Patrick Clary / Radio

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Dependents:   WalkingRobot PcRadioBridge FzeroXcontroller WalkingRobot ... more

Radio.cpp@1:32635715529f, 2012-12-23 (annotated)

Committer:
pclary
Date:
Sun Dec 23 04:56:14 2012 +0000
Revision:
1:32635715529f
Parent:
0:fb0cf6209cd3
Child:
2:24a6ae7c3f69
Added controller class to radio library

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pclary 0:fb0cf6209cd3 1 #include "Radio.h"
pclary 0:fb0cf6209cd3 2 #include "nRF24L01P_defs.h"
pclary 0:fb0cf6209cd3 3
pclary 0:fb0cf6209cd3 4
pclary 0:fb0cf6209cd3 5
pclary 0:fb0cf6209cd3 6 Radio::Radio(PinName mosi, PinName miso, PinName sck, PinName csn, PinName ce, PinName irq)
pclary 0:fb0cf6209cd3 7 : _spi(mosi, miso, sck), _csn(csn), _ce(ce), _irq(irq)
pclary 0:fb0cf6209cd3 8 {
pclary 0:fb0cf6209cd3 9 // Disable nRF24L01+
pclary 0:fb0cf6209cd3 10 _ce = 0;
pclary 0:fb0cf6209cd3 11
pclary 0:fb0cf6209cd3 12 // Disable chip select
pclary 0:fb0cf6209cd3 13 _csn = 1;
pclary 0:fb0cf6209cd3 14
pclary 0:fb0cf6209cd3 15 // Set up SPI
pclary 0:fb0cf6209cd3 16 _spi.frequency(SPI_FREQUENCY);
pclary 0:fb0cf6209cd3 17 _spi.format(8, 0);
pclary 0:fb0cf6209cd3 18
pclary 0:fb0cf6209cd3 19 // Set to use controller channel 0
pclary 0:fb0cf6209cd3 20 controller = 0;
pclary 0:fb0cf6209cd3 21
pclary 0:fb0cf6209cd3 22 // Set up IRQ
pclary 0:fb0cf6209cd3 23 _irq.fall(this, &Radio::receive);
pclary 0:fb0cf6209cd3 24 }
pclary 0:fb0cf6209cd3 25
pclary 0:fb0cf6209cd3 26
pclary 0:fb0cf6209cd3 27
pclary 0:fb0cf6209cd3 28 void Radio::reset()
pclary 0:fb0cf6209cd3 29 {
pclary 0:fb0cf6209cd3 30 // Wait for power on reset
pclary 0:fb0cf6209cd3 31 wait_us(TIMING_Tpor);
pclary 0:fb0cf6209cd3 32
pclary 0:fb0cf6209cd3 33 // Put into standby
pclary 0:fb0cf6209cd3 34 _ce = 0;
pclary 0:fb0cf6209cd3 35
pclary 0:fb0cf6209cd3 36 // Configure registers
pclary 0:fb0cf6209cd3 37 setRegister(CONFIG, CONFIG_MASK_TX_DS | CONFIG_MASK_MAX_RT | CONFIG_EN_CRC | CONFIG_PWR_UP | CONFIG_PRIM_RX);
pclary 0:fb0cf6209cd3 38 setRegister(EN_AA, 0x00);
pclary 0:fb0cf6209cd3 39 setRegister(EN_RXADDR, ERX_P0 | ERX_P1);
pclary 0:fb0cf6209cd3 40 setRegister(SETUP_AW, SETUP_AW_3BYTES);
pclary 0:fb0cf6209cd3 41 setRegister(SETUP_RETR, 0x00);
pclary 0:fb0cf6209cd3 42 setRegister(RF_CH, RF_CHANNEL);
pclary 0:fb0cf6209cd3 43 setRegister(RF_SETUP, RF_SETUP_RF_DR_HIGH | RF_SETUP_RF_PWR_0);
pclary 0:fb0cf6209cd3 44 setRegister(STATUS, STATUS_RX_DR | STATUS_TX_DS | STATUS_MAX_RT);
pclary 0:fb0cf6209cd3 45 setRegister(RX_PW_P0, 4);
pclary 0:fb0cf6209cd3 46 setRegister(RX_PW_P1, 4);
pclary 0:fb0cf6209cd3 47 setRegister(DYNPD, 0x00);
pclary 0:fb0cf6209cd3 48 setRegister(FEATURE, 0x00);
pclary 0:fb0cf6209cd3 49
