mirror of https://github.com/rusefi/bldc.git
335 lines
7.2 KiB
C
335 lines
7.2 KiB
C
/*
|
|
Copyright 2015 Benjamin Vedder benjamin@vedder.se
|
|
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#include "rfhelp.h"
|
|
#include "rf.h"
|
|
#include "ch.h"
|
|
#include "hal.h"
|
|
#include "crc.h"
|
|
#include <string.h>
|
|
|
|
// Variables
|
|
static mutex_t rf_mutex;
|
|
static char rx_addr[6][5];
|
|
static char tx_addr[5];
|
|
static bool rx_addr_set[6];
|
|
static int address_length;
|
|
static bool tx_pipe0_addr_eq;
|
|
static nrf_config nrf_conf;
|
|
static bool init_done = false;
|
|
|
|
void rfhelp_init(void) {
|
|
chMtxObjectInit(&rf_mutex);
|
|
rf_init();
|
|
|
|
// address_length = rf_get_address_width();
|
|
address_length = 3; // We assume length 3
|
|
|
|
// This should not happen
|
|
if (address_length > 5 || address_length < 3) {
|
|
address_length = 3;
|
|
}
|
|
|
|
for (int i = 0;i < 6;i++) {
|
|
rf_read_reg(NRF_REG_RX_ADDR_P0, rx_addr[i], address_length);
|
|
rx_addr_set[i] = false;
|
|
}
|
|
|
|
rf_read_reg(NRF_REG_TX_ADDR, tx_addr, address_length);
|
|
tx_pipe0_addr_eq = memcmp(rx_addr[0], tx_addr, address_length) == 0;
|
|
|
|
// TODO: fill nrf_conf with values from the nrf chip. For now we assume
|
|
// that nrf_conf is already set when rfhelp_restart is called.
|
|
|
|
init_done = true;
|
|
}
|
|
|
|
void rfhelp_update_conf(nrf_config *conf) {
|
|
nrf_conf = *conf;
|
|
|
|
if (init_done) {
|
|
rfhelp_restart();
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Re-init the rf chip
|
|
*/
|
|
void rfhelp_restart(void) {
|
|
chMtxLock(&rf_mutex);
|
|
|
|
rf_power_down();
|
|
|
|
// Set default register values.
|
|
// TODO: make this file consistent with multiple
|
|
// rx_addr and tx_addr, and the rest in general.
|
|
rf_write_reg_byte(NRF_REG_EN_RXADDR, 0);
|
|
rf_write_reg_byte(NRF_REG_DYNPD, 0);
|
|
|
|
rf_set_crc_type(nrf_conf.crc_type);
|
|
rf_set_retr_retries(nrf_conf.retries);
|
|
rf_set_retr_delay(nrf_conf.retry_delay);
|
|
rf_set_power(nrf_conf.power);
|
|
rf_set_speed(nrf_conf.speed);
|
|
rf_set_address_width(NRF_AW_3); // Always use 3 byte address
|
|
rf_set_frequency(2400 + (unsigned int)nrf_conf.channel);
|
|
rf_enable_features(NRF_FEATURE_DPL | NRF_FEATURE_DYN_ACK);
|
|
|
|
rf_enable_pipe_autoack(NRF_MASK_PIPE0);
|
|
rf_enable_pipe_address(NRF_MASK_PIPE0);
|
|
rf_enable_pipe_dlp(NRF_MASK_PIPE0);
|
|
|
|
memcpy(tx_addr, nrf_conf.address, 3);
|
|
memcpy(rx_addr[0], nrf_conf.address, 3);
|
|
tx_pipe0_addr_eq = true;
|
|
|
|
rf_set_tx_addr(tx_addr, address_length);
|
|
rf_set_rx_addr(0, rx_addr[0], address_length);
|
|
|
|
rf_power_up();
|
|
rf_mode_rx();
|
|
rf_flush_all();
|
|
rf_clear_irq();
|
|
|
|
chMtxUnlock(&rf_mutex);
|
|
}
|
|
|
|
/**
|
|
* Set TX mode, send data, wait for result, set RX mode.
