// // Created by MightyPork on 2018/04/02. // #include #include "nrf.h" #include "main.h" #include "debug.h" /** * Read a register * * @param reg - register number (max 83) * @return register value */ static uint8_t NRF_ReadRegister(uint8_t reg); /** * Write a register * * @param reg - register number (max 83) * @param value - register value * @return status register value */ static uint8_t NRF_WriteRegister(uint8_t reg, uint8_t value); // Internal use static uint8_t NRF_WriteBuffer(uint8_t reg, const uint8_t *pBuf, uint8_t bytes); static uint8_t NRF_ReadBuffer(uint8_t reg, uint8_t *pBuf, uint8_t bytes); /** * Set TX address for next frame * * @param SendTo - addr */ static void NRF_SetTxAddress(uint8_t ToAddr); //---------------------------------------------------------- /** Tight asm loop */ #define __asm_loop(cycles) \ do { \ register uint32_t _count asm ("r4") = cycles; \ asm volatile( \ ".syntax unified\n" \ ".thumb\n" \ "0:" \ "subs %0, #1\n" \ "bne 0b\n" \ : "+r" (_count)); \ } while(0) // inaccurate! #define _delay_us(n) __asm_loop((n)*12) static inline void CE(bool level) { if (level) LL_GPIO_SetOutputPin(NRF_CE_GPIO_Port, NRF_CE_Pin); else LL_GPIO_ResetOutputPin(NRF_CE_GPIO_Port, NRF_CE_Pin); } static inline void NSS(bool level) { if (level) LL_GPIO_SetOutputPin(NRF_NSS_GPIO_Port, NRF_NSS_Pin); else LL_GPIO_ResetOutputPin(NRF_NSS_GPIO_Port, NRF_NSS_Pin); } static uint8_t spi(uint8_t tx) { while (! LL_SPI_IsActiveFlag_TXE(SPI1)); LL_SPI_TransmitData8(SPI1, tx); while (! LL_SPI_IsActiveFlag_RXNE(SPI1)); return LL_SPI_ReceiveData8(SPI1); } //------- /* * from: http://barefootelectronics.com/NRF24L01.aspx */ #define CMD_READ_REG 0x00 // Read command to register #define CMD_WRITE_REG 0x20 // Write command to register #define CMD_RD_RX_PLD 0x61 // Read RX payload register address #define CMD_WR_TX_PLD 0xA0 // Write TX payload register address #define CMD_FLUSH_TX 0xE1 // Flush TX register command #define CMD_FLUSH_RX 0xE2 // Flush RX register command #define CMD_REUSE_TX_PL 0xE3 // Reuse TX payload register command #define CMD_RD_RX_PL_WIDTH 0x60 // Read RX Payload Width #define CMD_WR_ACK_PLD 0xA8 // Write ACK payload for Pipe (Add pipe number 0-6) #define CMD_WR_TX_PLD_NK 0xB0 // Write ACK payload for not ack #define CMD_NOP 0xFF // No Operation, might be used to read status register // SPI(nRF24L01) registers(addresses) #define RG_CONFIG 0x00 // 'Config' register address #define RG_EN_AA 0x01 // 'Enable Auto Acknowledgment' register address #define RG_EN_RXADDR 0x02 // 'Enabled RX addresses' register address #define RG_SETUP_AW 0x03 // 'Setup address width' register address #define RG_SETUP_RETR 0x04 // 'Setup Auto. Retrans' register address #define RG_RF_CH 0x05 // 'RF channel' register address #define RG_RF_SETUP 0x06 // 'RF setup' register address #define RG_STATUS 0x07 // 'Status' register address #define RG_OBSERVE_TX 0x08 // 'Observe TX' register address #define RG_CD 0x09 // 'Carrier Detect' register address #define RG_RX_ADDR_P0 0x0A // 'RX address pipe0' register address #define RG_RX_ADDR_P1 0x0B // 'RX address pipe1' register address #define RG_RX_ADDR_P2 0x0C // 'RX address pipe2' register address #define RG_RX_ADDR_P3 0x0D // 'RX address pipe3' register