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class dummy_context_mgr():
def __enter__(self):
return None
def __exit__(self, exc_type, exc_value, traceback):
return False
class Radio:
_default_register_values = {
'format_config': {
'crc_enabled': 1,
'scramble_enabled': 0,
'packet_length_encoded': 1,
'auto_term_tx': 1,
'auto_ack': 0,
'pkt_fifo_polarity': 0,
'crc_initial_data': 0
},
'radio_state': {'tx_enabled': 0, 'rx_enabled': 0, 'channel': 76},
'power': {'current': 4, 'gain': 0},
'rssi_power': {'mode': 0},
'crystal': {'trim_adjust': 0},
'packet_config': {
'preamble_len': 2,
'syncword_len': 1,
'trailer_len': 0,
'packet_type': 0,
'fec_type': 0,
'br_clock_sel': 0
},
'chip_power': {
'power_down': 0,
'sleep_mode': 0,
'br_clock_on_sleep': 0,
'rexmit_times': 3,
'miso_tri_opt': 0,
'scramble_value': 0
},
'thresholds': {
'fifo_empty_threshold': 8,
'fifo_full_threshold': 16,
'syncword_error_bits': 2
},
'format_config': {
'crc_enabled': 1,
'scramble_enabled': 0,
'packet_length_encoded': 1,
'auto_term_tx': 1,
'auto_ack': 0,
'pkt_fifo_polarity': 0,
'crc_initial_data': 0
},
'scan_rssi': {'channel': 63, 'ack_time': 176},
'gain_block': {'enabled': 1},
'vco_calibrate': {'enabled': 1},
'scan_rssi_state': {'enabled': 0, 'channel_offset': 0, 'wait_time': 15}
}
_register_map = [
{'name': "Unknown"}, # 0
{'name': "Unknown"}, # 1
{'name': "Unknown"}, # 2
{ # 3
'name': 'phase_lock',
'reserved_1': [13, 15],
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self._config['use_software_tx_queue'] = False
self._spi.close()
def _debug(self, message):
if 'debug_log_command' in self._config:
self._config['debug_log_command'](message)
return None
def _info(self, message):
log_command = None
if 'info_log_command' in self._config:
log_command = self._config['info_log_command']
elif 'debug_log_command' in self._config:
log_command = self._config['debug_log_command']
if log_command is None:
return None
log_command(message)
return None
def _error(self, message):
log_command = None
if 'error_log_command' in self._config:
log_command = self._config['error_log_command']
elif 'info_log_command' in self._config:
log_command = self._config['info_log_command']
elif 'debug_log_command' in self._config:
log_command = self._config['debug_log_command']
if log_command is None:
return None
log_command(message)
return None
def _get_mutex(self, real_mutex = True):
if not real_mutex:
return dummy_context_mgr()
mutex = self._config.get('mutex', dummy_context_mgr())
return mutex
def _reset_device(self):
self._info("Resetting radio {}".format(__name__))
reset_command = self._config.get('reset_command', None)
if reset_command is None:
return None
reset_command()
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value1 = self.get_register(0);
value2 = self.get_register(1);
if value1 == 0x6fe0 and value2 == 0x5681:
return True
return False
def _set_defaults(self):
def _get_default_register_value(self, register):
self.put_register_bits('radio_state', {'tx_enabled': 0, 'rx_enabled': 0, 'channel': 76})
self.put_register_bits('power', {'current': 4, 'gain': 0})
self.put_register_bits('rssi_power', {'mode': 0})
self.put_register_bits('crystal', {'trim_adjust': 0})
self.put_register_bits('packet_config', {
'preamble_len': 2,
'syncword_len': 1,
'trailer_len': 0,
'packet_type': 0,
'fec_type': 0,
'br_clock_sel': 0
})
self.put_register_bits('chip_power', {
'power_down': 0,
'sleep_mode': 0,
'br_clock_on_sleep': 0,
'rexmit_times': 3,
'miso_tri_opt': 0,
'scramble_value': 0
})
self.put_register_bits('thresholds', {
'fifo_empty_threshold': 8,
'fifo_full_threshold': 16,
'syncword_error_bits': 2
})
self.put_register_bits('format_config', {
'crc_enabled': 1,
'scramble_enabled': 0,
'packet_length_encoded': 1,
'auto_term_tx': 1,
'auto_ack': 0,
'pkt_fifo_polarity': 0,
'crc_initial_data': 0
})
self.put_register_bits('scan_rssi', {'channel': 63, 'ack_time': 176})
self.put_register_bits('gain_block', {'enabled': 1})
self.put_register_bits('vco_calibrate', {'enabled': 1})
self.put_register_bits('scan_rssi_state', {'enabled': 0, 'channel_offset': 0, 'wait_time': 15})
def _put_register_high_low(self, reg, high, low, delay = 7):
def _put_register_high_low(self, reg, high, low, delay = None):
if delay is None:
delay = 10
reg = self._register_number(reg)
result = self._spi.xfer([reg, high, low], self._spi.max_speed_hz, delay)
if reg & 0x80 == 0x80:
self._debug(" regRead[%02X] = %s" % ((reg & 0x7f), result))
else:
self._debug("regWrite[%02X:0x%02X%02X] = %s" % (reg, high, low, result))
return result
def put_register(self, reg, value):
def put_register(self, reg, value, delay = None):
high = (value >> 8) & 0xff
low = value & 0xff
return self._put_register_high_low(reg, high, low)
return self._put_register_high_low(reg, high, low, delay = delay)
def put_register_bits(self, reg, bits_dict):
def put_register_bits(self, reg, bits_dict, delay = None):
# Convert register to an integer
reg = self._register_number(reg)
