663 lines
22 KiB
C#
663 lines
22 KiB
C#
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//Nach dem c-Code von Ulrich Radig (http://www.ulrichradig.de)
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using System;
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using Microsoft.SPOT;
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using Microsoft.SPOT.Hardware;
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using System.Threading;
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namespace PlaneOnBoardSoftware
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{
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class RFM22b
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{
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public class CycleByteBuffer
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{
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private byte[] byteBuffer;
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private int rInd = 0;
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private int wInd = 0;
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private bool isFull = false;
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public CycleByteBuffer(int BufferSize)
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{
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byteBuffer = new Byte[BufferSize];
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}
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public int GetBytesToRead()
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{
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if (isFull && wInd == rInd)
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return byteBuffer.Length;
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else
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return (byteBuffer.Length + wInd - rInd) % byteBuffer.Length;
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}
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public int GetFreeByteCount()
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{
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if (!isFull && wInd == rInd)
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return byteBuffer.Length;
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else
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return (byteBuffer.Length + rInd - wInd) % byteBuffer.Length;
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}
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public int WriteBytes(byte[] Data, int OffSet, int Lenght)
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{
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int len = Lenght;
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int freeLen = GetFreeByteCount();
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if (len >= freeLen)
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{
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len = freeLen;
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isFull = true;
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}
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addToBuffer(Data, OffSet, byteBuffer, wInd, len);
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wInd = (wInd + len) % byteBuffer.Length;
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return len;
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}
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public int ReadBytes(byte[] Data, int OffSet, int Lenght)
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{
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return ReadBytes(Data, OffSet, Lenght, false);
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}
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public int ReadBytes(byte[] Data, int OffSet, int Lenght, bool KeepInBuffer)
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{
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int len = Lenght;
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int bytesLen = GetBytesToRead();
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if (len >= bytesLen)
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{
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len = bytesLen;
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if (!KeepInBuffer) isFull = false;
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}
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getFromBuffer(byteBuffer, rInd, Data, OffSet, len);
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if (!KeepInBuffer) rInd = (rInd + len) % byteBuffer.Length;
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return len;
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}
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public int GetNextLineBr()
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{
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int rPos = rInd;
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int lastrPos;
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int count = GetBytesToRead();
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for (int i = 0; i < count - 1; i++)
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{
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lastrPos = rPos;
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rPos++;
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if (rPos == byteBuffer.Length) rPos = 0;
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if (byteBuffer[lastrPos] == 13 && byteBuffer[rPos] == 10) return i;
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}
