAYLOAD | (pipe & 0x7)]
max_payload_size = 32
data_len = min(buf_len, max_payload_size)
txbuffer.extend(buf[0:data_len])
self.spidev.xfer2(txbuffer)
def isAckPayloadAvailable(self):
result = self.ack_payload_available
self.ack_payload_available = False
return result
def isPVariant(self):
return self.p_variant
def setAutoAck(self, enable):
if enable:
self.write_register(NRF24.EN_AA, int('111111', 2))
else:
self.write_register(NRF24.EN_AA, 0)
def setAutoAckPipe(self, pipe, enable):
if pipe <= 6:
en_aa = self.read_register(NRF24.EN_AA)
if enable:
en_aa |= _BV(pipe)
else:
en_aa &= ~_BV(pipe)
self.write_register(NRF24.EN_AA, en_aa)
def testCarrier(self):
return self.read_register(NRF24.CD) & 1
def testRPD(self):
return self.read_register(NRF24.RPD) & 1
def setPALevel(self, level):
setup = self.read_register(NRF24.RF_SETUP)
setup &= ~(_BV(NRF24.RF_PWR_LOW) | _BV(NRF24.RF_PWR_HIGH))
# switch uses RAM (evil!)
if level == NRF24.PA_MAX:
setup |= (_BV(NRF24.RF_PWR_LOW) | _BV(NRF24.RF_PWR_HIGH))
elif level == NRF24.PA_HIGH:
setup |= _BV(NRF24.RF_PWR_HIGH)
elif level == NRF24.PA_LOW:
setup |= _BV(NRF24.RF_PWR_LOW)
elif level == NRF24.PA_MIN:
nop = 0
elif level == NRF24.PA_ERROR:
# On error, go to maximum PA
setup |= (_BV(NRF24.RF_PWR_LOW) | _BV(NRF24.RF_PWR_HIGH))
self.write_register(NRF24.RF_SETUP, setup)
def getPALevel(self):
power = self.read_register(
NRF24.RF_SETUP) & (_BV(NRF24.RF_PWR_LOW) | _BV(NRF24.RF_PWR_HIGH))
if power == (_BV(NRF24.RF_PWR_LOW) | _BV(NRF24.RF_PWR_HIGH)):
return NRF24.PA_MAX
elif power == _BV(NRF24.RF_PWR_HIGH):
return NRF24.PA_HIGH
elif power == _BV(NRF24.RF_PWR_LOW):
return NRF24.PA_LOW
else:
return NRF24.PA_MIN
def setDataRate(self, speed):
result = False
setup = self.read_register(NRF24.RF_SETUP)
# HIGH and LOW '00' is 1Mbs - our default
self.wide_band = False
setup &= ~(_BV(NRF24.RF_DR_LOW) | _BV(NRF24.RF_DR_HIGH))
if speed == NRF24.BR_250KBPS:
# Must set the RF_DR_LOW to 1 RF_DR_HIGH (used to be RF_DR) is already 0
# Making it '10'.
self.wide_band = False
setup |= _BV(NRF24.RF_DR_LOW)
else:
# Set 2Mbs, RF_DR (RF_DR_HIGH) is set 1
# Making it '01'
if speed == NRF24.BR_2MBPS:
self.wide_band = True
setup |= _BV(NRF24.RF_DR_HIGH)
else:
# 1Mbs
self.wide_band = False
self.write_register(NRF24.RF_SETUP, setup)
# Verify our result
if self.read_register(NRF24.RF_SETUP) == setup:
result = True
else:
self.wide_band = False
return result
def getDataRate(self):
dr = self.read_register(
NRF24.RF_SETUP) & (_BV(NRF24.RF_DR_LOW) | _BV(NRF24.RF_DR_HIGH))
# Order matters in our case below
if dr == _BV(NRF24.RF_DR_LOW):
# '10' = 250KBPS
return NRF24.BR_250KBPS
elif dr == _BV(NRF24.RF_DR_HIGH):
# '01' = 2MBPS
return NRF24.BR_2MBPS
else:
# '00' = 1MBPS
return NRF24.BR_1MBPS
def setCRCLength(self, length):
config = self.read_register(
NRF24.CONFIG) & ~(_BV(NRF24.CRC_16) | _BV(NRF24.CRC_ENABLED))
if length == NRF24.CRC_DISABLED:
# Do nothing, we turned it off above.
self.write_register(NRF24.CONFIG, config)
return
elif length == NRF24.CRC_8:
config |= _BV(NRF24.CRC_ENABLED)
config |= _BV(NRF24.CRC_8)
else:
config |= _BV(NRF24.CRC_ENABLED)
config |= _BV(NRF24.CRC_16)
self.write_register(NRF24.CONFIG, config)
def getCRCLength(self):
result = NRF24.CRC_DISABLED
config = self.read_register(
NRF24.CONFIG) & (_BV(NRF24.CRCO) | _BV(NRF24.EN_CRC))
if config & _BV(NRF24.EN_CRC):
if config & _BV(NRF24.CRCO):
result = NRF24.CRC_16
else:
result = NRF24.CRC_8
return result
def disableCRC(self):
disable = self.read_register(NRF24.CONFIG) & ~_BV(NRF24.EN_CRC)
self.write_register(NRF24.CONFIG, disable)
def setRetries(self, delay, count):
self.write_register(NRF24.SETUP_RETR, (delay & 0xf) << NRF24.ARD |
(count & 0xf) << NRF24.ARC)
def getRetries(self):
return self.read_register(NRF24.SETUP_RETR)
def getMaxTimeout(self):
retries = self.getRetries()
return ((250 + (250 * ((retries & 0xf0) >> 4))) *
(retries & 0x0f)) / 1000000.0
class DACRef:
def __init__(self, maxClock=3300000):
# using two's complement
self.dacSend = "0001"
self.max_raw_minus = -pow(2, 19) # maximal value that can be achieved
self.max_raw_plus = int(0b01111111111111111111)
self.actVal = 0 # actual value
# SPI
self.spi = SPI(1, 0) # choose SPI device
self.spi.mode = 0b00
if maxClock > 1000:
self.spi.msh = maxClock
else:
self.spi.msh = 3300000
print("Minumum clock speed is 10000, setting default 33Mhz")
# Start values
self.reset = 0
self.ldac = 0 # in the beggining the device is not ready(remember they are inverted)
# P8
GPIO.setup("P8_17", GPIO.OUT) # LDAC
GPIO.output("P8_17", self.ldac)
GPIO.setup("P8_18", GPIO.OUT) # RESET
GPIO.output("P8_18", self.reset)
# GPIO.setup("P8_15", GPIO.OUT) #ext rsten
# GPIO.setup("P8_14", GPIO.OUT) # PLL LOCK
# GPIO.setup("P8_16", GPIO.OUT) # ext Ioupden
# NOT USED
# P9 (addresses)
self.dacAddress = [0, 0, 0, 0, 0] # default
GPIO.setup("P9_11", GPIO.OUT) # P1
GPIO.setup("P9_12", GPIO.OUT) # P2
GPIO.setup("P9_13", GPIO.OUT) # P3
GPIO.setup("P9_14", GPIO.OUT) # P4
GPIO.setup("P9_15", GPIO.OUT) # P0
def setDACAddress(self, list):
self.dacAddress = list
GPIO.setup("P9_15", self.dacAddress[0]) # P0
GPIO.setup("P9_11", self.dacAddress[1]) # P1
GPIO.setup("P9_12", self.dacAddress[2]) # P2
GPIO.setup("P9_13", self.dacAddress[3]) # P3
GPIO.setup("P9_14", self.dacAddress[4]) # P4
def chooseDAC(self, dacNum=0, board=0):
if board == 0:
p2 = 0
p3 = 0
p4 = 0
elif board == 1:
p2 = 0
p3 = 0
p4 = 1
elif board == 2:
p2 = 0
p3 = 1
p4 = 0
elif board == 3:
p2 = 0
p3 = 1
p4 = 1
else:
print("WRONG NUMBER, SETTING 0")
p2 = 0
p3 = 0
p4 = 0
GPIO.output("P9_12", p2)
GPIO.output("P9_13", p3)
GPIO.output("P9_14", p4)
if dacNum == 0:
p0 = 0
p1 = 0
elif dacNum == 1:
p0 = 0
p1 = 1
elif dacNum == 2:
p0 = 1
p1 = 0
elif dacNum == 3:
p0 = 1
p1 = 1
GPIO.output("P9_15", p0)
GPIO.output("P9_11", p1)
self.dacAddress = [p0, p1, p2, p3, p4]
def setLDAC(self, ldac):
self.ldac = ldac
GPIO.output("P8_17", self.ldac)
def resetDAC(self):
self.reset = 1
GPIO.output("P8_18", self.reset)
GPIO.output("P8_18", 0) # returns it back to 0
def setValueRaw(self, raw):
if self.max_raw_plus >= int(raw) >= self.max_raw_minus:
self.actVal = int(raw)
print("Actual value is: " + str(self.actVal))
else:
self.actVal = 0 # if we go out of range we get 0
print("Out of range[-1,1] or 0.")
# print("Actual value is: " + str(self.actVal))
self.registerValue()
def setValueNorm(self, norm):
if 0 < norm <= 1:
self.actVal = int(self.max_raw_plus * norm)
print("Actual value is: " + str(self.actVal))
elif 0 > norm >= -1:
self.actVal = int(-self.max_raw_minus * norm)
# print("Actual value is: " + str(self.actVal))
else:
self.actVal = 0
print("Out of range[-1,1] or 0.")
