├── LICENSE
├── README.md
├── examples
├── recv.py
└── send.py
├── nrf24.py
├── setup.py
└── spi
├── BB-nRF24-SPI0-00A0.dts
└── README.md
/LICENSE:
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292 |
293 | Python port of maniacbug NRF24L01 library.
294 | Copyright (C) 2013 João Paulo Barraca
295 |
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--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
1 | pynrf24
2 | =======
3 |
4 | Pure python port of the RF24 (https://github.com/maniacbug/RF24/) library for NRF24L01+ radios through SPI.
5 |
6 | All API methods were ported and prototypes were kept very similar. This should facilitate the reuse of code from the STM32 or Arduino platforms.
7 | The focus of this libary is to provide an API similar to the RF24 driver. Therefore, many things are not so pythonic, especially function names.
8 | The actually implementation is improved from the original RF24 code base and has many bug fixes solved, as well as improved performance.
9 |
10 | For more information regarding how to use this library, check the RF24 documentation: http://maniacbug.github.io/RF24/
11 | Most of the information there will also be valid here.
12 |
13 | Tested on the the BeagleBone Black, Raspberry Pi, and Banana Pi.
14 | Should work without problems with NRF24L01 (non +) radios.
15 |
16 | Do not forget to check this [great tutorial](http://www.diyembedded.com/tutorials/nrf24l01_0/nrf24l01_tutorial_0.pdf)
17 | or the [original datasheet](http://www.nordicsemi.com/eng/Products/2.4GHz-RF/nRF24L01)
18 |
19 |
20 | Contact
21 | -------
22 |
23 | For any information regarding this library please create an issue.
24 |
25 | Improvements to the code base are also welcome.
26 |
27 | Requirements
28 | ------------
29 |
30 | * Python 2
31 | * SPI communication requires spidev: https://pypi.python.org/pypi/spidev
32 | * BBB: GPIO access requires Adafruit BBIO library: https://github.com/adafruit/adafruit-beaglebone-io-python
33 | * BBB: If using GPIO IRQ detection, a custom version of the Adafruit library can be used https://github.com/jpbarraca/adafruit-beaglebone-io-python in order to support a timeout when waiting for the IRQ line.
34 |
35 |
36 | Wiring
37 | ------
38 |
39 | nRF24L01+ (top view) BeagleBoneBlack
40 | +-+-+ (header)
41 | |8|7| 1: GND -> P9 GND (P9_1 and P9_2)
42 | +-+-+ 2: 3.3V -> P9 3.3v (P9_3 and P9_4)
43 | |6|5| 3: CE -> P9_23 (configurable)
44 | +-+-+ 4: CSN -> SPI0.CS (P9_17)
45 | |4|3| 5: SCKL -> SPI0.SCLK (P9_22)
46 | +-+-+ 6: MOSI -> SPI0.D1 (P9_18)
47 | |2|1| 7: MISO -> SPI0.D0 (P9_21)
48 | +-+-+ 8: IRQ -> P9_24 (configurable)
49 |
50 | Examples
51 | --------
52 |
53 | Initialization:
54 |
55 | pipes = [ [0xe7, 0xe7, 0xe7, 0xe7, 0xe7], [0xc2, 0xc2, 0xc2, 0xc2, 0xc2] ]
56 |
57 | radio = NRF24()
58 | radio.begin(1,0,"P9_23", "P9_24") #Set CE and IRQ pins
59 | radio.setRetries(15,15)
60 | radio.setPayloadSize(8)
61 | radio.setChannel(0x60)
62 | radio.setDataRate(NRF24.BR_250KBPS)
63 | radio.setPALevel(NRF24.PA_MAX)
64 | radio.openWritingPipe(pipes[0])
65 | radio.openReadingPipe(1,pipes[1])
66 |
67 | radio.printDetails()
68 |
69 |
70 | Sending Data:
71 |
72 | status = radio.write("HELLO")
73 |
74 |
75 | Receiving Data:
76 |
77 | #Wait for data
78 | pipe =[0]
79 | while not radio.available(pipe):
80 | time.sleep(10000/1000000.0)
81 |
82 | #Receive Data
83 | recv_buffer = []
84 | radio.read(recv_buffer)
85 |
86 | #Print the buffer
87 | print recv_buffer
88 |
89 |
90 | Caveats
91 | -------
92 |
93 | Performance with this driver (as well as with any other Python "driver") may be lower than expected. You will sacrifice performance for flexibility.
94 | Python is a high level language and there is too much stuff going on (e.g, Garbage Collection) for timing constrains to be respected. There is no assurance that you can transmit at 2Mbits/s.
95 |
96 | Benchmarks using an Nucleo 401RE and a BBB show a usable bitrate around 582kbits/s for a 2Mbit/s configuration. This was achieved using packets with 32 byte payloads, no CRC, and no Acknowledgements. According to the datasheet, for a 32 byte buffer, there will be more 65 bits of overhead, and the process will take at least 25.6us to upload the buffer, 130us for the PLL to lock, and 6us for the TX DS bit to be set. The total time spent will be of 160.5us + 25.6us + 130us + 6us = 322.1us, independently of the driver, and resulting in a usable bitrate of 795 Kb/s. Then you have to consider the latency of the SPI bus and code being executed at the uC. Actually, in this benchmark the SPI bus driver was taking 45% of the CPU.
97 |
98 | It works great in my case. Use AS-IS, but remember that YMMV.
99 |
100 | License
101 | -------
102 |
103 | This program is free software: you can redistribute it and/or modify
104 | it under the terms of the GNU General Public License as published by
105 | the Free Software Foundation, either version 3 of the License, or
106 | (at your option) any later version.
107 |
108 | This program is distributed in the hope that it will be useful,
109 | but WITHOUT ANY WARRANTY; without even the implied warranty of
110 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
111 | GNU General Public License for more details.
112 |
113 | You should have received a copy of the GNU General Public License
114 | along with this program. If not, see .
