Fix code duplication between both code bases
Both the robot and the base station had a lot of code that was identical, like data structs, constants, radio library etc. The chosen solution was to extract all shared code into a static library and link the station and robot against it.
This commit is contained in:
Rihards Skuja
parent
cfbee51ff1
commit
0d28903b2c
1
.gitignore
vendored
1
.gitignore
vendored
@ -1,2 +1,3 @@
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build
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obj
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lib
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@ -7,21 +7,17 @@ BUILD_DIR = build
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INC_DIR = include
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OBJ_DIR = obj
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# Common lib
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COMMON_LIB = -lcommon
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COMMON_LIB_DIR = ../common/lib
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COMMON_INC_DIR = ../common/include
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MCU = atmega328p
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FORMAT = ihex
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TARGET = main
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SRC = $(wildcard $(SRC_DIR)/*.c)
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OBJ = $(SRC:$(SRC_DIR)/%.c=$(OBJ_DIR)/%.o)
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LST = $(SRC:$(SRC_DIR)/%.c=$(BUILD_DIR)/%.lst)
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OPT = s
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# Name of this Makefile (used for "make depend").
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MAKEFILE = Makefile
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# Debugging format.
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# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2.
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# AVR (extended) COFF requires stabs, plus an avr-objcopy run.
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DEBUG = stabs
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# Compiler flag to set the C Standard level.
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# c89 - "ANSI" C
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@ -34,17 +30,21 @@ CSTANDARD = -std=gnu99
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CDEFS = -DF_CPU=16000000L -D__AVR__ -D__AVR_ATmega328P__
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# Place -I options here
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CINCS = -I $(INC_DIR)
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CINCS = -I $(INC_DIR) -I$(COMMON_INC_DIR)
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CDEBUG = -g$(DEBUG)
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CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
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#CEXTRA = -Wa,-adhlns=$(<:.c=.lst)
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CFLAGS = $(CDEBUG) $(CDEFS) $(CINCS) -O$(OPT) $(CSTANDARD) $(CEXTRA)
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CFLAGS = $(CTUNING) $(CDEFS) $(CINCS) $(CSTANDARD) $(CEXTRA)
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#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs
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# Debugging format.
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# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2.
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# AVR (extended) COFF requires stabs, plus an avr-objcopy run.
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DEBUG_FORMAT = stabs
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ifeq ($(BUILD),debug)
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CFLAGS += -DDEBUG
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CFLAGS += -DDEBUG -g$(DEBUG_FORMAT)
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CFLAGS += -Wall -Wextra -Wformat=2 -Wswitch-default \
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-Wcast-align -Wpointer-arith -Wbad-function-cast \
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-Wstrict-prototypes -Winline -Wundef -Wnested-externs \
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@ -55,8 +55,11 @@ ifeq ($(BUILD),debug)
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-Wno-unused-but-set-variable -Wmaybe-uninitialized
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CINCS += -I/usr/include/simavr
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#
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else
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CFLAGS += -DNDEBUG -s -Os
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endif
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#Additional libraries.
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# Minimalistic printf version
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@ -90,7 +93,8 @@ MATH_LIB = -lm
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EXTMEMOPTS =
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#LDMAP = $(LDFLAGS) -Wl,-Map=$(TARGET).map,--cref
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LDFLAGS = $(EXTMEMOPTS) $(LDMAP) $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)
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# LDFLAGS = $(EXTMEMOPTS) $(LDMAP) $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)
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LDFLAGS = -L$(COMMON_LIB_DIR) $(COMMON_LIB)
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# Programming support using avrdude. Settings and variables.
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@ -177,7 +181,7 @@ extcoff: $(BUILD_DIR)/$(TARGET).elf
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$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
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%.eep: %.elf
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-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
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$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
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--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
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# Create extended listing file from ELF output file.
