diff --git a/as5013-test/nrf52-as5013/nrf52-as5013.ino b/as5013-test/nrf52-as5013/nrf52-as5013.ino
index fef0576be41957cc5fb1888b90bbd68a9ac2a72f..f8ea518e49bcaac3daa63f66dd3df42fc80c3499 100644
--- a/as5013-test/nrf52-as5013/nrf52-as5013.ino
+++ b/as5013-test/nrf52-as5013/nrf52-as5013.ino
@@ -19,8 +19,8 @@ static uint8_t rxdata[n_rx_bytes] = {0};
//uarte
const uint8_t pin_rx = 8;
const uint8_t pin_tx = 6;
-uint16_t last_tx_time = 0;
-uint16_t tx_period = 100; //ms
+uint32_t last_tx_time = 0;
+uint32_t tx_period = 1000; //ms
//
//UARTE
@@ -131,14 +131,16 @@ void setup() {
as5013_read();
radio_buffer[0] = 1; //send a move command
radio_buffer[1] = 10; //move 10 steps forward
- radio_send(); //send command
- int result = radio_recv(); //wait for response
- //getting false positives...
- Serial.print("buffer: ");
- Serial.println(radio_buffer[1]);
- Serial.print("result: ");
- Serial.println(result);
-
+ radio_send_redundant(); //send command
+ Serial.println("sent command");
+ //int result = radio_recv(); //wait for response
+ //test for false positives:
+ //Serial.print("result: ");
+ //Serial.println(result);
+ //if (radio_buffer[1] != 0){
+ // Serial.print("XXXXX buffer: ");
+ // Serial.println(radio_buffer[1]);
+ //}
//NRF_UARTE0->TXD.PTR = (uint32_t)(&rxdata); //reset pointer to start of buffer
//NRF_UARTE0->TASKS_STARTTX = 1; //trigger start task
last_tx_time = millis();
diff --git a/as5013-test/nrf52-as5013/radio.h b/as5013-test/nrf52-as5013/radio.h
index ee6b0059b76006ed538f696067528b002f982c01..89b5972f14ffde0034a4e49cb5a929b7e25dfaad 100644
--- a/as5013-test/nrf52-as5013/radio.h
+++ b/as5013-test/nrf52-as5013/radio.h
@@ -1,7 +1,10 @@
#define PACKET_BASE_ADDRESS_LENGTH (2UL) //Packet base address length field size in bytes
#define PACKET_LENGTH 4
+#define REDUNDANCY_COUNT 10 //number of transmissions to ensure delivery... hack.
static int16_t radio_buffer[PACKET_LENGTH] = {0};
+//static int16_t reference_buffer[PACKET_LENGTH] = {0}; //for checking against receipt
+
//
//RADIO
@@ -13,8 +16,8 @@ void radio_setup(){
delay(10);
NRF_RADIO->TXPOWER = (RADIO_TXPOWER_TXPOWER_Pos3dBm << RADIO_TXPOWER_TXPOWER_Pos);
- NRF_RADIO->FREQUENCY = 7UL; // Frequency bin 7, 2407MHz
- NRF_RADIO->MODE = (RADIO_MODE_MODE_Nrf_1Mbit << RADIO_MODE_MODE_Pos);
+ NRF_RADIO->FREQUENCY = 11UL; // 2400 + X MHz
+ NRF_RADIO->MODE = (RADIO_MODE_MODE_Nrf_2Mbit << RADIO_MODE_MODE_Pos);
NRF_RADIO->PREFIX0 = ((uint32_t)0xC0 << 0); // Prefix byte of address 0
NRF_RADIO->BASE0 = 0x01234567UL; // Base address for prefix 0
@@ -53,13 +56,18 @@ void radio_send(){
//radio_wait_for_ready(); //only generated when actually switching to tx mode
NRF_RADIO->TASKS_START=1; //start
radio_wait_for_end();
- //add wait for ack?