address #define RG_RX_ADDR_P4 0x0E // 'RX address pipe4' register address #define RG_RX_ADDR_P5 0x0F // 'RX address pipe5' register address #define RG_TX_ADDR 0x10 // 'TX address' register address #define RG_RX_PW_P0 0x11 // 'RX payload width, pipe0' register address #define RG_RX_PW_P1 0x12 // 'RX payload width, pipe1' register address #define RG_RX_PW_P2 0x13 // 'RX payload width, pipe2' register address #define RG_RX_PW_P3 0x14 // 'RX payload width, pipe3' register address #define RG_RX_PW_P4 0x15 // 'RX payload width, pipe4' register address #define RG_RX_PW_P5 0x16 // 'RX payload width, pipe5' register address #define RG_FIFO_STATUS 0x17 // 'FIFO Status Register' register address #define RG_DYNPD 0x1C // 'Enable dynamic payload length #define RG_FEATURE 0x1D // 'Feature register #define RD_STATUS_TX_FULL 0x01 // tx queue full #define RD_STATUS_RX_PNO 0x0E // pipe number of the received payload #define RD_STATUS_MAX_RT 0x10 // max retransmissions #define RD_STATUS_TX_DS 0x20 // data sent #define RD_STATUS_RX_DR 0x40 // data ready #define RD_CONFIG_PRIM_RX 0x01 // is primary receiver #define RD_CONFIG_PWR_UP 0x02 // power up #define RD_CONFIG_CRCO 0x04 // 2-byte CRC #define RD_CONFIG_EN_CRC 0x08 // enable CRC #define RD_CONFIG_DISABLE_IRQ_MAX_RT 0x10 #define RD_CONFIG_DISABLE_IRQ_TX_DS 0x20 #define RD_CONFIG_DISABLE_IRQ_RX_DR 0x40 // Config register bits (excluding the bottom two that are changed dynamically) // enable only Rx IRQ #define ModeBits (RD_CONFIG_DISABLE_IRQ_MAX_RT | \ RD_CONFIG_DISABLE_IRQ_TX_DS | \ RD_CONFIG_EN_CRC | \ RD_CONFIG_CRCO) static inline uint8_t CS(uint8_t hl) { if (hl == 1) { NSS(0); } else { NSS(1); } return hl; } #define CHIPSELECT for (uint8_t cs = CS(1); cs==1; cs = CS(0)) // Base NRF address - byte 4 may be modified before writing to a pipe register, // the first 4 bytes are shared in the network. Master is always code 0. static uint8_t nrf_base_address[5]; static uint8_t nrf_pipe_addr[6]; static bool nrf_pipe_enabled[6]; static uint8_t NRF_WriteRegister(uint8_t reg, uint8_t value) { uint8_t status = 0; CHIPSELECT { status = spi(CMD_WRITE_REG | reg); spi(value); } dbg_nrf("Wr[0x%02x] := 0x%02x", (int)reg, (int) value); uint8_t reg_val = 0; CHIPSELECT { spi(CMD_READ_REG | reg); reg_val = spi(0); } dbg_nrf(" verify 0x%02x", (int)reg_val); if (reg_val != value) dbg_nrf(" !!!"); else dbg_nrf(" OK"); return status; } static uint8_t NRF_ReadRegister(uint8_t reg) { uint8_t reg_val = 0; CHIPSELECT { spi(CMD_READ_REG | reg); reg_val = spi(0); } dbg_nrf("Rd[0x%02x] = 0x%02x", (int)reg, (int) reg_val); return reg_val; } static uint8_t NRF_ReadStatus(void) { uint8_t reg_val = 0; CHIPSELECT { reg_val = spi(CMD_NOP); } return reg_val; } static uint8_t NRF_WriteBuffer(uint8_t reg, const uint8_t *pBuf, uint8_t bytes) { uint8_t status = 0, i = 0; CHIPSELECT { status = spi(CMD_WRITE_REG | reg); for (i = 0; i < bytes; i++) { spi(*pBuf++); } } return status; } static uint8_t NRF_ReadBuffer(uint8_t reg, uint8_t *pBuf, uint8_t bytes) { uint8_t status = 0, i; CHIPSELECT { status = spi(CMD_READ_REG | reg); for (i = 0; i < bytes; i++) { pBuf[i] = spi(0); } } return status; } void NRF_SetBaseAddress(const uint8_t *Bytes4) { memcpy(nrf_base_address, Bytes4, 