def run(self):
#Only need to execute one of the following lines:
#spi = SPI(bus, device) #/dev/spidev<bus>.<device>
spi = SPI(0, 0) #/dev/spidev1.0
spi.msh = 2000000 # SPI clock set to 2000 kHz
spi.bpw = 8 # bits/word
spi.threewire = False
spi.lsbfirst = False
spi.mode = 1
spi.cshigh = False # chip select (active low)
spi.open(0, 0)
print("spi... msh=" + str(spi.msh))
gchannel = 0
buf0 = (7 << 3) | ((gchannel & 0x0f) >> 1) #(7<<3) for auto-2 mode
buf1 = (gchannel & 0x01) << 7
buf1 = buf1 | 0x40 #select 5v i/p range
while (self.running):
ret = spi.xfer2([buf0, buf1])
print("0x%x 0x%x" % (ret[0], ret[1]))
chanl = (ret[0] & 0xf0) >> 4
adcval = ((ret[0] & 0x0f) << 4) + ((ret[1] & 0xf0) >> 4)
print(" -> chanl=%d adcval=0x%x" % (chanl, adcval))
time.sleep(1)
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
#!/usr/bin/python from Adafruit_BBIO.SPI import SPI spi = SPI(0,0) spi.lsbfirst=False spi.msh=1000000 spi.cshigh=False spi.xfer2([0x36]) spi.cshigh=True for reg in range(0x0,0x3d+1,1): spi.cshigh=False send = [ reg+0xc0 , 0x0 ] recv = spi.xfer2(send) spi.cshigh=True print reg,recv patable=9*[0] patable[0]=0x3e+0xc0 spi.cshigh=False dd = spi.xfer2(patable) spi.cshigh=True print 0x3e,dd rxfifo=65*[0] rxfifo[0]=0x3f+0xc0
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()
from Adafruit_BBIO.SPI import SPI # From Adafruit Learning System: # https://learn.adafruit.com/setting-up-io-python-library-on-beaglebone-black/spi #spi = SPI(bus, device) #/dev/spidev<bus>.<device> #spi = SPI(0,0) #/dev/spidev1.0 #spi = SPI(0,1) #/dev/spidev1.1 #spi = SPI(1,0) #/dev/spidev2.0 #spi = SPI(1,1) #/dev/spidev2.1 spi = SPI(0, 0) print spi.xfer2([32, 11, 110, 22, 220]) 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
from Adafruit_BBIO.SPI import SPI
command = sys.argv[1]
WALK = 1
WALK_BACK = 31
STOP = 15
TURNL = 3
TURNR = 7
spi = SPI(0,0)
spi.msh = 57600
spi.bpw = 8
#for debugging with keyboard input
#command = raw_input();
spi.xfer2([getCommandCode(command)])
spi.close()
def getCommandCode(command):
if command == 'walk':
print("Walk!")
return WALK
elif command == 'back':
print('Reverse')
return WALK_BACK
elif command == 'stop':
print('Stop!')
return STOP
elif command == 'left':
print('Turn Left')
return TURNL
#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
simple test for SPI adafruit-BBIO.
https://learn.adafruit.com/setting-up-io-python-library-on-beaglebone-black/spi
"""
from Adafruit_BBIO.SPI import SPI
#spi = SPI(bus, device) #/dev/spidev<bus>.<device>
# /dev/spidev0.0
spi = SPI(1, 0)
print(spi.xfer2([32, 11, 110, 22, 220]))
spi.close()
print("Hello BBIO SPI!")
spi.open(0,0)
#spi.msh = 100000
spi.bpw = 8
#spi.mode = b00
try:
#while True:
# set CS bit high, choose first channel to read from
#channel = 0;
#adc = spi.xfer([1,8,0])
#data = ((adc[1]&3) << 8) + adc[2]
channelSelect = 0xC0
channelSelect |= 0x18
channelSelect <<= 3
fsr = spi.xfer2([channelSelect, 0x00, 0x00])
#result = spi.readbytes(2)
#result2 = spi.readbytes(1)
resultFinal = 0x0000
resultFinal = 0x0300 & (resultFinal | (fsr[1] << 8 ))
resultFinal |= ( ( 0x00FF & fsr[2]) )
#print (8 + channel ) << 4
#print resultFinal
###################################
####################################
resultFinal = 1 #temp
file = open('methane_test.txt', 'r')
data = []
#data.append(str(resultFinal) + '\n')
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()
class RFM69HCW():
def __init__(self,
LED_STATE=default_LED_STATE,
Fxosc=default_Fxosc,
Fstep=default_Fstep,
callsign=None,
node_id=default_node_id,
network_id=default_network_id,
carrier_freq=default_carrier_freq,
carrier_dev=default_carrier_dev,
carrier_bitrate=default_bitrate):
self._mode = OPMODE_SLEEP
self.LED_STATE = LED_STATE
self.Fxosc = Fxosc
self.Fstep = Fstep
self.callsign = callsign
self.RFM_SPI = SPI(0, 0)
self.RFM_SPI.msh = 5000000
self.carrier_freq = carrier_freq
self.carrier_dev = carrier_dev
self.bitrate = carrier_bitrate
self.node_id = node_id
self.network_id = network_id
if self.callsign is None:
raise NoCallSign("FCC Callsign not defined")
self.ord_callsign = map(ord, list(self.callsign))
self._io_setup()
GPIO.output(BLUE_LEDPIN, GPIO.LOW)
self.reset_radio()
return
def _io_setup(self):
GPIO.setup(BLUE_LEDPIN, GPIO.OUT)
GPIO.setup(MODULE_EN, GPIO.OUT)
GPIO.setup(MODULE_RST, GPIO.OUT)
GPIO.setup(G0_PIN, GPIO.IN)
GPIO.setup(G1_PIN, GPIO.OUT)
GPIO.setup(G2_PIN, GPIO.OUT)
# GPIO.add_event_detect(G0_PIN, GPIO.FALLING, callback=g0int)
GPIO.add_event_detect(G0_PIN, GPIO.RISING, callback=g0int)
def _check_register(self, addr, value):
vals = self.RFM_SPI.xfer2([addr, 0x0])
if vals[1] != value:
str = "addr: " + hex(addr) + "(" + inv_sx1231_reg[