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@ -207,15 +211,4 @@ $(OBJ_DIR)/%.o : $(SRC_DIR)/%.c
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clean:
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$(REMOVE) $(BUILD_DIR)/* $(OBJ_DIR)/*
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depend:
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if grep '^# DO NOT DELETE' $(MAKEFILE) >/dev/null; \
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then \
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sed -e '/^# DO NOT DELETE/,$$d' $(MAKEFILE) > \
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$(MAKEFILE).$$$$ && \
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$(MV) $(MAKEFILE).$$$$ $(MAKEFILE); \
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fi
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echo '# DO NOT DELETE THIS LINE -- make depend depends on it.' \
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>> $(MAKEFILE); \
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$(CC) -M -mmcu=$(MCU) $(CDEFS) $(CINCS) $(SRC) >> $(MAKEFILE)
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.PHONY: all build elf hex eep lss sym program coff extcoff clean depend
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@ -2,25 +2,11 @@
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#define MAIN_H
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#include <stdint.h>
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#define MAX_PAYLOAD_SIZE 32
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enum return_codes {
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R_OK,
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R_PACKAGE_SIZE,
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};
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typedef struct {
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/* uint8_t temp; */
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double temp;
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/* uint8_t distance; */
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uint16_t distance;
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} data_packet_t;
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#include "common.h"
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uint8_t tx_address[5] = {0xD7, 0xD7, 0xD7, 0xD7, 0xD7};
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uint8_t rx_address[5] = {0xE7, 0xE7, 0xE7, 0xE7, 0xE7};
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void convert_raw_to_data(uint8_t *in, data_packet_t *out);
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#endif
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@ -5,7 +5,6 @@
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#include <util/delay.h>
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#include "led.h"
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#include "nrf24.h"
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#include "common.h"
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#include "main.h"
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#ifdef DEBUG
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86
common/Makefile
Normal file
86
common/Makefile
Normal file
@ -0,0 +1,86 @@
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CC := avr-gcc
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AR := avr-ar
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SIZE := avr-size
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OBJDUMP = avr-objdump
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SRCDIR := src
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BUILDDIR := build
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INCDIR := include
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LIBDIR := lib
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LIB := libcommon
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SRCEXT := c
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SOURCES := $(shell find $(SRCDIR) -type f -name *.$(SRCEXT))
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OBJECTS := $(patsubst $(SRCDIR)/%,$(BUILDDIR)/%,$(SOURCES:.$(SRCEXT)=.o))
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INC := -I $(INCDIR)
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# AR flags
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ARFLAGS := rcs
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MCU = atmega328p
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## Language standard
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CFLAGS += -std=gnu99
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## Definitions
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CFLAGS += -DF_CPU=16000000L -D__AVR__ -D__AVR_ATmega328P__
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## Tuning
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# CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
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# Debugging format.
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# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2.
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# AVR (extended) COFF requires stabs, plus an avr-objcopy run.
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DEBUG_FORMAT = stabs
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ifeq ($(BUILD),debug)
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CFLAGS += -DDEBUG -g$(DEBUG_FORMAT)
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CFLAGS += -Wall -Wextra -Wformat=2 -Wswitch-default \
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-Wcast-align -Wpointer-arith -Wbad-function-cast \
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-Wstrict-prototypes -Winline -Wundef -Wnested-externs \
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-Wcast-qual -Wshadow -Wwrite-strings -Wconversion \
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-Winit-self -Wstrict-aliasing -Wmissing-declarations \
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-Wmissing-include-dirs -Wno-unused-parameter -Wuninitialized \
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-Wold-style-definition -Wmissing-prototypes -Wunreachable-code \
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-Wno-unused-but-set-variable -Wmaybe-uninitialized
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CINCS += -I/usr/include/simavr
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#
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else
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CFLAGS += -DNDEBUG -s -Os
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endif
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.PHONY: clean debug all
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all: lib
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lib: $(LIBDIR)/$(LIB).a
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debug_header:
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@echo "================================================="
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@echo "Debug build initiated..."
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@echo "--------"
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debug: clean debug_header
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$(MAKE) "BUILD=debug"
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$(BUILDDIR)/%.o: $(SRCDIR)/%.$(SRCEXT)
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@echo "================================================="
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@echo "Building objects..."
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@echo "--------"
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@mkdir -p $(BUILDDIR)
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@mkdir -p $(LIBDIR)
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@mkdir -p $(INCDIR)
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$(CC) $(CFLAGS) $(INC) -c -o $@ $<
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.SECONDARY: $(OBJ)
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%.a: $(OBJECTS)
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@echo "================================================="
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@echo "Building static library..."
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@echo "--------"
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$(AR) $(ARFLAGS) $(LIBDIR)/$(LIB).a $(OBJECTS)
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clean:
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@echo "================================================="
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@echo "Cleaning up build files...";
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@rm -rf $(BUILDDIR) $(LIBDIR)
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@ -3,10 +3,24 @@
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#include <stdint.h>
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// Bit manioulation
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#define BIT(mask) (1 << (mask))
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#define SET(var, mask) ((var) |= (uint8_t)BIT(mask))
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#define CLR(var, mask) ((var) &= (uint8_t)~(BIT(mask)))
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#define CHK(var, mask) ((var) & (uint8_t)BIT(mask))
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#define TOG(var, mask) ((var) ^= (uint8_t)BIT(mask))
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// Maximum data size in bytes that can be sent/received with current nrf24L01+ lib
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#define MAX_PAYLOAD_SIZE 32
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enum return_codes {
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R_OK,
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R_PACKAGE_SIZE,
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};
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typedef struct {
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double temp;
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uint16_t distance;
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} data_packet_t;
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#endif /* COMMON_H */
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1
common/src/common.c
Normal file
1
common/src/common.c
Normal file
@ -0,0 +1 @@
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#include "common.h"
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@ -7,6 +7,11 @@ BUILD_DIR = build
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INC_DIR = include
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OBJ_DIR = obj
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# Common lib
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COMMON_LIB = -lcommon
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COMMON_LIB_DIR = ../common/lib
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COMMON_INC_DIR = ../common/include
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MCU = atmega328p
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FORMAT = ihex
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TARGET = main
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@ -25,7 +30,7 @@ CSTANDARD = -std=gnu99
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CDEFS = -DF_CPU=16000000L -D__AVR__ -D__AVR_ATmega328P__
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# Place -I options here
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CINCS = -I $(INC_DIR)
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CINCS = -I $(INC_DIR) -I$(COMMON_INC_DIR)
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CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
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#CEXTRA = -Wa,-adhlns=$(<:.c=.lst)
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@ -89,6 +94,7 @@ EXTMEMOPTS =
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#LDMAP = $(LDFLAGS) -Wl,-Map=$(TARGET).map,--cref
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# LDFLAGS = $(EXTMEMOPTS) $(LDMAP) $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)
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LDFLAGS = -L$(COMMON_LIB_DIR) $(COMMON_LIB)
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# Programming support using avrdude. Settings and variables.