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return 0;
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}
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public int DropBytes(int ByteCount)
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{
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int bytesToRemove = GetBytesToRead();
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if (ByteCount < bytesToRemove)
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bytesToRemove = ByteCount;
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else
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isFull = false;
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rInd = (rInd + bytesToRemove) % byteBuffer.Length;
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return bytesToRemove;
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}
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public void ClearBuffer()
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{
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wInd = 0;
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rInd = 0;
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isFull = false;
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}
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private void addToBuffer(byte[] Data, int srcOffSet, byte[] Buffer, int destOffSet, int Lenght)
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{
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if (destOffSet + Lenght > Buffer.Length)
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{
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int pLen = Buffer.Length - destOffSet;
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Array.Copy(Data, srcOffSet, Buffer, destOffSet, pLen);
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Array.Copy(Data, srcOffSet + pLen, Buffer, 0, Lenght - pLen);
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}
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else
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{
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Array.Copy(Data, srcOffSet, Buffer, destOffSet, Lenght);
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}
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}
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private void getFromBuffer(byte[] Buffer, int srcOffSet, byte[] Data, int destOffSet, int Lenght)
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{
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if (srcOffSet + Lenght > Buffer.Length)
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{
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int pLen = Buffer.Length - srcOffSet;
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Array.Copy(Buffer, srcOffSet, Data, destOffSet, pLen);
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Array.Copy(Buffer, 0, Data, destOffSet + pLen, Lenght - pLen);
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}
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else
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{
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Array.Copy(Buffer, srcOffSet, Data, destOffSet, Lenght);
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}
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}
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}
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public class Channel
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{
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public byte chanID;
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public RFM22b rfMod;
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private CycleByteBuffer TxBuffer;
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private CycleByteBuffer RxBuffer;
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public byte Priority = 0;
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public int BytesToRead
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{
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get { return RxBuffer.GetBytesToRead(); }
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}
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public int BytesToSend
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{
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get { return TxBuffer.GetBytesToRead(); }
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}
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public Channel(RFM22b RFModul, byte ChannelID, int RxBufferSize, int TxBufferSize)
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{
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TxBuffer = new CycleByteBuffer(TxBufferSize);
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RxBuffer = new CycleByteBuffer(RxBufferSize);
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chanID = ChannelID;
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rfMod = RFModul;
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rfMod.addChannel(this, chanID);
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}
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public int Send(byte[] Data, int OffSet, int Lenght)
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{
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int retVal = TxBuffer.WriteBytes(Data, OffSet, Lenght);
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rfMod.sendNextPacket();
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return retVal;
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}
