微控制器應用實驗室: [Raspberry Pi Pico] nRF24L01+ Ep. 1 : Pico-SDK C-code driver using IRQ

本文章介紹Raspberry Pi Pico 的nRF24L01(+) C code驅動程式製作，以利於在Pico SDK開發環境下使用。

本驅動程式需要使用nRF24L01(+)上的IRQ pin。

當有Payload發送或接收後觸發interrupt，取代polling以節省CPU時間。

一、nRF24L01產品規格簡要介紹與使用驅動程式相對應指令。

收發角色：
Primary Transmitter(PTX):發送角色。
Primary Receiver(PRX): 接收角色。
使用本驅動程式function:
nRF24_config_mode(role) 1: PRX, 0:PTX。
定址方式：分為3,4或5byte長度，在REGISTER SETUP_AW(0x03)中定義。
nRF24_set_address_width(uint8_t aw)
RX Address：共有6 data pipes，意即可同時接收6 個data pipes，在RX_ADDR_P0(0x0A)、RX_ADDR_P1(0x0B)、RX_ADDR_P2(0x0C)、RX_ADDR_P3(0x0D)、RX_ADDR_P4(0x0E)、RX_ADDR_P5(0x0F)中定義，RX_ADDR_P2~P5 register為一個byte長度，高位元4bytes同RX_ADDR_P1。如下圖所示。
function:
nRF24_set_RX_addr(uint8_t data_pipe, uint8_t *addr, uint8_t len);
TX address：一般定義同為RX_ADDR_P0。
nRF24_set_TX_addr(uint8_t *addr, uint8_t len);

(source from nRF24L01 Product Specification)
PTX與PRX如下圖：

(source from nRF24L01 Product Specification)
傳送資料格式：分為static 與dynamic payload。如下圖所示：
Dynamic Payload length在packet Control Field的前6 bits定義。(source from nRF24L01 Product Specification)
Static payload:
nRF24_set_recv_payload_width();
Dynamic payload:
(a) enable feature:
nRF24_enable_feature(FEATURE_EN_DPL, true)
(b) enable data pipe:
nRF24_enable_data_pipe_dynamic_payload_length(uint8_t data_pipe, bool enable);
(c) 接收端取得dynamic payload width:
nRF24_get_RX_payload_width(uint8_t *width)
(d)發送端亦需設定 data pipe 0:
nRF24_enable_data_pipe_dynamic_payload_length(0, true)
SPI read/write operations如下圖所示：

有資料接收時nRF24L01 IRQ pin active low。
nRF24_spi_default_init(20, 21, irq_callback);
irq_callback為user自行定義。用於處理RX_RD(receive data ready), TX_DS(transmitter data sent), MAX_RT(Maximum number of TX retransmits interrupt
)
範例：

 void irq_callback(uint8_t event_type, uint8_t datapipe, uint8_t* data, uint8_t width) {
    static uint32_t ack_payload=0;
    uint8_t ack_buff[15];
      switch(event_type) {
        case EVENT_RX_DR:
            ...(data: received data, width: data width)
        break;
        case EVENT_TX_DS:
            ...(data sent)
        break;
        case EVENT_MAX_RT:
        //nRF24_flush_tx();
            ...
        break;
    }
}

若程式中有使用GPIO IRQ請使用下列設定 gpio irq：

void user_gpio_irq_handler {
    if (gpio_get_irq_event_mask(gpio_no) == (enum gpio irq level) {
        gpio_acknowledge_irq(gpio_no, (enum gpio irq level));
        gpio_set_irq_enabled(gpio_no, (enum gpio irq level), false);
            ...
        gpio_set_irq_enabled(gpio_no, (enum gpio irq level), true);
    }
}


gpio_add_raw_irq_handler(gpio_no, user_gpio_irq_handler);
gpio_set_irq_enabled(gpio_no, (enum) gpio_irq_level, true);

二、使用驅動程式範例

下列為簡要主程式結構，其他nRF24L01(+)網路拓撲(network topology)應用範例將在下一篇文章介紹。

主程式範例：

 #include <stdio.h>
#include "pico/stdlib.h"
#include "nRF24L01.h"
#include "string.h"