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@ -1,12 +0,0 @@
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#ifndef COMMON_H
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#define COMMON_H
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#include <stdint.h>
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#define BIT(mask) (1 << (mask))
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#define SET(var, mask) ((var) |= (uint8_t)BIT(mask))
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#define CLR(var, mask) ((var) &= (uint8_t)~(BIT(mask)))
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#define CHK(var, mask) ((var) & (uint8_t)BIT(mask))
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#define TOG(var, mask) ((var) ^= (uint8_t)BIT(mask))
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#endif /* COMMON_H */
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@ -2,25 +2,11 @@
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#define MAIN_H
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#include <stdint.h>
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#define MAX_PAYLOAD_SIZE 32
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enum return_codes {
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R_OK,
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R_PACKAGE_SIZE,
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};
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typedef struct {
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double temp;
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/* uint8_t temp; */
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/* uint8_t distance; */
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uint16_t distance;
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} data_packet_t;
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#include "common.h"
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uint8_t tx_address[5] = {0xE7, 0xE7, 0xE7, 0xE7, 0xE7};
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uint8_t rx_address[5] = {0xD7, 0xD7, 0xD7, 0xD7, 0xD7};
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void convert_data_to_raw(data_packet_t *in, uint8_t *out);
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#endif
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@ -1,130 +0,0 @@
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/*
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Copyright (c) 2007 Stefan Engelke <mbox@stefanengelke.de>
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Permission is hereby granted, free of charge, to any person
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obtaining a copy of this software and associated documentation
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files (the "Software"), to deal in the Software without
|
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restriction, including without limitation the rights to use, copy,
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modify, merge, publish, distribute, sublicense, and/or sell copies
|
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of the Software, and to permit persons to whom the Software is
|
||||
furnished to do so, subject to the following conditions:
|
||||
|
||||
The above copyright notice and this permission notice shall be
|
||||
included in all copies or substantial portions of the Software.
|
||||
|
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
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EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
|
||||
MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
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NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
|
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HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
|
||||
WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
|
||||
DEALINGS IN THE SOFTWARE.
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$Id$
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*/
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/* Memory Map */
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#define CONFIG 0x00
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#define EN_AA 0x01
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#define EN_RXADDR 0x02
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#define SETUP_AW 0x03
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#define SETUP_RETR 0x04
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#define RF_CH 0x05
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#define RF_SETUP 0x06
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#define STATUS 0x07
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#define OBSERVE_TX 0x08
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#define CD 0x09
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#define RX_ADDR_P0 0x0A
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#define RX_ADDR_P1 0x0B
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#define RX_ADDR_P2 0x0C
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#define RX_ADDR_P3 0x0D
