1012 lines
28 KiB
Markdown
1012 lines
28 KiB
Markdown
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---
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title: "nRF24L01 + DualShock2 = радиоуправление"
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categories: ["mcu", "archive"]
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date: 2016-01-28T00:00:00+03:00
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draft: false
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featured_image: miniature.jpg
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---
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Я, наконец-то решился купить модули nRF24L01. Для знакомства с ними нужно придумать что из них сделать.
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И сделал радиоуправляемую машинку. Из всего, что есть.
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Наверное, все в детстве хотели радиоуправляемую машинку :)
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<!--more-->
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Выглядят модули вот так:
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Описание:
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Дальность до 100 м.
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Скорость до 2 Мб
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Интерфейс SPI для управления
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Напряжение: 3-3.6В (рекомендуется 3,3) В
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Максимальная выходная мощность: +20 дБм
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Коэффициент усиления антенны (пиковая): 2dBi
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Работает радиомодуль на частоте 2.4ГГц (как эти ваши вайфаи и блютузы).
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В качестве пульта я решил использовать тот самый [белый геймпад](/dualshock-avr-usb) (он не обиделся). Нормальных библиотек особо не нашёл, почитал [мануал](http://store.curiousinventor.com/guides/ps2), посмотрел структуру пакета (рисунок 2), решил написать сам. Геймпад общается по протоколу SPI.
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Вроде бы ничего сложного, написал. Подключил экран и проверил. Работает:
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<iframe frameborder="0" height="350" src="http://www.youtube.com/embed/Sfcrhbiq5VQ" width="425"></iframe>
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И всё работало замечательно пока не отключили свет. И так повезло, что после этого все исходники превратились в кровавое месиво. И тут я случайно нашёл другую [библиотеку](http://digitalcave.ca/resources/avr/psx.jsp) и взял ее.
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После обработки напильником библиотека стала иметь более-менее приличный вид:
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psx.h:
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```c
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#ifndef PSX_lib_h
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#define PSX_lib_h
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#include <avr/io.h>
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#include <stdbool.h>
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#define PSX_DATA_PORT PORTD
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#define PSX_SCK_PORT PORTD
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#define PSX_DC_PORT PORTD
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#define PSX_CS_PORT PORTD
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#define PSX_DATA_PINREG PIND
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#define PSX_DATA_DDR DDRD
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#define PSX_SCK_DDR DDRD
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#define PSX_DC_DDR DDRD
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#define PSX_CS_DDR DDRD
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#define PSX_SCK_PIN 4
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#define PSX_DC_PIN 7
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#define PSX_CS_PIN 5
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#define PSX_DATA_PIN 6
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// задержка тактов SPI, us
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#define CTRL_CLK 10
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// кнопкм
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#define PSB_SELECT 0x0001
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#define PSB_L3 0x0002
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#define PSB_R3 0x0004
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#define PSB_START 0x0008
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#define PSB_PAD_UP 0x0010
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#define PSB_PAD_RIGHT 0x0020
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#define PSB_PAD_DOWN 0x0040
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#define PSB_PAD_LEFT 0x0080
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#define PSB_L2 0x0100
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#define PSB_R2 0x0200
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#define PSB_L1 0x0400
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#define PSB_R1 0x0800
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#define PSB_TRIANGLE 0x1000
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#define PSB_CIRCLE 0x2000
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#define PSB_CROSS 0x4000
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#define PSB_SQUARE 0x8000
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// джойстики
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#define PSS_RX 5
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#define PSS_RY 6
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#define PSS_LX 7
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#define PSS_LY 8
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// инициализация геймпада
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void psx_init(bool analog);
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// получить состояние всех кнопок
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uint16_t psx_buttons();
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// получить состояниие кнопки (PSB_x)
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uint8_t psx_button(uint16_t);
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// получить состояниие оси джойстика (PSS_x)
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uint8_t psx_stick(unsigned int);
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// обновить состояние кнопок
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void psx_read_gamepad();
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#endif
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```
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psx.c:
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```c
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#include "psx.h"
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#include <util/delay.h>
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// буфер
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static uint8_t _psx_data[21];
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// отправить байт программным SPI и получить ответ
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uint8_t _psx_gamepad_shift(uint8_t transmit_byte) {
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uint8_t received_byte = 0;
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for(uint8_t i = 0; i < 8; i++) {
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PSX_SCK_PORT &= ~_BV(PSX_SCK_PIN);
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if (transmit_byte & (_BV(i))) {
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PSX_DC_PORT |= _BV(PSX_DC_PIN);
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}
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else {
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PSX_DC_PORT &= ~_BV(PSX_DC_PIN);
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}
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_delay_us(CTRL_CLK);
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PSX_SCK_PORT |= _BV(PSX_SCK_PIN);
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if(PSX_DATA_PINREG & _BV(PSX_DATA_PIN)) {
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received_byte |= _BV(i);
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}
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_delay_us(CTRL_CLK);
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}
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PSX_SCK_PORT |= _BV(PSX_SCK_PIN);
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return received_byte;
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}
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// отправить команду
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void _psx_send_command(uint8_t send_data[], uint8_t size){
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PSX_CS_PORT &= ~(_BV(PSX_CS_PIN));
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PSX_DC_PORT |= _BV(PSX_DC_PIN);
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PSX_SCK_PORT |= _BV(PSX_SCK_PIN);
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for (uint8_t i = 0; i < size; i++){
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send_data[i] = _psx_gamepad_shift(send_data[i]);
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}
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PSX_CS_PORT |= _BV(PSX_CS_PIN);
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}
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// обновить состояние кнопок
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void psx_read_gamepad() {
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_psx_data[0] = 0x01;
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_psx_data[1] = 0x42;
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for (uint8_t i = 2; i < 21; i++){
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_psx_data[i] = 0x00;
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}
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_psx_send_command(_psx_data, 21);
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}
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// инициализация геймпада
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void psx_init(bool analog){
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PSX_SCK_DDR |= _BV(PSX_SCK_PIN);
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PSX_CS_DDR |= _BV(PSX_CS_PIN);