#define TX_MODE
uint8_t role;
uint8_t addr[5][5] = {"0node", "1node", "2node","3node","4node"};

void irq_callback(uint8_t event_type, uint8_t datapipe, uint8_t* data, uint8_t width) {
      switch(event_type) {
        case EVENT_RX_DR:
            
        break;
        case EVENT_TX_DS:
        
        break;
        case EVENT_MAX_RT:
        //nRF24_flush_tx();
        
        break;
    }
}

void user_gpio_irq_handler() {
    if (gpio_get_irq_event_mask(gpio_no) == (enum gpio irq level) {
        gpio_acknowledge_irq(gpio_no, (enum gpio irq level));
        gpio_set_irq_enabled(gpio_no, (enum gpio irq level), false);
           // ...
        gpio_set_irq_enabled(gpio_no, (enum gpio irq level), true);
    }
}

int main()
{
    stdio_init_all();
    
    nRF24_spi_default_init(20, 21, irq_callback);

#ifdef TX_MODE
        role=TRANSMITTER;
#else   
        role = RECEIVER;
#endif
    nRF24_config_mode(role);
    nRF24_enable_feature(FEATURE_EN_DPL, true);
    //nRF24_enable_feature(FEATURE_EN_ACK_PAY, true);
    //nRF24_enable_feature(FEATURE_EN_DYN_ACK, true);
#ifdef TX_MODE
    nRF24_set_TX_addr(addr[0], 5);
    nRF24_set_RX_addr(0, addr[0], 5);
    nRF24_enable_data_pipe_dynamic_payload_length(0, true);
#else
   nRF24_enable_RXADDR(0b00001111);
    nRF24_set_RX_addr(0, addr[0], 5);
    nRF24_set_RX_addr(1, addr[1], 5);
    nRF24_set_RX_addr(2, addr[2], 5);
    nRF24_set_RX_addr(3, addr[3], 5);
    nRF24_enable_data_pipe_dynamic_payload_length(0, true);
    nRF24_enable_data_pipe_dynamic_payload_length(1, true);
    nRF24_enable_data_pipe_dynamic_payload_length(2, true);
    nRF24_enable_data_pipe_dynamic_payload_length(3, true);
#endif
     
    while(1) {
      
        
    }

    return 0;
}

主程式CMakeLists.txt 包含：

add_subdirectory(project_name)
target_link_libraries(project_name
        nRF24L01_drv)

三、程式碼：

nRF24L01.c

 #include <stdio.h>
#include "pico/stdlib.h"
#include "nRF24L01.h"
#include "string.h"


// SPI Defines
// We are going to use SPI 0, and allocate it to the following GPIO pins
// Pins can be changed, see the GPIO function select table in the datasheet for information on GPIO assignments
static spi_inst_t*  SPI_PORT= spi0;
static uint PIN_MISO=16;
static uint PIN_CS=17;
static uint PIN_SCK=18;
static uint PIN_MOSI=19;
static uint SPI_SPEED=1000*1000;
static uint nRF24_CE;
static uint nRF24_IRQ;

nRF24_irq_callback_t nRF24_callback;
static uint8_t nRF24_data_buffer[260];

static void nRF24_standby_to_txrx_mode();
static void nRF24_standby_I();
static uint8_t nRF24_fifo_rx_full(uint8_t *full);
static uint8_t nRF24_fifo_tx_empty(uint8_t *empty);
static uint8_t nRF24_fifo_rx_empty(uint8_t *empty);

/*!
* \brief nRF24L01 IRQ callback function
* \param gpio: gpio number
* \param event_mask
*/
static void gpio_irq_callback(uint gpio, uint32_t event_mask) {
    if (gpio == nRF24_IRQ && event_mask == GPIO_IRQ_EDGE_FALL) {
        gpio_acknowledge_irq(gpio, event_mask);
        //gpio_set_irq_enabled(gpio, GPIO_IRQ_LEVEL_LOW, false);
        uint8_t status;
        uint8_t event_type, datapipe;
        uint8_t data_buffer[32];
        uint8_t width;
        nRF24_status(&status);
        memset(nRF24_data_buffer,0, 32);
        datapipe = (status & 0x0E) >> 1;
        if ((status & 0x40) >> EVENT_RX_DR) {  // RX_DR
            event_type = EVENT_RX_DR;

           if (nRF24_get_RX_payload_width(&width)) {
                if (width > 32) { // in nRF24L01+ product specification
                    printf("...in driver width > 32 datapipe:%d:%d\n", datapipe, width);
                    nRF24_standby_I();  
                  
