Diff: SimpleSpirit1.cpp

Revision:

34:edda6a7238ec

Parent:

33:c226804be492

Child:

35:f3f444c379d0

--- a/SimpleSpirit1.cpp	Mon Nov 21 13:26:17 2016 +0100
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,574 +0,0 @@
-/*** Mbed Includes ***/
-#include "SimpleSpirit1.h"
-#include "radio_spi.h"
-
-#define SPIRIT_GPIO_IRQ			(SPIRIT_GPIO_3)
-
-static uint16_t last_state;
-#define SPIRIT1_STATUS()		((last_state = (uint16_t)refresh_state()) & SPIRIT1_STATE_STATEBITS)
-
-#define XO_ON                   (0x1)
-
-#define BUSYWAIT_UNTIL(cond, millisecs)                                        					\
-		do {                                                                 					 		\
-			uint32_t start = us_ticker_read();                         							\
-			while (!(cond) && ((us_ticker_read() - start) < ((uint32_t)millisecs)*1000U));	\
-		} while(0)
-
-#define st_lib_spirit_irqs		SpiritIrqs
-
-#define STATE_TIMEOUT           (1000)
-
-// betzw: switching force & back from standby is on some devices quite unstable
-#define USE_STANDBY_STATE
-
-/*** Class Implementation ***/
-/** Static Class Variables **/
-SimpleSpirit1 *SimpleSpirit1::_singleton = NULL;
-
-/** Constructor **/
-SimpleSpirit1::SimpleSpirit1(PinName mosi, PinName miso, PinName sclk,
-		PinName irq, PinName cs, PinName sdn,
-		PinName led) :
-    		_spi(mosi, miso, sclk),
-			_irq(irq),
-			_chip_select(cs),
-			_shut_down(sdn),
-			_led(led),
-			_current_irq_callback(),
-			_rx_receiving_timeout()
-{
-}
-
-/** Init Function **/
-void SimpleSpirit1::init() {
-	/* reset irq disable counter and irq callback & disable irq */
-	_nr_of_irq_disables = 0;
-	disable_spirit_irq();
-
-	/* unselect chip */
-	chip_unselect();
-
-	/* configure spi */
-	_spi.format(8, 0); /* 8-bit, mode = 0, [order = SPI_MSB] only available in mbed3 */
-	_spi.frequency(1000000); // 1MHz // betzw - NOTE: higher frequencies lead to instability of Spirit1
-
-	/* install irq handler */
-	_irq.mode(PullUp);
-	_irq.fall(Callback<void()>(this, &SimpleSpirit1::IrqHandler));
-
-	/* init cube vars */
-	spirit_on = OFF;
-	last_rssi = 0 ; //MGR
-	last_sqi = 0 ;  //MGR
-
-	/* set frequencies */
-	radio_set_xtal_freq(XTAL_FREQUENCY);
-	mgmt_set_freq_base((uint32_t)BASE_FREQUENCY);
-
-	/* restart board */
-	enter_shutdown();
-	exit_shutdown();
-
-	/* soft core reset */
-	cmd_strobe(SPIRIT1_STROBE_SRES);
-
-	/* Configures the SPIRIT1 radio part */
-	SRadioInit x_radio_init = {
-			XTAL_OFFSET_PPM,
-			(uint32_t)BASE_FREQUENCY,
-			(uint32_t)CHANNEL_SPACE,
-			CHANNEL_NUMBER,
-			MODULATION_SELECT,
-			DATARATE,
-			(uint32_t)FREQ_DEVIATION,
-			(uint32_t)BANDWIDTH
-	};
-	radio_init(&x_radio_init);
-	radio_set_pa_level_dbm(0,POWER_DBM);
-	radio_set_pa_level_max_index(0);
-
-	/* Configures the SPIRIT1 packet handler part*/
-	PktBasicInit x_basic_init = {
-			PREAMBLE_LENGTH,
-			SYNC_LENGTH,
-			SYNC_WORD,
-			LENGTH_TYPE,
-			LENGTH_WIDTH,
-			CRC_MODE,
-			CONTROL_LENGTH,
-			EN_ADDRESS,
-			EN_FEC,
-			EN_WHITENING
-	};
-	pkt_basic_init(&x_basic_init);
-