115 |
116 |
--------------------------------------------------------------------------------
/examples/recv.py:
--------------------------------------------------------------------------------
1 | #!/usr/bin/python
2 | # -*- coding: utf-8 -*-
3 | #
4 | # Example program to receive packets from the radio
5 | #
6 | # João Paulo Barraca
7 | #
8 | from nrf24 import NRF24
9 | import time
10 |
11 | pipes = [[0xe7, 0xe7, 0xe7, 0xe7, 0xe7], [0xc2, 0xc2, 0xc2, 0xc2, 0xc2]]
12 |
13 | radio = NRF24()
14 | radio.begin(1, 0, "P8_23", "P8_24")
15 |
16 | radio.setRetries(15,15)
17 |
18 | radio.setPayloadSize(8)
19 | radio.setChannel(0x60)
20 | radio.setDataRate(NRF24.BR_250KBPS)
21 | radio.setPALevel(NRF24.PA_MAX)
22 |
23 | radio.setAutoAck(1)
24 |
25 | radio.openWritingPipe(pipes[0])
26 | radio.openReadingPipe(1, pipes[1])
27 |
28 | radio.startListening()
29 | radio.stopListening()
30 |
31 | radio.printDetails()
32 |
33 | radio.startListening()
34 |
35 | while True:
36 | pipe = [0]
37 | while not radio.available(pipe, True):
38 | time.sleep(1000/1000000.0)
39 |
40 | recv_buffer = []
41 | radio.read(recv_buffer)
42 |
43 | print recv_buffer
44 |
--------------------------------------------------------------------------------
/examples/send.py:
--------------------------------------------------------------------------------
1 | #!/usr/bin/python
2 | # -*- coding: utf-8 -*-
3 | #
4 | # Example program to send packets to the radio
5 | #
6 | # João Paulo Barraca
7 | #
8 |
9 | from nrf24 import NRF24
10 | import time
11 |
12 | pipes = [[0xe7, 0xe7, 0xe7, 0xe7, 0xe7], [0xc2, 0xc2, 0xc2, 0xc2, 0xc2]]
13 |
14 | radio = NRF24()
15 | radio.begin(1, 0, "P8_23", "P8_24") #Set CE and IRQ pins
16 | radio.setRetries(15,15)
17 | radio.setPayloadSize(8)
18 | radio.setChannel(0x60)
19 |
20 | radio.setDataRate(NRF24.BR_250KBPS)
21 | radio.setPALevel(NRF24.PA_MAX)
22 |
23 | radio.openWritingPipe(pipes[1])
24 | radio.openReadingPipe(1, pipes[0])
25 |
26 | radio.startListening()
27 | radio.stopListening()
28 |
29 | radio.printDetails()
30 |
31 | while True:
32 | radio.write("PING")
33 | time.sleep(1)
34 |
--------------------------------------------------------------------------------
/nrf24.py:
--------------------------------------------------------------------------------
1 | #!/usr/bin/python
2 | # -*- coding: utf-8 -*-
3 | #
4 | # This program is free software: you can redistribute it and/or modify
5 | # it under the terms of the GNU General Public License as published by
6 | # the Free Software Foundation, either version 3 of the License, or
7 | # (at your option) any later version.
8 | #
9 | # This program is distributed in the hope that it will be useful,
10 | # but WITHOUT ANY WARRANTY; without even the implied warranty of
11 | # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12 | # GNU General Public License for more details.
13 | #
14 | # Python port of Maniacbug NRF24L01 library
15 | # Author: Joao Paulo Barraca
16 | #
17 | # BeagleBoneBlack and Raspberry Pi use different GPIO access methods.
18 | # Select the most appropriate for you by uncommenting one of the
19 | # two imports.
20 |
21 | try:
22 | # For Raspberry Pi
23 | import RPi.GPIO as GPIO
24 | GPIO.setmode(GPIO.BCM)
25 | GPIO.setwarnings(False)
26 | except ImportError:
27 | try:
28 | #For BBBB
29 | import Adafruit_BBIO.GPIO as GPIO
30 | except ImportError:
31 | raise ImportError('Neither RPi.GPIO nor Adafruit_BBIO.GPIO module found.')
32 |
33 | # Try to Use spidev (which is faster) and then try Adafruit_BBIO
34 | try:
35 | import spidev
36 | ADAFRUID_BBIO_SPI = False
37 | except:
38 | from Adafruit_BBIO.SPI import SPI
39 | ADAFRUID_BBIO_SPI = True
40 |
41 |
42 | # Use a monotonic clock if available to avoid unwanted side effects from clock
43 | # changes
44 | try:
45 | from time import monotonic
46 | except ImportError:
47 | from time import time as monotonic
48 |
49 | import time
50 | import sys
51 |
52 | if sys.version > '3':
53 | long = int
54 |
55 |
56 | class NRF24:
57 | MAX_CHANNEL = 127
58 | MAX_PAYLOAD_SIZE = 32
59 |
60 | # PA Levels
61 | PA_MIN = 0x00
62 | PA_LOW = 0x01
63 | PA_HIGH = 0x02
64 | PA_MAX = 0x03
65 | PA_ERROR = 0x04
66 |
67 | # Bit rates
68 | BR_1MBPS = 0
69 | BR_2MBPS = 1
70 | BR_250KBPS = 2
71 |
72 | # CRC
73 | CRC_DISABLED = 0x0
74 | CRC_8 = 0x02
75 | CRC_16 = 0x04
76 | CRC_ENABLED = 0x08
77 |
78 | EN_CRC = 0x08
79 | CRCO = 0x04
80 |
81 | # Registers
82 | CONFIG = 0x00
83 | EN_AA = 0x01
84 | EN_RXADDR = 0x02
85 | SETUP_AW = 0x03
86 | SETUP_RETR = 0x04
87 | RF_CH = 0x05
88 | RF_SETUP = 0x06
89 | STATUS = 0x07
90 | OBSERVE_TX = 0x08
91 | RPD = 0x09
92 | RX_ADDR_P0 = 0x0A
93 | RX_ADDR_P1 = 0x0B
94 | RX_ADDR_P2 = 0x0C
95 | RX_ADDR_P3 = 0x0D
96 | RX_ADDR_P4 = 0x0E
97 | RX_ADDR_P5 = 0x0F
