crashtest-r0ket/firmware/funk/nrf24l01p.c

289 lines
7.1 KiB
C

#include <basic/basic.h>
#include <nrf24l01p.h>
#include "core/ssp/ssp.h"
#include "basic/xxtea.h"
#define CHANNEL_BEACON 81
#define DEFAULT_SPEED R_RF_SETUP_DR_2M
#define MAC_BEACON "\x1\x2\x3\x2\1"
/*-----------------------------------------------------------------------*/
/* Transmit a byte via SPI */
/*-----------------------------------------------------------------------*/
inline void xmit_spi(uint8_t dat) {
sspSend(0, (uint8_t*) &dat, 1);
}
inline void rcv_spi(uint8_t *dat) {
sspReceive(0, 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)
void nrf_cmd(uint8_t cmd){
CS_LOW();
xmit_spi(cmd);
CS_HIGH();
};
uint8_t nrf_cmd_status(uint8_t cmd){
CS_LOW();
sspSendReceive(0, &cmd, 1);
CS_HIGH();
return cmd;
};
void nrf_cmd_rw_long(uint8_t* data, int len){
CS_LOW();
sspSendReceive(0,data,len);
CS_HIGH();
};
void nrf_write_reg(const uint8_t reg, const uint8_t val){
CS_LOW();
xmit_spi(C_W_REGISTER | reg);
xmit_spi(val);
CS_HIGH();
};
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;
};
void nrf_read_long(const uint8_t cmd, int len, uint8_t* data){
CS_LOW();
xmit_spi(cmd);
for(int i=0;i<len;i++)
data[i] = 0x00;
sspSendReceive(0,data,len);
CS_HIGH();
};
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();
};
void nrf_write_long(const uint8_t cmd, int len, uint8_t* data){
CS_LOW();
xmit_spi(cmd);
sspSend(0,data,len);
CS_HIGH();
};
#define nrf_write_reg_long(reg, len, data) \
nrf_write_long(C_W_REGISTER|(reg), len, data)
// High-Level:
int nrf_rcv_pkt_time_xxtea(int maxtime, int maxsize,
uint8_t * pkt, uint32_t const k[4])
{
int n = nrf_rcv_pkt_time(maxtime, maxsize, pkt);
if( n ){
if( n < 2 )
return -4;
xxtea_decode(pkt, n, k);
uint16_t crc=crc16(pkt,n-2);
if( pkt[n-2] == ((crc>>8)&0xFF) && pkt[n-1] == (crc&0xFF) ){
return n;
}else{
return -5;
}
}
return n;
}
int nrf_rcv_pkt_time(int maxtime, int maxsize, uint8_t * pkt){
uint8_t len;
uint8_t status=0;
uint8_t crc[2];
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();
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);
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{ // Get/Check packet...
nrf_read_long(C_R_RX_PL_WID,1,&len);
if(len>32 || len==0){
continue;
return -2; // no packet error
};
len-=2; // crc is not part of the length
if(len>maxsize){
continue;
return -1; // packet too large
};
nrf_read_pkt_crc(len,pkt,crc);
cmpcrc=crc16(pkt,len);
if(cmpcrc != (crc[0] <<8 | crc[1])) {
continue;
return -3; // CRC failed
};
break;
};
};
};
CE_LOW();
CS_HIGH();
if(maxtime<LOOPY)
return 0; // timeout
return len;
};
char nrf_snd_pkt_crc(int size, uint8_t * pkt){
if(size > MAX_PKT)
size=MAX_PKT;
nrf_write_reg(R_CONFIG,
R_CONFIG_PWR_UP| // Power on
R_CONFIG_EN_CRC // CRC on, single byte
);
// nrf_write_long(C_W_TX_PAYLOAD,size,pkt);
uint16_t crc=crc16(pkt,size);
CS_LOW();
xmit_spi(C_W_TX_PAYLOAD);
sspSend(0,pkt,size);
xmit_spi((crc >>8) & 0xff);
xmit_spi(crc & 0xff);
CS_HIGH();
CE_HIGH();
delayms(1); // Send it. (only needs >10ys, i think)
CE_LOW();
return nrf_cmd_status(C_NOP);
};
char nrf_snd_pkt_xxtea(int size, uint8_t * pkt, uint32_t const k[4])
{
xxtea_encode(pkt, size, k);
return nrf_snd_pkt_crc(size, pkt);
}
void nrf_set_rx_mac(int pipe, int rxlen, int maclen, uint8_t * mac){
#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)
);
};
void nrf_set_tx_mac(int maclen, uint8_t * mac){
#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_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;
nrf_set_channel(CHANNEL_BEACON);
// 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);
nrf_write_reg_long(R_RX_ADDR_P0,5,(uint8_t*)MAC_BEACON);
// 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);
// Set speed / strength
nrf_write_reg(R_RF_SETUP,DEFAULT_SPEED|R_RF_SETUP_RF_PWR_3);
// XXX: or write R_CONFIG last?
};