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Merge pull request #8 from rhssk/misc

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Fix code duplication between both code bases
This commit is contained in:
rhssk 2018-01-20 20:55:26 +00:00 committed by GitHub
commit f51e7e8570
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GPG Key ID: 4AEE18F83AFDEB23
18 changed files with 142 additions and 754 deletions
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1
.gitignore vendored
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@ -1,2 +1,3 @@
build
obj
lib

45
base_station/Makefile
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@ -7,21 +7,17 @@ BUILD_DIR = build
INC_DIR = include
OBJ_DIR = obj
# Common lib
COMMON_LIB = -lcommon
COMMON_LIB_DIR = ../common/lib
COMMON_INC_DIR = ../common/include
MCU = atmega328p
FORMAT = ihex
TARGET = main
SRC = $(wildcard $(SRC_DIR)/*.c)
OBJ = $(SRC:$(SRC_DIR)/%.c=$(OBJ_DIR)/%.o)
LST = $(SRC:$(SRC_DIR)/%.c=$(BUILD_DIR)/%.lst)
OPT = s
# Name of this Makefile (used for "make depend").
MAKEFILE = Makefile
# Debugging format.
# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2.
# AVR (extended) COFF requires stabs, plus an avr-objcopy run.
DEBUG = stabs
# Compiler flag to set the C Standard level.
# c89 - "ANSI" C
@ -34,17 +30,21 @@ CSTANDARD = -std=gnu99
CDEFS = -DF_CPU=16000000L -D__AVR__ -D__AVR_ATmega328P__
# Place -I options here
CINCS = -I $(INC_DIR)
CINCS = -I $(INC_DIR) -I$(COMMON_INC_DIR)
CDEBUG = -g$(DEBUG)
CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
#CEXTRA = -Wa,-adhlns=$(<:.c=.lst)
CFLAGS = $(CDEBUG) $(CDEFS) $(CINCS) -O$(OPT) $(CSTANDARD) $(CEXTRA)
CFLAGS = $(CTUNING) $(CDEFS) $(CINCS) $(CSTANDARD) $(CEXTRA)
#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs
# Debugging format.
# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2.
# AVR (extended) COFF requires stabs, plus an avr-objcopy run.
DEBUG_FORMAT = stabs
ifeq ($(BUILD),debug)
CFLAGS += -DDEBUG
CFLAGS += -DDEBUG -g$(DEBUG_FORMAT)
CFLAGS += -Wall -Wextra -Wformat=2 -Wswitch-default \
-Wcast-align -Wpointer-arith -Wbad-function-cast \
-Wstrict-prototypes -Winline -Wundef -Wnested-externs \
@ -55,8 +55,11 @@ ifeq ($(BUILD),debug)
-Wno-unused-but-set-variable -Wmaybe-uninitialized
CINCS += -I/usr/include/simavr
#
else
CFLAGS += -DNDEBUG -s -Os
endif
#Additional libraries.
# Minimalistic printf version
@ -90,7 +93,8 @@ MATH_LIB = -lm
EXTMEMOPTS =
#LDMAP = $(LDFLAGS) -Wl,-Map=$(TARGET).map,--cref
LDFLAGS = $(EXTMEMOPTS) $(LDMAP) $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)
# LDFLAGS = $(EXTMEMOPTS) $(LDMAP) $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)
LDFLAGS = -L$(COMMON_LIB_DIR) $(COMMON_LIB)
# Programming support using avrdude. Settings and variables.
@ -177,7 +181,7 @@ extcoff: $(BUILD_DIR)/$(TARGET).elf
$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
%.eep: %.elf
-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
# Create extended listing file from ELF output file.
@ -207,15 +211,4 @@ $(OBJ_DIR)/%.o : $(SRC_DIR)/%.c
clean:
$(REMOVE) $(BUILD_DIR)/* $(OBJ_DIR)/*
depend:
if grep '^# DO NOT DELETE' $(MAKEFILE) >/dev/null; \
then \
sed -e '/^# DO NOT DELETE/,$$d' $(MAKEFILE) > \
$(MAKEFILE).$$$$ && \
$(MV) $(MAKEFILE).$$$$ $(MAKEFILE); \
fi
echo '# DO NOT DELETE THIS LINE -- make depend depends on it.' \
>> $(MAKEFILE); \
$(CC) -M -mmcu=$(MCU) $(CDEFS) $(CINCS) $(SRC) >> $(MAKEFILE)
.PHONY: all build elf hex eep lss sym program coff extcoff clean depend