98 | TX_ADDR = 0x10
99 | RX_PW_P0 = 0x11
100 | RX_PW_P1 = 0x12
101 | RX_PW_P2 = 0x13
102 | RX_PW_P3 = 0x14
103 | RX_PW_P4 = 0x15
104 | RX_PW_P5 = 0x16
105 | FIFO_STATUS = 0x17
106 | DYNPD = 0x1C
107 | FEATURE = 0x1D
108 |
109 | # Bit Mnemonics */
110 | MASK_RX_DR = 0x40
111 | MASK_TX_DS = 0x20
112 | MASK_MAX_RT = 0x10
113 |
114 | PWR_UP = 0x02
115 | PRIM_RX = 0x01
116 | PLL_LOCK = 0x10
117 | RX_DR = 0x40
118 | TX_DS = 0x20
119 | MAX_RT = 0x10
120 | TX_FULL = 0x01
121 |
122 | EN_DPL = 0x04
123 | EN_ACK_PAY = 0x02
124 | EN_DYN_ACK = 0x01
125 |
126 | # Shift counts
127 | ARD = 4
128 | ARC = 0
129 | PLOS_CNT = 4
130 | ARC_CNT = 0
131 | RX_P_NO = 1
132 |
133 | TX_REUSE = 6
134 | FIFO_FULL = 5
135 | TX_EMPTY = 4
136 | RX_FULL = 1
137 | RX_EMPTY = 0
138 |
139 | DPL_P5 = 5
140 | DPL_P4 = 4
141 | DPL_P3 = 3
142 | DPL_P2 = 2
143 | DPL_P1 = 1
144 | DPL_P0 = 0
145 |
146 | #Masks
147 | RX_P_NO_MASK = 0x0E
148 |
149 | # Instruction Mnemonics
150 | R_REGISTER = 0x00
151 | W_REGISTER = 0x20
152 | REGISTER_MASK = 0x1F
153 | ACTIVATE = 0x50
154 | R_RX_PL_WID = 0x60
155 | R_RX_PAYLOAD = 0x61
156 | W_TX_PAYLOAD = 0xA0
157 | W_ACK_PAYLOAD = 0xA8
158 | FLUSH_TX = 0xE1
159 | FLUSH_RX = 0xE2
160 | REUSE_TX_PL = 0xE3
161 | NOP = 0xFF
162 |
163 | # Non-P omissions
164 | LNA_HCURR = 0x01
165 | LNA_ON = 1
166 | LNA_OFF = 0
167 |
168 | # P model bit Mnemonics
169 | RF_DR_LOW = 0x20
170 | RF_DR_HIGH = 0x08
171 | RF_PWR_LOW = 0x02
172 | RF_PWR_HIGH = 0x04
173 |
174 | datarate_e_str_P = ["1MBPS", "2MBPS", "250KBPS"]
175 | model_e_str_P = ["nRF24L01", "nRF24l01+"]
176 | crclength_e_str_P = ["Disabled", "", "8 bits", "", "16 bits"]
177 | pa_dbm_e_str_P = ["PA_MIN", "PA_LOW", "PA_HIGH", "PA_MAX"]
178 |
179 | @staticmethod
180 | def print_single_status_line(name, value):
181 | print("{0:<16}= {1}".format(name, value))
182 |
183 | @staticmethod
184 | def _to_8b_list(data):
185 | """Convert an arbitray iteratable or single int to a list of ints
186 | where each int is smaller than 256."""
187 | if isinstance(data, str):
188 | data = [ord(x) for x in data]
189 | elif isinstance(data, (int, long)):
190 | data = [data]
191 | else:
192 | data = [int(x) for x in data]
193 |
194 | #for byte in data:
195 | # if byte < 0 or byte > 255:
196 | # raise RuntimeError("Value %d is larger than 8 bits" % byte)
197 | return data
198 |
199 | def __init__(self, major=None, minor=None, ce_pin=None, irq_pin=None):
200 | self.ce_pin = "P9_15"
201 | self.irq_pin = "P9_16"
202 | self.channel = 76
203 | self.data_rate = NRF24.BR_1MBPS
204 | self.data_rate_bits = 1000
205 | self.p_variant = False # False for RF24L01 and true for RF24L01P
206 | self.payload_size = 5 # *< Fixed size of payloads
207 | self.ack_payload_available = False # *< Whether there is an ack payload waiting
208 | self.dynamic_payloads_enabled = False # *< Whether dynamic payloads are enabled.
209 | self.ack_payload_length = 5 # *< Dynamic size of pending ack payload.
210 | self.pipe0_reading_address = None # *< Last address set on pipe 0 for reading.
211 | self.spidev = None
212 | self.last_error = None
213 | self.crc_length = 0
214 | self.auto_ack = 0x3F
215 | self.address_length = 5
216 |
217 | # If all parameters are available, lets start the radio!
218 | if major is not None and minor is not None and irq_pin is not None:
219 | self.begin(major, minor, ce_pin, irq_pin)
220 |
221 | def begin(self, major, minor, ce_pin, irq_pin):
222 | # Initialize SPI bus
223 |
224 | if ADAFRUID_BBIO_SPI:
225 | self.spidev = SPI(major, minor)
226 | self.spidev.bpw = 8
227 | try:
228 | self.spidev.msh = 10000000 # Maximum supported by NRF24L01+
229 | except IOError:
230 | pass # Hardware does not support this speed
231 | else:
232 | self.spidev = spidev.SpiDev()
233 | self.spidev.open(major, minor)
234 |
235 | self.spidev.bits_per_word = 8
236 |
237 | try:
238 | self.spidev.max_speed_hz = 10000000 # Maximum supported by NRF24L01+
239 | except IOError:
240 | pass # Hardware does not support this speed
241 |
242 | self.spidev.cshigh = False
243 | self.spidev.mode = 0
244 | self.spidev.loop = False
245 | self.spidev.lsbfirst = False
246 | self.spidev.threewire = False
247 |
248 | self.ce_pin = ce_pin
249 | self.irq_pin = irq_pin
250 |
251 | if self.ce_pin is not None:
252 | GPIO.setup(self.ce_pin, GPIO.OUT)
253 |
254 | GPIO.setup(self.irq_pin, GPIO.IN, pull_up_down=GPIO.PUD_UP)
255 |
256 | time.sleep(5 / 1000000.0)
257 |
258 | # Reset radio configuration
259 | self.reset()
260 |
261 | # Set 1500uS (minimum for 32B payload in ESB@250KBPS) timeouts, to make testing a little easier
262 | # WARNING: If this is ever lowered, either 250KBS mode with AA is broken or maximum packet
263 | # sizes must never be used. See documentation for a more complete explanation.