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PSX_DC_DDR |= _BV(PSX_DC_PIN);
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PSX_DATA_DDR &= ~(_BV(PSX_DATA_PIN));
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PSX_DATA_PORT |= _BV(PSX_DATA_PIN);
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PSX_SCK_PORT |= _BV(PSX_SCK_PIN);
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PSX_DC_PORT |= _BV(PSX_DC_PIN);
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psx_read_gamepad();
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if(!analog) return;
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// войти в режим конфигурации
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uint8_t enter_config_command[] = {0x01, 0x43, 0x00, 0x01, 0x00};
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_psx_send_command(enter_config_command, 5);
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// заблокирвать геймпад в аналоговом режиме
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uint8_t lock_analog_mode_command[] = {0x01, 0x44, 0x00, 0x01, 0x03, 0x00, 0x00, 0x00, 0x00};
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_psx_send_command(lock_analog_mode_command, 9);
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// выйти из режима конфигурации
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uint8_t exit_config_command[] = {0x01, 0x43, 0x00, 0x00, 0x5A, 0x5A, 0x5A, 0x5A, 0x5A};
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_psx_send_command(exit_config_command, 9);
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}
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// получить состояние всех кнопок
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uint16_t psx_buttons() {
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uint16_t buttons = *(uint16_t*)(_psx_data + 3); // получить 2 байта, содержащих позиции данных 3 и 4
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return ~buttons;
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}
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// получить состояниие кнопки (PSB_x
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uint8_t psx_button(uint16_t button) {
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uint16_t buttons = psx_buttons();
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return ((buttons & button) > 0);
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}
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// получить состояниие оси джойстика (PSS_x)
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uint8_t psx_stick(unsigned int stick) {
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return _psx_data[stick];
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}
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```
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Код передатчика:
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host.c:
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```c
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#define NRF24_IO_PORT PORTC
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#define NRF24_IO_PINREG PINC
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#define NRF24_IO_DDR DDRC
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#include <avr/io.h>
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#include <util/delay.h>
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#include "lib/nrf24.h"
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#include "lib/psx.h"
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// ATMega8 nrf24
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// ________ _________
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// | PC0 |----| CE |
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// | PC1 |----| CSN |
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// | PC2 |----| SCK |
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// | PC3 |----| MOSI |
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// | PC4 |----| MISO |
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// | | |_________|
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// | |
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// | | Геймпад
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// | | _________
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// | PD4 |----| SCK |
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// | PD5 |----| CS |
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// | PD6 |----| DATA |
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// | PD7 |----| DC |
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// |________| |_________|
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uint8_t data_array[2];
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uint8_t tx_address[5] = {0xE7, 0xE7, 0xE7, 0xE7, 0xE7};
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uint8_t rx_address[5] = {0xD7, 0xD7, 0xD7, 0xD7, 0xD7};
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int main() {
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nrf24_init();
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nrf24_config(2, 2); // канал 2, размер пакета 2
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nrf24_tx_address(tx_address);
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nrf24_rx_address(rx_address);
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psx_init(false);
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while (1) {
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psx_read_gamepad(); // чтение геймпада
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data_array[0] = 0xFE; // проверочное значение
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// вверх - левое шасси вперёд
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// вниз - левое шасси назад
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// треугольник - правое шасси вперёд
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// крест - правое шасси назад
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data_array[1] = (psx_button(PSB_PAD_UP) << 1) | (psx_button(PSB_PAD_DOWN) << 2)
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| (psx_button(PSB_TRIANGLE) << 3) | (psx_button(PSB_CROSS) << 4); // запихиваем кнопки
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nrf24_send(data_array); // отправляем данные
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while (!nrf24_isSending());
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_delay_ms(20);
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}
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}
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```
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Код черепахи:
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turtle.c:
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```c
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#include <avr/io.h>
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#include "lib/nrf24.h"
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#include <util/delay.h>
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#include <stdbool.h>
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// ATMega8 nrf24
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// ________ _________
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// | PC0 |----| CE |
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// | PC1 |----| CSN |
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// | PC2 |----| SCK |
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// | PC3 |----| MOSI |
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// | PC4 |----| MISO |
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// | | |_________|
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// | |
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// | | Шасси
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// | PD0 |-(2) (1)--[/\ /\]--(3)
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// | PD1 |-(1) |L| |R|
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// | PD2 |-(3) |L| |R|
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// | PD3 |-(4) (2)--[\/ \/]--(4)
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// |________|
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uint8_t data_array[2];
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uint8_t tx_address[5] = {0xD7, 0xD7, 0xD7, 0xD7, 0xD7};
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uint8_t rx_address[5] = {0xE7, 0xE7, 0xE7, 0xE7, 0xE7};
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#define ENGINES_PORT PORTD
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#define ENGINES_DDR DDRD
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#define LEFT_CHASSIS_FWD_PIN 1
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#define LEFT_CHASSIS_REV_PIN 0
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#define RIGHT_CHASSIS_FWD_PIN 3
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#define RIGHT_CHASSIS_REV_PIN 2
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int main() {
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ENGINES_DDR |= 0b00001111;
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|
|
nrf24_init();
|
|||
|
|
|
|||
|
|
nrf24_config(2, 2); // канал 2, размер пакета 2
|
|||
|
|
|
|||
|
|
nrf24_tx_address(tx_address);
|
|||
|
|
nrf24_rx_address(rx_address);
|
|||
|
|
|
|||
|
|
|
|||
|
|
while (1) {
|
|||
|
|
|
|||
|
|
if (nrf24_dataReady()) nrf24_getData(data_array);
|
|||
|
|
|
|||
|
|
if (data_array[0] == 0xFE) { // проверка типа пакета
|
|||
|
|
bool left_fw = (data_array[1] & (1 << 1)) != 0;
|
|||
|
|
bool left_bck = (data_array[1] & (1 << 2)) != 0;
|
|||
|
|
bool right_fw = (data_array[1] & (1 << 3)) != 0;
|
|||
|
|
bool right_bck = (data_array[1] & (1 << 4)) != 0;
|
|||
|
|
ENGINES_PORT = (left_fw << LEFT_CHASSIS_FWD_PIN) | (right_fw << RIGHT_CHASSIS_FWD_PIN) |
|
|||
|
|
(left_bck << LEFT_CHASSIS_REV_PIN) | (right_bck << RIGHT_CHASSIS_REV_PIN);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
_delay_ms(20);
|
|||
|
|
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
/* ------------------------------------------------------------------------- */
|
|||
|
|
```
|
|||
|
|
|
|||
|
|
Библиоткека для nRF24:
|
|||
|
|
|
|||
|
|
nrf24.h:
|
|||
|
|
```c
|
|||
|
|
/*
|
|||
|
|
* ----------------------------------------------------------------------------
|
|||
|
|
* “THE COFFEEWARE LICENSE” (Revision 1):
|
|||
|
|
* <ihsan@kehribar.me> wrote this file. As long as you retain this notice you
|
|||
|
|
* can do whatever you want with this stuff. If we meet some day, and you think
|
|||
|
|
* this stuff is worth it, you can buy me a coffee in return.