                    nRF24_flush_rx();       //
        
                    nRF24_standby_to_txrx_mode(); 
                }
                else {
                    nRF24_read_payload(nRF24_data_buffer, width);
                    nRF24_callback(event_type, datapipe, nRF24_data_buffer, width);
                }
                nRF24_clear_RX_DR();
            }
        }

        if ((status & 0x20) >> EVENT_TX_DS) {  // TX_DS
            event_type = EVENT_TX_DS;
            nRF24_callback(event_type, datapipe, nRF24_data_buffer, 0);
            nRF24_clear_TX_DS();
        }

        if ((status & 0x10) >> EVENT_MAX_RT) {  // MAX_RT
            event_type = EVENT_MAX_RT;
            nRF24_callback(event_type, datapipe, nRF24_data_buffer, 0);
            nRF24_clear_MAX_RT();
        }
        //gpio_set_irq_enabled(gpio, GPIO_IRQ_LEVEL_LOW, true);
    }
}
/*!
* \brief set nRF24L01 PWR_UP in CONFIG register
*/
static void nRF24_config_PWR_UP() {
    uint8_t ret;
    uint8_t mode;
    
    ret = nRF24_read_REGISTER(CONFIG, &mode,1);
    if (ret) {
        mode  |= (0x02);
        ret = nRF24_write_REGISTER(CONFIG, &mode,1);
    }
}

/*!
* \brief enable CE
* \param enable true: set CE high, false: set CE low
*/
static void nRF24_enable_CE(bool enable) {
    gpio_put(nRF24_CE, enable);
}

static void nRF24_standby_I() {
    nRF24_enable_CE(false);
}

/*!
* \brief nRF24L01 active FEATURE. nRF24L01+ does not need this function
*/
static uint8_t nRF24_activate() {
    uint8_t ret;
    uint8_t status;
    uint8_t cmd[2]={ACTIVATE, 0x73};
    
    nRF24_spi_enable(true);
    
    ret = spi_write_blocking(SPI_PORT, cmd, 2);
  
    nRF24_spi_enable(false);
    return ret;
}

/*!
* \brief 1. set SPI pin and initialize.  
*         2.set nRF24L01 to standby-I mode
* \param CE nRF24L01 CE pin no
* \param IRQ nRF24L01 IRQ pin no
* \param callbak IRQ active callback funcion
*/
void nRF24_spi_default_init(uint CE, uint IRQ,  nRF24_irq_callback_t callback) {
    spi_init(SPI_PORT, SPI_SPEED);
    gpio_set_function(PIN_MISO, GPIO_FUNC_SPI);
    gpio_set_function(PIN_CS,   GPIO_FUNC_SIO);
    gpio_set_function(PIN_SCK,  GPIO_FUNC_SPI);
    gpio_set_function(PIN_MOSI, GPIO_FUNC_SPI);

    nRF24_callback = callback;

    gpio_set_dir(PIN_CS, GPIO_OUT);
    gpio_put(PIN_CS, 1);

    nRF24_CE = CE;
    gpio_init(nRF24_CE);
    gpio_set_dir(nRF24_CE, GPIO_OUT);

    nRF24_activate();   //nRF24L01 Product Specification

    nRF24_config_PWR_UP();
    nRF24_enable_CE(false);  //standby-I
    sleep_us(100);

    nRF24_IRQ = IRQ;

    gpio_pull_up(nRF24_IRQ);
    gpio_set_irq_enabled_with_callback(nRF24_IRQ, GPIO_IRQ_EDGE_FALL, true, gpio_irq_callback);
}
/*!
* \brief 1. set SPI pin and initialize.  
*         2.set nRF24L01 to standby-I mode
* \param spi_port SPI port number
* \param miso MISO pin no
* \param cs CS pin no
* \param ce nRF24L01 CE pin no
* \param speed SPI speed
* \param IRQ nRF24L01 IRQ pin no
* \param callbak IRQ active callback funcion
*/
void nRF24_spi_init(spi_inst_t* spi_port, uint miso, uint  mosi, uint  cs, uint  ce, uint speed, uint IRQ, nRF24_irq_callback_t callback) {
    SPI_PORT = spi_port;
    PIN_MISO=miso;
    PIN_MOSI=mosi;
    PIN_CS=cs;
    nRF24_CE = ce;
    SPI_SPEED=speed;
    nRF24_spi_default_init(ce, IRQ, callback);
}
/*!
* \brief enable SPI
* \param true: active, set CS LOW. false deactive, set CS HIGH
*/
void nRF24_spi_enable(bool enable) {
    gpio_put(PIN_CS, !enable);
}