addr] + ")" + " should be: " + hex(value) + " got: " + hex(
vals[1])
raise CheckError(str)
print "Reg{", hex(addr), "}(", inv_sx1231_reg[addr], ")\t\t=", hex(
vals[1])
def write_register(self, reg, val, checkit=False):
addr = reg
reg = reg | 0x80
# print "reg is: ", bin(reg)
# print "val is: " , bin(val)
# RFM_SPI.writebytes([reg, val])
self.RFM_SPI.xfer2([reg, val])
if checkit == True:
self._check_register(addr, val)
return
def read_register(self, reg):
regval = self.RFM_SPI.xfer2([reg, 0x0])
return regval[1]
def reset_radio(self):
#self.blue_blink(2)
GPIO.output(MODULE_EN, GPIO.HIGH)
GPIO.output(MODULE_RST, GPIO.LOW)
time.sleep(0.5)
GPIO.output(MODULE_RST, GPIO.HIGH)
time.sleep(0.5)
GPIO.output(MODULE_RST, GPIO.LOW)
time.sleep(0.5)
def blue_invert(self):
if (self.LED_STATE) == True:
self.blue_off()
else:
self.blue_on()
def blue_off(self):
self.LED_STATE = False
GPIO.output(BLUE_LEDPIN, GPIO.HIGH)
return
def blue_on(self):
self.LED_STATE = True
GPIO.output(BLUE_LEDPIN, GPIO.LOW)
return
def blue_blink(self, n=3):
for num in range(0, n * 2):
self.blue_invert()
time.sleep(0.25)
return
def report_setup(self):
print 'LED_STATE is:\t', self.LED_STATE
print 'Fxosc is: \t', self.Fxosc
print 'Fstep is: \t', self.Fstep
print 'Callsign is: \t', self.callsign
return
# Facts:
# Fxosc = 32Mhz
# Fstep = 32e6/2^9 = 61.03515625
# Frf = int(carrier_hz/Fstep)
def write_carrier_freq(self, carrier_hz=436500000):
frf = int(carrier_hz / self.Fstep)
# vals = RFM_SPI.xfer2([RegFrfMsb, 0x0, 0x0, 0x0])
# print "Pre: vals=\t", hex(vals[0]), "\t", hex(vals[1]), "\t", hex(vals[2]), "\t", hex(vals[3])
frfmsb = (frf >> 16) & 0xff
frfmid = (frf >> 8) & 0xff
frflsb = frf & 0xff
wbuf = [(sx1231_reg["RegFrfMsb"] | 0x80),
int(frfmsb),
int(frfmid),
int(frflsb)]
self.RFM_SPI.writebytes(wbuf)
vals = self.RFM_SPI.xfer2([sx1231_reg["RegFrfMsb"], 0x0, 0x0, 0x0])
# print "Post: vals=\t", hex(vals[0]), "\t", hex(vals[1]), "\t", hex(vals[2]), "\t", hex(vals[3])
return
def set_freq_deviation(self, freq_dev_hz=20000):
freqdev = int(freq_dev_hz / self.Fstep)
wbuf = [(sx1231_reg["RegFdevMsb"] | 0x80), (int(freqdev >> 8) & 0x3f),
int(freqdev & 0xff)]
self.RFM_SPI.writebytes(wbuf)
# print "fdev_msb:\t",
# check_register(sx1231_reg["RegFdevMsb"], (int(freqdev>>8) & 0x3f))
# print "\nfdev_lsb:\t",
# check_register(sx1231_reg["RegFdevLsb"], (int(freqdev & 0xff)))
# print "\n"
return
def set_bitrate(self, bitrate_hz=1200):
rate = int(self.Fxosc / bitrate_hz)
wbuf = [(sx1231_reg["RegBitrateMsb"] | 0x80), (int(rate >> 8) & 0xff),
int(rate & 0xff)]
self.RFM_SPI.writebytes(wbuf)
def set_sync_value(fourbytelist):
wbuf = [(sx1231_reg["RegSyncValue1"] | 0x80)] + fourbytelist
self.RFM_SPI.writebytes(wbuf)
def set_preamble(twobytelist):
wbuf = [(sx1231_reg["RegPreambleMsb"] | 0x80)] + twobytelist
self.RFM_SPI.writebytes(wbuf)
"""
Experiment with automodes
"""
def config_packet(self, pa, node_id=0x33, network_id=0x77):
# Begin with sequencer on, listen off, and in standby
self.write_register(sx1231_reg["RegOpMode"],
OPMODE_SEQUENCER_ON | OPMODE_LISTEN_OFF, True)
self.set_mode(OPMODE_STANDBY)
# Automodes - Finish Emptying fifo while in STBY
self.write_register(
sx1231_reg["RegAutoModes"], AUTOMODE_ENTER_CRC_OK
| AUTOMODE_EXIT_FIFO_NOT_EMPTY | AUTOMODE_INTERM_STDBY, True)
# Packet Mode, FSK, No Shaping
self.write_register(
sx1231_reg["RegDataModul"],
DATAMODUL_Packet | DATAMODUL_FSK | DATAMODUL_NoShaping)
self.write_carrier_freq(self.carrier_freq)
self.set_freq_deviation(self.carrier_dev)
self.set_bitrate(self.bitrate)
# PA Output Power
self.write_register(sx1231_reg["RegPaLevel"], PAOutputCfg(
PA0, 0x1F)) # keep at PA0 until end of initialize
# DIO Mappings
g0_flag = False
g1_flag = False
g2_flag = False
g3_flag = False
g4_flag = False
g5_flag = False
# (DccFreq|RxBwMant|RxBwExp) Table 13
self.write_register(sx1231_reg["RegRxBw"],
(010 << 5 | 0x10 << 3 | 100 << 0)) # 20.8kHz?
# DIO_0 initialize to PAYLOAD ready in RX
self.write_register(
sx1231_reg["RegDioMapping1"],
((self.read_register(sx1231_reg["RegDioMapping1"]) &
(~(0b11 << DIO_0_POS))) | DIO0_PAYLOADREADY << DIO_0_POS), True)
# DIO_1 is RX TIMEOUT
self.write_register(
sx1231_reg["RegDioMapping1"],
((self.read_register(sx1231_reg["RegDioMapping1"]) &
(~(0b11 << DIO_1_POS))) | DIO1_RX_TIMEOUT << DIO_1_POS), True)
# DIO_4 is Clkout
self.write_register(sx1231_reg["RegDioMapping2"],
(DIO4_RXRDY << DIO_4_POS | DIO_CLK_DIV32), True)
# Clear IRQFLAG and reset FIFO
self.write_register(sx1231_reg["RegIrqFlags2"], IRQFLAGS2_FIFOOVERRUN)
# RSSI Thresh
self.write_register(sx1231_reg["RegRssiThresh"], 0xdc,
True) # -220/2 = -110dBm?
