crashtest-r0ket/firmware/funk/nrf24l01p.c

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#include <basic/basic.h>
#include <nrf24l01p.h>
#include "core/ssp/ssp.h"
#define CHANNEL_BEACON 81
#define DEFAULT_SPEED R_RF_SETUP_DR_2M
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#define MAC_BEACON "\x1\x2\x3\x2\1"
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/*-----------------------------------------------------------------------*/
/* Transmit a byte via SPI */
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/*-----------------------------------------------------------------------*/
inline void xmit_spi(uint8_t dat) {
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sspSend(0, (uint8_t*) &dat, 1);
}
#define CS_LOW() gpioSetValue(RB_SPI_NRF_CS, 0)
#define CS_HIGH() gpioSetValue(RB_SPI_NRF_CS, 1)
#define CE_LOW() gpioSetValue(RB_NRF_CE, 0)
#define CE_HIGH() gpioSetValue(RB_NRF_CE, 1)
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void nrf_cmd(uint8_t cmd){
CS_LOW();
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xmit_spi(cmd);
CS_HIGH();
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};
uint8_t nrf_cmd_status(uint8_t cmd){
CS_LOW();
sspSendReceive(0, &cmd, 1);
CS_HIGH();
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return cmd;
};
void nrf_cmd_rw_long(uint8_t* data, int len){
CS_LOW();
sspSendReceive(0,data,len);
CS_HIGH();
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};
void nrf_write_reg(const uint8_t reg, const uint8_t val){
CS_LOW();
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xmit_spi(C_W_REGISTER | reg);
xmit_spi(val);
CS_HIGH();
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};
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void nrf_read_long(const uint8_t cmd, int len, uint8_t* data){
CS_LOW();
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xmit_spi(cmd);
for(int i=0;i<len;i++)
data[i] = 0x00;
sspSendReceive(0,data,len);
CS_HIGH();
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};
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void nrf_write_long(const uint8_t cmd, int len, uint8_t* data){
CS_LOW();
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xmit_spi(cmd);
sspSend(0,data,len);
CS_HIGH();
};
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#define nrf_write_reg_long(reg, len, data) \
nrf_write_long(C_W_REGISTER|reg, len, data)
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void nrf_init() {
// Enable SPI correctly
sspInit(0, sspClockPolarity_Low, sspClockPhase_RisingEdge);
// Enable CS & CE pins
gpioSetDir(RB_SPI_NRF_CS, gpioDirection_Output);
gpioSetPullup(&RB_SPI_NRF_CS_IO, gpioPullupMode_Inactive);
gpioSetDir(RB_NRF_CE, gpioDirection_Output);
gpioSetPullup(&RB_NRF_CE_IO, gpioPullupMode_PullUp);
// Setup for nrf24l01+
// power up takes 1.5ms - 3.5ms (depending on crystal)
CS_LOW();
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nrf_write_reg(R_CONFIG,
R_CONFIG_PRIM_RX| // Receive mode
R_CONFIG_PWR_UP| // Power on
R_CONFIG_CRCO // 2-byte CRC
);
nrf_write_reg(R_EN_AA, 0); // Disable Enhanced ShockBurst;
nrf_write_reg(R_RF_CH, CHANNEL_BEACON &127); // Select channel
// enable receive pipes
nrf_write_reg(R_EN_RXADDR,R_EN_RXADDR_ERX_P0
// |R_EN_RXADDR_ERX_P1
);
nrf_write_reg(R_RX_PW_P0,16);
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nrf_write_reg_long(R_RX_ADDR_P0,5,(uint8_t*)MAC_BEACON);
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// nrf_write_reg(R_RX_PW_P1,16);
// nrf_write_reg_long(R_RX_ADDR_P1,5,"R0KET");
// OpenBeacon transmit address
nrf_write_reg_long(R_TX_ADDR,5,(uint8_t*)MAC_BEACON);
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// Set speed / strength
nrf_write_reg(R_RF_SETUP,DEFAULT_SPEED|R_RF_SETUP_RF_PWR_3);
// XXX: or write R_CONFIG last?
};
int nrf_rcv_pkt_time(int maxtime, int maxsize, uint8_t * pkt){
uint8_t buf;
int len;
uint8_t status=0;
nrf_write_reg(R_CONFIG,
R_CONFIG_PRIM_RX| // Receive mode
R_CONFIG_PWR_UP| // Power on
R_CONFIG_CRCO // 2-byte CRC
);
nrf_cmd(C_FLUSH_RX);
nrf_write_reg(R_STATUS,0);
CE_HIGH();
#define LOOPY 10
for (;maxtime >= LOOPY;maxtime-=LOOPY){
delayms(LOOPY);
// status =nrf_cmd_status(C_NOP);
CS_LOW(); status=C_NOP; sspSendReceive(0, &status, 1); CS_HIGH();
if( (status & R_STATUS_RX_DR) == R_STATUS_RX_DR){
if( (status & R_STATUS_RX_P_NO) == R_STATUS_RX_FIFO_EMPTY){
nrf_cmd(C_FLUSH_RX);
delayms(1);
nrf_write_reg(R_STATUS,0);
continue;
}else{
break;
};
};
};
CE_LOW();
if(maxtime<LOOPY)
return 0; // timeout
len=1;
nrf_read_long(C_R_RX_PL_WID,len,&buf);
len=buf;
if(len>32 || len==0){
return -2; // no packet error
};
if(len>maxsize){
return -1; // packet too large
};
nrf_read_long(C_R_RX_PAYLOAD,len,pkt);
CS_HIGH();
return len;
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};
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char nrf_snd_pkt_crc(int size, uint8_t * pkt){
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char status;
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nrf_write_reg(R_CONFIG,
R_CONFIG_PWR_UP| // Power on
R_CONFIG_CRCO // 2-byte CRC
);
nrf_write_long(C_W_TX_PAYLOAD,size,pkt);
CE_HIGH();
delayms(10); // Send it. (only needs >10ys, i think)
CE_LOW();
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CS_LOW(); status=C_NOP; sspSendReceive(0, &status, 1); CS_HIGH();
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return status;
};