src/main/drivers/rx/rx_nrf24l01.h

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 // This file is copied with modifications from project Deviation,
  22 // see http://deviationtx.com, file iface_nrf24l01.h
  23
  24 #pragma once
  25
  26 #include <stdbool.h>
  27 #include <stdint.h>
  28
  29 #include "rx/rx_spi.h"
  30
  31 #define NRF24L01_MAX_PAYLOAD_SIZE 32
  32
  33 // Register map of nRF24L01
  34 enum {
  35     NRF24L01_00_CONFIG      = 0x00,
  36     NRF24L01_01_EN_AA       = 0x01, // Auto Acknowledge
  37     NRF24L01_02_EN_RXADDR   = 0x02,
  38     NRF24L01_03_SETUP_AW    = 0x03, // Address Width
  39     NRF24L01_04_SETUP_RETR  = 0x04, // automatic RETRansmission
  40     NRF24L01_05_RF_CH       = 0x05, // RF CHannel
  41     NRF24L01_06_RF_SETUP    = 0x06,
  42     NRF24L01_07_STATUS      = 0x07,
  43     NRF24L01_08_OBSERVE_TX  = 0x08,
  44     NRF24L01_09_RPD         = 0x09, //Received Power Detector in the nRF23L01+, called CD (Carrier Detect) in the nRF24L01
  45     NRF24L01_0A_RX_ADDR_P0  = 0x0A,
  46     NRF24L01_0B_RX_ADDR_P1  = 0x0B,
  47     NRF24L01_0C_RX_ADDR_P2  = 0x0C,
  48     NRF24L01_0D_RX_ADDR_P3  = 0x0D,
  49     NRF24L01_0E_RX_ADDR_P4  = 0x0E,
  50     NRF24L01_0F_RX_ADDR_P5  = 0x0F,
  51     NRF24L01_10_TX_ADDR     = 0x10,
  52     NRF24L01_11_RX_PW_P0    = 0x11, // Payload Width
  53     NRF24L01_12_RX_PW_P1    = 0x12,
  54     NRF24L01_13_RX_PW_P2    = 0x13,
  55     NRF24L01_14_RX_PW_P3    = 0x14,
  56     NRF24L01_15_RX_PW_P4    = 0x15,
  57     NRF24L01_16_RX_PW_P5    = 0x16,
  58     NRF24L01_17_FIFO_STATUS = 0x17,
  59     NRF24L01_1C_DYNPD       = 0x1C, // DYNamic PayloaD
  60     NRF24L01_1D_FEATURE     = 0x1D
  61 };
  62
  63 // Bit position mnemonics
  64 enum {
  65     NRF24L01_00_CONFIG_MASK_RX_DR       = 6,
  66     NRF24L01_00_CONFIG_MASK_TX_DS       = 5,
  67     NRF24L01_00_CONFIG_MASK_MAX_RT      = 4,
  68     NRF24L01_00_CONFIG_EN_CRC           = 3,
  69     NRF24L01_00_CONFIG_CRCO             = 2,
  70     NRF24L01_00_CONFIG_PWR_UP           = 1,
  71     NRF24L01_00_CONFIG_PRIM_RX          = 0,
  72
  73     NRF24L01_01_EN_AA_ENAA_P5           = 5,
  74     NRF24L01_01_EN_AA_ENAA_P4           = 4,
  75     NRF24L01_01_EN_AA_ENAA_P3           = 3,
  76     NRF24L01_01_EN_AA_ENAA_P2           = 2,
  77     NRF24L01_01_EN_AA_ENAA_P1           = 1,
  78     NRF24L01_01_EN_AA_ENAA_P0           = 0,
  79
  80     NRF24L01_02_EN_RXADDR_ERX_P5        = 5,
  81     NRF24L01_02_EN_RXADDR_ERX_P4        = 4,
