crashtest-r0ket/firmware/funk/nrf24l01p.c

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#include <basic/basic.h>
#include <nrf24l01p.h>
#include "core/ssp/ssp.h"
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#include "basic/xxtea.h"
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#define DEFAULT_SPEED R_RF_SETUP_DR_2M
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uint8_t _nrfresets=0;
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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);
}
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inline void rcv_spi(uint8_t *dat) {
sspReceive(0, dat, 1);
}
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#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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uint8_t nrf_read_reg(const uint8_t reg){
uint8_t val;
CS_LOW();
xmit_spi(C_R_REGISTER | reg);
rcv_spi(&val);
CS_HIGH();
return val;
};
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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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};
void nrf_read_pkt(int len, uint8_t* data){
CS_LOW();
xmit_spi(C_R_RX_PAYLOAD);
sspReceive(0,data,len);
CS_HIGH();
};
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void nrf_read_pkt_crc(int len, uint8_t* data, uint8_t* crc){
CS_LOW();
xmit_spi(C_R_RX_PAYLOAD);
sspReceive(0,data,len);
sspReceive(0,crc,2);
CS_HIGH();
};
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void nrf_write_long(const uint8_t cmd, int len, const 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) \
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nrf_write_long(C_W_REGISTER|(reg), len, data)
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// High-Level:
void nrf_rcv_pkt_start(void){
nrf_write_reg(R_CONFIG,
R_CONFIG_PRIM_RX| // Receive mode
R_CONFIG_PWR_UP| // Power on
R_CONFIG_EN_CRC // CRC on, single byte
);
nrf_cmd(C_FLUSH_RX);
nrf_write_reg(R_STATUS,0);
CE_HIGH();
};
int nrf_rcv_pkt_poll(int maxsize, uint8_t * pkt){
uint8_t len;
uint8_t status=0;
for(int i=0;i<maxsize;i++) pkt[i] = 0x00; // Sanity: clear packet buffer
status =nrf_cmd_status(C_NOP);
if((status & R_STATUS_RX_P_NO) == R_STATUS_RX_FIFO_EMPTY){
if( (status & R_STATUS_RX_DR) == R_STATUS_RX_DR){
#ifdef USB_CDC
puts("FIFO empty, but RX?\r\n");
#endif
nrf_write_reg(R_STATUS,R_STATUS_RX_DR);
};
return 0;
};
nrf_read_long(C_R_RX_PL_WID,1,&len);
nrf_write_reg(R_STATUS,R_STATUS_RX_DR);
if(len>32 || len==0){
return -2; // no packet error
};
if(len>maxsize){
return -1; // packet too large
};
nrf_read_pkt(len,pkt);
return len;
};
int nrf_rcv_pkt_poll_dec(int maxsize, uint8_t * pkt, uint32_t const key[4]){
int len;
uint16_t cmpcrc;
len=nrf_rcv_pkt_poll(maxsize,pkt);
if(len <=0)
return len;
if(key==NULL)
return len;
cmpcrc=crc16(pkt,len-2);
if(key!=NULL)
xxtea_decode_words((uint32_t*)pkt,len/4,key);
cmpcrc=crc16(pkt,len-2);
if(cmpcrc != (pkt[len-2] <<8 | pkt[len-1])) {
return -3; // CRC failed
};
return len;
};
void nrf_rcv_pkt_end(void){
CE_LOW();
nrf_cmd(C_FLUSH_RX);
nrf_write_reg(R_STATUS,R_STATUS_RX_DR);
};
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// High-Level:
int nrf_rcv_pkt_time_encr(int maxtime, int maxsize, uint8_t * pkt, uint32_t const key[4]){
uint8_t len;
uint8_t status=0;
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uint16_t cmpcrc;
nrf_write_reg(R_CONFIG,
R_CONFIG_PRIM_RX| // Receive mode
R_CONFIG_PWR_UP| // Power on
R_CONFIG_EN_CRC // CRC on, single byte
);
nrf_cmd(C_FLUSH_RX);
nrf_write_reg(R_STATUS,0);
CE_HIGH();
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for(int i=0;i<maxsize;i++) pkt[i] = 0x00; // Sanity: clear packet buffer
#define LOOPY 10
for (;maxtime >= LOOPY;maxtime-=LOOPY){
delayms(LOOPY);
status =nrf_cmd_status(C_NOP);
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{ // Get/Check packet...