/*!
* \brief read nRF24L01 register
* \param REGISTER register address
* \param value read out data
* \param len read out bytes
* \return 0: failure, other successful
*/
uint8_t  nRF24_read_REGISTER(uint8_t REGISTER, uint8_t *value, uint8_t len) {
    uint8_t ret;
    uint8_t status;
    uint8_t cmd=R_REGISTER|REGISTER;
    
    nRF24_spi_enable(true);
    ret = spi_write_read_blocking(SPI_PORT, &cmd, &status, 1);
    if (ret) {
        ret = spi_read_blocking(SPI_PORT, NOP, value, len);
    }
    nRF24_spi_enable(false);
    return ret;
}

/*!
* \brief write data into  nRF24L01 register
* \param REGISTER register address
* \param value write data
* \param len write bytes
* \return 0: failure, other successful
*/
uint8_t nRF24_write_REGISTER(uint8_t REGISTER, uint8_t *value, uint8_t len) {
    uint8_t ret;
    uint8_t buff[len+1];
    buff[0]=W_REGISTER | REGISTER;
    memcpy(buff+1, value, len);
    nRF24_spi_enable(true);
    ret = spi_write_blocking(SPI_PORT, buff,  len+1);
    nRF24_spi_enable(false);
    return ret;
}

/*!
* \brief R_RX_PL_WIN: nRF24L01 received payload width
*/
uint8_t nRF24_get_RX_payload_width(uint8_t *width) {
    uint8_t ret;
    uint8_t status;
    uint8_t cmd=R_RX_PL_WID;
    
    nRF24_spi_enable(true);
    ret = spi_write_read_blocking(SPI_PORT, &cmd, &status, 1);
    if (ret) {
        ret = spi_read_blocking(SPI_PORT, NOP, width, 1);
    }
    nRF24_spi_enable(false);
    return ret;
}

/*!
* \brief R_RX_PAYLOAD: received payload
* \param payload received payload
* \param len received number of bytes 
* \return 0:failure, others: successful
*/
uint8_t nRF24_read_payload(uint8_t *payload, uint8_t len) {
    uint8_t ret;
    uint8_t status;
    uint8_t cmd=R_RX_PAYLOAD;
    
    nRF24_spi_enable(true);
    ret = spi_write_read_blocking(SPI_PORT, &cmd, &status, 1);
    if (ret) {
        ret = spi_read_blocking(SPI_PORT, NOP, payload, len);
    }
    nRF24_spi_enable(false);
    return ret;
}

/*!
* \brief W_TX_PAYLOAD: write payload
* \param payload received payload
* \param len received number of bytes 
* \return 0:failure, others: successful
*/
uint8_t nRF24_write_payload(uint8_t *payload, uint8_t len) {
    uint8_t ret;
    uint8_t buff[len+1];
   
    buff[0] = W_TX_PAYLOAD;
   
    memcpy(buff+1, payload, len);
    
    nRF24_spi_enable(true);
    ret = spi_write_blocking(SPI_PORT, buff,  len+1);
    nRF24_spi_enable(false);
    return ret;
}

/*!
* \brief W_TX_PAYLOAD_NOACK: write payload without acknowledgment. enable EN_DYN_ACK in FEATURE 
* \param payload received payload
* \param len received number of bytes 
* \return 0:failure, others: successful
*/
uint8_t nRF24_write_payload_no_ack(uint8_t *payload, uint8_t len) {
    uint8_t ret;
    uint8_t buff[len+1];
    buff[0]=W_TX_PAYLOAD_NOACK;
    memcpy(buff+1, payload, len);
    
    nRF24_spi_enable(true);
    ret = spi_write_blocking(SPI_PORT, buff,  len+1);
    nRF24_spi_enable(false);
    return ret;
}

/*!
* \brief FLUSH RX FIFO
*/
uint8_t nRF24_flush_rx() {
    uint8_t ret;
    uint8_t cmd=FLUSH_RX;
    uint8_t status;
    nRF24_spi_enable(true);
    ret = spi_write_read_blocking(SPI_PORT, &cmd, &status, 1);
    nRF24_spi_enable(false);
    return ret;
}