# Lookup register in the register map
register_info = self._register_map[reg]
# Create a dictionary to hold the parsed results
value = 0
for key in bits_dict:
if key == "name":
continue
bit_range = register_info[key]
mask = ((1 << (bit_range[1] - bit_range[0] + 1)) - 1) << bit_range[0]
key_value = (bits_dict[key] << bit_range[0]) & mask
value = value | key_value
result = self.put_register(reg, value)
result = self.put_register(reg, value, delay = delay)
return result
def get_register(self, reg):
# Convert register to an integer
reg = self._register_number(reg)
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self._software_tx_queue_mutex = None
return None
def initialize(self):
self._reset_device()
self._set_defaults()
self._set_default_register_values()
if not self._check_radio():
return False
return True
def _reinitialize(self):
self.initialize()
self.set_syncword(self._last_syncword, submit_queue = None, force = True)
self._apply_packet_format_config(self._last_format_config)
def set_channel(self, channel):
state = self.get_register_bits('radio_state')
state['channel'] = channel
self.put_register_bits('radio_state', state)
return state
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return None
def fill_fifo(self, message, include_length = True, lock = True):
new_message = [self._register_number('fifo')]
if include_length:
new_message = new_message + [len(message)]
new_message = new_message + message
log_message = [] + new_message
log_message = new_message.copy()
delay = 10 * len(message)
# Transfer the message
with self._get_mutex(lock):
result = self._spi.xfer(new_message, self._spi.max_speed_hz, 0)
result = self._spi.xfer(new_message, self._spi.max_speed_hz, delay)
self._debug("Writing: {} = {}".format(log_message, result))
need_reset = False
for check_result in result:
if check_result != 1:
need_reset = True
if need_reset:
self._error("While transmitting we got an error, reinitializing everything")
self._reinitialize()
return new_message
def transmit(self, message, channel = None, lock = True, post_delay = 0, syncword = None, submit_queue = '__DEFAULT__'):
def transmit(self, message, channel = None, lock = True, post_delay = 0, syncword = None, submit_queue = '__DEFAULT__', format_config = None):
# If we are using a radio transmit queue, just queue this message
# (unless we are called from the dequeue procedure)
if submit_queue is not None and self._should_use_queue():
if syncword is None:
syncword = self._last_syncword
self._enqueue(submit_queue, syncword, message, channel, post_delay = post_delay)
self._enqueue(submit_queue, syncword, message, channel, post_delay = post_delay, format_config = format_config)
return True
sent_packet = True
with self._get_mutex(lock):
# Set the syncword
if syncword is not None:
self.set_syncword(syncword, submit_queue = None)
# Apply any format changes
radio_format_config = self._apply_packet_format_config(format_config)
# Determine if the length should be included
if radio_format_config['packet_length_encoded'] == 1:
include_length = True
else:
include_length = False
if radio_format_config['auto_term_tx'] == 1:
manual_terminate = False
else:
manual_terminate = True
if channel is None:
state = self.get_register_bits('radio_state')
channel = state['channel']
# Initialize the transmitter
self.put_register_bits('radio_state', {
'tx_enabled': 0,
'rx_enabled': 0,
'channel': 0
})
self.put_register_bits('fifo_state', {
'clear_read': 1,
'clear_write': 1
})
# Format message to send to fifo
self.fill_fifo(message, include_length = True, lock = False)
self.fill_fifo(message, include_length = include_length, lock = False)
# Tell the radio to transmit the FIFO buffer to the specified channel
self.put_register_bits('radio_state', {
'tx_enabled': 1,
'rx_enabled': 0,
'channel': channel
})
}, delay = 1000)
# Wait for buffer to empty
# XXX: Untested
while True:
def multi_transmit(self, message, channels, retries = 3, delay = 0.1, syncword = None, submit_queue = '__DEFAULT__'):
def multi_transmit(self, message, channels, retries = 3, delay = 0.1, syncword = None, submit_queue = '__DEFAULT__', format_config = None):
if len(channels) == 0 or retries == 0:
self._error("Asked to send the message {} a total of zero times ({} channels, {} retries)".format(message, channels, retries))
# Wait at-least 350 microseconds between frames
min_delay = 350.0 / 1000000.0
final_delay = max(min_delay, delay - (min_delay * (len(channels) * retries - 1)))
for channel_idx in range(len(channels)):
if channel_idx == (len(channels) - 1):
retries -= 1
channel = channels[channel_idx]
for i in range(retries):
if not self.transmit(message, channel, post_delay = 0, syncword = syncword, submit_queue = submit_queue):
if not self.transmit(message, channel, post_delay = min_delay, syncword = syncword, submit_queue = submit_queue):
return False
if not self.transmit(message, channel, post_delay = delay, syncword = syncword, submit_queue = submit_queue):
