static void writeBindAckPayload(uint8_t *payload) { #ifdef USE_AUTO_ACKKNOWLEDGEMENT memcpy(ackPayload, payload, BIND_PAYLOAD_SIZE); // send back the payload with the first two bytes set to zero as the ack ackPayload[0] = BIND_ACK_PAYLOAD0; ackPayload[1] = BIND_ACK_PAYLOAD1; // respond to request for rfChannelCount; ackPayload[7] = inavRfChannelHoppingCount; // respond to request for payloadSize switch (payloadSize) { case INAV_PROTOCOL_PAYLOAD_SIZE_MIN: case INAV_PROTOCOL_PAYLOAD_SIZE_DEFAULT: case INAV_PROTOCOL_PAYLOAD_SIZE_MAX: ackPayload[8] = payloadSize; break; default: ackPayload[8] = INAV_PROTOCOL_PAYLOAD_SIZE_DEFAULT; break; } writeAckPayload(ackPayload, BIND_PAYLOAD_SIZE); #else UNUSED(payload); #endif }
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); }
static void writeTelemetryAckPayload(void) { #ifdef TELEMETRY_NRF24_LTM // set up telemetry data, send back telemetry data in the ACK packet static uint8_t sequenceNumber = 0; static ltm_frame_e ltmFrameType = LTM_FRAME_START; ackPayload[0] = sequenceNumber++; const int ackPayloadSize = getLtmFrame(&ackPayload[1], ltmFrameType) + 1; ++ltmFrameType; if (ltmFrameType > LTM_FRAME_COUNT) { ltmFrameType = LTM_FRAME_START; } writeAckPayload(ackPayload, ackPayloadSize); #ifdef DEBUG_NRF24_INAV debug[1] = ackPayload[0]; // sequenceNumber debug[2] = ackPayload[1]; // frame type, 'A', 'S' etc debug[3] = ackPayload[2]; // pitch for AFrame #endif #endif }