264 | self.setRetries(5, 15)
265 |
266 | # Restore our default PA level
267 | self.setPALevel(NRF24.PA_MAX)
268 |
269 | # Determine if this is a p or non-p RF24 module and then
270 | # reset our data rate back to default value. This works
271 | # because a non-P variant won't allow the data rate to
272 | # be set to 250Kbps.
273 | if self.setDataRate(NRF24.BR_250KBPS):
274 | self.p_variant = True
275 |
276 | # Then set the data rate to the slowest (and most reliable) speed supported by all
277 | # hardware.
278 | self.setDataRate(NRF24.BR_1MBPS)
279 |
280 | # Initialize CRC and request 2-byte (16bit) CRC
281 | self.setCRCLength(NRF24.CRC_16)
282 |
283 | # Disable dynamic payloads, to match dynamic_payloads_enabled setting
284 | self.write_register(NRF24.DYNPD, 0)
285 |
286 | # Reset current status
287 | # Notice reset and flush is the last thing we do
288 | self.write_register(NRF24.STATUS, NRF24.RX_DR | NRF24.TX_DS | NRF24.MAX_RT)
289 |
290 | # Set up default configuration. Callers can always change it later.
291 | # This channel should be universally safe and not bleed over into adjacent
292 | # spectrum.
293 | self.setChannel(self.channel)
294 |
295 | # Flush buffers
296 | self.flush_rx()
297 | self.flush_tx()
298 | self.clear_irq_flags()
299 |
300 | def end(self):
301 | if self.spidev:
302 | self.spidev.close()
303 | self.spidev = None
304 |
305 | def startListening(self):
306 | self.write_register(NRF24.CONFIG, self.read_register(NRF24.CONFIG) | NRF24.PWR_UP | NRF24.PRIM_RX)
307 |
308 | self.flush_tx()
309 | self.flush_rx()
310 | self.clear_irq_flags()
311 |
312 | # Restore the pipe0 address, if exists
313 | if self.pipe0_reading_address:
314 | self.write_register(self.RX_ADDR_P0, self.pipe0_reading_address)
315 |
316 | # Go!
317 | self.ce(1)
318 |
319 | def ce(self, level, pulse=0):
320 | # CE Pin is optional
321 | if self.ce_pin is not None:
322 | GPIO.output(self.ce_pin, level)
323 | if pulse > 0:
324 | time.sleep(pulse)
325 | GPIO.output(self.ce_pin, 1 - level)
326 |
327 | def irqWait(self, timeout=30000):
328 | # TODO: A race condition may occur here. => wait for level?
329 | if GPIO.input(self.irq_pin) == 0: # Pin is already down. Packet is waiting?
330 | return True
331 |
332 | try:
333 | return GPIO.wait_for_edge(self.irq_pin, GPIO.FALLING, timeout=timeout) == self.irq_pin
334 | except TypeError: # Timeout parameter not supported
335 | return GPIO.wait_for_edge(self.irq_pin, GPIO.FALLING) == 1
336 | except AttributeError:
337 | raise RuntimeError("GPIO lib does not support wait_for_edge()")
338 |
339 | def read_register(self, reg, length=1):
340 | buf = [NRF24.R_REGISTER | (NRF24.REGISTER_MASK & reg)]
341 | buf += [NRF24.NOP] * max(1, length)
342 |
343 | resp = self.spidev.xfer2(buf)
344 | if length == 1:
345 | return resp[1]
346 |
347 | return resp[1:]
348 |
349 | def write_register(self, reg, value):
350 | """ Write register value """
351 | buf = [NRF24.W_REGISTER | (NRF24.REGISTER_MASK & reg)]
352 | buf += self._to_8b_list(value)
353 | self.spidev.xfer2(buf)
354 |
355 | def write_payload(self, buf):
356 | """ Writes data to the payload register, automatically padding it
357 | to match the required length. Returns the number of bytes
358 | actually written. """
359 |
360 | buf = self._to_8b_list(buf)
361 | if self.dynamic_payloads_enabled:
362 | if len(buf) > self.MAX_PAYLOAD_SIZE:
363 | raise RuntimeError("Dynamic payload is larger than the " +
364 | "maximum size.")
