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NRF5 ESB fix Errata #78,#102,#106 (#995)

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This commit is contained in:
d00616
2017-11-18 17:02:38 +01:00
committed by Patrick Fallberg
parent 506d23581d
commit aabddc841c
4 changed files with 119 additions and 124 deletions
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3
MyConfig.h
View File

@@ -475,9 +475,10 @@
* @def MY_NRF5_ESB_MODE
* @brief nRF5 mode.
*
* - NRF5_250KBPS for 250kbs
* - NRF5_250KBPS for 250kbs (Deprecated)
* - NRF5_1MBPS for 1Mbps
* - NRF5_2MBPS for 2Mbps.
* - NRF5_BLE_1MBPS for 1Mbps BLE modulation
*/
#ifndef MY_NRF5_ESB_MODE
#define MY_NRF5_ESB_MODE (NRF5_250KBPS)

6
drivers/NRF5/Radio.h
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@@ -33,9 +33,9 @@
#include <string.h>
// Timer to use
#define NRF5_RADIO_TIMER NRF_TIMER2
#define NRF5_RADIO_TIMER_IRQ_HANDLER TIMER2_IRQHandler
#define NRF5_RADIO_TIMER_IRQN TIMER2_IRQn
#define NRF5_RADIO_TIMER NRF_TIMER0
#define NRF5_RADIO_TIMER_IRQ_HANDLER TIMER0_IRQHandler
#define NRF5_RADIO_TIMER_IRQN TIMER0_IRQn
// debug
#if defined(MY_DEBUG_VERBOSE_NRF5_ESB)

213
drivers/NRF5/Radio_ESB.cpp
View File

@@ -27,20 +27,19 @@
// internal functions
static uint8_t reverse_byte(uint8_t address);
inline void _stopTimer();
inline void _stopACK();
// RX Buffer
static NRF5_ESB_Packet rx_circular_buffer_buffer[MY_NRF5_ESB_RX_BUFFER_SIZE];
// Poiter to rx circular buffer
static NRF5_ESB_Packet *rx_buffer;
static NRF5_ESB_Packet rx_buffer;
// Circular buffer
static CircularBuffer<NRF5_ESB_Packet>
rx_circular_buffer(rx_circular_buffer_buffer, MY_NRF5_ESB_RX_BUFFER_SIZE);
// Dedect duplicate packages for every pipe available
static volatile uint32_t package_ids[8];
// ACK Buffer
static NRF5_ESB_Packet ack_buffer;
// TX Buffer
static NRF5_ESB_Packet tx_buffer;
// remaining TX retries
@@ -51,8 +50,6 @@ static volatile int8_t ack_pid;
static volatile bool ack_received;
// Flag for end TX event
static volatile bool events_end_tx;
// Flag if radio is disabled
static volatile bool radio_disabled;
// Last RSSI sample provided by NRF5_ESB_readMessage
static volatile int16_t rssi_rx;
// Last RSSI sample by last package
@@ -67,6 +64,11 @@ static bool NRF5_ESB_initialize()
{
NRF5_RADIO_DEBUG(PSTR("NRF5:INIT:ESB\n"));
#if defined(SOFTDEVICE_PRESENT)
// Disable the SoftDevice; requires NRF5 SDK available
sd_softdevice_disable();
#endif
// Power on radio unit
NRF_RADIO->POWER = 1;
@@ -112,6 +114,12 @@ static bool NRF5_ESB_initialize()
// Configure radio parameters: data rate
NRF_RADIO->MODE = MY_NRF5_ESB_MODE;
#ifdef NRF52
// Configure nRF52 specific mode register
