From 130cb822e4ed624c82158f1c49f333e577c55ed5 Mon Sep 17 00:00:00 2001
From: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
Date: Tue, 6 Dec 2016 22:39:30 -0800
Subject: [PATCH] rf22: Initial implementation for RFM22B radios, C++ only &
 bindings

Signed-off-by: Mihai Tudor Panu <mihai.tudor.panu@intel.com>
---
 docs/images/rf22.jpg         | Bin 0 -> 161935 bytes
 examples/c++/CMakeLists.txt  |   2 +
 examples/c++/rf22-client.cxx |  72 +++
 examples/c++/rf22-server.cxx |  73 +++
 src/rf22/CMakeLists.txt      |   5 +
 src/rf22/javaupm_rf22.i      |  24 +
 src/rf22/jsupm_rf22.i        |   9 +
 src/rf22/pyupm_rf22.i        |  12 +
 src/rf22/rf22.cxx            | 766 +++++++++++++++++++++++++++
 src/rf22/rf22.hpp            | 987 +++++++++++++++++++++++++++++++++++
 10 files changed, 1950 insertions(+)
 create mode 100644 docs/images/rf22.jpg
 create mode 100644 examples/c++/rf22-client.cxx
 create mode 100644 examples/c++/rf22-server.cxx
 create mode 100644 src/rf22/CMakeLists.txt
 create mode 100644 src/rf22/javaupm_rf22.i
 create mode 100644 src/rf22/jsupm_rf22.i
 create mode 100644 src/rf22/pyupm_rf22.i
 create mode 100644 src/rf22/rf22.cxx
 create mode 100644 src/rf22/rf22.hpp

diff --git a/docs/images/rf22.jpg b/docs/images/rf22.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..eec32cdf6a7079565026db7a58225e27a994c694
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literal 0
HcmV?d00001

diff --git a/examples/c++/CMakeLists.txt b/examples/c++/CMakeLists.txt
index 0732862d..e2e3a614 100644
--- a/examples/c++/CMakeLists.txt
+++ b/examples/c++/CMakeLists.txt
@@ -325,6 +325,8 @@ add_example (ms5803)
 add_example (ims)
 add_example (ecezo)
 add_example (mb704x)
+add_example (rf22-server)
+add_example (rf22-client)
 
 # These are special cases where you specify example binary, source file and module(s)
 include_directories (${PROJECT_SOURCE_DIR}/src)
diff --git a/examples/c++/rf22-client.cxx b/examples/c++/rf22-client.cxx
new file mode 100644
index 00000000..5522b3d2
--- /dev/null
+++ b/examples/c++/rf22-client.cxx
@@ -0,0 +1,72 @@
+/*
+ * Author: Kiveisha Yevgeniy
+ * Copyright (c) 2015-2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <iostream>
+#include <signal.h>
+#include "rf22.hpp"
+
+bool amWorking = true;
+
+void
+sig_handler (int signo) {
+    if (signo == SIGINT) {
+        amWorking = false;
+    }
+}
+//! [Interesting]
+int
+main (int argc, char ** argv) {
+    // SPI bus 0, CS pin 10, INTR pin 2
+    upm::RF22* rf22 = new upm::RF22 (0, 10, 2);
+
+    if (!rf22->init()) {
+        std::cout << "RF22 init failed" << std::endl;
+        return 0x1;
+    }
+
+    uint8_t data[] = "Hello World!";
+    uint8_t buf[RF22_MAX_MESSAGE_LEN];
+    uint8_t len = sizeof(buf);
+
+    signal (SIGINT, sig_handler);
+    while (amWorking) {
+        std::cout << "Sending to rf22_server" << std::endl;
+        // Send a message to rf22_server
+        rf22->send(data, sizeof(data));
+        rf22->waitPacketSent();
+        // Now wait for a reply
+                
+        rf22->waitAvailableTimeout(1000000);
+        
+        if (rf22->recv(buf, &len)) {
+            std::cout << "got response: " << (char*)buf << std::endl;
+        } else {
+            std::cout << "!!! NO RESPONSE !!!" << std::endl;
+        }
+    }
+
+    std::cout << "Exit 'rfm22-client'" << std::endl;
+    return 0;
+}
+//! [Interesting]
diff --git a/examples/c++/rf22-server.cxx b/examples/c++/rf22-server.cxx
new file mode 100644
index 00000000..eccbff5c
--- /dev/null
+++ b/examples/c++/rf22-server.cxx
@@ -0,0 +1,73 @@
+/*
+ * Author: Kiveisha Yevgeniy
+ * Copyright (c) 2015-2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <iostream>
+#include <signal.h>
+#include "rf22.hpp"
+
+bool amWorking = true;
+
+void
+sig_handler (int signo) {
+    if (signo == SIGINT) {
+        amWorking = false;
+    }
+}
+//! [Interesting]
+int
+main (int argc, char ** argv) {
+    // SPI bus 0, CS pin 10, INTR pin 2
+    upm::RF22* rf22 = new upm::RF22 (0, 10, 2);
+
+    if (!rf22->init()) {
+        std::cout << "RF22 init failed" << std::endl;
+        return 0x1;
+    }
+    
+    uint8_t buf[RF22_MAX_MESSAGE_LEN];
+    uint8_t len = sizeof(buf);
+    
+    signal (SIGINT, sig_handler);
+    while (amWorking) {
+        // rf22->waitAvailable();
+        rf22->waitAvailableTimeout (500);
+
+        // Should be a message for us now   
+        if (rf22->recv(buf, &len)) {
+            std::cout << "got request: " << (char*)buf << std::endl;
+
+            // Send a reply
+            uint8_t data[] = "And hello back to you";
+            rf22->send(data, sizeof(data));
+            rf22->waitPacketSent();
+        } else {
+            // Do whatever you need.
+        }
+    }
+
+    delete rf22;
+    std::cout << "Exit 'rfm22-server'" << std::endl;
+    return 0;
+}
+//! [Interesting]
diff --git a/src/rf22/CMakeLists.txt b/src/rf22/CMakeLists.txt
new file mode 100644
index 00000000..d2d6bb1f
--- /dev/null
+++ b/src/rf22/CMakeLists.txt
@@ -0,0 +1,5 @@
+set (libname "rf22")
+set (libdescription "HopeRF RFM22B ISM Band Radio Module")
+set (module_src ${libname}.cxx)
+set (module_hpp ${libname}.hpp)
+upm_module_init()
diff --git a/src/rf22/javaupm_rf22.i b/src/rf22/javaupm_rf22.i
new file mode 100644
index 00000000..73efb180
--- /dev/null
+++ b/src/rf22/javaupm_rf22.i
@@ -0,0 +1,24 @@
+%module(directors="1") javaupm_rf22
+%include "../upm.i"
+%include "arrays_java.i"
+%include "typemaps.i"
+
+%apply uint8_t *INOUT { uint8_t* len };
+%apply signed char[] {uint8_t*};
+
+%{
+    #include "rf22.hpp"
+%}
+
+%include "rf22.hpp"
+
+%pragma(java) jniclasscode=%{
+    static {
+        try {
+            System.loadLibrary("javaupm_rf22");
+        } catch (UnsatisfiedLinkError e) {
+            System.err.println("Native code library failed to load. \n" + e);
+            System.exit(1);
+        }
+    }
+%}
\ No newline at end of file
diff --git a/src/rf22/jsupm_rf22.i b/src/rf22/jsupm_rf22.i
new file mode 100644
index 00000000..069b3b06
--- /dev/null
+++ b/src/rf22/jsupm_rf22.i
@@ -0,0 +1,9 @@
+%module jsupm_rf22
+%include "../upm.i"
+%include "../carrays_uint8_t.i"
+
+%{
+    #include "rf22.hpp"
+%}
+
+%include "rf22.hpp"
diff --git a/src/rf22/pyupm_rf22.i b/src/rf22/pyupm_rf22.i
new file mode 100644
index 00000000..f4b3b4e0
--- /dev/null
+++ b/src/rf22/pyupm_rf22.i
@@ -0,0 +1,12 @@
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
+%module pyupm_rf22
+%include "../upm.i"
+%include "../carrays_uint8_t.i"
+
+%feature("autodoc", "3");
+
+%include "rf22.hpp"
+%{
+    #include "rf22.hpp"
+%}
diff --git a/src/rf22/rf22.cxx b/src/rf22/rf22.cxx
new file mode 100644
index 00000000..e3bb9d5b
--- /dev/null
+++ b/src/rf22/rf22.cxx
@@ -0,0 +1,766 @@
+/*
+ * Author: Kiveisha Yevgeniy
+ * Copyright (c) 2015-2016 Intel Corporation
+ *
+ * Author: Mike McCauley
+ * Copyright (c) 2011 Mike McCauley
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <cstring>
+#include <cmath>
+#include <sys/time.h>
+#include <rf22.hpp>
+
+using namespace upm;
+
+// These are indexed by the values of ModemConfigChoice
+// Canned modem configurations generated with 
+// http://www.hoperf.com/upload/rf/RF22B%2023B%2031B%2042B%2043B%20Register%20Settings_RevB1-v5.xls
+// Stored in flash (program) memory to save SRAM
+static const RF22::ModemConfig MODEM_CONFIG_TABLE[] =
+{
+    { 0x2b, 0x03, 0xf4, 0x20, 0x41, 0x89, 0x00, 0x36, 0x40, 0x0a, 0x1d, 0x80, 0x60, 0x10, 0x62, 0x2c, 0x00, 0x08 }, // Unmodulated carrier
+    { 0x2b, 0x03, 0xf4, 0x20, 0x41, 0x89, 0x00, 0x36, 0x40, 0x0a, 0x1d, 0x80, 0x60, 0x10, 0x62, 0x2c, 0x33, 0x08 }, // FSK, PN9 random modulation, 2, 5
+
+    // All the following enable FIFO with reg 71
+    //  1c,   1f,   20,   21,   22,   23,   24,   25,   2c,   2d,   2e,   58,   69,   6e,   6f,   70,   71,   72
+    // FSK, No Manchester, Max Rb err <1%, Xtal Tol 20ppm
+    { 0x2b, 0x03, 0xf4, 0x20, 0x41, 0x89, 0x00, 0x36, 0x40, 0x0a, 0x1d, 0x80, 0x60, 0x10, 0x62, 0x2c, 0x22, 0x08 }, // 2, 5
+    { 0x1b, 0x03, 0x41, 0x60, 0x27, 0x52, 0x00, 0x07, 0x40, 0x0a, 0x1e, 0x80, 0x60, 0x13, 0xa9, 0x2c, 0x22, 0x3a }, // 2.4, 36
+    { 0x1d, 0x03, 0xa1, 0x20, 0x4e, 0xa5, 0x00, 0x13, 0x40, 0x0a, 0x1e, 0x80, 0x60, 0x27, 0x52, 0x2c, 0x22, 0x48 }, // 4.8, 45
+    { 0x1e, 0x03, 0xd0, 0x00, 0x9d, 0x49, 0x00, 0x45, 0x40, 0x0a, 0x20, 0x80, 0x60, 0x4e, 0xa5, 0x2c, 0x22, 0x48 }, // 9.6, 45