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public int Send(string Text)
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{
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byte[] txtData = System.Text.UTF8Encoding.UTF8.GetBytes(Text);
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int retVal = TxBuffer.WriteBytes(txtData, 0, txtData.Length);
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rfMod.sendNextPacket();
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return retVal;
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}
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public int SendLine(string Text)
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{
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return Send(Text + "\r\n");
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}
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public int Recv(byte[] Data, int OffSet, int Lenght)
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{
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return RxBuffer.ReadBytes(Data, OffSet, Lenght, false);
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}
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public string RecvLine()
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{
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int byteCount = RxBuffer.GetNextLineBr();
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byte[] Data = new byte[byteCount];
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if (byteCount > 0)
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{
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RxBuffer.ReadBytes(Data, 0, byteCount);
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RxBuffer.DropBytes(2);
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return new string(System.Text.UTF8Encoding.UTF8.GetChars(Data));
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}
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else
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{
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return "";
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}
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}
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public int AddBytesToRxBuffer(byte[] Data, int OffSet, int Lenght)
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{
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return RxBuffer.WriteBytes(Data, OffSet, Lenght);
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}
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public int GetBytesFromTxBuffer(byte[] Data, int OffSet, int Lenght)
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{
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return TxBuffer.ReadBytes(Data, OffSet, Lenght, true);
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}
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public void RemoveBytesFromTxBuffer(int ByteCount)
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{
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TxBuffer.DropBytes(ByteCount);
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}
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public void ClearTxBuffer()
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{
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TxBuffer.ClearBuffer();
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rfMod.CancelPacketFlag = true;
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}
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public void ClearRxBuffer()
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{
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RxBuffer.ClearBuffer();
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}
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}
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public enum ModemState
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{
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Init,
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Ready,
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Transmitting,
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Receving,
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Error
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};
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private enum PacketAttrib
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{
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Normal,
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ClearRecvBuffer
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};
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SPI.Configuration SpiConfig;
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SPI SpiBus;
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InterruptPort IRQn;
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Channel[] ChannelList = new Channel[8];
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Timer TimeOutTimer;
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public ModemState State = ModemState.Init;
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public int RSSI;
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public int LostPackets = 0;
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private int rxPackNr = 0;
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private int txPackNr = 0;
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private Channel lastTxChan;
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private int lastTxPackLen = 60;
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private int lastRxPackLen = 0;
