mirror of https://github.com/rusefi/bldc.git
306 lines
7.3 KiB
C
306 lines
7.3 KiB
C
/*
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Copyright 2012-2015 Benjamin Vedder benjamin@vedder.se
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* nrf_driver.c
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*
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* Created on: 29 mar 2015
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* Author: benjamin
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*/
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#include <string.h>
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#include "nrf_driver.h"
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#include "rf.h"
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#include "rfhelp.h"
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#include "conf_general.h"
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#include "app.h"
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#include "buffer.h"
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#include "commands.h"
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#include "crc.h"
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#include "packet.h"
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// Settings
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#define MAX_PL_LEN 25
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#define RX_BUFFER_SIZE PACKET_MAX_PL_LEN
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#define NOACK 0
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#define TX_RESENDS 1
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#define ALIVE_INTERVAL 50 // Send alive packets at this rate
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#define NRF_RESTART_TIMEOUT 500 // Restart the NRF if nothing has been received or acked for this time
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// Variables
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static THD_WORKING_AREA(rx_thread_wa, 2048);
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static THD_WORKING_AREA(tx_thread_wa, 512);
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static mote_state mstate;
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static uint8_t rx_buffer[RX_BUFFER_SIZE];
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static int nosend_cnt;
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static int nrf_restart_rx_time;
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static int nrf_restart_tx_time;
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// Functions
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static THD_FUNCTION(rx_thread, arg);
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static THD_FUNCTION(tx_thread, arg);
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static int rf_tx_wrapper(char *data, int len);
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void nrf_driver_init(void) {
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rf_init();
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rfhelp_init();
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nosend_cnt = 0;
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nrf_restart_rx_time = 0;
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nrf_restart_tx_time = 0;
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// Set RF address
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const char addr[3] = {0xC6, 0xC7, app_get_configuration()->controller_id};
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rfhelp_set_rx_addr(0, addr, 3);
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rfhelp_set_tx_addr(addr, 3);
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chThdCreateStatic(rx_thread_wa, sizeof(rx_thread_wa), NORMALPRIO - 1, rx_thread, NULL);
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chThdCreateStatic(tx_thread_wa, sizeof(tx_thread_wa), NORMALPRIO - 1, tx_thread, NULL);
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}
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static int rf_tx_wrapper(char *data, int len) {
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#if NOACK
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int res = rfhelp_send_data_crc_noack(data, len, TX_RESENDS);
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#else
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int res = rfhelp_send_data_crc(data, len);
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#endif
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if (res == 0) {
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nrf_restart_tx_time = NRF_RESTART_TIMEOUT;
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}
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return res;
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}
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static THD_FUNCTION(tx_thread, arg) {
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(void)arg;
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chRegSetThreadName("Nrf TX");
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for(;;) {
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nosend_cnt++;
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if (nosend_cnt >= ALIVE_INTERVAL) {
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uint8_t pl[2];
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int32_t index = 0;
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pl[index++] = MOTE_PACKET_ALIVE;
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rf_tx_wrapper((char*)pl, index);
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nosend_cnt = 0;
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}
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chThdSleepMilliseconds(1);
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}
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}
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static THD_FUNCTION(rx_thread, arg) {
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(void)arg;
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chRegSetThreadName("Nrf RX");
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for(;;) {
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uint8_t buf[32];
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int len;
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int pipe;
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for(;;) {
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#if NOACK
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int res = rfhelp_read_rx_data_crc_noack((char*)buf, &len, &pipe);
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#else
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int res = rfhelp_read_rx_data_crc((char*)buf, &len, &pipe);
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#endif
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chuck_data cdata;
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int32_t ind = 0;
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int buttons;
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// If something was read
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if (res >= 0) {
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MOTE_PACKET packet = buf[0];
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nrf_restart_rx_time = NRF_RESTART_TIMEOUT;
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switch (packet) {
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case MOTE_PACKET_BATT_LEVEL:
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// TODO!
