HardwareDriver/nuvoton/m451/roboticarm_controller/24l01.c

#include "M451Series.h"
#include "24l01.h"
#include "spi_hal.h"


uchar Recv_Buf[32] = {0};
uchar Send_Buf[32] = {0};
char rfch = 45;
unsigned short RxCnt = 0;
unsigned char  TxAddr[]={0x11,0x22,0x33,0x44,0x55};//????
unsigned char  RxAddr[]={0x11,0x22,0x33,0x44,0x55};//????



enum NRF_Mode Curr_Mode = NRF_RX_Mode;
void delay_s()
{
	int z=0;
	for(z=0;z<250;z++)
	{}
}

void delay_mss()
{
	int z = 0;
	for(z=0;z<5;z++)
	{
		delay_s();
	}
}
void NRF_Init(void)
{

}

void NRF_SetUpInterrupt(void)
{
	GPIO_SetMode(PB,BIT15,GPIO_MODE_INPUT);
	GPIO_EnableInt(PB,15,GPIO_INT_FALLING);
	NVIC->ISER[0]|=(0X01<<2);
	
}
int gRecvPkg = 0;


//接收或者发送中断
void EINT0_IRQHandler()
{
	char trycnt = 5;
	gRecvPkg ++;
	delay_s();
	switch(Curr_Mode){
		//if now in rx mode mean data been receieved
		case NRF_RX_Mode:
			//PB9 = 0;
			while(trycnt > 0)
			{
				if(NRF24L01_RxPacket(Recv_Buf) == 0)
				{
					NRFSetTxMode();
					break;
				}
				trycnt --;
			}
			//nrf_write(FLUSH_RX,0xff);//清除RX FIFO寄存器 
			//PB9 = 1;

			//read the buffer
			break;
		//if now in tx mode mean data been sent
		case NRF_TX_Mode:
			break;
		
	}
	PB->INTSRC |= BIT14;

}

void RX_Mode(void)
{
	char sta;
	sta = nrf_read(STATUS);
	nrf_write(W_REGISTER + STATUS,sta);
	
	nrf_write(FLUSH_TX,0xff);
	nrf_write(FLUSH_RX,0xff);
	PB13=0;	
	Curr_Mode = NRF_RX_Mode;
	delay_s();
  nrf_writebuf(W_REGISTER + TX_ADDR,(uchar*)TxAddr,5);//写TX节点地址 
	nrf_writebuf(W_REGISTER + RX_ADDR_P0,(uchar*)RxAddr,5); //设置TX节点地址,主要为了使能ACK  
  nrf_write(W_REGISTER + SETUP_RETR,0x11);//设置自动重发间隔时间:500us + 86us;最大自动重发次数:10次

	nrf_write(W_REGISTER + EN_AA, 0x01); // Enable Auto.Ack:Pipe0
	nrf_write(W_REGISTER + EN_RXADDR, 0x01); // Enable Pipe0
	nrf_write(W_REGISTER + RF_CH, rfch); // Select RF channel 40
	nrf_write(W_REGISTER + RX_PW_P0,RX_DATA_WITDH);
	//nrf_write(W_REGISTER+FEATURE, 0x20);  
	nrf_write(W_REGISTER + RF_SETUP, 0x0f);
	nrf_write(W_REGISTER + CONFIG, 0x2f); // Set PWR_UP bit, enable CRC(2 bytes)
	
	delay_s();
	
	PB13=1;

}
void NRFSwitchMode(char mode)
{
	static char ifinit = 0;

	//TX Mode
	if(mode == 1)
	{
		if (0 == ifinit)
		{
			NRFSetTxMode();
			ifinit = 1;
			return;
		}
		PB9 = 0;
		nrf_write(W_REGISTER + STATUS,0xff);     //使能通道0的自动应答    
		nrf_write(FLUSH_TX,0);     //使能通道0的自动应答    
		nrf_write(W_REGISTER + CONFIG,0xfe);     //使能通道0的自动应答  
		delay_s();
		
		PB9 = 1;
	}
	else
	{
		PB9 = 0;
		nrf_write(W_REGISTER+STATUS,0xff);     //使能通道0的自动应答    
		nrf_write(FLUSH_TX,0);     //使能通道0的自动应答    
		nrf_write(W_REGISTER + CONFIG,0xff);     //使能通道0的自动应答    
		delay_s();