# Preamble length (0xaa..N)
self.write_register(sx1231_reg["RegPreambleLsb"], 0xf, True)
# Sync Config
self.write_register(
sx1231_reg["RegSyncConfig"],
SYNCCFG_SYNC_ON | SYNCCFG_FILL_FIFO_INTR | SYNCCFG_SIZE_2, True)
# Sync Word
self.write_register(sx1231_reg["RegSyncValue1"], node_id, True)
self.write_register(sx1231_reg["RegSyncValue2"], network_id, True)
# Packet config 1
self.write_register(
sx1231_reg["RegPacketConfig1"], PACKET1_FORMAT_FIXED
| PACKET1_DCFREE_NONE
| PACKET1_CRC_ON
| PACKET1_CRCAUTOCLEAR_ON
| PACKET1_ADDRESS_FILTERING_BOTH, True)
# Payload Length
self.write_register(sx1231_reg["RegPayloadLength"],
default_Payload_bytes, True)
# Node address:
self.write_register(sx1231_reg["RegNodeAdrs"], self.node_id, True)
self.write_register(sx1231_reg["RegBroadcastAdrs"], self.node_id + 1,
True)
# Fifothresh? Only for TX
self.write_register(sx1231_reg["RegFifoThresh"],
FIFOTHRESH_NOT_EMPTY | FIFOTHRESH_THRESHOLD_15,
True)
# Packet config 2
self.write_register(sx1231_reg["RegPacketConfig2"],
PACKET2_AUTORX_RESTART_ON, True)
# Magic numbers
self.write_register(
sx1231_reg["RegPaRamp"], 0b0011, True
) # 500uS close to 1/2400 bps ... see PacketConfig2 InterPacketRxDelay Must match the tx PA Ramp-down time
# self.write_register(sx1231_reg["RegAfcCtrl"],0x40 | (0b1<<5) , True ) # AfcLowBetaOn - Manual misprint....bits 7-6 read as 0b01 not 0b00
self.write_register(
sx1231_reg["RegAfcCtrl"], (0b1 << 5), True
) # AfcLowBetaOn - Manual misprint....bits 7-6 read as 0b01 not 0b00
self.write_register(sx1231_reg["RegTestDagc"], 0x20,
True) # page 74 for AfcLowBetaOn=1
self.write_register(sx1231_reg["RegPaLevel"], pa)
return
def set_mode(self, mode):
if (mode == self._mode):
return
if (mode == OPMODE_SLEEP):
self.write_register(
sx1231_reg["RegDioMapping1"],
((self.read_register(sx1231_reg["RegDioMapping1"]) &
(~(0b11 << DIO_0_POS))) | DIO0_PAYLOADREADY << DIO_0_POS))
self.write_register(
sx1231_reg["RegOpMode"],
(self.read_register(sx1231_reg["RegOpMode"]) & 0xe3)
| OPMODE_SLEEP)
self._mode = OPMODE_SLEEP
elif (mode == OPMODE_STANDBY):
self.write_register(
sx1231_reg["RegDioMapping1"],
((self.read_register(sx1231_reg["RegDioMapping1"]) &
(~(0b11 << DIO_0_POS))) | DIO0_PAYLOADREADY << DIO_0_POS))
self.write_register(
sx1231_reg["RegOpMode"],
(self.read_register(sx1231_reg["RegOpMode"]) & 0xe3)
| OPMODE_STANDBY)
self._mode = OPMODE_STANDBY
elif (mode == OPMODE_FS_SYNTH):
self.write_register(
sx1231_reg["RegOpMode"],
(self.read_register(sx1231_reg["RegOpMode"]) & 0xe3)
| OPMODE_FS_SYNTH)
self._mode = OPMODE_FS_SYNTH
elif (mode == OPMODE_TX):
self.write_register(
sx1231_reg["RegDioMapping1"],
((self.read_register(sx1231_reg["RegDioMapping1"]) &
(~(0b11 << DIO_0_POS))) | DIO0_PACKETSENT << DIO_0_POS))
self.write_register(
sx1231_reg["RegOpMode"],
(self.read_register(sx1231_reg["RegOpMode"]) & 0xe3)
| OPMODE_TX)
self._mode = OPMODE_TX
elif (mode == OPMODE_RX):
self.write_register(
sx1231_reg["RegDioMapping1"],
((self.read_register(sx1231_reg["RegDioMapping1"]) &
(~(0b11 << DIO_0_POS))) | DIO0_PAYLOADREADY << DIO_0_POS))
self.write_register(
sx1231_reg["RegOpMode"],
(self.read_register(sx1231_reg["RegOpMode"]) & 0xe3)
| OPMODE_RX)
self._mode = OPMODE_RX
else:
raise ValueError('Unrecognized Mode')
while ((self.read_register(sx1231_reg["RegIrqFlags1"])
& IRQFLAGS1_MODEREADY) == 0x00):
pass
return
def RSSI(self):
# write trigger
self.write_register(sx1231_reg["RegRssiConfig"], 0b1)
while ((self.read_register(sx1231_reg["RegRssiConfig"])
& RSSI_DONE) == 0x0):
pass
rssival = -self.read_register(sx1231_reg["RegRssiValue"])
rssival = rssival / 2
return rssival
# call when g0flag goes true
def read_fifo(self):
global g0_flag
self.standby()
fifolist = self.RFM_SPI.readbytes(default_Payload_bytes + 1)
#debugging
# value = True
# while value:
# print "* ";
# value = self.read_register(sx1231_reg["RegIrqFlags2"]) & IRQFLAGS2_PAYLOADREADY
# garbage=self.RFM_SPI.readbytes(default_Payload_bytes+1)
value = self.read_register(
sx1231_reg["RegIrqFlags2"]) & IRQFLAGS2_PAYLOADREADY
if value == 0:
g0_flag = False
return fifolist
def standby(self):
self.set_mode(OPMODE_STANDBY)
return
def receive(self):
self.set_mode(OPMODE_RX)
g0_flag = False
return
def send(self, bytelist):
self.set_mode(OPMODE_STANDBY)
if len(bytelist) > MAX_PACKET_LEN:
raise ValueError('Max Packet Len Exceeded')
#bytelist = [self.node_id+1]+[self.node_id] + bytelist
# bytelist = [self.node_id] + [self.node_id+1] + bytelist
# bytelist = [self.node_id] + bytelist
bytelist = [self.node_id] + bytelist
print "\tbytelist: ", bytelist
wbuf = [(sx1231_reg["RegFifo"] | 0x80)] + bytelist
self.RFM_SPI.writebytes(wbuf)
start_time = time.time()
self.set_mode(OPMODE_TX)