+    { 0x2b, 0x03, 0x34, 0x02, 0x75, 0x25, 0x07, 0xff, 0x40, 0x0a, 0x1b, 0x80, 0x60, 0x9d, 0x49, 0x2c, 0x22, 0x0f }, // 19.2, 9.6
+    { 0x02, 0x03, 0x68, 0x01, 0x3a, 0x93, 0x04, 0xd5, 0x40, 0x0a, 0x1e, 0x80, 0x60, 0x09, 0xd5, 0x0c, 0x22, 0x1f }, // 38.4, 19.6
+    { 0x06, 0x03, 0x45, 0x01, 0xd7, 0xdc, 0x07, 0x6e, 0x40, 0x0a, 0x2d, 0x80, 0x60, 0x0e, 0xbf, 0x0c, 0x22, 0x2e }, // 57.6. 28.8
+    { 0x8a, 0x03, 0x60, 0x01, 0x55, 0x55, 0x02, 0xad, 0x40, 0x0a, 0x50, 0x80, 0x60, 0x20, 0x00, 0x0c, 0x22, 0xc8 }, // 125, 125
+
+    // GFSK, No Manchester, Max Rb err <1%, Xtal Tol 20ppm
+    // These differ from FSK only in register 71, for the modulation type
+    { 0x2b, 0x03, 0xf4, 0x20, 0x41, 0x89, 0x00, 0x36, 0x40, 0x0a, 0x1d, 0x80, 0x60, 0x10, 0x62, 0x2c, 0x23, 0x08 }, // 2, 5
+    { 0x1b, 0x03, 0x41, 0x60, 0x27, 0x52, 0x00, 0x07, 0x40, 0x0a, 0x1e, 0x80, 0x60, 0x13, 0xa9, 0x2c, 0x23, 0x3a }, // 2.4, 36
+    { 0x1d, 0x03, 0xa1, 0x20, 0x4e, 0xa5, 0x00, 0x13, 0x40, 0x0a, 0x1e, 0x80, 0x60, 0x27, 0x52, 0x2c, 0x23, 0x48 }, // 4.8, 45
+    { 0x1e, 0x03, 0xd0, 0x00, 0x9d, 0x49, 0x00, 0x45, 0x40, 0x0a, 0x20, 0x80, 0x60, 0x4e, 0xa5, 0x2c, 0x23, 0x48 }, // 9.6, 45
+    { 0x2b, 0x03, 0x34, 0x02, 0x75, 0x25, 0x07, 0xff, 0x40, 0x0a, 0x1b, 0x80, 0x60, 0x9d, 0x49, 0x2c, 0x23, 0x0f }, // 19.2, 9.6
+    { 0x02, 0x03, 0x68, 0x01, 0x3a, 0x93, 0x04, 0xd5, 0x40, 0x0a, 0x1e, 0x80, 0x60, 0x09, 0xd5, 0x0c, 0x23, 0x1f }, // 38.4, 19.6
+    { 0x06, 0x03, 0x45, 0x01, 0xd7, 0xdc, 0x07, 0x6e, 0x40, 0x0a, 0x2d, 0x80, 0x60, 0x0e, 0xbf, 0x0c, 0x23, 0x2e }, // 57.6. 28.8
+    { 0x8a, 0x03, 0x60, 0x01, 0x55, 0x55, 0x02, 0xad, 0x40, 0x0a, 0x50, 0x80, 0x60, 0x20, 0x00, 0x0c, 0x23, 0xc8 }, // 125, 125
+
+    // OOK, No Manchester, Max Rb err <1%, Xtal Tol 20ppm
+    { 0x51, 0x03, 0x68, 0x00, 0x3a, 0x93, 0x01, 0x3d, 0x2c, 0x11, 0x28, 0x80, 0x60, 0x09, 0xd5, 0x2c, 0x21, 0x08 }, // 1.2, 75
+    { 0xc8, 0x03, 0x39, 0x20, 0x68, 0xdc, 0x00, 0x6b, 0x2a, 0x08, 0x2a, 0x80, 0x60, 0x13, 0xa9, 0x2c, 0x21, 0x08 }, // 2.4, 335
+    { 0xc8, 0x03, 0x9c, 0x00, 0xd1, 0xb7, 0x00, 0xd4, 0x29, 0x04, 0x29, 0x80, 0x60, 0x27, 0x52, 0x2c, 0x21, 0x08 }, // 4.8, 335
+    { 0xb8, 0x03, 0x9c, 0x00, 0xd1, 0xb7, 0x00, 0xd4, 0x28, 0x82, 0x29, 0x80, 0x60, 0x4e, 0xa5, 0x2c, 0x21, 0x08 }, // 9.6, 335
+    { 0xa8, 0x03, 0x9c, 0x00, 0xd1, 0xb7, 0x00, 0xd4, 0x28, 0x41, 0x29, 0x80, 0x60, 0x9d, 0x49, 0x2c, 0x21, 0x08 }, // 19.2, 335
+    { 0x98, 0x03, 0x9c, 0x00, 0xd1, 0xb7, 0x00, 0xd4, 0x28, 0x20, 0x29, 0x80, 0x60, 0x09, 0xd5, 0x0c, 0x21, 0x08 }, // 38.4, 335
+    { 0x98, 0x03, 0x96, 0x00, 0xda, 0x74, 0x00, 0xdc, 0x28, 0x1f, 0x29, 0x80, 0x60, 0x0a, 0x3d, 0x0c, 0x21, 0x08 }, // 40, 335
+
+};
+
+RF22::RF22(uint8_t spiBus, uint8_t slaveSelectPin, uint8_t interruptPin)
+{
+    _idleMode = RF22_XTON; // Default idle state is READY mode
+    _mode = RF22_MODE_IDLE; // We start up in idle mode
+    _rxGood = 0;
+    _rxBad = 0;
+    _txGood = 0;
+    
+    //Initialize the SPI bus and pins, MRAA will log any failures here
+    // start the SPI library:
+    // Note the RF22 wants mode 0, MSB first and default to 1 Mbps
+    _spi = mraa_spi_init(spiBus);
+    mraa_spi_mode (_spi, MRAA_SPI_MODE0);
+    mraa_spi_lsbmode(_spi, 0);
+    mraa_spi_frequency(_spi, 1000000); // 1Mhz
+
+    _cs = mraa_gpio_init(slaveSelectPin);
+    mraa_gpio_dir(_cs, MRAA_GPIO_OUT);    
+    
+    _irq = mraa_gpio_init(interruptPin);
+    mraa_gpio_dir(_irq, MRAA_GPIO_IN);
+    mraa_gpio_isr(_irq, MRAA_GPIO_EDGE_FALLING, &isr, (void*)this);
+}
+
+RF22::~RF22()
+{
+    mraa_spi_stop(_spi);
+    mraa_gpio_close(_cs);
+    mraa_gpio_close(_irq);
+}
+
+uint8_t RF22::init()
+{
+    // Wait for RF22 POR (up to 16msec)
+    usleep (16);
+
+    // Initialise the slave select pin    
+    mraa_gpio_write(_cs, 0x1);
+
+    usleep (100);
+    
+    // Software reset the device
+    reset();
+
+    // Get the device type and check it
+    // This also tests whether we are really connected to a device
+    _deviceType = spiRead(RF22_REG_00_DEVICE_TYPE);
+    if (   _deviceType != RF22_DEVICE_TYPE_RX_TRX
+        && _deviceType != RF22_DEVICE_TYPE_TX)
+    return 0;
+
+    clearTxBuf();
+    clearRxBuf();
+  
+    // Most of these are the POR default
+    spiWrite(RF22_REG_7D_TX_FIFO_CONTROL2, RF22_TXFFAEM_THRESHOLD);
+    spiWrite(RF22_REG_7E_RX_FIFO_CONTROL,  RF22_RXFFAFULL_THRESHOLD);
+    spiWrite(RF22_REG_30_DATA_ACCESS_CONTROL, RF22_ENPACRX | RF22_ENPACTX | RF22_ENCRC | RF22_CRC_CRC_16_IBM);
+    // Configure the message headers
+    // Here we set up the standard packet format for use by the RF22 library
+    // 8 nibbles preamble
+    // 2 SYNC words 2d, d4
+    // Header length 4 (to, from, id, flags)
+    // 1 octet of data length (0 to 255)
+    // 0 to 255 octets data
+    // 2 CRC octets as CRC16(IBM), computed on the header, length and data
+    // On reception the to address is check for validity against RF22_REG_3F_CHECK_HEADER3
+    // or the broadcast address of 0xff
+    // If no changes are made after this, the transmitted
+    // to address will be 0xff, the from address will be 0xff
+    // and all such messages will be accepted. This permits the out-of the box
+    // RF22 config to act as an unaddresed, unreliable datagram service
+    spiWrite(RF22_REG_32_HEADER_CONTROL1, RF22_BCEN_HEADER3 | RF22_HDCH_HEADER3);
+    spiWrite(RF22_REG_33_HEADER_CONTROL2, RF22_HDLEN_4 | RF22_SYNCLEN_2);
+    setPreambleLength(8);
+    uint8_t syncwords[] = { 0x2d, 0xd4 };
+    setSyncWords(syncwords, sizeof(syncwords));
+    setPromiscuous(0); 
+    // Check the TO header against RF22_DEFAULT_NODE_ADDRESS
+    spiWrite(RF22_REG_3F_CHECK_HEADER3, RF22_DEFAULT_NODE_ADDRESS);
+    // Set the default transmit header values
+    setHeaderTo(RF22_DEFAULT_NODE_ADDRESS);
+    setHeaderFrom(RF22_DEFAULT_NODE_ADDRESS);
+    setHeaderId(0);
+    setHeaderFlags(0);
+
+    // Ensure the antenna can be switched automatically according to transmit and receive
+    // This assumes GPIO0(out) is connected to TX_ANT(in) to enable tx antenna during transmit
+    // This assumes GPIO1(out) is connected to RX_ANT(in) to enable rx antenna during receive
+    spiWrite (RF22_REG_0B_GPIO_CONFIGURATION0, 0x12) ; // TX state
+    spiWrite (RF22_REG_0C_GPIO_CONFIGURATION1, 0x15) ; // RX state
+
+    // Enable interrupts
+    spiWrite(RF22_REG_05_INTERRUPT_ENABLE1, RF22_ENTXFFAEM | RF22_ENRXFFAFULL | RF22_ENPKSENT | RF22_ENPKVALID | RF22_ENCRCERROR | RF22_ENFFERR);
+    spiWrite(RF22_REG_06_INTERRUPT_ENABLE2, RF22_ENPREAVAL);
+
+    // Set some defaults. An innocuous ISM frequency, and reasonable pull-in
+    setFrequency(434.0, 0.05);
+//    setFrequency(900.0);
+    // Some slow, reliable default speed and modulation
+    setModemConfig(FSK_Rb2_4Fd36);
+//    setModemConfig(FSK_Rb125Fd125);
+    // Minimum power
+    setTxPower(RF22_TXPOW_8DBM);
+//    setTxPower(RF22_TXPOW_17DBM);
+
+    return 1;
+}
+
+// C++ level interrupt handler for this instance
+void RF22::handleInterrupt()
+{
+    uint8_t _lastInterruptFlags[2];
+    // Read the interrupt flags which clears the interrupt
+    spiBurstRead(RF22_REG_03_INTERRUPT_STATUS1, _lastInterruptFlags, 2);
+
+    if (_lastInterruptFlags[0] & RF22_IFFERROR)
+    { 
+        resetFifos(); // Clears the interrupt
+        if (_mode == RF22_MODE_TX)
+            restartTransmit();
+        else if (_mode == RF22_MODE_RX)
+            clearRxBuf();
+    }
+    // Caution, any delay here may cause a FF underflow or overflow
+    if (_lastInterruptFlags[0] & RF22_ITXFFAEM)
+    {
+        // See if more data has to be loaded into the Tx FIFO 
+        sendNextFragment();
+    }
+    if (_lastInterruptFlags[0] & RF22_IRXFFAFULL)
+    {
+        // Caution, any delay here may cause a FF overflow
+        // Read some data from the Rx FIFO
+        readNextFragment(); 
+    }
+    if (_lastInterruptFlags[0] & RF22_IEXT)
+    {
+        // This is not enabled by the base code, but users may want to enable it
+        handleExternalInterrupt();
+    }
+    if (_lastInterruptFlags[1] & RF22_IWUT)
+    {
+        // This is not enabled by the base code, but users may want to enable it
+        handleWakeupTimerInterrupt();
+    }
+    if (_lastInterruptFlags[0] & RF22_IPKSENT)
+    {
+        _txGood++; 
+        // Transmission does not automatically clear the tx buffer.