pclary 0:fb0cf6209cd3 50 // Set addresses
pclary 0:fb0cf6209cd3 51 _csn = 0;
pclary 0:fb0cf6209cd3 52 _spi.write(W_REGISTER | RX_ADDR_P0);
pclary 0:fb0cf6209cd3 53 _spi.write(CTRL_BASE_ADDRESS_1 + (controller & 0xf));
pclary 0:fb0cf6209cd3 54 _spi.write(CTRL_BASE_ADDRESS_2);
pclary 0:fb0cf6209cd3 55 _spi.write(CTRL_BASE_ADDRESS_3);
pclary 0:fb0cf6209cd3 56 _csn = 1;
pclary 0:fb0cf6209cd3 57 _csn = 0;
pclary 0:fb0cf6209cd3 58 _spi.write(W_REGISTER | RX_ADDR_P1);
pclary 0:fb0cf6209cd3 59 _spi.write(ROBOT_ADDRESS_1);
pclary 0:fb0cf6209cd3 60 _spi.write(ROBOT_ADDRESS_2);
pclary 0:fb0cf6209cd3 61 _spi.write(ROBOT_ADDRESS_3);
pclary 0:fb0cf6209cd3 62 _csn = 1;
pclary 0:fb0cf6209cd3 63 _csn = 0;
pclary 0:fb0cf6209cd3 64 _spi.write(W_REGISTER | TX_ADDR);
pclary 0:fb0cf6209cd3 65 _spi.write(ROBOT_ADDRESS_1);
pclary 0:fb0cf6209cd3 66 _spi.write(ROBOT_ADDRESS_2);
pclary 0:fb0cf6209cd3 67 _spi.write(ROBOT_ADDRESS_3);
pclary 0:fb0cf6209cd3 68 _csn = 1;
pclary 0:fb0cf6209cd3 69
pclary 0:fb0cf6209cd3 70 // Put into PRX
pclary 0:fb0cf6209cd3 71 _ce = 1;
pclary 0:fb0cf6209cd3 72 wait_us(TIMING_Tstby2a);
pclary 0:fb0cf6209cd3 73
pclary 0:fb0cf6209cd3 74 // Flush FIFOs
pclary 0:fb0cf6209cd3 75 _csn = 0;
pclary 0:fb0cf6209cd3 76 _spi.write(FLUSH_TX);
pclary 0:fb0cf6209cd3 77 _csn = 1;
pclary 0:fb0cf6209cd3 78 _csn = 0;
pclary 0:fb0cf6209cd3 79 _spi.write(FLUSH_RX);
pclary 0:fb0cf6209cd3 80 _csn = 1;
pclary 0:fb0cf6209cd3 81 }
pclary 0:fb0cf6209cd3 82
pclary 0:fb0cf6209cd3 83
pclary 0:fb0cf6209cd3 84
pclary 0:fb0cf6209cd3 85 void Radio::transmit(uint32_t data)
pclary 0:fb0cf6209cd3 86 {
pclary 0:fb0cf6209cd3 87 // Put into standby
pclary 0:fb0cf6209cd3 88 _ce = 0;
pclary 0:fb0cf6209cd3 89
pclary 0:fb0cf6209cd3 90 // Configure for PTX
pclary 0:fb0cf6209cd3 91 int config = getRegister(CONFIG);
pclary 0:fb0cf6209cd3 92 config &= ~CONFIG_PRIM_RX;
pclary 0:fb0cf6209cd3 93 setRegister(CONFIG, config);
pclary 0:fb0cf6209cd3 94
pclary 0:fb0cf6209cd3 95 // Write packet data
pclary 0:fb0cf6209cd3 96 _csn = 0;
pclary 0:fb0cf6209cd3 97 _spi.write(W_TX_PAYLOAD);
pclary 0:fb0cf6209cd3 98 _spi.write( (data>>0) & 0xff );
pclary 0:fb0cf6209cd3 99 _spi.write( (data>>8) & 0xff );
pclary 0:fb0cf6209cd3 100 _spi.write( (data>>16) & 0xff );
pclary 0:fb0cf6209cd3 101 _spi.write( (data>>24) & 0xff );
pclary 0:fb0cf6209cd3 102 _csn = 1;
pclary 0:fb0cf6209cd3 103
pclary 0:fb0cf6209cd3 104 // Put into PTX
pclary 0:fb0cf6209cd3 105 _ce = 1;
pclary 0:fb0cf6209cd3 106 wait_us(TIMING_Tstby2a);
pclary 0:fb0cf6209cd3 107 _ce = 0;
pclary 0:fb0cf6209cd3 108
pclary 0:fb0cf6209cd3 109 // Wait for message transmission and put into PRX
pclary 0:fb0cf6209cd3 110 wait_us(TIMING_Toa);
pclary 0:fb0cf6209cd3 111 config = getRegister(CONFIG);
