Diff: source/SimpleSpirit1.cpp

Revision:

34:edda6a7238ec

Child:

37:bc043030b55a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/source/SimpleSpirit1.cpp	Tue Nov 22 11:40:10 2016 +0100
@@ -0,0 +1,574 @@
+/*** 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();
+	}
+}