/*!
* \brief FLUSH TX FIFO
*/
uint8_t nRF24_flush_tx() {
    uint8_t ret;
    uint8_t cmd=FLUSH_TX;
    uint8_t status;
    nRF24_spi_enable(true);
    ret = spi_write_read_blocking(SPI_PORT, &cmd, &status, 1);
    nRF24_spi_enable(false);
    return ret;
}

uint8_t nRF24_reuse_tx_pl() {
    uint8_t ret;
    uint8_t cmd=REUSE_TX_PL;
    uint8_t status;
    nRF24_spi_enable(true);
    ret = spi_write_read_blocking(SPI_PORT, &cmd, &status, 1);
    nRF24_spi_enable(false);
    return ret;
}

/*!
* \brief W_ACK_PAYLOAD
*/
uint8_t nRF24_write_ack_payload(uint8_t data_pipe, uint8_t *payload, uint8_t len) {
    uint8_t ret;
    uint8_t buff[len+2];
    buff[0]=W_ACK_PAYLOAD | (data_pipe&0x07);
    memcpy(buff+1, payload, len);

    nRF24_spi_enable(true);
    ret = spi_write_blocking(SPI_PORT, buff,  len+1);
    nRF24_spi_enable(false);
    return ret;
}

uint8_t nRF24_set_TX_addr(uint8_t *addr, uint8_t len) {
    
    return (nRF24_write_REGISTER(TX_ADDR, addr, len));
}

uint8_t nRF24_get_TX_addr(uint8_t *addr, uint8_t len) {
    return (nRF24_read_REGISTER(TX_ADDR, addr, len));
}

uint8_t nRF24_set_RX_addr(uint8_t data_pipe, uint8_t *addr, uint8_t len) {
    uint8_t rx_addr_reg = RX_ADDR_P0 + data_pipe;
    if (data_pipe > 1) len = 1;
    return (nRF24_write_REGISTER(rx_addr_reg, addr, len));
}

uint8_t nRF24_get_RX_addr(uint8_t data_pipe, uint8_t *addr, uint8_t len) {
    uint8_t rx_addr_reg = RX_ADDR_P0 + data_pipe;
    if (data_pipe > 1) len = 1;
    return (nRF24_read_REGISTER(rx_addr_reg, addr, len));
}

uint8_t nRF24_status(uint8_t *status) {
    uint8_t ret;
    uint8_t cmd = NOP;
    nRF24_spi_enable(true);
    ret = spi_write_read_blocking(SPI_PORT, &cmd, status, 1);
    nRF24_spi_enable(false);
    return ret;
}
/*!
* \param channel 0~125
*/
uint8_t nRF24_set_RF_channel(uint8_t channel) {
    if (channel > 125) channel = 125;
    return (nRF24_write_REGISTER(RF_CH, &channel,1));
}

/*!
* \param pa: PA_0dBM, PA_m_6dBm(-6dBm), PA_m_12dBm, PA_m_18dBm
*/
uint8_t nRF24_set_power_amplifier(uint8_t pa) {
    uint8_t rf_setup;
    if(!nRF24_read_REGISTER(RF_SETUP, &rf_setup,1)) return false;
    rf_setup &= 0xF9;
    switch(pa) {
        case PA_0dBm:
            rf_setup |= 0x06;
        break;
        case PA_m_6dBm:
            rf_setup |= 0x04;
        break;
        case PA_m_12dBm:
            rf_setup |= 0x02;
        break;
        case PA_m_18dBm:
            rf_setup |= 0x00;
        break;
    }
    return (nRF24_write_REGISTER(RF_SETUP, &rf_setup,1));
}

/*!
* \param aw 3~5
*/
uint8_t nRF24_set_address_width(uint8_t aw) {
    if (aw >=3 && aw <= 5 ) {
        aw -= 2;
        return (nRF24_write_REGISTER(SETUP_AW, &aw,1));
    }
    else 
        return false;
}

uint8_t nRF24_get_address_width(uint8_t *aw) {
    if (!nRF24_read_REGISTER(SETUP_AW, aw,1)) {
        *aw=0;
        return false;
    }
    *aw = *aw+2;
    return true;
    
}

/*!
* \brief EN_AA register
*/
uint8_t nRF24_enable_auto_ack(uint8_t data_pipe, bool enable) {
    uint8_t aa;
    uint8_t mask;
    if (data_pipe < 0 || data_pipe > 5) return false;
    mask = 0x1 << data_pipe;
    if(!nRF24_read_REGISTER(EN_AA, &aa, 1)) return false;
    if (enable) {
        aa |= mask;
    } else {
        aa &= (mask^0xFF);
    }
    return (nRF24_write_REGISTER(EN_AA, &aa,1));
}