# print("Actual value is: " + str(self.actVal))
self.registerValue()
def setValHelp(self, address):
val = input("Write the value from [-524288,524287]: ")
if val <= self.max_raw_plus and val >= self.max_raw_minus:
self.setDACAddress(address)
self.setValueNorm(int(val))
else:
print("Wrong number, doing nothing")
return
def initializeDAC(self): # we can always change the initialize and make it more flexible
GPIO.output("P8_17", GPIO.HIGH)
self.spi.writebytes([0b00100000, 0b00000000, 0b00100010])
GPIO.output("P8_17", GPIO.LOW)
def registerValue(self):
self.initializeDAC()
if self.actVal != 0:
temp = convertComplement_DAC(self.actVal, 20)
string1 = self.dacSend + temp[0:4]
string2 = temp[4:12]
string3 = temp[12:]
GPIO.output("P8_17", GPIO.HIGH)
self.spi.writebytes([int(string1, 2), int(string2, 2), int(string3, 2)])
GPIO.output("P8_17", GPIO.LOW)
else:
self.resetDAC()
def __del__(self):
self.resetDAC()
self.spi.close()
from Adafruit_BBIO.SPI import SPI
import Adafruit_BBIO.GPIO as GPIO
import time
spi = SPI(0, 0) #4 busses, this is bus 0
spi.msh = 10000 #Frequency
spi.bpw = 8 #bits per word
spi.cshigh = False #true means you select the chip, depends on the chip, here low means active, normally Low for IMU
spi.threewire = False #if it is true, you just read, otherwise you also send commands
spi.lsbfirst = False #Least significant bit first (left)
spi.open(0, 0) #open
#GPIO.setup("P8_11",GPIO.OUT)
#GPIO.output("P8_11",GPIO.HIGH)
try:
while True:
res = spi.xfer2([0xFFFF, 0xFFFF]) #deliver two bytes
res1 = spi.readbytes(2) #Read 2 bytes
angle = (res1[0] << 8) | res1[1] #merge leftbyte and rightbyte
angle1 = angle & 0x3FFF #move the first two bits
angle2 = float(angle1) / 16363 * 360
print("data is")
print(angle2)
time.sleep(.25)
except KeyboardInterrupt:
spi.close()
class NRF24:
MAX_CHANNEL = 127
MAX_PAYLOAD_SIZE = 32
# PA Levels
PA_MIN = 0
PA_LOW = 1
PA_HIGH = 2
PA_MAX = 3
PA_ERROR = 4
# Bit rates
BR_1MBPS = 0
BR_2MBPS = 1
BR_250KBPS = 2
# CRC
CRC_DISABLED = 0
CRC_8 = 1
CRC_16 = 2
CRC_ENABLED = 3
# Registers
CONFIG = 0x00
EN_AA = 0x01
EN_RXADDR = 0x02
SETUP_AW = 0x03
SETUP_RETR = 0x04
RF_CH = 0x05
RF_SETUP = 0x06
STATUS = 0x07
OBSERVE_TX = 0x08
CD = 0x09
RX_ADDR_P0 = 0x0A
RX_ADDR_P1 = 0x0B
RX_ADDR_P2 = 0x0C
RX_ADDR_P3 = 0x0D
RX_ADDR_P4 = 0x0E
RX_ADDR_P5 = 0x0F
TX_ADDR = 0x10
RX_PW_P0 = 0x11
RX_PW_P1 = 0x12
RX_PW_P2 = 0x13
RX_PW_P3 = 0x14
RX_PW_P4 = 0x15
RX_PW_P5 = 0x16
FIFO_STATUS = 0x17
DYNPD = 0x1C
FEATURE = 0x1D
# Bit Mnemonics */
MASK_RX_DR = 6
MASK_TX_DS = 5
MASK_MAX_RT = 4
EN_CRC = 3
CRCO = 2
PWR_UP = 1
PRIM_RX = 0
ENAA_P5 = 5
ENAA_P4 = 4
ENAA_P3 = 3
ENAA_P2 = 2
ENAA_P1 = 1
ENAA_P0 = 0
ERX_P5 = 5
ERX_P4 = 4
ERX_P3 = 3
ERX_P2 = 2
ERX_P1 = 1
ERX_P0 = 0
AW = 0
ARD = 4
ARC = 0
PLL_LOCK = 4
RF_DR = 3
RF_PWR = 6
RX_DR = 6
TX_DS = 5
MAX_RT = 4
RX_P_NO = 1
TX_FULL = 0
PLOS_CNT = 4
ARC_CNT = 0
TX_REUSE = 6
FIFO_FULL = 5
TX_EMPTY = 4
RX_FULL = 1
RX_EMPTY = 0
DPL_P5 = 5
DPL_P4 = 4
DPL_P3 = 3
DPL_P2 = 2
DPL_P1 = 1
DPL_P0 = 0
EN_DPL = 2
EN_ACK_PAY = 1
EN_DYN_ACK = 0
# Instruction Mnemonics
R_REGISTER = 0x00
W_REGISTER = 0x20
REGISTER_MASK = 0x1F
ACTIVATE = 0x50
R_RX_PL_WID = 0x60
R_RX_PAYLOAD = 0x61
W_TX_PAYLOAD = 0xA0
W_ACK_PAYLOAD = 0xA8
FLUSH_TX = 0xE1
FLUSH_RX = 0xE2
REUSE_TX_PL = 0xE3
NOP = 0xFF
# Non-P omissions
LNA_HCURR = 0x00
# P model memory Map
RPD = 0x09
# P model bit Mnemonics
RF_DR_LOW = 5
RF_DR_HIGH = 3
RF_PWR_LOW = 1
RF_PWR_HIGH = 2
# Signal Mnemonics
LOW = 0
HIGH = 1
datarate_e_str_P = ["1MBPS", "2MBPS", "250KBPS"]
model_e_str_P = ["nRF24L01", "nRF24l01+"]
crclength_e_str_P = ["Disabled", "8 bits", "16 bits"]
pa_dbm_e_str_P = ["PA_MIN", "PA_LOW", "PA_MED", "PA_HIGH"]
child_pipe = [RX_ADDR_P0, RX_ADDR_P1, RX_ADDR_P2, RX_ADDR_P3, RX_ADDR_P4, RX_ADDR_P5]
child_payload_size = [RX_PW_P0, RX_PW_P1, RX_PW_P2, RX_PW_P3, RX_PW_P4, RX_PW_P5]
child_pipe_enable = [ERX_P0, ERX_P1, ERX_P2, ERX_P3, ERX_P4, ERX_P5]
def __init__(self):
self.ce_pin = "P9_15"
self.irq_pin = "P9_16"
self.channel = 76
self.data_rate = NRF24.BR_1MBPS
self.wide_band = False # 2Mbs data rate in use?
self.p_variant = False # False for RF24L01 and true for RF24L01P
self.payload_size = 5 #*< Fixed size of payloads
self.ack_payload_available = False #*< Whether there is an ack payload waiting
self.dynamic_payloads_enabled = False #*< Whether dynamic payloads are enabled.
self.ack_payload_length = 5 #*< Dynamic size of pending ack payload.
self.pipe0_reading_address = None #*< Last address set on pipe 0 for reading.
self.spidev = None
def ce(self, level):
if level == NRF24.HIGH:
GPIO.output(self.ce_pin, GPIO.HIGH)
else:
GPIO.output(self.ce_pin, GPIO.LOW)
return
def irqWait(self, timeout = 30000):
# CHANGE: detect module name because wait_for_edge is not available in
# other libraries
if GPIO.__name__ != "Adafruit_BBIO.GPIO":
return False
# TODO: A race condition may occur here.
if GPIO.input(self.irq_pin) == 0: # Pin is already down. Packet is waiting?
return True
return GPIO.wait_for_edge(self.irq_pin, GPIO.FALLING, timeout) == 1
def read_register(self, reg, blen=1):
buf = [NRF24.R_REGISTER | ( NRF24.REGISTER_MASK & reg )]
for col in range(blen):
buf.append(NRF24.NOP)
resp = self.spidev.xfer2(buf)
if blen == 1:
return resp[1]
return resp[1:blen + 1]
def write_register(self, reg, value, length=-1):
buf = [NRF24.W_REGISTER | ( NRF24.REGISTER_MASK & reg )]
if isinstance(value, (int, long)):
if length < 0:
length = 1
length = min(4, length)
for i in range(length):
buf.insert(1, int(value & 0xff))
value >>= 8
elif isinstance(value, list):
if length < 0:
length = len(value)
for i in range(min(len(value), length)):
buf.append(int(value[len(value) - i - 1] & 0xff))
else:
raise Exception("Value must be int or list")
return self.spidev.xfer2(buf)[0]
def write_payload(self, buf):
data_len = min(self.payload_size, len(buf))
blank_len = 0
if not self.dynamic_payloads_enabled:
blank_len = self.payload_size - data_len
txbuffer = [NRF24.W_TX_PAYLOAD]
for n in buf:
t = type(n)
if t is str:
txbuffer.append(ord(n))
elif t is int:
txbuffer.append(n)
else:
raise Exception("Only ints and chars are supported: Found " + str(t))
if blank_len != 0:
blank = [0x00 for i in range(blank_len)]
txbuffer.extend(blank)
return self.spidev.xfer2(txbuffer)
def read_payload(self, buf, buf_len=-1):
if buf_len < 0:
buf_len = self.payload_size
data_len = min(self.payload_size, buf_len)
blank_len = 0
if not self.dynamic_payloads_enabled:
blank_len = self.payload_size - data_len
txbuffer = [NRF24.NOP for i in range(0, blank_len + data_len + 1)]
txbuffer[0] = NRF24.R_RX_PAYLOAD
payload = self.spidev.xfer2(txbuffer)
del buf[:]
buf.extend(payload[1:data_len + 1])
return data_len
def flush_rx(self):
return self.spidev.xfer2([NRF24.FLUSH_RX])[0]
def flush_tx(self):
return self.spidev.xfer2([NRF24.FLUSH_TX])[0]
def get_status(self):
return self.spidev.xfer2([NRF24.NOP])[0]
def print_status(self, status):
status_str = "STATUS\t = 0x{0:02x} RX_DR={1:x} TX_DS={2:x} MAX_RT={3:x} RX_P_NO={4:x} TX_FULL={5:x}".format(
status,
1 if status & _BV(NRF24.RX_DR) else 0,
1 if status & _BV(NRF24.TX_DS) else 0,
1 if status & _BV(NRF24.MAX_RT) else 0,
((status >> NRF24.RX_P_NO) & int("111", 2)),
1 if status & _BV(NRF24.TX_FULL) else 0)
print status_str
def print_observe_tx(self, value):
tx_str = "OBSERVE_TX=0x{0:02x}: POLS_CNT={2:x} ARC_CNT={2:x}\r\n".format(
value,
(value >> NRF24.PLOS_CNT) & int("1111",2),
(value >> NRF24.ARC_CNT) & int("1111",2)
)
print tx_str
def print_byte_register(self, name, reg, qty=1):
extra_tab = '\t' if len(name) < 8 else 0
print "%s\t%c =" % (name, extra_tab),
while qty > 0:
print "0x%02x" % (self.read_register(reg)),
qty -= 1
reg += 1
print ""
def print_address_register(self, name, reg, qty=1):
extra_tab = '\t' if len(name) < 8 else 0
print "%s\t%c =" % (name, extra_tab),
while qty > 0:
qty -= 1
buf = reversed(self.read_register(reg, 5))
reg += 1
sys.stdout.write(" 0x"),
for i in buf:
sys.stdout.write("%02x" % i)
print ""
def setChannel(self, channel):
self.channel = min(max(0, channel), NRF24.MAX_CHANNEL)
self.write_register(NRF24.RF_CH, self.channel)
def getChannel(self):
return self.read_register(NRF24.RF_CH)
def setPayloadSize(self, size):
self.payload_size = min(max(size, 1), NRF24.MAX_PAYLOAD_SIZE)
def getPayloadSize(self):
return self.payload_size
def printDetails(self):
self.print_status(self.get_status())
self.print_address_register("RX_ADDR_P0-1", NRF24.RX_ADDR_P0, 2)
self.print_byte_register("RX_ADDR_P2-5", NRF24.RX_ADDR_P2, 4)
self.print_address_register("TX_ADDR", NRF24.TX_ADDR)
self.print_byte_register("RX_PW_P0-6", NRF24.RX_PW_P0, 6)
self.print_byte_register("EN_AA", NRF24.EN_AA)
self.print_byte_register("EN_RXADDR", NRF24.EN_RXADDR)
self.print_byte_register("RF_CH", NRF24.RF_CH)
self.print_byte_register("RF_SETUP", NRF24.RF_SETUP)
self.print_byte_register("CONFIG", NRF24.CONFIG)
self.print_byte_register("DYNPD/FEATURE", NRF24.DYNPD, 2)
#
print "Data Rate\t = %s" % NRF24.datarate_e_str_P[self.getDataRate()]
print "Model\t\t = %s" % NRF24.model_e_str_P[self.isPVariant()]
print "CRC Length\t = %s" % NRF24.crclength_e_str_P[self.getCRCLength()]
print "PA Power\t = %s" % NRF24.pa_dbm_e_str_P[self.getPALevel()]
def begin(self, major, minor, ce_pin, irq_pin):
# Initialize SPI bus
self.spidev = SPI(major, minor)
self.ce_pin = ce_pin
self.irq_pin = irq_pin
GPIO.setup(self.ce_pin, GPIO.OUT)
GPIO.setup(self.irq_pin, GPIO.IN, pull_up_down=GPIO.PUD_UP)
time.sleep(5 / 1000000.0)
# Set 1500uS (minimum for 32B payload in ESB@250KBPS) timeouts, to make testing a little easier
# WARNING: If this is ever lowered, either 250KBS mode with AA is broken or maximum packet
# sizes must never be used. See documentation for a more complete explanation.
self.write_register(NRF24.SETUP_RETR, (int('0100', 2) << NRF24.ARD) | (int('1111', 2) << NRF24.ARC))
# Restore our default PA level
self.setPALevel(NRF24.PA_MAX)
# Determine if this is a p or non-p RF24 module and then
# reset our data rate back to default value. This works
# because a non-P variant won't allow the data rate to
# be set to 250Kbps.
if self.setDataRate(NRF24.BR_250KBPS):
self.p_variant = True
# Then set the data rate to the slowest (and most reliable) speed supported by all
# hardware.
self.setDataRate(NRF24.BR_1MBPS)
# Initialize CRC and request 2-byte (16bit) CRC
self.setCRCLength(NRF24.CRC_16)
# Disable dynamic payloads, to match dynamic_payloads_enabled setting
self.write_register(NRF24.DYNPD, 0)
# Reset current status
# Notice reset and flush is the last thing we do
self.write_register(NRF24.STATUS, _BV(NRF24.RX_DR) | _BV(NRF24.TX_DS) | _BV(NRF24.MAX_RT))
# Set up default configuration. Callers can always change it later.
# This channel should be universally safe and not bleed over into adjacent
# spectrum.
self.setChannel(self.channel)
# Flush buffers
self.flush_rx()
self.flush_tx()
def end(self):
if self.spidev:
self.spidev.close()
self.spidev = None
def startListening(self):
self.write_register(NRF24.CONFIG, self.read_register(NRF24.CONFIG) | _BV(NRF24.PWR_UP) | _BV(NRF24.PRIM_RX))
self.write_register(NRF24.STATUS, _BV(NRF24.RX_DR) | _BV(NRF24.TX_DS) | _BV(NRF24.MAX_RT))
# Restore the pipe0 address, if exists
if self.pipe0_reading_address:
self.write_register(self.RX_ADDR_P0, self.pipe0_reading_address, 5)
# Go!
self.ce(NRF24.HIGH)
# wait for the radio to come up (130us actually only needed)
time.sleep(130 / 1000000.0)
def stopListening(self):
self.ce(NRF24.LOW)
self.flush_tx()
self.flush_rx()
def powerDown(self):
self.write_register(NRF24.CONFIG, self.read_register(NRF24.CONFIG) & ~_BV(NRF24.PWR_UP))
def powerUp(self):
self.write_register(NRF24.CONFIG, self.read_register(NRF24.CONFIG) | _BV(NRF24.PWR_UP))
time.sleep(150 / 1000000.0)
def write(self, buf):
# Begin the write
self.startWrite(buf)
timeout = self.getMaxTimeout() #s to wait for timeout
sent_at = time.time()
while True:
#status = self.read_register(NRF24.OBSERVE_TX, 1)
status = self.get_status()
if (status & (_BV(NRF24.TX_DS) | _BV(NRF24.MAX_RT))) or (time.time() - sent_at > timeout ):
break
time.sleep(10 / 1000000.0)
what = self.whatHappened()
result = what['tx_ok']
# Handle the ack packet
if what['rx_ready']:
self.ack_payload_length = self.getDynamicPayloadSize()
return result
def startWrite(self, buf):
# Transmitter power-up
self.write_register(NRF24.CONFIG, (self.read_register(NRF24.CONFIG) | _BV(NRF24.PWR_UP) ) & ~_BV(NRF24.PRIM_RX))
# Send the payload
self.write_payload(buf)
# Allons!
self.ce(NRF24.HIGH)
time.sleep(10 / 1000000.0)
self.ce(NRF24.LOW)
def getDynamicPayloadSize(self):
return self.spidev.xfer2([NRF24.R_RX_PL_WID, NRF24.NOP])[1]
def available(self, pipe_num=None, irq_wait=False, irq_timeout=30000):
if not pipe_num:
pipe_num = []
status = self.get_status()
result = False
# Sometimes the radio specifies that there is data in one pipe but
# doesn't set the RX flag...
if status & _BV(NRF24.RX_DR) or (status & 0b00001110 != 0b00001110):
result = True
else:
if irq_wait: # Will use IRQ wait
if self.irqWait(irq_timeout): # Do we have a packet?