# Read pin or register...
# value = GPIO.input(G0_PIN)
value = self.read_register(
sx1231_reg["RegIrqFlags2"]) & IRQFLAGS2_PACKETSENT
#print "Start send:\t", start_time
while value == 0:
# value = GPIO.input(G0_PIN)
value = self.read_register(
sx1231_reg["RegIrqFlags2"]) & IRQFLAGS2_PACKETSENT
elapsed_time = time.time() - start_time
if (elapsed_time > 10):
break
#print "Stop send:\t", elapsed_time
self.set_mode(OPMODE_STANDBY)
return
def stop(self):
return
print("%s, 1, %d") % (address, rssi)
if value[28] == 129:
print("%s, 2, %d") % (address, rssi)
if value[28] == 130:
print("%s, 3, %d") % (address, rssi)
if value[28] == 131:
print("%s, 4, %d") % (address, rssi)
bt = SPI(0, 0)
bt.mode = 1
bt.msh = 1000000
k=0
while k<100:
bt.xfer2([ 0x00, 0x00, 0xFE, 0x07, 0x01, 0x04, 0xFE, 0x03,
0x03, 0x00, 0x00, 0xFC])
i=0;
while i<35:
if GPIO.input("P9_15") != 1:
value = bt.readbytes(12)
if value[1] == 0xFE and value[6] == 127 and value[7] == 6:
print("scanner started")
i=50
k=100
time.sleep(0.001)
i = i + 1
k = k +1
end_cond = 1
while end_cond:
from Adafruit_BBIO.SPI import SPI spi = SPI(1,0) spi.mode=2 spi.msh=2000000 spi.open(1,0) print spi.xfer2([32, 11, 110, 22, 220]) spi.close()
bt.mode = 1
bt.msh = 1000000
#reset the module
GPIO.output("P9_12", GPIO.LOW)
time.sleep(0.1)
GPIO.output("P9_12", GPIO.HIGH)
# initialize bt module
k = 0
while k < 100:
#print("Sending init message")
bt.xfer2([
0x00, 0xFE, 0x2A, 0x01, 0x00, 0xFE, 0x26, 0x02, 0x0A, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0xFA
])
i = 0
while i < 30:
if GPIO.input("P9_15") != 1:
value = bt.readbytes(12)
if value[1] == 0xFE and value[6] == 0 and value[7] == 6:
#print("Init Success")
#print(value)
i = 50
k = 100
time.sleep(0.001)
i = i + 1
k = k + 1
k = 0
class Enrf24():
__bus = None
__device = None
__rf_status = 0
__rf_addr_width = 5
__lastirq = None
__readpending = 0
__lastTXfailed = False
__txbuf_len = 0
__txbuf = []
# Internal IRQ handling
__ENRF24_IRQ_TX = 0x20
__ENRF24_IRQ_RX = 0x40
__ENRF24_IRQ_TXFAILED = 0x10
__ENRF24_IRQ_MASK = 0x70
__ENRF24_CFGMASK_IRQ = 0
def __init__(self, bus, device, cePin, csnPin, irqPin):
self.__bus = bus
self.__device = device
self.cePin = cePin
self.csnPin = csnPin
self.irqPin = irqPin
self.spi = SPI(self.__bus, self.__device)
self.spi.msh = 10000
self.spi.bpw = 8 # bits/word
self.spi.threewire = False
self.spi.lsbfirst = False
self.spi.mode = 0
self.spi.cshigh = False
self.spi.open(0, 0)
self.last_payload = ""
def begin(self, datarate=1000000, channel=0): # Specify bitrate & channel
GPIO.setup(self.cePin, GPIO.OUT)
GPIO.output(self.cePin, GPIO.LOW)
GPIO.setup(self.csnPin, GPIO.OUT)
GPIO.output(self.csnPin, GPIO.HIGH)
GPIO.setup(self.irqPin,
GPIO.IN) # No pullups; the transceiver provides this!
self.spi.writebytes([0x00
]) # Strawman transfer, fixes USCI issue on G2553
#self.spi.writebytes([0xCF, 0x00])
# Is the transceiver present/alive?
if (not self.__isAlive()):
return False # Nothing more to do here...
