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Merge pull request #589 from martinbudden/inav_rx_spi
Merge pull request #589 from martinbudden/inav_rx_spi
Refactor NRF24 RX into SPI and NRF24 partsmaster
Martin Budden
8 years ago
committed by
GitHub
GitHub
32 changed files with 519 additions and 436 deletions
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3Makefile
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22src/main/config/config.c
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2src/main/config/config.h
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4src/main/config/feature.c
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4src/main/drivers/bus_spi.c
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4src/main/drivers/resource.h
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170src/main/drivers/rx_nrf24l01.c
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14src/main/drivers/rx_nrf24l01.h
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166src/main/drivers/rx_spi.c
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35src/main/drivers/rx_spi.h
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3src/main/drivers/rx_xn297.c
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12src/main/fc/msp_server_fc.c
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24src/main/io/serial_cli.c
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26src/main/rx/nrf24_cx10.c
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2src/main/rx/nrf24_cx10.h
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48src/main/rx/nrf24_h8_3d.c
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2src/main/rx/nrf24_h8_3d.h
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66src/main/rx/nrf24_inav.c
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2src/main/rx/nrf24_inav.h
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30src/main/rx/nrf24_syma.c
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2src/main/rx/nrf24_syma.h
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39src/main/rx/nrf24_v202.c
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2src/main/rx/nrf24_v202.h
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20src/main/rx/rx.c
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6src/main/rx/rx.h
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45src/main/rx/rx_spi.c
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64src/main/rx/rx_spi.h
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27src/main/target/CC3D/target.h
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56src/main/target/CJMCU/target.h
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25src/main/target/CRAZEPONYMINI/target.h
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20src/main/target/NAZE/target.h
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10src/main/target/STM32F3DISCOVERY/target.h
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/* |
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* This file is part of Cleanflight. |
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* |
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* Cleanflight is free software: you can redistribute it and/or modify |
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* it under the terms of the GNU General Public License as published by |
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* the Free Software Foundation, either version 3 of the License, or |
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* (at your option) any later version. |
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* |
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* Cleanflight is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License |
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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|
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// This file is copied with modifications from project Deviation, |
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// see http://deviationtx.com |
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#include <stdbool.h> |
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#include <stdint.h> |
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#include <stdlib.h> |
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#include <platform.h> |
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#ifdef USE_RX_SPI |
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#include "build/build_config.h" |
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#include "system.h" |
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#include "gpio.h" |
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#include "io.h" |
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#include "io_impl.h" |
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#include "rcc.h" |
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#include "rx_spi.h" |
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#include "bus_spi.h" |
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#include "bus_spi_soft.h" |
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#define DISABLE_RX() {IOHi(IOGetByTag(IO_TAG(RX_NSS_PIN)));} |
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#define ENABLE_RX() {IOLo(IOGetByTag(IO_TAG(RX_NSS_PIN)));} |
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#ifdef RX_CE_PIN |
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#define RX_CE_HI() {IOHi(IOGetByTag(IO_TAG(RX_CE_PIN)));} |
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#define RX_CE_LO() {IOLo(IOGetByTag(IO_TAG(RX_CE_PIN)));} |
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#endif |
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#ifdef USE_RX_SOFTSPI |
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static const softSPIDevice_t softSPIDevice = { |
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.sckTag = IO_TAG(RX_SCK_PIN), |
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.mosiTag = IO_TAG(RX_MOSI_PIN), |
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.misoTag = IO_TAG(RX_MISO_PIN), |
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// Note: Nordic Semiconductor uses 'CSN', STM uses 'NSS' |
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.nssTag = IO_TAG(RX_NSS_PIN), |
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}; |
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static bool useSoftSPI = false; |
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#endif // USE_RX_SOFTSPI |
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void rxSpiDeviceInit(rx_spi_type_e spiType) |
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{ |
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static bool hardwareInitialised = false; |
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if (hardwareInitialised) { |
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return; |
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} |
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#ifdef USE_RX_SOFTSPI |
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if (spiType == RX_SPI_SOFTSPI) { |
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useSoftSPI = true; |
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softSpiInit(&softSPIDevice); |
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} |
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const SPIDevice rxSPIDevice = SOFT_SPIDEV_1; |
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#else |
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UNUSED(spiType); |
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const SPIDevice rxSPIDevice = spiDeviceByInstance(RX_SPI_INSTANCE); |
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IOInit(IOGetByTag(IO_TAG(RX_NSS_PIN)), OWNER_SPI, RESOURCE_SPI_CS, rxSPIDevice + 1); |
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#endif // USE_RX_SOFTSPI |
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#if defined(STM32F10X) |
