Merge branch 'master' of github.com:ChibiOS/ChibiOS-Contrib

1 files changed, 440 insertions, 0 deletions

diff --git a/os/various/devices_lib/rf/nrf24l01.c b/os/various/devices_lib/rf/nrf24l01.c
new file mode 100644
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+++ b/os/various/devices_lib/rf/nrf24l01.c
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+/*
+    Pretty LAYer for ChibiOS/RT - Copyright (C) 2015 Rocco Marco Guglielmi
+	
+    This file is part of PLAY for ChibiOS/RT.
+
+    PLAY is free software; you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation; either version 3 of the License, or
+    (at your option) any later version.
+
+    PLAY is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/*
+    Special thanks to Giovanni Di Sirio for teachings, his moral support and
+    friendship. Note that some or every piece of this file could be part of
+    the ChibiOS project that is intellectual property of Giovanni Di Sirio.
+    Please refer to ChibiOS/RT license before use this file.
+	
+	For suggestion or Bug report - roccomarco.guglielmi@playembedded.org
+ */
+
+/**
+ * @file    nrf24l01.c
+ * @brief   NRF24L01 interface module code.
+ *
+ * @addtogroup nrf24l01
+ * @{
+ */
+
+#include "ch.h"
+#include "hal.h"
+
+#include "nrf24l01.h"
+
+/*===========================================================================*/
+/* Driver local definitions.                                                 */
+/*===========================================================================*/
+
+#define ACTIVATE                  0x73
+/*===========================================================================*/
+/* Driver exported variables.                                                */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local variables and types.                                         */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver local functions.                                                   */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Driver exported functions.                                                */
+/*===========================================================================*/
+
+/**
+ * @brief   Gets the status register value.
+ * @pre     The SPI interface must be initialized and the driver started.
+ *
+ * @param[in] spip      pointer to the SPI interface
+ *
+ * @return              the status register value
+ */
+NRF24L01_status_t nrf24l01GetStatus(SPIDriver *spip) {
+  uint8_t txbuf = NRF24L01_CMD_NOP;
+  uint8_t status;
+  spiSelect(spip);
+  spiExchange(spip, 1, &txbuf, &status);
+  spiUnselect(spip);
+  return status;
+}
+
+/**
+ * @brief   Reads a generic register value.
+ *
+ * @note    Cannot be used to set addresses
+ * @pre     The SPI interface must be initialized and the driver started.
+ *
+ * @param[in] spip      pointer to the SPI interface
+ * @param[in] reg       register number
+ * @param[out] pvalue   pointer to a data buffer
+ *
+ * @return              the status register value
+ */
+NRF24L01_status_t nrf24l01ReadRegister(SPIDriver *spip, uint8_t reg,
+                                       uint8_t* pvalue) {
+  uint8_t txbuf = (NRF24L01_CMD_READ | reg);
+  uint8_t status = 0xFF;
+  spiSelect(spip);
+  spiExchange(spip, 1, &txbuf, &status);
+  spiReceive(spip, 1, pvalue);
+  spiUnselect(spip);
+  return status;
+}
+
+/**
+ * @brief   Writes a generic register value.
+ *
+ * @note    Cannot be used to set addresses
+ * @pre     The SPI interface must be initialized and the driver started.
+ *
+ * @param[in] spip      pointer to the SPI interface
+ * @param[in] reg       register number
+ * @param[in] value     data value
+ *
+ * @return              the status register value
+ */
+NRF24L01_status_t nrf24l01WriteRegister(SPIDriver *spip, uint8_t reg,
+                                        uint8_t value) {
+
+  uint8_t txbuf[2] = {(NRF24L01_CMD_WRITE | reg), value};
+  uint8_t rxbuf[2] = {0xFF, 0xFF};
+  switch (reg) {
+
+    default:
+      /* Reserved register must not be written, according to the datasheet
+       * this could permanently damage the device.