# Wait 100ms for module to initialize
time.sleep(0.1)
# Init certain registers
self.__writeReg(RF24_CONFIG,
0x00) # Deep power-down, everything disabled
self.__writeReg(RF24_EN_AA, 0x03)
self.__writeReg(RF24_EN_RXADDR, 0x03)
self.__writeReg(RF24_RF_SETUP, 0x00)
self.__writeReg(RF24_STATUS, self.__ENRF24_IRQ_MASK) # Clear all IRQs
self.__writeReg(RF24_DYNPD, 0x03)
self.__writeReg(RF24_FEATURE,
RF24_EN_DPL) # Dynamic payloads enabled by default
# Set all parameters
if (channel > 125):
channel = 125
self.deepsleep()
self.__issueCmd(RF24_FLUSH_TX)
self.__issueCmd(RF24_FLUSH_RX)
self.__readpending = 0
self.__irq_clear(self.__ENRF24_IRQ_MASK)
self.setChannel(channel)
self.setSpeed(datarate)
self.setTXpower()
self.setAutoAckParams()
self.setAddressLength(self.__rf_addr_width)
self.setCRC(True) # Default = CRC on, 8-bit
return True
def end(self): # Shut it off, clear the library's state
self.__txbuf_len = 0
self.__rf_status = 0
self.__rf_addr_width = 5
if (not self.__isAlive()):
return
self.deepsleep()
self.__issueCmd(RF24_FLUSH_TX)
self.__issueCmd(RF24_FLUSH_RX)
self.readpending = 0
self.__irq_clear(self.__ENRF24_IRQ_MASK)
GPIO.output(self.cePin, GPIO.LOW)
GPIO.output(self.csnPin, GPIO.HIGH)
# I/O
def available(
self,
checkIrq=False): # Check if incoming data is ready to be read
#print(checkIrq and GPIO.input(self.irqPin) and self.__readpending == 0)
if (checkIrq and GPIO.input(self.irqPin) and self.__readpending == 0):
return False
self.__maintenanceHook()
if ((not self.__readReg(RF24_FIFO_STATUS)) & RF24_RX_EMPTY):
return True
if (self.__readpending):
return True
return False
def read(self, maxlen=32): # Read contents of RX buffer up to
buf = None
plwidth = 0
res = ""
self.__maintenanceHook()
self.__readpending = 0
if ((self.__readReg(RF24_FIFO_STATUS) & RF24_RX_EMPTY) or maxlen < 1):
return 0
plwidth = self.__readCmdPayload(RF24_R_RX_PL_WID, plwidth, 1, 1)[0]
buf = self.__readCmdPayload(RF24_R_RX_PAYLOAD, buf, plwidth, maxlen)
if (self.__irq_derivereason() and self.__ENRF24_IRQ_RX):
self.__irq_clear(self.__ENRF24_IRQ_RX)
for i in buf:
res += chr(i)
self.last_payload = res
return res # 'maxlen' bytes, return final length.
# 'inbuf' should be maxlen+1 since a
# null '\0' is tacked onto the end.
def getMessage(self):
return self.last_payload
def write(self, data):
if (self.__txbuf_len == 32
): # If we're trying to stuff an already-full buffer...
self.flush() # Blocking OTA TX
txbuf = []
data = list(data)
for i in data:
txbuf.append(ord(i))
self.__txbuf = txbuf
self.__txbuf_len = len(txbuf)
return 1
def flush(self): # Force transmission of TX ring buffer contents
reg = None
addrbuf = []
enaa = False
origrx = False
if (self.__txbuf_len == 0):
return # Zero-length buffer? Nothing to send!
reg = self.__readReg(RF24_FIFO_STATUS)
if (
reg & BITS["BIT5"]
): # RF24_TX_FULL #define is BIT0, which is not the correct bit for FIFO_STATUS.
# Seen this before with a user whose CE pin was messed up.
self.__issueCmd(RF24_FLUSH_TX)
self.__txbuf_len = 0
return # Should never happen, but nonetheless a precaution to take.
self.__maintenanceHook()
if (reg & RF24_TX_REUSE):
# If somehow TX_REUSE is enabled, we need to flush the TX queue before loading our new payload.
self.__issueCmd(RF24_FLUSH_TX)
if (self.__readReg(RF24_EN_AA) & 0x01
and (self.__readReg(RF24_RF_SETUP) & 0x28) != 0x20):
# AutoACK enabled, must write TX addr to RX pipe#0
# Note that 250Kbps doesn't support auto-ack, so we check RF24_RF_SETUP to verify that.
enaa = True
self.__readTXaddr(addrbuf)
self.__writeRXaddrP0(addrbuf)
reg = self.__readReg(RF24_CONFIG)
if (not (reg & RF24_PWR_UP)):
#digitalWrite(_cePin, HIGH); // Workaround for SI24R1 knockoff chips
self.__writeReg(
RF24_CONFIG, self.__ENRF24_CFGMASK_IRQ
| self.__ENRF24_CFGMASK_CRC(reg) | RF24_PWR_UP)
time.sleep(.05) # 5ms delay required for nRF24 oscillator start-up
#digitalWrite(_cePin, LOW);
if (reg & RF24_PRIM_RX):
origrx = True
GPIO.output(self.cePin, GPIO.LOW)
self.__writeReg(
RF24_CONFIG, self.__ENRF24_CFGMASK_IRQ
| self.__ENRF24_CFGMASK_CRC(reg) | RF24_PWR_UP)
self.__txbuf = self.__issueCmdPayload(RF24_W_TX_PAYLOAD, self.__txbuf)
GPIO.output(self.cePin, GPIO.HIGH)
time.sleep(0.1)
GPIO.output(self.cePin, GPIO.LOW)
self.__txbuf_len = 0 # Reset TX ring buffer
while (GPIO.input(self.irqPin)): # Wait until IRQ fires
pass
# IRQ fired
self.__maintenanceHook() # Handle/clear IRQ
# Purge Pipe#0 address (set to module's power-up default)
if (enaa):
addrbuf = [0xE7, 0xE7, 0xE7, 0xE7, 0xE7]
self.__writeRXaddrP0(addrbuf)
# If we were in RX mode before writing, return back to RX mode.
if (origrx):
self.enableRX()
def purge(
self): # Ignore TX ring buffer contents, return ring pointer to 0.
self.__txbuf_len = 0
# Power-state related stuff-
def radioState(
self
): # Evaluate current state of the transceiver (see ENRF24_STATE_* defines)
if not self.__isAlive():
return ENRF24_STATE_NOTPRESENT
counter = 15
reg = self.__readReg(RF24_CONFIG)
if reg == 0:
while reg == 0 and counter < 15:
reg = self.__readReg(RF24_CONFIG)
counter += 1
if (not (reg & RF24_PWR_UP)):
return ENRF24_STATE_DEEPSLEEP
# At this point it's either Standby-I, II or PRX.
if (reg & RF24_PRIM_RX):
if (GPIO.input(self.cePin)):