|
|||
|
|
* -----------------------------------------------------------------------------
|
|||
|
|
* This library is based on this library:
|
|||
|
|
* https://github.com/aaronds/arduino-nrf24l01
|
|||
|
|
* Which is based on this library:
|
|||
|
|
* http://www.tinkerer.eu/AVRLib/nRF24L01
|
|||
|
|
* -----------------------------------------------------------------------------
|
|||
|
|
*/
|
|||
|
|
#ifndef NRF24
|
|||
|
|
#define NRF24
|
|||
|
|
|
|||
|
|
#include <stdint.h>
|
|||
|
|
#include <avr/io.h>
|
|||
|
|
|
|||
|
|
#ifdef TURTLE
|
|||
|
|
#define NRF24_IO_PORT PORTB
|
|||
|
|
#define NRF24_IO_PINREG PINB
|
|||
|
|
#define NRF24_IO_DDR DDRB
|
|||
|
|
#else
|
|||
|
|
#define NRF24_IO_PORT PORTC
|
|||
|
|
#define NRF24_IO_PINREG PINC
|
|||
|
|
#define NRF24_IO_DDR DDRC
|
|||
|
|
#endif
|
|||
|
|
|
|||
|
|
|
|||
|
|
#define NRF24_CE_PIN 0
|
|||
|
|
#define NRF24_CSN_PIN 1
|
|||
|
|
#define NRF24_SCK_PIN 2
|
|||
|
|
#define NRF24_MOSI_PIN 3
|
|||
|
|
#define NRF24_MISO_PIN 4
|
|||
|
|
|
|||
|
|
|
|||
|
|
/* IO Helpers */
|
|||
|
|
#define nrf24_set_bit(reg,bit) reg |= (1<<bit)
|
|||
|
|
#define nrf24_clr_bit(reg,bit) reg &= ~(1<<bit)
|
|||
|
|
#define nrf24_check_bit(reg,bit) (reg&(1<<bit))
|
|||
|
|
|
|||
|
|
/* Memory Map */
|
|||
|
|
#define CONFIG 0x00
|
|||
|
|
#define EN_AA 0x01
|
|||
|
|
#define EN_RXADDR 0x02
|
|||
|
|
#define SETUP_AW 0x03
|
|||
|
|
#define SETUP_RETR 0x04
|
|||
|
|
#define RF_CH 0x05
|
|||
|
|
#define RF_SETUP 0x06
|
|||
|
|
#define STATUS 0x07
|
|||
|
|
#define OBSERVE_TX 0x08
|
|||
|
|
#define CD 0x09
|
|||
|
|
#define RX_ADDR_P0 0x0A
|
|||
|
|
#define RX_ADDR_P1 0x0B
|
|||
|
|
#define RX_ADDR_P2 0x0C
|
|||
|
|
#define RX_ADDR_P3 0x0D
|
|||
|
|
#define RX_ADDR_P4 0x0E
|
|||
|
|
#define RX_ADDR_P5 0x0F
|
|||
|
|
#define TX_ADDR 0x10
|
|||
|
|
#define RX_PW_P0 0x11
|
|||
|
|
#define RX_PW_P1 0x12
|
|||
|
|
#define RX_PW_P2 0x13
|
|||
|
|
#define RX_PW_P3 0x14
|
|||
|
|
#define RX_PW_P4 0x15
|
|||
|
|
#define RX_PW_P5 0x16
|
|||
|
|
#define FIFO_STATUS 0x17
|
|||
|
|
#define DYNPD 0x1C
|
|||
|
|
|
|||
|
|
/* Bit Mnemonics */
|
|||
|
|
|
|||
|
|
/* configuratio nregister */
|
|||
|
|
#define MASK_RX_DR 6
|
|||
|
|
#define MASK_TX_DS 5
|
|||
|
|
#define MASK_MAX_RT 4
|
|||
|
|
#define EN_CRC 3
|
|||
|
|
#define CRCO 2
|
|||
|
|
#define PWR_UP 1
|
|||
|
|
#define PRIM_RX 0
|
|||
|
|
|
|||
|
|
/* enable auto acknowledgment */
|
|||
|
|
#define ENAA_P5 5
|
|||
|
|
#define ENAA_P4 4
|
|||
|
|
#define ENAA_P3 3
|
|||
|
|
#define ENAA_P2 2
|
|||
|
|
#define ENAA_P1 1
|
|||
|
|
#define ENAA_P0 0
|
|||
|
|
|
|||
|
|
/* enable rx addresses */
|
|||
|
|
#define ERX_P5 5
|
|||
|
|
#define ERX_P4 4
|
|||
|
|
#define ERX_P3 3
|
|||
|
|
#define ERX_P2 2
|
|||
|
|
#define ERX_P1 1
|
|||
|
|
#define ERX_P0 0
|
|||
|
|
|
|||
|
|
/* setup of address width */
|
|||
|
|
#define AW 0 /* 2 bits */
|
|||
|
|
|
|||
|
|
/* setup of auto re-transmission */
|
|||
|
|
#define ARD 4 /* 4 bits */
|
|||
|
|
#define ARC 0 /* 4 bits */
|
|||
|
|
|
|||
|
|
/* RF setup register */
|
|||
|
|
#define PLL_LOCK 4
|
|||
|
|
#define RF_DR 3
|
|||
|
|
#define RF_PWR 1 /* 2 bits */
|
|||
|
|
|
|||
|
|