status = self.get_status() # Seems like we do!
if status & _BV(NRF24.RX_DR) or (status & 0b00001110 != 0b00001110):
result = True
if result:
# If the caller wants the pipe number, include that
if len(pipe_num) >= 1:
pipe_num[0] = ( status >> NRF24.RX_P_NO ) & 0b00000111
# Clear the status bit
# ??? Should this REALLY be cleared now? Or wait until we
# actually READ the payload?
self.write_register(NRF24.STATUS, _BV(NRF24.RX_DR))
# Handle ack payload receipt
if status & _BV(NRF24.TX_DS):
self.write_register(NRF24.STATUS, _BV(NRF24.TX_DS))
return result
def read(self, buf, buf_len=-1):
# Fetch the payload
self.read_payload(buf, buf_len)
# was this the last of the data available?
return self.read_register(NRF24.FIFO_STATUS) & _BV(NRF24.RX_EMPTY)
def whatHappened(self):
# Read the status & reset the status in one easy call
# Or is that such a good idea?
status = self.write_register(NRF24.STATUS, _BV(NRF24.RX_DR) | _BV(NRF24.TX_DS) | _BV(NRF24.MAX_RT))
# Report to the user what happened
tx_ok = status & _BV(NRF24.TX_DS)
tx_fail = status & _BV(NRF24.MAX_RT)
rx_ready = status & _BV(NRF24.RX_DR)
return {'tx_ok': tx_ok, "tx_fail": tx_fail, "rx_ready": rx_ready}
def openWritingPipe(self, value):
# Note that the NRF24L01(+)
# expects it LSB first.
self.write_register(NRF24.RX_ADDR_P0, value, 5)
self.write_register(NRF24.TX_ADDR, value, 5)
max_payload_size = 32
self.write_register(NRF24.RX_PW_P0, min(self.payload_size, max_payload_size))
def openReadingPipe(self, child, address):
# If this is pipe 0, cache the address. This is needed because
# openWritingPipe() will overwrite the pipe 0 address, so
# startListening() will have to restore it.
if child == 0:
self.pipe0_reading_address = address
if child <= 6:
# For pipes 2-5, only write the LSB
if child < 2:
self.write_register(NRF24.child_pipe[child], address, 5)
else:
self.write_register(NRF24.child_pipe[child], address, 1)
self.write_register(NRF24.child_payload_size[child], self.payload_size)
# Note it would be more efficient to set all of the bits for all open
# pipes at once. However, I thought it would make the calling code
# more simple to do it this way.
self.write_register(NRF24.EN_RXADDR,
self.read_register(NRF24.EN_RXADDR) | _BV(NRF24.child_pipe_enable[child]))
def closeReadingPipe(self, pipe):
self.write_register(NRF24.EN_RXADDR,
self.read_register(EN_RXADDR) & ~_BV(NRF24.child_pipe_enable[pipe]))
def toggle_features(self):
buf = [NRF24.ACTIVATE, 0x73]
self.spidev.xfer2(buf)
def enableDynamicPayloads(self):
# Enable dynamic payload throughout the system
self.write_register(NRF24.FEATURE, self.read_register(NRF24.FEATURE) | _BV(NRF24.EN_DPL))
# If it didn't work, the features are not enabled
if not self.read_register(NRF24.FEATURE):
# So enable them and try again
self.toggle_features()
self.write_register(NRF24.FEATURE, self.read_register(NRF24.FEATURE) | _BV(NRF24.EN_DPL))
# Enable dynamic payload on all pipes
# Not sure the use case of only having dynamic payload on certain
# pipes, so the library does not support it.
self.write_register(NRF24.DYNPD, self.read_register(NRF24.DYNPD) | _BV(NRF24.DPL_P5) | _BV(NRF24.DPL_P4) | _BV(
NRF24.DPL_P3) | _BV(NRF24.DPL_P2) | _BV(NRF24.DPL_P1) | _BV(NRF24.DPL_P0))
self.dynamic_payloads_enabled = True
def enableAckPayload(self):
# enable ack payload and dynamic payload features
self.write_register(NRF24.FEATURE,
self.read_register(NRF24.FEATURE) | _BV(NRF24.EN_ACK_PAY) | _BV(NRF24.EN_DPL))
# If it didn't work, the features are not enabled
if not self.read_register(NRF24.FEATURE):
# So enable them and try again
self.toggle_features()
self.write_register(NRF24.FEATURE,
self.read_register(NRF24.FEATURE) | _BV(NRF24.EN_ACK_PAY) | _BV(NRF24.EN_DPL))
# Enable dynamic payload on pipes 0 & 1
self.write_register(NRF24.DYNPD, self.read_register(NRF24.DYNPD) | _BV(NRF24.DPL_P1) | _BV(NRF24.DPL_P0))
def writeAckPayload(self, pipe, buf, buf_len):
txbuffer = [NRF24.W_ACK_PAYLOAD | ( pipe & 0x7 )]
max_payload_size = 32
data_len = min(buf_len, max_payload_size)
txbuffer.extend(buf[0:data_len])
self.spidev.xfer2(txbuffer)
def isAckPayloadAvailable(self):
result = self.ack_payload_available
self.ack_payload_available = False
return result
def isPVariant(self):
return self.p_variant
def setAutoAck(self, enable):
if enable:
self.write_register(NRF24.EN_AA, int('111111',2))
else:
self.write_register(NRF24.EN_AA, 0)
def setAutoAckPipe(self, pipe, enable):
if pipe <= 6:
en_aa = self.read_register(NRF24.EN_AA)
if enable:
en_aa |= _BV(pipe)
else:
en_aa &= ~_BV(pipe)
self.write_register(NRF24.EN_AA, en_aa)
def testCarrier(self):
return self.read_register(NRF24.CD) & 1
def testRPD(self):
return self.read_register(NRF24.RPD) & 1
def setPALevel(self, level):
setup = self.read_register(NRF24.RF_SETUP)
setup &= ~( _BV(NRF24.RF_PWR_LOW) | _BV(NRF24.RF_PWR_HIGH))
# switch uses RAM (evil!)
if level == NRF24.PA_MAX:
setup |= (_BV(NRF24.RF_PWR_LOW) | _BV(NRF24.RF_PWR_HIGH))
elif level == NRF24.PA_HIGH:
setup |= _BV(NRF24.RF_PWR_HIGH)
elif level == NRF24.PA_LOW:
setup |= _BV(NRF24.RF_PWR_LOW)
elif level == NRF24.PA_MIN:
nop = 0
elif level == NRF24.PA_ERROR:
# On error, go to maximum PA
setup |= (_BV(NRF24.RF_PWR_LOW) | _BV(NRF24.RF_PWR_HIGH))
self.write_register(NRF24.RF_SETUP, setup)
def getPALevel(self):
power = self.read_register(NRF24.RF_SETUP) & (_BV(NRF24.RF_PWR_LOW) | _BV(NRF24.RF_PWR_HIGH))
if power == (_BV(NRF24.RF_PWR_LOW) | _BV(NRF24.RF_PWR_HIGH)):
return NRF24.PA_MAX
elif power == _BV(NRF24.RF_PWR_HIGH):
return NRF24.PA_HIGH
elif power == _BV(NRF24.RF_PWR_LOW):
return NRF24.PA_LOW
else:
return NRF24.PA_MIN
def setDataRate(self, speed):
result = False
setup = self.read_register(NRF24.RF_SETUP)
# HIGH and LOW '00' is 1Mbs - our default
self.wide_band = False
setup &= ~(_BV(NRF24.RF_DR_LOW) | _BV(NRF24.RF_DR_HIGH))
if speed == NRF24.BR_250KBPS:
# Must set the RF_DR_LOW to 1 RF_DR_HIGH (used to be RF_DR) is already 0
# Making it '10'.
self.wide_band = False
setup |= _BV(NRF24.RF_DR_LOW)
else:
# Set 2Mbs, RF_DR (RF_DR_HIGH) is set 1
# Making it '01'
if speed == NRF24.BR_2MBPS:
self.wide_band = True
setup |= _BV(NRF24.RF_DR_HIGH)
else:
# 1Mbs
self.wide_band = False
self.write_register(NRF24.RF_SETUP, setup)
# Verify our result
if self.read_register(NRF24.RF_SETUP) == setup:
result = True
else:
self.wide_band = False
return result
def getDataRate(self):
dr = self.read_register(NRF24.RF_SETUP) & (_BV(NRF24.RF_DR_LOW) | _BV(NRF24.RF_DR_HIGH))
# Order matters in our case below
if dr == _BV(NRF24.RF_DR_LOW):
# '10' = 250KBPS
return NRF24.BR_250KBPS
elif dr == _BV(NRF24.RF_DR_HIGH):
# '01' = 2MBPS
return NRF24.BR_2MBPS
else:
# '00' = 1MBPS
return NRF24.BR_1MBPS
def setCRCLength(self, length):
config = self.read_register(NRF24.CONFIG) & ~( _BV(NRF24.CRC_16) | _BV(NRF24.CRC_ENABLED))
if length == NRF24.CRC_DISABLED:
# Do nothing, we turned it off above.
self.write_register(NRF24.CONFIG, config)
return
elif length == NRF24.CRC_8:
config |= _BV(NRF24.CRC_ENABLED)
config |= _BV(NRF24.CRC_8)
else:
config |= _BV(NRF24.CRC_ENABLED)
config |= _BV(NRF24.CRC_16)
self.write_register(NRF24.CONFIG, config)
def getCRCLength(self):
result = NRF24.CRC_DISABLED
config = self.read_register(NRF24.CONFIG) & ( _BV(NRF24.CRCO) | _BV(NRF24.EN_CRC))
if config & _BV(NRF24.EN_CRC):
if config & _BV(NRF24.CRCO):
result = NRF24.CRC_16
else:
result = NRF24.CRC_8
return result
def disableCRC(self):
disable = self.read_register(NRF24.CONFIG) & ~_BV(NRF24.EN_CRC)
self.write_register(NRF24.CONFIG, disable)
def setRetries(self, delay, count):
self.write_register(NRF24.SETUP_RETR, (delay & 0xf) << NRF24.ARD | (count & 0xf) << NRF24.ARC)
def getRetries(self):
return self.read_register(NRF24.SETUP_RETR)
def getMaxTimeout(self):
retries = self.getRetries()
return ((250+(250*((retries& 0xf0)>>4 ))) * (retries & 0x0f)) / 1000000.0
class NRF24:
MAX_CHANNEL = 127
MAX_PAYLOAD_SIZE = 32
# PA Levels
PA_MIN = 0x00
PA_LOW = 0x01
PA_HIGH = 0x02
PA_MAX = 0x03
PA_ERROR = 0x04
# Bit rates
BR_1MBPS = 0
BR_2MBPS = 1
BR_250KBPS = 2
# CRC
CRC_DISABLED = 0x0
CRC_8 = 0x02
CRC_16 = 0x04
CRC_ENABLED = 0x08
EN_CRC = 0x08
CRCO = 0x04
# Registers
CONFIG = 0x00
EN_AA = 0x01
EN_RXADDR = 0x02
SETUP_AW = 0x03
SETUP_RETR = 0x04
RF_CH = 0x05
RF_SETUP = 0x06
STATUS = 0x07
OBSERVE_TX = 0x08
RPD = 0x09
RX_ADDR_P0 = 0x0A
RX_ADDR_P1 = 0x0B
RX_ADDR_P2 = 0x0C
RX_ADDR_P3 = 0x0D
RX_ADDR_P4 = 0x0E
RX_ADDR_P5 = 0x0F
TX_ADDR = 0x10
RX_PW_P0 = 0x11
RX_PW_P1 = 0x12
RX_PW_P2 = 0x13
RX_PW_P3 = 0x14
RX_PW_P4 = 0x15
RX_PW_P5 = 0x16
FIFO_STATUS = 0x17
DYNPD = 0x1C
FEATURE = 0x1D
# Bit Mnemonics */
MASK_RX_DR = 0x40
MASK_TX_DS = 0x20
MASK_MAX_RT = 0x10
PWR_UP = 0x02
PRIM_RX = 0x01
PLL_LOCK = 0x10
RX_DR = 0x40
TX_DS = 0x20
MAX_RT = 0x10
TX_FULL = 0x01
EN_DPL = 0x04
EN_ACK_PAY = 0x02
EN_DYN_ACK = 0x01
# Shift counts
ARD = 4
ARC = 0
PLOS_CNT = 4
ARC_CNT = 0
RX_P_NO = 1
TX_REUSE = 6
FIFO_FULL = 5
TX_EMPTY = 4
RX_FULL = 1
RX_EMPTY = 0
DPL_P5 = 5
DPL_P4 = 4
DPL_P3 = 3
DPL_P2 = 2
DPL_P1 = 1
DPL_P0 = 0
#Masks
RX_P_NO_MASK = 0x0E
# Instruction Mnemonics
R_REGISTER = 0x00
W_REGISTER = 0x20
REGISTER_MASK = 0x1F
ACTIVATE = 0x50
R_RX_PL_WID = 0x60
R_RX_PAYLOAD = 0x61
W_TX_PAYLOAD = 0xA0
W_ACK_PAYLOAD = 0xA8
FLUSH_TX = 0xE1
FLUSH_RX = 0xE2
REUSE_TX_PL = 0xE3
NOP = 0xFF
# Non-P omissions
LNA_HCURR = 0x01
LNA_ON = 1
LNA_OFF = 0
# P model bit Mnemonics
RF_DR_LOW = 0x20
RF_DR_HIGH = 0x08
RF_PWR_LOW = 0x02
RF_PWR_HIGH = 0x04
datarate_e_str_P = ["1MBPS", "2MBPS", "250KBPS"]
model_e_str_P = ["nRF24L01", "nRF24l01+"]
crclength_e_str_P = ["Disabled", "", "8 bits", "", "16 bits"]
pa_dbm_e_str_P = ["PA_MIN", "PA_LOW", "PA_HIGH", "PA_MAX"]
@staticmethod
def print_single_status_line(name, value):
print("{0:<16}= {1}".format(name, value))
@staticmethod
def _to_8b_list(data):
"""Convert an arbitray iteratable or single int to a list of ints
where each int is smaller than 256."""
if isinstance(data, str):
data = [ord(x) for x in data]
elif isinstance(data, (int, long)):
data = [data]
else:
data = [int(x) for x in data]
#for byte in data:
# if byte < 0 or byte > 255:
# raise RuntimeError("Value %d is larger than 8 bits" % byte)
return data
def __init__(self, major=None, minor=None, ce_pin=None, irq_pin=None):
self.ce_pin = "P9_15"
self.irq_pin = "P9_16"
self.channel = 76
self.data_rate = NRF24.BR_1MBPS
self.data_rate_bits = 1000
self.p_variant = False # False for RF24L01 and true for RF24L01P
self.payload_size = 5 # *< Fixed size of payloads
self.ack_payload_available = False # *< Whether there is an ack payload waiting
self.dynamic_payloads_enabled = False # *< Whether dynamic payloads are enabled.
self.ack_payload_length = 5 # *< Dynamic size of pending ack payload.
self.pipe0_reading_address = None # *< Last address set on pipe 0 for reading.
self.spidev = None
self.last_error = 0
self.crc_length = 0
self.auto_ack = 0x3F
self.address_length = 5
# If all parameters are available, lets start the radio!
if major is not None and minor is not None and irq_pin is not None:
self.begin(major, minor, ce_pin, irq_pin)
def begin(self, major, minor, ce_pin, irq_pin):
# Initialize SPI bus
if ADAFRUID_BBIO_SPI:
self.spidev = SPI(major, minor)
self.spidev.bpw = 8
try:
self.spidev.msh = 10000000 # Maximum supported by NRF24L01+
except IOError:
pass # Hardware does not support this speed
else:
self.spidev = spidev.SpiDev()
self.spidev.open(major, minor)
self.spidev.bits_per_word = 8
try:
self.spidev.max_speed_hz = 10000000 # Maximum supported by NRF24L01+
except IOError:
pass # Hardware does not support this speed
self.spidev.cshigh = False
self.spidev.mode = 0
self.spidev.loop = False
self.spidev.lsbfirst = False
self.spidev.threewire = False
self.ce_pin = ce_pin
self.irq_pin = irq_pin
if self.ce_pin is not None:
GPIO.setup(self.ce_pin, GPIO.OUT)
GPIO.setup(self.irq_pin, GPIO.IN, pull_up_down=GPIO.PUD_UP)
time.sleep(5 / 1000000.0)
# Reset radio configuration
self.reset()
# Set 1500uS (minimum for 32B payload in ESB@250KBPS) timeouts, to make testing a little easier
# WARNING: If this is ever lowered, either 250KBS mode with AA is broken or maximum packet
# sizes must never be used. See documentation for a more complete explanation.
self.setRetries(int('0101', 2), 15)
# Restore our default PA level
self.setPALevel(NRF24.PA_MAX)
# Determine if this is a p or non-p RF24 module and then
# reset our data rate back to default value. This works
# because a non-P variant won't allow the data rate to
# be set to 250Kbps.
if self.setDataRate(NRF24.BR_250KBPS):
self.p_variant = True
# Then set the data rate to the slowest (and most reliable) speed supported by all
# hardware.
self.setDataRate(NRF24.BR_1MBPS)
# Initialize CRC and request 2-byte (16bit) CRC
self.setCRCLength(NRF24.CRC_16)
# Disable dynamic payloads, to match dynamic_payloads_enabled setting
self.write_register(NRF24.DYNPD, 0)
# Reset current status
# Notice reset and flush is the last thing we do
self.write_register(NRF24.STATUS, NRF24.RX_DR | NRF24.TX_DS | NRF24.MAX_RT)
# Set up default configuration. Callers can always change it later.
# This channel should be universally safe and not bleed over into adjacent
# spectrum.
self.setChannel(self.channel)
self.setRetries(15, 15)
# Flush buffers
self.flush_rx()
self.flush_tx()
self.clear_irq_flags()
def end(self):
if self.spidev:
self.spidev.close()
self.spidev = None
def startListening(self):
self.write_register(NRF24.CONFIG, self.read_register(NRF24.CONFIG) | NRF24.PWR_UP | NRF24.PRIM_RX)
self.write_register(NRF24.STATUS, NRF24.RX_DR | NRF24.TX_DS | NRF24.MAX_RT)
self.flush_tx()
self.flush_rx()
self.clear_irq_flags()
# Restore the pipe0 address, if exists
if self.pipe0_reading_address:
self.write_register(self.RX_ADDR_P0, self.pipe0_reading_address)
# Go!
self.ce(1)
def ce(self, level, pulse=0):
# CE Pin is optional
if self.ce_pin is not None:
GPIO.output(self.ce_pin, level)
if pulse > 0:
time.sleep(pulse)
GPIO.output(self.ce_pin, 1 - level)
def irqWait(self, timeout=30000):
# TODO: A race condition may occur here. => wait for level?
if GPIO.input(self.irq_pin) == 0: # Pin is already down. Packet is waiting?
return True
try:
return GPIO.wait_for_edge(self.irq_pin, GPIO.FALLING, timeout) == 1
except TypeError: # Timeout parameter not supported
return GPIO.wait_for_edge(self.irq_pin, GPIO.FALLING) == 1
except AttributeError:
raise RuntimeError("GPIO lib does not support wait_for_edge()")
def read_register(self, reg, length=1):
buf = [NRF24.R_REGISTER | (NRF24.REGISTER_MASK & reg)]
buf += [NRF24.NOP] * max(1, length)
resp = self.spidev.xfer2(buf)
if length == 1:
return resp[1]
return resp[1:]
def write_register(self, reg, value):
""" Write register value """
buf = [NRF24.W_REGISTER | (NRF24.REGISTER_MASK & reg)]
buf += self._to_8b_list(value)
self.spidev.xfer2(buf)
def write_payload(self, buf):
""" Writes data to the payload register, automatically padding it
to match the required length. Returns the number of bytes
actually written. """
buf = self._to_8b_list(buf)
if self.dynamic_payloads_enabled:
if len(buf) > self.MAX_PAYLOAD_SIZE:
raise RuntimeError("Dynamic payload is larger than the " +
"maximum size.")
blank_len = 0
else:
if len(buf) > self.payload_size:
raise RuntimeError("Payload is larger than the fixed payload" +
"size (%d vs. %d bytes)" % (len(buf), self.payload_size))
blank_len = self.payload_size - len(buf)
txbuffer = [NRF24.W_TX_PAYLOAD] + buf + ([0x00] * blank_len)
self.spidev.xfer2(txbuffer)
return len(txbuffer) - 1
def read_payload(self, buf, buf_len=-1):
""" Reads data from the payload register and sets the
DR bit of the STATUS register. """
if buf_len < 0:
buf_len = self.payload_size
if not self.dynamic_payloads_enabled:
data_len = min(self.payload_size, buf_len)
blank_len = self.payload_size - data_len
else:
data_len = self.getDynamicPayloadSize()
blank_len = 0
txbuffer = [NRF24.R_RX_PAYLOAD] + [NRF24.NOP] * (blank_len + data_len + 1)
payload = self.spidev.xfer2(txbuffer)
del buf[:]
buf += payload[1:data_len + 1]
self.write_register(NRF24.STATUS, NRF24.RX_DR)
return data_len
def flush_rx(self):
return self.spidev.xfer2([NRF24.FLUSH_RX])[0]
def flush_tx(self):
return self.spidev.xfer2([NRF24.FLUSH_TX])[0]
def get_status(self):
return self.spidev.xfer2([NRF24.NOP])[0]
def get_status_str(self, status):
status_str = "STATUS\t = 0x{0:02x} RX_DR={1:x} TX_DS={2:x} MAX_RT={3:x} RX_P_NO={4:x} TX_FULL={5:x}".format(
status,
1 if status & NRF24.RX_DR else 0,
1 if status & NRF24.TX_DS else 0,
1 if status & NRF24.MAX_RT else 0,
((status >> NRF24.RX_P_NO) & int("111", 2)),
1 if status & NRF24.TX_FULL else 0)
return status_str
def print_status(self, status):
print self.get_status_str(status)
def get_observe_tx_str(self, value):
tx_str = "OBSERVE_TX=0x{0:02x}: POLS_CNT={2:x} ARC_CNT={2:x}\r\n".format(
value,
(value >> NRF24.PLOS_CNT) & int("1111",2),
(value >> NRF24.ARC_CNT) & int("1111",2)
)
return tx_str
def print_observe_tx(self, value):
print self.get_observe_tx_str(value)
def get_byte_register_str(self, name, reg, qty=1):
extra_tab = '\t' if len(name) < 8 else 0
byte_str= "%s\t%c =" % (name, extra_tab)
while qty > 0:
byte_str+= " 0x%02x" % (self.read_register(reg))
qty -= 1
reg += 1
return byte_str
def print_byte_register(self, name, reg, qty=1):
print self.get_address_register_str(name, reg, qty)
def get_address_register_str(self, name, reg, qty=1):
extra_tab = '\t' if len(name) < 8 else 0
addr_str = "%s\t%c =" % (name, extra_tab)
while qty > 0:
qty -= 1
buf = reversed(self.read_register(reg, 5))
reg += 1
addr_str+=" 0x"
for i in buf:
addr_str+="%02x" % i
return addr_str
def print_address_register(self, name, reg, qty=1):
print self.get_address_register_str(name, reg, qty)
self.print_single_status_line(name, " ".join(address_registers))
def setChannel(self, channel):
if channel < 0 or channel > self.MAX_CHANNEL:
raise RuntimeError("Channel number out of range")
self.channel = channel
self.write_register(NRF24.RF_CH, channel)
def getChannel(self):
return self.read_register(NRF24.RF_CH)
def setPayloadSize(self, size):
self.payload_size = min(max(size, 1), NRF24.MAX_PAYLOAD_SIZE)
def getPayloadSize(self):
return self.payload_size
def getDetails(self):
return "\n".join([self.get_status_str(self.get_status()),
self.get_address_register_str("RX_ADDR_P0-1", NRF24.RX_ADDR_P0, 2),
self.get_byte_register_str("RX_ADDR_P2-5", NRF24.RX_ADDR_P2, 4),
self.get_address_register_str("TX_ADDR", NRF24.TX_ADDR),
self.get_byte_register_str("RX_PW_P0-6", NRF24.RX_PW_P0, 6),
self.get_byte_register_str("EN_AA", NRF24.EN_AA),
self.get_byte_register_str("EN_RXADDR", NRF24.EN_RXADDR),
self.get_byte_register_str("RF_CH", NRF24.RF_CH),
self.get_byte_register_str("RF_SETUP", NRF24.RF_SETUP),
self.get_byte_register_str("CONFIG", NRF24.CONFIG),
self.get_byte_register_str("DYNPD/FEATURE", NRF24.DYNPD, 2),
"Data Rate\t = %s" % NRF24.datarate_e_str_P[self.getDataRate()],
"Model\t\t = %s" % NRF24.model_e_str_P[self.isPVariant()],
"CRC Length\t = %s" % NRF24.crclength_e_str_P[self.getCRCLength()],
"PA Power\t = %s" % NRF24.pa_dbm_e_str_P[self.getPALevel()]])
def printDetails(self):
print self.getDetails()
def stopListening(self):
self.ce(0)
self.flush_tx()
self.flush_rx()
self.clear_irq_flags()
# Enable TX
self.write_register(NRF24.CONFIG,
(self.read_register(NRF24.CONFIG) | NRF24.PWR_UP) & ~NRF24.PRIM_RX)
# Enable pipe 0 for auto-ack
self.write_register(NRF24.EN_RXADDR, self.read_register(NRF24.EN_RXADDR) | 1)
def powerDown(self):
self.write_register(NRF24.CONFIG, self.read_register(NRF24.CONFIG) & ~ NRF24.PWR_UP)
def powerUp(self):
self.write_register(NRF24.CONFIG, self.read_register(NRF24.CONFIG) | NRF24.PWR_UP)
time.sleep(150e-6)
def write(self, buf):
self.last_error = None
length = self.write_payload(buf)
self.ce(1)
sent_at = monotonic()
packet_time = ((1 + length + self.crc_length + self.address_length) * 8 + 9)/(self.data_rate_bits * 1000.)