pclary 0:fb0cf6209cd3 112 config |= CONFIG_PRIM_RX;
pclary 0:fb0cf6209cd3 113 setRegister(CONFIG, config);
pclary 0:fb0cf6209cd3 114 setRegister(STATUS, STATUS_TX_DS);
pclary 0:fb0cf6209cd3 115 _ce = 1;
pclary 0:fb0cf6209cd3 116 }
pclary 0:fb0cf6209cd3 117
pclary 0:fb0cf6209cd3 118
pclary 0:fb0cf6209cd3 119
pclary 0:fb0cf6209cd3 120 void Radio::receive()
pclary 0:fb0cf6209cd3 121 {
pclary 0:fb0cf6209cd3 122 uint32_t data = 0;
pclary 0:fb0cf6209cd3 123 int pipe;
pclary 0:fb0cf6209cd3 124
pclary 0:fb0cf6209cd3 125 // Reset IRQ pin
pclary 0:fb0cf6209cd3 126 setRegister(STATUS, STATUS_RX_DR);
pclary 0:fb0cf6209cd3 127
pclary 0:fb0cf6209cd3 128 // Check data pipe
pclary 0:fb0cf6209cd3 129 wait_us(1000);
pclary 0:fb0cf6209cd3 130 pipe = getStatus() & STATUS_RN_P_MASK;
pclary 0:fb0cf6209cd3 131
pclary 0:fb0cf6209cd3 132 // Read data
pclary 0:fb0cf6209cd3 133 _csn = 0;
pclary 0:fb0cf6209cd3 134 _spi.write(R_RX_PAYLOAD);
pclary 0:fb0cf6209cd3 135 data |= _spi.write(NOP)<<0;
pclary 0:fb0cf6209cd3 136 data |= _spi.write(NOP)<<8;
pclary 0:fb0cf6209cd3 137 data |= _spi.write(NOP)<<16;
pclary 0:fb0cf6209cd3 138 data |= _spi.write(NOP)<<24;
pclary 0:fb0cf6209cd3 139 _csn = 1;
pclary 0:fb0cf6209cd3 140
pclary 0:fb0cf6209cd3 141 // Sort into recieve buffer
pclary 0:fb0cf6209cd3 142 switch(pipe)
pclary 0:fb0cf6209cd3 143 {
pclary 0:fb0cf6209cd3 144 case STATUS_RN_P_NO_P0:
pclary 0:fb0cf6209cd3 145 rx_controller = data;
pclary 0:fb0cf6209cd3 146 break;
pclary 0:fb0cf6209cd3 147
pclary 0:fb0cf6209cd3 148 case STATUS_RN_P_NO_P1:
pclary 0:fb0cf6209cd3 149 rx_robot[rx_robot_pos++ % RX_BUFFER_SIZE] = data;
pclary 0:fb0cf6209cd3 150 break;
pclary 0:fb0cf6209cd3 151
pclary 0:fb0cf6209cd3 152 default:
pclary 0:fb0cf6209cd3 153 break;
pclary 0:fb0cf6209cd3 154 }
pclary 0:fb0cf6209cd3 155 }
pclary 0:fb0cf6209cd3 156
pclary 0:fb0cf6209cd3 157
pclary 0:fb0cf6209cd3 158
pclary 0:fb0cf6209cd3 159 int Radio::getRegister(int address)
pclary 0:fb0cf6209cd3 160 {
pclary 0:fb0cf6209cd3 161 _csn = 0;
pclary 0:fb0cf6209cd3 162 int rc = R_REGISTER | (address & REGISTER_ADDRESS_MASK);
pclary 0:fb0cf6209cd3 163 _spi.write(rc);
pclary 0:fb0cf6209cd3 164 int data = _spi.write(NOP);
pclary 0:fb0cf6209cd3 165 _csn = 1;
pclary 0:fb0cf6209cd3 166 return data;
pclary 0:fb0cf6209cd3 167 }
pclary 0:fb0cf6209cd3 168
pclary 0:fb0cf6209cd3 169
pclary 0:fb0cf6209cd3 170
pclary 0:fb0cf6209cd3 171 int Radio::getStatus()
pclary 0:fb0cf6209cd3 172 {
pclary 0:fb0cf6209cd3 173 _csn = 0;
pclary 0:fb0cf6209cd3 174 int status = _spi.write(NOP);
pclary 0:fb0cf6209cd3 175 _csn = 1;
pclary 0:fb0cf6209cd3 176 return status;
pclary 0:fb0cf6209cd3 177 }
pclary 0:fb0cf6209cd3 178
pclary 0:fb0cf6209cd3 179
pclary 0:fb0cf6209cd3 180 void Radio::setRegister(int address, int data)