+        // Could retransmit if we wanted
+        // RF22 transitions automatically to Idle
+        _mode = RF22_MODE_IDLE;
+    }
+    if (_lastInterruptFlags[0] & RF22_IPKVALID)
+    {
+        uint8_t len = spiRead(RF22_REG_4B_RECEIVED_PACKET_LENGTH);
+
+        // May have already read one or more fragments
+        // Get any remaining unread octets, based on the expected length
+        // First make sure we dont overflow the buffer in the case of a stupid length
+        // or partial bad receives
+        if (   len >  RF22_MAX_MESSAGE_LEN
+            || len < _bufLen)
+        {
+            _rxBad++;
+            _mode = RF22_MODE_IDLE;
+            clearRxBuf();
+            return; // Hmmm receiver buffer overflow. 
+        }
+
+        spiBurstRead(RF22_REG_7F_FIFO_ACCESS, _buf + _bufLen, len - _bufLen);
+        _rxGood++;
+        _bufLen = len;
+        _mode = RF22_MODE_IDLE;
+        _rxBufValid = true;
+    }
+    if (_lastInterruptFlags[0] & RF22_ICRCERROR)
+    {
+        _rxBad++;
+        clearRxBuf();
+        resetRxFifo();
+        _mode = RF22_MODE_IDLE;
+        setModeRx(); // Keep trying
+    }
+    if (_lastInterruptFlags[1] & RF22_IPREAVAL)
+    {
+        _lastRssi = spiRead(RF22_REG_26_RSSI);
+        clearRxBuf();
+    }
+}
+
+void RF22::isr(void* args)
+{
+    RF22* This = (RF22*)(args);
+    This->handleInterrupt();
+}
+
+void RF22::reset()
+{
+    spiWrite(RF22_REG_07_OPERATING_MODE1, RF22_SWRES);
+    // Wait for it to settle
+    usleep(100); // SWReset time is nominally 100usec
+}
+
+uint8_t RF22::spiRead(uint8_t reg)
+{
+    uint8_t data;
+    spiBurstRead (reg, &data, 1);
+    return data;
+}
+
+void RF22::spiWrite(uint8_t reg, uint8_t val)
+{
+    spiBurstWrite (reg, &val, 1);
+}
+
+void RF22::spiBurstRead(uint8_t reg, uint8_t* dest, uint8_t len)
+{
+    uint8_t *request;
+    uint8_t *response;
+    
+    request =  (uint8_t *) malloc(sizeof(uint8_t) * (len + 1));
+    response = (uint8_t *) malloc(sizeof(uint8_t) * (len + 1));
+    memset(request,  0x00, len + 1);
+    memset(response, 0x00, len + 1);
+    
+    request[0] = reg & ~RF22_SPI_WRITE_MASK;
+    memcpy (&request[1], dest, len);
+    
+    mraa_gpio_write(_cs, 0x1);
+    mraa_gpio_write(_cs, 0x0);
+    usleep(100);
+    mraa_spi_transfer_buf(_spi, request, response, len + 1);
+    usleep(100);
+    mraa_gpio_write(_cs, 0x1);
+    
+    memcpy (dest, &response[1], len);
+    
+    free (request);
+    free (response);
+}
+
+void RF22::spiBurstWrite(uint8_t reg, const uint8_t* src, uint8_t len)
+{
+    uint8_t *request;
+    uint8_t *response;
+    
+    request =  (uint8_t *) malloc(sizeof(uint8_t) * (len + 1));
+    response = (uint8_t *) malloc(sizeof(uint8_t) * (len + 1));
+    memset(request,  0x00, len + 1);
+    memset(response, 0x00, len + 1);
+    
+    request[0] = reg | RF22_SPI_WRITE_MASK;
+    memcpy (&request[1], src, len);
+    
+    mraa_gpio_write(_cs, 0x1);
+    mraa_gpio_write(_cs, 0x0);
+    usleep(100);
+    mraa_spi_transfer_buf(_spi, request, response, len + 1);
+    usleep(100);
+    mraa_gpio_write(_cs, 0x1);
+    
+    free (request);
+    free (response);
+}
+
+uint8_t RF22::statusRead()
+{
+    return spiRead(RF22_REG_02_DEVICE_STATUS);
+}
+
+uint8_t RF22::adcRead(uint8_t adcsel,
+                      uint8_t adcref ,
+                      uint8_t adcgain, 
+                      uint8_t adcoffs)
+{
+    uint8_t configuration = adcsel | adcref | (adcgain & RF22_ADCGAIN);
+    spiWrite(RF22_REG_0F_ADC_CONFIGURATION, configuration | RF22_ADCSTART);
+    spiWrite(RF22_REG_10_ADC_SENSOR_AMP_OFFSET, adcoffs);
+
+    // Conversion time is nominally 305usec
+    // Wait for the DONE bit
+    while (!(spiRead(RF22_REG_0F_ADC_CONFIGURATION) & RF22_ADCDONE))
+    ;
+    // Return the value  
+    return spiRead(RF22_REG_11_ADC_VALUE);
+}
+
+uint8_t RF22::temperatureRead(uint8_t tsrange, uint8_t tvoffs)
+{
+    spiWrite(RF22_REG_12_TEMPERATURE_SENSOR_CALIBRATION, tsrange | RF22_ENTSOFFS);
+    spiWrite(RF22_REG_13_TEMPERATURE_VALUE_OFFSET, tvoffs);
+    return adcRead(RF22_ADCSEL_INTERNAL_TEMPERATURE_SENSOR | RF22_ADCREF_BANDGAP_VOLTAGE); 
+}
+
+uint16_t RF22::wutRead()
+{
+    uint8_t buf[2];
+    spiBurstRead(RF22_REG_17_WAKEUP_TIMER_VALUE1, buf, 2);
+    return ((uint16_t)buf[0] << 8) | buf[1]; // Dont rely on byte order
+}
+
+// RFM-22 doc appears to be wrong: WUT for wtm = 10000, r, = 0, d = 0 is about 1 sec
+void RF22::setWutPeriod(uint16_t wtm, uint8_t wtr, uint8_t wtd)
+{
+    uint8_t period[3];
+
+    period[0] = ((wtr & 0xf) << 2) | (wtd & 0x3);
+    period[1] = wtm >> 8;
+    period[2] = wtm & 0xff;
+    spiBurstWrite(RF22_REG_14_WAKEUP_TIMER_PERIOD1, period, sizeof(period));
+}
+
+// Returns true if center + (fhch * fhs) is within limits
+// Caution, different versions of the RF22 support different max freq
+// so YMMV
+uint8_t RF22::setFrequency(float center, float afcPullInRange)
+{
+    uint8_t fbsel = RF22_SBSEL;
+    uint8_t afclimiter;
+    if (center < 240.0 || center > 960.0) // 930.0 for early silicon
+    return false;
+    if (center >= 480.0)
+    {
+        if (afcPullInRange < 0.0 || afcPullInRange > 0.318750)
+            return false;
+        center /= 2;
+        fbsel |= RF22_HBSEL;
+        afclimiter = afcPullInRange * 1000000.0 / 1250.0;
+    }
+    else
+    {
+        if (afcPullInRange < 0.0 || afcPullInRange > 0.159375)
+            return false;
+        afclimiter = afcPullInRange * 1000000.0 / 625.0;
+    }
+    center /= 10.0;
+    float integerPart = floor(center);
+    float fractionalPart = center - integerPart;
+
+    uint8_t fb = (uint8_t)integerPart - 24; // Range 0 to 23
+    fbsel |= fb;
+    uint16_t fc = fractionalPart * 64000;
+    spiWrite(RF22_REG_73_FREQUENCY_OFFSET1, 0);  // REVISIT
+    spiWrite(RF22_REG_74_FREQUENCY_OFFSET2, 0);
+    spiWrite(RF22_REG_75_FREQUENCY_BAND_SELECT, fbsel);
+    spiWrite(RF22_REG_76_NOMINAL_CARRIER_FREQUENCY1, fc >> 8);
+    spiWrite(RF22_REG_77_NOMINAL_CARRIER_FREQUENCY0, fc & 0xff);
+    spiWrite(RF22_REG_2A_AFC_LIMITER, afclimiter);
+    return !(statusRead() & RF22_FREQERR);
+}
+
+// Step size in 10kHz increments
+// Returns true if centre + (fhch * fhs) is within limits
+uint8_t RF22::setFHStepSize(uint8_t fhs)
+{
+    spiWrite(RF22_REG_7A_FREQUENCY_HOPPING_STEP_SIZE, fhs);
+    return !(statusRead() & RF22_FREQERR);
+}
+
+// Adds fhch * fhs to centre frequency
+// Returns true if centre + (fhch * fhs) is within limits
+uint8_t RF22::setFHChannel(uint8_t fhch)
+{
+    spiWrite(RF22_REG_79_FREQUENCY_HOPPING_CHANNEL_SELECT, fhch);
+    return !(statusRead() & RF22_FREQERR);
+}
+
+uint8_t RF22::rssiRead()
+{
+    return spiRead(RF22_REG_26_RSSI);
+}
+
+uint8_t RF22::ezmacStatusRead()
+{
+    return spiRead(RF22_REG_31_EZMAC_STATUS);
+}
+
+void RF22::setMode(uint8_t mode)
+{
+    spiWrite(RF22_REG_07_OPERATING_MODE1, mode);
+}
+
+void RF22::setModeIdle()
+{
+    if (_mode != RF22_MODE_IDLE)
+    {
+        setMode(_idleMode);
+        _mode = RF22_MODE_IDLE;
+    }
+}
+
+void RF22::setModeRx()
+{
+    if (_mode != RF22_MODE_RX)
+    {
+        setMode(_idleMode | RF22_RXON);
+        _mode = RF22_MODE_RX;
+    }
+}
+
+void RF22::setModeTx()
+{
+    if (_mode != RF22_MODE_TX)
+    {
+        setMode(_idleMode | RF22_TXON);
+        _mode = RF22_MODE_TX;
+        // Hmmm, if you dont clear the RX FIFO here, then it appears that going
+        // to transmit mode in the middle of a receive can corrupt the
+        // RX FIFO
+        resetRxFifo();
