Merge master with static payload fixes

.gitignore

@@ -2,6 +2,7 @@
 *.o
 .*.swp
 *.orig
+.swp
 docs/
 output/
 ojam/

RF24.cpp

@@ -109,20 +109,17 @@ uint8_t RF24::write_payload(const void* buf, uint8_t len)
 
   const uint8_t* current = reinterpret_cast<const uint8_t*>(buf);
 
+  uint8_t data_len = min(len,payload_size);
+  uint8_t blank_len = dynamic_payloads_enabled ? 0 : payload_size - data_len;
+  
+  //printf("[Writing %u bytes %u blanks]",data_len,blank_len);
+  
   csn(LOW);
   status = SPI.transfer( W_TX_PAYLOAD );
-  uint8_t data_len = min(len,payload_size);
   while ( data_len-- )
     SPI.transfer(*current++);
-
+  while ( blank_len-- )
-  // This does not seem to be needed.  Keeping it here in case
+    SPI.transfer(0);
-  // removing it does cause problems for static payloads
-  //
-  // Send blanks out to the chip to finish off the payload
-  //uint8_t blank_len = payload_size - data_len;
-  //while ( blank_len-- )
-  //  SPI.transfer(0);
-
   csn(HIGH);
 
   return status;
@@ -135,21 +132,17 @@ uint8_t RF24::read_payload(void* buf, uint8_t len)
   uint8_t status;
   uint8_t* current = reinterpret_cast<uint8_t*>(buf);
 
+  uint8_t data_len = min(len,payload_size);
+  uint8_t blank_len = dynamic_payloads_enabled ? 0 : payload_size - data_len;
+  
+  //printf("[Reading %u bytes %u blanks]",data_len,blank_len);
+  
   csn(LOW);
   status = SPI.transfer( R_RX_PAYLOAD );
-  uint8_t data_len = min(len,payload_size);
   while ( data_len-- )
     *current++ = SPI.transfer(0xff);
-
+  while ( blank_len-- )
-  // This does not seem to be needed.  Keeping it here in case
+    SPI.transfer(0xff);
-  // removing it does cause problems for static payloads
-  //
-  // Read the remaining payload off the chip, even though we will
-  // throw it away.
-  //uint8_t blank_len = payload_size - data_len;
-  //while ( blank_len-- )
-  //  SPI.transfer(0xff);
-
   csn(HIGH);
 
   return status;
@@ -254,8 +247,8 @@ void RF24::print_address_register(prog_char* name, uint8_t reg, uint8_t qty)
 /****************************************************************************/
 
 RF24::RF24(uint8_t _cepin, uint8_t _cspin):
-  ce_pin(_cepin), csn_pin(_cspin), wide_band(true), p_variant(false),
+  ce_pin(_cepin), csn_pin(_cspin), wide_band(true), p_variant(false), payload_size(32), 
-  payload_size(32), ack_payload_available(false)
+  ack_payload_available(false), dynamic_payloads_enabled(false)
 {
 }
 
@@ -363,6 +356,9 @@ void RF24::begin(void)
 
   // Initialize CRC and request 2-byte (16bit) CRC
   setCRCLength( RF24_CRC_16 ) ;
+  
+  // Disable dynamic payloads, to match dynamic_payloads_enabled setting
+  write_register(DYNPD,0);
 
   // Reset current status
   // Notice reset and flush is the last thing we do
@@ -664,6 +660,8 @@ void RF24::enableDynamicPayloads(void)
   // Not sure the use case of only having dynamic payload on certain
   // pipes, so the library does not support it.
   write_register(DYNPD,read_register(DYNPD) | _BV(DPL_P5) | _BV(DPL_P4) | _BV(DPL_P3) | _BV(DPL_P2) | _BV(DPL_P1) | _BV(DPL_P0));
+
+  dynamic_payloads_enabled = true;
 }
 