pclary 0:fb0cf6209cd3 181 {
pclary 0:fb0cf6209cd3 182 bool enabled = false;
pclary 0:fb0cf6209cd3 183 if (_ce == 1)
pclary 0:fb0cf6209cd3 184 {
pclary 0:fb0cf6209cd3 185 enabled = true;
pclary 0:fb0cf6209cd3 186 _ce = 0;
pclary 0:fb0cf6209cd3 187 }
pclary 0:fb0cf6209cd3 188
pclary 0:fb0cf6209cd3 189 _csn = 0;
pclary 0:fb0cf6209cd3 190 int rc = W_REGISTER | (address & REGISTER_ADDRESS_MASK);
pclary 0:fb0cf6209cd3 191 _spi.write(rc);
pclary 0:fb0cf6209cd3 192 _spi.write(data & 0xff);
pclary 0:fb0cf6209cd3 193 _csn = 1;
pclary 0:fb0cf6209cd3 194
pclary 0:fb0cf6209cd3 195 if (enabled)
pclary 0:fb0cf6209cd3 196 {
pclary 0:fb0cf6209cd3 197 _ce = 1;
pclary 0:fb0cf6209cd3 198 wait_us(TIMING_Tpece2csn);
pclary 0:fb0cf6209cd3 199 }
pclary 0:fb0cf6209cd3 200
pclary 0:fb0cf6209cd3 201 }
pclary 1:32635715529f 202
pclary 1:32635715529f 203
pclary 1:32635715529f 204
pclary 1:32635715529f 205 /************************************************************************/
pclary 1:32635715529f 206
pclary 1:32635715529f 207
pclary 1:32635715529f 208
pclary 1:32635715529f 209 RadioController::RadioController(PinName mosi, PinName miso, PinName sck, PinName csn, PinName ce)
pclary 1:32635715529f 210 : _spi(mosi, miso, sck), _csn(csn), _ce(ce)
pclary 1:32635715529f 211 {
pclary 1:32635715529f 212 // Disable nRF24L01+
pclary 1:32635715529f 213 _ce = 0;
pclary 1:32635715529f 214
pclary 1:32635715529f 215 // Disable chip select
pclary 1:32635715529f 216 _csn = 1;
pclary 1:32635715529f 217
pclary 1:32635715529f 218 // Set up SPI
pclary 1:32635715529f 219 _spi.frequency(SPI_FREQUENCY);
pclary 1:32635715529f 220 _spi.format(8, 0);
pclary 1:32635715529f 221
pclary 1:32635715529f 222 // Set to use controller channel 0
pclary 1:32635715529f 223 controller = 0;
pclary 1:32635715529f 224 }
pclary 1:32635715529f 225
pclary 1:32635715529f 226
pclary 1:32635715529f 227
pclary 1:32635715529f 228 void RadioController::reset()
pclary 1:32635715529f 229 {
pclary 1:32635715529f 230 // Wait for power on reset
pclary 1:32635715529f 231 wait_us(TIMING_Tpor);
pclary 1:32635715529f 232
pclary 1:32635715529f 233 // Put into standby
pclary 1:32635715529f 234 _ce = 0;
pclary 1:32635715529f 235
pclary 1:32635715529f 236 // Configure registers
pclary 1:32635715529f 237 setRegister(CONFIG, CONFIG_MASK_RX_DR | CONFIG_MASK_TX_DS | CONFIG_MASK_MAX_RT | CONFIG_EN_CRC | CONFIG_PWR_UP);
pclary 1:32635715529f 238 setRegister(EN_AA, 0x00);
pclary 1:32635715529f 239 setRegister(EN_RXADDR, 0x00);
pclary 1:32635715529f 240 setRegister(SETUP_AW, SETUP_AW_3BYTES);
pclary 1:32635715529f 241 setRegister(SETUP_RETR, 0x00);
pclary 1:32635715529f 242 setRegister(RF_CH, RF_CHANNEL);