365 | blank_len = 0
366 | else:
367 | if len(buf) > self.payload_size:
368 | raise RuntimeError("Payload is larger than the fixed payload" +
369 | "size (%d vs. %d bytes)" % (len(buf), self.payload_size))
370 | blank_len = self.payload_size - len(buf)
371 |
372 | txbuffer = [NRF24.W_TX_PAYLOAD] + buf + ([0x00] * blank_len)
373 | self.spidev.xfer2(txbuffer)
374 | return len(txbuffer) - 1
375 |
376 | def read_payload(self, buf, buf_len=-1):
377 | """ Reads data from the payload register and sets the
378 | DR bit of the STATUS register. """
379 |
380 | if buf_len < 0:
381 | buf_len = self.payload_size
382 |
383 | if not self.dynamic_payloads_enabled:
384 | data_len = min(self.payload_size, buf_len)
385 | blank_len = self.payload_size - data_len
386 | else:
387 | data_len = self.getDynamicPayloadSize()
388 | blank_len = 0
389 |
390 | txbuffer = [NRF24.R_RX_PAYLOAD] + [NRF24.NOP] * (blank_len + data_len + 1)
391 |
392 | payload = self.spidev.xfer2(txbuffer)
393 | del buf[:]
394 | buf += payload[1:data_len + 1]
395 |
396 | self.write_register(NRF24.STATUS, NRF24.RX_DR)
397 |
398 | return data_len
399 |
400 | def flush_rx(self):
401 | return self.spidev.xfer2([NRF24.FLUSH_RX])[0]
402 |
403 | def flush_tx(self):
404 | return self.spidev.xfer2([NRF24.FLUSH_TX])[0]
405 |
406 | def get_status(self):
407 | return self.spidev.xfer2([NRF24.NOP])[0]
408 |
409 | def print_status(self, status):
410 | 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(
411 | status,
412 | 1 if status & NRF24.RX_DR else 0,
413 | 1 if status & NRF24.TX_DS else 0,
414 | 1 if status & NRF24.MAX_RT else 0,
415 | ((status >> NRF24.RX_P_NO) & int("111", 2)),
416 | 1 if status & NRF24.TX_FULL else 0)
417 |
418 | self.print_single_status_line("STATUS", status_str)
419 |
420 | def print_observe_tx(self, value):
421 | tx_str = "0x{0:02x} PLOS_CNT={1:x} ARC_CNT={2:x}".format(
422 | value,
423 | (value >> NRF24.PLOS_CNT) & 0xf,
424 | (value >> NRF24.ARC_CNT) & 0xf)
425 | self.print_single_status_line("OBSERVE_TX", tx_str)
426 |
427 | def print_byte_register(self, name, reg, qty=1):
428 | registers = ["0x{:0>2x}".format(self.read_register(reg+r)) for r in range(0, qty)]
429 | self.print_single_status_line(name, " ".join(registers))
430 |
431 | def print_address_register(self, name, reg, qty=1):
432 | address_registers = ["0x{0:>02x}{1:>02x}{2:>02x}{3:>02x}{4:>02x}".format(
433 | *self.read_register(reg+r, 5))
434 | for r in range(qty)]
435 |
436 | self.print_single_status_line(name, " ".join(address_registers))
437 |
438 | def setChannel(self, channel):
439 | if channel < 0 or channel > self.MAX_CHANNEL:
440 | raise RuntimeError("Channel number out of range")
441 | self.channel = channel
442 | self.write_register(NRF24.RF_CH, channel)
443 |
444 | def getChannel(self):
445 | return self.read_register(NRF24.RF_CH)
446 |
447 | def setPayloadSize(self, size):
448 | self.payload_size = min(max(size, 1), NRF24.MAX_PAYLOAD_SIZE)
449 |
450 | def getPayloadSize(self):
451 | return self.payload_size
452 |
453 | def printDetails(self):
454 | self.print_status(self.get_status())
455 | self.print_address_register("RX_ADDR_P0-1", NRF24.RX_ADDR_P0, 2)
456 | self.print_byte_register("RX_ADDR_P2-5", NRF24.RX_ADDR_P2, 4)
457 | self.print_address_register("TX_ADDR", NRF24.TX_ADDR)
458 |
459 | self.print_byte_register("RX_PW_P0-6", NRF24.RX_PW_P0, 6)
460 | self.print_byte_register("EN_AA", NRF24.EN_AA)
461 | self.print_byte_register("EN_RXADDR", NRF24.EN_RXADDR)
462 | self.print_byte_register("RF_CH", NRF24.RF_CH)
463 | self.print_byte_register("RF_SETUP", NRF24.RF_SETUP)
464 | self.print_byte_register("SETUP_RETR", NRF24.SETUP_RETR)
465 | self.print_byte_register("SETUP_AW", NRF24.SETUP_AW)
466 | self.print_observe_tx(self.read_register(NRF24.OBSERVE_TX))
467 | self.print_byte_register("CONFIG", NRF24.CONFIG)
468 | self.print_byte_register("FIFO_STATUS", NRF24.FIFO_STATUS)
469 | self.print_byte_register("DYNPD", NRF24.DYNPD)
470 | self.print_byte_register("FEATURE", NRF24.FEATURE)
471 |
472 | self.print_single_status_line("Data Rate", NRF24.datarate_e_str_P[self.getDataRate()])
473 | self.print_single_status_line("Model", NRF24.model_e_str_P[self.isPVariant()])
474 | self.print_single_status_line("CRC Length", NRF24.crclength_e_str_P[self.getCRCLength()])
475 | self.print_single_status_line("PA Power", NRF24.pa_dbm_e_str_P[self.getPALevel()])
476 |
477 | def stopListening(self):
478 | self.ce(0)
479 | self.flush_tx()
480 | self.flush_rx()
481 | self.clear_irq_flags()
482 |
483 | # Enable TX
484 | self.write_register(NRF24.CONFIG,
485 | (self.read_register(NRF24.CONFIG) | NRF24.PWR_UP) & ~NRF24.PRIM_RX)
486 |
487 | # Enable pipe 0 for auto-ack
488 | self.write_register(NRF24.EN_RXADDR, self.read_register(NRF24.EN_RXADDR) | 1)
489 |
490 | def powerDown(self):
491 | self.write_register(NRF24.CONFIG, self.read_register(NRF24.CONFIG) & ~ NRF24.PWR_UP)
492 |
493 | def powerUp(self):
494 | self.write_register(NRF24.CONFIG, self.read_register(NRF24.CONFIG) | NRF24.PWR_UP)
495 | time.sleep(150e-6)
496 |
497 | def write(self, buf):
498 | self.last_error = None
499 | length = self.write_payload(buf)
500 | packet_time = ((1 + length + self.crc_length + self.address_length) * 8 + 9)/(self.data_rate_bits * 1000.) + 130e-6
501 |
502 | if self.auto_ack != 0:
503 | packet_time *= 2
504 |
505 | if self.retries != 0 and self.delay != 0:
506 | timeout = (packet_time + self.delay + 130e-6) * (self.retries + 1)
507 | else:
508 | timeout = packet_time * 2 # 2 is empiric
509 |
510 | self.ce(1)
511 |
512 | timeout += monotonic()
513 | while monotonic() < timeout:
514 | time.sleep(packet_time)
515 | status = self.get_status()
516 | if status & NRF24.TX_DS:
517 | self.ce(0)
518 | return True
519 |
520 | if status & NRF24.MAX_RT:
521 | self.last_error = 'MAX_RT'
522 | break
523 |
524 | self.ce(0)
525 | if self.last_error is None:
526 | self.last_error = 'TIMEOUT'
527 |
528 | self.flush_tx() # Avoid leaving the payload in tx fifo
529 | return False
530 |
531 | def startFastWrite(self, buf):
532 | """
533 | Do not wait for CE HIGH->LOW
534 | """
535 | # Send the payload
536 | self.write_payload(buf)
537 |
538 | self.ce(1)
539 |
540 | def startWrite(self, buf):
541 | # Send the payload
542 | self.write_payload(buf)
543 |
544 | # Allons!