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private bool CancelPacketFlag = false;
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private byte InterruptStatus1 = 0;
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private double _frequency = 869.545;
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public double Frequency
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{
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get
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{
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return _frequency;
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}
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set
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{
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rf22_setfreq((byte)((value - 860.0) * 3200));
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}
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}
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public RFM22b(SPI.SPI_module SpiMmodule, Cpu.Pin ChipSelectPort, Cpu.Pin IRQPort, double FrequInHz)
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{
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SpiConfig = new SPI.Configuration(ChipSelectPort, false, 0, 0, false, true, 1000, SpiMmodule);
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SpiBus = new SPI(SpiConfig);
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IRQn = new InterruptPort(IRQPort, false, Port.ResistorMode.Disabled, Port.InterruptMode.InterruptEdgeLow);
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IRQn.OnInterrupt += new NativeEventHandler(IRQn_OnInterrupt);
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rf22_init();
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rf22_setfreq((byte)((_frequency - 860.0) * 3200));
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rf22_rxmode();
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TimeOutTimer = new Timer(new TimerCallback(RecvTimeOut), null, 500, Timeout.Infinite);
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State = ModemState.Receving;
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}
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public Channel NewChannel(byte ChannelID, int RxBufferSize, int TxBufferSize)
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{
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return new Channel(this, ChannelID, RxBufferSize, TxBufferSize);
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}
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private void addChannel(Channel chanToAdd, byte chanID)
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{
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ChannelList[chanID] = chanToAdd;
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}
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private void sendNextPacket()
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{
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int hcIndex = -1;
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int prio = -1;
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//Debug.Print("--> Send State" + State + " <--");
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if (State == ModemState.Ready)
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{
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for (int i = 0; i < ChannelList.Length; i++)
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{
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if (ChannelList[i] != null)
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{
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if (ChannelList[i].BytesToSend > 0 && ChannelList[i].Priority > prio)
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{
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hcIndex = i;
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prio = ChannelList[i].Priority;
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}
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}
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}
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int byteCount;
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byte[] Buffer = new byte[64];
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Buffer[0] = (byte)rxPackNr;
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Buffer[1] = (byte)txPackNr;
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Buffer[2] = (byte)hcIndex;
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Buffer[3] = CancelPacketFlag ? (byte)PacketAttrib.ClearRecvBuffer : (byte)PacketAttrib.Normal;
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//Debug.Print("--> Send hcIndex" + hcIndex + " <--");
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if (hcIndex > -1)
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{
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byteCount = ChannelList[hcIndex].GetBytesFromTxBuffer(Buffer, 4, lastTxPackLen);
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//Debug.Print("** Send " + byteCount + " **");
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State = ModemState.Transmitting;
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rf22_sendpacket(Buffer, 0, byteCount + 4);
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lastTxChan = ChannelList[hcIndex];
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lastTxPackLen = byteCount;
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}
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else if (lastRxPackLen > 4)
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{