 /****************************************************************************/

RF24.h

@@ -29,7 +29,8 @@ private:
   bool p_variant; /* False for RF24L01 and true for RF24L01P */
   uint8_t payload_size; /**< Fixed size of payloads */
   bool ack_payload_available; /**< Whether there is an ack payload waiting */
-  uint8_t ack_payload_length; /**< Dynamic size of pending ack payload. Note: not used. */
+  bool dynamic_payloads_enabled; /**< Whether dynamic payloads are enabled. */ 
+  uint8_t ack_payload_length; /**< Dynamic size of pending ack payload. */
   uint64_t pipe0_reading_address; /**< Last address set on pipe 0 for reading. */
 
 protected:

tests/pingpair_blocking/Jamfile

@@ -0,0 +1,206 @@
+PROJECT_NAME 	= $(PWD:B) ;
+PROJECT_DIR 	= . ;
+PROJECT_LIBS = SPI RF24 ; 
+
+OUT_DIR = ojam ;
+F_CPU 		= 16000000 ;
+MCU             = atmega328p ;
+PORTS           = /dev/tty.usbserial-A600eHIs /dev/tty.usbserial-A40081RP /dev/tty.usbserial-A9007LmI ;
+
+UPLOAD_RATE 	= 57600 ;
+AVRDUDE_PROTOCOL = stk500v1 ;
+COM 		= 33 ;
+
+# Host-specific overrides for locations 
+if $(OS) = MACOSX 
+{
+ARDUINO_VERSION	= 22 ;
+OLD_DIR 	= /opt/arduino-0021 ;
+AVR_TOOLS_PATH 	= $(OLD_DIR)/hardware/tools/avr/bin ;
+AVRDUDECONFIG_PATH = $(OLD_DIR)/hardware/tools/avr/etc ;
+ARDUINO_DIR 	= /opt/Arduino ;
+ARDUINO_AVR 	= /usr/lib/avr/include ;
+}
+
+# Where is everything?
+ARDUINO_VERSION	?= 22 ;
+AVR_TOOLS_PATH 	?= /usr/bin ;
+ARDUINO_DIR 	?= /opt/arduino-00$(ARDUINO_VERSION) ;
+ARDUINO_AVR 	?= $(ARDUINO_DIR)/hardware/tools/avr/avr/include/avr ;
+AVRDUDECONFIG_PATH ?= $(ARDUINO_DIR)/hardware/tools ;
+ARDUINO_CORE 	= $(ARDUINO_DIR)/hardware/arduino/cores/arduino ;
+ARDUINO_LIB 	= $(ARDUINO_DIR)/libraries ;
+SKETCH_LIB      = $(HOME)/Source/Arduino/libraries ;
+AVR_CC  	= $(AVR_TOOLS_PATH)/avr-gcc ;
+AVR_CXX  	= $(AVR_TOOLS_PATH)/avr-g++ ;
+AVR_LD  	= $(AVR_TOOLS_PATH)/avr-gcc ;
+AVR_OBJCOPY 	= $(AVR_TOOLS_PATH)/avr-objcopy ;
+AVRDUDE 	= $(AVR_TOOLS_PATH)/avrdude ;
+
+DEFINES  	= F_CPU=$(F_CPU)L ARDUINO=$(ARDUINO_VERSION) VERSION_H ;
+CTUNING  	= -ffunction-sections -fdata-sections ;
+CXXTUNING  	= -fno-exceptions -fno-strict-aliasing ; 
+CFLAGS  	= -Os -Werror -Wall -Wextra -mmcu=$(MCU) $(CTUNING) ;
+CXXFLAGS  	= $(CFLAGS) $(CXXTUNING) ;
+LDFLAGS  	= -Os -lm -Wl,--gc-sections -mmcu=atmega328p ;
+
+# Search everywhere for headers
+HDRS  	 	= $(PROJECT_DIR) $(ARDUINO_AVR) $(ARDUINO_CORE) [ GLOB $(ARDUINO_LIB) $(SKETCH_LIB) : [^.]* ] ;
+
+# Grab everything from the core directory
+CORE_MODULES  	= [ GLOB $(ARDUINO_CORE) : *.c *.cpp ] ;
+
+# Grab everything from libraries.  To avoid this "grab everything" behaviour, you
+# can specify specific modules to pick up in PROJECT_MODULES
+LIB_MODULES  	= [ GLOB $(ARDUINO_LIB)/$(PROJECT_LIBS) $(SKETCH_LIB)/$(PROJECT_LIBS) : *.cpp ] ;
+