-	/* Enable the following interrupt sources, routed to GPIO */
-	irq_de_init(NULL);
-	irq_clear_status();
-	irq_set_status(TX_DATA_SENT, S_ENABLE);
-	irq_set_status(RX_DATA_READY,S_ENABLE);
-	irq_set_status(RX_DATA_DISC, S_ENABLE);
-	irq_set_status(TX_FIFO_ERROR, S_ENABLE);
-	irq_set_status(RX_FIFO_ERROR, S_ENABLE);
-	irq_set_status(RX_FIFO_ALMOST_FULL, S_ENABLE);
-	irq_set_status(VALID_SYNC, S_ENABLE);
-
-	/* Configure Spirit1 */
-	radio_persistent_rx(S_ENABLE);
-	qi_set_sqi_threshold(SQI_TH_0);
-	qi_sqi_check(S_ENABLE);
-	qi_set_rssi_threshold_dbm(CCA_THRESHOLD);
-	timer_set_rx_timeout_stop_condition(SQI_ABOVE_THRESHOLD);
-	timer_set_infinite_rx_timeout();
-	radio_afc_freeze_on_sync(S_ENABLE);
-	calibration_rco(S_ENABLE);
-
-	spirit_on = OFF;
-	CLEAR_TXBUF();
-	CLEAR_RXBUF();
-	_spirit_tx_started = false;
-	_spirit_rx_err = false;
-	_is_receiving = false;
-
-	/* Configure the radio to route the IRQ signal to its GPIO 3 */
-	SGpioInit x_gpio_init = {
-			SPIRIT_GPIO_IRQ,
-			SPIRIT_GPIO_MODE_DIGITAL_OUTPUT_LP,
-			SPIRIT_GPIO_DIG_OUT_IRQ
-	};
-	spirit_gpio_init(&x_gpio_init);
-
-	/* Setup CSMA/CA */
-	CsmaInit x_csma_init = {
-			S_ENABLE,         // enable persistent mode
-			TBIT_TIME_64,     // Tcca time
-			TCCA_TIME_3,      // Lcca length
-			3,                // max nr of backoffs (<8)
-			1,                // BU counter seed
-			8                 // BU prescaler
-	};
-	csma_ca_init(&x_csma_init);
-
-#ifdef RX_FIFO_THR_AO_CSMA_WA
-	linear_fifo_set_almost_full_thr_rx(SPIRIT_MAX_FIFO_LEN-(MAX_PACKET_LEN+1));
-#endif
-
-#ifdef USE_STANDBY_STATE
-	/* Puts the SPIRIT1 in STANDBY mode (125us -> rx/tx) */
-	cmd_strobe(SPIRIT1_STROBE_STANDBY);
-#endif // USE_STANDBY_STATE
-}
-
-int SimpleSpirit1::send(const void *payload, unsigned int payload_len) {
-	/* Checks if the payload length is supported */
-	if(payload_len > MAX_PACKET_LEN) {
-		return RADIO_TX_ERR;
-	}
-
-	disable_spirit_irq();
-
-	BUSYWAIT_UNTIL(SPIRIT1_STATUS() == SPIRIT1_STATE_RX, STATE_TIMEOUT);
-#ifndef NDEBUG
-	if((last_state & SPIRIT1_STATE_STATEBITS) != SPIRIT1_STATE_RX) {
-		debug("\n\rAssert failed in: %s (%d): state=%x\n\r", __func__, __LINE__, last_state>>1);
-	}
-#endif
-
-	/* Reset State to Ready */
-	set_ready_state();
-
-	cmd_strobe(SPIRIT1_STROBE_FTX); // flush TX FIFO buffer
-
-#ifndef NDEBUG
-	debug_if(!(linear_fifo_read_num_elements_tx_fifo() == 0), "\n\rAssert failed in: %s (%d)\n\r", __func__, __LINE__);
-#endif
-
-	pkt_basic_set_payload_length(payload_len); // set desired payload len
-
-#ifdef RX_FIFO_THR_AO_CSMA_WA
-	// betzw - TODO: enabling CSMA/CA seems to be incompatible with TX FIFO usage (to be investigated)
-	csma_ca_state(S_ENABLE); // enable CSMA/CA
-#endif
-
-	int i = 0;
-	int remaining = payload_len;
-	const uint8_t *buffer = (const uint8_t*)payload;
-	bool tx_triggered = false;
-	do {
-		uint8_t fifo_available = SPIRIT_MAX_FIFO_LEN - linear_fifo_read_num_elements_tx_fifo();
-		uint8_t to_send = (remaining > fifo_available) ? fifo_available : remaining;
-
-		/* Fill FIFO Buffer */
-		if(to_send > 0) {