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#define RX_ADDR_P4 0x0E
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#define RX_ADDR_P5 0x0F
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#define TX_ADDR 0x10
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#define RX_PW_P0 0x11
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#define RX_PW_P1 0x12
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#define RX_PW_P2 0x13
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#define RX_PW_P3 0x14
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#define RX_PW_P4 0x15
|
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#define RX_PW_P5 0x16
|
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#define FIFO_STATUS 0x17
|
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#define DYNPD 0x1C
|
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|
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/* Bit Mnemonics */
|
||||
|
||||
/* configuratio nregister */
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#define MASK_RX_DR 6
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#define MASK_TX_DS 5
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#define MASK_MAX_RT 4
|
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#define EN_CRC 3
|
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#define CRCO 2
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#define PWR_UP 1
|
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#define PRIM_RX 0
|
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|
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/* enable auto acknowledgment */
|
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#define ENAA_P5 5
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#define ENAA_P4 4
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#define ENAA_P3 3
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#define ENAA_P2 2
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#define ENAA_P1 1
|
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#define ENAA_P0 0
|
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|
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/* enable rx addresses */
|
||||
#define ERX_P5 5
|
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#define ERX_P4 4
|
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#define ERX_P3 3
|
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#define ERX_P2 2
|
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#define ERX_P1 1
|
||||
#define ERX_P0 0
|
||||
|
||||
/* setup of address width */
|
||||
#define AW 0 /* 2 bits */
|
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|
||||
/* setup of auto re-transmission */
|
||||
#define ARD 4 /* 4 bits */
|
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#define ARC 0 /* 4 bits */
|
||||
|
||||
/* RF setup register */
|
||||
#define PLL_LOCK 4
|
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#define RF_DR 3
|
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#define RF_PWR 1 /* 2 bits */
|
||||
|
||||
/* general status register */
|
||||
#define RX_DR 6
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||||
#define TX_DS 5
|
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#define MAX_RT 4
|
||||
#define RX_P_NO 1 /* 3 bits */
|
||||
#define TX_FULL 0
|
||||
|
||||
/* transmit observe register */
|
||||
#define PLOS_CNT 4 /* 4 bits */
|
||||
#define ARC_CNT 0 /* 4 bits */
|
||||
|
||||
/* fifo status */
|
||||
#define TX_REUSE 6
|
||||
#define FIFO_FULL 5
|
||||
#define TX_EMPTY 4
|
||||
#define RX_FULL 1
|
||||
#define RX_EMPTY 0
|
||||
|
||||
/* dynamic length */
|
||||
#define DPL_P0 0
|
||||
#define DPL_P1 1
|
||||
#define DPL_P2 2
|
||||
#define DPL_P3 3
|
||||
#define DPL_P4 4
|
||||
#define DPL_P5 5
|
||||
|
||||
/* Instruction Mnemonics */
|
||||
#define R_REGISTER 0x00 /* last 4 bits will indicate reg. address */
|
||||
#define W_REGISTER 0x20 /* last 4 bits will indicate reg. address */
|
||||
#define REGISTER_MASK 0x1F
|
||||
#define R_RX_PAYLOAD 0x61
|
||||
#define W_TX_PAYLOAD 0xA0
|
||||
#define FLUSH_TX 0xE1
|
||||
#define FLUSH_RX 0xE2
|
||||
#define REUSE_TX_PL 0xE3
|
||||
#define ACTIVATE 0x50
|
||||
#define R_RX_PL_WID 0x60
|
||||
#define NOP 0xFF
|
||||
@ -1,116 +0,0 @@
|
||||
/*
|
||||
* ----------------------------------------------------------------------------
|
||||
* “THE COFFEEWARE LICENSE” (Revision 1):
|
||||
* <ihsan@kehribar.me> wrote this file. As long as you retain this notice you
|
||||
* can do whatever you want with this stuff. If we meet some day, and you think
|
||||
* this stuff is worth it, you can buy me a coffee in return.
|
||||
* -----------------------------------------------------------------------------
|
||||
* This library is based on this library:
|
||||
* https://github.com/aaronds/arduino-nrf24l01
|
||||
* Which is based on this library:
|
||||
* http://www.tinkerer.eu/AVRLib/nRF24L01
|
||||
* -----------------------------------------------------------------------------
|
||||
*/
|
||||
#ifndef NRF24
|
||||
#define NRF24
|
||||
|
||||
#include "nRF24L01.h"
|
||||
#include <stdint.h>