+# In addition to explicitly-specified program modules, pick up anything from the current
+# dir.
+PROJECT_MODULES += [ GLOB $(PROJECT_DIR) : *.c *.cpp *.pde ] ;
+
+# Shortcut for the out files
+OUT             = $(OUT_DIR)/$(PROJECT_NAME) ;
+
+# AvrDude setup
+AVRDUDE_FLAGS = -V -F -D -C $(AVRDUDECONFIG_PATH)/avrdude.conf -p $(MCU) -c $(AVRDUDE_PROTOCOL) -b $(UPLOAD_RATE) ;
+
+rule GitVersion
+{
+  Always $(<) ;
+  Depends all : $(<) ;
+}
+
+actions GitVersion
+{
+  echo "const char program_version[] = \"\\" > $(<)
+  git log -1 --pretty=format:%h >> $(<)
+  echo "\";" >> $(<)
+}
+
+GitVersion version.h ;
+
+rule AvrCc
+{
+  Depends $(<) : $(>) ;
+  Depends $(<) : $(<:D) ;
+  Clean clean : $(<) ;
+
+  CCHDRS on $(<) = [ on $(<) FIncludes $(HDRS) ] ;
+  CCDEFS on $(<) = [ on $(<) FDefines $(DEFINES) ] ;
+}
+
+actions AvrCc
+{
+  $(AVR_CC) -c -o $(<) $(CCHDRS) $(CCDEFS) $(CFLAGS) $(>) 
+}
+
+rule AvrC++
+{
+  Depends $(<) : $(>) ;
+  Depends $(<) : $(<:D) ;
+  Clean clean : $(<) ;
+
+  CCHDRS on $(<) = [ on $(<) FIncludes $(HDRS) ] ;
+  CCDEFS on $(<) = [ on $(<) FDefines $(DEFINES) ] ;
+}
+
+actions AvrC++
+{
+  $(AVR_CXX) -c -o $(<) $(CCHDRS) $(CCDEFS) $(CXXFLAGS) $(>) 
+}
+
+rule Pde
+{
+  Depends $(<) : $(>) ;
+  Depends $(<) : $(<:D) ;
+  Clean clean : $(<) ;
+
+}
+
+actions Pde
+{
+  echo "#include <WProgram.h>" > $(<) 
+  echo "#line 1 \"$(>)\"" >> $(<)
+  cat $(>) >> $(<) 
+}
+
+rule AvrPde
+{
+  local _CPP = $(OUT_DIR)/$(_I:B).cpp ;
+  Pde $(_CPP) : $(>) ;
+  AvrC++ $(<) : $(_CPP) ;
+}
+
+rule AvrObject
+{
+  switch $(>:S)
+  {
+    case .c :   AvrCc $(<) : $(>) ;
+    case .cpp : AvrC++ $(<) : $(>) ;
+    case .pde : AvrPde $(<) : $(>) ;
+  }
+}
+
+rule AvrObjects
+{
+  for _I in $(<) 
+  {
+    AvrObject $(OUT_DIR)/$(_I:B).o : $(_I) ;
+  }
+}
+
+rule AvrMainFromObjects
+{
+  Depends $(<) : $(>) ;
+  Depends $(<) : $(<:D) ;
+  MkDir $(<:D) ;
+  Depends all : $(<) ;
+  Clean clean : $(<) ;
+}
+
+actions AvrMainFromObjects
+{
+  $(AVR_LD) $(LDFLAGS) -o $(<) $(>) 
+}
+
+rule AvrMain
+{
+  AvrMainFromObjects $(<) : $(OUT_DIR)/$(>:B).o ;
+  AvrObjects $(>) ;
+}
+
+rule AvrHex
+{
+  Depends $(<) : $(>) ;
+  Depends $(<) : $(<:D) ;
+  Depends hex : $(<) ;
+  Clean clean : $(<) ;
+}
+
+actions AvrHex
+{
+  $(AVR_OBJCOPY) -O ihex -R .eeprom $(>) $(<)
+}
+
+rule AvrUpload
+{
+  Depends $(1) : $(2) ;
+  Depends $(2) : $(3) ;
+  NotFile $(1) ;
+  Always $(1) ;
+  Always $(2) ;
+  AvrUploadAction $(2) : $(3) ;
+}
+
+actions AvrUploadAction
+{
+  $(AVRDUDE) $(AVRDUDE_FLAGS) -P $(<) $(AVRDUDE_WRITE_FLASH) -U flash:w:$(>):i
+}
+
+AvrMain $(OUT).elf : $(CORE_MODULES) $(LIB_MODULES) $(PROJECT_MODULES) ;
+AvrHex $(OUT).hex : $(OUT).elf ;
+
+AvrUpload p6 : /dev/tty.usbserial-A600eHIs : $(OUT).hex ;
+AvrUpload p4 : /dev/tty.usbserial-A40081RP : $(OUT).hex ;
+AvrUpload p9 : /dev/tty.usbserial-A9007LmI : $(OUT).hex ;
+