+        clearRxBuf();
+    }
+}
+
+uint8_t  RF22::mode()
+{
+    return _mode;
+}
+
+void RF22::setTxPower(uint8_t power)
+{
+    spiWrite(RF22_REG_6D_TX_POWER, power);
+}
+
+// Sets registers from a canned modem configuration structure
+void RF22::setModemRegisters(const ModemConfig* config)
+{
+    spiWrite(RF22_REG_1C_IF_FILTER_BANDWIDTH,                    config->reg_1c);
+    spiWrite(RF22_REG_1F_CLOCK_RECOVERY_GEARSHIFT_OVERRIDE,      config->reg_1f);
+    spiBurstWrite(RF22_REG_20_CLOCK_RECOVERY_OVERSAMPLING_RATE, &config->reg_20, 6);
+    spiBurstWrite(RF22_REG_2C_OOK_COUNTER_VALUE_1,              &config->reg_2c, 3);
+    spiWrite(RF22_REG_58_CHARGE_PUMP_CURRENT_TRIMMING,           config->reg_58);
+    spiWrite(RF22_REG_69_AGC_OVERRIDE1,                          config->reg_69);
+    spiBurstWrite(RF22_REG_6E_TX_DATA_RATE1,                    &config->reg_6e, 5);
+}
+
+// Set one of the canned FSK Modem configs
+// Returns true if its a valid choice
+uint8_t RF22::setModemConfig(ModemConfigChoice index)
+{
+    if (index > (sizeof(MODEM_CONFIG_TABLE) / sizeof(ModemConfig)))
+        return false;
+
+    RF22::ModemConfig cfg;
+    // memcpy_P(&cfg, &MODEM_CONFIG_TABLE[index], sizeof(RF22::ModemConfig)); // !!!!!!!!!!!!!!!!!!! MIGHT CAUSE ISSUES
+    memcpy(&cfg, &MODEM_CONFIG_TABLE[index], sizeof(RF22::ModemConfig));
+    setModemRegisters(&cfg);
+
+    return true;
+}
+
+// REVISIT: top bit is in Header Control 2 0x33
+void RF22::setPreambleLength(uint8_t nibbles)
+{
+    spiWrite(RF22_REG_34_PREAMBLE_LENGTH, nibbles);
+}
+
+// Caution doesnt set sync word len in Header Control 2 0x33
+void RF22::setSyncWords(const uint8_t* syncWords, uint8_t len)
+{
+    spiBurstWrite(RF22_REG_36_SYNC_WORD3, syncWords, len);
+}
+
+void RF22::clearRxBuf()
+{
+    _bufLen = 0;
+    _rxBufValid = false;
+}
+
+uint8_t RF22::available()
+{
+    if (!_rxBufValid)
+    setModeRx(); // Make sure we are receiving
+    return _rxBufValid;
+}
+
+// Blocks until a valid message is received
+void RF22::waitAvailable()
+{
+    while (!available())
+    ;
+}
+
+// Blocks until a valid message is received or timeout expires
+// Return true if there is a message available
+bool RF22::waitAvailableTimeout(unsigned long timeout)
+{
+    unsigned long endtime = getTimestamp() + timeout;
+    unsigned long currenttime = getTimestamp();
+    while (currenttime < endtime) {
+        currenttime = getTimestamp();
+        if (available()) {
+            return true;
+        }
+    }
+        
+    return false;
+}
+
+void RF22::waitPacketSent()
+{
+    while (_mode == RF22_MODE_TX)
+    ; // Wait for any previous transmit to finish
+}
+
+// Diagnostic help
+void RF22::printBuffer(const char* prompt, const uint8_t* buf, uint8_t len)
+{
+}
+
+uint8_t RF22::recv(uint8_t* buf, uint8_t* len)
+{
+    if (!available())
+        return false;
+
+    if (*len > _bufLen)
+        *len = _bufLen;
+    memcpy(buf, _buf, *len);
+    clearRxBuf();
+    return true;
+}
+
+void RF22::clearTxBuf()
+{
+    _bufLen = 0;
+    _txBufSentIndex = 0;
+}
+
+void RF22::startTransmit()
+{
+    sendNextFragment(); // Actually the first fragment
+    spiWrite(RF22_REG_3E_PACKET_LENGTH, _bufLen); // Total length that will be sent
+    setModeTx(); // Start the transmitter, turns off the receiver
+}
+
+// Restart the transmission of a packet that had a problem
+void RF22::restartTransmit()
+{
+    _mode = RF22_MODE_IDLE;
+    _txBufSentIndex = 0;
+    startTransmit();
+}
+
+uint8_t RF22::send(const uint8_t* data, uint8_t len)
+{
+    waitPacketSent();
+
+    if (!fillTxBuf(data, len))
+        return false;
+    startTransmit();
+
+    return true;
+}
+
+uint8_t RF22::fillTxBuf(const uint8_t* data, uint8_t len)
+{
+    clearTxBuf();
+    if (!len)
+    return false; 
+    return appendTxBuf(data, len);
+}
+
+uint8_t RF22::appendTxBuf(const uint8_t* data, uint8_t len)
+{
+    if (((uint16_t)_bufLen + len) > RF22_MAX_MESSAGE_LEN)
+    return false;
+
+    memcpy(_buf + _bufLen, data, len);
+    _bufLen += len;
+
+    return true;
+}
+
+// Assumption: there is currently <= RF22_TXFFAEM_THRESHOLD bytes in the Tx FIFO
+void RF22::sendNextFragment()
+{
+    if (_txBufSentIndex < _bufLen)
+    {
+    // Some left to send?
+    uint8_t len = _bufLen - _txBufSentIndex;
+    // But dont send too much
+    if (len > (RF22_FIFO_SIZE - RF22_TXFFAEM_THRESHOLD - 1))
+        len = (RF22_FIFO_SIZE - RF22_TXFFAEM_THRESHOLD - 1);
+    spiBurstWrite(RF22_REG_7F_FIFO_ACCESS, _buf + _txBufSentIndex, len);
+    _txBufSentIndex += len;
+    }
+}
+
+// Assumption: there are at least RF22_RXFFAFULL_THRESHOLD in the RX FIFO
+// That means it should only be called after a RXFFAFULL interrupt
+void RF22::readNextFragment()
+{
+    if (((uint16_t)_bufLen + RF22_RXFFAFULL_THRESHOLD) > RF22_MAX_MESSAGE_LEN)
+    return; // Hmmm receiver overflow. Should never occur
+
+    // Read the RF22_RXFFAFULL_THRESHOLD octets that should be there
+    spiBurstRead(RF22_REG_7F_FIFO_ACCESS, _buf + _bufLen, RF22_RXFFAFULL_THRESHOLD);
+    _bufLen += RF22_RXFFAFULL_THRESHOLD;
+}
+
+// Clear the FIFOs
+void RF22::resetFifos()
+{
+    spiWrite(RF22_REG_08_OPERATING_MODE2, RF22_FFCLRRX | RF22_FFCLRTX);
+    spiWrite(RF22_REG_08_OPERATING_MODE2, 0);
+}
+
+// Clear the Rx FIFO
+void RF22::resetRxFifo()
+{
+    spiWrite(RF22_REG_08_OPERATING_MODE2, RF22_FFCLRRX);
+    spiWrite(RF22_REG_08_OPERATING_MODE2, 0);
+}
+
+// CLear the TX FIFO
+void RF22::resetTxFifo()
+{
+    spiWrite(RF22_REG_08_OPERATING_MODE2, RF22_FFCLRTX);
+    spiWrite(RF22_REG_08_OPERATING_MODE2, 0);
+}
+
+// Default implmentation does nothing. Override if you wish
+void RF22::handleExternalInterrupt()
+{
+}
+
+// Default implmentation does nothing. Override if you wish
+void RF22::handleWakeupTimerInterrupt()
+{
+}
+
+void RF22::setHeaderTo(uint8_t to)
+{
+    spiWrite(RF22_REG_3A_TRANSMIT_HEADER3, to);
+}
+
+void RF22::setHeaderFrom(uint8_t from)
+{
+    spiWrite(RF22_REG_3B_TRANSMIT_HEADER2, from);
+}
+
+void RF22::setHeaderId(uint8_t id)
+{
+    spiWrite(RF22_REG_3C_TRANSMIT_HEADER1, id);
+}
+
+void RF22::setHeaderFlags(uint8_t flags)
+{
+    spiWrite(RF22_REG_3D_TRANSMIT_HEADER0, flags);
+}
+
+uint8_t RF22::headerTo()
+{
+    return spiRead(RF22_REG_47_RECEIVED_HEADER3);
+}
+
+uint8_t RF22::headerFrom()
+{
+    return spiRead(RF22_REG_48_RECEIVED_HEADER2);
+}
+
+uint8_t RF22::headerId()
+{
+    return spiRead(RF22_REG_49_RECEIVED_HEADER1);
+}
+
+uint8_t RF22::headerFlags()
+{
+    return spiRead(RF22_REG_4A_RECEIVED_HEADER0);
+}
+
+uint8_t RF22::lastRssi()
+{
+    return _lastRssi;
+}
+
+void RF22::setPromiscuous(uint8_t promiscuous)
+{
+    spiWrite(RF22_REG_43_HEADER_ENABLE3, promiscuous ? 0x00 : 0xff);
+}
+
+uint64_t 
+RF22::getTimestamp () {
+    struct timeval tv;
+    gettimeofday(&tv, NULL);
+    return (uint64_t)(1000000 * tv.tv_sec + tv.tv_usec);
+}
diff --git a/src/rf22/rf22.hpp b/src/rf22/rf22.hpp
new file mode 100644
index 00000000..3a103697
--- /dev/null
+++ b/src/rf22/rf22.hpp
@@ -0,0 +1,987 @@
+/*
+ * Author: Kiveisha Yevgeniy
+ * Copyright (c) 2015-2016 Intel Corporation
+ *
+ * Author: Mike McCauley
+ * Copyright (c) 2011 Mike McCauley
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <stdint.h>
+#include <mraa.h>
+
+// This is the bit in the SPI address that marks it as a write
+#define RF22_SPI_WRITE_MASK 0x80
+
+// This is the maximum message length that can be supported by this library. Limited by
+// the single message length octet in the header. 