if self.auto_ack != 0:
packet_time *= 2
if self.retries != 0 and self.auto_ack != 0:
timeout = sent_at + (packet_time + self.delay)*self.retries
else:
timeout = sent_at + packet_time * 2 # 2 is empiric
#while NRF24.TX_DS & self.get_status() == 0:
# pass
#print monotonic() - sent_at
#print packet_time
while monotonic() < timeout:
time.sleep(packet_time)
status = self.get_status()
if status & NRF24.TX_DS:
self.ce(0)
return True
if status & NRF24.MAX_RT:
self.last_error = 'MAX_RT'
self.ce(0)
break
self.ce(0)
if self.last_error is None:
self.last_error = 'TIMEOUT'
self.flush_tx() # Avoid leaving the payload in tx fifo
return False
def startFastWrite(self, buf):
"""
Do not wait for CE HIGH->LOW
"""
# Send the payload
self.write_payload(buf)
self.ce(1)
def startWrite(self, buf):
# Send the payload
self.write_payload(buf)
# Allons!
self.ce(1, 10e-6)
def getDynamicPayloadSize(self):
return self.spidev.xfer2([NRF24.R_RX_PL_WID, NRF24.NOP])[1]
def available(self, pipe_num=None, irq_wait=False, irq_timeout=30000):
status = self.get_status()
result = False
# Sometimes the radio specifies that there is data in one pipe but
# doesn't set the RX flag...
if status & NRF24.RX_DR or (status & NRF24.RX_P_NO_MASK != NRF24.RX_P_NO_MASK):
result = True
else:
if irq_wait: # Will use IRQ wait
if self.irqWait(irq_timeout): # Do we have a packet?
status = self.get_status() # Seems like we do!
if status & NRF24.RX_DR or (status & NRF24.RX_P_NO_MASK != NRF24.RX_P_NO_MASK):
result = True
# read status once again see Note on page 52 or 56 in product specification 1.0
# Note: The 3 bit pipe information in the STATUS register is updated during the IRQ pin high to low
#transition. The pipe information is unreliable if the STATUS register is read during an IRQ pin
#high to low transition.
status = self.get_status()
del pipe_num[:]
if result and pipe_num is not None:
pipe_num.append((status & NRF24.RX_P_NO_MASK) >> NRF24.RX_P_NO)
# Handle ack payload receipt
if status & NRF24.TX_DS:
self.write_register(NRF24.STATUS, NRF24.TX_DS)
return result
def read(self, buf, buf_len=-1):
# Fetch the payload
self.read_payload(buf, buf_len)
# was this the last of the data available?
return self.read_register(NRF24.FIFO_STATUS & NRF24.RX_EMPTY)
def clear_irq_flags(self):
self.write_register(NRF24.STATUS, NRF24.RX_DR | NRF24.TX_DS | NRF24.MAX_RT)
def whatHappened(self):
# Read the status & reset the status in one easy call
# Or is that such a good idea?
self.write_register(NRF24.STATUS, NRF24.RX_DR | NRF24.TX_DS | NRF24.MAX_RT)
status = self.get_status()
self.clear_irq_flags()
# Report to the user what happened
tx_ok = status & NRF24.TX_DS
tx_fail = status & NRF24.MAX_RT
rx_ready = status & NRF24.RX_DR
return {'tx_ok': tx_ok, "tx_fail": tx_fail, "rx_ready": rx_ready}
def openWritingPipe(self, value):
# Note that the NRF24L01(+)
# expects it LSB first.
self.write_register(NRF24.RX_ADDR_P0, value)
self.write_register(NRF24.TX_ADDR, value)
if not self.dynamic_payloads_enabled:
self.write_register(NRF24.RX_PW_P0, self.payload_size)
def openReadingPipe(self, pipe, address):
# If this is pipe 0, cache the address. This is needed because
# openWritingPipe() will overwrite the pipe 0 address, so
# startListening() will have to restore it.
if pipe >= 6:
raise RuntimeError("Invalid pipe number")
if (pipe >= 2 and len(address) > 1) or len(address) > 5:
raise RuntimeError("Invalid adress length")
if pipe == 0:
self.pipe0_reading_address = address
self.write_register(NRF24.RX_ADDR_P0 + pipe, address)
if not self.dynamic_payloads_enabled:
self.write_register(NRF24.RX_PW_P0 + pipe, self.payload_size)
# Note it would be more efficient to set all of the bits for all open
# pipes at once. However, I thought it would make the calling code
# more simple to do it this way.
self.write_register(NRF24.EN_RXADDR,
self.read_register(NRF24.EN_RXADDR) | (1 << pipe))
def closeReadingPipe(self, pipe):
self.write_register(NRF24.EN_RXADDR,
self.read_register(NRF24.EN_RXADDR) & ~(1 << pipe))
def toggle_features(self):
buf = [NRF24.ACTIVATE, 0x73]
self.spidev.xfer2(buf)
def enableDynamicPayloads(self):
# Enable dynamic payload throughout the system
self.write_register(NRF24.FEATURE, self.read_register(NRF24.FEATURE) | NRF24.EN_DPL)
# If it didn't work, the features are not enabled
if not self.read_register(NRF24.FEATURE):
# So enable them and try again
self.toggle_features()
self.write_register(NRF24.FEATURE, self.read_register(NRF24.FEATURE) | NRF24.EN_DPL)
# Enable dynamic payload on all pipes
# Not sure the use case of only having dynamic payload on certain
# pipes, so the library does not support it.
self.write_register(NRF24.DYNPD, self.read_register(NRF24.DYNPD) | 0b00111111)
self.dynamic_payloads_enabled = True
def enableAckPayload(self):
# enable ack payload and dynamic payload features
self.write_register(NRF24.FEATURE,
self.read_register(NRF24.FEATURE) | NRF24.EN_ACK_PAY | NRF24.EN_DPL)
# If it didn't work, the features are not enabled
if not self.read_register(NRF24.FEATURE):
# So enable them and try again
self.toggle_features()
self.write_register(NRF24.FEATURE,
self.read_register(NRF24.FEATURE) | NRF24.EN_ACK_PAY | NRF24.EN_DPL)
# Enable dynamic payload on pipes 0 & 1
self.write_register(NRF24.DYNPD, self.read_register(NRF24.DYNPD) | NRF24.DPL_P1 | NRF24.DPL_P0)
def writeAckPayload(self, pipe, buf, buf_len):
txbuffer = [NRF24.W_ACK_PAYLOAD | (pipe & 0x7)]
max_payload_size = 32
data_len = min(buf_len, max_payload_size)
txbuffer.extend(buf[0:data_len])
self.spidev.xfer2(txbuffer)
def isAckPayloadAvailable(self):
result = self.ack_payload_available
self.ack_payload_available = False
return result
def isPVariant(self):
return self.p_variant
def setAutoAck(self, enable):
if enable:
self.write_register(NRF24.EN_AA, 0x3F)
self.auto_ack = 0x3f
if self.crc_length == 0:
self.setCRCLength(NRF24.CRC_8) # Enhanced Shockburst requires at least 1 byte CRC
else:
self.auto_ack = 0
self.write_register(NRF24.EN_AA, 0)
def setAutoAckPipe(self, pipe, enable):
if pipe <= 6:
en_aa = self.read_register(NRF24.EN_AA)
if enable:
self.setCRCLength(NRF24.CRC_8) # Enhanced Shockburst requires at least 1 byte CRC
en_aa |= 1 << pipe
self.auto_ack |= 1 << pipe
else:
en_aa &= ~1 << pipe
self.auto_ack &= ~1 << pipe
self.write_register(NRF24.EN_AA, en_aa)
def setAddressWidth(self, width):
if width >= 2 and width <= 5:
self.write_register(NRF24.SETUP_AW, width - 2)
self.address_width = width
def testCarrier(self):
return self.read_register(NRF24.RPD) & 1
def setPALevel(self, level):
setup = self.read_register(NRF24.RF_SETUP)
setup &= ~(NRF24.RF_PWR_LOW | NRF24.RF_PWR_HIGH)
if level == NRF24.PA_MAX:
setup |= NRF24.RF_PWR_LOW | NRF24.RF_PWR_HIGH
elif level == NRF24.PA_HIGH:
setup |= NRF24.RF_PWR_HIGH
elif level == NRF24.PA_LOW:
setup |= NRF24.RF_PWR_LOW
elif level == NRF24.PA_MIN:
pass
elif level == NRF24.PA_ERROR:
# On error, go to maximum PA
setup |= NRF24.RF_PWR_LOW | NRF24.RF_PWR_HIGH
self.write_register(NRF24.RF_SETUP, setup)
def getPALevel(self):
power = self.read_register(NRF24.RF_SETUP) & (NRF24.RF_PWR_LOW | NRF24.RF_PWR_HIGH)
if power == (NRF24.RF_PWR_LOW | NRF24.RF_PWR_HIGH):
return NRF24.PA_MAX
elif power == NRF24.RF_PWR_HIGH:
return NRF24.PA_HIGH
elif power == NRF24.RF_PWR_LOW:
return NRF24.PA_LOW
else:
return NRF24.PA_MIN
def setDataRate(self, speed):
setup = self.read_register(NRF24.RF_SETUP)
setup &= ~(NRF24.RF_DR_LOW | NRF24.RF_DR_HIGH)
if speed == NRF24.BR_250KBPS:
# Must set the RF_DR_LOW to 1 RF_DR_HIGH (used to be RF_DR) is already 0
# Making it '10'.
self.data_rate_bits = 250
self.data_rate = NRF24.BR_250KBPS
setup |= NRF24.RF_DR_LOW
elif speed == NRF24.BR_2MBPS:
# Set 2Mbs, RF_DR (RF_DR_HIGH) is set 1
# Making it '01'
self.data_rate_bits = 2000
self.data_rate = NRF24.BR_2MBPS
setup |= NRF24.RF_DR_HIGH
else:
# 1Mbs
self.data_rate_bits = 1000
self.data_rate = NRF24.BR_1MBPS
self.write_register(NRF24.RF_SETUP, setup)
# Verify our result
return self.read_register(NRF24.RF_SETUP) == setup
def getDataRate(self):
dr = self.read_register(NRF24.RF_SETUP) & (NRF24.RF_DR_LOW | NRF24.RF_DR_HIGH)
# Order matters in our case below
if dr == NRF24.RF_DR_LOW:
# '10' = 250KBPS
return NRF24.BR_250KBPS
elif dr == NRF24.RF_DR_HIGH:
# '01' = 2MBPS
return NRF24.BR_2MBPS
else:
# '00' = 1MBPS
return NRF24.BR_1MBPS
def setCRCLength(self, length):
config = self.read_register(NRF24.CONFIG) & ~(NRF24.EN_CRC | NRF24.CRCO)
if length == NRF24.CRC_DISABLED:
self.crc_length = 0
elif length == NRF24.CRC_8:
config |= NRF24.EN_CRC
config &= ~NRF24.CRCO
self.crc_length = 1
else:
config |= NRF24.EN_CRC
config |= NRF24.CRCO
self.crc_length = 2
self.write_register(NRF24.CONFIG, config)
def getCRCLength(self):
result = NRF24.CRC_DISABLED
config = self.read_register(NRF24.CONFIG) & (NRF24.CRCO | NRF24.EN_CRC)
if config & NRF24.EN_CRC:
if config & NRF24.CRCO:
result = NRF24.CRC_16
else:
result = NRF24.CRC_8
return result
def disableCRC(self):
disable = self.read_register(NRF24.CONFIG) & ~NRF24.EN_CRC
self.write_register(NRF24.CONFIG, disable)
def setRetries(self, delay, count):
self.write_register(NRF24.SETUP_RETR, (delay & 0xf) << NRF24.ARD | (count & 0xf) << NRF24.ARC)
self.delay = delay * 0.000250
self.retries = count
self.max_timeout = (self.payload_size / float(self.data_rate_bits) + self.delay) * self.retries
self.timeout = (self.payload_size / float(self.data_rate_bits) + self.delay)
def getRetries(self):
return self.read_register(NRF24.SETUP_RETR)
def getMaxTimeout(self):
return self.max_timeout
def getTimeout(self):
return self.timeout
def reset(self):
""" Make sure the NRF is in the same state as after power up
to avoid problems resulting from left over configuration
from other programs."""
self.ce(0)
reset_values = {0: 0x08, 1: 0x3F, 2: 0x02, 3: 0x03, 4: 0x03, 5: 0x02, 6: 0x06,
0x0a: [0xe7, 0xe7, 0xe7, 0xe7, 0xe7],
0x0b: [0xc2, 0xc2, 0xc2, 0xc2, 0xc2],
0x0c: 0xc3, 0x0d: 0xc4, 0x0e: 0xc5, 0x0f: 0xc6,
0x10: [0xe7, 0xe7, 0xe7, 0xe7, 0xe7],
0x11: 0, 0x12: 0, 0x13: 0, 0x14: 0, 0x15: 0, 0x16: 0,
0x1c: 0, 0x1d: 0}
for reg, value in reset_values.items():
self.write_register(reg, value)
self.flush_rx()
self.flush_tx()
data.append(line)
count += 1
elif count == 19:
data.pop(0)
break
data.append(str(resultFinal))# + '\n')
print data
#print len(data)
#data.pop(0)
file.close()
f = open('methane_test.txt' ,'w').close()
#f = open('methane_test.txt','r+')
#f.truncate()
file = open('methane_test.txt', 'w')
for number in data:
print number
#file.write("\n")
file.write("%s" % number)
#file.write("\n")
#####################################
#####################################
#print data
#print result[0] #"EYYYYY"
#print result[1]
file.close()
#end while
except KeyboardInterrupt:
spi.close()
class DAC:
def __init__(self):
# create outer classes with ability to change inner parameters
# using two's complement
# CONSTS
self.DAC_SEND = "0001" # value to be sending information to dac
self.MAX_NEG = -pow(2, 19) # max neg value that can be achieved
self.MAX_POS = int(
0b01111111111111111111) # max pos value that can be achieved
self.MAX_CLOCK = 340000 # maximal clock value we can get in Hz
self.MIN_CLOCK = 50000 # minimal clock value we can get in Hz
self.IP = '192.168.0.20'
self.PORT = 5555
self.act_val = 0 # actual value
self.clock = self.MIN_CLOCK # begin with min value
self.spi = SPI(1, 0) # spi for our communication
self.spi.mode = 0b00
self.spi.msh = self.clock
# Triggers for the DAC
self.reset = False
self.ldac = False
GPIO.setup("P8_17", GPIO.OUT) # LDAC
GPIO.setup("P8_18", GPIO.OUT) # RESET
GPIO.output("P8_18", self.reset)
GPIO.output("P8_17", self.ldac)
# Address for which DAC
self.dac_address = list()
self.dac_address = [0, 0, 0, 0, 0] # default
GPIO.setup("P9_15", GPIO.OUT) # P0
GPIO.setup("P9_11", GPIO.OUT) # P1
GPIO.setup("P9_12", GPIO.OUT) # P2
GPIO.setup("P9_13", GPIO.OUT) # P3
GPIO.setup("P9_14", GPIO.OUT) # P4
GPIO.output("P9_15", GPIO.LOW) # P0
GPIO.output("P9_11", GPIO.LOW) # P1
GPIO.output("P9_12", GPIO.LOW) # P2
GPIO.output("P9_13", GPIO.LOW) # P3
GPIO.output("P9_14", GPIO.LOW) # P4
self.initializeDAC()
# server
def reset_dac(self):
GPIO.output("P8_18", 1)
print('Reseting DAC')
self.spi.close()
self.spi = SPI(1, 0)
GPIO.output("P8_18", 0) # returns it back to 0
def __del__(self):
self.reset_dac() # reset voltage
self.spi.close() # spi close
def initializeDAC(
self
): # we can always change the initialize and make it more flexible
GPIO.output("P8_17", GPIO.HIGH)
self.spi.writebytes([0b00100000, 0b00000000, 0b00100010])
GPIO.output("P8_17", GPIO.LOW)
def registerValue(self):
self.initializeDAC()
if self.act_val != 0:
temp = self.convertComplement_DAC(self.act_val, 20)
string1 = self.DAC_SEND + temp[0:4]
string2 = temp[4:12]
string3 = temp[12:]
GPIO.output("P8_17", GPIO.HIGH)
self.spi.writebytes(
[int(string1, 2),
int(string2, 2),
int(string3, 2)])
print('Sending to the DAC: ', string1 + string2 + string3)
GPIO.output("P8_17", GPIO.LOW)
else:
self.reset_dac()
return
@staticmethod
def convertComplement_DAC(value, width=20):
# Return the binary representation of the input number as a string.
# If width is not given it is assumed to be 20. If width is given, the two's complement of the number is
# returned, with respect to that width.
# In a two's-complement system negative numbers are represented by the two's
# complement of the absolute value. This is the most common method of
# representing signed integers on computers. A N-bit two's-complement
# system can represent every integer in the range [-2^(N-1),2^(N-1)-1]
def warning(widt, width_bin):
# the function checks if the width is a good value for input number, if not (f.e smaller) returning
# default 20
if widt != 20 and (widt <= 0 or width < width_bin):
print("Bad width, returning default\n")
return width_bin
elif widt == 20 and widt < width_bin:
return width_bin
else:
return widt
if value > 0:
binar = bin(
int(value))[2:] # take binary representation of input value
real_width = warning(width, len(binar)) # check width
if real_width > len(
binar): # add zeros if width is bigger that binary length
for x1 in range(0, real_width - len(binar)):
binar = "0" + binar
return binar
elif value == 0: # all zeros
binar = ""
for x2 in range(0, width):
binar = "0" + binar
elif value < 0:
binar = bin(
abs(int(value))
)[2:] # because of the minus sign at the beginning we take absolute value
real_width = warning(width, len(binar))
if abs(value) == pow(2, real_width - 1):
return binar
if real_width > len(
binar
): # with bigger length we have to add zeros at the beginning
for x3 in range(0, real_width - len(binar)):
binar = "0" + binar
strin = "" # empty temporary string
for x in range(0, real_width):
if int(binar[x]) == 1:
temp = 0 # negating for the 2's complement
else:
temp = 1
strin = strin + str(temp)
temp_add = int(strin, 2)
temp_add = temp_add + 1
binar = bin(temp_add)[2:]
return binar
class NRF24:
MAX_CHANNEL = 127
MAX_PAYLOAD_SIZE = 32
# PA Levels
PA_MIN = 0x00
PA_LOW = 0x01
PA_HIGH = 0x02
PA_MAX = 0x03
PA_ERROR = 0x04
# Bit rates
BR_1MBPS = 0
BR_2MBPS = 1
BR_250KBPS = 2
# CRC
CRC_DISABLED = 0x0
CRC_8 = 0x02
CRC_16 = 0x04
CRC_ENABLED = 0x08
EN_CRC = 0x08
CRCO = 0x04
# Registers
CONFIG = 0x00
EN_AA = 0x01
EN_RXADDR = 0x02
SETUP_AW = 0x03
SETUP_RETR = 0x04
RF_CH = 0x05
RF_SETUP = 0x06
STATUS = 0x07
OBSERVE_TX = 0x08
RPD = 0x09
RX_ADDR_P0 = 0x0A
RX_ADDR_P1 = 0x0B
RX_ADDR_P2 = 0x0C
RX_ADDR_P3 = 0x0D
RX_ADDR_P4 = 0x0E
RX_ADDR_P5 = 0x0F
TX_ADDR = 0x10
RX_PW_P0 = 0x11
RX_PW_P1 = 0x12
RX_PW_P2 = 0x13
RX_PW_P3 = 0x14
RX_PW_P4 = 0x15
RX_PW_P5 = 0x16
FIFO_STATUS = 0x17
DYNPD = 0x1C
FEATURE = 0x1D
# Bit Mnemonics */
MASK_RX_DR = 0x40
MASK_TX_DS = 0x20
MASK_MAX_RT = 0x10
PWR_UP = 0x02
PRIM_RX = 0x01
PLL_LOCK = 0x10
RX_DR = 0x40
TX_DS = 0x20
MAX_RT = 0x10
TX_FULL = 0x01
EN_DPL = 0x04
EN_ACK_PAY = 0x02
EN_DYN_ACK = 0x01
# Shift counts
ARD = 4
ARC = 0
PLOS_CNT = 4
ARC_CNT = 0
RX_P_NO = 1
TX_REUSE = 6
FIFO_FULL = 5
TX_EMPTY = 4
RX_FULL = 1
RX_EMPTY = 0
DPL_P5 = 5
DPL_P4 = 4
DPL_P3 = 3
DPL_P2 = 2
DPL_P1 = 1
DPL_P0 = 0
#Masks
RX_P_NO_MASK = 0x0E
# Instruction Mnemonics
R_REGISTER = 0x00
W_REGISTER = 0x20
REGISTER_MASK = 0x1F
ACTIVATE = 0x50
R_RX_PL_WID = 0x60
R_RX_PAYLOAD = 0x61
W_TX_PAYLOAD = 0xA0
W_ACK_PAYLOAD = 0xA8
FLUSH_TX = 0xE1
FLUSH_RX = 0xE2
REUSE_TX_PL = 0xE3
NOP = 0xFF
# Non-P omissions
LNA_HCURR = 0x01
LNA_ON = 1
LNA_OFF = 0
# P model bit Mnemonics
RF_DR_LOW = 0x20
RF_DR_HIGH = 0x08
RF_PWR_LOW = 0x02
RF_PWR_HIGH = 0x04
datarate_e_str_P = ["1MBPS", "2MBPS", "250KBPS"]
model_e_str_P = ["nRF24L01", "nRF24l01+"]
crclength_e_str_P = ["Disabled", "", "8 bits", "", "16 bits"]
pa_dbm_e_str_P = ["PA_MIN", "PA_LOW", "PA_HIGH", "PA_MAX"]
@staticmethod
def print_single_status_line(name, value):
print("{0:<16}= {1}".format(name, value))
@staticmethod
def _to_8b_list(data):
"""Convert an arbitray iteratable or single int to a list of ints
where each int is smaller than 256."""
if isinstance(data, str):
data = [ord(x) for x in data]
elif isinstance(data, (int, long)):
data = [data]
else:
data = [int(x) for x in data]
#for byte in data:
# if byte < 0 or byte > 255:
# raise RuntimeError("Value %d is larger than 8 bits" % byte)
return data
def __init__(self, major=None, minor=None, ce_pin=None, irq_pin=None):
self.ce_pin = "P9_15"
self.irq_pin = "P9_16"
self.channel = 76
self.data_rate = NRF24.BR_1MBPS
self.data_rate_bits = 1000
self.p_variant = False # False for RF24L01 and true for RF24L01P
self.payload_size = 5 # *< Fixed size of payloads
self.ack_payload_available = False # *< Whether there is an ack payload waiting
self.dynamic_payloads_enabled = False # *< Whether dynamic payloads are enabled.