/* general status register */
|
|||
|
|
#define RX_DR 6
|
|||
|
|
#define TX_DS 5
|
|||
|
|
#define MAX_RT 4
|
|||
|
|
#define RX_P_NO 1 /* 3 bits */
|
|||
|
|
#define TX_FULL 0
|
|||
|
|
|
|||
|
|
/* transmit observe register */
|
|||
|
|
#define PLOS_CNT 4 /* 4 bits */
|
|||
|
|
#define ARC_CNT 0 /* 4 bits */
|
|||
|
|
|
|||
|
|
/* fifo status */
|
|||
|
|
#define TX_REUSE 6
|
|||
|
|
#define FIFO_FULL 5
|
|||
|
|
#define TX_EMPTY 4
|
|||
|
|
#define RX_FULL 1
|
|||
|
|
#define RX_EMPTY 0
|
|||
|
|
|
|||
|
|
/* dynamic length */
|
|||
|
|
#define DPL_P0 0
|
|||
|
|
#define DPL_P1 1
|
|||
|
|
#define DPL_P2 2
|
|||
|
|
#define DPL_P3 3
|
|||
|
|
#define DPL_P4 4
|
|||
|
|
#define DPL_P5 5
|
|||
|
|
|
|||
|
|
/* Instruction Mnemonics */
|
|||
|
|
#define R_REGISTER 0x00 /* last 4 bits will indicate reg. address */
|
|||
|
|
#define W_REGISTER 0x20 /* last 4 bits will indicate reg. address */
|
|||
|
|
#define REGISTER_MASK 0x1F
|
|||
|
|
#define R_RX_PAYLOAD 0x61
|
|||
|
|
#define W_TX_PAYLOAD 0xA0
|
|||
|
|
#define FLUSH_TX 0xE1
|
|||
|
|
#define FLUSH_RX 0xE2
|
|||
|
|
#define REUSE_TX_PL 0xE3
|
|||
|
|
#define ACTIVATE 0x50
|
|||
|
|
#define R_RX_PL_WID 0x60
|
|||
|
|
#define NOP 0xFF
|
|||
|
|
|
|||
|
|
#define LOW 0
|
|||
|
|
#define HIGH 1
|
|||
|
|
|
|||
|
|
#define nrf24_ADDR_LEN 5
|
|||
|
|
#define nrf24_CONFIG ((1<<EN_CRC)|(0<<CRCO))
|
|||
|
|
|
|||
|
|
#define NRF24_TRANSMISSON_OK 0
|
|||
|
|
#define NRF24_MESSAGE_LOST 1
|
|||
|
|
|
|||
|
|
/* IO functions */
|
|||
|
|
void nrf24_setupPins();
|
|||
|
|
void nrf24_ce_digitalWrite(uint8_t state);
|
|||
|
|
void nrf24_csn_digitalWrite(uint8_t state);
|
|||
|
|
void nrf24_sck_digitalWrite(uint8_t state);
|
|||
|
|
void nrf24_mosi_digitalWrite(uint8_t state);
|
|||
|
|
uint8_t nrf24_miso_digitalRead();
|
|||
|
|
|
|||
|
|
/* adjustment functions */
|
|||
|
|
void nrf24_init();
|
|||
|
|
void nrf24_rx_address(uint8_t* adr);
|
|||
|
|
void nrf24_tx_address(uint8_t* adr);
|
|||
|
|
void nrf24_config(uint8_t channel, uint8_t pay_length);
|
|||
|
|
|
|||
|
|
/* state check functions */
|
|||
|
|
uint8_t nrf24_dataReady();
|
|||
|
|
uint8_t nrf24_isSending();
|
|||
|
|
uint8_t nrf24_getStatus();
|
|||
|
|
uint8_t nrf24_rxFifoEmpty();
|
|||
|
|
|
|||
|
|
/* core TX / RX functions */
|
|||
|
|
void nrf24_send(uint8_t* value);
|
|||
|
|
void nrf24_getData(uint8_t* data);
|
|||
|
|
|
|||
|
|
/* use in dynamic length mode */
|
|||
|
|
uint8_t nrf24_payloadLength();
|
|||
|
|
|
|||
|
|
/* post transmission analysis */
|
|||
|
|
uint8_t nrf24_lastMessageStatus();
|
|||
|
|
uint8_t nrf24_retransmissionCount();
|
|||
|
|
|
|||
|
|
/* Returns the payload length */
|
|||
|
|
uint8_t nrf24_payload_length();
|
|||
|
|
|
|||
|
|
/* power management */
|
|||
|
|
void nrf24_powerUpRx();
|
|||
|
|
void nrf24_powerUpTx();
|
|||
|
|
void nrf24_powerDown();
|
|||
|
|
|
|||
|
|
/* low level interface ... */
|
|||
|
|
uint8_t spi_transfer(uint8_t tx);
|
|||
|
|
void nrf24_transmitSync(uint8_t* dataout,uint8_t len);
|
|||
|
|
void nrf24_transferSync(uint8_t* dataout,uint8_t* datain,uint8_t len);
|
|||
|
|
void nrf24_configRegister(uint8_t reg, uint8_t value);
|
|||
|
|
