ardupilot/libraries/AP_Radio/driver_cc2500.cpp

101 lines
2.2 KiB
C++

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