pclary 1:32635715529f 243 setRegister(RF_SETUP, RF_SETUP_RF_DR_HIGH | RF_SETUP_RF_PWR_0);
pclary 1:32635715529f 244 setRegister(STATUS, STATUS_RX_DR | STATUS_TX_DS | STATUS_MAX_RT);
pclary 1:32635715529f 245 setRegister(DYNPD, 0x00);
pclary 1:32635715529f 246 setRegister(FEATURE, 0x00);
pclary 1:32635715529f 247
pclary 1:32635715529f 248 // Set transmit address
pclary 1:32635715529f 249 _csn = 0;
pclary 1:32635715529f 250 _spi.write(W_REGISTER | TX_ADDR);
pclary 1:32635715529f 251 _spi.write(CTRL_BASE_ADDRESS_1 + (controller & 0xf));
pclary 1:32635715529f 252 _spi.write(CTRL_BASE_ADDRESS_2);
pclary 1:32635715529f 253 _spi.write(CTRL_BASE_ADDRESS_3);
pclary 1:32635715529f 254 _csn = 1;
pclary 1:32635715529f 255
pclary 1:32635715529f 256 // Flush TX FIFO
pclary 1:32635715529f 257 _csn = 0;
pclary 1:32635715529f 258 _spi.write(FLUSH_TX);
pclary 1:32635715529f 259 _csn = 1;
pclary 1:32635715529f 260 }
pclary 1:32635715529f 261
pclary 1:32635715529f 262
pclary 1:32635715529f 263
pclary 1:32635715529f 264 void RadioController::transmit(uint32_t data)
pclary 1:32635715529f 265 {
pclary 1:32635715529f 266 // Write packet data
pclary 1:32635715529f 267 _csn = 0;
pclary 1:32635715529f 268 _spi.write(W_TX_PAYLOAD);
pclary 1:32635715529f 269 _spi.write( (data>>0) & 0xff );
pclary 1:32635715529f 270 _spi.write( (data>>8) & 0xff );
pclary 1:32635715529f 271 _spi.write( (data>>16) & 0xff );
pclary 1:32635715529f 272 _spi.write( (data>>24) & 0xff );
pclary 1:32635715529f 273 _csn = 1;
pclary 1:32635715529f 274
pclary 1:32635715529f 275 // Put into PTX and transmit packet
pclary 1:32635715529f 276 _ce = 1;
pclary 1:32635715529f 277 wait_us(TIMING_Tstby2a);
pclary 1:32635715529f 278
pclary 1:32635715529f 279 // Go back into standby
pclary 1:32635715529f 280 _ce = 0;
pclary 1:32635715529f 281 }
pclary 1:32635715529f 282
pclary 1:32635715529f 283
pclary 1:32635715529f 284
pclary 1:32635715529f 285 void RadioController::setRegister(int address, int data)
pclary 1:32635715529f 286 {
pclary 1:32635715529f 287 bool enabled = false;
pclary 1:32635715529f 288 if (_ce == 1)
pclary 1:32635715529f 289 {
pclary 1:32635715529f 290 enabled = true;
pclary 1:32635715529f 291 _ce = 0;
pclary 1:32635715529f 292 }
pclary 1:32635715529f 293
pclary 1:32635715529f 294 _csn = 0;
pclary 1:32635715529f 295 int rc = W_REGISTER | (address & REGISTER_ADDRESS_MASK);
pclary 1:32635715529f 296 _spi.write(rc);
pclary 1:32635715529f 297 _spi.write(data & 0xff);
pclary 1:32635715529f 298 _csn = 1;
pclary 1:32635715529f 299
pclary 1:32635715529f 300 if (enabled)
pclary 1:32635715529f 301 {
pclary 1:32635715529f 302 _ce = 1;
pclary 1:32635715529f 303 wait_us(TIMING_Tpece2csn);
pclary 1:32635715529f 304 }
pclary 1:32635715529f 305
pclary 1:32635715529f 306 }