  82     NRF24L01_02_EN_RXADDR_ERX_P3        = 3,
  83     NRF24L01_02_EN_RXADDR_ERX_P2        = 2,
  84     NRF24L01_02_EN_RXADDR_ERX_P1        = 1,
  85     NRF24L01_02_EN_RXADDR_ERX_P0        = 0,
  86
  87     NRF24L01_06_RF_SETUP_RF_DR_LOW      = 5,
  88     NRF24L01_06_RF_SETUP_RF_DR_HIGH     = 3,
  89     NRF24L01_06_RF_SETUP_RF_PWR_HIGH    = 2,
  90     NRF24L01_06_RF_SETUP_RF_PWR_LOW     = 1,
  91
  92     NRF24L01_07_STATUS_RX_DR            = 6,
  93     NRF24L01_07_STATUS_TX_DS            = 5,
  94     NRF24L01_07_STATUS_MAX_RT           = 4,
  95
  96     NRF24L01_17_FIFO_STATUS_TX_FULL     = 5,
  97     NRF24L01_17_FIFO_STATUS_TX_EMPTY    = 4,
  98     NRF24L01_17_FIFO_STATUS_RX_FULL     = 1,
  99     NRF24L01_17_FIFO_STATUS_RX_EMPTY    = 0,
 100
 101     NRF24L01_1C_DYNPD_DPL_P5            = 5,
 102     NRF24L01_1C_DYNPD_DPL_P4            = 4,
 103     NRF24L01_1C_DYNPD_DPL_P3            = 3,
 104     NRF24L01_1C_DYNPD_DPL_P2            = 2,
 105     NRF24L01_1C_DYNPD_DPL_P1            = 1,
 106     NRF24L01_1C_DYNPD_DPL_P0            = 0,
 107
 108     NRF24L01_1D_FEATURE_EN_DPL          = 2,
 109     NRF24L01_1D_FEATURE_EN_ACK_PAY      = 1,
 110     NRF24L01_1D_FEATURE_EN_DYN_ACK      = 0
 111 };
 112
 113 // Pre-shifted and combined bits
 114 enum {
 115     NRF24L01_01_EN_AA_ALL_PIPES         = 0x3F,
 116
 117     NRF24L01_02_EN_RXADDR_ERX_ALL_PIPES = 0x3F,
 118
 119     NRF24L01_03_SETUP_AW_3BYTES         = 0x01,
 120     NRF24L01_03_SETUP_AW_4BYTES         = 0x02,
 121     NRF24L01_03_SETUP_AW_5BYTES         = 0x03,
 122
 123     NRF24L01_04_SETUP_RETR_ARD_250us    = 0x00,
 124     NRF24L01_04_SETUP_RETR_ARD_500us    = 0x10,
 125     NRF24L01_04_SETUP_RETR_ARD_750us    = 0x20,
 126     NRF24L01_04_SETUP_RETR_ARD_1000us   = 0x30,
 127     NRF24L01_04_SETUP_RETR_ARD_1250us   = 0x40,
 128     NRF24L01_04_SETUP_RETR_ARD_1500us   = 0x50,
 129     NRF24L01_04_SETUP_RETR_ARD_1750us   = 0x60,
 130     NRF24L01_04_SETUP_RETR_ARD_2000us   = 0x70,
 131     NRF24L01_04_SETUP_RETR_ARD_2250us   = 0x80,
 132     NRF24L01_04_SETUP_RETR_ARD_2500us   = 0x90,
 133     NRF24L01_04_SETUP_RETR_ARD_2750us   = 0xa0,
 134     NRF24L01_04_SETUP_RETR_ARD_3000us   = 0xb0,
 135     NRF24L01_04_SETUP_RETR_ARD_3250us   = 0xc0,
 136     NRF24L01_04_SETUP_RETR_ARD_3500us   = 0xd0,
 137     NRF24L01_04_SETUP_RETR_ARD_3750us   = 0xe0,
 138     NRF24L01_04_SETUP_RETR_ARD_4000us   = 0xf0,
 139
 140     NRF24L01_04_SETUP_RETR_ARC_0        = 0x00,