		PB9 = 1;
	}
}
void NRFSetTxMode()
{		 
		char sta;
		sta = nrf_read(STATUS);
		nrf_write(W_REGISTER + STATUS,sta);

		nrf_write(FLUSH_TX,0xff);
		nrf_write(FLUSH_RX,0xff);
		PB14 = 0;
		Curr_Mode = NRF_TX_Mode;
		delay_s();
  	nrf_writebuf(W_REGISTER+TX_ADDR,(uchar*)TxAddr,5);//写TX节点地址 
  	nrf_writebuf(W_REGISTER+RX_ADDR_P0,(uchar*)RxAddr,5); //设置TX节点地址,主要为了使能ACK 
	
  	nrf_write(W_REGISTER+EN_AA,0x01);     //使能通道0的自动应答    
  	nrf_write(W_REGISTER+EN_RXADDR,0x01); //使能通道0的接收地址  
  	nrf_write(W_REGISTER+SETUP_RETR,0x1a);//设置自动重发间隔时间:500us + 86us;最大自动重发次数:10次
  	nrf_write(W_REGISTER+RF_CH,rfch);       //设置RF通道为40
		nrf_write(W_REGISTER+RF_SETUP,0x0f);  //设置TX发射参数,0db增益,2Mbps,低噪声增益开启   
  	nrf_write(W_REGISTER+CONFIG,0x0e);    //配置基本工作模式的参数;PWR_UP,EN_CRC,16BIT_CRC,接收模式,开启所有中断
		delay_s();
		PB14 = 1;
}

//启动NRF24L01发送一次数据
//txbuf:待发送数据首地址
//返回值:发送完成状况

unsigned char NRF24L01_TxPacket(unsigned char *txbuf)
{
	unsigned char sta;
	PB9=0;
	delay_s();
  nrf_writebuf(W_TX_PAYLOAD,txbuf,TX_DATA_WITDH);//写数据到TX BUF  32个字节
	PB9=1;
	sta=nrf_read(STATUS);  //读取状态寄存器的值	   
	nrf_write(W_REGISTER+STATUS,sta); //清除TX_DS或MAX_RT中断标志
	if(sta&0x10)//达到最大重发次数
	{
		nrf_wf(FLUSH_TX);//清除TX FIFO寄存器 
		nrf_write(W_REGISTER+STATUS,sta); //清除TX_DS或MAX_RT中断标志	
		sta=nrf_read(STATUS);  //读取状态寄存器的值	   
	
		return 0x10; 
	}
	if(sta&0x20)//发送完成
	{
		return 0;
	}
	return 0xff;//其他原因发送失败
}

unsigned char NrfDump()
{
	char ret = 0;
	ret=nrf_read(EN_AA);
	delay_s();
	ret=nrf_read(EN_RXADDR);
	delay_s();
	ret=nrf_read(RF_CH);
	delay_s();
	ret=nrf_read(RX_PW_P0);
	delay_s();
	ret=nrf_read(RF_SETUP);
	delay_s();
	ret=nrf_read(CONFIG);
	delay_s();	  
	ret=nrf_read(CD);
	delay_s();
	ret=nrf_read(STATUS);
	delay_s();
	return ret;
}

unsigned char NRF24L01_Read_Buf(unsigned char reg,unsigned char *pBuf,unsigned char len)
{
		unsigned char status,u8_ctr;
		spi_enable();
  	status=spi_send(reg);   
		for(u8_ctr=0;u8_ctr<len;u8_ctr++)
			pBuf[u8_ctr]=  spi_read();
		spi_disable();

  	return status;   
}
//载波监听
unsigned char NRF24L01_CD_Detect()
{
	short ret = 0;
	int x = 255;
	int i = 0;
	unsigned char sum = 0;
	for(i=0;i<x;i++){
			ret=nrf_read(CD);
			sum+=ret;
	}

	return sum;
}
void NRF24L01_Monitor()
{
	char ret = nrf_read(STATUS);
	ret = nrf_read(CONFIG);
	ret = nrf_read(RF_SETUP);
	if(ret & 0x10)
	{
		nrf_write(W_REGISTER+STATUS,ret); //清除TX_DS或MAX_RT中断标志
	}
}

short NRF24L01_RxPacket(unsigned char *rxbuf)
{
	unsigned char sta;		   	
	sta = nrf_read(STATUS);  //读取状态寄存器的<E599A8>
	if(sta&0x40)//接收到数据
	{
		NRF24L01_Read_Buf(0x61,rxbuf,RX_DATA_WITDH);//读取数据
		RxCnt ++;
		//nrf_write(W_REGISTER+STATUS,sta); //清除TX_DS或MAX_RT中断标志
		return 0; 
	} 
	if(sta & 0x20) //如果该中断已经有数据发送了
	{
		nrf_write(W_REGISTER+STATUS,sta); //清除TX_DS或MAX_RT中断标志
		return -1;
	}

	return -1;//没收到任何数据
}