4); nrf_base_address[4] = 0; } void NRF_SetRxAddress(uint8_t pipenum, uint8_t AddrByte) { if (pipenum > 5) { dbg_nrf("!! bad pipe %d", pipenum); return; } nrf_base_address[4] = AddrByte; nrf_pipe_addr[pipenum] = AddrByte; dbg_nrf("Set Rx addr (pipe %d) = 0x%02x", (int)pipenum, AddrByte); if (pipenum == 0) { dbg_nrf("W ADDR_PA0: %02X-%02X-%02X-%02X-%02X", nrf_base_address[0], nrf_base_address[1], nrf_base_address[2], nrf_base_address[3], nrf_base_address[4]); NRF_WriteBuffer(RG_RX_ADDR_P0, nrf_base_address, 5); } else if (pipenum == 1) { dbg_nrf("W ADDR_PA1: %02X-%02X-%02X-%02X-%02X", nrf_base_address[0], nrf_base_address[1], nrf_base_address[2], nrf_base_address[3], nrf_base_address[4]); NRF_WriteBuffer(RG_RX_ADDR_P1, nrf_base_address, 5); } else { NRF_WriteRegister(RG_RX_ADDR_P2 + (pipenum - 2), AddrByte); } } bool NRF_AddPipe(uint8_t AddrByte, uint8_t *PipeNum) { for (uint8_t i = 0; i < 6; i++) { if(!nrf_pipe_enabled[i]) { NRF_SetRxAddress(i, AddrByte); *PipeNum = i; NRF_EnablePipe(i); return true; } } return false; } uint8_t NRF_PipeNum2Addr(uint8_t pipe_num) { if (pipe_num > 5) return 0; // fail return nrf_pipe_addr[pipe_num]; } uint8_t NRF_Addr2PipeNum(uint8_t addr) { for (int i = 0; i < 6; i++) { if (nrf_pipe_addr[i] == addr) return (uint8_t) i; } return 0xFF; } void NRF_EnablePipe(uint8_t pipenum) { dbg_nrf("Enable pipe num %d", (int)pipenum); uint8_t enabled = NRF_ReadRegister(RG_EN_RXADDR); enabled |= 1 << pipenum; NRF_WriteRegister(RG_EN_RXADDR, enabled); nrf_pipe_enabled[pipenum] = 1; } void NRF_DisablePipe(uint8_t pipenum) { uint8_t enabled = NRF_ReadRegister(RG_EN_RXADDR); enabled &= ~(1 << pipenum); NRF_WriteRegister(RG_EN_RXADDR, enabled); nrf_pipe_enabled[pipenum] = 0; } static void NRF_SetTxAddress(uint8_t SendTo) { nrf_base_address[4] = SendTo; dbg_nrf("W Tx_ADDR + Rx0: %02X-%02X-%02X-%02X-%02X", nrf_base_address[0], nrf_base_address[1], nrf_base_address[2], nrf_base_address[3], nrf_base_address[4]); NRF_WriteBuffer(RG_TX_ADDR, nrf_base_address, 5); NRF_WriteBuffer(RG_RX_ADDR_P0, nrf_base_address, 5); // the ACK will come to pipe 0 } void NRF_PowerDown(void) { dbg_nrf("PDn"); CE(0); NRF_WriteRegister(RG_CONFIG, ModeBits); } void NRF_ModeTX(void) { dbg_nrf("Tx Mode"); CE(0); uint8_t m = NRF_ReadRegister(RG_CONFIG); NRF_WriteRegister(RG_CONFIG, ModeBits | RD_CONFIG_PWR_UP); if ((m & RD_CONFIG_PWR_UP) == 0) { // switching on LL_mDelay(5); } } void NRF_ModeRX(void) { dbg_nrf("Rx Mode"); NRF_WriteRegister(RG_CONFIG, ModeBits | RD_CONFIG_PWR_UP | RD_CONFIG_PRIM_RX); NRF_SetRxAddress(0, nrf_pipe_addr[0]); // set the P0 address - it was changed during Rx for ACK reception CE(1); //if ((m&2)==0) LL_mDelay()(5); You don't need to wait. Just nothing will come for 5ms or more } uint8_t NRF_IsModePowerDown(void) { uint8_t ret = 0; if ((NRF_ReadRegister(RG_CONFIG) & RD_CONFIG_PWR_UP) == 0) ret = 1; return ret; } uint8_t NRF_IsModeTX(void) { uint8_t m = NRF_ReadRegister(RG_CONFIG); if ((m & RD_CONFIG_PWR_UP) == 0) return 0; // OFF if ((m & RD_CONFIG_PRIM_RX) == 0) return 1; return 0; } uint8_t NRF_IsModeRx(void) { uint8_t m = NRF_ReadRegister(RG_CONFIG); if ((m & RD_CONFIG_PWR_UP) == 0) return 0; // OFF if ((m & RD_CONFIG_PRIM_RX) == 0) return 0; return 1; } void