16
base_station/include/main.h
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@ -2,25 +2,11 @@
#define MAIN_H
#include <stdint.h>
#define MAX_PAYLOAD_SIZE 32
enum return_codes {
R_OK,
R_PACKAGE_SIZE,
};
typedef struct {
/* uint8_t temp; */
double temp;
/* uint8_t distance; */
uint16_t distance;
} data_packet_t;
#include "common.h"
uint8_t tx_address[5] = {0xD7, 0xD7, 0xD7, 0xD7, 0xD7};
uint8_t rx_address[5] = {0xE7, 0xE7, 0xE7, 0xE7, 0xE7};
void convert_raw_to_data(uint8_t *in, data_packet_t *out);
#endif

1
base_station/src/main.c
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@ -5,7 +5,6 @@
#include <util/delay.h>
#include "led.h"
#include "nrf24.h"
#include "common.h"
#include "main.h"
#ifdef DEBUG

86
common/Makefile Normal file
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@ -0,0 +1,86 @@
CC := avr-gcc
AR := avr-ar
SIZE := avr-size
OBJDUMP = avr-objdump
SRCDIR := src
BUILDDIR := build
INCDIR := include
LIBDIR := lib
LIB := libcommon
SRCEXT := c
SOURCES := $(shell find $(SRCDIR) -type f -name *.$(SRCEXT))
OBJECTS := $(patsubst $(SRCDIR)/%,$(BUILDDIR)/%,$(SOURCES:.$(SRCEXT)=.o))
INC := -I $(INCDIR)
# AR flags
ARFLAGS := rcs
MCU = atmega328p
## Language standard
CFLAGS += -std=gnu99
## Definitions
CFLAGS += -DF_CPU=16000000L -D__AVR__ -D__AVR_ATmega328P__
## Tuning
# CFLAGS += -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
# Debugging format.
# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2.
# AVR (extended) COFF requires stabs, plus an avr-objcopy run.
DEBUG_FORMAT = stabs
ifeq ($(BUILD),debug)
CFLAGS += -DDEBUG -g$(DEBUG_FORMAT)
CFLAGS += -Wall -Wextra -Wformat=2 -Wswitch-default \
-Wcast-align -Wpointer-arith -Wbad-function-cast \
-Wstrict-prototypes -Winline -Wundef -Wnested-externs \
-Wcast-qual -Wshadow -Wwrite-strings -Wconversion \
-Winit-self -Wstrict-aliasing -Wmissing-declarations \
-Wmissing-include-dirs -Wno-unused-parameter -Wuninitialized \
-Wold-style-definition -Wmissing-prototypes -Wunreachable-code \
-Wno-unused-but-set-variable -Wmaybe-uninitialized
CINCS += -I/usr/include/simavr
#
else
CFLAGS += -DNDEBUG -s -Os
endif
.PHONY: clean debug all
all: lib
lib: $(LIBDIR)/$(LIB).a
debug_header:
@echo "================================================="
@echo "Debug build initiated..."
@echo "--------"
debug: clean debug_header
$(MAKE) "BUILD=debug"
$(BUILDDIR)/%.o: $(SRCDIR)/%.$(SRCEXT)
@echo "================================================="
@echo "Building objects..."
@echo "--------"
@mkdir -p $(BUILDDIR)
@mkdir -p $(LIBDIR)
@mkdir -p $(INCDIR)
$(CC) $(CFLAGS) $(INC) -c -o $@ $<
.SECONDARY: $(OBJ)
%.a: $(OBJECTS)
@echo "================================================="
@echo "Building static library..."
@echo "--------"
$(AR) $(ARFLAGS) $(LIBDIR)/$(LIB).a $(OBJECTS)
clean:
@echo "================================================="
@echo "Cleaning up build files...";
@rm -rf $(BUILDDIR) $(LIBDIR)

14
base_station/include/common.h → common/include/common.h
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@ -3,10 +3,24 @@
#include <stdint.h>
// Bit manioulation
#define BIT(mask) (1 << (mask))
#define SET(var, mask) ((var) |= (uint8_t)BIT(mask))
#define CLR(var, mask) ((var) &= (uint8_t)~(BIT(mask)))
#define CHK(var, mask) ((var) & (uint8_t)BIT(mask))
#define TOG(var, mask) ((var) ^= (uint8_t)BIT(mask))
// Maximum data size in bytes that can be sent/received with current nrf24L01+ lib
#define MAX_PAYLOAD_SIZE 32
enum return_codes {
R_OK,
R_PACKAGE_SIZE,
};
typedef struct {
double temp;
uint16_t distance;
} data_packet_t;
#endif /* COMMON_H */