+// Yes, 255 is correct even though the FIFO size in the RF22 is only
+// 64 octets. We use interrupts to refill the Tx FIFO during transmission and to empty the
+// Rx FIFO during reception
+// Can be pre-defined to a smaller size (to save SRAM) prior to including this header
+#ifndef RF22_MAX_MESSAGE_LEN
+//#define RF22_MAX_MESSAGE_LEN 255
+#define RF22_MAX_MESSAGE_LEN 50
+#endif
+
+// Max number of octets the RF22 Rx and Tx FIFOs can hold
+#define RF22_FIFO_SIZE 64
+
+// Keep track of the mode the RF22 is in
+#define RF22_MODE_IDLE         0
+#define RF22_MODE_RX           1
+#define RF22_MODE_TX           2
+
+// These values we set for FIFO thresholds are actually the same as the POR values
+#define RF22_TXFFAEM_THRESHOLD 4
+#define RF22_RXFFAFULL_THRESHOLD 55
+
+// This is the default node address,
+#define RF22_DEFAULT_NODE_ADDRESS 0
+
+// This address in the TO address signifies a broadcast
+#define RF22_BROADCAST_ADDRESS 0xff
+
+// Number of registers to be passed to setModemConfig()
+#define RF22_NUM_MODEM_CONFIG_REGS 18
+
+// Register names
+#define RF22_REG_00_DEVICE_TYPE                         0x00
+#define RF22_REG_01_VERSION_CODE                        0x01
+#define RF22_REG_02_DEVICE_STATUS                       0x02
+#define RF22_REG_03_INTERRUPT_STATUS1                   0x03
+#define RF22_REG_04_INTERRUPT_STATUS2                   0x04
+#define RF22_REG_05_INTERRUPT_ENABLE1                   0x05
+#define RF22_REG_06_INTERRUPT_ENABLE2                   0x06
+#define RF22_REG_07_OPERATING_MODE1                     0x07
+#define RF22_REG_08_OPERATING_MODE2                     0x08
+#define RF22_REG_09_OSCILLATOR_LOAD_CAPACITANCE         0x09
+#define RF22_REG_0A_UC_OUTPUT_CLOCK                     0x0a
+#define RF22_REG_0B_GPIO_CONFIGURATION0                 0x0b
+#define RF22_REG_0C_GPIO_CONFIGURATION1                 0x0c
+#define RF22_REG_0D_GPIO_CONFIGURATION2                 0x0d
+#define RF22_REG_0E_IO_PORT_CONFIGURATION               0x0e
+#define RF22_REG_0F_ADC_CONFIGURATION                   0x0f
+#define RF22_REG_10_ADC_SENSOR_AMP_OFFSET               0x10
+#define RF22_REG_11_ADC_VALUE                           0x11
+#define RF22_REG_12_TEMPERATURE_SENSOR_CALIBRATION      0x12
+#define RF22_REG_13_TEMPERATURE_VALUE_OFFSET            0x13
+#define RF22_REG_14_WAKEUP_TIMER_PERIOD1                0x14
+#define RF22_REG_15_WAKEUP_TIMER_PERIOD2                0x15
+#define RF22_REG_16_WAKEUP_TIMER_PERIOD3                0x16
+#define RF22_REG_17_WAKEUP_TIMER_VALUE1                 0x17
+#define RF22_REG_18_WAKEUP_TIMER_VALUE2                 0x18
+#define RF22_REG_19_LDC_MODE_DURATION                   0x19
+#define RF22_REG_1A_LOW_BATTERY_DETECTOR_THRESHOLD      0x1a
+#define RF22_REG_1B_BATTERY_VOLTAGE_LEVEL               0x1b
+#define RF22_REG_1C_IF_FILTER_BANDWIDTH                 0x1c
+#define RF22_REG_1D_AFC_LOOP_GEARSHIFT_OVERRIDE         0x1d
+#define RF22_REG_1E_AFC_TIMING_CONTROL                  0x1e
+#define RF22_REG_1F_CLOCK_RECOVERY_GEARSHIFT_OVERRIDE   0x1f
+#define RF22_REG_20_CLOCK_RECOVERY_OVERSAMPLING_RATE    0x20
+#define RF22_REG_21_CLOCK_RECOVERY_OFFSET2              0x21
+#define RF22_REG_22_CLOCK_RECOVERY_OFFSET1              0x22
+#define RF22_REG_23_CLOCK_RECOVERY_OFFSET0              0x23
+#define RF22_REG_24_CLOCK_RECOVERY_TIMING_LOOP_GAIN1    0x24
+#define RF22_REG_25_CLOCK_RECOVERY_TIMING_LOOP_GAIN0    0x25
+#define RF22_REG_26_RSSI                                0x26
+#define RF22_REG_27_RSSI_THRESHOLD                      0x27
+#define RF22_REG_28_ANTENNA_DIVERSITY1                  0x28
+#define RF22_REG_29_ANTENNA_DIVERSITY2                  0x29
+#define RF22_REG_2A_AFC_LIMITER                         0x2a
+#define RF22_REG_2B_AFC_CORRECTION_READ                 0x2b
+#define RF22_REG_2C_OOK_COUNTER_VALUE_1                 0x2c
+#define RF22_REG_2D_OOK_COUNTER_VALUE_2                 0x2d
+#define RF22_REG_2E_SLICER_PEAK_HOLD                    0x2e
+#define RF22_REG_30_DATA_ACCESS_CONTROL                 0x30
+#define RF22_REG_31_EZMAC_STATUS                        0x31
+#define RF22_REG_32_HEADER_CONTROL1                     0x32
+#define RF22_REG_33_HEADER_CONTROL2                     0x33
+#define RF22_REG_34_PREAMBLE_LENGTH                     0x34
+#define RF22_REG_35_PREAMBLE_DETECTION_CONTROL1         0x35
+#define RF22_REG_36_SYNC_WORD3                          0x36
+#define RF22_REG_37_SYNC_WORD2                          0x37
+#define RF22_REG_38_SYNC_WORD1                          0x38
+#define RF22_REG_39_SYNC_WORD0                          0x39
+#define RF22_REG_3A_TRANSMIT_HEADER3                    0x3a
+#define RF22_REG_3B_TRANSMIT_HEADER2                    0x3b
+#define RF22_REG_3C_TRANSMIT_HEADER1                    0x3c
+#define RF22_REG_3D_TRANSMIT_HEADER0                    0x3d
+#define RF22_REG_3E_PACKET_LENGTH                       0x3e
+#define RF22_REG_3F_CHECK_HEADER3                       0x3f
+#define RF22_REG_40_CHECK_HEADER2                       0x40
+#define RF22_REG_41_CHECK_HEADER1                       0x41
+#define RF22_REG_42_CHECK_HEADER0                       0x42
+#define RF22_REG_43_HEADER_ENABLE3                      0x43
+#define RF22_REG_44_HEADER_ENABLE2                      0x44
+#define RF22_REG_45_HEADER_ENABLE1                      0x45
+#define RF22_REG_46_HEADER_ENABLE0                      0x46
+#define RF22_REG_47_RECEIVED_HEADER3                    0x47
+#define RF22_REG_48_RECEIVED_HEADER2                    0x48
+#define RF22_REG_49_RECEIVED_HEADER1                    0x49
+#define RF22_REG_4A_RECEIVED_HEADER0                    0x4a
+#define RF22_REG_4B_RECEIVED_PACKET_LENGTH              0x4b
+#define RF22_REG_50_ANALOG_TEST_BUS_SELECT              0x50
+#define RF22_REG_51_DIGITAL_TEST_BUS_SELECT             0x51
+#define RF22_REG_52_TX_RAMP_CONTROL                     0x52
+#define RF22_REG_53_PLL_TUNE_TIME                       0x53
+#define RF22_REG_55_CALIBRATION_CONTROL                 0x55
+#define RF22_REG_56_MODEM_TEST                          0x56
+#define RF22_REG_57_CHARGE_PUMP_TEST                    0x57
+#define RF22_REG_58_CHARGE_PUMP_CURRENT_TRIMMING        0x58
+#define RF22_REG_59_DIVIDER_CURRENT_TRIMMING            0x59
+#define RF22_REG_5A_VCO_CURRENT_TRIMMING                0x5a
+#define RF22_REG_5B_VCO_CALIBRATION                     0x5b
+#define RF22_REG_5C_SYNTHESIZER_TEST                    0x5c
+#define RF22_REG_5D_BLOCK_ENABLE_OVERRIDE1              0x5d
+#define RF22_REG_5E_BLOCK_ENABLE_OVERRIDE2              0x5e
+#define RF22_REG_5F_BLOCK_ENABLE_OVERRIDE3              0x5f
+#define RF22_REG_60_CHANNEL_FILTER_COEFFICIENT_ADDRESS  0x60
+#define RF22_REG_61_CHANNEL_FILTER_COEFFICIENT_VALUE    0x61
+#define RF22_REG_62_CRYSTAL_OSCILLATOR_POR_CONTROL      0x62
+#define RF22_REG_63_RC_OSCILLATOR_COARSE_CALIBRATION    0x63
+#define RF22_REG_64_RC_OSCILLATOR_FINE_CALIBRATION      0x64
+#define RF22_REG_65_LDO_CONTROL_OVERRIDE                0x65
+#define RF22_REG_66_LDO_LEVEL_SETTINGS                  0x66
+#define RF22_REG_67_DELTA_SIGMA_ADC_TUNING1             0x67
+#define RF22_REG_68_DELTA_SIGMA_ADC_TUNING2             0x68
+#define RF22_REG_69_AGC_OVERRIDE1                       0x69
+#define RF22_REG_6A_AGC_OVERRIDE2                       0x6a
+#define RF22_REG_6B_GFSK_FIR_FILTER_COEFFICIENT_ADDRESS 0x6b
+#define RF22_REG_6C_GFSK_FIR_FILTER_COEFFICIENT_VALUE   0x6c
+#define RF22_REG_6D_TX_POWER                            0x6d
+#define RF22_REG_6E_TX_DATA_RATE1                       0x6e
+#define RF22_REG_6F_TX_DATA_RATE0                       0x6f
+#define RF22_REG_70_MODULATION_CONTROL1                 0x70
+#define RF22_REG_71_MODULATION_CONTROL2                 0x71
+#define RF22_REG_72_FREQUENCY_DEVIATION                 0x72
+#define RF22_REG_73_FREQUENCY_OFFSET1                   0x73
+#define RF22_REG_74_FREQUENCY_OFFSET2                   0x74
+#define RF22_REG_75_FREQUENCY_BAND_SELECT               0x75
+#define RF22_REG_76_NOMINAL_CARRIER_FREQUENCY1          0x76
+#define RF22_REG_77_NOMINAL_CARRIER_FREQUENCY0          0x77
+#define RF22_REG_79_FREQUENCY_HOPPING_CHANNEL_SELECT    0x79
+#define RF22_REG_7A_FREQUENCY_HOPPING_STEP_SIZE         0x7a
+#define RF22_REG_7C_TX_FIFO_CONTROL1                    0x7c
+#define RF22_REG_7D_TX_FIFO_CONTROL2                    0x7d
+#define RF22_REG_7E_RX_FIFO_CONTROL                     0x7e
+#define RF22_REG_7F_FIFO_ACCESS                         0x7f
+
+// These register masks etc are named wherever possible
+// corresponding to the bit and field names in the RF-22 Manual
+// RF22_REG_00_DEVICE_TYPE                      0x00
+#define RF22_DEVICE_TYPE_RX_TRX                 0x08
+#define RF22_DEVICE_TYPE_TX                     0x07
+
+// RF22_REG_02_DEVICE_STATUS                    0x02
+#define RF22_FFOVL                              0x80
+#define RF22_FFUNFL                             0x40
+#define RF22_RXFFEM                             0x20
+#define RF22_HEADERR                            0x10
+#define RF22_FREQERR                            0x08
+#define RF22_LOCKDET                            0x04
+#define RF22_CPS                                0x03
+#define RF22_CPS_IDLE                           0x00
+#define RF22_CPS_RX                             0x01
+#define RF22_CPS_TX                             0x10
+
+// RF22_REG_03_INTERRUPT_STATUS1                0x03
+#define RF22_IFFERROR                           0x80
+#define RF22_ITXFFAFULL                         0x40
+#define RF22_ITXFFAEM                           0x20
+#define RF22_IRXFFAFULL                         0x10
+#define RF22_IEXT                               0x08
+#define RF22_IPKSENT                            0x04
+#define RF22_IPKVALID                           0x02
+#define RF22_ICRCERROR                          0x01
+
+// RF22_REG_04_INTERRUPT_STATUS2                0x04
+#define RF22_ISWDET                             0x80
+#define RF22_IPREAVAL                           0x40
+#define RF22_IPREAINVAL                         0x20
+#define RF22_IRSSI                              0x10
+#define RF22_IWUT                               0x08
+#define RF22_ILBD                               0x04
+#define RF22_ICHIPRDY                           0x02