self.ack_payload_length = 5 # *< Dynamic size of pending ack payload.
self.pipe0_reading_address = None # *< Last address set on pipe 0 for reading.
self.spidev = None
self.last_error = 0
self.crc_length = 0
self.auto_ack = 0x3F
self.address_length = 5
# If all parameters are available, lets start the radio!
if major is not None and minor is not None and irq_pin is not None:
self.begin(major, minor, ce_pin, irq_pin)
def begin(self, major, minor, ce_pin, irq_pin):
# Initialize SPI bus
if ADAFRUID_BBIO_SPI:
self.spidev = SPI(major, minor)
self.spidev.bpw = 8
try:
self.spidev.msh = 10000000 # Maximum supported by NRF24L01+
except IOError:
pass # Hardware does not support this speed
else:
self.spidev = spidev.SpiDev()
self.spidev.open(major, minor)
self.spidev.bits_per_word = 8
try:
self.spidev.max_speed_hz = 10000000 # Maximum supported by NRF24L01+
except IOError:
pass # Hardware does not support this speed
self.spidev.cshigh = False
self.spidev.mode = 0
self.spidev.loop = False
self.spidev.lsbfirst = False
self.spidev.threewire = False
self.ce_pin = ce_pin
self.irq_pin = irq_pin
if self.ce_pin is not None:
GPIO.setup(self.ce_pin, GPIO.OUT)
GPIO.setup(self.irq_pin, GPIO.IN, pull_up_down=GPIO.PUD_UP)
time.sleep(5 / 1000000.0)
# Reset radio configuration
self.reset()
# Set 1500uS (minimum for 32B payload in ESB@250KBPS) timeouts, to make testing a little easier
# WARNING: If this is ever lowered, either 250KBS mode with AA is broken or maximum packet
# sizes must never be used. See documentation for a more complete explanation.
self.setRetries(int('0101', 2), 15)
# Restore our default PA level
self.setPALevel(NRF24.PA_MAX)
# Determine if this is a p or non-p RF24 module and then
# reset our data rate back to default value. This works
# because a non-P variant won't allow the data rate to
# be set to 250Kbps.
if self.setDataRate(NRF24.BR_250KBPS):
self.p_variant = True
# Then set the data rate to the slowest (and most reliable) speed supported by all
# hardware.
self.setDataRate(NRF24.BR_1MBPS)
# Initialize CRC and request 2-byte (16bit) CRC
self.setCRCLength(NRF24.CRC_16)
# Disable dynamic payloads, to match dynamic_payloads_enabled setting
self.write_register(NRF24.DYNPD, 0)
# Reset current status
# Notice reset and flush is the last thing we do
self.write_register(NRF24.STATUS,
NRF24.RX_DR | NRF24.TX_DS | NRF24.MAX_RT)
# Set up default configuration. Callers can always change it later.
# This channel should be universally safe and not bleed over into adjacent
# spectrum.
self.setChannel(self.channel)
self.setRetries(15, 15)
# Flush buffers
self.flush_rx()
self.flush_tx()
self.clear_irq_flags()
def end(self):
if self.spidev:
self.spidev.close()
self.spidev = None
def startListening(self):
self.write_register(
NRF24.CONFIG,
self.read_register(NRF24.CONFIG) | NRF24.PWR_UP | NRF24.PRIM_RX)
self.write_register(NRF24.STATUS,
NRF24.RX_DR | NRF24.TX_DS | NRF24.MAX_RT)
self.flush_tx()
self.flush_rx()
self.clear_irq_flags()
# Restore the pipe0 address, if exists
if self.pipe0_reading_address:
self.write_register(self.RX_ADDR_P0, self.pipe0_reading_address)
# Go!
self.ce(1)
def ce(self, level, pulse=0):
# CE Pin is optional
if self.ce_pin is not None:
GPIO.output(self.ce_pin, level)
if pulse > 0:
time.sleep(pulse)
GPIO.output(self.ce_pin, 1 - level)
def irqWait(self, timeout=30000):
# TODO: A race condition may occur here. => wait for level?
if GPIO.input(
self.irq_pin) == 0: # Pin is already down. Packet is waiting?
return True
try:
return GPIO.wait_for_edge(self.irq_pin, GPIO.FALLING, timeout) == 1
except TypeError: # Timeout parameter not supported
return GPIO.wait_for_edge(self.irq_pin, GPIO.FALLING) == 1
except AttributeError:
raise RuntimeError("GPIO lib does not support wait_for_edge()")
def read_register(self, reg, length=1):
buf = [NRF24.R_REGISTER | (NRF24.REGISTER_MASK & reg)]
buf += [NRF24.NOP] * max(1, length)
resp = self.spidev.xfer2(buf)
if length == 1:
return resp[1]
return resp[1:]
def write_register(self, reg, value):
""" Write register value """
buf = [NRF24.W_REGISTER | (NRF24.REGISTER_MASK & reg)]
buf += self._to_8b_list(value)
self.spidev.xfer2(buf)
def write_payload(self, buf):
""" Writes data to the payload register, automatically padding it
to match the required length. Returns the number of bytes
actually written. """
buf = self._to_8b_list(buf)
if self.dynamic_payloads_enabled:
if len(buf) > self.MAX_PAYLOAD_SIZE:
raise RuntimeError("Dynamic payload is larger than the " +
"maximum size.")
blank_len = 0
else:
if len(buf) > self.payload_size:
raise RuntimeError("Payload is larger than the fixed payload" +
"size (%d vs. %d bytes)" %
(len(buf), self.payload_size))
blank_len = self.payload_size - len(buf)
txbuffer = [NRF24.W_TX_PAYLOAD] + buf + ([0x00] * blank_len)
self.spidev.xfer2(txbuffer)
return len(txbuffer) - 1
def read_payload(self, buf, buf_len=-1):
""" Reads data from the payload register and sets the
DR bit of the STATUS register. """
if buf_len < 0:
buf_len = self.payload_size
if not self.dynamic_payloads_enabled:
data_len = min(self.payload_size, buf_len)
blank_len = self.payload_size - data_len
else:
data_len = self.getDynamicPayloadSize()
blank_len = 0
txbuffer = [NRF24.R_RX_PAYLOAD
] + [NRF24.NOP] * (blank_len + data_len + 1)
payload = self.spidev.xfer2(txbuffer)
del buf[:]
buf += payload[1:data_len + 1]
self.write_register(NRF24.STATUS, NRF24.RX_DR)
return data_len
def flush_rx(self):
return self.spidev.xfer2([NRF24.FLUSH_RX])[0]
def flush_tx(self):
return self.spidev.xfer2([NRF24.FLUSH_TX])[0]
def get_status(self):
return self.spidev.xfer2([NRF24.NOP])[0]
def print_status(self, status):
status_str = "0x{0:02x} RX_DR={1:x} TX_DS={2:x} MAX_RT={3:x} RX_P_NO={4:x} TX_FULL={5:x}".format(
status, 1 if status & NRF24.RX_DR else 0,
1 if status & NRF24.TX_DS else 0,
1 if status & NRF24.MAX_RT else 0,
((status >> NRF24.RX_P_NO) & int("111", 2)),
1 if status & NRF24.TX_FULL else 0)
self.print_single_status_line("STATUS", status_str)
def print_observe_tx(self, value):
tx_str = "OBSERVE_TX=0x{0:02x}: POLS_CNT={2:x} ARC_CNT={2:x}\r\n".format(
value, (value >> NRF24.PLOS_CNT) & int("1111", 2),
(value >> NRF24.ARC_CNT) & int("1111", 2))
self.print_single_status_line("OBSERVE_TX", tx_str)
def print_byte_register(self, name, reg, qty=1):
registers = [
"0x{:0>2x}".format(self.read_register(reg + r))
for r in range(0, qty)
]
self.print_single_status_line(name, " ".join(registers))
def print_address_register(self, name, reg, qty=1):
address_registers = [
"0x{0:>02x}{1:>02x}{2:>02x}{3:>02x}{4:>02x}".format(
*self.read_register(reg + r, 5)) for r in range(qty)
]
self.print_single_status_line(name, " ".join(address_registers))
def setChannel(self, channel):
if channel < 0 or channel > self.MAX_CHANNEL:
raise RuntimeError("Channel number out of range")
self.channel = channel
self.write_register(NRF24.RF_CH, channel)
def getChannel(self):
return self.read_register(NRF24.RF_CH)
def setPayloadSize(self, size):
self.payload_size = min(max(size, 1), NRF24.MAX_PAYLOAD_SIZE)
def getPayloadSize(self):
return self.payload_size
def printDetails(self):
self.print_status(self.get_status())
self.print_address_register("RX_ADDR_P0-1", NRF24.RX_ADDR_P0, 2)
self.print_byte_register("RX_ADDR_P2-5", NRF24.RX_ADDR_P2, 4)
self.print_address_register("TX_ADDR", NRF24.TX_ADDR)
self.print_byte_register("RX_PW_P0-6", NRF24.RX_PW_P0, 6)
self.print_byte_register("EN_AA", NRF24.EN_AA)
self.print_byte_register("EN_RXADDR", NRF24.EN_RXADDR)
self.print_byte_register("RF_CH", NRF24.RF_CH)
self.print_byte_register("RF_SETUP", NRF24.RF_SETUP)
self.print_byte_register("SETUP_AW", NRF24.SETUP_AW)
self.print_byte_register("OBSERVE_TX", NRF24.OBSERVE_TX)
self.print_byte_register("CONFIG", NRF24.CONFIG)
self.print_byte_register("FIFO_STATUS", NRF24.FIFO_STATUS)
self.print_byte_register("DYNPD", NRF24.DYNPD)
self.print_byte_register("FEATURE", NRF24.FEATURE)
self.print_single_status_line(
"Data Rate", NRF24.datarate_e_str_P[self.getDataRate()])
self.print_single_status_line("Model",
NRF24.model_e_str_P[self.isPVariant()])
self.print_single_status_line(
"CRC Length", NRF24.crclength_e_str_P[self.getCRCLength()])
self.print_single_status_line("PA Power",
NRF24.pa_dbm_e_str_P[self.getPALevel()])
def stopListening(self):
self.ce(0)
self.flush_tx()
self.flush_rx()
self.clear_irq_flags()
# Enable TX
self.write_register(NRF24.CONFIG,
(self.read_register(NRF24.CONFIG) | NRF24.PWR_UP)
& ~NRF24.PRIM_RX)
# Enable pipe 0 for auto-ack
self.write_register(NRF24.EN_RXADDR,
self.read_register(NRF24.EN_RXADDR) | 1)
def powerDown(self):
self.write_register(NRF24.CONFIG,
self.read_register(NRF24.CONFIG) & ~NRF24.PWR_UP)
def powerUp(self):
self.write_register(NRF24.CONFIG,
self.read_register(NRF24.CONFIG) | NRF24.PWR_UP)
time.sleep(150e-6)
def write(self, buf):
self.last_error = None
length = self.write_payload(buf)
self.ce(1)
sent_at = monotonic()
packet_time = (
(1 + length + self.crc_length + self.address_length) * 8 +
9) / (self.data_rate_bits * 1000.)
if self.auto_ack != 0:
packet_time *= 2
if self.retries != 0 and self.auto_ack != 0:
timeout = sent_at + (packet_time + self.delay) * self.retries
else:
timeout = sent_at + packet_time * 2 # 2 is empiric
#while NRF24.TX_DS & self.get_status() == 0:
# pass
#print monotonic() - sent_at
#print packet_time
while monotonic() < timeout:
time.sleep(packet_time)
status = self.get_status()
if status & NRF24.TX_DS:
self.ce(0)
return True
if status & NRF24.MAX_RT:
self.last_error = 'MAX_RT'
self.ce(0)
break
self.ce(0)
if self.last_error is None:
self.last_error = 'TIMEOUT'
self.flush_tx() # Avoid leaving the payload in tx fifo
return False
def startFastWrite(self, buf):
"""
Do not wait for CE HIGH->LOW
"""
# Send the payload
self.write_payload(buf)
self.ce(1)
def startWrite(self, buf):
# Send the payload
self.write_payload(buf)
# Allons!
self.ce(1, 10e-6)
def getDynamicPayloadSize(self):
return self.spidev.xfer2([NRF24.R_RX_PL_WID, NRF24.NOP])[1]
def available(self, pipe_num=None, irq_wait=False, irq_timeout=30000):
status = self.get_status()
result = False
# Sometimes the radio specifies that there is data in one pipe but
# doesn't set the RX flag...
if status & NRF24.RX_DR or (status & NRF24.RX_P_NO_MASK !=
NRF24.RX_P_NO_MASK):
result = True
else:
if irq_wait: # Will use IRQ wait
if self.irqWait(irq_timeout): # Do we have a packet?
status = self.get_status() # Seems like we do!