void nrf24_readRegister(uint8_t reg, uint8_t* value, uint8_t len);
|
|||
|
|
void nrf24_writeRegister(uint8_t reg, uint8_t* value, uint8_t len);
|
|||
|
|
|
|||
|
|
/* -------------------------------------------------------------------------- */
|
|||
|
|
/* You should implement the platform spesific functions in your code */
|
|||
|
|
/* -------------------------------------------------------------------------- */
|
|||
|
|
|
|||
|
|
/* -------------------------------------------------------------------------- */
|
|||
|
|
/* In this function you should do the following things:
|
|||
|
|
* - Set MISO pin input
|
|||
|
|
* - Set MOSI pin output
|
|||
|
|
* - Set SCK pin output
|
|||
|
|
* - Set CSN pin output
|
|||
|
|
* - Set CE pin output */
|
|||
|
|
/* -------------------------------------------------------------------------- */
|
|||
|
|
extern void nrf24_setupPins();
|
|||
|
|
|
|||
|
|
/* -------------------------------------------------------------------------- */
|
|||
|
|
/* nrf24 CE pin control function
|
|||
|
|
* - state:1 => Pin HIGH
|
|||
|
|
* - state:0 => Pin LOW */
|
|||
|
|
/* -------------------------------------------------------------------------- */
|
|||
|
|
extern void nrf24_ce_digitalWrite(uint8_t state);
|
|||
|
|
|
|||
|
|
/* -------------------------------------------------------------------------- */
|
|||
|
|
/* nrf24 CE pin control function
|
|||
|
|
* - state:1 => Pin HIGH
|
|||
|
|
* - state:0 => Pin LOW */
|
|||
|
|
/* -------------------------------------------------------------------------- */
|
|||
|
|
extern void nrf24_csn_digitalWrite(uint8_t state);
|
|||
|
|
|
|||
|
|
/* -------------------------------------------------------------------------- */
|
|||
|
|
/* nrf24 SCK pin control function
|
|||
|
|
* - state:1 => Pin HIGH
|
|||
|
|
* - state:0 => Pin LOW */
|
|||
|
|
/* -------------------------------------------------------------------------- */
|
|||
|
|
extern void nrf24_sck_digitalWrite(uint8_t state);
|
|||
|
|
|
|||
|
|
/* -------------------------------------------------------------------------- */
|
|||
|
|
/* nrf24 MOSI pin control function
|
|||
|
|
* - state:1 => Pin HIGH
|
|||
|
|
* - state:0 => Pin LOW */
|
|||
|
|
/* -------------------------------------------------------------------------- */
|
|||
|
|
extern void nrf24_mosi_digitalWrite(uint8_t state);
|
|||
|
|
|
|||
|
|
/* -------------------------------------------------------------------------- */
|
|||
|
|
/* nrf24 MISO pin read function
|
|||
|
|
/* - returns: Non-zero if the pin is high */
|
|||
|
|
/* -------------------------------------------------------------------------- */
|
|||
|
|
extern uint8_t nrf24_miso_digitalRead();
|
|||
|
|
|
|||
|
|
#endif
|
|||
|
|
```
|
|||
|
|
|
|||
|
|
nrf24.c:
|
|||
|
|
```c
|
|||
|
|
/*
|
|||
|
|
* ----------------------------------------------------------------------------
|
|||
|
|
* “THE COFFEEWARE LICENSE” (Revision 1):
|
|||
|
|
* <ihsan@kehribar.me> wrote this file. As long as you retain this notice you
|
|||
|
|
* can do whatever you want with this stuff. If we meet some day, and you think
|
|||
|
|
* this stuff is worth it, you can buy me a coffee in return.