-			spi_write_linear_fifo(to_send, (uint8_t*)&buffer[i]);
-		}
-
-		if(!tx_triggered) {
-			cmd_strobe(SPIRIT1_STROBE_TX);
-			tx_triggered = true;
-		}
-
-		i += to_send;
-		remaining -= to_send;
-	} while(remaining != 0);
-
-	_spirit_tx_started = true;
-
-	enable_spirit_irq();
-
-	BUSYWAIT_UNTIL(!_spirit_tx_started, STATE_TIMEOUT);
-#ifdef HEAVY_DEBUG
-	debug("\n\r%s (%d): state=%x, _spirit_tx_started=%d\n\r", __func__, __LINE__, SPIRIT1_STATUS()>>1, _spirit_tx_started);
-#endif
-
-	_spirit_tx_started = false; // in case of state timeout
-
-	csma_ca_state(S_DISABLE); // disable CSMA/CA
-	cmd_strobe(SPIRIT1_STROBE_RX); // Return to RX state
-
-	return RADIO_TX_OK;
-}
-
-/** Set Ready State **/
-void SimpleSpirit1::set_ready_state(void) {
-	uint16_t state;
-
-	disable_spirit_irq();
-
-	_spirit_tx_started = false;
-	_is_receiving = false;
-	_spirit_rx_err = false;
-	stop_rx_timeout();
-
-	cmd_strobe(SPIRIT1_STROBE_FRX);
-	CLEAR_RXBUF();
-	CLEAR_TXBUF();
-
-	state = SPIRIT1_STATUS();
-	if(state == SPIRIT1_STATE_STANDBY) {
-		cmd_strobe(SPIRIT1_STROBE_READY);
-	} else if(state == SPIRIT1_STATE_RX) {
-		cmd_strobe(SPIRIT1_STROBE_SABORT);
-	} else if(state != SPIRIT1_STATE_READY) {
-#ifndef NDEBUG
-		debug("\n\rAssert failed in: %s (%d): state=%x\n\r", __func__, __LINE__, state>>1);
-#endif
-	}
-
-	BUSYWAIT_UNTIL((SPIRIT1_STATUS() == SPIRIT1_STATE_READY) && ((last_state & XO_ON) == XO_ON), STATE_TIMEOUT);
-	if(last_state != (SPIRIT1_STATE_READY | XO_ON)) {
-		error("\n\rSpirit1: failed to become ready (%x) => pls. reset!\n\r", last_state);
-		enable_spirit_irq();
-		return;
-	}
-
-	irq_clear_status();
-
-	enable_spirit_irq();
-}
-
-int SimpleSpirit1::off(void) {
-	if(spirit_on == ON) {
-		/* Disables the mcu to get IRQ from the SPIRIT1 */
-		disable_spirit_irq();
-
-		/* first stop rx/tx */
-		set_ready_state();
-
-#ifdef USE_STANDBY_STATE
-		/* Puts the SPIRIT1 in STANDBY */
-		cmd_strobe(SPIRIT1_STROBE_STANDBY);
-		BUSYWAIT_UNTIL(SPIRIT1_STATUS() == SPIRIT1_STATE_STANDBY, STATE_TIMEOUT);
-		if((last_state & SPIRIT1_STATE_STATEBITS) != SPIRIT1_STATE_STANDBY) {
-			error("\n\rSpirit1: failed to enter standby (%x)\n\r", last_state>>1);
-			return 1;
-		}
-#endif // USE_STANDBY_STATE
-
-		spirit_on = OFF;
-		_nr_of_irq_disables = 1;
-	}
-	return 0;
-}
-
-int SimpleSpirit1::on(void) {
-	if(spirit_on == OFF) {
-		set_ready_state();
-
-		/* now we go to Rx */
-		cmd_strobe(SPIRIT1_STROBE_RX);
-
-		BUSYWAIT_UNTIL(SPIRIT1_STATUS() == SPIRIT1_STATE_RX, STATE_TIMEOUT);
-		if((last_state & SPIRIT1_STATE_STATEBITS) != SPIRIT1_STATE_RX) {
-			error("\n\rSpirit1: failed to enter rx (%x) => retry\n\r", last_state>>1);
-		}
-
-		/* Enables the mcu to get IRQ from the SPIRIT1 */
-		spirit_on = ON;
-#ifndef NDEBUG
-		debug_if(!(_nr_of_irq_disables == 1), "\n\rAssert failed in: %s (%d)\n\r", __func__, __LINE__);
-#endif
-		enable_spirit_irq();
-	}
-
-#ifndef NDEBUG
-	if(SPIRIT1_STATUS() != SPIRIT1_STATE_RX) {
-		debug("\n\rAssert failed in: %s (%d): state=%x\n\r", __func__, __LINE__, last_state>>1);
-	}
-#endif
-
-	return 0;
-}
-