+#define RF22_IPOR                               0x01
+
+// RF22_REG_05_INTERRUPT_ENABLE1                0x05
+#define RF22_ENFFERR                            0x80
+#define RF22_ENTXFFAFULL                        0x40
+#define RF22_ENTXFFAEM                          0x20
+#define RF22_ENRXFFAFULL                        0x10
+#define RF22_ENEXT                              0x08
+#define RF22_ENPKSENT                           0x04
+#define RF22_ENPKVALID                          0x02
+#define RF22_ENCRCERROR                         0x01
+
+// RF22_REG_06_INTERRUPT_ENABLE2                0x06
+#define RF22_ENSWDET                            0x80
+#define RF22_ENPREAVAL                          0x40
+#define RF22_ENPREAINVAL                        0x20
+#define RF22_ENRSSI                             0x10
+#define RF22_ENWUT                              0x08
+#define RF22_ENLBDI                             0x04
+#define RF22_ENCHIPRDY                          0x02
+#define RF22_ENPOR                              0x01
+
+// RF22_REG_07_OPERATING_MODE                   0x07
+#define RF22_SWRES                              0x80
+#define RF22_ENLBD                              0x40
+#define RF22_ENWT                               0x20
+#define RF22_X32KSEL                            0x10
+#define RF22_TXON                               0x08
+#define RF22_RXON                               0x04
+#define RF22_PLLON                              0x02
+#define RF22_XTON                               0x01
+
+// RF22_REG_08_OPERATING_MODE2                  0x08
+#define RF22_ANTDIV                             0xc0
+#define RF22_RXMPK                              0x10
+#define RF22_AUTOTX                             0x08
+#define RF22_ENLDM                              0x04
+#define RF22_FFCLRRX                            0x02
+#define RF22_FFCLRTX                            0x01
+
+// RF22_REG_0F_ADC_CONFIGURATION                0x0f
+#define RF22_ADCSTART                           0x80
+#define RF22_ADCDONE                            0x80
+#define RF22_ADCSEL                             0x70
+#define RF22_ADCSEL_INTERNAL_TEMPERATURE_SENSOR 0x00
+#define RF22_ADCSEL_GPIO0_SINGLE_ENDED          0x10
+#define RF22_ADCSEL_GPIO1_SINGLE_ENDED          0x20
+#define RF22_ADCSEL_GPIO2_SINGLE_ENDED          0x30
+#define RF22_ADCSEL_GPIO0_GPIO1_DIFFERENTIAL    0x40
+#define RF22_ADCSEL_GPIO1_GPIO2_DIFFERENTIAL    0x50
+#define RF22_ADCSEL_GPIO0_GPIO2_DIFFERENTIAL    0x60
+#define RF22_ADCSEL_GND                         0x70
+#define RF22_ADCREF                             0x0c
+#define RF22_ADCREF_BANDGAP_VOLTAGE             0x00
+#define RF22_ADCREF_VDD_ON_3                    0x08
+#define RF22_ADCREF_VDD_ON_2                    0x0c
+#define RF22_ADCGAIN                            0x03
+
+// RF22_REG_10_ADC_SENSOR_AMP_OFFSET            0x10
+#define RF22_ADCOFFS                            0x0f
+
+// RF22_REG_12_TEMPERATURE_SENSOR_CALIBRATION   0x12
+#define RF22_TSRANGE                            0xc0
+#define RF22_TSRANGE_M64_64C                    0x00
+#define RF22_TSRANGE_M64_192C                   0x40
+#define RF22_TSRANGE_0_128C                     0x80
+#define RF22_TSRANGE_M40_216F                   0xc0
+#define RF22_ENTSOFFS                           0x20
+#define RF22_ENTSTRIM                           0x10
+#define RF22_TSTRIM                             0x0f
+
+// RF22_REG_14_WAKEUP_TIMER_PERIOD1             0x14
+#define RF22_WTR                                0x3c
+#define RF22_WTD                                0x03
+
+// RF22_REG_1D_AFC_LOOP_GEARSHIFT_OVERRIDE      0x1d
+#define RF22_AFBCD                              0x80
+#define RF22_ENAFC                              0x40
+#define RF22_AFCGEARH                           0x38
+#define RF22_AFCGEARL                           0x07
+
+// RF22_REG_1E_AFC_TIMING_CONTROL               0x1e
+#define RF22_SWAIT_TIMER                        0xc0
+#define RF22_SHWAIT                             0x38
+#define RF22_ANWAIT                             0x07
+
+// RF22_REG_30_DATA_ACCESS_CONTROL              0x30
+#define RF22_ENPACRX                            0x80
+#define RF22_MSBFRST                            0x00
+#define RF22_LSBFRST                            0x40
+#define RF22_CRCHDRS                            0x00
+#define RF22_CRCDONLY                           0x20
+#define RF22_ENPACTX                            0x08
+#define RF22_ENCRC                              0x04
+#define RF22_CRC                                0x03
+#define RF22_CRC_CCITT                          0x00
+#define RF22_CRC_CRC_16_IBM                     0x01
+#define RF22_CRC_IEC_16                         0x02
+#define RF22_CRC_BIACHEVA                       0x03
+
+// RF22_REG_32_HEADER_CONTROL1                  0x32
+#define RF22_BCEN                               0xf0
+#define RF22_BCEN_NONE                          0x00
+#define RF22_BCEN_HEADER0                       0x10
+#define RF22_BCEN_HEADER1                       0x20
+#define RF22_BCEN_HEADER2                       0x40
+#define RF22_BCEN_HEADER3                       0x80
+#define RF22_HDCH                               0x0f
+#define RF22_HDCH_NONE                          0x00
+#define RF22_HDCH_HEADER0                       0x01
+#define RF22_HDCH_HEADER1                       0x02
+#define RF22_HDCH_HEADER2                       0x04
+#define RF22_HDCH_HEADER3                       0x08
+
+// RF22_REG_33_HEADER_CONTROL2                  0x33
+#define RF22_HDLEN                              0x70
+#define RF22_HDLEN_0                            0x00
+#define RF22_HDLEN_1                            0x10
+#define RF22_HDLEN_2                            0x20
+#define RF22_HDLEN_3                            0x30
+#define RF22_HDLEN_4                            0x40
+#define RF22_VARPKLEN                           0x00
+#define RF22_FIXPKLEN                           0x08
+#define RF22_SYNCLEN                            0x06
+#define RF22_SYNCLEN_1                          0x00
+#define RF22_SYNCLEN_2                          0x02
+#define RF22_SYNCLEN_3                          0x04
+#define RF22_SYNCLEN_4                          0x06
+#define RF22_PREALEN8                           0x01
+
+// RF22_REG_6D_TX_POWER                         0x6d
+#define RF22_TXPOW                              0x07
+#define RF22_TXPOW_4X31                         0x08 // Not used in RFM22B
+#define RF22_TXPOW_1DBM                         0x00
+#define RF22_TXPOW_2DBM                         0x01
+#define RF22_TXPOW_5DBM                         0x02
+#define RF22_TXPOW_8DBM                         0x03
+#define RF22_TXPOW_11DBM                        0x04
+#define RF22_TXPOW_14DBM                        0x05
+#define RF22_TXPOW_17DBM                        0x06
+#define RF22_TXPOW_20DBM                        0x07
+// IN RFM23B
+#define RF22_TXPOW_LNA_SW                       0x08
+
+// RF22_REG_71_MODULATION_CONTROL2              0x71
+#define RF22_TRCLK                              0xc0
+#define RF22_TRCLK_NONE                         0x00
+#define RF22_TRCLK_GPIO                         0x40
+#define RF22_TRCLK_SDO                          0x80
+#define RF22_TRCLK_NIRQ                         0xc0
+#define RF22_DTMOD                              0x30
+#define RF22_DTMOD_DIRECT_GPIO                  0x00
+#define RF22_DTMOD_DIRECT_SDI                   0x10
+#define RF22_DTMOD_FIFO                         0x20
+#define RF22_DTMOD_PN9                          0x30
+#define RF22_ENINV                              0x08
+#define RF22_FD8                                0x04
+#define RF22_MODTYP                             0x30
+#define RF22_MODTYP_UNMODULATED                 0x00
+#define RF22_MODTYP_OOK                         0x01
+#define RF22_MODTYP_FSK                         0x02
+#define RF22_MODTYP_GFSK                        0x03
+
+// RF22_REG_75_FREQUENCY_BAND_SELECT            0x75
+#define RF22_SBSEL                              0x40
+#define RF22_HBSEL                              0x20
+#define RF22_FB                                 0x1f
+
+// Define this to include Serial printing in diagnostic routines
+#define RF22_HAVE_SERIAL
+
+namespace upm {
+
+/**
+ * @brief RF22 Wireless Transceiver library
+ * @defgroup rf22 libupm-rf22
+ * @ingroup sparkfun spi wifi
+ */
+/**
+ * @library rf22
+ * @sensor rf22
+ * @comname RF22 Transceiver
+ * @altname RFM22B
+ * @type wifi
+ * @man sparkfun
+ * @web https://www.sparkfun.com/products/12030
+ * @con spi
+ *
+ * @brief API for the RF22 Transceiver Module
+ *
+ * This base class provides basic functions for sending and receiving unaddressable,
+ * unreliable datagrams of arbitrary length to 255 octets per packet.
+ *
+ * Subclasses may use this class to implement reliable, addressed datagrams and streams, 
+ * mesh routers, repeaters, translators etc.
+ *
+ * On transmission, the TO and FROM addresses default to 0x00, unless changed by a subclass. 
+ * On reception the TO addressed is checked against the node address (defaults to 0x00) or the
+ * broadcast address (which is 0xff). The ID and FLAGS are set to 0, and not checked by this class.
+ * This permits use of the this base RF22 class as an unaddressable, unreliable datagram service.
+ * Subclasses are expected to change this behavior to add node address, ids, retransmission etc.
+ *
+ * Naturally, for any 2 radios to communicate that must be configured to use the same frequency and 
+ * modulation scheme.
+ *
+ * @image html rf22.jpg
+ * <br><em>RF22 Sensor image provided by SparkFun* under
+ * <a href=https://creativecommons.org/licenses/by-nc-sa/3.0/>
+ * CC BY-NC-SA-3.0</a>.</em>
+ *
+ * @snippet rf22-server.cxx Interesting
+ * @snippet rf22-client.cxx Interesting
+ */
+class RF22
+{
+public:
+
+    /**
+     * @brief Defines register values for a set of modem configuration registers
+     *
+     * Defines register values for a set of modem configuration registers
+     * that can be passed to setModemConfig()
+     * if none of the choices in ModemConfigChoice suit your need
+     * setModemConfig() writes the register values to the appropriate RF22 registers
+     * to set the desired modulation type, data rate and deviation/bandwidth.