|
|||
|
|
* -----------------------------------------------------------------------------
|
|||
|
|
* This library is based on this library:
|
|||
|
|
* https://github.com/aaronds/arduino-nrf24l01
|
|||
|
|
* Which is based on this library:
|
|||
|
|
* http://www.tinkerer.eu/AVRLib/nRF24L01
|
|||
|
|
* -----------------------------------------------------------------------------
|
|||
|
|
*/
|
|||
|
|
#include "nrf24.h"
|
|||
|
|
|
|||
|
|
uint8_t payload_len;
|
|||
|
|
|
|||
|
|
void nrf24_setupPins() {
|
|||
|
|
nrf24_set_bit(NRF24_IO_DDR, NRF24_CE_PIN); // CE output
|
|||
|
|
nrf24_set_bit(NRF24_IO_DDR, NRF24_CSN_PIN); // CSN output
|
|||
|
|
nrf24_set_bit(NRF24_IO_DDR, NRF24_SCK_PIN); // SCK output
|
|||
|
|
nrf24_set_bit(NRF24_IO_DDR, NRF24_MOSI_PIN); // MOSI output
|
|||
|
|
nrf24_clr_bit(NRF24_IO_DDR, NRF24_MISO_PIN); // MISO input
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
void nrf24_ce_digitalWrite(uint8_t state) {
|
|||
|
|
if (state) {
|
|||
|
|
nrf24_set_bit(NRF24_IO_PORT, NRF24_CE_PIN);
|
|||
|
|
}
|
|||
|
|
else {
|
|||
|
|
nrf24_clr_bit(NRF24_IO_PORT, NRF24_CE_PIN);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
void nrf24_csn_digitalWrite(uint8_t state) {
|
|||
|
|
if (state) {
|
|||
|
|
nrf24_set_bit(NRF24_IO_PORT, NRF24_CSN_PIN);
|
|||
|
|
}
|
|||
|
|
else {
|
|||
|
|
nrf24_clr_bit(NRF24_IO_PORT, NRF24_CSN_PIN);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
void nrf24_sck_digitalWrite(uint8_t state) {
|
|||
|
|
if (state) {
|
|||
|
|
nrf24_set_bit(NRF24_IO_PORT, NRF24_SCK_PIN);
|
|||
|
|
}
|
|||
|
|
else {
|
|||
|
|
nrf24_clr_bit(NRF24_IO_PORT, NRF24_SCK_PIN);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
void nrf24_mosi_digitalWrite(uint8_t state) {
|
|||
|
|
if (state) {
|
|||
|
|
nrf24_set_bit(NRF24_IO_PORT, NRF24_MOSI_PIN);
|
|||
|
|
}
|
|||
|
|
else {
|
|||
|
|
nrf24_clr_bit(NRF24_IO_PORT, NRF24_MOSI_PIN);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
uint8_t nrf24_miso_digitalRead() {
|
|||
|
|
return nrf24_check_bit(NRF24_IO_PINREG, NRF24_MISO_PIN);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
/* init the hardware pins */
|
|||
|
|
void nrf24_init() {
|
|||
|
|
nrf24_setupPins();
|
|||
|
|
nrf24_ce_digitalWrite(LOW);
|
|||
|
|
nrf24_csn_digitalWrite(HIGH);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/* configure the module */
|
|||
|
|
void nrf24_config(uint8_t channel, uint8_t pay_length) {
|
|||
|
|
/* Use static payload length ... */
|
|||
|
|
payload_len = pay_length;
|
|||
|
|
|
|||
|
|
// Set RF channel
|
|||
|
|
nrf24_configRegister(RF_CH, channel);
|
|||
|
|
|
|||
|
|
// Set length of incoming payload
|
|||
|
|
nrf24_configRegister(RX_PW_P0, 0x00); // Auto-ACK pipe ...
|
|||
|
|
nrf24_configRegister(RX_PW_P1, payload_len); // Data payload pipe
|
|||
|
|
nrf24_configRegister(RX_PW_P2, 0x00); // Pipe not used
|
|||
|
|
nrf24_configRegister(RX_PW_P3, 0x00); // Pipe not used
|
|||
|
|
nrf24_configRegister(RX_PW_P4, 0x00); // Pipe not used
|
|||
|
|
nrf24_configRegister(RX_PW_P5, 0x00); // Pipe not used
|
|||
|
|
|
|||
|
|
// 1 Mbps, TX gain: 0dbm
|
|||
|
|
nrf24_configRegister(RF_SETUP, (0 << RF_DR) | ((0x03) << RF_PWR));
|
|||
|
|
|
|||
|
|
// CRC enable, 1 byte CRC length
|
|||
|
|
nrf24_configRegister(CONFIG, nrf24_CONFIG);
|
|||
|
|
|
|||
|
|
// Auto Acknowledgment
|
|||
|
|
nrf24_configRegister(EN_AA, (1 << ENAA_P0) | (1 << ENAA_P1) | (0 << ENAA_P2) | (0 << ENAA_P3) | (0 << ENAA_P4) |
|
|||
|
|
(0 << ENAA_P5));
|
|||
|
|
|
|||
|
|
// Enable RX addresses
|
|||
|
|
nrf24_configRegister(EN_RXADDR,
|
|||
|
|
(1 << ERX_P0) | (1 << ERX_P1) | (0 << ERX_P2) | (0 << ERX_P3) | (0 << ERX_P4) | (0 << ERX_P5));
|
|||
|
|
|
|||
|
|
// Auto retransmit delay: 1000 us and Up to 15 retransmit trials
|
|||
|
|
nrf24_configRegister(SETUP_RETR, (0x04 << ARD) | (0x0F << ARC));
|
|||
|
|
|
|||
|
|
// Dynamic length configurations: No dynamic length
|
|||
|
|
nrf24_configRegister(DYNPD,
|
|||
|
|
(0 << DPL_P0) | (0 << DPL_P1) | (0 << DPL_P2) | (0 << DPL_P3) | (0 << DPL_P4) | (0 << DPL_P5));
|
|||
|
|
|
|||
|
|
// Start listening
|
|||
|
|
nrf24_powerUpRx();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/* Set the RX address */
|
|||
|
|
void nrf24_rx_address(uint8_t *adr) {
|
|||
|
|
nrf24_ce_digitalWrite(LOW);
|
|||
|
|
nrf24_writeRegister(RX_ADDR_P1, adr, nrf24_ADDR_LEN);
|
|||
|
|
nrf24_ce_digitalWrite(HIGH);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/* Returns the payload length */