-uint8_t SimpleSpirit1::refresh_state(void) {
-	uint8_t mcstate;
-
-	SpiritSpiReadRegisters(MC_STATE0_BASE, 1, &mcstate);
-
-	return mcstate;
-}
-
-int SimpleSpirit1::read(void *buf, unsigned int bufsize)
-{
-	disable_spirit_irq();
-
-	/* Checks if the RX buffer is empty */
-	if(IS_RXBUF_EMPTY()) {
-		set_ready_state();
-
-		cmd_strobe(SPIRIT1_STROBE_RX);
-		BUSYWAIT_UNTIL(SPIRIT1_STATUS() == SPIRIT1_STATE_RX, STATE_TIMEOUT);
-		enable_spirit_irq();
-		return 0;
-	}
-
-	if(bufsize < spirit_rx_len) {
-		enable_spirit_irq();
-
-		/* If buf has the correct size */
-#ifndef NDEBUG
-		debug("\n\rTOO SMALL BUF\n\r");
-#endif
-		return 0;
-	} else {
-		/* Copies the packet received */
-		memcpy(buf, spirit_rx_buf, spirit_rx_len);
-
-		bufsize = spirit_rx_len;
-		CLEAR_RXBUF();
-
-		enable_spirit_irq();
-
-		return bufsize;
-	}
-
-}
-
-int SimpleSpirit1::channel_clear(void)
-{
-	float rssi_value;
-	/* Local variable used to memorize the SPIRIT1 state */
-	uint8_t spirit_state = ON;
-
-	if(spirit_on == OFF) {
-		/* Wakes up the SPIRIT1 */
-		on();
-		spirit_state = OFF;
-	}
-
-#ifndef NDEBUG
-	if(SPIRIT1_STATUS() != SPIRIT1_STATE_RX) {
-		debug("\n\rAssert failed in: %s (%d): state=%x\n\r", __func__, __LINE__, last_state>>1);
-	}
-#endif
-
-	disable_spirit_irq();
-
-	/* Reset State to Ready */
-	set_ready_state();
-
-	/* Stores the RSSI value */
-	rssi_value = qi_get_rssi_dbm();
-
-	enable_spirit_irq();
-
-	/* Puts the SPIRIT1 in its previous state */
-	if(spirit_state==OFF) {
-		off();
-#ifndef NDEBUG
-#ifdef USE_STANDBY_STATE
-		if(SPIRIT1_STATUS() != SPIRIT1_STATE_STANDBY) {
-#else
-		if(SPIRIT1_STATUS() != SPIRIT1_STATE_READY) {
-#endif
-			debug("\n\rAssert failed in: %s (%d): state=%x\n\r", __func__, __LINE__, last_state>>1);
-		}
-#endif
-	} else {
-		disable_spirit_irq();
-
-        set_ready_state();
-
-		cmd_strobe(SPIRIT1_STROBE_RX);
-		BUSYWAIT_UNTIL(SPIRIT1_STATUS() == SPIRIT1_STATE_RX, STATE_TIMEOUT);
-		if((last_state & SPIRIT1_STATE_STATEBITS) != SPIRIT1_STATE_RX) {
-			error("\n\rSpirit1: (#2) failed to enter rx (%x) => retry\n\r", last_state>>1);
-		}
-
-		enable_spirit_irq();
-
-#ifndef NDEBUG
-		if(SPIRIT1_STATUS() != SPIRIT1_STATE_RX) {
-			debug("\n\rAssert failed in: %s (%d): state=%x\n\r", __func__, __LINE__, last_state>>1);
-		}
-#endif
-	}
-
-	/* Checks the RSSI value with the threshold */
-	if(rssi_value<CCA_THRESHOLD) {
-		return 0;
-	} else {
-		return 1;
-	}
-}
-
-int SimpleSpirit1::get_pending_packet(void)
-{
-	return !IS_RXBUF_EMPTY();
-}
-
-/** Spirit Irq Callback **/
-void SimpleSpirit1::IrqHandler() {
-	st_lib_spirit_irqs x_irq_status;
-
-	/* get interrupt source from radio */
-	irq_get_status(&x_irq_status);
-
-	/* Reception errors */
-	if((x_irq_status.IRQ_RX_FIFO_ERROR) || (x_irq_status.IRQ_RX_DATA_DISC)) {
-#ifdef DEBUG_IRQ
-		uint32_t *tmp = (uint32_t*)&x_irq_status;
-		debug("\n\r%s (%d): irq=%x", __func__, __LINE__, *tmp);
-#endif
-		_spirit_rx_err = true;
-		_is_receiving = false;
-		CLEAR_RXBUF();
-		cmd_strobe(SPIRIT1_STROBE_FRX);
-		if(_spirit_tx_started) {