/*!
* \param feature FEATURE_EN_DYN_ACK, FEATURE_EN_ACK_PAY, FEATURE_EN_DPL
* \param enable true:enable, false:disable
*/
uint8_t nRF24_enable_feature(uint8_t feature, bool enable) {
    uint8_t buff;
    
    if(!nRF24_read_REGISTER(FEATURE, &buff, 1)) return false;
    if (enable) {
        buff |= (0x01 << feature);
    } else {
        buff &= ((0x01 << feature) ^ 0xFF);
    }
    return (nRF24_write_REGISTER(FEATURE, &buff,1));
}

/*!
* \brief DYNPD register
 */
uint8_t nRF24_enable_data_pipe_dynamic_payload_length(uint8_t data_pipe, bool enable) {
    if (data_pipe < 0 || data_pipe > 5) return false;
    if (!nRF24_enable_feature(FEATURE_EN_DPL, true)) return false;
    if (!nRF24_enable_auto_ack(data_pipe, true)) return false;

    uint8_t dynpd;
    uint8_t mask;
    
    mask = 0x1 << data_pipe;
    if(!nRF24_read_REGISTER(DYNPD, &dynpd, 1)) return false;
    if (enable) {
        dynpd |= mask;
    } else {
        dynpd &= (mask^0xff);
    }
    return (nRF24_write_REGISTER(DYNPD, &dynpd,1));
}

/*!
* \brief Received Power Detector (RPD)
*/
uint8_t nRF24_get_RPD(uint8_t *rpd_value) {
    return (nRF24_read_REGISTER(RPD, rpd_value, 1));
}

/*!
* \brief RX_PW_Px register, Number of bytes in RX payload in data pipe Px
*/
uint8_t nRF24_set_recv_payload_width(uint8_t data_pipe, uint8_t width) {
    if (width > 32 || width < 0) return false;
    uint8_t rx_pw_px = RX_PW_P0+data_pipe;
    return (nRF24_write_REGISTER(rx_pw_px, &width, 1));
}
/*!
* \brief enable RX Address at data pipe x
* \param mask 0b00xxxxxx: ex. 0b00010111 enable p0~2 & p4
*/
uint8_t nRF24_enable_RXADDR(uint8_t mask) {
    return (nRF24_write_REGISTER(EN_RXADDR, &mask, 1));
}

uint8_t nRF24_set_data_rate(uint8_t rate) {
    uint8_t rf_setup;
    if(!nRF24_read_REGISTER(RF_SETUP, &rf_setup, 1)) return false;
    rf_setup &= 0xD7;
    switch(rate) {
        case DATA_RATE_250K:
            rf_setup |= 0x20;
        break;
        case DATA_RATE_1M:
            rf_setup |= 0x00;
        break;
        case DATA_RATE_2M:
            rf_setup |= 0x08;
        break;
    }
    return (nRF24_write_REGISTER(RF_SETUP, &rf_setup,1));
    
}
/*!
* \brief set nRF24L01+ mode
* \param PRIM_RX 1:PRX, 0: PTX
* \return 0: falure, other success
*/
uint8_t nRF24_config_mode(uint8_t PRIM_RX) {
    
    uint8_t ret;
    uint8_t mode;
    
    ret = nRF24_read_REGISTER(CONFIG, &mode, 1);
    if (ret) {
        nRF24_enable_CE(false);
        sleep_us(10);
        mode = (mode & 0xFE) | (PRIM_RX & 0x01);
        ret = nRF24_write_REGISTER(CONFIG, &mode,1);
        nRF24_enable_CE(true);
        sleep_us(2000);
    }
    return ret;
}