|
|
*
|
|
* @param data
|
|
* The data to be sent.
|
|
*
|
|
* @param len
|
|
* Length of the data.
|
|
*
|
|
* @return
|
|
* 0: Send OK.
|
|
* -1: Max RT.
|
|
* -2: Timeout
|
|
*/
|
|
int rfhelp_send_data(char *data, int len, bool ack) {
|
|
int timeout = 60;
|
|
int retval = -1;
|
|
|
|
chMtxLock(&rf_mutex);
|
|
|
|
rf_mode_tx();
|
|
rf_clear_irq();
|
|
rf_flush_all();
|
|
|
|
// Pipe0-address and tx-address must be equal for ack to work.
|
|
if (!tx_pipe0_addr_eq && ack) {
|
|
rf_set_rx_addr(0, tx_addr, address_length);
|
|
}
|
|
|
|
if (ack) {
|
|
rf_write_tx_payload(data, len);
|
|
} else {
|
|
rf_write_tx_payload_no_ack(data, len);
|
|
}
|
|
|
|
for(;;) {
|
|
int s = rf_status();
|
|
|
|
chThdSleepMilliseconds(1);
|
|
timeout--;
|
|
|
|
if (NRF_STATUS_GET_TX_DS(s)) {
|
|
retval = 0;
|
|
break;
|
|
} else if (NRF_STATUS_GET_MAX_RT(s)) {
|
|
rf_clear_maxrt_irq();
|
|
retval = -1;
|
|
break;
|
|
} else if (timeout == 0) {
|
|
retval = -2;
|
|
break;
|
|
}
|
|
}
|
|
|
|
// Restore pipe0 address
|
|
if (!tx_pipe0_addr_eq && ack) {
|
|
rf_set_rx_addr(0, rx_addr[0], address_length);
|
|
}
|
|
|
|
rf_mode_rx();
|
|
|
|
chMtxUnlock(&rf_mutex);
|
|
|
|
return retval;
|
|
}
|
|
|
|
/**
|
|
* Same as rfhelp_send_data, but will add a crc checksum to the end. This is
|
|
* useful for protecting against corruption between the NRF and the MCU in case
|
|
* there are errors on the SPI bus.
|
|
*
|
|
* @param data
|
|
* The data to be sent.
|
|
*
|
|
* @param len
|
|
* Length of the data. Should be no more than 30 bytes.
|
|
*
|
|
* @return
|
|
* 0: Send OK.
|
|
* -1: Max RT.
|
|
* -2: Timeout
|
|
*/
|
|
int rfhelp_send_data_crc(char *data, int len) {
|
|
char buffer[len + 2];
|
|
unsigned short crc = crc16((unsigned char*)data, len);
|
|
|
|
memcpy(buffer, data, len);
|
|
buffer[len] = (char)(crc >> 8);
|
|
buffer[len + 1] = (char)(crc & 0xFF);
|
|
|
|
return rfhelp_send_data(buffer, len + 2, nrf_conf.send_crc_ack);
|
|
}
|
|
|
|
/**
|
|
* Read data from the RX fifo
|
|
*
|
|
* @param data
|
|
* Pointer to the array in which to store the data.
|
|
*
|
|
* @param len
|
|
* Pointer to variable storing the data length.
|
|
*
|
|
* @param pipe
|
|
* Pointer to the pipe on which the data was received. Can be 0.
|
|
*
|
|
* @return
|
|
* 1: Read OK, more data to read.
|
|
* 0: Read OK
|
|
* -1: No RX data
|
|
* -2: Wrong length read. Something is likely wrong.