if status & NRF24.RX_DR or (status & NRF24.RX_P_NO_MASK !=
NRF24.RX_P_NO_MASK):
result = True
if result and pipe_num is not None:
del pipe_num[:]
pipe_num.append((status & NRF24.RX_P_NO_MASK) >> NRF24.RX_P_NO)
# Handle ack payload receipt
if status & NRF24.TX_DS:
self.write_register(NRF24.STATUS, NRF24.TX_DS)
return result
def read(self, buf, buf_len=-1):
# Fetch the payload
self.read_payload(buf, buf_len)
# was this the last of the data available?
return self.read_register(NRF24.FIFO_STATUS & NRF24.RX_EMPTY)
def clear_irq_flags(self):
self.write_register(NRF24.STATUS,
NRF24.RX_DR | NRF24.TX_DS | NRF24.MAX_RT)
def whatHappened(self):
# Read the status & reset the status in one easy call
# Or is that such a good idea?
self.write_register(NRF24.STATUS,
NRF24.RX_DR | NRF24.TX_DS | NRF24.MAX_RT)
status = self.get_status()
self.clear_irq_flags()
# Report to the user what happened
tx_ok = status & NRF24.TX_DS
tx_fail = status & NRF24.MAX_RT
rx_ready = status & NRF24.RX_DR
return {'tx_ok': tx_ok, "tx_fail": tx_fail, "rx_ready": rx_ready}
def openWritingPipe(self, value):
# Note that the NRF24L01(+)
# expects it LSB first.
self.write_register(NRF24.RX_ADDR_P0, value)
self.write_register(NRF24.TX_ADDR, value)
if not self.dynamic_payloads_enabled:
self.write_register(NRF24.RX_PW_P0, self.payload_size)
def openReadingPipe(self, pipe, address):
# If this is pipe 0, cache the address. This is needed because
# openWritingPipe() will overwrite the pipe 0 address, so
# startListening() will have to restore it.
if pipe >= 6:
raise RuntimeError("Invalid pipe number")
if (pipe >= 2 and len(address) > 1) or len(address) > 5:
raise RuntimeError("Invalid adress length")
if pipe == 0:
self.pipe0_reading_address = address
self.write_register(NRF24.RX_ADDR_P0 + pipe, address)
if not self.dynamic_payloads_enabled:
self.write_register(NRF24.RX_PW_P0 + pipe, self.payload_size)
# Note it would be more efficient to set all of the bits for all open
# pipes at once. However, I thought it would make the calling code
# more simple to do it this way.
self.write_register(NRF24.EN_RXADDR,
self.read_register(NRF24.EN_RXADDR) | (1 << pipe))
def closeReadingPipe(self, pipe):
self.write_register(NRF24.EN_RXADDR,
self.read_register(NRF24.EN_RXADDR) & ~(1 << pipe))
def toggle_features(self):
buf = [NRF24.ACTIVATE, 0x73]
self.spidev.xfer2(buf)
def enableDynamicPayloads(self):
# Enable dynamic payload throughout the system
self.write_register(NRF24.FEATURE,
self.read_register(NRF24.FEATURE) | NRF24.EN_DPL)
# If it didn't work, the features are not enabled
if not self.read_register(NRF24.FEATURE):
# So enable them and try again
self.toggle_features()
self.write_register(
NRF24.FEATURE,
self.read_register(NRF24.FEATURE) | NRF24.EN_DPL)
# Enable dynamic payload on all pipes
# Not sure the use case of only having dynamic payload on certain
# pipes, so the library does not support it.
self.write_register(NRF24.DYNPD,
self.read_register(NRF24.DYNPD) | 0b00111111)
self.dynamic_payloads_enabled = True
def enableAckPayload(self):
# enable ack payload and dynamic payload features
self.write_register(
NRF24.FEATURE,
self.read_register(NRF24.FEATURE) | NRF24.EN_ACK_PAY
| NRF24.EN_DPL)
# If it didn't work, the features are not enabled
if not self.read_register(NRF24.FEATURE):
# So enable them and try again
self.toggle_features()
self.write_register(
NRF24.FEATURE,
self.read_register(NRF24.FEATURE) | NRF24.EN_ACK_PAY
| NRF24.EN_DPL)
# Enable dynamic payload on pipes 0 & 1
self.write_register(
NRF24.DYNPD,
self.read_register(NRF24.DYNPD) | NRF24.DPL_P1 | NRF24.DPL_P0)
def writeAckPayload(self, pipe, buf, buf_len):
txbuffer = [NRF24.W_ACK_PAYLOAD | (pipe & 0x7)]
max_payload_size = 32
data_len = min(buf_len, max_payload_size)
txbuffer.extend(buf[0:data_len])
self.spidev.xfer2(txbuffer)
def isAckPayloadAvailable(self):
result = self.ack_payload_available
self.ack_payload_available = False
return result
def isPVariant(self):
return self.p_variant
def setAutoAck(self, enable):
if enable:
self.write_register(NRF24.EN_AA, 0x3F)
self.auto_ack = 0x3f
if self.crc_length == 0:
self.setCRCLength(
NRF24.CRC_8
) # Enhanced Shockburst requires at least 1 byte CRC
else:
self.auto_ack = 0
self.write_register(NRF24.EN_AA, 0)
def setAutoAckPipe(self, pipe, enable):
if pipe <= 6:
en_aa = self.read_register(NRF24.EN_AA)
if enable:
self.setCRCLength(
NRF24.CRC_8
) # Enhanced Shockburst requires at least 1 byte CRC
en_aa |= 1 << pipe
self.auto_ack |= 1 << pipe
else:
en_aa &= ~1 << pipe
self.auto_ack &= ~1 << pipe
self.write_register(NRF24.EN_AA, en_aa)
def setAddressWidth(self, width):
if width >= 2 and width <= 5:
self.write_register(NRF24.SETUP_AW, width - 2)
self.address_width = width
def testCarrier(self):
return self.read_register(NRF24.RPD) & 1
def setPALevel(self, level):
setup = self.read_register(NRF24.RF_SETUP)
setup &= ~(NRF24.RF_PWR_LOW | NRF24.RF_PWR_HIGH)
if level == NRF24.PA_MAX:
setup |= NRF24.RF_PWR_LOW | NRF24.RF_PWR_HIGH
elif level == NRF24.PA_HIGH:
setup |= NRF24.RF_PWR_HIGH
elif level == NRF24.PA_LOW:
setup |= NRF24.RF_PWR_LOW
elif level == NRF24.PA_MIN:
pass
elif level == NRF24.PA_ERROR:
# On error, go to maximum PA
setup |= NRF24.RF_PWR_LOW | NRF24.RF_PWR_HIGH
self.write_register(NRF24.RF_SETUP, setup)
def getPALevel(self):
power = self.read_register(
NRF24.RF_SETUP) & (NRF24.RF_PWR_LOW | NRF24.RF_PWR_HIGH)
if power == (NRF24.RF_PWR_LOW | NRF24.RF_PWR_HIGH):
return NRF24.PA_MAX
elif power == NRF24.RF_PWR_HIGH:
return NRF24.PA_HIGH
elif power == NRF24.RF_PWR_LOW:
return NRF24.PA_LOW
else:
return NRF24.PA_MIN
def setDataRate(self, speed):
setup = self.read_register(NRF24.RF_SETUP)
setup &= ~(NRF24.RF_DR_LOW | NRF24.RF_DR_HIGH)
if speed == NRF24.BR_250KBPS:
# Must set the RF_DR_LOW to 1 RF_DR_HIGH (used to be RF_DR) is already 0
# Making it '10'.
self.data_rate_bits = 250
self.data_rate = NRF24.BR_250KBPS
setup |= NRF24.RF_DR_LOW
elif speed == NRF24.BR_2MBPS:
# Set 2Mbs, RF_DR (RF_DR_HIGH) is set 1
# Making it '01'
self.data_rate_bits = 2000
self.data_rate = NRF24.BR_2MBPS
setup |= NRF24.RF_DR_HIGH
else:
# 1Mbs
self.data_rate_bits = 1000
self.data_rate = NRF24.BR_1MBPS
self.write_register(NRF24.RF_SETUP, setup)
# Verify our result
return self.read_register(NRF24.RF_SETUP) == setup
def getDataRate(self):
dr = self.read_register(
NRF24.RF_SETUP) & (NRF24.RF_DR_LOW | NRF24.RF_DR_HIGH)
# Order matters in our case below
if dr == NRF24.RF_DR_LOW:
# '10' = 250KBPS
return NRF24.BR_250KBPS
elif dr == NRF24.RF_DR_HIGH:
# '01' = 2MBPS
return NRF24.BR_2MBPS
else:
# '00' = 1MBPS
return NRF24.BR_1MBPS
def setCRCLength(self, length):
config = self.read_register(
NRF24.CONFIG) & ~(NRF24.EN_CRC | NRF24.CRCO)
if length == NRF24.CRC_DISABLED:
self.crc_length = 0
elif length == NRF24.CRC_8:
config |= NRF24.EN_CRC
config &= ~NRF24.CRCO
self.crc_length = 1
else:
config |= NRF24.EN_CRC
config |= NRF24.CRCO
self.crc_length = 2
self.write_register(NRF24.CONFIG, config)
def getCRCLength(self):
result = NRF24.CRC_DISABLED
config = self.read_register(NRF24.CONFIG) & (NRF24.CRCO | NRF24.EN_CRC)
if config & NRF24.EN_CRC:
if config & NRF24.CRCO:
result = NRF24.CRC_16
else:
result = NRF24.CRC_8
return result
def disableCRC(self):
disable = self.read_register(NRF24.CONFIG) & ~NRF24.EN_CRC
self.write_register(NRF24.CONFIG, disable)
def setRetries(self, delay, count):
self.write_register(NRF24.SETUP_RETR, (delay & 0xf) << NRF24.ARD |
(count & 0xf) << NRF24.ARC)
self.delay = delay * 0.000250
self.retries = count
self.max_timeout = (self.payload_size / float(self.data_rate_bits) +
self.delay) * self.retries
self.timeout = (self.payload_size / float(self.data_rate_bits) +
self.delay)
def getRetries(self):
return self.read_register(NRF24.SETUP_RETR)
def getMaxTimeout(self):
return self.max_timeout
def getTimeout(self):
return self.timeout
def reset(self):
""" Make sure the NRF is in the same state as after power up
to avoid problems resulting from left over configuration
from other programs."""
self.ce(0)
reset_values = {
0: 0x08,
1: 0x3F,
2: 0x02,
3: 0x03,
4: 0x03,
5: 0x02,
6: 0x06,
0x0a: [0xe7, 0xe7, 0xe7, 0xe7, 0xe7],
0x0b: [0xc2, 0xc2, 0xc2, 0xc2, 0xc2],
0x0c: 0xc3,
0x0d: 0xc4,
0x0e: 0xc5,
0x0f: 0xc6,
0x10: [0xe7, 0xe7, 0xe7, 0xe7, 0xe7],
0x11: 0,
0x12: 0,
0x13: 0,
0x14: 0,
0x15: 0,
0x16: 0,
0x1c: 0,
0x1d: 0
}
for reg, value in reset_values.items():
self.write_register(reg, value)
self.flush_rx()
self.flush_tx()
print readID(flash_handler, flash3_cs)
totalErase(flash_handler, flash1_cs)
totalErase(flash_handler, flash2_cs)
totalErase(flash_handler, flash3_cs)
# #writeByte(flash_handler,0x00,33)
# #writeByte(flash_handler,0x01,34)
# erase4kbSector(flash_handler, 0)
# f.write(datetime.datetime.now())
data1 = [i for i in range(100)]
data2 = [2 * i for i in range(100)]
data3 = [3 * i for i in range(100)]
writeBytes(flash_handler, 0x000000, data1, flash1_cs)
writeBytes(flash_handler, 0x000000, data2, flash2_cs)
writeBytes(flash_handler, 0x000000, data3, flash3_cs)
print readBytes(flash_handler, 0x00, 32, flash1_cs)
print readBytes(flash_handler, 0x00, 32, flash2_cs)
print readBytes(flash_handler, 0x00, 32, flash3_cs)
erase4kbSector(flash_handler, 0, flash1_cs)
erase4kbSector(flash_handler, 0, flash2_cs)
erase4kbSector(flash_handler, 0, flash3_cs)
print readBytes(flash_handler, 0x00, 32, flash1_cs)
print readBytes(flash_handler, 0x00, 32, flash2_cs)
print readBytes(flash_handler, 0x00, 32, flash3_cs)
# #print readBytes(flash_handler, 0x00, 200)
# erase4kbSector(flash_handler, 0)
# data = [i for i in range(256)]
# writeBytes(flash_handler, 0x000000, data)
# print readBytes(flash_handler, 0x00, 1<<8)
# erase4kbSector(flash_handler, 0)
flash_handler.close()
