private void shutDown() throws InterruptedException {
chipSelect.setValue(false);
chipSelect.close();
try {
// move this stuff into a function
configRegister.powerDown();
SPIFactory.INSTANCE.writeRead(new byte[] {(byte) NRFCommand.FlushTx.getCommand()});
statusRegister.clearMaxRTFlag();
activateCommand();
System.out.println(
"Status of Config register " + String.format("%02X ", configRegister.readFromRegister()));
System.out.println(
"Status of Enable Data pipe register "
+ String.format("%02X ", dataPipeRegister.readFromRegister()));
System.out.println(
"Status of Retry register " + String.format("%02X ", retryRegister.readFromRegister()));
System.out.println(
"Status of Rx dataload width pipe0 register "
+ String.format("%02X ", rxdataloadinPipe0.readFromRegister()));
System.out.println(
"Status of Feature register "
+ String.format("%02X ", featureRegister.readFromRegister()));
System.out.println(
"Status of Address PIPE0 register "
+ String.format("%02X ", addressPipe0.readFromRegister()));
} catch (SpiDeviceException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
}
private void InitialiseRFTransmitter() throws SpiDeviceException, InterruptedException {
System.out.println(
"Status of Enable Data pipe register "
+ String.format("%02X ", dataPipeRegister.readFromRegister()));
configRegister.writeToRegister((byte) 0x0C); // Set CRC encoding to 2 bytes
System.out.println(
"Status of Config register " + String.format("%02X ", configRegister.readFromRegister()));
configRegister.powerUp();
System.out.println(
"Status of Config register " + String.format("%02X ", configRegister.readFromRegister()));
dataPipeRegister.writeToRegister((byte) 0x03); // Enable data pipe 0 and 1
System.out.println(
"Status of Enable Data pipe register "
+ String.format("%02X ", dataPipeRegister.readFromRegister()));
retryRegister.writeToRegister((byte) 0x1F); // wait 500uS and 15 retransmits
rxdataloadinPipe0.writeToRegister((byte) 0x0A); // 10 byte data in pipe 0
activateCommand();
featureRegister.writeToRegister(
(byte) 0x06); // Enable dynamic payload length and enable payload with ack
dynamicRegister.writeToRegister((byte) 0x03); // Enable dynamic payload on pipe 0 and 1
addressPipe0.writeToRegister(TxAddress);
System.out.println(
"Status of Address PIPE0 register "
+ String.format("%02X ", addressPipe0.readFromRegister()));
txaddressRegister.writeToRegister(TxAddress);
}
public class DeviceController implements Runnable, Constants {
// private final byte[] pipe0Address = { (byte) 0xC4,0x7B,0x4D,0x03,0x31};
private final byte[] TxAddress = new byte[5]; // { (byte) 0xC4,0x7B,0x4D,0x03,0x31};
private final byte[] rfKeepAlive = {0, 0, 0, 0, 1, 0, 0, 0, 0, 0};
private ConfigRegister configRegister = ConfigRegister.getInstance();
private EnableDataPipeRegister dataPipeRegister = EnableDataPipeRegister.getInstance();
private SetupAutoRetryRegister retryRegister = SetupAutoRetryRegister.getInstance();
private RxPayLoadinDataPipes rxdataloadinPipe0 =
RxPayLoadinDataPipes.getInstance(RxDataPipes.pipe0);
private FeatureRegister featureRegister = FeatureRegister.getInstance();
private DynamicPayloadEnableRegister dynamicRegister = DynamicPayloadEnableRegister.getInstance();
private RxAddressDataPipe0 addressPipe0 = RxAddressDataPipe0.getInstance();
private TxAddressRegister txaddressRegister = TxAddressRegister.getInstance();
private StatusRegister statusRegister = StatusRegister.getInstance();
private FIFOStatusRegister fifoRegister = FIFOStatusRegister.getInstance();
private OutPin chipSelect = null; // instantiate it in Initialise SPI
private ThreadMonitor tm;
private boolean linkEstablished = false;
private int exceptionCounter = 0;
// private RemoteSensorData remoteData = null;
private final ArrayBlockingQueue<Byte> buttonQueue = new ArrayBlockingQueue<Byte>(BUFFER_SIZE);
private final ArrayBlockingQueue<Byte[]> accQueue = new ArrayBlockingQueue<Byte[]>(BUFFER_SIZE);
private ArrayBlockingQueue<Byte[]> txDataQueue;
private Thread buttonProcessorThread;
private Thread tiltProcessorThread;
private boolean startThreads = true;
private byte[] remoteDataPackets;
/*
* Allows this class to be instantiated from any GUI class and pass the Listeners, the listeners will be updated with events
* as and when it happens
* Data populated to txData will be transmitted to the remote
*/
public DeviceController(
ThreadMonitor tm, RemoteAdapter rm, TiltEventListener tlt, ArrayBlockingQueue<Byte[]> txData)