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break;
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case MOTE_PACKET_BUTTONS:
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ind = 1;
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mstate.js_x = buf[ind++];
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mstate.js_y = buf[ind++];
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buttons = buf[ind++];
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mstate.bt_c = buttons & (1 << 0);
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mstate.bt_z = buttons & (1 << 1);
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mstate.bt_push = buttons & (1 << 2);
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mstate.vbat = (float)buffer_get_int16(buf, &ind) / 1000.0;
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cdata.js_x = 255 - mstate.js_x;
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cdata.js_y = mstate.js_y;
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cdata.bt_c = mstate.bt_c;
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cdata.bt_z = mstate.bt_z;
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app_nunchuk_update_output(&cdata);
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break;
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case MOTE_PACKET_FILL_RX_BUFFER:
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memcpy(rx_buffer + buf[1], buf + 2, len - 2);
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break;
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case MOTE_PACKET_FILL_RX_BUFFER_LONG: {
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int rxbuf_ind = (unsigned int)buf[1] << 8;
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rxbuf_ind |= buf[2];
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if (rxbuf_ind < RX_BUFFER_SIZE) {
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memcpy(rx_buffer + rxbuf_ind, buf + 3, len - 3);
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}
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}
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break;
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case MOTE_PACKET_PROCESS_RX_BUFFER: {
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ind = 1;
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int rxbuf_len = (unsigned int)buf[ind++] << 8;
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rxbuf_len |= (unsigned int)buf[ind++];
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if (rxbuf_len > RX_BUFFER_SIZE) {
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break;
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}
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uint8_t crc_high = buf[ind++];
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uint8_t crc_low = buf[ind++];
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memcpy(rx_buffer + rxbuf_len - (len - ind), buf + ind, len - ind);
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if (crc16(rx_buffer, rxbuf_len)
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== ((unsigned short) crc_high << 8
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| (unsigned short) crc_low)) {
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// Wait a bit in case retries are still made
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chThdSleepMilliseconds(2);
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commands_set_send_func(nrf_driver_send_buffer);
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commands_process_packet(rx_buffer, rxbuf_len);
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}
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}
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break;
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case MOTE_PACKET_PROCESS_SHORT_BUFFER:
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// Wait a bit in case retries are still made
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chThdSleepMilliseconds(2);
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commands_set_send_func(nrf_driver_send_buffer);
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commands_process_packet(buf + 1, len - 1);
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break;
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default:
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break;
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}
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}
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// Stop when there is no more data to read.
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if (res <= 0) {
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break;
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} else {
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// Sleep a bit to prevent locking the other threads.
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chThdSleepMilliseconds(1);
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}
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}
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chThdSleepMilliseconds(5);
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// Restart the nrf if nothing has been received for a while
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if (nrf_restart_rx_time > 0 && nrf_restart_tx_time > 0) {
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nrf_restart_rx_time -= 5;
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nrf_restart_tx_time -= 5;
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} else {
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rfhelp_power_up();
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rfhelp_restart();
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nrf_restart_rx_time = NRF_RESTART_TIMEOUT;
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nrf_restart_tx_time = NRF_RESTART_TIMEOUT;
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}
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}
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}
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void nrf_driver_send_buffer(unsigned char *data, unsigned int len) {
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uint8_t send_buffer[MAX_PL_LEN];
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if (len <= (MAX_PL_LEN - 1)) {
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uint32_t ind = 0;
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send_buffer[ind++] = MOTE_PACKET_PROCESS_SHORT_BUFFER;
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memcpy(send_buffer + ind, data, len);
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ind += len;
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rf_tx_wrapper((char*)send_buffer, ind);
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nosend_cnt = 0;
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} else {
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unsigned int end_a = 0;
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unsigned int len2 = len - (MAX_PL_LEN - 5);
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for (unsigned int i = 0;i < len2;i += (MAX_PL_LEN - 2)) {
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if (i > 255) {
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break;
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}
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end_a = i + (MAX_PL_LEN - 2);
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uint8_t send_len = (MAX_PL_LEN - 2);
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send_buffer[0] = MOTE_PACKET_FILL_RX_BUFFER;
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send_buffer[1] = i;
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if ((i + (MAX_PL_LEN - 2)) <= len2) {
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memcpy(send_buffer + 2, data + i, send_len);
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} else {
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send_len = len2 - i;
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memcpy(send_buffer + 2, data + i, send_len);
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}
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rf_tx_wrapper((char*)send_buffer, send_len + 2);
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nosend_cnt = 0;
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}
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for (unsigned int i = end_a;i < len2;i += (MAX_PL_LEN - 3)) {
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uint8_t send_len = (MAX_PL_LEN - 3);
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send_buffer[0] = MOTE_PACKET_FILL_RX_BUFFER_LONG;
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send_buffer[1] = i >> 8;
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send_buffer[2] = i & 0xFF;
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if ((i + (MAX_PL_LEN - 3)) <= len2) {
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memcpy(send_buffer + 3, data + i, send_len);
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} else {
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send_len = len2 - i;
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memcpy(send_buffer + 3, data + i, send_len);
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}
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rf_tx_wrapper((char*)send_buffer, send_len + 3);
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nosend_cnt = 0;
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}
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uint32_t ind = 0;
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send_buffer[ind++] = MOTE_PACKET_PROCESS_RX_BUFFER;
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send_buffer[ind++] = len >> 8;
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send_buffer[ind++] = len & 0xFF;
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unsigned short crc = crc16(data, len);
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send_buffer[ind++] = (uint8_t)(crc >> 8);
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send_buffer[ind++] = (uint8_t)(crc & 0xFF);
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memcpy(send_buffer + 5, data + len2, len - len2);
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ind += len - len2;
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rf_tx_wrapper((char*)send_buffer, ind);
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nosend_cnt = 0;
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}
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}
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