nrf_read_long(C_R_RX_PL_WID,1,&len);
if(len>32 || len==0){
continue;
return -2; // no packet error
};
if(len>maxsize){
continue;
return -1; // packet too large
};
nrf_read_pkt(len,pkt);
if(key != NULL)
xxtea_decode_words((uint32_t*)pkt,len/4,key);
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cmpcrc=crc16(pkt,len-2);
if(cmpcrc != (pkt[len-2] <<8 | pkt[len-1])) {
continue;
return -3; // CRC failed
};
break;
};
};
};
CE_LOW();
CS_HIGH();
if(maxtime<LOOPY)
return 0; // timeout
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return len;
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};
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char nrf_snd_pkt_crc_encr(int size, uint8_t * pkt, uint32_t const key[4]){
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if(size > MAX_PKT)
size=MAX_PKT;
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nrf_write_reg(R_CONFIG,
R_CONFIG_PWR_UP| // Power on
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R_CONFIG_EN_CRC // CRC on, single byte
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);
// nrf_write_long(C_W_TX_PAYLOAD,size,pkt);
uint16_t crc=crc16(pkt,size-2);
pkt[size-2]=(crc >>8) & 0xff;
pkt[size-1]=crc & 0xff;
if(key !=NULL)
xxtea_encode_words((uint32_t*)pkt,size/4,key);
CS_LOW();
xmit_spi(C_W_TX_PAYLOAD);
sspSend(0,pkt,size);
CS_HIGH();
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CE_HIGH();
delayms(1); // Send it. (only needs >10ys, i think)
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CE_LOW();
return nrf_cmd_status(C_NOP);
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};
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void nrf_set_rx_mac(int pipe, int rxlen, int maclen, const uint8_t * mac){
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#ifdef SAFE
assert(maclen>=1 || maclen<=5);
assert(rxlen>=1 || rxlen<=32);
assert(pipe>=0 || pipe<=5);
assert(mac!=NULL);
if(pipe>1)
assert(maclen==1);
#endif
nrf_write_reg(R_RX_PW_P0+pipe,rxlen);
nrf_write_reg_long(R_RX_ADDR_P0+pipe,maclen,mac);
nrf_write_reg(R_EN_RXADDR,
nrf_read_reg(R_EN_RXADDR) | (1<<pipe)
);
};
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void nrf_set_tx_mac(int maclen, const uint8_t * mac){
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#ifdef SAFE
assert(maclen>=1 || maclen<=5);
assert(mac!=NULL);
#endif
nrf_write_reg_long(R_TX_ADDR,maclen,mac);
};
void nrf_disable_pipe(int pipe){
#ifdef SAFE
assert(pipe>=0 || pipe<=5);
#endif
nrf_write_reg(R_EN_RXADDR,
nrf_read_reg(R_EN_RXADDR) & ~(1<<pipe)
);
};
void nrf_set_channel(int channel){
#ifdef SAFE
assert(channel &~R_RF_CH_BITS ==0);
#endif
nrf_write_reg(R_RF_CH, channel);
};
void nrf_config_set(nrfconfig config){
nrf_write_reg(R_SETUP_AW,R_SETUP_AW_5);
nrf_set_channel(config->channel);
for(int i=0;i<config->nrmacs;i++){
nrf_write_reg(R_RX_PW_P0+i,config->maclen[i]);
if(i==0){
nrf_write_reg_long(R_RX_ADDR_P0,5,config->mac0);
}else if(i==1){
nrf_write_reg_long(R_RX_ADDR_P1,5,config->mac1);
}else if(i>1){
nrf_write_reg_long(R_RX_ADDR_P0+i,1,config->mac2345+i-2);
};
};
nrf_write_reg_long(R_TX_ADDR,5,config->txmac);
nrf_write_reg(R_EN_RXADDR,(1<<config->nrmacs)-1);
};
void nrf_config_get(nrfconfig config){
// nrf_write_reg(R_SETUP_AW,R_SETUP_AW_5);
config->channel=nrf_read_reg(R_RF_CH);
config->nrmacs=nrf_read_reg(R_EN_RXADDR);
if(config->nrmacs & R_EN_RXADDR_ERX_P5 )
config->nrmacs=6;
else if(config->nrmacs & R_EN_RXADDR_ERX_P4 )
config->nrmacs=5;
else if(config->nrmacs & R_EN_RXADDR_ERX_P3 )
config->nrmacs=4;
else if(config->nrmacs & R_EN_RXADDR_ERX_P2 )
config->nrmacs=3;
else if(config->nrmacs & R_EN_RXADDR_ERX_P1 )
config->nrmacs=2;
else
config->nrmacs=1;
// config->nrmacs=6;
for(int i=0;i<config->nrmacs;i++){
config->maclen[i]=nrf_read_reg(R_RX_PW_P0+i);
if(i==0){
nrf_read_long(R_RX_ADDR_P0,5,config->mac0);
}else if(i==1){
nrf_read_long(R_RX_ADDR_P1,5,config->mac1);
}else if(i>1){
nrf_read_long(R_RX_ADDR_P0+i,1,config->mac2345+i-2);
};
};
nrf_read_long(R_TX_ADDR,5,config->txmac);
};
void nrf_set_strength(unsigned char strength){
if(strength>3)
strength=3;
nrf_write_reg(R_RF_SETUP,DEFAULT_SPEED|(strength<<1));
};
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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);
CE_LOW();
// Setup for nrf24l01+
// power up takes 1.5ms - 3.5ms (depending on crystal)
CS_LOW();
nrf_write_reg(R_CONFIG,
R_CONFIG_PRIM_RX| // Receive mode
R_CONFIG_PWR_UP| // Power on
R_CONFIG_EN_CRC // CRC on, single byte
);
nrf_write_reg(R_EN_AA, 0); // Disable Enhanced ShockBurst;
// Set speed / strength
nrf_write_reg(R_RF_SETUP,DEFAULT_SPEED|R_RF_SETUP_RF_PWR_3);
// Clear MAX_RT, just in case.
nrf_write_reg(R_STATUS,R_STATUS_MAX_RT);
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};
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void nrf_off() {
nrf_write_reg(R_CONFIG,
R_CONFIG_MASK_RX_DR|
R_CONFIG_MASK_TX_DS|
R_CONFIG_MASK_MAX_RT
); // Most important: no R_CONFIG_PWR_UP
};
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void nrf_check_reset(void){
if(nrf_cmd_status(C_NOP) & R_STATUS_MAX_RT){
_nrfresets++;
nrf_init();
};
};