 141     NRF24L01_04_SETUP_RETR_ARC_1        = 0x01,
 142     NRF24L01_04_SETUP_RETR_ARC_2        = 0x02,
 143     NRF24L01_04_SETUP_RETR_ARC_3        = 0x03,
 144     NRF24L01_04_SETUP_RETR_ARC_4        = 0x04,
 145     NRF24L01_04_SETUP_RETR_ARC_5        = 0x05,
 146     NRF24L01_04_SETUP_RETR_ARC_6        = 0x06,
 147     NRF24L01_04_SETUP_RETR_ARC_7        = 0x07,
 148     NRF24L01_04_SETUP_RETR_ARC_8        = 0x08,
 149     NRF24L01_04_SETUP_RETR_ARC_9        = 0x09,
 150     NRF24L01_04_SETUP_RETR_ARC_10       = 0x0a,
 151     NRF24L01_04_SETUP_RETR_ARC_11       = 0x0b,
 152     NRF24L01_04_SETUP_RETR_ARC_12       = 0x0c,
 153     NRF24L01_04_SETUP_RETR_ARC_13       = 0x0d,
 154     NRF24L01_04_SETUP_RETR_ARC_14       = 0x0e,
 155     NRF24L01_04_SETUP_RETR_ARC_15       = 0x0f,
 156
 157
 158     NRF24L01_06_RF_SETUP_RF_DR_2Mbps    = 0x08,
 159     NRF24L01_06_RF_SETUP_RF_DR_1Mbps    = 0x00,
 160     NRF24L01_06_RF_SETUP_RF_DR_250Kbps  = 0x20,
 161     NRF24L01_06_RF_SETUP_RF_PWR_n18dbm  = 0x01,
 162     NRF24L01_06_RF_SETUP_RF_PWR_n12dbm  = 0x02,
 163     NRF24L01_06_RF_SETUP_RF_PWR_n6dbm   = 0x04,
 164     NRF24L01_06_RF_SETUP_RF_PWR_0dbm    = 0x06,
 165
 166     NRF24L01_1C_DYNPD_ALL_PIPES         = 0x3F
 167 };
 168
 169 // Pipes
 170 enum {
 171     NRF24L01_PIPE0 = 0,
 172     NRF24L01_PIPE1 = 1,
 173     NRF24L01_PIPE2 = 2,
 174     NRF24L01_PIPE3 = 3,
 175     NRF24L01_PIPE4 = 4,
 176     NRF24L01_PIPE5 = 5
 177 };
 178
 179 void NRF24L01_Initialize(uint8_t baseConfig);
 180 void NRF24L01_WriteReg(uint8_t reg, uint8_t data);
 181 void NRF24L01_WriteRegisterMulti(uint8_t reg, const uint8_t *data, uint8_t length);
 182 void NRF24L01_WritePayload(const uint8_t *data, uint8_t length);
 183 void NRF24L01_WriteAckPayload(const uint8_t *data, uint8_t length, uint8_t pipe);
 184 uint8_t NRF24L01_ReadReg(uint8_t reg);
 185 void NRF24L01_ReadRegisterMulti(uint8_t reg, uint8_t *data, uint8_t length);
 186 void NRF24L01_ReadPayload(uint8_t *data, uint8_t length);
 187
 188
 189 // Utility functions
 190
 191 void NRF24L01_FlushTx(void);
 192 void NRF24L01_FlushRx(void);
 193 void NRF24L01_Activate(uint8_t code);
 194
 195 void NRF24L01_SetupBasic(void);
 196 void NRF24L01_SetStandbyMode(void);
 197 void NRF24L01_SetRxMode(void);
 198 void NRF24L01_SetTxMode(void);
 199 void NRF24L01_ClearAllInterrupts(void);
 200 void NRF24L01_SetChannel(uint8_t channel);
 201 bool NRF24L01_ReadPayloadIfAvailable(uint8_t *data, uint8_t length);