tests/pingpair_blocking/pingpair_blocking.pde

@@ -0,0 +1,270 @@
+/*
+ Copyright (C) 2011 James Coliz, Jr. <maniacbug@ymail.com>
+
+ This program is free software; you can redistribute it and/or
+ modify it under the terms of the GNU General Public License
+ version 2 as published by the Free Software Foundation.
+ */
+
+#include <SPI.h>
+#include "nRF24L01.h"
+#include "RF24.h"
+#include "printf.h"
+
+//
+// Test version of RF24, exposes some protected interface
+//
+
+class RF24Test: public RF24
+{
+public: RF24Test(int a, int b): RF24(a,b) {}
+};
+
+
+//
+// Hardware configuration
+//
+
+// Set up nRF24L01 radio on SPI bus plus pins 8 & 9
+
+RF24Test radio(8,9);
+
+// sets the role of this unit in hardware.  Connect to GND to be the 'pong' receiver
+// Leave open to be the 'ping' transmitter
+const int role_pin = 7;
+
+//
+// Topology
+//
+
+// Radio pipe addresses for the 2 nodes to communicate.
+const uint64_t pipes[2] = { 0xF0F0F0F0E1LL, 0xF0F0F0F0D2LL };
+
+//
+// Role management
+//
+// Set up role.  This sketch uses the same software for all the nodes
+// in this system.  Doing so greatly simplifies testing.  The hardware itself specifies
+// which node it is.
+//
+// This is done through the role_pin
+//
+
+// The various roles supported by this sketch
+typedef enum { role_ping_out = 1, role_pong_back } role_e;
+
+// The debug-friendly names of those roles
+const char* role_friendly_name[] = { "invalid", "Ping out", "Pong back"};
+
+// The role of the current running sketch
+role_e role;
+
+//
+// Test state
+//
+
+bool done; //*< Are we done with the test? */
+bool passed; //*< Have we passed the test? */
+bool notified; //*< Have we notified the user we're done? */
+const int num_needed = 10; //*< How many success/failures until we're done? */
+int receives_remaining = num_needed; //*< How many ack packets until we declare victory? */
+int failures_remaining = num_needed; //*< How many more failed sends until we declare failure? */
+const int interval = 100; //*< ms to wait between sends */
+
+char configuration = '1'; //*< Configuration key, one char sent in by the test framework to tell us how to configure, this is the default */
+
+void one_ok(void)
+{
+  // Have we received enough yet?
+  if ( ! --receives_remaining )
+  {
+    done = true;
+    passed = true;
+  }
+}
+
+void one_failed(void)
+{
+  // Have we failed enough yet?
+  if ( ! --failures_remaining )
+  {
+    done = true;
+    passed = false;
+  }
+}
+
+void setup(void)
+{
+  //
+  // Role
+  //
+
+  // set up the role pin
+  pinMode(role_pin, INPUT);
+  digitalWrite(role_pin,HIGH);
+  delay(20); // Just to get a solid reading on the role pin
+
+  // read the address pin, establish our role
+  if ( digitalRead(role_pin) )
+    role = role_ping_out;
+  else
+    role = role_pong_back;
+
+  //
+  // Print preamble
+  //
+
+  Serial.begin(57600);
+  printf_begin();
+  printf("\n\rRF24/tests/pingpair_blocking/\n\r");
+  printf("ROLE: %s\n\r",role_friendly_name[role]);
+
+  //
+  // get test config
+  //
+
+  printf("+READY press any key to start\n\r\n\r");
+
+  while (! Serial.available() ) {}
+  configuration = Serial.read();
+  printf("Configuration\t = %c\n\r",configuration);
+   
+  //
+  // Setup and configure rf radio
+  //
+
+  radio.begin();
+
+  //
+  // Open pipes to other nodes for communication
+  //
+
+  // This simple sketch opens two pipes for these two nodes to communicate
+  // back and forth.
+  // Open 'our' pipe for writing
+  // Open the 'other' pipe for reading, in position #1 (we can have up to 5 pipes open for reading)