NRF_RADIO->MODECNF0 = (RADIO_MODECNF0_RU_Default << RADIO_MODECNF0_RU_Pos) |
(RADIO_MODECNF0_DTX_Center << RADIO_MODECNF0_DTX_Pos);
#endif
// Configure radio parameters: CRC16
NRF_RADIO->CRCCNF = (RADIO_CRCCNF_LEN_Two << RADIO_CRCCNF_LEN_Pos);
NRF_RADIO->CRCINIT = 0xFFFFUL;
@@ -161,7 +169,7 @@ static bool NRF5_ESB_initialize()
NRF5_RADIO_TIMER->POWER = 1;
#endif
// Stop timer, if running
NRF5_RADIO_TIMER->TASKS_STOP = 1;
_stopTimer();
// Prepare timer running at 1 MHz/1us
NRF5_RADIO_TIMER->PRESCALER = 4;
// Timer mode
@@ -170,7 +178,7 @@ static bool NRF5_ESB_initialize()
NRF5_RADIO_TIMER->BITMODE = TIMER_BITMODE_BITMODE_16Bit << TIMER_BITMODE_BITMODE_Pos;
// Stop timer when CC0 reached
NRF5_RADIO_TIMER->SHORTS =
TIMER_SHORTS_COMPARE1_CLEAR_Msk | TIMER_SHORTS_COMPARE1_STOP_Msk;
TIMER_SHORTS_COMPARE3_CLEAR_Msk | TIMER_SHORTS_COMPARE3_STOP_Msk;
// Reset timer
NRF5_RADIO_TIMER->TASKS_CLEAR = 1;
@@ -184,20 +192,8 @@ static bool NRF5_ESB_initialize()
}
// Enable interrupt
NRF5_RADIO_TIMER->INTENSET = TIMER_INTENSET_COMPARE0_Enabled << TIMER_INTENSET_COMPARE0_Pos;
NRF5_RADIO_TIMER->INTENSET = TIMER_INTENSET_COMPARE1_Enabled << TIMER_INTENSET_COMPARE1_Pos;
/** Configure PPI (Programmable peripheral interconnect) */
// Start timer on END event
NRF_PPI->CH[NRF5_ESB_PPI_TIMER_START].EEP = (uint32_t)&NRF_RADIO->EVENTS_END;
NRF_PPI->CH[NRF5_ESB_PPI_TIMER_START].TEP = (uint32_t)&NRF5_RADIO_TIMER->TASKS_START;
// Disable Radio after CC[0]
NRF_PPI->CH[NRF5_ESB_PPI_TIMER_RADIO_DISABLE].EEP = (uint32_t)&NRF5_RADIO_TIMER->EVENTS_COMPARE[0];
NRF_PPI->CH[NRF5_ESB_PPI_TIMER_RADIO_DISABLE].TEP = (uint32_t)&NRF_RADIO->TASKS_DISABLE;
// Set internal variables
radio_disabled = true;
#ifdef MY_DEBUG_VERBOSE_NRF5_ESB
intcntr_bcmatch=0;
intcntr_ready=0;
@@ -281,6 +277,11 @@ static void NRF5_ESB_startListening()
NRF5_ESB_initialize();
}
#ifdef NRF52
// Fix PAN#102 and PAN#106
*((volatile uint32_t *)0x40001774) = (*((volatile uint32_t *)0x40001774) & 0xFFFFFFFE) | 0x01000000;
#endif
// Enable Ready interrupt
NRF_RADIO->INTENSET = RADIO_INTENSET_READY_Msk;
@@ -293,8 +294,6 @@ static void NRF5_ESB_startListening()
} else {
NRF_RADIO->TASKS_DISABLE = 1;
}
radio_disabled = false;
}
static bool NRF5_ESB_isDataAvailable()
@@ -326,15 +325,6 @@ static uint8_t NRF5_ESB_readMessage(void *data)
rx_circular_buffer.popBack();
}
// Check if radio was disabled by buffer end
if (radio_disabled == true) {
// Wait until disabling radio is finised
while (NRF_RADIO->EVENTS_DISABLED == 0)
;
// Enable radio
NRF5_ESB_startListening();
}
return ret;
}
@@ -360,14 +350,30 @@ void NRF5_ESB_starttx()
NRF_RADIO->SHORTS = NRF5_ESB_SHORTS_TX;
// reset timer