|
||||
|
||||
#define LOW 0
|
||||
#define HIGH 1
|
||||
|
||||
#define nrf24_ADDR_LEN 5
|
||||
#define nrf24_CONFIG ((1<<EN_CRC)|(0<<CRCO))
|
||||
|
||||
#define NRF24_TRANSMISSON_OK 0
|
||||
#define NRF24_MESSAGE_LOST 1
|
||||
|
||||
/* adjustment functions */
|
||||
void nrf24_init();
|
||||
void nrf24_rx_address(uint8_t *adr);
|
||||
void nrf24_tx_address(uint8_t *adr);
|
||||
void nrf24_config(uint8_t channel, uint8_t pay_length);
|
||||
|
||||
/* state check functions */
|
||||
uint8_t nrf24_dataReady();
|
||||
uint8_t nrf24_isSending();
|
||||
uint8_t nrf24_getStatus();
|
||||
uint8_t nrf24_rxFifoEmpty();
|
||||
|
||||
/* core TX / RX functions */
|
||||
void nrf24_send(uint8_t *value);
|
||||
void nrf24_getData(uint8_t *data);
|
||||
|
||||
/* use in dynamic length mode */
|
||||
uint8_t nrf24_payloadLength();
|
||||
|
||||
/* post transmission analysis */
|
||||
uint8_t nrf24_lastMessageStatus();
|
||||
uint8_t nrf24_retransmissionCount();
|
||||
|
||||
/* Returns the payload length */
|
||||
uint8_t nrf24_payload_length();
|
||||
|
||||
/* power management */
|
||||
void nrf24_powerUpRx();
|
||||
void nrf24_powerUpTx();
|
||||
void nrf24_powerDown();
|
||||
|
||||
/* low level interface ... */
|
||||
uint8_t spi_transfer(uint8_t tx);
|
||||
void nrf24_transmitSync(uint8_t *dataout, uint8_t len);
|
||||
void nrf24_transferSync(uint8_t *dataout, uint8_t *datain, uint8_t len);
|
||||
void nrf24_configRegister(uint8_t reg, uint8_t value);
|
||||
void nrf24_readRegister(uint8_t reg, uint8_t *value, uint8_t len);
|
||||
void nrf24_writeRegister(uint8_t reg, uint8_t *value, uint8_t len);
|
||||
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/* You should implement the platform spesific functions in your code */
|
||||
/* -------------------------------------------------------------------------- */
|
||||
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/* In this function you should do the following things:
|
||||
* - Set MISO pin input
|
||||
* - Set MOSI pin output
|
||||
* - Set SCK pin output
|
||||
* - Set CSN pin output
|
||||
* - Set CE pin output */
|
||||
/* -------------------------------------------------------------------------- */
|
||||
extern void nrf24_setupPins();
|
||||
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/* nrf24 CE pin control function
|
||||
* - state:1 => Pin HIGH
|
||||
* - state:0 => Pin LOW */
|
||||
/* -------------------------------------------------------------------------- */
|
||||
extern void nrf24_ce_digitalWrite(uint8_t state);
|
||||
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/* nrf24 CE pin control function
|
||||
* - state:1 => Pin HIGH
|
||||
* - state:0 => Pin LOW */
|
||||
/* -------------------------------------------------------------------------- */
|
||||
extern void nrf24_csn_digitalWrite(uint8_t state);
|
||||
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/* nrf24 SCK pin control function
|
||||
* - state:1 => Pin HIGH
|
||||
* - state:0 => Pin LOW */
|
||||
/* -------------------------------------------------------------------------- */
|
||||
extern void nrf24_sck_digitalWrite(uint8_t state);
|
||||
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/* nrf24 MOSI pin control function
|
||||
* - state:1 => Pin HIGH
|
||||
* - state:0 => Pin LOW */
|
||||
/* -------------------------------------------------------------------------- */
|
||||
extern void nrf24_mosi_digitalWrite(uint8_t state);
|
||||
|
||||
/* -------------------------------------------------------------------------- */
|
||||
/* nrf24 MISO pin read function
|
||||
* - returns: Non-zero if the pin is high */
|
||||
/* -------------------------------------------------------------------------- */
|
||||
extern uint8_t nrf24_miso_digitalRead();
|
||||
|
||||
#endif
|
||||
@ -1,339 +0,0 @@
|
||||
/*
|
||||
* ----------------------------------------------------------------------------
|
||||
* “THE COFFEEWARE LICENSE” (Revision 1):
|
||||
* <ihsan@kehribar.me> wrote this file. As long as you retain this notice you
|
||||
* can do whatever you want with this stuff. If we meet some day, and you think
|
||||
* this stuff is worth it, you can buy me a coffee in return.
|
||||
* -----------------------------------------------------------------------------
|
||||
* This library is based on this library:
|
||||
* https://github.com/aaronds/arduino-nrf24l01
|
||||
* Which is based on this library:
|
||||
* http://www.tinkerer.eu/AVRLib/nRF24L01
|
||||
* -----------------------------------------------------------------------------
|
||||
*/
|
||||
#include "nrf24.h"
|
||||
|
||||
uint8_t payload_len;
|
||||
|
||||
/* init the hardware pins */
|
||||
void nrf24_init()
|
||||
{
|
||||
nrf24_setupPins();
|
||||
nrf24_ce_digitalWrite(LOW);
|
||||
nrf24_csn_digitalWrite(HIGH);
|
||||
}
|
||||
|
||||
/* configure the module */
|
||||
void nrf24_config(uint8_t channel, uint8_t pay_length)
|
||||
{
|
||||
/* Use static payload length ... */
|
||||
payload_len = pay_length;
|
||||
|
||||
// Set RF channel
|
||||
nrf24_configRegister(RF_CH, channel);
|
||||
|
||||
// Set length of incoming payload
|
||||
nrf24_configRegister(RX_PW_P0, 0x00); // Auto-ACK pipe ...
