0d28903b2c
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.
117 lines
4.1 KiB
C
117 lines
4.1 KiB
C
/*
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* ----------------------------------------------------------------------------
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* “THE COFFEEWARE LICENSE” (Revision 1):
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* <ihsan@kehribar.me> wrote this file. As long as you retain this notice you
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* can do whatever you want with this stuff. If we meet some day, and you think
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* this stuff is worth it, you can buy me a coffee in return.
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* -----------------------------------------------------------------------------
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* This library is based on this library:
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* https://github.com/aaronds/arduino-nrf24l01
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* Which is based on this library:
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* http://www.tinkerer.eu/AVRLib/nRF24L01
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* -----------------------------------------------------------------------------
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*/
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#ifndef NRF24
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#define NRF24
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#include "nRF24L01.h"
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#include <stdint.h>
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#define LOW 0
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#define HIGH 1
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#define nrf24_ADDR_LEN 5
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#define nrf24_CONFIG ((1<<EN_CRC)|(0<<CRCO))
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#define NRF24_TRANSMISSON_OK 0
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#define NRF24_MESSAGE_LOST 1
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/* adjustment functions */
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void nrf24_init();
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void nrf24_rx_address(uint8_t *adr);
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void nrf24_tx_address(uint8_t *adr);
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void nrf24_config(uint8_t channel, uint8_t pay_length);
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/* state check functions */
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uint8_t nrf24_dataReady();
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uint8_t nrf24_isSending();
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uint8_t nrf24_getStatus();
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uint8_t nrf24_rxFifoEmpty();
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/* core TX / RX functions */
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void nrf24_send(uint8_t *value);
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void nrf24_getData(uint8_t *data);
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/* use in dynamic length mode */
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uint8_t nrf24_payloadLength();
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/* post transmission analysis */
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uint8_t nrf24_lastMessageStatus();
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uint8_t nrf24_retransmissionCount();
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/* Returns the payload length */
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uint8_t nrf24_payload_length();
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/* power management */
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void nrf24_powerUpRx();
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void nrf24_powerUpTx();
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void nrf24_powerDown();
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/* low level interface ... */
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uint8_t spi_transfer(uint8_t tx);
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void nrf24_transmitSync(uint8_t *dataout, uint8_t len);
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void nrf24_transferSync(uint8_t *dataout, uint8_t *datain, uint8_t len);
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void nrf24_configRegister(uint8_t reg, uint8_t value);
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void nrf24_readRegister(uint8_t reg, uint8_t *value, uint8_t len);
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void nrf24_writeRegister(uint8_t reg, uint8_t *value, uint8_t len);
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/* -------------------------------------------------------------------------- */
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/* You should implement the platform spesific functions in your code */
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/* -------------------------------------------------------------------------- */
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/* -------------------------------------------------------------------------- */
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/* In this function you should do the following things:
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* - Set MISO pin input
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* - Set MOSI pin output
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* - Set SCK pin output
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* - Set CSN pin output
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* - Set CE pin output */
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/* -------------------------------------------------------------------------- */
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extern void nrf24_setupPins();
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/* -------------------------------------------------------------------------- */
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/* nrf24 CE pin control function
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* - state:1 => Pin HIGH
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* - state:0 => Pin LOW */
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/* -------------------------------------------------------------------------- */
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extern void nrf24_ce_digitalWrite(uint8_t state);
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/* -------------------------------------------------------------------------- */
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/* nrf24 CE pin control function
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* - state:1 => Pin HIGH
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* - state:0 => Pin LOW */
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/* -------------------------------------------------------------------------- */
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extern void nrf24_csn_digitalWrite(uint8_t state);
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/* -------------------------------------------------------------------------- */
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/* nrf24 SCK pin control function
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* - state:1 => Pin HIGH
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* - state:0 => Pin LOW */
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/* -------------------------------------------------------------------------- */
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extern void nrf24_sck_digitalWrite(uint8_t state);
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/* -------------------------------------------------------------------------- */
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/* nrf24 MOSI pin control function
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* - state:1 => Pin HIGH
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* - state:0 => Pin LOW */
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/* -------------------------------------------------------------------------- */
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extern void nrf24_mosi_digitalWrite(uint8_t state);
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/* -------------------------------------------------------------------------- */
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/* nrf24 MISO pin read function
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* - returns: Non-zero if the pin is high */
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/* -------------------------------------------------------------------------- */
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extern uint8_t nrf24_miso_digitalRead();
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#endif
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