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RCC_AHBPeriphClockCmd(RX_NSS_GPIO_CLK_PERIPHERAL, ENABLE); |
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RCC_AHBPeriphClockCmd(RX_CE_GPIO_CLK_PERIPHERAL, ENABLE); |
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#endif |
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#ifdef RX_CE_PIN |
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// CE as OUTPUT |
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IOInit(IOGetByTag(IO_TAG(RX_CE_PIN)), OWNER_RX_SPI, RESOURCE_RX_CE, rxSPIDevice + 1); |
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#if defined(STM32F10X) |
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IOConfigGPIO(IOGetByTag(IO_TAG(RX_CE_PIN)), SPI_IO_CS_CFG); |
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#elif defined(STM32F3) || defined(STM32F4) |
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IOConfigGPIOAF(IOGetByTag(IO_TAG(RX_CE_PIN)), SPI_IO_CS_CFG, 0); |
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#endif |
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RX_CE_LO(); |
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#endif // RX_CE_PIN |
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DISABLE_RX(); |
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#ifdef RX_SPI_INSTANCE |
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spiSetDivisor(RX_SPI_INSTANCE, SPI_CLOCK_STANDARD); |
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#endif |
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hardwareInitialised = true; |
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} |
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uint8_t rxSpiTransferByte(uint8_t data) |
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{ |
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#ifdef USE_RX_SOFTSPI |
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if (useSoftSPI) { |
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return softSpiTransferByte(&softSPIDevice, data); |
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} else |
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#endif |
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{ |
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#ifdef RX_SPI_INSTANCE |
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return spiTransferByte(RX_SPI_INSTANCE, data); |
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#else |
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return 0; |
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#endif |
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} |
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} |
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uint8_t rxSpiWriteByte(uint8_t data) |
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{ |
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ENABLE_RX(); |
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const uint8_t ret = rxSpiTransferByte(data); |
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DISABLE_RX(); |
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return ret; |
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} |
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uint8_t rxSpiWriteCommand(uint8_t command, uint8_t data) |
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{ |
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ENABLE_RX(); |
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const uint8_t ret = rxSpiTransferByte(command); |
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rxSpiTransferByte(data); |
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DISABLE_RX(); |
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return ret; |
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} |
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uint8_t rxSpiWriteCommandMulti(uint8_t command, const uint8_t *data, uint8_t length) |
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{ |
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ENABLE_RX(); |
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const uint8_t ret = rxSpiTransferByte(command); |
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for (uint8_t i = 0; i < length; i++) { |
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rxSpiTransferByte(data[i]); |
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} |
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DISABLE_RX(); |
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return ret; |
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} |
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uint8_t rxSpiReadCommand(uint8_t command, uint8_t data) |
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{ |
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ENABLE_RX(); |
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rxSpiTransferByte(command); |
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const uint8_t ret = rxSpiTransferByte(data); |
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DISABLE_RX(); |
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return ret; |
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} |
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uint8_t rxSpiReadCommandMulti(uint8_t command, uint8_t commandData, uint8_t *retData, uint8_t length) |
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{ |
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ENABLE_RX(); |
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const uint8_t ret = rxSpiTransferByte(command); |
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for (uint8_t i = 0; i < length; i++) { |
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retData[i] = rxSpiTransferByte(commandData); |
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} |
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DISABLE_RX(); |
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return ret; |
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} |
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#endif |
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@ -0,0 +1,35 @@ |
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/* |
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* This file is part of Cleanflight. |
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* |
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* Cleanflight 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. |
|||
* |
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* Cleanflight 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 |
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* GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License |
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#pragma once |
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#include <stdint.h> |
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typedef enum { |
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RX_SPI_SOFTSPI, |
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RX_SPI_HARDSPI, |
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} rx_spi_type_e; |
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#define RX_SPI_MAX_PAYLOAD_SIZE 32 |
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void rxSpiDeviceInit(rx_spi_type_e spiType); |
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uint8_t rxSpiTransferByte(uint8_t data); |
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uint8_t rxSpiWriteByte(uint8_t data); |
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uint8_t rxSpiWriteCommand(uint8_t command, uint8_t data); |
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uint8_t rxSpiWriteCommandMulti(uint8_t command, const uint8_t *data, uint8_t length); |
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uint8_t rxSpiReadCommand(uint8_t command, uint8_t commandData); |
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uint8_t rxSpiReadCommandMulti(uint8_t command, uint8_t commandData, uint8_t *retData, uint8_t length); |
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