0
base_station/include/nRF24L01.h → common/include/nRF24L01.h
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0
base_station/include/nrf24.h → common/include/nrf24.h
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1
common/src/common.c Normal file
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@ -0,0 +1 @@
#include "common.h"

0
base_station/src/nrf24.c → common/src/nrf24.c
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0
base_station/src/radioPinFunctions.c → common/src/radioPinFunctions.c
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45
robot/Makefile
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@ -7,21 +7,17 @@ BUILD_DIR = build
INC_DIR = include
OBJ_DIR = obj
# Common lib
COMMON_LIB = -lcommon
COMMON_LIB_DIR = ../common/lib
COMMON_INC_DIR = ../common/include
MCU = atmega328p
FORMAT = ihex
TARGET = main
SRC = $(wildcard $(SRC_DIR)/*.c)
OBJ = $(SRC:$(SRC_DIR)/%.c=$(OBJ_DIR)/%.o)
LST = $(SRC:$(SRC_DIR)/%.c=$(BUILD_DIR)/%.lst)
OPT = s
# Name of this Makefile (used for "make depend").
MAKEFILE = Makefile
# Debugging format.
# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2.
# AVR (extended) COFF requires stabs, plus an avr-objcopy run.
DEBUG = stabs
# Compiler flag to set the C Standard level.
# c89 - "ANSI" C
@ -34,17 +30,21 @@ CSTANDARD = -std=gnu99
CDEFS = -DF_CPU=16000000L -D__AVR__ -D__AVR_ATmega328P__
# Place -I options here
CINCS = -I $(INC_DIR)
CINCS = -I $(INC_DIR) -I$(COMMON_INC_DIR)
CDEBUG = -g$(DEBUG)
CTUNING = -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
#CEXTRA = -Wa,-adhlns=$(<:.c=.lst)
CFLAGS = $(CDEBUG) $(CDEFS) $(CINCS) -O$(OPT) $(CSTANDARD) $(CEXTRA)
CFLAGS = $(CTUNING) $(CDEFS) $(CINCS) $(CSTANDARD) $(CEXTRA)
#ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs
# Debugging format.
# Native formats for AVR-GCC's -g are stabs [default], or dwarf-2.
# AVR (extended) COFF requires stabs, plus an avr-objcopy run.
DEBUG_FORMAT = stabs
ifeq ($(BUILD),debug)
CFLAGS += -DDEBUG
CFLAGS += -DDEBUG -g$(DEBUG_FORMAT)
CFLAGS += -Wall -Wextra -Wformat=2 -Wswitch-default \
-Wcast-align -Wpointer-arith -Wbad-function-cast \
-Wstrict-prototypes -Winline -Wundef -Wnested-externs \
@ -55,8 +55,11 @@ ifeq ($(BUILD),debug)
-Wno-unused-but-set-variable -Wmaybe-uninitialized
CINCS += -I/usr/include/simavr
#
else
CFLAGS += -DNDEBUG -s -Os
endif
#Additional libraries.
# Minimalistic printf version
@ -90,7 +93,8 @@ MATH_LIB = -lm
EXTMEMOPTS =
#LDMAP = $(LDFLAGS) -Wl,-Map=$(TARGET).map,--cref
LDFLAGS = $(EXTMEMOPTS) $(LDMAP) $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)
# LDFLAGS = $(EXTMEMOPTS) $(LDMAP) $(PRINTF_LIB) $(SCANF_LIB) $(MATH_LIB)
LDFLAGS = -L$(COMMON_LIB_DIR) $(COMMON_LIB)
# Programming support using avrdude. Settings and variables.
@ -177,7 +181,7 @@ extcoff: $(BUILD_DIR)/$(TARGET).elf
$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@
%.eep: %.elf
-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \
--change-section-lma .eeprom=0 -O $(FORMAT) $< $@
# Create extended listing file from ELF output file.
@ -207,15 +211,4 @@ $(OBJ_DIR)/%.o : $(SRC_DIR)/%.c
clean:
$(REMOVE) $(BUILD_DIR)/* $(OBJ_DIR)/*
depend:
if grep '^# DO NOT DELETE' $(MAKEFILE) >/dev/null; \
then \
sed -e '/^# DO NOT DELETE/,$$d' $(MAKEFILE) > \
$(MAKEFILE).$$$$ && \
$(MV) $(MAKEFILE).$$$$ $(MAKEFILE); \
fi
echo '# DO NOT DELETE THIS LINE -- make depend depends on it.' \
>> $(MAKEFILE); \
$(CC) -M -mmcu=$(MCU) $(CDEFS) $(CINCS) $(SRC) >> $(MAKEFILE)
.PHONY: all build elf hex eep lss sym program coff extcoff clean depend