/*!
* \param irq_type EVENT_MAX_RT, EVENT_TX_DS, EVENT_RX_DR
* \param enable
*/
uint8_t nRF24_enable_IRQ(uint8_t irq_type, bool enable) {
    if (irq_type < EVENT_MAX_RT || irq_type > EVENT_RX_DR) return 0;

    uint8_t config;
    uint8_t mask=0x01 << irq_type;
    
    if (!nRF24_read_REGISTER(CONFIG, &config, 1)) return 0;
    if (enable) {
        config &= (mask ^ 0xFF);
    } else {
        config |= mask;
    }
    return nRF24_write_REGISTER(CONFIG, &config, 1);
}
/*!
* \brief clear MAX_RT interrupt
*/
uint8_t nRF24_clear_MAX_RT() {
    uint8_t status;
    if (!nRF24_status(&status)) return 0;
    if (status & 0x10) {
        status |= 0x10;
        return (nRF24_write_REGISTER(STATUS, &status, 1));
    }
    return 0;
}
/*!
* \brief clear TX_DS interrupt
*/
uint8_t nRF24_clear_TX_DS() {
    uint8_t status;
    if (!nRF24_status(&status)) return 0;
    if (status & 0x20) {
        status |= 0x20;
        return (nRF24_write_REGISTER(STATUS, &status, 1));
    }
    return 0;
}

/*!
* \brief clear RX_DR interrupt
*/
uint8_t nRF24_clear_RX_DR() {
    uint8_t status;
    if (!nRF24_status(&status)) return 0;
    if (status & 0x40) {
        status |= 0x40;
        return (nRF24_write_REGISTER(STATUS, &status, 1));
    }
    return 0;
}

static void nRF24_standby_to_txrx_mode(){
    nRF24_enable_CE(true);
    busy_wait_us(140);  // Standby modes --> TX/RX mode : max 130us. 
                        // Delay from CE positive edge to CSN low : min 4us
}

/*!
* \brief set SETUP_RETR register bit 7:4 Auto Retransmit Delay
* \param delay time = 250us*(delay+1), value:0x00~0x0f
*/
uint8_t nRF24_set_auto_retransmit_delay(uint8_t delay) {
    uint8_t ard;
    if (delay > 0x0f) delay = 0x0f;
    if (nRF24_read_REGISTER(SETUP_RETR, &ard,1)) {
        ard = (ard&0x0f) | delay << 4;
        return (nRF24_write_REGISTER(SETUP_RETR, &ard, 1));
    }
    return false;
}

uint8_t nRF24_fifo_tx_full(uint8_t *full) {
    uint8_t fifo_status;
    uint8_t ret;
    ret = nRF24_read_REGISTER(FIFO_STATUS, &fifo_status, 1);
    if (ret) {
        fifo_status &= 0x20;
        *full = fifo_status >> 5; 
    }
    return ret;
}

static uint8_t nRF24_fifo_tx_empty(uint8_t *empty) {
    uint8_t fifo_status;
    uint8_t ret;
    ret = nRF24_read_REGISTER(FIFO_STATUS, &fifo_status, 1);
    if (ret) {
        fifo_status &= 0x10;
        *empty = fifo_status >> 4; 
    }
    return ret;
}

static uint8_t nRF24_fifo_rx_full(uint8_t *full) {
    uint8_t fifo_status;
    uint8_t ret;
    ret = nRF24_read_REGISTER(FIFO_STATUS, &fifo_status, 1);
    if (ret) {
        fifo_status &= 0x02;
        *full = fifo_status  >> 1; 
    }
    return ret;
}

static uint8_t nRF24_fifo_rx_empty(uint8_t *empty) {
    uint8_t fifo_status;
    uint8_t ret;
    ret = nRF24_read_REGISTER(FIFO_STATUS, &fifo_status, 1);
    if (ret) {
        fifo_status &= 0x01;
        *empty = fifo_status;
    }
    return ret;
}

nRF24L01.h

#ifndef __nRF24L01_H__
#define __nRF24L01_H__
#include "hardware/spi.h" 

// Command
#define R_REGISTER          0b00000000
#define W_REGISTER          0b00100000
#define R_RX_PAYLOAD        0b01100001
#define W_TX_PAYLOAD        0b10100000
#define FLUSH_TX            0b11100001
#define FLUSH_RX            0b11100010
#define REUSE_TX_PL         0b11100011
#define ACTIVATE            0b01010000      //nRF24L01 Product Specification
#define R_RX_PL_WID         0b01100000
#define W_ACK_PAYLOAD       0b10101000      // 0b10100PPP
#define W_TX_PAYLOAD_NOACK  0b10110000
#define NOP                 0b11111111

//Registers
#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 RPD                 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
#define FEATURE             0x1D