|
|
*/
|
|
int rfhelp_read_rx_data(char *data, int *len, int *pipe) {
|
|
int retval = -1;
|
|
|
|
chMtxLock(&rf_mutex);
|
|
|
|
int s = rf_status();
|
|
int pipe_n = NRF_STATUS_GET_RX_P_NO(s);
|
|
|
|
if (pipe_n != 7) {
|
|
*len = rf_get_payload_width();
|
|
if (pipe) {
|
|
*pipe = pipe_n;
|
|
}
|
|
if (*len <= 32 && *len >= 0) {
|
|
rf_read_rx_payload(data, *len);
|
|
rf_clear_rx_irq();
|
|
// rf_flush_rx();
|
|
|
|
s = rf_status();
|
|
if (NRF_STATUS_GET_RX_P_NO(s) == 7) {
|
|
retval = 0;
|
|
} else {
|
|
retval = 1;
|
|
}
|
|
} else {
|
|
*len = 0;
|
|
retval = -2;
|
|
}
|
|
}
|
|
|
|
chMtxUnlock(&rf_mutex);
|
|
|
|
return retval;
|
|
}
|
|
|
|
/**
|
|
* Same as rfhelp_read_rx_data, but will check if there is a valid CRC in the
|
|
* end of the payload.
|
|
*
|
|
* @param data
|
|
* Pointer to the array in which to store the data.
|
|
*
|
|
* @param len
|
|
* Pointer to variable storing the data length.
|
|
*
|
|
* @param pipe
|
|
* Pointer to the pipe on which the data was received. Can be 0.
|
|
*
|
|
* @return
|
|
* 1: Read OK, more data to read.
|
|
* 0: Read OK
|
|
* -1: No RX data
|
|
* -2: Wrong length read. Something is likely wrong.
|
|
* -3: Data read, but CRC does not match.
|
|
*/
|
|
int rfhelp_read_rx_data_crc(char *data, int *len, int *pipe) {
|
|
int res = rfhelp_read_rx_data(data, len, pipe);
|
|
|
|
if (res >= 0 && *len > 2) {
|
|
unsigned short crc = crc16((unsigned char*)data, *len - 2);
|
|
|
|
if (crc != ((unsigned short) data[*len - 2] << 8 | (unsigned short) data[*len - 1])) {
|
|
res = -3;
|
|
}
|
|
}
|
|
|
|
*len -= 2;
|
|
|
|
return res;
|
|
}
|
|
|
|
int rfhelp_rf_status(void) {
|
|
chMtxLock(&rf_mutex);
|
|
int s = rf_status();
|
|
chMtxUnlock(&rf_mutex);
|
|
|
|
return s;
|
|
}
|
|
|
|
void rfhelp_set_tx_addr(const char *addr, int addr_len) {
|
|
chMtxLock(&rf_mutex);
|
|
memcpy(tx_addr, addr, addr_len);
|
|
address_length = addr_len;
|
|
|
|
tx_pipe0_addr_eq = memcmp(rx_addr[0], tx_addr, address_length) == 0;
|
|
|
|
rf_set_tx_addr(tx_addr, address_length);
|
|
chMtxUnlock(&rf_mutex);
|
|
}
|
|
|
|
void rfhelp_set_rx_addr(int pipe, const char *addr, int addr_len) {
|
|
chMtxLock(&rf_mutex);
|
|
memcpy(rx_addr[pipe], addr, addr_len);
|
|
address_length = addr_len;
|
|
|
|
tx_pipe0_addr_eq = memcmp(rx_addr[0], tx_addr, address_length) == 0;
|
|
rx_addr_set[pipe] = true;
|
|
|
|
rf_set_rx_addr(pipe, addr, address_length);
|
|
chMtxUnlock(&rf_mutex);
|
|
}
|
|
|
|
void rfhelp_power_down(void) {
|
|
chMtxLock(&rf_mutex);
|
|
rf_power_down();
|
|
chMtxUnlock(&rf_mutex);
|
|
}
|
|
|
|
void rfhelp_power_up(void) {
|
|
chMtxLock(&rf_mutex);
|
|
rf_power_up();
|
|
chMtxUnlock(&rf_mutex);
|
|
}
|