src/main/drivers/rx/rx_cyrf6936.c

   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 #include <stdbool.h>
  22 #include <stdint.h>
  23 #include <stdlib.h>
  24
  25 #include "platform.h"
  26
  27 #ifdef USE_RX_SPEKTRUM
  28
  29 #include "drivers/bus_spi.h"
  30 #include "drivers/io.h"
  31 #include "drivers/io_impl.h"
  32 #include "drivers/rx/rx_cyrf6936.h"
  33 #include "drivers/rx/rx_spi.h"
  34
  35 bool isError = false;
  36
  37 bool cyrf6936RxFinished(timeUs_t *timeStamp)
  38 {
  39     if (rxSpiPollExti()) {
  40         if (rxSpiGetLastExtiTimeUs()) {
  41             *timeStamp = rxSpiGetLastExtiTimeUs();
  42         }
  43
  44         uint8_t rxIrqStatus = cyrf6936ReadRegister(CYRF6936_RX_IRQ_STATUS);
  45         if ((rxIrqStatus & CYRF6936_RXC_IRQ) || (rxIrqStatus & CYRF6936_RXE_IRQ)) {
  46             isError = (rxIrqStatus & CYRF6936_RXE_IRQ) > 0x0;
  47         }
  48
  49         rxSpiResetExti();
  50
  51         return true;
  52     }
  53     return false;
  54 }
  55
  56 bool cyrf6936Init(void)
  57 {
  58     if (!rxSpiExtiConfigured()) {
  59         return false;
  60     }
  61
  62     uint16_t timeout = 1000;
  63     do { // Check if chip has waken up
  64         cyrf6936WriteRegister(CYRF6936_XACT_CFG, 0x82);
  65     } while ((cyrf6936ReadRegister(CYRF6936_XACT_CFG) != 0x82) && timeout--);
  66
  67     // Soft reset
  68     cyrf6936WriteRegister(CYRF6936_MODE_OVERRIDE, CYRF6936_RST);
  69
  70     // Verify the CYRF chip is responding
  71     return cyrf6936ReadRegister(CYRF6936_FRAMING_CFG) == 0xA5;
  72 }
  73
  74 void cyrf6936WriteRegister(const uint8_t address, const uint8_t data)
  75 {
  76     rxSpiWriteCommand(CYRF6936_DIR | address, data);
  77 }
  78
  79 void cyrf6936WriteBlock(const uint8_t address, const uint8_t *data, const uint8_t length)
  80 {
  81     rxSpiWriteCommandMulti(CYRF6936_DIR | address, &data[0], length);
  82 }
  83
  84 uint8_t cyrf6936ReadRegister(const uint8_t address)
  85 {
  86     return rxSpiReadCommand(address, 0xFF);
  87 }
  88
  89 void cyrf6936ReadBlock(const uint8_t address, uint8_t data[], const uint8_t length)
  90 {
  91     rxSpiReadCommandMulti(address, 0xFF, &data[0], length);
  92 }
  93
  94 uint8_t cyrf6936GetRssi(void)
  95 {
  96     return cyrf6936ReadRegister(CYRF6936_RSSI) & 0x1F;  //5 bit value 0 - 31
  97 }
  98
  99 uint8_t cyrf6936GetRxStatus(void)
 100 {
 101     return cyrf6936ReadRegister(CYRF6936_RX_STATUS);
 102 }
 103
 104 void cyrf6936SetConfigLen(const uint8_t config[][2], const uint8_t length)
 105 {
 106     for (unsigned i = 0; i < length; i++) {
 107         cyrf6936WriteRegister(config[i][0], config[i][1]);
 108     }
 109 }
 110
 111 void cyrf6936SetChannel(const uint8_t chan)
 112 {
 113     cyrf6936WriteRegister(CYRF6936_CHANNEL, chan);
 114 }
 115
 116 void cyrf6936SetMode(const uint8_t mode, const bool force)
 117 {
 118     if (force) {
 119         cyrf6936WriteRegister(CYRF6936_XACT_CFG, mode | CYRF6936_FRC_END);
 120     } else {
 121         cyrf6936WriteRegister(CYRF6936_XACT_CFG, mode);
 122     }
 123 }
 124
 125 void cyrf6936SetCrcSeed(const uint16_t crc)
 126 {
 127     cyrf6936WriteRegister(CYRF6936_CRC_SEED_LSB, crc & 0xff);
 128     cyrf6936WriteRegister(CYRF6936_CRC_SEED_MSB, crc >> 8);
 129 }
 130
 131 void cyrf6936SetSopCode(const uint8_t *sopcode)
 132 {
 133     cyrf6936WriteBlock(CYRF6936_SOP_CODE, sopcode, 8);
 134 }
 135
 136 void cyrf6936SetDataCode(const uint8_t *datacode)
 137 {
 138     cyrf6936WriteBlock(CYRF6936_DATA_CODE, datacode, 16);
 139 }
 140
 141 void cyrf6936SendLen(const uint8_t *data, const uint8_t length)
 142 {
 143     cyrf6936WriteRegister(CYRF6936_TX_LENGTH, length);
 144     cyrf6936WriteRegister(CYRF6936_TX_CTRL, CYRF6936_TX_CLR);
 145     cyrf6936WriteBlock(CYRF6936_TX_BUFFER, data, length);
 146     cyrf6936WriteRegister(CYRF6936_TX_CTRL, CYRF6936_TX_GO);
 147 }
 148
 149 void cyrf6936StartRecv(void)
 150 {
 151     cyrf6936WriteRegister(CYRF6936_RX_IRQ_STATUS, CYRF6936_RXOW_IRQ);
 152     cyrf6936WriteRegister(CYRF6936_RX_CTRL, CYRF6936_RX_GO | CYRF6936_RXC_IRQEN | CYRF6936_RXE_IRQEN);
 153 }
 154
 155 void cyrf6936RecvLen(uint8_t *data, const uint8_t length)
 156 {
 157     cyrf6936ReadBlock(CYRF6936_RX_BUFFER, data, length);
 158 }
 159
 160 #endif /* USE_RX_SPEKTRUM */