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//Debug.Print("** Send Empty **");
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lastRxPackLen = 0;
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State = ModemState.Transmitting;
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rf22_sendpacket(Buffer, 0, 4);
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}
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else
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{
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rf22_rxmode();
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}
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}
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}
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private void readPacket()
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{
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byte[] Buffer = new byte[64];
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int cInd;
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int packetLen;
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int newRxPacketNr;
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packetLen = rf22_getpacket(Buffer, 0);
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lastRxPackLen = packetLen;
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//Debug.Print("** Receve " + packetLen + " **");
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if (packetLen > 3)
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{
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newRxPacketNr = Buffer[1];
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|
|
cInd = Buffer[2]; //Channel ID
|
|||
|
|
|
|||
|
|
|
|||
|
|
if (Buffer[0] == txPackNr && lastTxChan != null)
|
|||
|
|
{
|
|||
|
|
lastTxChan.RemoveBytesFromTxBuffer(lastTxPackLen);
|
|||
|
|
lastTxPackLen = 60;
|
|||
|
|
txPackNr++;
|
|||
|
|
if (txPackNr > 255) txPackNr = 0;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
if (cInd < ChannelList.Length)
|
|||
|
|
{
|
|||
|
|
if (ChannelList[cInd] != null && rxPackNr != newRxPacketNr && packetLen > 4)
|
|||
|
|
{
|
|||
|
|
if (Buffer[3] == (byte)PacketAttrib.ClearRecvBuffer) ChannelList[cInd].ClearRxBuffer();
|
|||
|
|
ChannelList[cInd].AddBytesToRxBuffer(Buffer, 4, packetLen - 4);
|
|||
|
|
rxPackNr = newRxPacketNr;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
private void RecvTimeOut(object nullObj)
|
|||
|
|
{
|
|||
|
|
if (State == ModemState.Receving)
|
|||
|
|
{
|
|||
|
|
State = ModemState.Ready;
|
|||
|
|
RSSI = -1;
|
|||
|
|
if (LostPackets == int.MaxValue) LostPackets = 0;
|
|||
|
|
LostPackets++;
|
|||
|
|
sendNextPacket();
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
private void IRQn_OnInterrupt(uint port, uint state, DateTime time)
|
|||
|
|
{
|
|||
|
|
InterruptStatus1 = rf22_read(0x03);
|
|||
|
|
|
|||
|
|
if (State == ModemState.Transmitting)
|
|||
|
|
{
|
|||
|
|
// All Data Transmitted
|
|||
|
|
rf22_write(0x07, 0x01); // switch to ready mode
|
|||
|
|
rf22_rxmode();
|
|||
|
|
TimeOutTimer.Dispose();
|
|||
|
|
TimeOutTimer = new Timer(new TimerCallback(RecvTimeOut), null, 500, Timeout.Infinite);
|
|||
|
|
State = ModemState.Receving;
|
|||
|
|
}
|
|||
|
|
else if (State == ModemState.Receving || State == ModemState.Ready)
|
|||
|
|
{
|
|||
|
|
RSSI = rf22_read(0x26);
|
|||
|
|
State = ModemState.Ready;
|
|||
|
|
readPacket();
|
|||
|
|
sendNextPacket();
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
#region Hardware Commands
|
|||
|
|
|
|||
|
|
private void rf22_write(byte addr, byte data)
|
|||
|
|
{
|
|||
|
|
byte[] addrArray = new byte[2];
|
|||
|
|
|
|||
|
|
addrArray[0] = (byte)(128 | addr);
|
|||
|
|
addrArray[1] = data;
|
|||
|
|
|
|||
|
|
SpiBus.Write(addrArray);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
private byte rf22_read(byte addr)
|
|||
|
|
{
|
|||
|
|
byte[] ret = new byte[2];
|
|||
|
|
SpiBus.WriteRead(new byte[] { (byte)(addr & 127), 0xFF }, ret);
|
|||
|
|
return ret[1];
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
private void rf22_burstread(byte addr, byte[] data, int OffSet, int Lenght)
|
|||
|
|
{
|
|||
|
|
byte[] arg = new byte[Lenght + 1];
|
|||
|
|
|
|||
|
|
arg[0] = (byte)(addr & 127);
|
|||
|
|
|
|||
|
|
SpiBus.WriteRead(arg, 0, Lenght + 1, data, OffSet, Lenght, 1);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
private void rf22_init()
|
|||
|
|
{
|
|||
|
|
Thread.Sleep(20);
|
|||
|
|
|
|||
|
|
rf22_write(0x07, 0x80); // software reset
|
|||
|
|
|
|||
|
|
Thread.Sleep(20);
|
|||
|
|
|
|||
|
|
rf22_write(0x05, 0x06); // valid packed received and packet send interrupt on
|
|||
|
|
|
|||
|
|
rf22_write(0x06, 0x00); // all interrupts off
|
|||
|
|
rf22_write(0x07, 0x01); // operating mode: ready mode
|
|||
|
|
rf22_write(0x09, 0x7f); // xtal load capacitance
|
|||
|
|
rf22_write(0x0A, 0x02); // uC CLK: 10MHz
|
|||
|
|
|
|||
|
|
rf22_write(0x0b, 0xf2); // GPIO0: TX_ANT - f2
|
|||
|
|
rf22_write(0x0c, 0xf5); // GPIO1: RX ANT - f5
|
|||
|
|
rf22_write(0x0d, 0x00); // GPIO2: uC Clock out
|
|||
|
|
rf22_write(0x0e, 0x00);
|
|||
|
|
rf22_write(0x0f, 0x70); // ADC Input: GND
|
|||
|
|
rf22_write(0x10, 0x00); // ADC offset: 0
|
|||
|
|
rf22_write(0x12, 0x00); // temp sensor calibration off
|
|||
|
|
rf22_write(0x13, 0x00); // temp sensor offset: 0
|
|||
|
|
rf22_write(0x1d, 0x40); // enable AFC
|
|||
|
|
rf22_write(0x1e, 0x0A); // afc timing
|
|||
|
|
rf22_write(0x1f, 0x03); // afc timing
|
|||
|
|
|
|||
|
|
rf22_write(0x1C, 0x05); // IF bandwidth
|
|||
|
|
rf22_write(0x20, 0x83); // Clock Recovery Oversampling Rate
|
|||
|
|
rf22_write(0x21, 0xC0); // Clock Recovery Offset 2
|
|||
|
|