return ENRF24_STATE_PRX
# PRIM_RX=1 but CE=0 is a form of idle state.
return ENRF24_STATE_IDLE
# Check if TX queue is empty, if so it's idle, if not it's PTX.
if (self.__readReg(RF24_FIFO_STATUS) & RF24_TX_EMPTY):
return ENRF24_STATE_IDLE
return ENRF24_STATE_PTX
def printRadioState(self):
status = self.radioState()
sys.stdout.write("Enrf24 radio transceiver status: ")
if status == ENRF24_STATE_NOTPRESENT:
print("NO TRANSCEIVER PRESENT")
elif status == ENRF24_STATE_DEEPSLEEP:
print("DEEP SLEEP <1uA power consumption")
elif status == ENRF24_STATE_IDLE:
print("IDLE module powered up w/ oscillators running")
elif status == ENRF24_STATE_PTX:
print("Actively Transmitting")
elif status == ENRF24_STATE_PRX:
print("Receive Mode")
else:
print("UNKNOWN STATUS CODE")
def printStatus(self):
status = self.__readReg(RF24_STATUS)
data_ready = str(hex(status & 0x40))
data_sent = str(hex(status & 0x20))
max_tx_retries = str(hex(status & 0x10))
if status & 0x0E == 0x0E:
rx_pipe_no = "RX FIFO Empty"
elif status & 0x02 == 0x02:
rx_pipe_no = 1
elif status & 0x04 == 0x04:
rx_pipe_no = 2
elif status & 0x06 == 0x06:
rx_pipe_no = 3
elif status & 0x08 == 0x08:
rx_pipe_no = 4
elif status & 0x0A == 0x0A:
rx_pipe_no = 5
elif ~status & 0x0E:
rx_pipe_no = 0
else:
rx_pipe_no = "Error"
rx_pipe_no = str(rx_pipe_no)
tx_fifo_full = str(status & 0x01)
status = str(hex(status))
sys.stdout.write("STATUS=")
sys.stdout.write(status)
sys.stdout.write("\tRX_DR=")
sys.stdout.write(data_ready)
sys.stdout.write(" TX_DS=")
sys.stdout.write(data_sent)
sys.stdout.write(" MAX_RT=")
sys.stdout.write(max_tx_retries)
sys.stdout.write(" RX_P_NO=")
sys.stdout.write(rx_pipe_no)
sys.stdout.write(" TX_FULL=")
print(tx_fifo_full)
print("")
def printDetails(self):
self.printStatus()
buf = []
sys.stdout.write("RX_ADDR_P0=")
buf = self.__readRegMultiLSB(RF24_RX_ADDR_P0, buf,
self.__rf_addr_width)
for i in buf:
sys.stdout.write(hex(i) + " ")
print("")
sys.stdout.write("RX_ADDR_P1=")
buf = self.__readRegMultiLSB(RF24_RX_ADDR_P1, buf,
self.__rf_addr_width)
for i in buf:
sys.stdout.write(hex(i) + " ")
print("")
sys.stdout.write("RX_ADDR_P2=")
buf = self.__readRegMultiLSB(RF24_RX_ADDR_P2, buf,
self.__rf_addr_width)
for i in buf:
sys.stdout.write(hex(i) + " ")
print("")
sys.stdout.write("RX_ADDR_P3=")
buf = self.__readRegMultiLSB(RF24_RX_ADDR_P3, buf,
self.__rf_addr_width)
for i in buf:
sys.stdout.write(hex(i) + " ")
print("")
sys.stdout.write("RX_ADDR_P4=")
buf = self.__readRegMultiLSB(RF24_RX_ADDR_P4, buf,
self.__rf_addr_width)
for i in buf:
sys.stdout.write(hex(i) + " ")
print("")
sys.stdout.write("RX_ADDR_P5=")
buf = self.__readRegMultiLSB(RF24_RX_ADDR_P5, buf,
self.__rf_addr_width)
for i in buf:
sys.stdout.write(hex(i) + " ")
print("")
print("")
sys.stdout.write("TX_ADDR=")
buf = self.__readRegMultiLSB(RF24_TX_ADDR, buf, self.__rf_addr_width)
for i in buf:
sys.stdout.write(hex(i) + " ")
print("")
print("")
sys.stdout.write("RX_PW_P0=")
print(hex(self.__readReg(RF24_RX_PW_P0)))
sys.stdout.write("RX_PW_P1=")
print(hex(self.__readReg(RF24_RX_PW_P1)))
sys.stdout.write("RX_PW_P2=")
print(hex(self.__readReg(RF24_RX_PW_P2)))
sys.stdout.write("RX_PW_P3=")
print(hex(self.__readReg(RF24_RX_PW_P3)))
sys.stdout.write("RX_PW_P4=")
print(hex(self.__readReg(RF24_RX_PW_P4)))
sys.stdout.write("RX_PW_P5=")
print(hex(self.__readReg(RF24_RX_PW_P5)))
print("")
sys.stdout.write("EN_AA=")
print(bin(self.__readReg(RF24_EN_AA)))
sys.stdout.write("EN_RXADDR=")
print(bin(self.__readReg(RF24_EN_RXADDR)))
sys.stdout.write("RF_CH=")
print(hex(self.__readReg(RF24_RF_CH)))
sys.stdout.write("RF_SETUP=")
print(bin(self.__readReg(RF24_RF_SETUP)))
sys.stdout.write("CONFIG=")
print(bin(self.__readReg(RF24_CONFIG)))
sys.stdout.write("DYNPD=")
print(bin(self.__readReg(RF24_DYNPD)))
sys.stdout.write("FEATURE=")
print(bin(self.__readReg(RF24_FEATURE)))
print("")
sys.stdout.write("Data Rate=")
print(self.getSpeed())
sys.stdout.write("CRC Length=")
print(self.getCRC())
sys.stdout.write("PA Power=")
print(self.getTXpower())
def deepsleep(self): # Enter POWERDOWN mode, ~0.9uA power consumption
reg = self.__readReg(RF24_CONFIG)
if (reg & (RF24_PWR_UP | RF24_PRIM_RX)):
self.__writeReg(
RF24_CONFIG,
self.__ENRF24_CFGMASK_IRQ | self.__ENRF24_CFGMASK_CRC(reg))
GPIO.output(self.cePin, GPIO.LOW)
def enableRX(self): # Enter PRX mode (~14mA)
reg = self.__readReg(RF24_CONFIG)
self.__writeReg(
RF24_CONFIG, self.__ENRF24_CFGMASK_IRQ
| self.__ENRF24_CFGMASK_CRC(reg) | RF24_PWR_UP | RF24_PRIM_RX)
self.__writeReg(RF24_RX_PW_P0, 0x20)
self.__writeReg(RF24_RX_PW_P1, 0x20)
GPIO.output(self.cePin, GPIO.HIGH)
if (
not (reg & RF24_PWR_UP)
): # Powering up from deep-sleep requires 5ms oscillator start delay
time.sleep(0.05)
def disableRX(self): # Disable PRX mode (PRIM_RX bit in CONFIG register)