#define TRANSMITTER         0
#define RECEIVER            1

enum {
    DATA_RATE_250K=0,
    DATA_RATE_1M,
    DATA_RATE_2M
} nRF24_DATA_RATE;

enum {
    PA_0dBm=0,
    PA_m_6dBm,
    PA_m_12dBm,
    PA_m_18dBm,
} nRF24_PA;

enum {
    AW_3=1,
    AW_4,
    AW_5,
} nRF24_ADDRESS_WIDTH;

enum {
    FEATURE_EN_DYN_ACK=0,  // W_TX_PAYLOAD_NOACK
    FEATURE_EN_ACK_PAY,
    FEATURE_EN_DPL,
}nRF24_FEATURE_MASK;

enum {
    EVENT_MAX_RT=4,
    EVENT_TX_DS,
    EVENT_RX_DR,
} nRF24_IRQ_EVENT;

typedef void (*nRF24_irq_callback_t)(uint8_t evant_type, uint8_t datapipe, uint8_t* data, uint8_t width);

void nRF24_spi_default_init(uint CE, uint IRQ, nRF24_irq_callback_t callback);
void nRF24_spi_init(spi_inst_t* spi_port, uint miso, uint  mosi, uint  cs, uint  ce, uint speed, uint IRQ, nRF24_irq_callback_t callback);
void nRF24_spi_enable(bool enable);
uint8_t nRF24_status(uint8_t *status);
uint8_t  nRF24_read_REGISTER(uint8_t REGISTER, uint8_t *value, uint8_t len);
uint8_t  nRF24_write_REGISTER(uint8_t REGISTER, uint8_t *value, uint8_t len);
uint8_t nRF24_config_mode(uint8_t PRIM_RX);

uint8_t nRF24_set_data_rate(uint8_t rate);
uint8_t nRF24_set_RF_channel(uint8_t channel);
uint8_t nRF24_set_power_amplifier(uint8_t pa);
uint8_t nRF24_set_address_width(uint8_t aw);
uint8_t nRF24_set_recv_payload_width(uint8_t data_pipe, uint8_t width);
uint8_t nRF24_set_RX_addr(uint8_t data_pipe, uint8_t *addr, uint8_t len);
uint8_t nRF24_set_TX_addr(uint8_t *addr, uint8_t len);

uint8_t nRF24_get_RPD(uint8_t *rpd_value);
uint8_t nRF24_get_RX_payload_width(uint8_t *width);
uint8_t nRF24_get_address_width(uint8_t *aw);
uint8_t nRF24_get_RX_addr(uint8_t data_pipe, uint8_t *addr, uint8_t len);
uint8_t nRF24_get_TX_addr(uint8_t *addr, uint8_t len);

uint8_t nRF24_enable_auto_ack(uint8_t data_pipe, bool enable);
uint8_t nRF24_enable_data_pipe_dynamic_payload_length(uint8_t data_pipe, bool enable);
uint8_t nRF24_enable_feature(uint8_t feature, bool enable);
uint8_t nRF24_enable_RXADDR(uint8_t mask);

uint8_t nRF24_read_payload(uint8_t *payload, uint8_t len);
uint8_t nRF24_write_payload(uint8_t *payload, uint8_t len);
uint8_t nRF24_write_payload_no_ack(uint8_t *payload, uint8_t len);

uint8_t nRF24_flush_rx();
uint8_t nRF24_flush_tx();
uint8_t nRF24_reuse_tx_pl();
uint8_t nRF24_write_ack_payload(uint8_t data_pipe, uint8_t *payload, uint8_t len);

uint8_t nRF24_clear_MAX_RT();
uint8_t nRF24_clear_TX_DS();
uint8_t nRF24_clear_RX_DR();

void nRF24_standby_I();
#endif

CMakeLists.txt

add_library(nRF24L01_drv INTERFACE)
target_sources(nRF24L01_drv INTERFACE
    ${CMAKE_CURRENT_LIST_DIR}/nRF24L01.c
)

target_include_directories(nRF24L01_drv INTERFACE
    ${CMAKE_CURRENT_LIST_DIR}
)

target_link_libraries(nRF24L01_drv INTERFACE
        hardware_spi
)

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2023年8月6日星期日

[Raspberry Pi Pico] nRF24L01+ Ep. 1 : Pico-SDK C-code driver using IRQ

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2023年8月6日 星期日

[Raspberry Pi Pico] nRF24L01+ Ep. 1 : Pico-SDK C-code driver using IRQ

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2023年8月6日星期日