|
||||
nrf24_configRegister(RX_PW_P1, payload_len); // Data payload pipe
|
||||
nrf24_configRegister(RX_PW_P2, 0x00); // Pipe not used
|
||||
nrf24_configRegister(RX_PW_P3, 0x00); // Pipe not used
|
||||
nrf24_configRegister(RX_PW_P4, 0x00); // Pipe not used
|
||||
nrf24_configRegister(RX_PW_P5, 0x00); // Pipe not used
|
||||
|
||||
// 1 Mbps, TX gain: 0dbm
|
||||
nrf24_configRegister(RF_SETUP, (0 << RF_DR) | ((0x03) << RF_PWR));
|
||||
|
||||
// CRC enable, 1 byte CRC length
|
||||
nrf24_configRegister(CONFIG, nrf24_CONFIG);
|
||||
|
||||
// Auto Acknowledgment
|
||||
nrf24_configRegister(EN_AA, (1 << ENAA_P0) | (1 << ENAA_P1) | (0 << ENAA_P2) | (0 << ENAA_P3) | (0 << ENAA_P4) | (0 << ENAA_P5));
|
||||
|
||||
// Enable RX addresses
|
||||
nrf24_configRegister(EN_RXADDR, (1 << ERX_P0) | (1 << ERX_P1) | (0 << ERX_P2) | (0 << ERX_P3) | (0 << ERX_P4) | (0 << ERX_P5));
|
||||
|
||||
// Auto retransmit delay: 1000 us and Up to 15 retransmit trials
|
||||
nrf24_configRegister(SETUP_RETR, (0x04 << ARD) | (0x0F << ARC));
|
||||
|
||||
// Dynamic length configurations: No dynamic length
|
||||
nrf24_configRegister(DYNPD, (0 << DPL_P0) | (0 << DPL_P1) | (0 << DPL_P2) | (0 << DPL_P3) | (0 << DPL_P4) | (0 << DPL_P5));
|
||||
|
||||
// Start listening
|
||||
nrf24_powerUpRx();
|
||||
}
|
||||
|
||||
/* Set the RX address */
|
||||
void nrf24_rx_address(uint8_t *adr)
|
||||
{
|
||||
nrf24_ce_digitalWrite(LOW);
|
||||
nrf24_writeRegister(RX_ADDR_P1, adr, nrf24_ADDR_LEN);
|
||||
nrf24_ce_digitalWrite(HIGH);
|
||||
}
|
||||
|
||||
/* Returns the payload length */
|
||||
uint8_t nrf24_payload_length()
|
||||
{
|
||||
return payload_len;
|
||||
}
|
||||
|
||||
/* Set the TX address */
|
||||
void nrf24_tx_address(uint8_t *adr)
|
||||
{
|
||||
/* RX_ADDR_P0 must be set to the sending addr for auto ack to work. */
|
||||
nrf24_writeRegister(RX_ADDR_P0, adr, nrf24_ADDR_LEN);
|
||||
nrf24_writeRegister(TX_ADDR, adr, nrf24_ADDR_LEN);
|
||||
}
|
||||
|
||||
/* Checks if data is available for reading */
|
||||
/* Returns 1 if data is ready ... */
|
||||
uint8_t nrf24_dataReady()
|
||||
{
|
||||
// See note in getData() function - just checking RX_DR isn't good enough
|
||||
uint8_t status = nrf24_getStatus();
|
||||
|
||||
// We can short circuit on RX_DR, but if it's not set, we still need
|
||||
// to check the FIFO for any pending packets
|
||||
if (status & (1 << RX_DR)) {
|
||||
return 1;
|
||||
}
|
||||
|
||||
return !nrf24_rxFifoEmpty();;
|
||||
}
|
||||
|
||||
/* Checks if receive FIFO is empty or not */
|
||||
uint8_t nrf24_rxFifoEmpty()
|
||||
{
|
||||
uint8_t fifoStatus;
|
||||
|
||||
nrf24_readRegister(FIFO_STATUS, &fifoStatus, 1);
|
||||
|
||||
return (fifoStatus & (1 << RX_EMPTY));
|
||||
}
|
||||
|
||||
/* Returns the length of data waiting in the RX fifo */
|
||||
uint8_t nrf24_payloadLength()
|
||||
{
|
||||
uint8_t status;
|
||||
nrf24_csn_digitalWrite(LOW);
|
||||
spi_transfer(R_RX_PL_WID);
|
||||
status = spi_transfer(0x00);
|
||||
nrf24_csn_digitalWrite(HIGH);
|
||||
return status;
|
||||
}
|
||||
|
||||
/* Reads payload bytes into data array */
|
||||
void nrf24_getData(uint8_t *data)
|
||||
{
|
||||
/* Pull down chip select */
|
||||
nrf24_csn_digitalWrite(LOW);
|
||||
|
||||
/* Send cmd to read rx payload */
|
||||
spi_transfer(R_RX_PAYLOAD);
|
||||
|
||||
/* Read payload */
|
||||
nrf24_transferSync(data, data, payload_len);
|
||||
|
||||
/* Pull up chip select */
|
||||
nrf24_csn_digitalWrite(HIGH);
|
||||
|
||||
/* Reset status register */
|
||||
nrf24_configRegister(STATUS, (1 << RX_DR));
|
||||
}
|
||||
|
||||
/* Returns the number of retransmissions occured for the last message */
|
||||
uint8_t nrf24_retransmissionCount()
|
||||
{
|
||||
uint8_t rv;
|
||||
nrf24_readRegister(OBSERVE_TX, &rv, 1);
|
||||
rv = rv & 0x0F;
|
||||
return rv;
|
||||
}
|
||||
|
||||
// Sends a data package to the default address. Be sure to send the correct
|
||||
// amount of bytes as configured as payload on the receiver.