+       */
+      chDbgAssert(FALSE, "lg3d20WriteRegister(), reserved register");
+    case NRF24L01_AD_OBSERVE_TX:
+    case NRF24L01_AD_CD:
+    case NRF24L01_AD_RX_ADDR_P0:
+    case NRF24L01_AD_RX_ADDR_P1:
+    case NRF24L01_AD_RX_ADDR_P2:
+    case NRF24L01_AD_RX_ADDR_P3:
+    case NRF24L01_AD_RX_ADDR_P4:
+    case NRF24L01_AD_RX_ADDR_P5:
+    case NRF24L01_AD_TX_ADDR:
+    /* Read only or addresses registers cannot be written,
+     * the command is ignored.
+     */
+      return 0;
+    case NRF24L01_AD_CONFIG:
+    case NRF24L01_AD_EN_AA:
+    case NRF24L01_AD_EN_RXADDR:
+    case NRF24L01_AD_SETUP_AW:
+    case NRF24L01_AD_SETUP_RETR:
+    case NRF24L01_AD_RF_CH:
+    case NRF24L01_AD_RF_SETUP:
+    case NRF24L01_AD_STATUS:
+    case NRF24L01_AD_RX_PW_P0:
+    case NRF24L01_AD_RX_PW_P1:
+    case NRF24L01_AD_RX_PW_P2:
+    case NRF24L01_AD_RX_PW_P3:
+    case NRF24L01_AD_RX_PW_P4:
+    case NRF24L01_AD_RX_PW_P5:
+    case NRF24L01_AD_FIFO_STATUS:
+    case NRF24L01_AD_DYNPD:
+    case NRF24L01_AD_FEATURE:
+      spiSelect(spip);
+      spiExchange(spip, 2, txbuf, rxbuf);
+      spiUnselect(spip);
+      return rxbuf[0];
+  }
+}
+
+
+/**
+ * @brief   Writes an address.
+ *
+ * @pre     The SPI interface must be initialized and the driver started.
+ *
+ * @param[in] spip      pointer to the SPI interface
+ * @param[in] reg       register number
+ * @param[in] pvalue    pointer to address value
+ * @param[in] addlen    address len
+ *
+ * @return              the status register value
+ */
+NRF24L01_status_t nrf24l01WriteAddress(SPIDriver *spip, uint8_t reg,
+                                       uint8_t *pvalue, uint8_t addlen) {
+
+  uint8_t txbuf[NRF24L01_MAX_ADD_LENGHT + 1];
+  uint8_t rxbuf[NRF24L01_MAX_ADD_LENGHT + 1];
+  unsigned i;
+
+  if(addlen > NRF24L01_MAX_ADD_LENGHT) {
+    chDbgAssert(FALSE, "nrf24l01WriteAddress(), wrong address length");
+    return 0;
+  }
+  txbuf[0] = (NRF24L01_CMD_WRITE | reg);
+  rxbuf[0] = 0xFF;
+  for(i = 1; i <= addlen; i++) {
+    txbuf[i] = *(pvalue + (i - 1));
+    rxbuf[i] = 0xFF;
+  }
+  switch (reg) {
+
+    default:
+      /* Reserved register must not be written, according to the datasheet
+       * this could permanently damage the device.
+       */
+      chDbgAssert(FALSE, "nrf24l01WriteAddress(), reserved register");
+    case NRF24L01_AD_OBSERVE_TX:
+    case NRF24L01_AD_CD:
+    case NRF24L01_AD_CONFIG:
+    case NRF24L01_AD_EN_AA:
+    case NRF24L01_AD_EN_RXADDR:
+    case NRF24L01_AD_SETUP_AW:
+    case NRF24L01_AD_SETUP_RETR:
+    case NRF24L01_AD_RF_CH:
+    case NRF24L01_AD_RF_SETUP:
+    case NRF24L01_AD_STATUS:
+    case NRF24L01_AD_RX_PW_P0:
+    case NRF24L01_AD_RX_PW_P1:
+    case NRF24L01_AD_RX_PW_P2:
+    case NRF24L01_AD_RX_PW_P3:
+    case NRF24L01_AD_RX_PW_P4:
+    case NRF24L01_AD_RX_PW_P5:
+    case NRF24L01_AD_FIFO_STATUS:
+    case NRF24L01_AD_DYNPD:
+    case NRF24L01_AD_FEATURE:
+    /* Not address registers cannot be written, the command is ignored.*/
+      return 0;
+    case NRF24L01_AD_RX_ADDR_P0:
+    case NRF24L01_AD_RX_ADDR_P1:
+    case NRF24L01_AD_RX_ADDR_P2:
+    case NRF24L01_AD_RX_ADDR_P3:
+    case NRF24L01_AD_RX_ADDR_P4:
+    case NRF24L01_AD_RX_ADDR_P5:
+    case NRF24L01_AD_TX_ADDR:
+      spiSelect(spip);
+      spiExchange(spip, addlen + 1, txbuf, rxbuf);
+      spiUnselect(spip);
+      return rxbuf[0];
+  }
+}
+/**
+ * @brief   Reads RX payload from FIFO.