throws IOException, SpiDeviceException, InterruptedException {
InitialiseSPI();
InitialiseRFTransmitter();
this.txDataQueue = txData;
this.tm = tm;
this.buttonProcessorThread = new Thread(new ButtonEventProcessor(buttonQueue, rm, tm));
this.tiltProcessorThread =
new Thread(new AxisEventProcessor(accQueue, tlt, tm, true, DEFAULT_WINDOW_SIZE));
}
public DeviceController(ThreadMonitor tm, ArrayList eventQueue, ArrayBlockingQueue<Byte[]> txData)
throws IOException, SpiDeviceException, InterruptedException {
InitialiseSPI();
InitialiseRFTransmitter();
this.txDataQueue = txData;
this.tm = tm;
this.buttonProcessorThread = new Thread(new ButtonEventProcessor(buttonQueue, tm, eventQueue));
}
private void InitialiseRFTransmitter() throws SpiDeviceException, InterruptedException {
System.out.println(
"Status of Enable Data pipe register "
+ String.format("%02X ", dataPipeRegister.readFromRegister()));
configRegister.writeToRegister((byte) 0x0C); // Set CRC encoding to 2 bytes
System.out.println(
"Status of Config register " + String.format("%02X ", configRegister.readFromRegister()));
configRegister.powerUp();
System.out.println(
"Status of Config register " + String.format("%02X ", configRegister.readFromRegister()));
dataPipeRegister.writeToRegister((byte) 0x03); // Enable data pipe 0 and 1
System.out.println(
"Status of Enable Data pipe register "
+ String.format("%02X ", dataPipeRegister.readFromRegister()));
retryRegister.writeToRegister((byte) 0x1F); // wait 500uS and 15 retransmits
rxdataloadinPipe0.writeToRegister((byte) 0x0A); // 10 byte data in pipe 0
activateCommand();
featureRegister.writeToRegister(
(byte) 0x06); // Enable dynamic payload length and enable payload with ack
dynamicRegister.writeToRegister((byte) 0x03); // Enable dynamic payload on pipe 0 and 1
addressPipe0.writeToRegister(TxAddress);
System.out.println(
"Status of Address PIPE0 register "
+ String.format("%02X ", addressPipe0.readFromRegister()));
txaddressRegister.writeToRegister(TxAddress);
}
private void activateCommand() throws SpiDeviceException {
// this SPI Factory is abstract its concrete class will use JNI calls when using the
// RaspberryPi
// it will use the IOIO calls SPIWriteRead when the code runs on Android
SPIFactory.INSTANCE.writeRead(
new byte[] {(byte) NRFCommand.Activate.getCommand(), (byte) 0x73});
}
private void InitialiseSPI() throws IOException, SpiDeviceException {
FileInputStream fr = new FileInputStream("q3remoteadd.cfg");
fr.read(TxAddress);
fr.close();
SPIFactory.INSTANCE.connectSPI();
SPIFactory.INSTANCE.setConfiguration();
// Outpin again has multiple implementation based on whether running on Android or Pi
chipSelect =
new OutPin(
0); // header 11 on Pi (Marked GPIO17) used for Chip Enable (Note: This is not CSN for
// SPI)
}
// Actual Listener
@Override
public void run() {
// start two threads one for button event processing and another for axis data processing
// pass the RemoteSensorData object to it
// write default payload to device
try {
// move these two lines in to a function
writePayLoad(rfKeepAlive);
chipSelect.setValue(true);
System.out.println(
"Status of Config register " + String.format("%02X ", configRegister.readFromRegister()));
// tm is a threadMonitor from the calling application to shutdown the threads when UI exits.
while (!tm.getStopStatus()) {
int status = statusRegister.readFromRegister();
// System.out.println("Status reg value: "+String.format("%02X ",status));
// check whether RF link is up or down i.e whether the remote responds
if (hasMaxRetransmitReached(status)) {
// System.out.println("MaxRT Flag raised");
// reset this bit
statusRegister.clearMaxRTFlag();
if (linkEstablished && (exceptionCounter > 4)) {
System.out.println("Link dropped -2");
// previously link established
chipSelect.setValue(false);
SPIFactory.INSTANCE.writeRead(new byte[] {(byte) NRFCommand.FlushTx.getCommand()});
writePayLoad(rfKeepAlive);
chipSelect.setValue(true);
exceptionCounter = 0;
}
if (linkEstablished) {
exceptionCounter++;
}
} else if (hasAcknowledgementArrived(status)) {
if (startThreads) {
// start the threads to handle data received
buttonProcessorThread.start();
if (tiltProcessorThread != null) tiltProcessorThread.start();
startThreads = false;
}
// reset NOACK counter here
linkEstablished = true;
exceptionCounter = 0;
statusRegister.clearMaxRTFlag();
// data has arrived
// we know the data is 10 bytes long.
