static void inavNrf24Setup(rx_spi_protocol_e protocol, const uint32_t *rxSpiId, int rfChannelHoppingCount)
{
UNUSED(protocol);
UNUSED(rfChannelHoppingCount);
// sets PWR_UP, EN_CRC, CRCO - 2 byte CRC, only get IRQ pin interrupt on RX_DR
NRF24L01_Initialize(BV(NRF24L01_00_CONFIG_EN_CRC) | BV(NRF24L01_00_CONFIG_CRCO) | BV(NRF24L01_00_CONFIG_MASK_MAX_RT) | BV(NRF24L01_00_CONFIG_MASK_TX_DS));
#ifdef USE_AUTO_ACKKNOWLEDGEMENT
NRF24L01_WriteReg(NRF24L01_01_EN_AA, BV(NRF24L01_01_EN_AA_ENAA_P0)); // auto acknowledgment on P0
NRF24L01_WriteReg(NRF24L01_02_EN_RXADDR, BV(NRF24L01_02_EN_RXADDR_ERX_P0));
NRF24L01_WriteReg(NRF24L01_03_SETUP_AW, NRF24L01_03_SETUP_AW_5BYTES); // 5-byte RX/TX address
NRF24L01_WriteReg(NRF24L01_04_SETUP_RETR, 0);
NRF24L01_Activate(0x73); // activate R_RX_PL_WID, W_ACK_PAYLOAD, and W_TX_PAYLOAD_NOACK registers
NRF24L01_WriteReg(NRF24L01_1D_FEATURE, BV(NRF24L01_1D_FEATURE_EN_ACK_PAY) | BV(NRF24L01_1D_FEATURE_EN_DPL));
NRF24L01_WriteReg(NRF24L01_1C_DYNPD, BV(NRF24L01_1C_DYNPD_DPL_P0)); // enable dynamic payload length on P0
//NRF24L01_Activate(0x73); // deactivate R_RX_PL_WID, W_ACK_PAYLOAD, and W_TX_PAYLOAD_NOACK registers
NRF24L01_WriteRegisterMulti(NRF24L01_10_TX_ADDR, rxTxAddr, RX_TX_ADDR_LEN);
#else
NRF24L01_SetupBasic();
#endif
NRF24L01_WriteReg(NRF24L01_06_RF_SETUP, NRF24L01_06_RF_SETUP_RF_DR_250Kbps | NRF24L01_06_RF_SETUP_RF_PWR_n12dbm);
// RX_ADDR for pipes P1-P5 are left at default values
NRF24L01_WriteRegisterMulti(NRF24L01_0A_RX_ADDR_P0, rxTxAddr, RX_TX_ADDR_LEN);
NRF24L01_WriteReg(NRF24L01_11_RX_PW_P0, payloadSize);
#ifdef USE_BIND_ADDRESS_FOR_DATA_STATE
inavSetBound();
UNUSED(rxSpiId);
#else
rxSpiId = NULL; // !!TODO remove this once configurator supports setting rx_id
if (rxSpiId == NULL || *rxSpiId == 0) {
rxSpiIdPtr = NULL;
protocolState = STATE_BIND;
inavRfChannelCount = 1;
inavRfChannelIndex = 0;
NRF24L01_SetChannel(INAV_RF_BIND_CHANNEL);
} else {
rxSpiIdPtr = (uint32_t*)rxSpiId;
// use the rxTxAddr provided and go straight into DATA_STATE
memcpy(rxTxAddr, rxSpiId, sizeof(uint32_t));
rxTxAddr[4] = RX_TX_ADDR_4;
inavSetBound();
}
#endif
NRF24L01_SetRxMode(); // enter receive mode to start listening for packets
// put a null packet in the transmit buffer to be sent as ACK on first receive
writeAckPayload(ackPayload, payloadSize);
}
/*
* This is called periodically by the scheduler.
* Returns RX_SPI_RECEIVED_DATA if a data packet was received.
*/
rx_spi_received_e inavNrf24DataReceived(uint8_t *payload)
{
rx_spi_received_e ret = RX_SPI_RECEIVED_NONE;
timeUs_t timeNowUs;
switch (protocolState) {
case STATE_BIND:
if (NRF24L01_ReadPayloadIfAvailable(payload, payloadSize)) {
whitenPayload(payload, payloadSize);
const bool bindPacket = inavCheckBindPacket(payload);
if (bindPacket) {
ret = RX_SPI_RECEIVED_BIND;
writeBindAckPayload(payload);
// got a bind packet, so set the hopping channels and the rxTxAddr and start listening for data
inavSetBound();
}
}
break;
case STATE_DATA:
timeNowUs = micros();
// read the payload, processing of payload is deferred
if (NRF24L01_ReadPayloadIfAvailable(payload, payloadSize)) {
whitenPayload(payload, payloadSize);
receivedPowerSnapshot = NRF24L01_ReadReg(NRF24L01_09_RPD); // set to 1 if received power > -64dBm
const bool bindPacket = inavCheckBindPacket(payload);
if (bindPacket) {
// transmitter may still continue to transmit bind packets after we have switched to data mode
ret = RX_SPI_RECEIVED_BIND;
writeBindAckPayload(payload);
} else {
ret = RX_SPI_RECEIVED_DATA;
writeTelemetryAckPayload();
}
}
if ((ret == RX_SPI_RECEIVED_DATA) || (timeNowUs > timeOfLastHop + hopTimeout)) {
inavHopToNextChannel();
timeOfLastHop = timeNowUs;
}
break;
}
return ret;
}