|
|||
|
|
uint8_t nrf24_payload_length() {
|
|||
|
|
return payload_len;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/* Set the TX address */
|
|||
|
|
void nrf24_tx_address(uint8_t *adr) {
|
|||
|
|
/* RX_ADDR_P0 must be set to the sending addr for auto ack to work. */
|
|||
|
|
nrf24_writeRegister(RX_ADDR_P0, adr, nrf24_ADDR_LEN);
|
|||
|
|
nrf24_writeRegister(TX_ADDR, adr, nrf24_ADDR_LEN);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/* Checks if data is available for reading */
|
|||
|
|
/* Returns 1 if data is ready ... */
|
|||
|
|
uint8_t nrf24_dataReady() {
|
|||
|
|
// See note in getData() function - just checking RX_DR isn't good enough
|
|||
|
|
uint8_t status = nrf24_getStatus();
|
|||
|
|
|
|||
|
|
// We can short circuit on RX_DR, but if it's not set, we still need
|
|||
|
|
// to check the FIFO for any pending packets
|
|||
|
|
if (status & (1 << RX_DR)) {
|
|||
|
|
return 1;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
return !nrf24_rxFifoEmpty();;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/* Checks if receive FIFO is empty or not */
|
|||
|
|
uint8_t nrf24_rxFifoEmpty() {
|
|||
|
|
uint8_t fifoStatus;
|
|||
|
|
|
|||
|
|
nrf24_readRegister(FIFO_STATUS, &fifoStatus, 1);
|
|||
|
|
|
|||
|
|
return (fifoStatus & (1 << RX_EMPTY));
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/* Returns the length of data waiting in the RX fifo */
|
|||
|
|
uint8_t nrf24_payloadLength() {
|
|||
|
|
uint8_t status;
|
|||
|
|
nrf24_csn_digitalWrite(LOW);
|
|||
|
|
spi_transfer(R_RX_PL_WID);
|
|||
|
|
status = spi_transfer(0x00);
|
|||
|
|
return status;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/* Reads payload bytes into data array */
|
|||
|
|
void nrf24_getData(uint8_t *data) {
|
|||
|
|
/* Pull down chip select */
|
|||
|
|
nrf24_csn_digitalWrite(LOW);
|
|||
|
|
|
|||
|
|
/* Send cmd to read rx payload */
|
|||
|
|
spi_transfer(R_RX_PAYLOAD);
|
|||
|
|
|
|||
|
|
/* Read payload */
|
|||
|
|
nrf24_transferSync(data, data, payload_len);
|
|||
|
|
|
|||
|
|
/* Pull up chip select */
|
|||
|
|
nrf24_csn_digitalWrite(HIGH);
|
|||
|
|
|
|||
|
|
/* Reset status register */
|
|||
|
|
nrf24_configRegister(STATUS, (1 << RX_DR));
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/* Returns the number of retransmissions occured for the last message */
|
|||
|
|
uint8_t nrf24_retransmissionCount() {
|
|||
|
|
uint8_t rv;
|
|||
|
|
nrf24_readRegister(OBSERVE_TX, &rv, 1);
|
|||
|
|
rv = rv & 0x0F;
|
|||
|
|
return rv;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// Sends a data package to the default address. Be sure to send the correct
|
|||
|
|
// amount of bytes as configured as payload on the receiver.
|
|||
|
|
void nrf24_send(uint8_t *value) {
|
|||
|
|
/* Go to Standby-I first */
|
|||
|
|
nrf24_ce_digitalWrite(LOW);
|
|||
|
|
|
|||
|
|
/* Set to transmitter mode , Power up if needed */
|
|||
|
|
nrf24_powerUpTx();
|
|||
|
|
|
|||
|
|
/* Do we really need to flush TX fifo each time ? */
|
|||
|
|
#if 1
|
|||
|
|
/* Pull down chip select */
|
|||
|
|
nrf24_csn_digitalWrite(LOW);
|
|||
|
|
|
|||
|
|
/* Write cmd to flush transmit FIFO */
|
|||
|
|
spi_transfer(FLUSH_TX);
|
|||
|
|
|
|||
|
|
/* Pull up chip select */
|
|||
|
|
nrf24_csn_digitalWrite(HIGH);
|
|||
|
|
#endif
|
|||
|
|
|
|||
|
|
/* Pull down chip select */
|
|||
|
|
nrf24_csn_digitalWrite(LOW);
|
|||
|
|
|
|||
|
|
/* Write cmd to write payload */
|
|||
|
|
spi_transfer(W_TX_PAYLOAD);
|
|||
|
|
|
|||
|
|
/* Write payload */
|
|||
|
|
nrf24_transmitSync(value, payload_len);
|
|||
|
|
|
|||
|
|
/* Pull up chip select */
|
|||
|
|
nrf24_csn_digitalWrite(HIGH);
|
|||
|
|
|
|||
|
|
/* Start the transmission */
|
|||
|
|
nrf24_ce_digitalWrite(HIGH);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
uint8_t nrf24_isSending() {
|
|||
|
|
uint8_t status;
|
|||
|
|
|
|||
|
|
/* read the current status */
|
|||
|
|
status = nrf24_getStatus();
|
|||
|
|
|
|||
|
|
/* if sending successful (TX_DS) or max retries exceded (MAX_RT). */
|
|||
|
|
if ((status & ((1 << TX_DS) | (1 << MAX_RT)))) {
|
|||
|
|
return 0; /* false */
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
return 1; /* true */
|
|||
|
|
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
uint8_t nrf24_getStatus() {
|
|||
|
|
uint8_t rv;
|
|||
|
|
nrf24_csn_digitalWrite(LOW);
|
|||
|
|
rv = spi_transfer(NOP);
|
|||
|
|
nrf24_csn_digitalWrite(HIGH);
|
|||
|
|