+ *
+ * @note    Payload is deleted from FIFO after it is read. Used in RX mode.
+ * @pre     The SPI interface must be initialized and the driver started.
+ *
+ * @param[in] spip      pointer to the SPI interface
+ * @param[in] paylen    payload length
+ * @param[in] rxbuf     pointer to a buffer
+ *
+ * @return              the status register value
+ */
+NRF24L01_status_t nrf24l01GetRxPl(SPIDriver *spip, uint8_t paylen,
+                                  uint8_t* rxbuf) {
+
+  uint8_t txbuf = NRF24L01_CMD_R_RX_PAYLOAD;
+  uint8_t status;
+  if(paylen > NRF24L01_MAX_PL_LENGHT) {
+    return 0;
+  }
+  spiSelect(spip);
+  spiExchange(spip, 1, &txbuf, &status);
+  spiReceive(spip, paylen, rxbuf);
+  spiUnselect(spip);
+  return status;
+}
+
+/**
+ * @brief   Writes TX payload on FIFO.
+ *
+ * @note    Used in TX mode.
+ * @pre     The SPI interface must be initialized and the driver started.
+ *
+ * @param[in] spip      pointer to the SPI interface
+ * @param[in] paylen    payload length
+ * @param[in] rxbuf     pointer to a buffer
+ *
+ * @return              the status register value
+ */
+NRF24L01_status_t nrf24l01WriteTxPl(SPIDriver *spip, uint8_t paylen,
+                                    uint8_t* txbuf) {
+
+  uint8_t cmd = NRF24L01_CMD_W_TX_PAYLOAD;
+  uint8_t status;
+  if(paylen > NRF24L01_MAX_PL_LENGHT) {
+    return 0;
+  }
+  spiSelect(spip);
+  spiExchange(spip, 1, &cmd, &status);
+  spiSend(spip, paylen, txbuf);
+  spiUnselect(spip);
+  return status;
+}
+
+/**
+ * @brief   Flush TX FIFO.
+ *
+ * @note    Used in TX mode.
+ * @pre     The SPI interface must be initialized and the driver started.
+ *
+ * @param[in] spip      pointer to the SPI interface
+ *
+ * @return              the status register value
+ */
+NRF24L01_status_t nrf24l01FlushTx(SPIDriver *spip) {
+
+  uint8_t txbuf = NRF24L01_CMD_FLUSH_TX;
+  uint8_t status;
+  spiSelect(spip);
+  spiExchange(spip, 1, &txbuf, &status);
+  spiUnselect(spip);
+  return status;
+}
+
+/**
+ * @brief   Flush RX FIFO.
+ *
+ * @note    Used in RX mode. Should not be executed during transmission of
+            acknowledge, that is, acknowledge package will not be completed.
+ * @pre     The SPI interface must be initialized and the driver started.
+ *
+ * @param[in] spip      pointer to the SPI interface
+ *
+ * @return              the status register value
+ */
+NRF24L01_status_t nrf24l01FlushRx(SPIDriver *spip) {
+
+  uint8_t txbuf = NRF24L01_CMD_FLUSH_RX;
+  uint8_t status;
+  spiSelect(spip);
+  spiExchange(spip, 1, &txbuf, &status);
+  spiUnselect(spip);
+  return status;
+}
+
+#if NRF24L01_USE_FEATURE || defined(__DOXYGEN__)
+/**
+ * @brief   Activates the following features:
+ *          R_RX_PL_WID        -> (In order to enable DPL the EN_DPL bit in the
+ *                                 FEATURE register must be set)
+ *          W_ACK_PAYLOAD      -> (In order to enable PL with ACK the EN_ACK_PAY
+ *                                 bit in the FEATURE register must be set)
+ *          W_TX_PAYLOAD_NOACK -> (In order to send a PL without ACK
+ *                                 the EN_DYN_ACK it in the FEATURE register
+ *                                 must be set)
+ *
+ * @note    A new ACTIVATE command with the same data deactivates them again.