NRF_SetChannel(uint8_t Ch) { NRF_WriteRegister(RG_RF_CH, Ch); } uint8_t NRF_ReceivePacket(uint8_t *Packet, uint8_t *PipeNum) { uint8_t pw = 0, status; if (!NRF_IsRxPacket()) return 0; const uint8_t orig_conf = NRF_ReadRegister(RG_CONFIG); CE(0); // quit Rx mode - go idle CHIPSELECT { status = spi(CMD_RD_RX_PL_WIDTH); pw = spi(0); } if (pw > 32) { CHIPSELECT { spi(CMD_FLUSH_RX); } pw = 0; } else { // Read the reception pipe number *PipeNum = ((status & RD_STATUS_RX_PNO) >> 1); CHIPSELECT { spi(CMD_RD_RX_PLD); for (uint8_t i = 0; i < pw; i++) Packet[i] = spi(0); } } NRF_WriteRegister(RG_STATUS, RD_STATUS_RX_DR); // Clear the RX_DR interrupt if ((orig_conf & RD_CONFIG_PWR_UP) == 0) { dbg_nrf("going back PwrDn"); NRF_PowerDown(); } else if ((orig_conf & RD_CONFIG_PRIM_RX) == RD_CONFIG_PRIM_RX) { dbg_nrf("going back PwrUp+Rx"); NRF_ModeRX(); } return pw; } bool NRF_IsRxPacket(void) { uint8_t ret = NRF_ReadRegister(RG_STATUS) & RD_STATUS_RX_DR; return 0 != ret; } bool NRF_SendPacket(uint8_t PipeNum, const uint8_t *Packet, uint8_t Length) { if (!nrf_pipe_enabled[PipeNum]) { dbg_nrf("!! Pipe %d not enabled", PipeNum); return 0; } const uint8_t orig_conf = NRF_ReadRegister(RG_CONFIG); CE(0); NRF_ModeTX(); // Make sure in TX mode NRF_SetTxAddress(nrf_pipe_addr[PipeNum]); // this sets the Tx addr and also pipe 0 addr for ACK CHIPSELECT { spi(CMD_FLUSH_TX); }; CHIPSELECT { spi(CMD_WR_TX_PLD); for (uint8_t i = 0; i < Length; i++) spi(Packet[i]); }; // CE pulse CE(1); _delay_us(20); // At least 10 us CE(0); uint8_t st = 0; while ((st & (RD_STATUS_MAX_RT|RD_STATUS_TX_DS)) == 0) { st = NRF_ReadStatus(); // Packet acked or timed out } dbg_nrf("Send status: 0x%02x - MAX_RT %d, SENT %d", (int)st, (st&RD_STATUS_MAX_RT) != 0, (st&RD_STATUS_TX_DS) != 0); NRF_WriteRegister(RG_STATUS, st & (RD_STATUS_MAX_RT|RD_STATUS_TX_DS)); // Clear the bit if ((orig_conf & RD_CONFIG_PWR_UP) == 0) { dbg_nrf("going back PwrDn"); NRF_PowerDown(); } else if ((orig_conf & RD_CONFIG_PRIM_RX) == RD_CONFIG_PRIM_RX) { dbg_nrf("going back PwrUp+Rx"); NRF_ModeRX(); } return 0 != (st & RD_STATUS_TX_DS); // success } void NRF_ResetPipes(void) { NRF_WriteRegister(RG_EN_RXADDR, 0); // disable all pipes for (int i = 0; i < 6; i++) { nrf_pipe_addr[i] = 0; nrf_pipe_enabled[i] = 0; } } void NRF_Init(uint8_t pSpeed) { // Set the required output pins NSS(1); CE(0); LL_mDelay(200); for (int i = 0; i < 6; i++) { nrf_pipe_addr[i] = 0; nrf_pipe_enabled[i] = 0; } // clear flags etc NRF_PowerDown(); CHIPSELECT { spi(CMD_FLUSH_RX); } CHIPSELECT { spi(CMD_FLUSH_TX); } NRF_WriteRegister(RG_STATUS, 0x70); NRF_WriteRegister(RG_CONFIG, ModeBits); NRF_WriteRegister(RG_SETUP_AW, 0b11); // 5 byte addresses NRF_WriteRegister(RG_EN_RXADDR, 0x00); // disable all NRF_WriteRegister(RG_SETUP_RETR, 0x18); // 8 retries, 500 ms NRF_WriteRegister(RG_RF_CH, 7); // channel 2 NO HIGHER THAN 83 in USA! NRF_WriteRegister(RG_RF_SETUP, pSpeed); NRF_WriteRegister(RG_DYNPD, 0b111111); // Dynamic packet length NRF_WriteRegister(RG_FEATURE, 0b100); // Enable dynamic payload, and no payload in the ack. // for (int i = 0; i < 6; i++) { // NRF_WriteRegister(RG_RX_PW_P0+i, 32); // Receive 32 byte packets - XXX this is probably not needed with dynamic length // } }