+
+  if ( role == role_ping_out )
+  {
+    radio.openWritingPipe(pipes[0]);
+    radio.openReadingPipe(1,pipes[1]);
+  }
+  else
+  {
+    radio.openWritingPipe(pipes[1]);
+    radio.openReadingPipe(1,pipes[0]);
+  }
+
+  //
+  // Start listening
+  //
+
+  radio.startListening();
+
+  //
+  // Dump the configuration of the rf unit for debugging
+  //
+
+  radio.printDetails();
+}
+
+void loop(void)
+{
+  //
+  // Ping out role.  Repeatedly send the current time
+  //
+
+  if (role == role_ping_out)
+  {
+    // First, stop listening so we can talk.
+    radio.stopListening();
+
+    // Take the time, and send it.  This will block until complete
+    unsigned long time = millis();
+    printf("Now sending %lu...",time);
+    radio.write( &time, sizeof(unsigned long) );
+
+    // Now, continue listening
+    radio.startListening();
+
+    // Wait here until we get a response, or timeout (250ms)
+    unsigned long started_waiting_at = millis();
+    bool timeout = false;
+    while ( ! radio.available() && ! timeout )
+      if (millis() - started_waiting_at > 200 )
+        timeout = true;
+
+    // Describe the results
+    if ( timeout )
+    {
+      printf("Failed, response timed out.\n\r");
+      one_failed();
+    }
+    else
+    {
+      // Grab the response, compare, and send to debugging spew
+      unsigned long got_time;
+      radio.read( &got_time, sizeof(unsigned long) );
+
+      // Spew it
+      printf("Got response %lu, round-trip delay: %lu\n\r",got_time,millis()-got_time);
+      one_ok();
+    }
+
+    // Try again  later
+    delay(250);
+  }
+
+  //
+  // Pong back role.  Receive each packet, dump it out, and send it back
+  //
+
+  if ( role == role_pong_back )
+  {
+    // if there is data ready
+    if ( radio.available() )
+    {
+      // Dump the payloads until we've gotten everything
+      unsigned long got_time;
+      bool done = false;
+      while (!done)
+      {
+        // Fetch the payload, and see if this was the last one.
+        done = radio.read( &got_time, sizeof(unsigned long) );
+
+        // Spew it
+        printf("Got payload %lu...",got_time);
+
+	// Delay just a little bit to let the other unit
+	// make the transition to receiver
+	delay(20);
+      }
+
+      // First, stop listening so we can talk
+      radio.stopListening();
+
+      // Send the final one back.
+      radio.write( &got_time, sizeof(unsigned long) );
+      printf("Sent response.\n\r");
+
+      // Now, resume listening so we catch the next packets.
+      radio.startListening();
+
+    }
+  }
+  
+  //
+  // Stop the test if we're done and report results
+  //
+  if ( done && ! notified )
+  {
+    notified = true;
+
+    printf("\n\r+OK ");
+    if ( passed )
+      printf("PASS\n\r\n\r");
+    else
+      printf("FAIL\n\r\n\r");
+  }
+}
+// vim:cin:ai:sts=2 sw=2 ft=cpp

tests/pingpair_blocking/printf.h

@@ -0,0 +1,33 @@
+/*
+ Copyright (C) 2011 James Coliz, Jr. <maniacbug@ymail.com>
+ 
+ This program is free software; you can redistribute it and/or
+ modify it under the terms of the GNU General Public License
+ version 2 as published by the Free Software Foundation.
+ */
+ 
+/**
+ * @file printf.h
+ *
+ * Setup necessary to direct stdout to the Arduino Serial library, which
+ * enables 'printf'
+ */
+
+#ifndef __PRINTF_H__
+#define __PRINTF_H__
+
+#include "WProgram.h"
+
+int serial_putc( char c, FILE * ) 
+{
+  Serial.write( c );
+
+  return c;
+} 
+
+void printf_begin(void)
+{
+  fdevopen( &serial_putc, 0 );
+}
+
+#endif // __PRINTF_H__