NRF_RESET_EVENT(NRF5_RADIO_TIMER->EVENTS_COMPARE[0]);
NRF_RESET_EVENT(NRF5_RADIO_TIMER->EVENTS_COMPARE[1]);
NRF5_RADIO_TIMER->TASKS_STOP = 1;
NRF_RESET_EVENT(NRF5_RADIO_TIMER->EVENTS_COMPARE[3]);
_stopTimer();
NRF5_RADIO_TIMER->TASKS_CLEAR = 1;
// Set retransmit time
NRF5_RADIO_TIMER->CC[1] = NRF5_ESB_ARD - NRF5_ESB_RAMP_UP_TIME;
NRF5_RADIO_TIMER->CC[3] = NRF5_ESB_ARD - NRF5_ESB_RAMP_UP_TIME;
// Set radio disable time to ACK_WAIT time
NRF5_RADIO_TIMER->CC[0] = NRF5_ESB_ACK_WAIT;
NRF5_RADIO_TIMER->CC[1] = NRF5_ESB_ACK_WAIT;
/** Configure PPI (Programmable peripheral interconnect) */
// Start timer on END event
NRF_PPI->CH[NRF5_ESB_PPI_TIMER_START].EEP = (uint32_t)&NRF_RADIO->EVENTS_END;
NRF_PPI->CH[NRF5_ESB_PPI_TIMER_START].TEP = (uint32_t)&NRF5_RADIO_TIMER->TASKS_START;
#ifdef NRF52
NRF_PPI->FORK[NRF5_ESB_PPI_TIMER_START].TEP = 0;
#endif
#ifndef NRF5_ESB_USE_PREDEFINED_PPI
// Disable Radio after CC[1]
NRF_PPI->CH[NRF5_ESB_PPI_TIMER_RADIO_DISABLE].EEP = (uint32_t)&NRF5_RADIO_TIMER->EVENTS_COMPARE[1];
NRF_PPI->CH[NRF5_ESB_PPI_TIMER_RADIO_DISABLE].TEP = (uint32_t)&NRF_RADIO->TASKS_DISABLE;
#ifdef NRF52
NRF_PPI->CH[NRF5_ESB_PPI_TIMER_RADIO_DISABLE].TEP = 0;
#endif
#endif
// Set PPI
NRF_PPI->CHENSET = NRF5_ESB_PPI_BITS;
@@ -398,9 +404,7 @@ void NRF5_ESB_endtx()
// Enable Ready interrupt
NRF_RADIO->INTENSET = RADIO_INTENSET_READY_Msk;
// Stop Timer
NRF5_RADIO_TIMER->TASKS_STOP = 1;
// Shutdown timer
NRF5_RADIO_TIMER->TASKS_SHUTDOWN = 1;
_stopTimer();
// Mark TX as end
events_end_tx = true;
// Debug output
@@ -518,6 +522,23 @@ static uint8_t reverse_byte(uint8_t address)
return address;
}
inline void _stopTimer()
{
// Stop timer
NRF5_RADIO_TIMER->TASKS_STOP = 1;
// NRF52 PAN#78
NRF5_RADIO_TIMER->TASKS_SHUTDOWN = 1;
}
inline void _stopACK()
{
// Enable RX when ready, Enable RX after disabling task
NRF_RADIO->SHORTS = NRF5_ESB_SHORTS_RX;
// Start disabling radio -> switch to rx by shorts
NRF_RADIO->TASKS_DISABLE = 1;
}
// Calculate time to transmit an byte in µs as bit shift -> 2^X
static inline uint8_t NRF5_ESB_byte_time()
{
@@ -550,36 +571,27 @@ extern "C" {
// In RX mode -> prepare ACK or RX
if (NRF_RADIO->STATE == RADIO_STATE_STATE_Rx) {
// ACK only for node address and unset noack bit
#ifndef MY_NRF5_ESB_REVERSE_ACK_RX
if ((NRF_RADIO->RXMATCH != NRF5_ESB_NODE_ADDR) || (rx_buffer->noack)) {
#else
if ((NRF_RADIO->RXMATCH != NRF5_ESB_NODE_ADDR) || (!rx_buffer->noack)) {
#endif
// Handle incoming ACK packet
if (NRF_RADIO->RXMATCH == NRF5_ESB_TX_ADDR) {
/** Calculate time to switch radio off
* This is an ACK packet, the radio is disabled by Timer
* event after CC[0], calculate the time switching of the
* radio.