|
||||
void nrf24_send(uint8_t *value)
|
||||
{
|
||||
/* Go to Standby-I first */
|
||||
nrf24_ce_digitalWrite(LOW);
|
||||
|
||||
/* Set to transmitter mode , Power up if needed */
|
||||
nrf24_powerUpTx();
|
||||
|
||||
/* Do we really need to flush TX fifo each time ? */
|
||||
#if 1
|
||||
/* Pull down chip select */
|
||||
nrf24_csn_digitalWrite(LOW);
|
||||
|
||||
/* Write cmd to flush transmit FIFO */
|
||||
spi_transfer(FLUSH_TX);
|
||||
|
||||
/* Pull up chip select */
|
||||
nrf24_csn_digitalWrite(HIGH);
|
||||
#endif
|
||||
|
||||
/* Pull down chip select */
|
||||
nrf24_csn_digitalWrite(LOW);
|
||||
|
||||
/* Write cmd to write payload */
|
||||
spi_transfer(W_TX_PAYLOAD);
|
||||
|
||||
/* Write payload */
|
||||
nrf24_transmitSync(value, payload_len);
|
||||
|
||||
/* Pull up chip select */
|
||||
nrf24_csn_digitalWrite(HIGH);
|
||||
|
||||
/* Start the transmission */
|
||||
nrf24_ce_digitalWrite(HIGH);
|
||||
}
|
||||
|
||||
uint8_t nrf24_isSending()
|
||||
{
|
||||
uint8_t status;
|
||||
|
||||
/* read the current status */
|
||||
status = nrf24_getStatus();
|
||||
|
||||
/* if sending successful (TX_DS) or max retries exceded (MAX_RT). */
|
||||
if ((status & ((1 << TX_DS) | (1 << MAX_RT)))) {
|
||||
return 0; /* false */
|
||||
}
|
||||
|
||||
return 1; /* true */
|
||||
|
||||
}
|
||||
|
||||
uint8_t nrf24_getStatus()
|
||||
{
|
||||
uint8_t rv;
|
||||
nrf24_csn_digitalWrite(LOW);
|
||||
rv = spi_transfer(NOP);
|
||||
nrf24_csn_digitalWrite(HIGH);
|
||||
return rv;
|
||||
}
|
||||
|
||||
uint8_t nrf24_lastMessageStatus()
|
||||
{
|
||||
uint8_t rv;
|
||||
|
||||
rv = nrf24_getStatus();
|
||||
|
||||
/* Transmission went OK */
|
||||
if ((rv & ((1 << TX_DS)))) {
|
||||
return NRF24_TRANSMISSON_OK;
|
||||
}
|
||||
/* Maximum retransmission count is reached */
|
||||
/* Last message probably went missing ... */
|
||||
else if ((rv & ((1 << MAX_RT)))) {
|
||||
return NRF24_MESSAGE_LOST;
|
||||
}
|
||||
/* Probably still sending ... */
|
||||
else {
|
||||
return 0xFF;
|
||||
}
|
||||
}
|
||||
|
||||
void nrf24_powerUpRx()
|
||||
{
|
||||
nrf24_csn_digitalWrite(LOW);
|
||||
spi_transfer(FLUSH_RX);
|
||||
nrf24_csn_digitalWrite(HIGH);
|
||||
|
||||
nrf24_configRegister(STATUS, (1 << RX_DR) | (1 << TX_DS) | (1 << MAX_RT));
|
||||
|
||||
nrf24_ce_digitalWrite(LOW);
|
||||
nrf24_configRegister(CONFIG, nrf24_CONFIG | ((1 << PWR_UP) | (1 << PRIM_RX)));
|
||||
nrf24_ce_digitalWrite(HIGH);
|
||||
}
|
||||
|
||||
void nrf24_powerUpTx()
|
||||
{
|
||||
nrf24_configRegister(STATUS, (1 << RX_DR) | (1 << TX_DS) | (1 << MAX_RT));
|
||||
|
||||
nrf24_configRegister(CONFIG, nrf24_CONFIG | ((1 << PWR_UP) | (0 << PRIM_RX)));
|
||||
}
|
||||
|
||||
void nrf24_powerDown()
|
||||
{
|
||||
nrf24_ce_digitalWrite(LOW);
|
||||
nrf24_configRegister(CONFIG, nrf24_CONFIG);
|
||||
}
|
||||
|
||||
/* software spi routine */
|
||||
uint8_t spi_transfer(uint8_t tx)
|
||||
{
|
||||
uint8_t i = 0;
|
||||
uint8_t rx = 0;
|
||||
|
||||
nrf24_sck_digitalWrite(LOW);
|
||||
|
||||
for (i = 0; i < 8; i++) {
|
||||
|
||||
if (tx & (1 << (7 - i))) {
|
||||
nrf24_mosi_digitalWrite(HIGH);
|
||||
} else {
|
||||
nrf24_mosi_digitalWrite(LOW);
|
||||
}
|
||||
|
||||
nrf24_sck_digitalWrite(HIGH);
|
||||
|
||||
rx = rx << 1;
|
||||
if (nrf24_miso_digitalRead()) {
|
||||
rx |= 0x01;
|
||||
}
|
||||
|
||||
nrf24_sck_digitalWrite(LOW);
|
||||
|
||||
}
|
||||
|
||||
return rx;
|
||||
}
|
||||
|
||||
/* send and receive multiple bytes over SPI */
|
||||
void nrf24_transferSync(uint8_t *dataout, uint8_t *datain, uint8_t len)
|
||||
{
|
||||
uint8_t i;
|
||||
|
||||
for (i = 0; i < len; i++) {
|
||||
datain[i] = spi_transfer(dataout[i]);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