rf22_write(0x22, 0x13); // Clock Recovery Offset 1
|
|||
|
|
rf22_write(0x23, 0xA9); // Clock Recovery Offset 0
|
|||
|
|
rf22_write(0x24, 0x00); // Clock Recovery Timing Loop Gain 1
|
|||
|
|
rf22_write(0x25, 0x04); // Clock Recovery Timing Loop Gain 0
|
|||
|
|
rf22_write(0x2A, 0x24);
|
|||
|
|
|
|||
|
|
rf22_write(0x27, 0x10); // RSSI Threashold: -120dB
|
|||
|
|
|
|||
|
|
rf22_write(0x30, 0x8c); // data access: RX/TX packet handling, enable crc: CCIT
|
|||
|
|
rf22_write(0x32, 0xff); // header check enable
|
|||
|
|
rf22_write(0x33, 0x42); // 2 word synchronisation
|
|||
|
|
rf22_write(0x34, 0x10); // preamble length: 16 nibbles, = 64bits
|
|||
|
|
rf22_write(0x35, 0x30); // preamble detection control: 6 nibbles = 24bits
|
|||
|
|
rf22_write(0x36, 0x2d); // sync word 3
|
|||
|
|
rf22_write(0x37, 0xd4); // sync word 2
|
|||
|
|
rf22_write(0x38, 0xAA); // sync word 1
|
|||
|
|
rf22_write(0x39, 0xAA); // sync word 0
|
|||
|
|
rf22_write(0x3a, 101); // transmit header 3
|
|||
|
|
rf22_write(0x3b, 108); // transmit header 2
|
|||
|
|
rf22_write(0x3c, 103); // transmit header 1
|
|||
|
|
rf22_write(0x3d, 106); // transmit header 0
|
|||
|
|
rf22_write(0x3e, 17); // packet length
|
|||
|
|
rf22_write(0x3f, 101); // check header 3
|
|||
|
|
rf22_write(0x40, 108); // check header 2
|
|||
|
|
rf22_write(0x41, 103); // check header 1
|
|||
|
|
rf22_write(0x42, 106); // check header 0
|
|||
|
|
rf22_write(0x43, 0xff); // header enable mask 3
|
|||
|
|
rf22_write(0x44, 0xff); // header enable mask 2
|
|||
|
|
rf22_write(0x45, 0xff); // header enable mask 1
|
|||
|
|
rf22_write(0x46, 0xff); // header enable mask 0
|
|||
|
|
|
|||
|
|
rf22_write(0x69, 0x60); // AGC on
|
|||
|
|
rf22_write(0x6a, 0x0b); // agc override 2
|
|||
|
|
|
|||
|
|
//rf22_write(0x6d, 0x08); // tx power: +1dBm
|
|||
|
|
rf22_write(0x6d, 0x0F); // tx power: +17dBm (nicht 20dbm??)
|
|||
|
|
|
|||
|
|
//baud rate: 2,39 kBit/s = val("&H13A9")/2^(16+5)*1000 kHz
|
|||
|
|
rf22_write(0x6E, 0x13); // set baud high
|
|||
|
|
rf22_write(0x6F, 0xA9); // set baud low
|
|||
|
|
|
|||
|
|
rf22_write(0x70, 0x2C); // modulation control
|
|||
|
|
rf22_write(0x71, 0x22); // modulation control 2: FIFO mode, OOK //0x21 / 0x00
|
|||
|
|
|
|||
|
|
rf22_write(0x72, 0x50); // frequency deviation: 45kHz
|
|||
|
|
rf22_write(0x73, 0x00); // offset: 0
|
|||
|
|
rf22_write(0x74, 0x00); // offset: 0
|
|||
|
|
|
|||
|
|
rf22_write(0x79, 0x0); // frequency hopping off
|
|||
|
|
rf22_write(0x7a, 0x0); // frequency hopping off
|
|||
|
|
|
|||
|
|
rf22_write(0x75, 0x73); // 860-880MHz range
|
|||
|
|
//rf22_write(0x75, 0x53); // 430-440MHz range
|
|||
|
|
|
|||
|
|
rf22_write(0x08, 0x00); // clear fifo, disable multi packet
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
public void rf22_rxmode()
|
|||
|
|
{
|
|||
|
|
rf22_read(0x03); // clear interrupt status
|
|||
|
|
rf22_read(0x04); // clear interrupt status
|
|||
|
|
rf22_write(0x07, 0x01); // to_ready_mode();
|
|||
|
|
|
|||
|
|
rf22_write(0x07, 0x01); // to_ready_mode();
|
|||
|
|
rf22_write(0x7e, 0x40); // threshold for rx almost full, interrupt when 64 bytes received
|
|||
|
|
|
|||
|
|
rf22_write(0x08, 0x03); // clear RX fifo
|
|||
|
|
rf22_write(0x08, 0x00); // clear RX fifo
|
|||
|
|
|
|||
|
|
rf22_write(0x07, 0x05); // RX on
|
|||
|
|
|
|||
|
|
rf22_read(0x03); // clear interrupt status
|
|||
|
|
rf22_read(0x04); // clear interrupt status
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
private void rf22_setfreq(UInt16 freq)
|
|||
|
|
{
|
|||
|
|
rf22_write(0x76, (byte)((freq & 0xFF00) >> 8));
|
|||
|
|
rf22_write(0x77, (byte)(freq & 0x00FF));
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
private void rf22_sendpacket(byte[] data, int offset, int lenght)
|
|||
|
|
{
|
|||
|
|
//Debug.Print("---> " + lenght);
|
|||
|
|
|
|||
|
|
byte i;
|
|||
|
|
byte size = (byte)lenght;
|
|||
|
|
|
|||
|
|
if (size > 64) size = 64;
|
|||
|
|
|
|||
|
|
rf22_write(0x07, 0x03); // switch to ready mode
|
|||
|
|
rf22_read(0x03); // clear interrupt status
|
|||
|
|
rf22_read(0x04); // clear interrupt status
|
|||
|
|
|
|||
|
|
rf22_write(0x08, 0x01); // clear TX fifo
|
|||
|
|
rf22_write(0x08, 0x00); // clear TX fifo
|
|||
|
|
|
|||
|
|
//rf22_write(0x34, 32); // premable length: 32 nibbles -> 128 Bits
|
|||
|
|
rf22_write(0x3e, size); // packet length
|
|||
|
|
|
|||
|
|
for (i = 0; i < size; i++)
|
|||
|
|
{
|
|||
|
|
rf22_write(0x7f, data[i + offset]);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
rf22_write(0x07, 0x09); // TX on
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
private int rf22_getpacket(byte[] data, int offset)
|
|||
|
|
{
|
|||
|
|
byte cnt;
|
|||
|
|
|
|||
|
|
//if ((rf22_read(0x31) & 0x1A) > 0) // receiving a packet
|
|||
|
|
//{
|
|||
|
|
if ((InterruptStatus1 & 2) > 0) // packet received & not read && ((rf22_read(0x02) & 32) == 0)
|
|||
|
|
{
|
|||
|
|
cnt = rf22_read(0x4B); // packet length
|
|||
|
|
//Debug.Print(cnt + " " + data[cnt-2].ToString());
|
|||
|
|
|
|||
|
|
/*for (int i = 0; i < cnt; i++) // Daten (cnt - 2 f<>r CRC)
|
|||
|
|
{
|
|||
|
|
data[i + offset] = rf22_read(0x7f);
|
|||
|
|
}*/
|
|||
|
|
rf22_burstread(0x7f, data, offset, cnt);
|
|||
|
|
|
|||
|
|
/*try
|
|||
|
|
{
|
|||
|
|
byte[] Test = new byte[cnt - 4];
|
|||
|
|
Array.Copy(data, 4, Test, 0, cnt - 4);
|
|||
|
|
|
|||
|
|
string tmpCa = (new string(System.Text.UTF8Encoding.UTF8.GetChars(Test)));
|
|||
|
|
Debug.Print(tmpCa);
|
|||
|
|
}
|
|||
|
|
catch
|
|||
|
|
{
|
|||
|
|
Debug.Print("Error");
|
|||
|
|
}*/
|
|||
|
|
|
|||
|
|
return (cnt);
|
|||
|
|
}
|
|||
|
|
return 0;
|
|||
|
|
//}
|
|||
|
|
//return 0;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
#endregion
|
|||
|
|
}
|
|||
|
|
}
|