mirror of https://github.com/ArduPilot/ardupilot
101 lines
2.2 KiB
C++
101 lines
2.2 KiB
C++
/*
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low level driver for the TI CC2500 radio on SPI
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With thanks to betaflight
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*/
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#include "driver_cc2500.h"
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#include <utility>
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// #pragma GCC optimize("O0")
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extern const AP_HAL::HAL& hal;
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// constructor
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Radio_CC2500::Radio_CC2500(AP_HAL::OwnPtr<AP_HAL::SPIDevice> _dev) :
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dev(std::move(_dev))
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{}
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void Radio_CC2500::ReadFifo(uint8_t *dpbuffer, uint8_t len)
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{
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(void)dev->read_registers(CC2500_3F_RXFIFO | CC2500_READ_BURST, dpbuffer, len);
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}
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void Radio_CC2500::WriteFifo(const uint8_t *dpbuffer, uint8_t len)
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{
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WriteRegisterMulti(CC2500_3F_TXFIFO | CC2500_WRITE_BURST, dpbuffer, len);
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}
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void Radio_CC2500::ReadRegisterMulti(uint8_t address, uint8_t *data, uint8_t length)
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{
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(void)dev->read_registers(address, data, length);
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}
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void Radio_CC2500::WriteRegisterMulti(uint8_t address, const uint8_t *data, uint8_t length)
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{
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uint8_t buf[length+1];
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buf[0] = address;
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memcpy(&buf[1], data, length);
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dev->transfer(buf, length+1, nullptr, 0);
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}
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uint8_t Radio_CC2500::ReadReg(uint8_t reg)
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{
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uint8_t ret = 0;
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(void)dev->read_registers(reg | CC2500_READ_SINGLE, &ret, 1);
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return ret;
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}
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uint8_t Radio_CC2500::Strobe(uint8_t address)
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{
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uint8_t status=0;
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(void)dev->transfer(&address, 1, &status, 1);
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return status;
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}
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void Radio_CC2500::WriteReg(uint8_t address, uint8_t data)
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{
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(void)dev->write_register(address, data);
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}
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void Radio_CC2500::SetPower(uint8_t power)
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{
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const uint8_t patable[8] = {
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0xC5, // -12dbm
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0x97, // -10dbm
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0x6E, // -8dbm
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0x7F, // -6dbm
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0xA9, // -4dbm
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0xBB, // -2dbm
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0xFE, // 0dbm
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0xFF // 1.5dbm
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};
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if (power > 7) {
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power = 7;
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}
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WriteReg(CC2500_3E_PATABLE, patable[power]);
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}
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bool Radio_CC2500::Reset(void)
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{
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Strobe(CC2500_SRES);
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hal.scheduler->delay_microseconds(1000);
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// CC2500_SetTxRxMode(TXRX_OFF);
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// RX_EN_off;//off tx
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// TX_EN_off;//off rx
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return ReadReg(CC2500_0E_FREQ1) == 0xC4; // check if reset
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}
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/*
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write register with up to 5 retries
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*/
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void Radio_CC2500::WriteRegCheck(uint8_t address, uint8_t data)
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{
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uint8_t tries=5;
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while (--tries) {
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dev->write_register(address, data);
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uint8_t v = ReadReg(address);
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if (v == data) break;
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}
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}
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