545 | self.ce(1, 10e-6)
546 |
547 | def getDynamicPayloadSize(self):
548 | return self.spidev.xfer2([NRF24.R_RX_PL_WID, NRF24.NOP])[1]
549 |
550 | def available(self, pipe_num=None, irq_wait=False, irq_timeout=30000):
551 | status = self.get_status()
552 | result = False
553 |
554 | # Sometimes the radio specifies that there is data in one pipe but
555 | # doesn't set the RX flag...
556 | if status & NRF24.RX_DR or (status & NRF24.RX_P_NO_MASK != NRF24.RX_P_NO_MASK):
557 | result = True
558 | else:
559 | if irq_wait: # Will use IRQ wait
560 | if self.irqWait(irq_timeout): # Do we have a packet?
561 | status = self.get_status() # Seems like we do!
562 | if status & NRF24.RX_DR or (status & NRF24.RX_P_NO_MASK != NRF24.RX_P_NO_MASK):
563 | result = True
564 |
565 |
566 | if result and pipe_num is not None:
567 | del pipe_num[:]
568 | pipe_num.append((status & NRF24.RX_P_NO_MASK) >> NRF24.RX_P_NO)
569 |
570 | # Handle ack payload receipt
571 | if status & NRF24.TX_DS:
572 | self.write_register(NRF24.STATUS, NRF24.TX_DS)
573 |
574 | return result
575 |
576 | def read(self, buf, buf_len=-1):
577 | # Fetch the payload
578 | self.read_payload(buf, buf_len)
579 |
580 | # was this the last of the data available?
581 | return self.read_register(NRF24.FIFO_STATUS & NRF24.RX_EMPTY)
582 |
583 | def clear_irq_flags(self):
584 | self.write_register(NRF24.STATUS, NRF24.RX_DR | NRF24.TX_DS | NRF24.MAX_RT)
585 |
586 | def whatHappened(self):
587 | # Read the status & reset the status in one easy call
588 | # Or is that such a good idea?
589 | self.write_register(NRF24.STATUS, NRF24.RX_DR | NRF24.TX_DS | NRF24.MAX_RT)
590 |
591 | status = self.get_status()
592 | self.clear_irq_flags()
593 |
594 | # Report to the user what happened
595 | tx_ok = status & NRF24.TX_DS
596 | tx_fail = status & NRF24.MAX_RT
597 | rx_ready = status & NRF24.RX_DR
598 | return {'tx_ok': tx_ok, "tx_fail": tx_fail, "rx_ready": rx_ready}
599 |
600 | def openWritingPipe(self, value):
601 | # Note that the NRF24L01(+)
602 | # expects it LSB first.
603 |
604 | self.write_register(NRF24.RX_ADDR_P0, value)
605 | self.write_register(NRF24.TX_ADDR, value)
606 | if not self.dynamic_payloads_enabled:
607 | self.write_register(NRF24.RX_PW_P0, self.payload_size)
608 |
609 | def openReadingPipe(self, pipe, address):
610 | # If this is pipe 0, cache the address. This is needed because
611 | # openWritingPipe() will overwrite the pipe 0 address, so
612 | # startListening() will have to restore it.
613 | if pipe >= 6:
614 | raise RuntimeError("Invalid pipe number")
615 | if (pipe >= 2 and len(address) > 1) or len(address) > 5:
616 | raise RuntimeError("Invalid adress length")
617 |
618 | if pipe == 0:
619 | self.pipe0_reading_address = address
620 |
621 | self.write_register(NRF24.RX_ADDR_P0 + pipe, address)
622 | if not self.dynamic_payloads_enabled:
623 | self.write_register(NRF24.RX_PW_P0 + pipe, self.payload_size)
624 |
625 | # Note it would be more efficient to set all of the bits for all open
626 | # pipes at once. However, I thought it would make the calling code
627 | # more simple to do it this way.
628 | self.write_register(NRF24.EN_RXADDR,
629 | self.read_register(NRF24.EN_RXADDR) | (1 << pipe))
630 |
631 | def closeReadingPipe(self, pipe):
632 | self.write_register(NRF24.EN_RXADDR,
633 | self.read_register(NRF24.EN_RXADDR) & ~(1 << pipe))
634 |
635 | def toggle_features(self):
636 | buf = [NRF24.ACTIVATE, 0x73]
637 | self.spidev.xfer2(buf)
638 |
639 | def enableDynamicPayloads(self):
640 | # Enable dynamic payload throughout the system
641 | self.write_register(NRF24.FEATURE, self.read_register(NRF24.FEATURE) | NRF24.EN_DPL)
642 |
643 | # If it didn't work, the features are not enabled
644 | if not self.read_register(NRF24.FEATURE):
645 | # So enable them and try again
646 | self.toggle_features()
647 | self.write_register(NRF24.FEATURE, self.read_register(NRF24.FEATURE) | NRF24.EN_DPL)
648 |
649 | # Enable dynamic payload on all pipes
650 |
651 | # Not sure the use case of only having dynamic payload on certain
652 | # pipes, so the library does not support it.
