uint8_t NRF24L01_Init(uint8_t channel, uint8_t payload_size) {
/* Max payload is 32bytes */
if (payload_size > 32) {
payload_size = 32;
}
/* Fill structure */
NRF24L01_Struct.Channel = !channel; /* Set channel to some different value for NRF24L01_SetChannel() function */
NRF24L01_Struct.PayloadSize = payload_size;
NRF24L01_Struct.OutPwr = NRF24L01_OutputPower_0dBm;
NRF24L01_Struct.DataRate = NRF24L01_DataRate_2M;
/* Reset nRF24L01+ to power on registers values */
NRF24L01_SoftwareReset();
/* Channel select */
NRF24L01_SetChannel(channel);
/* Set pipeline to max possible 32 bytes */
NRF24L01_WriteRegister(NRF24L01_REG_RX_PW_P0, NRF24L01_Struct.PayloadSize); // Auto-ACK pipe
NRF24L01_WriteRegister(NRF24L01_REG_RX_PW_P1, NRF24L01_Struct.PayloadSize); // Data payload pipe
NRF24L01_WriteRegister(NRF24L01_REG_RX_PW_P2, NRF24L01_Struct.PayloadSize);
NRF24L01_WriteRegister(NRF24L01_REG_RX_PW_P3, NRF24L01_Struct.PayloadSize);
NRF24L01_WriteRegister(NRF24L01_REG_RX_PW_P4, NRF24L01_Struct.PayloadSize);
NRF24L01_WriteRegister(NRF24L01_REG_RX_PW_P5, NRF24L01_Struct.PayloadSize);
/* Set RF settings (2mbps, output power) */
NRF24L01_SetRF(NRF24L01_Struct.DataRate, NRF24L01_Struct.OutPwr);
/* Config register */
NRF24L01_WriteRegister(NRF24L01_REG_CONFIG, NRF24L01_CONFIG);
/* Enable auto-acknowledgment for all pipes */
NRF24L01_WriteRegister(NRF24L01_REG_EN_AA, 0x3F);
/* Enable RX addresses */
NRF24L01_WriteRegister(NRF24L01_REG_EN_RXADDR, 0x3F);
/* Auto retransmit delay: 1000 (4x250) us and Up to 15 retransmit trials */
NRF24L01_WriteRegister(NRF24L01_REG_SETUP_RETR, 0x4F);
/* Dynamic length configurations: No dynamic length */
NRF24L01_WriteRegister(NRF24L01_REG_DYNPD, (0 << NRF24L01_DPL_P0) | (0 << NRF24L01_DPL_P1) | (0 << NRF24L01_DPL_P2) | (0 << NRF24L01_DPL_P3) | (0 << NRF24L01_DPL_P4) | (0 << NRF24L01_DPL_P5));
/* Clear FIFOs */
NRF24L01_FLUSH_TX();
NRF24L01_FLUSH_RX();
/* Clear interrupts */
NRF24L01_CLEAR_INTERRUPTS;
/* Go to RX mode */
NRF24L01_PowerUpRx();
/* Return OK */
return 1;
}
static void inavHopToNextChannel(void)
{
++inavRfChannelIndex;
if (inavRfChannelIndex >= inavRfChannelCount) {
inavRfChannelIndex = 0;
}
NRF24L01_SetChannel(inavRfChannels[inavRfChannelIndex]);
#ifdef DEBUG_NRF24_INAV
debug[0] = inavRfChannels[inavRfChannelIndex];
#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 inavSetBound(void)
{
protocolState = STATE_DATA;
NRF24L01_WriteRegisterMulti(NRF24L01_0A_RX_ADDR_P0, rxTxAddr, RX_TX_ADDR_LEN);
NRF24L01_WriteRegisterMulti(NRF24L01_10_TX_ADDR, rxTxAddr, RX_TX_ADDR_LEN);
timeOfLastHop = micros();
inavRfChannelIndex = 0;
inavSetHoppingChannels();
NRF24L01_SetChannel(inavRfChannels[0]);
#ifdef DEBUG_NRF24_INAV
debug[0] = inavRfChannels[inavRfChannelIndex];
#endif
}