# Note this won't necessarily push the transceiver into deep sleep, but rather
# an idle standby mode where its internal oscillators are ready & running but
# the RF transceiver PLL is disabled. ~26uA power consumption.
GPIO.output(self.cePin, GPIO.LOW)
reg = self.__readReg(RF24_CONFIG)
if (
reg & RF24_PWR_UP
): # Keep us in standby-I if we're coming from RX mode, otherwise stay
# in deep-sleep if we call this while already in PWR_UP=0 mode.
self.__writeReg(
RF24_CONFIG, self.__ENRF24_CFGMASK_IRQ
| self.__ENRF24_CFGMASK_CRC(reg) | RF24_PWR_UP)
else:
self.__writeReg(
RF24_CONFIG,
self.__ENRF24_CFGMASK_IRQ | self.__ENRF24_CFGMASK_CRC(reg))
# Custom tweaks to RF parameters, packet parameters
def autoAck(self,
onoff=True
): # Enable/disable auto-acknowledgements (enabled by default)
reg = self.__readReg(RF24_EN_AA)
if (onoff):
if (not (reg & 0x01) or not (reg & 0x02)):
self.__writeReg(RF24_EN_AA, 0x03)
else:
if (reg & 0x03):
self.__writeReg(RF24_EN_AA, 0x00)
def setChannel(self, channel):
if (channel > 125):
channel = 125
self.__writeReg(RF24_RF_CH, channel)
def setTXpower(
self,
dBm=0
): # Only a few values supported by this (0, -6, -12, -18 dBm)
reg = self.__readReg(
RF24_RF_SETUP) & 0xF8 # preserve RF speed settings
pwr = 0x06
if (dBm >= 7):
pwr = 0x07
if (dBm < 0):
pwr = 0x04
if (dBm < -6):
pwr = 0x02
if (dBm < -12):
pwr = 0x00
self.__writeReg(RF24_RF_SETUP, reg | pwr)
def setSpeed(self, rfspeed): # Set 250000, 1000000, 2000000 speeds.
reg = self.__readReg(
RF24_RF_SETUP) & 0xD7 # preserve RF power settings
spd = 0x01
if (rfspeed < 2000000):
spd = 0x00
if (rfspeed < 1000000):
spd = 0x04
self.__writeReg(RF24_RF_SETUP, reg | (spd << 3))
def setCRC(self,
onoff,
crc16bit=False): # Enable/disable CRC usage inside nRF24's
# hardware packet engine, specify 8 or
# 16-bit CRC.
crcbits = 0
reg = self.__readReg(
RF24_CONFIG) & 0xF3 # preserve IRQ mask, PWR_UP/PRIM_RX settings
if (onoff):
crcbits |= RF24_EN_CRC
if (crc16bit):
crcbits |= RF24_CRCO
self.__writeReg(RF24_CONFIG, (reg | crcbits))
# Set AutoACK retry count, timeout params (0-15, 250-4000 respectively)
def setAutoAckParams(self, autoretry_count=15, autoretry_timeout=2000):
setup_retr = 0
setup_retr = autoretry_count & 0x0F
autoretry_timeout -= 250
setup_retr |= ((autoretry_timeout / 250) & 0x0F) << 4
self.__writeReg(RF24_SETUP_RETR, setup_retr)
# Protocol addressing -- receive, transmit addresses
def setAddressLength(self,
len): # Valid parameters = 3, 4 or 5. Defaults to 5.
if (len < 3):
len = 3
if (len > 5):
len = 5
self.__writeReg(RF24_SETUP_AW, len - 2)
self.__rf_addr_width = len
def setRXaddress(self, rxaddr): # 3-5 byte RX address loaded into pipe#1
self.__writeRegMultiLSB(RF24_RX_ADDR_P1, rxaddr)
def setTXaddress(
self, txaddr): # 3-5 byte TX address loaded into TXaddr register
self.__writeRegMultiLSB(RF24_TX_ADDR, txaddr)
# Miscellaneous feature
def rfSignalDetected(
self
): # Read RPD register to determine if transceiver has presently detected an RF signal
# of -64dBm or greater. Only works in PRX (enableRX()) mode.
rpd = self.__readReg(RF24_RPD)
return rpd
# Query current parameters
def getChannel(self):
return self.__readReg(RF24_RF_CH)
def getSpeed(self):
reg = self.__readReg(RF24_RF_SETUP) & 0x28
if (reg == 0x00):
return 1000000
elif (reg == 0x08):
return 2000000
elif (reg == 0x20):
return 250000
else:
return 0
def getTXpower(self):
reg = self.__readReg(RF24_RF_SETUP) & 0x07
if (reg & 0x01):
return 7 # SI24R1-only +7dBm mode
elif (reg == 0x02):
return -12
elif (reg == 0x04):
return -6
elif (reg == 0x06):
return 0
else:
return -18
def getAddressLength(self):
return self.__rf_addr_width
def getRXaddress(self):
buf = []
buf = self.__readRegMultiLSB(RF24_RX_ADDR_P1, buf,
self.__rf_addr_width)
return buf
def getTXaddress(self):
buf = []
buf = self.__readRegMultiLSB(RF24_TX_ADDR, buf, rf_addr_width)
return buf
def getAutoAck(self):
reg = self.__readReg(RF24_EN_AA)
if (reg):
return True
else:
return False
def getCRC(self):
reg = self.__readReg(RF24_CONFIG) & 0x0C
if (reg == 0x08):
return 8
elif (reg == 0x0C):
return 16
else:
return 0
def __readReg(self, addr):
GPIO.output(self.csnPin, GPIO.LOW)
result = self.spi.xfer2([(RF24_R_REGISTER | addr), RF24_NOP])
self.__rf_status = result[0]
GPIO.output(self.csnPin, GPIO.HIGH)
return result[1]
def __readRegMultiLSB(self, addr, buf, length):
txbuf = [(RF24_R_REGISTER | addr)]
for i in range(length):
txbuf.append(RF24_NOP)
GPIO.output(self.csnPin, GPIO.LOW)
buf = self.spi.xfer2(txbuf)
self.__rf_status = buf[0]
status = []
for i in range(1, len(buf) + 1):
status.append(buf[-i])
status.pop()
GPIO.output(self.csnPin, GPIO.HIGH)
return status
def __writeReg(self, addr, val):
GPIO.output(self.csnPin, GPIO.LOW)
res = self.spi.xfer2([(RF24_W_REGISTER | addr), val])
GPIO.output(self.csnPin, GPIO.HIGH)
def __writeRegMultiLSB(self, addr, buf):
txbuf = [(RF24_W_REGISTER | addr)]
for i in range(1, len(buf) + 1):
txbuf.append(buf[-i])
GPIO.output(self.csnPin, GPIO.LOW)
status = self.spi.xfer2(txbuf)
GPIO.output(self.csnPin, GPIO.HIGH)
def __issueCmd(self, cmd):
GPIO.output(self.csnPin, GPIO.LOW)
self.spi.writebytes([cmd])
GPIO.output(self.csnPin, GPIO.HIGH)
def __readCmdPayload(self, cmd, buf, length, maxlen):
GPIO.output(self.csnPin, GPIO.LOW)
messg = []
txbuf = [cmd]
for i in range(maxlen):
txbuf.append(RF24_NOP)
buf = self.spi.xfer2(
txbuf) # Beyond maxlen bytes, just discard the remaining data.