653 | self.write_register(NRF24.DYNPD, self.read_register(NRF24.DYNPD) | 0b00111111)
654 |
655 | self.dynamic_payloads_enabled = True
656 |
657 | def enableAckPayload(self):
658 | # enable ack payload and dynamic payload features
659 | self.write_register(NRF24.FEATURE,
660 | self.read_register(NRF24.FEATURE) | NRF24.EN_ACK_PAY | NRF24.EN_DPL)
661 |
662 | # If it didn't work, the features are not enabled
663 | if not self.read_register(NRF24.FEATURE):
664 | # So enable them and try again
665 | self.toggle_features()
666 | self.write_register(NRF24.FEATURE,
667 | self.read_register(NRF24.FEATURE) | NRF24.EN_ACK_PAY | NRF24.EN_DPL)
668 |
669 | # Enable dynamic payload on pipes 0 & 1
670 | self.write_register(NRF24.DYNPD, self.read_register(NRF24.DYNPD) | NRF24.DPL_P1 | NRF24.DPL_P0)
671 |
672 | def writeAckPayload(self, pipe, buf, buf_len):
673 | txbuffer = [NRF24.W_ACK_PAYLOAD | (pipe & 0x7)]
674 |
675 | max_payload_size = 32
676 | data_len = min(buf_len, max_payload_size)
677 | txbuffer.extend(buf[0:data_len])
678 |
679 | self.spidev.xfer2(txbuffer)
680 |
681 | def isAckPayloadAvailable(self):
682 | result = self.ack_payload_available
683 | self.ack_payload_available = False
684 | return result
685 |
686 | def isPVariant(self):
687 | return self.p_variant
688 |
689 | def setAutoAck(self, enable):
690 | if enable:
691 | self.write_register(NRF24.EN_AA, 0x3F)
692 | self.auto_ack = 0x3f
693 | if self.crc_length == 0:
694 | self.setCRCLength(NRF24.CRC_8) # Enhanced Shockburst requires at least 1 byte CRC
695 | else:
696 | self.auto_ack = 0
697 | self.write_register(NRF24.EN_AA, 0)
698 |
699 | def setAutoAckPipe(self, pipe, enable):
700 | if pipe <= 6:
701 | en_aa = self.read_register(NRF24.EN_AA)
702 | if enable:
703 | self.setCRCLength(NRF24.CRC_8) # Enhanced Shockburst requires at least 1 byte CRC
704 | en_aa |= 1 << pipe
705 | self.auto_ack |= 1 << pipe
706 | else:
707 | en_aa &= ~1 << pipe
708 | self.auto_ack &= ~1 << pipe
709 |
710 | self.write_register(NRF24.EN_AA, en_aa)
711 |
712 | def setAddressWidth(self, width):
713 | if width >= 2 and width <= 5:
714 | self.write_register(NRF24.SETUP_AW, width - 2)
715 | self.address_width = width
716 |
717 | def testCarrier(self):
718 | return self.read_register(NRF24.RPD) & 1
719 |
720 | def setPALevel(self, level):
721 | setup = self.read_register(NRF24.RF_SETUP)
722 | setup &= ~(NRF24.RF_PWR_LOW | NRF24.RF_PWR_HIGH)
723 |
724 | if level == NRF24.PA_MAX:
725 | setup |= NRF24.RF_PWR_LOW | NRF24.RF_PWR_HIGH
726 | elif level == NRF24.PA_HIGH:
727 | setup |= NRF24.RF_PWR_HIGH
728 | elif level == NRF24.PA_LOW:
729 | setup |= NRF24.RF_PWR_LOW
730 | elif level == NRF24.PA_MIN:
731 | pass
732 | elif level == NRF24.PA_ERROR:
733 | # On error, go to maximum PA
734 | setup |= NRF24.RF_PWR_LOW | NRF24.RF_PWR_HIGH
735 |
736 | self.write_register(NRF24.RF_SETUP, setup)
737 |
738 | def getPALevel(self):
739 | power = self.read_register(NRF24.RF_SETUP) & (NRF24.RF_PWR_LOW | NRF24.RF_PWR_HIGH)
740 | if power == (NRF24.RF_PWR_LOW | NRF24.RF_PWR_HIGH):
741 | return NRF24.PA_MAX
742 | elif power == NRF24.RF_PWR_HIGH:
743 | return NRF24.PA_HIGH
744 | elif power == NRF24.RF_PWR_LOW:
745 | return NRF24.PA_LOW
746 | else:
747 | return NRF24.PA_MIN
748 |
749 | def setDataRate(self, speed):
750 | setup = self.read_register(NRF24.RF_SETUP)
751 | setup &= ~(NRF24.RF_DR_LOW | NRF24.RF_DR_HIGH)
752 |
753 | if speed == NRF24.BR_250KBPS:
754 | # Must set the RF_DR_LOW to 1 RF_DR_HIGH (used to be RF_DR) is already 0
755 | # Making it '10'.
756 | self.data_rate_bits = 250
757 | self.data_rate = NRF24.BR_250KBPS
758 | setup |= NRF24.RF_DR_LOW
759 | elif speed == NRF24.BR_2MBPS:
760 | # Set 2Mbs, RF_DR (RF_DR_HIGH) is set 1
761 | # Making it '01'
762 | self.data_rate_bits = 2000
763 | self.data_rate = NRF24.BR_2MBPS
764 | setup |= NRF24.RF_DR_HIGH
765 | else:
766 | # 1Mbs
767 | self.data_rate_bits = 1000
768 | self.data_rate = NRF24.BR_1MBPS
769 |
770 | self.write_register(NRF24.RF_SETUP, setup)
771 |
772 | # Verify our result
773 | return self.read_register(NRF24.RF_SETUP) == setup
774 |
775 | def getDataRate(self):
776 | dr = self.read_register(NRF24.RF_SETUP) & (NRF24.RF_DR_LOW | NRF24.RF_DR_HIGH)
777 | # Order matters in our case below
778 | if dr == NRF24.RF_DR_LOW:
779 | # '10' = 250KBPS
780 | return NRF24.BR_250KBPS
781 | elif dr == NRF24.RF_DR_HIGH:
782 | # '01' = 2MBPS
783 | return NRF24.BR_2MBPS
784 | else:
785 | # '00' = 1MBPS
786 | return NRF24.BR_1MBPS
787 |
788 | def setCRCLength(self, length):
789 | config = self.read_register(NRF24.CONFIG) & ~(NRF24.EN_CRC | NRF24.CRCO)
790 |
791 | if length == NRF24.CRC_DISABLED:
792 | self.crc_length = 0
793 | elif length == NRF24.CRC_8:
794 | config |= NRF24.EN_CRC
795 | config &= ~NRF24.CRCO
796 | self.crc_length = 1
797 | else:
798 | config |= NRF24.EN_CRC
799 | config |= NRF24.CRCO
800 | self.crc_length = 2
801 |
802 | self.write_register(NRF24.CONFIG, config)
803 |
804 | def getCRCLength(self):
805 | result = NRF24.CRC_DISABLED
806 | config = self.read_register(NRF24.CONFIG) & (NRF24.CRCO | NRF24.EN_CRC)
807 |
808 | if config & NRF24.EN_CRC:
809 | if config & NRF24.CRCO:
810 | result = NRF24.CRC_16
811 | else:
812 | result = NRF24.CRC_8
813 |
814 | return result
815 |
816 | def disableCRC(self):
817 | disable = self.read_register(NRF24.CONFIG) & ~NRF24.EN_CRC
818 | self.write_register(NRF24.CONFIG, disable)
819 |
820 | def setRetries(self, delay, count):
821 | self.write_register(NRF24.SETUP_RETR, (delay & 0xf) << NRF24.ARD | (count & 0xf) << NRF24.ARC)
822 | self.delay = delay * 0.000250
823 | self.retries = count
824 | self.max_timeout = (self.payload_size / float(self.data_rate_bits) + self.delay) * self.retries
825 | self.timeout = (self.payload_size / float(self.data_rate_bits) + self.delay)
826 |
827 | def getRetries(self):
828 | return self.read_register(NRF24.SETUP_RETR)
829 |
830 | def getMaxTimeout(self):
831 | return self.max_timeout
832 |
833 | def getTimeout(self):
834 | return self.timeout
835 |
836 | def reset(self):
837 | """ Make sure the NRF is in the same state as after power up
838 | to avoid problems resulting from left over configuration
839 | from other programs."""