// Data is read from NRF register
// 10 bytes long -this array is of size 10
remoteDataPackets = readDataFromFIFO(NUM_DATA_PACKETS);
statusRegister.clearMaxRTFlag();
if (buttonQueue.size() == BUFFER_SIZE) {
buttonQueue.remove();
}
// last byte in response message is the button data
// add it to a Queue - Button processor thread will create an event if a button
// has been pressed or released
buttonQueue.add(new Byte(remoteDataPackets[NUM_DATA_PACKETS]));
if (tiltProcessorThread != null) {
if (accQueue.size() == BUFFER_SIZE) {
accQueue.remove();
}
// Accelerator data arrives in 1,2,3 positions
// they are added to a different queue so another thread creates an event
if (remoteDataPackets[1] != 0)
// accQueue.add(new Byte[]{(byte) (remoteDataPackets[1]+(byte)(0x80)),(byte)(
// remoteDataPackets[2]-(byte)0x78) , (byte)(remoteDataPackets[3]+0x72)});
accQueue.add(
new Byte[] {
(byte) remoteDataPackets[1],
(byte) remoteDataPackets[2],
(byte) remoteDataPackets[3],
(byte) remoteDataPackets[4],
(byte) remoteDataPackets[5],
(byte) remoteDataPackets[6]
});
}
int reuse = fifoRegister.readFromRegister();
// System.out.println("FIFO reg value: "+String.format("%02X ",(byte)reuse));
// check whether there is a new transmit data is available to send or
// or should we send default keep alive packet
if (!(((byte) reuse & 0x40) == 0x40)) {
// System.out.println("Calling write payload");
if (txDataQueue.isEmpty()) writePayLoad(rfKeepAlive);
else {
Byte[] dataFromuser = txDataQueue.poll();
byte[] sendData = new byte[dataFromuser.length];
for (int i = 0; i < sendData.length; i++) {
sendData[i] = dataFromuser[i].byteValue();
}
writePayLoad(sendData);
}
}
} else {
// keep a counter here if it reaches 4 - then power down chip - reinitialise
// System.out.println("Neither Ack received nor Max rt occured Status reg value:
// "+String.format("%02X ",status));
if (linkEstablished && (exceptionCounter > 4)) {
buttonQueue.clear();
accQueue.clear();
System.out.println("Link dropped");
// previously link established
chipSelect.setValue(false);
SPIFactory.INSTANCE.writeRead(new byte[] {(byte) NRFCommand.FlushTx.getCommand()});
writePayLoad(rfKeepAlive);
chipSelect.setValue(true);
exceptionCounter = 0;
}
if (linkEstablished) {
exceptionCounter++;
}
}
try {
Thread.sleep(10);
} catch (InterruptedException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
}
} catch (SpiDeviceException e) {
// TODO Auto-generated catch block
e.printStackTrace();
} finally {
System.out.println("Shutdown command received....");
try {
shutDown();
} catch (InterruptedException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
SPIFactory.INSTANCE.disconnectSPI();
System.out.println("Device Controller thread exiting....");
}
}
private void shutDown() throws InterruptedException {
chipSelect.setValue(false);
chipSelect.close();
try {
// move this stuff into a function
configRegister.powerDown();
SPIFactory.INSTANCE.writeRead(new byte[] {(byte) NRFCommand.FlushTx.getCommand()});
statusRegister.clearMaxRTFlag();
activateCommand();
System.out.println(
"Status of Config register " + String.format("%02X ", configRegister.readFromRegister()));
System.out.println(
"Status of Enable Data pipe register "
+ String.format("%02X ", dataPipeRegister.readFromRegister()));
System.out.println(
"Status of Retry register " + String.format("%02X ", retryRegister.readFromRegister()));
System.out.println(
"Status of Rx dataload width pipe0 register "
+ String.format("%02X ", rxdataloadinPipe0.readFromRegister()));
System.out.println(
"Status of Feature register "
+ String.format("%02X ", featureRegister.readFromRegister()));
System.out.println(
"Status of Address PIPE0 register "
+ String.format("%02X ", addressPipe0.readFromRegister()));
} catch (SpiDeviceException e) {
// TODO Auto-generated catch block
e.printStackTrace();
}
}
private byte[] readDataFromFIFO(int length) throws SpiDeviceException {
byte[] data = new byte[length + 1];
data[0] = (byte) NRFCommand.ReadRxPayload.getCommand();
return SPIFactory.INSTANCE.writeRead(data);
}
private boolean hasAcknowledgementArrived(int status) {
if (status == (byte) 0x2E
|| status == (byte) 0x60
|| status == (byte) 0x70
|| status == (byte) 0x00
|| status == (byte) 0x7E
|| status == (byte) 0x7F
|| status == (byte) 0x30) return true;
return false;
}
private void writePayLoad(byte data[]) throws SpiDeviceException {
// use any of the instantiated registers to access this method to append command to payload data
SPIFactory.INSTANCE.writeRead(
configRegister.appendWriteCommandToDataArray(
(byte) NRFCommand.WriteTxPayload.getCommand(), data));
// send a reuse command if it is just keep alive data
if (Arrays.equals(rfKeepAlive, data)) {
SPIFactory.INSTANCE.writeRead(new byte[] {(byte) NRFCommand.ReusePayLoad.getCommand()});
}
}
private boolean hasMaxRetransmitReached(int status) {
if (status == (byte) 0x1E || status == (byte) 0x10 || status == (byte) 0x1F) return true;
return false;
}
}