+     * Suitable values for these registers can be computed using the register calculator at
+     * http://www.hoperf.com/upload/rf/RF22B%2023B%2031B%2042B%2043B%20Register%20Settings_RevB1-v5.xls
+     */
+    typedef struct
+    {
+    uint8_t    reg_1c;   ///< Value for register RF22_REG_1C_IF_FILTER_BANDWIDTH
+    uint8_t    reg_1f;   ///< Value for register RF22_REG_1F_CLOCK_RECOVERY_GEARSHIFT_OVERRIDE
+    uint8_t    reg_20;   ///< Value for register RF22_REG_20_CLOCK_RECOVERY_OVERSAMPLING_RATE
+    uint8_t    reg_21;   ///< Value for register RF22_REG_21_CLOCK_RECOVERY_OFFSET2 
+    uint8_t    reg_22;   ///< Value for register RF22_REG_22_CLOCK_RECOVERY_OFFSET1 
+    uint8_t    reg_23;   ///< Value for register RF22_REG_23_CLOCK_RECOVERY_OFFSET0
+    uint8_t    reg_24;   ///< Value for register RF22_REG_24_CLOCK_RECOVERY_TIMING_LOOP_GAIN1
+    uint8_t    reg_25;   ///< Value for register RF22_REG_25_CLOCK_RECOVERY_TIMING_LOOP_GAIN0 
+    uint8_t    reg_2c;   ///< Value for register RF22_REG_2C_OOK_COUNTER_VALUE_1 
+    uint8_t    reg_2d;   ///< Value for register RF22_REG_2D_OOK_COUNTER_VALUE_2
+    uint8_t    reg_2e;   ///< Value for register RF22_REG_2E_SLICER_PEAK_HOLD 
+    uint8_t    reg_58;   ///< Value for register RF22_REG_58_CHARGE_PUMP_CURRENT_TRIMMING
+    uint8_t    reg_69;   ///< Value for register RF22_REG_69_AGC_OVERRIDE1 
+    uint8_t    reg_6e;   ///< Value for register RF22_REG_6E_TX_DATA_RATE1
+    uint8_t    reg_6f;   ///< Value for register RF22_REG_6F_TX_DATA_RATE0 
+    uint8_t    reg_70;   ///< Value for register RF22_REG_70_MODULATION_CONTROL1
+    uint8_t    reg_71;   ///< Value for register RF22_REG_71_MODULATION_CONTROL2
+    uint8_t    reg_72;   ///< Value for register RF22_REG_72_FREQUENCY_DEVIATION
+    } ModemConfig;
+
+    /**
+     * Choices for setModemConfig() for a selected subset of common modulation types,
+     * and data rates. If you need another configuration, use the register calculator.
+     * and call setModemRegisters() with your desired settings
+     * These are indexes into _modemConfig
+     */
+    typedef enum
+    {
+    UnmodulatedCarrier = 0, ///< Unmodulated carrier for testing
+    FSK_PN9_Rb2Fd5,      ///< FSK, No Manchester, Rb = 2kbs, Fd = 5kHz, PN9 random modulation for testing
+
+    FSK_Rb2Fd5,      ///< FSK, No Manchester, Rb = 2kbs,    Fd = 5kHz
+    FSK_Rb2_4Fd36,       ///< FSK, No Manchester, Rb = 2.4kbs,  Fd = 36kHz
+    FSK_Rb4_8Fd45,       ///< FSK, No Manchester, Rb = 4.8kbs,  Fd = 45kHz
+    FSK_Rb9_6Fd45,       ///< FSK, No Manchester, Rb = 9.6kbs,  Fd = 45kHz
+    FSK_Rb19_2Fd9_6,     ///< FSK, No Manchester, Rb = 19.2kbs, Fd = 9.6kHz
+    FSK_Rb38_4Fd19_6,    ///< FSK, No Manchester, Rb = 38.4kbs, Fd = 19.6kHz
+    FSK_Rb57_6Fd28_8,    ///< FSK, No Manchester, Rb = 57.6kbs, Fd = 28.8kHz
+    FSK_Rb125Fd125,      ///< FSK, No Manchester, Rb = 125kbs,  Fd = 125kHz
+
+    GFSK_Rb2Fd5,         ///< GFSK, No Manchester, Rb = 2kbs,    Fd = 5kHz
+    GFSK_Rb2_4Fd36,      ///< GFSK, No Manchester, Rb = 2.4kbs,  Fd = 36kHz
+    GFSK_Rb4_8Fd45,      ///< GFSK, No Manchester, Rb = 4.8kbs,  Fd = 45kHz
+    GFSK_Rb9_6Fd45,      ///< GFSK, No Manchester, Rb = 9.6kbs,  Fd = 45kHz
+    GFSK_Rb19_2Fd9_6,    ///< GFSK, No Manchester, Rb = 19.2kbs, Fd = 9.6kHz
+    GFSK_Rb38_4Fd19_6,   ///< GFSK, No Manchester, Rb = 38.4kbs, Fd = 19.6kHz
+    GFSK_Rb57_6Fd28_8,   ///< GFSK, No Manchester, Rb = 57.6kbs, Fd = 28.8kHz
+    GFSK_Rb125Fd125,     ///< GFSK, No Manchester, Rb = 125kbs,  Fd = 125kHz
+
+    OOK_Rb1_2Bw75,       ///< OOK, No Manchester, Rb = 1.2kbs,  Rx Bandwidth = 75kHz
+    OOK_Rb2_4Bw335,      ///< OOK, No Manchester, Rb = 2.4kbs,  Rx Bandwidth = 335kHz
+    OOK_Rb4_8Bw335,      ///< OOK, No Manchester, Rb = 4.8kbs,  Rx Bandwidth = 335kHz
+    OOK_Rb9_6Bw335,      ///< OOK, No Manchester, Rb = 9.6kbs,  Rx Bandwidth = 335kHz
+    OOK_Rb19_2Bw335,     ///< OOK, No Manchester, Rb = 19.2kbs, Rx Bandwidth = 335kHz
+    OOK_Rb38_4Bw335,     ///< OOK, No Manchester, Rb = 38.4kbs, Rx Bandwidth = 335kHz
+    OOK_Rb40Bw335        ///< OOK, No Manchester, Rb = 40kbs,   Rx Bandwidth = 335kHz
+    } ModemConfigChoice;
+
+    /**
+     * Constructor. You can have multiple instances, but each instance must have its own
+     * interrupt and slave select pin. After constructing, you must call init() to initialize the interface
+     * and the radio module
+     * @param[in] spiBus Pointer to the SPI interface object to use. Default 0 or the standard Arduino hardware
+     * SPI interface
+     * @param[in] slaveSelectPin the Arduino pin number of the output to use to select the RF22 before
+     * accessing it. Default is 10 or the normal SS pin for Arduino
+     * @param[in] interruptPin The interrupt pin number to use. Default is 2
+     */
+    RF22(uint8_t spiBus = 0, uint8_t slaveSelectPin = 10, uint8_t interruptPin = 2);
+
+    /**
+     * Destructor.
+     */
+     virtual ~RF22();
+
+    /**
+     * Initializes this instance and the radio module connected to it.
+     * The following steps are taken:
+     * - Software reset the RF22 module
+     * - Checks the connected RF22 module is either a RF22_DEVICE_TYPE_RX_TRX or a RF22_DEVICE_TYPE_TX
+     * - Configures the RF22 module
+     * - Sets the frequency to 434.0 MHz
+     * - Sets the modem data rate to FSK_Rb2_4Fd36
+     * @return  true if everything was successful
+     */
+    uint8_t        init();
+
+    /**
+     * Issues a software reset to the 
+     * RF22 module. Blocks for 1ms to ensure the reset is complete.
+     */
+    void           reset();
+
+    /**
+     * Reads a single register from the RF22
+     * @param[in] reg Register number, one of RF22_REG_*
+     * @return The value of the register
+     */
+    uint8_t        spiRead(uint8_t reg);
+
+    /**
+     * Writes a single byte to the RF22
+     * @param[in] reg Register number, one of RF22_REG_*
+     * @param[in] val The value to write
+     */
+    void           spiWrite(uint8_t reg, uint8_t val);
+
+    /**
+     * Reads a number of consecutive registers from the RF22 using burst read mode
+     * @param[in] reg Register number of the first register, one of RF22_REG_*
+     * @param[in] dest Array to write the register values to. Must be at least len bytes
+     * @param[in] len Number of bytes to read
+     */
+    void           spiBurstRead(uint8_t reg, uint8_t* dest, uint8_t len);
+
+    /**
+     * Write a number of consecutive registers using burst write mode
+     * @param[in] reg Register number of the first register, one of RF22_REG_*
+     * @param[in] src Array of new register values to write. Must be at least len bytes
+     * @param[in] len Number of bytes to write
+     */
+    void           spiBurstWrite(uint8_t reg, const uint8_t* src, uint8_t len);
+
+    /**
+     * Reads and returns the device status register RF22_REG_02_DEVICE_STATUS
+     * @return The value of the device status register
+     */
+    uint8_t        statusRead();
+
+    /**
+     * Reads a value from the on-chip analog-digital converter
+     * @param[in] adcsel Selects the ADC input to measure. One of RF22_ADCSEL_*. Defaults to the 
+     * internal temperature sensor
+     * @param[in] adcref Specifies the reference voltage to use. One of RF22_ADCREF_*. 
+     * Defaults to the internal bandgap voltage.
+     * @param[in] adcgain Amplifier gain selection. 
+     * @param[in] adcoffs Amplifier offset (0 to 15).
+     * @return The analog value. 0 to 255.
+     */
+    uint8_t        adcRead(uint8_t adcsel = RF22_ADCSEL_INTERNAL_TEMPERATURE_SENSOR,
+               uint8_t adcref = RF22_ADCREF_BANDGAP_VOLTAGE,
+               uint8_t adcgain = 0, 
+               uint8_t adcoffs = 0);
+
+    /**
+     * Reads the on-chip temperature sensor
+     * @param[in] tsrange Specifies the temperature range to use. One of RF22_TSRANGE_*
+     * @param[in] tvoffs Specifies the temperature value offset. This is actually signed value 
+     * added to the measured temperature value
+     * @return The measured temperature.
+     */
+    uint8_t        temperatureRead(uint8_t tsrange = RF22_TSRANGE_M64_64C, uint8_t tvoffs = 0);   
+
+    /**
+     * Reads the wakeup timer value in registers RF22_REG_17_WAKEUP_TIMER_VALUE1 
+     * and RF22_REG_18_WAKEUP_TIMER_VALUE2
+     * @return The wakeup timer value 
+     */
+    uint16_t       wutRead();
+
+    /**
+     * Sets the wakeup timer period registers RF22_REG_14_WAKEUP_TIMER_PERIOD1,
+     * RF22_REG_15_WAKEUP_TIMER_PERIOD2 and RF22_R<EG_16_WAKEUP_TIMER_PERIOD3
+     * @param[in] wtm Wakeup timer mantissa value
+     * @param[in] wtr Wakeup timer exponent R value
+     * @param[in] wtd Wakeup timer exponent D value
+     */
+    void           setWutPeriod(uint16_t wtm, uint8_t wtr = 0, uint8_t wtd = 0);
+
+    /**
+     * Sets the transmitter and receiver center frequency
+     * @param[in] center Frequency in MHz. 240.0 to 960.0. Caution, some versions of RF22 and derivatives 
+     * implemented more restricted frequency ranges.
+     * @param[in] afcPullInRange Sets the AF Pull In Range in MHz. Defaults to 0.05MHz (50kHz). Range is 0.0 to 0.159375
+     * for frequencies 240.0 to 480MHz, and 0.0 to 0.318750MHz for  frequencies 480.0 to 960MHz, 
+     * @return true if the selected frequency center + (fhch * fhs) is within range and the afcPullInRange is within range
+     */
+    uint8_t        setFrequency(float center, float afcPullInRange = 0.05);
+
+    /**
+     * Sets the frequency hopping step size.
+     * @param[in] fhs Frequency Hopping step size in 10kHz increments
+     * @return true if center + (fhch * fhs) is within limits
+     */
+    uint8_t        setFHStepSize(uint8_t fhs);
+
+    /**
+     * Sets the frequency hopping channel. Adds fhch * fhs to center frequency
+     * @param[in] fhch The channel number
+     * @return true if the selected frequency center + (fhch * fhs) is within range
+     */
+    uint8_t        setFHChannel(uint8_t fhch);
+
+    /**
+     * Reads and returns the current RSSI value from register RF22_REG_26_RSSI. If you want to find the RSSI
+     * of the last received message, use lastRssi() instead.