/* send multiple bytes over SPI */
|
||||
void nrf24_transmitSync(uint8_t *dataout, uint8_t len)
|
||||
{
|
||||
uint8_t i;
|
||||
|
||||
for (i = 0; i < len; i++) {
|
||||
spi_transfer(dataout[i]);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
/* Clocks only one byte into the given nrf24 register */
|
||||
void nrf24_configRegister(uint8_t reg, uint8_t value)
|
||||
{
|
||||
nrf24_csn_digitalWrite(LOW);
|
||||
spi_transfer(W_REGISTER | (REGISTER_MASK & reg));
|
||||
spi_transfer(value);
|
||||
nrf24_csn_digitalWrite(HIGH);
|
||||
}
|
||||
|
||||
/* Read single register from nrf24 */
|
||||
void nrf24_readRegister(uint8_t reg, uint8_t *value, uint8_t len)
|
||||
{
|
||||
nrf24_csn_digitalWrite(LOW);
|
||||
spi_transfer(R_REGISTER | (REGISTER_MASK & reg));
|
||||
nrf24_transferSync(value, value, len);
|
||||
nrf24_csn_digitalWrite(HIGH);
|
||||
}
|
||||
|
||||
/* Write to a single register of nrf24 */
|
||||
void nrf24_writeRegister(uint8_t reg, uint8_t *value, uint8_t len)
|
||||
{
|
||||
nrf24_csn_digitalWrite(LOW);
|
||||
spi_transfer(W_REGISTER | (REGISTER_MASK & reg));
|
||||
nrf24_transmitSync(value, len);
|
||||
nrf24_csn_digitalWrite(HIGH);
|
||||
}
|
||||
@ -1,74 +0,0 @@
|
||||
/*
|
||||
* ----------------------------------------------------------------------------
|
||||
* “THE COFFEEWARE LICENSE” (Revision 1):
|
||||
* <ihsan@kehribar.me> wrote this file. As long as you retain this notice you
|
||||
* can do whatever you want with this stuff. If we meet some day, and you think
|
||||
* this stuff is worth it, you can buy me a coffee in return.
|
||||
* -----------------------------------------------------------------------------
|
||||
* Please define your platform spesific functions in this file ...
|
||||
* -----------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include <avr/io.h>
|
||||
#include "common.h"
|
||||
|
||||
#define REG DDRB
|
||||
#define PORT PORTB
|
||||
#define PIN PINB
|
||||
#define PIN_CE PB0
|
||||
#define PIN_CSN PB1
|
||||
#define PIN_SCK PB5
|
||||
#define PIN_MOSI PB3
|
||||
#define PIN_MISO PB4
|
||||
|
||||
/* ------------------------------------------------------------------------- */
|
||||
void nrf24_setupPins(void)
|
||||
{
|
||||
SET(REG, PIN_CE);
|
||||
SET(REG, PIN_CSN);
|
||||
SET(REG, PIN_SCK);
|
||||
SET(REG, PIN_MOSI);
|
||||
CLR(REG, PIN_MISO);
|
||||
}
|
||||
/* ------------------------------------------------------------------------- */
|
||||
void nrf24_ce_digitalWrite(uint8_t state)
|
||||
{
|
||||
if (state) {
|
||||
SET(PORT, PIN_CE);
|
||||
} else {
|
||||
CLR(PORT, PIN_CE);
|
||||
}
|
||||
}
|
||||
/* ------------------------------------------------------------------------- */
|
||||
void nrf24_csn_digitalWrite(uint8_t state)
|
||||
{
|
||||
if (state) {
|
||||
SET(PORT, PIN_CSN);
|
||||
} else {
|
||||
CLR(PORT, PIN_CSN);
|
||||
}
|
||||
}
|
||||
/* ------------------------------------------------------------------------- */
|
||||
void nrf24_sck_digitalWrite(uint8_t state)
|
||||
{
|
||||
if (state) {
|
||||
SET(PORT, PIN_SCK);
|
||||
} else {
|
||||
CLR(PORT, PIN_SCK);
|
||||
}
|
||||
}
|
||||
/* ------------------------------------------------------------------------- */
|
||||
void nrf24_mosi_digitalWrite(uint8_t state)
|
||||
{
|
||||
if (state) {
|
||||
SET(PORT, PIN_MOSI);
|
||||
} else {
|
||||
CLR(PORT, PIN_MOSI);
|
||||
}
|
||||
}
|
||||
/* ------------------------------------------------------------------------- */
|
||||
uint8_t nrf24_miso_digitalRead(void)
|
||||
{
|
||||
return CHK(PIN, PIN_MISO);
|
||||
}
|
||||
/* ------------------------------------------------------------------------- */
|
||||
Loading…
Reference in New Issue
Block a user