-			_spirit_tx_started = false;
-			CLEAR_TXBUF();
-			/* call user callback */
-			if(_current_irq_callback) {
-				_current_irq_callback(TX_ERR);
-			}
-		}
-	}
-
-	/* Transmission error */
-	if(x_irq_status.IRQ_TX_FIFO_ERROR) {
-#ifdef DEBUG_IRQ
-		uint32_t *tmp = (uint32_t*)&x_irq_status;
-		debug("\n\r%s (%d): irq=%x", __func__, __LINE__, *tmp);
-#endif
-		csma_ca_state(S_DISABLE); // disable CSMA/CA
-		cmd_strobe(SPIRIT1_STROBE_FTX);
-		if(_spirit_tx_started) {
-			_spirit_tx_started = false;
-			CLEAR_TXBUF();
-			/* call user callback */
-			if(_current_irq_callback) {
-				_current_irq_callback(TX_ERR);
-			}
-		}
-	}
-
-	/* The IRQ_TX_DATA_SENT notifies the packet received. Puts the SPIRIT1 in RX */
-	if(x_irq_status.IRQ_TX_DATA_SENT) {
-#ifdef DEBUG_IRQ
-		debug_if(!_spirit_tx_started, "\n\rAssert failed in: %s (%d)\n\r", __func__, __LINE__);
-#endif
-
-		_spirit_rx_err = false;
-		_spirit_tx_started = false;
-		CLEAR_TXBUF();
-		CLEAR_RXBUF();
-
-		/* call user callback */
-		if(_current_irq_callback) {
-			_current_irq_callback(TX_DONE);
-		}
-	}
-
-	/* RX FIFO almost full */
-	if(x_irq_status.IRQ_RX_FIFO_ALMOST_FULL) {
-		if(_spirit_rx_err) {
-			_is_receiving = false;
-			cmd_strobe(SPIRIT1_STROBE_FRX);
-			CLEAR_RXBUF();
-		} else {
-			uint8_t fifo_available = linear_fifo_read_num_elements_rx_fifo();
-			unsigned int remaining = MAX_PACKET_LEN - _spirit_rx_pos;
-			if(fifo_available > remaining) {
-				_spirit_rx_err = true;
-				_is_receiving = false;
-				CLEAR_RXBUF();
-				cmd_strobe(SPIRIT1_STROBE_FRX);
-			} else {
-				spi_read_linear_fifo(fifo_available, &spirit_rx_buf[_spirit_rx_pos]);
-				_spirit_rx_pos += fifo_available;
-				if(!_is_receiving) {
-					_is_receiving = true;
-					start_rx_timeout();
-				}
-			}
-		}
-	}
-
-	/* The IRQ_RX_DATA_READY notifies a new packet arrived */
-	if(x_irq_status.IRQ_RX_DATA_READY) {
-		_is_receiving = false; // Finished receiving
-		stop_rx_timeout();
-
-		if(_spirit_rx_err) {
-			_spirit_rx_err = false;
-			CLEAR_RXBUF();
-			cmd_strobe(SPIRIT1_STROBE_FRX);
-		} else {
-			spirit_rx_len = pkt_basic_get_received_pkt_length();
-
-#ifdef DEBUG_IRQ
-			debug_if(!(spirit_rx_len <= MAX_PACKET_LEN), "\n\rAssert failed in: %s (%d)\n\r", __func__, __LINE__);
-#endif
-
-			for(; _spirit_rx_pos < spirit_rx_len;) {
-				uint8_t to_receive = spirit_rx_len - _spirit_rx_pos;
-				if(to_receive > 0) {
-					spi_read_linear_fifo(to_receive, &spirit_rx_buf[_spirit_rx_pos]);
-					_spirit_rx_pos += to_receive;
-				}
-			}
-
-			cmd_strobe(SPIRIT1_STROBE_FRX);
-
-			last_rssi = qi_get_rssi(); //MGR
-			last_sqi  = qi_get_sqi();  //MGR
-
-			/* call user callback */
-			if(_current_irq_callback) {
-				_current_irq_callback(RX_DONE);
-			}
-		}
-	}
-
-	/* The IRQ_VALID_SYNC is used to notify a new packet is coming */
-	if(x_irq_status.IRQ_VALID_SYNC) {
-		_is_receiving = true;
-		_spirit_rx_err = false;
-		CLEAR_RXBUF();
-#ifdef DEBUG_IRQ
-		debug_if(_spirit_tx_started, "\n\rAssert failed in: %s (%d)\n\r", __func__, __LINE__);
-#endif
-		start_rx_timeout();
-	}
-}