self.__rf_status = buf[0]
for i in range(1, length + 1):
messg.append(buf[i])
GPIO.output(self.csnPin, GPIO.HIGH)
return messg
def __issueCmdPayload(self, cmd, buf):
payload = []
payload.append(cmd)
for i in buf:
payload.append(i)
GPIO.output(self.csnPin, GPIO.LOW)
res = self.spi.xfer2(payload)
GPIO.output(self.csnPin, GPIO.HIGH)
def __irq_getreason(self):
self.__lastirq = self.__readReg(RF24_STATUS) & self.__ENRF24_IRQ_MASK
def __irq_derivereason(
self
): # Get IRQ status from rf_status w/o querying module over SPI.
self.__lastirq = self.__rf_status & self.__ENRF24_IRQ_MASK
def __irq_clear(self, irq):
self.__writeReg(RF24_STATUS, (irq & self.__ENRF24_IRQ_MASK))
def __isAlive(self):
self.spi.writebytes([0x00])
aw = self.__readReg(RF24_SETUP_AW)
return ((aw & 0xFC) == 0x00 and (aw & 0x03) != 0x00)
def __readTXaddr(self, buf):
self.__readRegMultiLSB(RF24_TX_ADDR, buf, self.__rf_addr_width)
def __writeRXaddrP0(self, buf):
self.__writeRegMultiLSB(RF24_RX_ADDR_P0, buf)
def __maintenanceHook(
self
): # Handles IRQs and purges RX queue when erroneous contents exist.
i = 0
self.__irq_getreason()
if (self.__lastirq & self.__ENRF24_IRQ_TXFAILED):
self.__lastTXfailed = True
self.__issueCmd(RF24_FLUSH_TX)
self.__irq_clear(self.__ENRF24_IRQ_TXFAILED)
if (self.__lastirq & self.__ENRF24_IRQ_TX):
self.__lastTXfailed = False
self.__irq_clear(self.__ENRF24_IRQ_TX)
if (self.__lastirq & self.__ENRF24_IRQ_RX):
if ((not self.__readReg(RF24_FIFO_STATUS))
& RF24_RX_FULL): # Don't feel it's necessary
# to be notified of new
# incoming packets if the RX
# queue is full.
self.__irq_clear(self.__ENRF24_IRQ_RX)
# Check if RX payload is 0-byte or >32byte (erroneous conditions)
# Also check if data was received on pipe#0, which we are ignoring.
# The reason for this is pipe#0 is needed for receiving AutoACK acknowledgements,
# its address gets reset to the module's default and we do not care about data
# coming in to that address...
i = self.__readCmdPayload(RF24_R_RX_PL_WID, i, 1, 1)[0]
if (i == 0 or i > 32 or ((self.__rf_status & 0x0E) >> 1) == 0):
# Zero-width RX payload is an error that happens a lot
# with non-AutoAck, and must be cleared with FLUSH_RX.
# Erroneous >32byte packets are a similar phenomenon.
self.__issueCmd(RF24_FLUSH_RX)
self.__irq_clear(self.__ENRF24_IRQ_RX)
self.__readpending = 0
else:
self.__readpending = 1
# Actual scavenging of RX queues is performed by user-directed use of read().
def __ENRF24_CFGMASK_CRC(self, a):
return (a & (RF24_EN_CRC | RF24_CRCO))
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()
GPIO.output(ADC_RUN_PIN, GPIO.HIGH)
time.sleep(0.5)
GPIO.output(ADC_RUN_PIN, GPIO.LOW)
time.sleep(0.5)
GPIO.output(ADC_RUN_PIN, GPIO.HIGH)
GPIO.output(ADC_RESET_PIN, GPIO.HIGH) # ADC powered up now, wait a second before starting SPI transfers
time.sleep(1)
# SPI Adafruit library: https://github.com/adafruit/adafruit-beaglebone-io-python/blob/master/docs/SPI.rst
#print(spi.xfer2([(0b10000000 | 0x11), 0x00])) # read register 0x11
run(['config-pin', 'P9.18', 'spi']) # can't have MOSI high during power up, so now configure as SPI
spi = SPI(0, 0)
#print(spi.xfer2([(0b00000000 | 0x11), 0b01110100])) # write register 0x11 low power mode (8kHz), internal reference on
print(spi.xfer2([(0b00000000 | 0x11), 0b01110100])) # write register 0x11 high power mode (16kHz), internal reference on
print(spi.xfer2([(0b00000000 | 0x15), 0b01000000])) # write register 0x15, internal reference
# To compile firmware, use the command: pasm -b -V3 HWL_ping.pasm
pruss = Icss( "/dev/uio/pruss/module" )
pruss.initialize()
core = pruss.core1 # CORE 1!!!!
# load program
with open('HWL_ping.bin', 'rb') as f:
core.iram.write( f.read() )
NUM_SAMPLES = 5000
class Shmem( ctypes.Structure ):