+     * @return The current RSSI value 
+     */
+    uint8_t        rssiRead();
+
+    /**
+     * Reads and returns the current EZMAC value from register RF22_REG_31_EZMAC_STATUS
+     * @return The current EZMAC value
+     */
+    uint8_t        ezmacStatusRead();
+
+    /**
+     * Sets the parameters for the RF22 Idle mode in register RF22_REG_07_OPERATING_MODE. 
+     * Idle mode is the mode the RF22 will be in when not transmitting or receiving. The default idle mode 
+     * is RF22_XTON i.e. READY mode. 
+     * @param[in] mode Mask of mode bits, using RF22_SWRES, RF22_ENLBD, RF22_ENWT, 
+     * RF22_X32KSEL, RF22_PLLON, RF22_XTON.
+     */
+    void           setMode(uint8_t mode);
+
+    /**
+     * If current mode is Rx or Tx changes it to Idle. If the transmitter or receiver is running, 
+     * disables them.
+     */
+    void           setModeIdle();
+
+    /**
+     * If current mode is Tx or Idle, changes it to Rx. 
+     * Starts the receiver in the RF22.
+     */
+    void           setModeRx();
+
+    /**
+     * If current mode is Rx or Idle, changes it to Rx. 
+     * Starts the transmitter in the RF22.
+     */
+    void           setModeTx();
+
+    /**
+     * Returns the operating mode of the library.
+     * @return the current mode, one of RF22_MODE_*
+     */
+    uint8_t        mode();
+
+    /**
+     * Sets the transmitter power output level in register RF22_REG_6D_TX_POWER.
+     * Be a good neighbor and set the lowest power level you need.
+     * After init(), the power will be set to RF22_TXPOW_8DBM.
+     * Caution: In some countries you may only select RF22_TXPOW_17DBM if you
+     * are also using frequency hopping.
+     * @param[in] power Transmitter power level, one of RF22_TXPOW_*
+     */
+    void           setTxPower(uint8_t power);
+
+    /**
+     * Sets all the registered required to configure the data modem in the RF22, including the data rate, 
+     * bandwidths etc. You can use this to configure the modem with custom configurations if none of the 
+     * canned configurations in ModemConfigChoice suit you.
+     * @param[in] config A ModemConfig structure containing values for the modem configuration registers.
+     */
+    void           setModemRegisters(const ModemConfig* config);
+
+    /**
+     * Select one of the predefined modem configurations. If you need a modem configuration not provided 
+     * here, use setModemRegisters() with your own ModemConfig.
+     * @param[in] index The configuration choice.
+     * @return true if index is a valid choice.
+     */
+    uint8_t        setModemConfig(ModemConfigChoice index);
+
+    /**
+     * Starts the receiver and checks whether a received message is available.
+     * This can be called multiple times in a timeout loop
+     * @return true if a complete, valid message has been received and is able to be retrieved by
+     * recv()
+     */
+    uint8_t        available();
+
+    /**
+     * Starts the receiver and blocks until a valid received 
+     * message is available.
+     */
+    void           waitAvailable();
+
+    /**
+     * Starts the receiver and blocks until a received message is available or a timeout
+     * @param[in] timeout Maximum time to wait in milliseconds.
+     * @return true if a message is available
+     */
+    bool           waitAvailableTimeout(unsigned long timeout);
+
+    /**
+     * Turns the receiver on if it not already on.
+     * If there is a valid message available, copy it to buf and return true
+     * else return false.
+     * If a message is copied, *len is set to the length (Caution, 0 length messages are permitted).
+     * You should be sure to call this function frequently enough to not miss any messages
+     * It is recommended that you call it in your main loop.
+     * @param[in] buf Location to copy the received message
+     * @param[in,out] len Pointer to available space in buf. Set to the actual number of octets copied.
+     * @return true if a valid message was copied to buf
+     */
+    uint8_t        recv(uint8_t* buf, uint8_t* len);
+
+    /**
+     * Waits until any previous transmit packet is finished being transmitted with waitPacketSent().
+     * Then loads a message into the transmitter and starts the transmitter. Note that a message length
+     * of 0 is NOT permitted. 
+     * @param[in] data Array of data to be sent
+     * @param[in] len Number of bytes of data to send (> 0)
+     * @return true if the message length was valid and it was correctly queued for transmit
+     */
+    uint8_t        send(const uint8_t* data, uint8_t len);
+
+    /**
+     * Blocks until the RF22 is not in mode RF22_MODE_TX (i.e. until the RF22 is not transmitting).
+     * This effectively waits until any previous transmit packet is finished being transmitted.
+     */
+    void           waitPacketSent();
+
+    /**
+     * Tells the receiver to accept messages with any TO address, not just messages
+     * addressed to this node or the broadcast address
+     * @param[in] promiscuous true if you wish to receive messages with any TO address
+     */
+    void           setPromiscuous(uint8_t promiscuous);
+
+    /**
+     * Returns the TO header of the last received message
+     * @return The TO header
+     */
+    uint8_t        headerTo();
+
+    /**
+     * Returns the FROM header of the last received message
+     * @return The FROM header
+     */
+    uint8_t        headerFrom();
+
+    /**
+     * Returns the ID header of the last received message
+     * @return The ID header
+     */
+    uint8_t        headerId();
+
+    /**
+     * Returns the FLAGS header of the last received message
+     * @return The FLAGS header
+     */
+    uint8_t        headerFlags();
+
+    /**
+     * Returns the RSSI (Receiver Signal Strength Indicator)
+     * of the last received message. This measurement is taken when 
+     * the preamble has been received. It is a (non-linear) measure of the received signal strength.
+     * @return The RSSI
+     */
+    uint8_t        lastRssi();
+
+    /**
+     * Prints a data buffer in HEX.
+     * For diagnostic use
+     * @param[in] prompt string to preface the print
+     * @param[in] buf Location of the buffer to print
+     * @param[in] len Length of the buffer in octets.
+     */
+    static void     printBuffer(const char* prompt, const uint8_t* buf, uint8_t len);
+
+    /**
+     * Sets the length of the preamble
+     * in 4-bit nibbles. 
+     * Caution: this should be set to the same 
+     * value on all nodes in your network. Default is 8.
+     * Sets the message preamble length in RF22_REG_34_PREAMBLE_LENGTH
+     * @param[in] nibbles Preamble length in nibbles of 4 bits each.  
+     */
+    void           setPreambleLength(uint8_t nibbles);
+
+    /**
+     * Sets the sync words for transmit and receive in registers RF22_REG_36_SYNC_WORD3 
+     * to RF22_REG_39_SYNC_WORD0
+     * Caution: this should be set to the same 
+     * value on all nodes in your network. Default is { 0x2d, 0xd4 }
+     * @param[in] syncWords Array of sync words
+     * @param[in] len Number of sync words to set
+     */
+    void           setSyncWords(const uint8_t* syncWords, uint8_t len);
+
+protected:
+    /**
+     * This is a low level function to handle the interrupts for one instance of RF22.
+     * Called automatically when interrupt pin goes low, should not need to be called by user.
+     */
+    void           handleInterrupt();
+
+    /**
+     * Clears the receiver buffer.
+     * Internal use only
+     */
+    void           clearRxBuf();
+
+    /**
+     * Clears the transmitter buffer
+     * Internal use only
+     */
+    void           clearTxBuf();
+
+    /**
+     * Fills the transmitter buffer with the data of a message to be sent
+     * @param[in] data Array of data bytes to be sent (1 to 255)
+     * @param[in] len Number of data bytes in data (> 0)
+     * @return true if the message length is valid
+     */
+    uint8_t         fillTxBuf(const uint8_t* data, uint8_t len);
+
+    /**
+     * Appends the transmitter buffer with the data of a message to be sent
+     * @param[in] data Array of data bytes to be sent (0 to 255)
+     * @param[in] len Number of data bytes in data
+     * @return false if the resulting message would exceed RF22_MAX_MESSAGE_LEN, else true
+     */
+    uint8_t         appendTxBuf(const uint8_t* data, uint8_t len);
+
+    /**
+     * Internal function to load the next fragment of 
+     * the current message into the transmitter FIFO
+     * Internal use only
+     */
+    void           sendNextFragment();
+
+    /**
+     * Function to copy the next fragment from 
+     * the receiver FIFO into the receiver buffer
+     */
+    void           readNextFragment();
+
+    /**
+     * Clears the RF22 Rx and Tx FIFOs
+     * Internal use only
+     */
+    void           resetFifos();
+
+    /**
+     * Clears the RF22 Rx FIFO
+     * Internal use only
+     */
+    void           resetRxFifo();
+
+    /**
+     * Clears the RF22 Tx FIFO
+     * Internal use only
+     */
+    void           resetTxFifo();
+
+    /**
+     * This function will be called by handleInterrupt() if an RF22 external interrupt occurs. 
+     * This can only happen if external interrupts are enabled in the RF22 
+     * (which they are not by default). 
+     * Subclasses may override this function to get control when  an RF22 external interrupt occurs. 
+     */
+    virtual void   handleExternalInterrupt();
+
+    /**
+     * This function will be called by handleInterrupt() if an RF22 wakeup timer interrupt occurs. 
+     * This can only happen if wakeup timer interrupts are enabled in the RF22 
+     * (which they are not by default). 
+     * Subclasses may override this function to get control when  an RF22 wakeup timer interrupt occurs. 
+     */
+    virtual void   handleWakeupTimerInterrupt();
+
+    /**
+     * Sets the TO header to be sent in all subsequent messages
+     * @param[in] to The new TO header value
+     */
+    void           setHeaderTo(uint8_t to);
+
+    /**
+     * Sets the FROM header to be sent in all subsequent messages
+     * @param[in] from The new FROM header value
+     */
+    void           setHeaderFrom(uint8_t from);
+
+    /**
+     * Sets the ID header to be sent in all subsequent messages
+     * @param[in] id The new ID header value
+     */
+    void           setHeaderId(uint8_t id);
+
+    /**
+     * Sets the FLAGS header to be sent in all subsequent messages
+     * @param[in] flags The new FLAGS header value
+     */
+    void           setHeaderFlags(uint8_t flags);
+
+    /**
+     * Start the transmission of the contents 
+     * of the Tx buffer
+     */
+    void           startTransmit();
+
+    /**
+     * ReStart the transmission of the contents 
+     * of the Tx buffer after a transmission failure
+     */
+    void           restartTransmit();
+    uint64_t       getTimestamp ();
+
+private:
+    /**
+     * Static interrupt handler wrapper
+     */
+    static void         isr(void* args);
+    
+    mraa_spi_context    _spi;
+    mraa_gpio_context   _cs;
+    mraa_gpio_context   _irq;
+
+    volatile uint8_t    _mode; // One of RF22_MODE_*
+
+    uint8_t             _idleMode;
+    uint8_t             _deviceType;
+
+    // These volatile members may get changed in the interrupt service routine
+    volatile uint8_t    _bufLen;
+    uint8_t             _buf[RF22_MAX_MESSAGE_LEN];
+
+    volatile uint8_t    _rxBufValid;
+    volatile uint8_t    _txBufSentIndex;
+  
+    volatile uint16_t   _rxBad;
+    volatile uint16_t   _rxGood;
+    volatile uint16_t   _txGood;
+
+    volatile uint8_t    _lastRssi;
+};
+
+}