840 | self.ce(0)
841 | reset_values = {0: 0x08, 1: 0x3F, 2: 0x02, 3: 0x03, 4: 0x03, 5: 0x02, 6: 0x06,
842 | 0x0a: [0xe7, 0xe7, 0xe7, 0xe7, 0xe7],
843 | 0x0b: [0xc2, 0xc2, 0xc2, 0xc2, 0xc2],
844 | 0x0c: 0xc3, 0x0d: 0xc4, 0x0e: 0xc5, 0x0f: 0xc6,
845 | 0x10: [0xe7, 0xe7, 0xe7, 0xe7, 0xe7],
846 | 0x11: 0, 0x12: 0, 0x13: 0, 0x14: 0, 0x15: 0, 0x16: 0,
847 | 0x1c: 0, 0x1d: 0}
848 | for reg, value in reset_values.items():
849 | self.write_register(reg, value)
850 |
851 | self.flush_rx()
852 | self.flush_tx()
853 |
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/setup.py:
--------------------------------------------------------------------------------
1 | #!/usr/bin/env python
2 |
3 | from distutils.core import setup
4 |
5 | setup(name='nrf24',
6 | version='0.0.1',
7 | description='Python port of the RF24 library for NRF24L01+ radios',
8 | py_modules=['nrf24'],
9 | )
10 |
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/spi/BB-nRF24-SPI0-00A0.dts:
--------------------------------------------------------------------------------
1 | /*
2 | * Virtual cape for SPI0 on connector pins P9.22 P9.21 P9.18 P9.17
3 | *
4 | * This program is free software; you can redistribute it and/or modify
5 | * it under the terms of the GNU General Public License version 2 as
6 | * published by the Free Software Foundation.
7 | */
8 | /dts-v1/;
9 | /plugin/;
10 |
11 | / {
12 | compatible = "ti,beaglebone", "ti,beaglebone-black";
13 |
14 | /* identification */
15 | part-number = "BB-nRF24-SPI0";
16 | version = "00A0";
17 |
18 | /* state the resources this cape uses */
19 | exclusive-use =
20 | /* the pin header uses */
21 | "P9.17", /* spi0_cs0 */
22 | "P9.18", /* spi0_d1 */
23 | "P9.21", /* spi0_d0 */
24 | "P9.22", /* spi0_sclk */
25 | /* the hardware ip uses */
26 | "spi0";
27 |
28 | fragment@0 {
29 | target = <&am33xx_pinmux>;
30 | __overlay__ {
31 | /* default state has all gpios released and mode set to uart1 */
32 | bb_spi0_pins: pinmux_bb_spi0_pins {
33 | pinctrl-single,pins = <
34 | 0x150 0x30 /* spi0_sclk.spi0_sclk, INPUT_PULLUP | MODE0 */
35 | 0x154 0x30 /* spi0_d0.spi0_d0, INPUT_PULLUP | MODE0 */
36 | 0x158 0x10 /* spi0_d1.spi0_d1, OUTPUT_PULLUP | MODE0 */
37 | 0x15c 0x10 /* spi0_cs0.spi0_cs0, OUTPUT_PULLUP | MODE0 */
38 | >;
39 | };
40 | };
41 | };
42 |
43 | fragment@1 {
44 | target = <&spi0>; /* spi0 is numbered correctly */
45 | __overlay__ {
46 | status = "okay";
47 | pinctrl-names = "default";
48 | pinctrl-0 = <&bb_spi0_pins>;
49 |
50 | #address-cells = <1>;
51 | #size-cells = <0>;
52 |
53 | spidev: spidev@0{
54 | #address-cells = <1>;
55 | #size-cells = <0>;
56 |
57 | compatible = "linux,spidev";
58 | reg = <0>;
59 | spi-max-frequency = <10000000>;
60 | };
61 |
62 | };
63 | };
64 | };
65 |
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/spi/README.md:
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1 | Intructions
2 | ====
3 |
4 | Copy the file BB-nRF24-SPI0-00A0.dts to the BBB.
5 | Then compile it using the following command:
6 |
7 | dtc -O dtb -o BB-nRF24-SPI0-00A0.dtbo -b 0 -@ BB-nRF24-SPI0-00A0.dts
8 |
9 | This overlay is almost ready to be used. But first it must e copied
10 | to /lib/firmware
11 |
12 | cp BB-nRF24-SPI0-00A0.dtbo /lib/firmware
13 |
14 | If everything was done correctly, the overlay can be enabled by issuing:
15 |
16 | echo BB-nRF24-SPI0 > /sys/devices/bone_capemgr.8/slots
17 |
18 | This can be made "permanent" if the line above is inserted into
19 | /etc/rc.local
20 |
21 | A device should appear in /dev/spidev.1.0
22 |
23 |
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