return rv;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
uint8_t nrf24_lastMessageStatus() {
|
|||
|
|
uint8_t rv;
|
|||
|
|
|
|||
|
|
rv = nrf24_getStatus();
|
|||
|
|
|
|||
|
|
/* Transmission went OK */
|
|||
|
|
if ((rv & ((1 << TX_DS)))) {
|
|||
|
|
return NRF24_TRANSMISSON_OK;
|
|||
|
|
}
|
|||
|
|
/* Maximum retransmission count is reached */
|
|||
|
|
/* Last message probably went missing ... */
|
|||
|
|
else if ((rv & ((1 << MAX_RT)))) {
|
|||
|
|
return NRF24_MESSAGE_LOST;
|
|||
|
|
}
|
|||
|
|
/* Probably still sending ... */
|
|||
|
|
else {
|
|||
|
|
return 0xFF;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
void nrf24_powerUpRx() {
|
|||
|
|
nrf24_csn_digitalWrite(LOW);
|
|||
|
|
spi_transfer(FLUSH_RX);
|
|||
|
|
nrf24_csn_digitalWrite(HIGH);
|
|||
|
|
|
|||
|
|
nrf24_configRegister(STATUS, (1 << RX_DR) | (1 << TX_DS) | (1 << MAX_RT));
|
|||
|
|
|
|||
|
|
nrf24_ce_digitalWrite(LOW);
|
|||
|
|
nrf24_configRegister(CONFIG, nrf24_CONFIG | ((1 << PWR_UP) | (1 << PRIM_RX)));
|
|||
|
|
nrf24_ce_digitalWrite(HIGH);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
void nrf24_powerUpTx() {
|
|||
|
|
nrf24_configRegister(STATUS, (1 << RX_DR) | (1 << TX_DS) | (1 << MAX_RT));
|
|||
|
|
|
|||
|
|
nrf24_configRegister(CONFIG, nrf24_CONFIG | ((1 << PWR_UP) | (0 << PRIM_RX)));
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
void nrf24_powerDown() {
|
|||
|
|
nrf24_ce_digitalWrite(LOW);
|
|||
|
|
nrf24_configRegister(CONFIG, nrf24_CONFIG);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/* software spi routine */
|
|||
|
|
uint8_t spi_transfer(uint8_t tx) {
|
|||
|
|
uint8_t i = 0;
|
|||
|
|
uint8_t rx = 0;
|
|||
|
|
|
|||
|
|
nrf24_sck_digitalWrite(LOW);
|
|||
|
|
|
|||
|
|
for (i = 0; i < 8; i++) {
|
|||
|
|
|
|||
|
|
if (tx & (1 << (7 - i))) {
|
|||
|
|
nrf24_mosi_digitalWrite(HIGH);
|
|||
|
|
}
|
|||
|
|
else {
|
|||
|
|
nrf24_mosi_digitalWrite(LOW);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
nrf24_sck_digitalWrite(HIGH);
|
|||
|
|
|
|||
|
|
rx = rx << 1;
|
|||
|
|
if (nrf24_miso_digitalRead()) {
|
|||
|
|
rx |= 0x01;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
nrf24_sck_digitalWrite(LOW);
|
|||
|
|
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
return rx;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/* send and receive multiple bytes over SPI */
|
|||
|
|
void nrf24_transferSync(uint8_t *dataout, uint8_t *datain, uint8_t len) {
|
|||
|
|
uint8_t i;
|
|||
|
|
|
|||
|
|
for (i = 0; i < len; i++) {
|
|||
|
|
datain[i] = spi_transfer(dataout[i]);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/* send multiple bytes over SPI */
|
|||
|
|
void nrf24_transmitSync(uint8_t *dataout, uint8_t len) {
|
|||
|
|
uint8_t i;
|
|||
|
|
|
|||
|
|
for (i = 0; i < len; i++) {
|
|||
|
|
spi_transfer(dataout[i]);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/* Clocks only one byte into the given nrf24 register */
|
|||
|
|
void nrf24_configRegister(uint8_t reg, uint8_t value) {
|
|||
|
|
nrf24_csn_digitalWrite(LOW);
|
|||
|
|
spi_transfer(W_REGISTER | (REGISTER_MASK & reg));
|
|||
|
|
spi_transfer(value);
|
|||
|
|
nrf24_csn_digitalWrite(HIGH);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/* Read single register from nrf24 */
|
|||
|
|
void nrf24_readRegister(uint8_t reg, uint8_t *value, uint8_t len) {
|
|||
|
|
nrf24_csn_digitalWrite(LOW);
|
|||
|
|
spi_transfer(R_REGISTER | (REGISTER_MASK & reg));
|
|||
|
|
nrf24_transferSync(value, value, len);
|
|||
|
|
nrf24_csn_digitalWrite(HIGH);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
/* Write to a single register of nrf24 */
|
|||
|
|
void nrf24_writeRegister(uint8_t reg, uint8_t *value, uint8_t len) {
|
|||
|
|
nrf24_csn_digitalWrite(LOW);
|
|||
|
|
spi_transfer(W_REGISTER | (REGISTER_MASK & reg));
|
|||
|
|
nrf24_transmitSync(value, len);
|
|||
|
|
nrf24_csn_digitalWrite(HIGH);
|
|||
|
|
}
|
|||
|
|
```
|
|||
|
|
|
|||
|
|
Первая проверка без заднего хода:
|
|||
|
|
|
|||
|
|
{{< youtube d0INQcEuwmg >}}
|
|||
|
|
|
|||
|
|
Проверка с задним ходом:
|
|||
|
|
|
|||
|
|
{{< youtube LrE-XA4EGXk >}}
|
|||
|
|
|
|||
|
|
Геймпад:
|
|||
|
|
|
|||
|
|
[Мануал по структурам пакетов геймпада](http://store.curiousinventor.com/guides/ps2)
|
|||
|
|
|
|||
|
|
[Оригинальная библиотека для геймпада](http://digitalcave.ca/resources/avr/psx.jsp)
|
|||
|
|
|
|||
|
|
nrf24:
|
|||
|
|
|
|||
|
|
[Оригинальная библиоткека nRF24 на GitHub](https://github.com/kehribar/nrf24L01_plus)
|