*/
// Read current timer value
NRF5_RADIO_TIMER->TASKS_CAPTURE[0] = 1;
// Set Timer compare register 0 to end of packet (len+CRC)
NRF5_RADIO_TIMER->CC[0] += ((rx_buffer->len + 3) << NRF5_ESB_byte_time());
#if __CORTEX_M == 0x04
// read back to clear cache
(void)NRF5_RADIO_TIMER->CC[0];
#endif
}
// No ACK -> Start RX after END
NRF_RADIO->SHORTS = NRF5_ESB_SHORTS_RX;
} else {
// Send ACK only for node address, don't care about the ACK bit to handle bad NRF24 clones
if (NRF_RADIO->RXMATCH == NRF5_ESB_NODE_ADDR) {
// Send ACK after END, an empty packet is provided in READY event
NRF_RADIO->SHORTS = NRF5_ESB_SHORTS_RX_TX;
// HINT: Fast ramp must be disabled for every device with unknown
// support (payload). Needs more code on other lines
} else {
// No ACK -> Start RX after END
NRF_RADIO->SHORTS = NRF5_ESB_SHORTS_RX;
}
// Handle incoming ACK packet
if (NRF_RADIO->RXMATCH == NRF5_ESB_TX_ADDR) {
/** Calculate time to switch radio off
* This is an ACK packet, the radio is disabled by Timer
* event after CC[1], calculate the time switching of the
* radio.
*/
// Read current timer value
NRF5_RADIO_TIMER->TASKS_CAPTURE[1] = 1;
// Set Timer compare register 0 to end of packet (len+CRC)
NRF5_RADIO_TIMER->CC[1] += ((rx_buffer.len + 3) << NRF5_ESB_byte_time());
}
} else {
// Current mode is TX:
@@ -598,30 +610,14 @@ extern "C" {
#ifdef MY_DEBUG_VERBOSE_NRF5_ESB
intcntr_ready++;
#endif
// Fetch a new buffer
rx_buffer = rx_circular_buffer.getFront();
// Is buffer valid?
if (rx_buffer == NULL) {
// No buffer -> disable listening
radio_disabled = true;
NRF_RADIO->SHORTS = 0;
NRF_RADIO->EVENTS_DISABLED = 0;
NRF_RADIO->TASKS_DISABLE = 1;
return;
}
// Configure DMA target address
NRF_RADIO->PACKETPTR = (uint32_t)rx_buffer;
NRF_RADIO->PACKETPTR = (uint32_t)&rx_buffer;
/* Don't care about if next packet RX or ACK,
* prepare current rx_buffer to send an ACK */
// Set outgoing address to node address for ACK packages
NRF_RADIO->TXADDRESS = NRF5_ESB_NODE_ADDR;
// HINT: Fast ramp up: Add a fast ramp up signaling payload here. Needs more
// code on other lines
}
/** This event is generated after TX or RX finised
@@ -640,40 +636,44 @@ extern "C" {
(NRF_RADIO->STATE == RADIO_STATE_STATE_RxIdle) or
(NRF_RADIO->STATE == RADIO_STATE_STATE_RxDisable) or
(NRF_RADIO->STATE == RADIO_STATE_STATE_TxRu)) {
#ifdef NRF52
// RX end, stop timer (PAN102)
_stopTimer();
#endif
if (NRF_RADIO->CRCSTATUS) {
// Ensure no ACK package is recieved
if (NRF_RADIO->RXMATCH != NRF5_ESB_TX_ADDR) {
// calculate a package id
uint32_t pkgid = rx_buffer->pid << 16 | NRF_RADIO->RXCRC;
uint32_t pkgid = rx_buffer.pid << 16 | NRF_RADIO->RXCRC;
if (pkgid != package_ids[NRF_RADIO->RXMATCH]) {
// correct package -> store id to dedect duplicates
package_ids[NRF_RADIO->RXMATCH] = pkgid;
rx_buffer->rssi = ack_buffer.data[0] = NRF_RADIO->RSSISAMPLE;
rx_buffer.rssi = NRF_RADIO->RSSISAMPLE;
#ifdef MY_DEBUG_VERBOSE_NRF5_ESB
// Store debug data
rx_buffer->rxmatch = NRF_RADIO->RXMATCH;
rx_buffer.rxmatch = NRF_RADIO->RXMATCH;
#endif
// Push data to buffer
rx_circular_buffer.pushFront(rx_buffer);
// Prepare ACK package
ack_buffer.pid++;
ack_buffer.len=1; // data[0] is set some lines before
if (rx_circular_buffer.pushFront(&rx_buffer)) {
// Prepare ACK package
rx_buffer.data[0]=rx_buffer.rssi;
rx_buffer.len=1; // data[0] is set some lines before
#ifndef MY_NRF5_ESB_REVERSE_ACK_TX
ack_buffer.noack = 1;
rx_buffer.noack = 1;
#else
ack_buffer.noack = 0;
rx_buffer.noack = 0;
#endif
// Set pointer to ACK packet
NRF_RADIO->PACKETPTR = (uint32_t)&ack_buffer;
} else {
// Stop ACK
_stopACK();
}
}
} else {
// ACK package received, ducplicates are accepted
// rssi value in ACK included?