tests/pingpair_blocking/runtest.py

@@ -0,0 +1,25 @@
+#!/opt/local/bin/python
+
+import sys,serial
+
+def read_until(token):
+	while 1: 
+		line = ser.readline(None,"\r")
+		sys.stdout.write(line)
+
+		if (line.startswith(token)):
+			break
+	return line
+
+
+ser = serial.Serial(sys.argv[1], 57600, timeout=5, dsrdtr=False, rtscts=False)
+
+read_until("+READY")
+ser.write(sys.argv[2])
+
+line = read_until("+OK")
+ser.close()
+if (line.find("PASS") != -1):
+	sys.exit(0)
+else:
+	sys.exit(1)

tests/pingpair_blocking/runtests.sh

@@ -0,0 +1,9 @@
+#!/bin/sh
+
+# Connect p6 to receiver, p4 to sender
+
+jam p4 p6 || exit 1
+./runtest.py /dev/tty.usbserial-A600eHIs 1 & 
+./runtest.py /dev/tty.usbserial-A40081RP 1 || ( kill `jobs -p` && exit 1 ) 
+kill `jobs -p`
+exit 0

tests/pingpair_test/pingpair_test.pde

@@ -193,9 +193,9 @@ void setup(void)
   // Config 3 is static payloads only
   if (configuration == '3')
   {
-    next_payload_size = max_payload_size;
+    next_payload_size = 16;
     payload_size_increments_by = 0;
-    radio.setPayloadSize(16);
+    radio.setPayloadSize(next_payload_size);
   }
   else
   {
@@ -351,6 +351,7 @@ void check_radio(void)
 	printf("FAILED ");
 	one_failed();
       }
+      last_message_count = message_count;
     }
 
     // If we're the receiver, we've received a time message
@@ -360,7 +361,9 @@ void check_radio(void)
       size_t len = max_payload_size;
       memset(receive_payload,0,max_payload_size);
       
-      if ( configuration != '3' )
+      if ( configuration == '3' )
+	len = next_payload_size;
+      else
 	len = radio.getDynamicPayloadSize();
       
       radio.read( receive_payload, len );
@@ -369,8 +372,7 @@ void check_radio(void)
       receive_payload[len] = 0;
 
       // Spew it
-      len = strlen(receive_payload); // How much did we REALLY get?
+      printf("Got payload size=%i value=%s strlen=%u\n\r",len,receive_payload,strlen(receive_payload));
-      printf("Got payload size=%i value=%s\n\r",len,receive_payload);
 
       // Add an ack packet for the next time around.
       // Here we will report back how many bytes we got this time.

tests/pingpair_test/runtests.sh

@@ -4,13 +4,13 @@
 # WARNING: Test config 2 only works with PLUS units.
 
 jam p4 p6 || exit 1
-./runtest.py /dev/tty.usbserial-A600eHIs 3 & 
-./runtest.py /dev/tty.usbserial-A40081RP 3 || exit 1 
-kill `jobs -p`
 ./runtest.py /dev/tty.usbserial-A600eHIs 1 & 
-./runtest.py /dev/tty.usbserial-A40081RP 1 || exit 1
+./runtest.py /dev/tty.usbserial-A40081RP 1 || ( kill `jobs -p` && exit 1 )
 kill `jobs -p`
 ./runtest.py /dev/tty.usbserial-A600eHIs 2 & 
-./runtest.py /dev/tty.usbserial-A40081RP 2 || exit 1
+./runtest.py /dev/tty.usbserial-A40081RP 2 ||  ( kill `jobs -p` && exit 1 )
+kill `jobs -p`
+./runtest.py /dev/tty.usbserial-A600eHIs 3 & 
+./runtest.py /dev/tty.usbserial-A40081RP 3 || ( kill `jobs -p` && exit 1 ) 
 kill `jobs -p`
 exit 0