Merge pull request #8 from rhssk/misc

Fix code duplication between both code bases

.gitignore

@@ -1,2 +1,3 @@
 build
 obj
+lib

base_station/Makefile

@@ -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

base_station/include/main.h

@@ -2,25 +2,11 @@
 #define MAIN_H
 
 #include <stdint.h>
-
+#include "common.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;
 
 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

base_station/src/main.c

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

common/Makefile

@@ -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)

common/include/common.h

@@ -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 */

common/src/common.c

@@ -0,0 +1 @@
+#include "common.h"

robot/Makefile

@@ -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

robot/include/common.h

@@ -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 */

robot/include/main.h

@@ -2,25 +2,11 @@
 #define MAIN_H
 
 #include <stdint.h>
-
+#include "common.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;
 
 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

robot/include/nRF24L01.h

@@ -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

robot/include/nrf24.h

@@ -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

robot/src/nrf24.c

@@ -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);
-}

robot/src/radioPinFunctions.c

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