if (rx_buffer->len == 1) {
rssi_tx = 0-rx_buffer->data[0];
if (rx_buffer.len == 1) {
rssi_tx = 0-rx_buffer.data[0];
}
// notify TX process
ack_received = true;
@@ -682,12 +682,7 @@ extern "C" {
}
} else {
/** Invalid CRC -> Switch back to RX, Stop sending ACK */
// Enable RX when ready, Enable RX after disabling task
NRF_RADIO->SHORTS = NRF5_ESB_SHORTS_RX;
// Start disabling radio -> switch to rx by shorts
NRF_RADIO->TASKS_DISABLE = 1;
_stopACK();
}
} else {
// TX end
@@ -701,12 +696,8 @@ extern "C" {
*/
void NRF5_RADIO_TIMER_IRQ_HANDLER()
{
if (NRF5_RADIO_TIMER->EVENTS_COMPARE[0] == 1) {
NRF_RESET_EVENT(NRF5_RADIO_TIMER->EVENTS_COMPARE[0]);
}
if (NRF5_RADIO_TIMER->EVENTS_COMPARE[1] == 1) {
NRF5_RADIO_TIMER->TASKS_STOP = 1;
if (NRF5_RADIO_TIMER->EVENTS_COMPARE[3] == 1) {
_stopTimer();
NRF_RESET_EVENT(NRF5_RADIO_TIMER->EVENTS_COMPARE[1]);
if (ack_received == false) {
// missing ACK, start TX again

21
drivers/NRF5/Radio_ESB.h
View File

@@ -25,11 +25,6 @@
#include "Radio.h"
#include <Arduino.h>
// Check SoftDevice presence
#if defined(SOFTDEVICE_PRESENT) && !defined(FORCE_RADIO_ESB_WITH_SD)
#error "NRF5 SoftDevice cannot be used with NRF5 Radio."
#endif
// Check maximum messae length
#if MAX_MESSAGE_LENGTH > (32)
#error "Unsupported message length. (MAX_MESSAGE_LENGTH)"
@@ -58,10 +53,10 @@
#define NRF5_ESB_ARC_ACK (15)
// auto retry count with noACK is true
#define NRF5_ESB_ARC_NOACK (15)
#define NRF5_ESB_ARC_NOACK (3)
// How often broadcast messages are send
#define NRF5_ESB_BC_ARC (15)
#define NRF5_ESB_BC_ARC (3)
// Node address index
#define NRF5_ESB_NODE_ADDR (0)
@@ -97,9 +92,17 @@
RADIO_SHORTS_READY_START_Msk | RADIO_SHORTS_ADDRESS_BCSTART_Msk | \
RADIO_SHORTS_ADDRESS_RSSISTART_Msk | RADIO_SHORTS_DISABLED_RSSISTOP_Msk)
// PPI Channels
// PPI Channels for TX
#if (NRF5_RADIO_TIMER_IRQN != TIMER0_IRQn)
// Use two regular PPI channels
#define NRF5_ESB_PPI_TIMER_START 14
#define NRF5_ESB_PPI_TIMER_RADIO_DISABLE 15
#else
// Use one regular PPI channel and one predefined PPI channel
#define NRF5_ESB_USE_PREDEFINED_PPI
#define NRF5_ESB_PPI_TIMER_START 15
#define NRF5_ESB_PPI_TIMER_RADIO_DISABLE 22
#endif
#define NRF5_ESB_PPI_BITS \
((1 << NRF5_ESB_PPI_TIMER_START) | \
(1 << NRF5_ESB_PPI_TIMER_RADIO_DISABLE))
@@ -112,7 +115,7 @@
/** ramp up time
* Time to activate radio TX or RX mode
*/
#define NRF5_ESB_RAMP_UP_TIME (130)
#define NRF5_ESB_RAMP_UP_TIME (140)
static bool NRF5_ESB_initialize();