+ *          This is executable in power down or stand by modes only.
+ * @pre     The SPI interface must be initialized and the driver started.
+ *
+ * @param[in] spip      pointer to the SPI interface
+ *
+ * @return              the status register value
+ */
+NRF24L01_status_t nrf24l01Activate(SPIDriver *spip) {
+
+  uint8_t txbuf[2] = {NRF24L01_CMD_FLUSH_RX, ACTIVATE};
+  uint8_t rxbuf[2];
+  spiSelect(spip);
+  spiExchange(spip, 2, txbuf, rxbuf);
+  spiUnselect(spip);
+  return rxbuf[0];
+}
+
+/**
+ * @brief   Reads RX payload lenght for the top R_RX_PAYLOAD
+ *          in the RX FIFO when Dynamic Payload Length is activated.
+ *
+ * @note    R_RX_PL_WID must be set and activated.
+ * @pre     The SPI interface must be initialized and the driver started.
+ *
+ * @param[in] spip      pointer to the SPI interface
+ * @param[in] ppaylen   pointer to the payload length variable
+ *
+ * @return              the status register value
+ */
+NRF24L01_status_t nrf24l01ReadRxPlWid(SPIDriver *spip, uint8_t *ppaylen) {
+
+  uint8_t txbuf[2] = {NRF24L01_CMD_R_RX_PL_WID, 0xFF};
+  uint8_t rxbuf[2];
+  spiSelect(spip);
+  spiExchange(spip, 2, txbuf, rxbuf);
+  spiUnselect(spip);
+  *ppaylen = rxbuf[1];
+  return rxbuf[0];
+}
+
+/**
+ * @brief   Writes TX payload associateted to ACK.
+ *
+ * @note    Used in RX mode. Write Payload to be transmitted together with
+ *          ACK packet on PIPE PPP. (PPP valid in the range from 000 to 101).
+ * @note    EN_ACK_PAY must be set and activated.
+ * @pre     The SPI interface must be initialized and the driver started.
+ *
+ * @param[in] spip      pointer to the SPI interface
+ * @param[in] paylen    payload length
+ * @param[in] rxbuf     pointer to a buffer
+ *
+ * @return              the status register value
+ */
+NRF24L01_status_t nrf24l01WriteAckPl(SPIDriver *spip, uint8_t ppp, uint8_t paylen,
+                                       uint8_t* payload){
+
+  payload[0] = NRF24L01_CMD_W_ACK_PAYLOAD | NRF24L01_MAX_PPP;
+  uint8_t status;
+  if((paylen > NRF24L01_MAX_PL_LENGHT) || (ppp > NRF24L01_MAX_PPP)) {
+    return 0;
+  }
+  spiSelect(spip);
+  spiExchange(spip, 1, payload, &status);
+  spiSend(spip, paylen, payload);
+  spiUnselect(spip);
+  return status;
+}
+
+/**
+ * @brief   Writes next TX payload without ACK.
+ *
+ * @note    Used in TX mode.
+ * @note    EN_DYN_ACK must be set and activated.
+ * @pre     The SPI interface must be initialized and the driver started.
+ *
+ * @param[in] spip      pointer to the SPI interface
+ * @param[in] paylen    payload length
+ * @param[in] rxbuf     pointer to a buffer
+ *
+ * @return              the status register value
+ */
+NRF24L01_status_t nrf24l01WriteTxPlNoAck(SPIDriver *spip, uint8_t paylen,
+                                    uint8_t* txbuf) {
+
+  txbuf[0] = NRF24L01_CMD_W_TX_PAYLOAD_NOACK;
+  uint8_t status;
+  if(paylen > NRF24L01_MAX_PL_LENGHT) {
+    return 0;
+  }
+  spiSelect(spip);
+  spiExchange(spip, 1, txbuf, &status);
+  spiSend(spip, paylen, txbuf);
+  spiUnselect(spip);
+  return status;
+}
+#endif /* NRF24L01_USE_FEATURE */
+
+/** @} */