12
robot/include/common.h
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@ -1,12 +0,0 @@
#ifndef COMMON_H
#define COMMON_H
#include <stdint.h>
#define BIT(mask) (1 << (mask))
#define SET(var, mask) ((var) |= (uint8_t)BIT(mask))
#define CLR(var, mask) ((var) &= (uint8_t)~(BIT(mask)))
#define CHK(var, mask) ((var) & (uint8_t)BIT(mask))
#define TOG(var, mask) ((var) ^= (uint8_t)BIT(mask))
#endif /* COMMON_H */

16
robot/include/main.h
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@ -2,25 +2,11 @@
#define MAIN_H
#include <stdint.h>
#define MAX_PAYLOAD_SIZE 32
enum return_codes {
R_OK,
R_PACKAGE_SIZE,
};
typedef struct {
double temp;
/* uint8_t temp; */
/* uint8_t distance; */
uint16_t distance;
} data_packet_t;
#include "common.h"
uint8_t tx_address[5] = {0xE7, 0xE7, 0xE7, 0xE7, 0xE7};
uint8_t rx_address[5] = {0xD7, 0xD7, 0xD7, 0xD7, 0xD7};
void convert_data_to_raw(data_packet_t *in, uint8_t *out);
#endif

130
robot/include/nRF24L01.h
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@ -1,130 +0,0 @@
/*
Copyright (c) 2007 Stefan Engelke <mbox@stefanengelke.de>
Permission is hereby granted, free of charge, to any person
obtaining a copy of this software and associated documentation
files (the "Software"), to deal in the Software without
restriction, including without limitation the rights to use, copy,
modify, merge, publish, distribute, sublicense, and/or sell copies
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.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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.
$Id$
*/
/* Memory Map */
#define CONFIG 0x00
#define EN_AA 0x01
#define EN_RXADDR 0x02
#define SETUP_AW 0x03
#define SETUP_RETR 0x04
#define RF_CH 0x05
#define RF_SETUP 0x06
#define STATUS 0x07
#define OBSERVE_TX 0x08
#define CD 0x09
#define RX_ADDR_P0 0x0A
#define RX_ADDR_P1 0x0B
#define RX_ADDR_P2 0x0C
#define RX_ADDR_P3 0x0D
#define RX_ADDR_P4 0x0E
#define RX_ADDR_P5 0x0F
#define TX_ADDR 0x10
#define RX_PW_P0 0x11
#define RX_PW_P1 0x12
#define RX_PW_P2 0x13
#define RX_PW_P3 0x14
#define RX_PW_P4 0x15
#define RX_PW_P5 0x16
#define FIFO_STATUS 0x17
#define DYNPD 0x1C
/* Bit Mnemonics */
/* configuratio nregister */
#define MASK_RX_DR 6
#define MASK_TX_DS 5
#define MASK_MAX_RT 4
#define EN_CRC 3
#define CRCO 2
#define PWR_UP 1
#define PRIM_RX 0
/* enable auto acknowledgment */
#define ENAA_P5 5
#define ENAA_P4 4
#define ENAA_P3 3
#define ENAA_P2 2
#define ENAA_P1 1
#define ENAA_P0 0
/* enable rx addresses */
#define ERX_P5 5
#define ERX_P4 4
#define ERX_P3 3
#define ERX_P2 2
#define ERX_P1 1
#define ERX_P0 0
/* setup of address width */
#define AW 0 /* 2 bits */
/* setup of auto re-transmission */
#define ARD 4 /* 4 bits */
#define ARC 0 /* 4 bits */
/* RF setup register */
#define PLL_LOCK 4
#define RF_DR 3
#define RF_PWR 1 /* 2 bits */
/* general status register */
#define RX_DR 6
#define TX_DS 5
#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

116
robot/include/nrf24.h
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@ -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

339
robot/src/nrf24.c
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@ -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);
}

74
robot/src/radioPinFunctions.c
View File

@ -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);
}
/* ------------------------------------------------------------------------- */