if not self.transmit(message, channel, post_delay = final_delay, syncword = syncword, submit_queue = submit_queue, format_config = format_config):
return False
return True
def _enqueue(self, submit_queue, syncword, message, channel, post_delay = 0):
def _enqueue(self, submit_queue, syncword, message, channel, post_delay = 0, format_config = None):
if not self._should_use_queue():
raise ValueError('internal error: _enqueue called with queueing disabled')
with self._software_tx_queue_mutex:
if submit_queue not in self._software_tx_queue:
self._software_tx_queue[submit_queue] = collections.deque([])
self._software_tx_queue[submit_queue].append({
'syncword': syncword,
'message': message,
'channel': channel,
'post_delay': post_delay
'post_delay': post_delay,
'format_config': format_config
})
return None
def _run_queue(self):
self._debug("Started run_queue process")
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pop_items = 0
for item in self._software_tx_queue[submit_queue]:
pop_items += 1
# If the last item we're about to transmit requires a delay, make
# a note of it in the queue time and don't pull anything else
# from this queue
self._software_tx_queue_next_time[submit_queue] = now + item['post_delay']
item['submit_queue'] = submit_queue
if item['post_delay'] != 0:
break
# Pop off the items to transmit in this run into a list
if pop_items != 0:
self._debug("Found {} items to transmit in the {} queue".format(pop_items, submit_queue))
while pop_items != 0:
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self._debug("Getting ready to transmit {} items".format(len(to_transmit)))
with self._get_mutex():
for item in to_transmit:
self._debug("Transmitting item {}".format(item))
syncword = item['syncword']
message = item['message']
channel = item['channel']
format_config = item['format_config']
if syncword is not None:
default_syncword = syncword
else:
syncword = default_syncword
if message is None or channel is None:
continue
self.transmit(message, channel, lock = False, submit_queue = None, syncword = syncword, post_delay = 0)
self.transmit(message, channel, lock = False, submit_queue = None, syncword = syncword, post_delay = 0, format_config = format_config)
self._software_tx_queue_next_time[item['submit_queue']] = time.time() + item['post_delay']
return [len(to_transmit), remaining_items]
def start_listening(self, channel):
# Initialize the receiver
self.stop_listening()
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self.put_register_bits('fifo_state', {
'clear_read': 1,
'clear_write': 1
})
return True
def _apply_packet_format_config(self, format_config):
# Apply radio format configuration difference from baseline
radio_format_config = self._get_default_register_value('format_config').copy()
# If a configuration was supplied, update what we want to apply
if format_config is not None:
radio_format_config.update(format_config)
if radio_format_config == self._last_format_config:
return radio_format_config
self._last_format_config = radio_format_config
self.put_register_bits('format_config', radio_format_config, delay = 5000)
new_config = self.get_register_bits('format_config')
self._info("Updated format_config to be {}".format(new_config))
return radio_format_config
def receive(self, channel = None, wait = False, length = None, wait_time = 0.1):
def receive(self, channel = None, wait = False, length = None, format_config = None, wait_time = 0.1):
# If a length is supplied, assume that the packet is not length encoded
# but allow the user to override that by supplying a format config
if length is not None:
if format_config is None:
format_config = {}
if 'packet_length_encoded' not in format_config:
format_config = format_config.copy()
format_config['packet_length_encoded'] = 0
with self._get_mutex():
# Apply the current configuration, if it is already applied
# this will be a no-op
self._apply_packet_format_config(format_config)
if wait:
if channel is None:
state = self.get_register_bits('radio_state')
channel = state['channel']
self.start_listening(channel)
message = []
crc_error_count = 0
while True:
radio_status = self.get_register_bits('status')
self._debug("radio_status={}".format(radio_status))
if radio_status['crc_error'] == 1:
crc_error_count += 1
if crc_error_count > 30:
self._reinitialize()
self.start_listening(channel)
continue
crc_error_count = 0
if radio_status['packet_flag'] == 0:
if wait:
time.sleep(wait_time)
continue
else:
self._unlock_radio()
return None
if radio_status['crc_error'] == 1:
# Handle invalid packet ?
self.start_listening(channel)
continue
# XXX *IF* length encoding is enabled ?
message_length = fifo_data >> 8
message_length = fifo_data >> 8
if message_length == 0:
self.start_listening(channel)
continue
# Keep track of the total message length to truncate it
final_message_length = message_length
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