}
+void radio_send_redundant(){
+ for(int i=0; i<REDUNDANCY_COUNT; i++){
+ radio_send();
+ }
+}
+
int radio_recv(){
- //return 0 if success
+ //return number of packets before CRC match
NRF_RADIO->EVENTS_CRCOK = 0;
- NRF_RADIO->EVENTS_CRCERROR = 0;
- NRF_RADIO->EVENTS_DEVMATCH = 0;
+ //NRF_RADIO->EVENTS_CRCERROR = 0;
+ int i=1;
while(true){
NRF_RADIO->EVENTS_READY = 0; //clear ready event
NRF_RADIO->TASKS_RXEN=1; //trigger rx enable task
@@ -67,10 +75,38 @@ int radio_recv(){
//radio_wait_for_ready(); //only generated when actually switching to rx mode
NRF_RADIO->TASKS_START=1;
radio_wait_for_end();
- Serial.println("got packet");
- Serial.println(NRF_RADIO->EVENTS_CRCOK);
- if ((NRF_RADIO->EVENTS_CRCOK == 1) && (NRF_RADIO->EVENTS_DEVMATCH == 1)){ break;}
- delay(10);
+ if (NRF_RADIO->EVENTS_CRCOK == 1){ break;}
+ i++;
+ }
+ return i;
+}
+
+
+/*
+// start of 3 way handshake implementation
+void copy_buffer_to_reference(){
+ for(int i=0; i++; i<PACKET_LENGTH){
+ reference_buffer[i] = radio_buffer[i];
+ }
+}
+bool buffer_matches_reference(){
+ bool match = true;
+ for(int i=0; i++; i<PACKET_LENGTH){
+ if (reference_buffer[i] != radio_buffer[i]){
+ match = false;
+ break;
+ }
}
- return 0;
+ return match;
}
+void radio_send_with_handshake(){
+ copy_buffer_to_reference();
+ radio_send(); //send packet
+ int crc_match = radio_recv(); //receive ack
+ if crc_match && buffer_matches_reference(){
+ radio_send(); //send ack
+ }
+}
+*/
+
+
diff --git a/as5013-test/nrf52-drv8825/nrf52-drv8825.ino b/as5013-test/nrf52-drv8825/nrf52-drv8825.ino
index 8e5b659789ee5589bb312eff6ee694a18f35ce37..6f276566d39544758a25ec9e85fcf766f4624ed4 100644
--- a/as5013-test/nrf52-drv8825/nrf52-drv8825.ino
+++ b/as5013-test/nrf52-drv8825/nrf52-drv8825.ino
@@ -84,24 +84,18 @@ void setup() {
NRF_GPIO->OUTSET = (1<<pin_nrst); //set nrst/nslp high to enable drv8825
- //debug transmit loop
- while(true){
- radio_send();
- delay(10);
- }
-
while (true) {
int result = radio_recv(); //wait until recieve
- if (result==0){
+ //if (result==0){
//no crc error
- parse_command();
- } else{
+ parse_command();
+ //} else{
//incoming crc error, set radio buffer to all -2
- for(int i=0; i<PACKET_LENGTH; i++){
- radio_buffer[i] = -2;
- }
- }
- radio_send(); //send back radio buffer when done
+ // for(int i=0; i<PACKET_LENGTH; i++){
+ // radio_buffer[i] = -2;
+ // }
+ //}
+ //radio_send(); //send back radio buffer when done
}
}
diff --git a/as5013-test/nrf52-drv8825/radio.h b/as5013-test/nrf52-drv8825/radio.h
index 040f155262395cf7127bd483f812cf6956474450..89b5972f14ffde0034a4e49cb5a929b7e25dfaad 100644
--- a/as5013-test/nrf52-drv8825/radio.h
+++ b/as5013-test/nrf52-drv8825/radio.h
@@ -1,7 +1,10 @@
#define PACKET_BASE_ADDRESS_LENGTH (2UL) //Packet base address length field size in bytes
#define PACKET_LENGTH 4
+#define REDUNDANCY_COUNT 10 //number of transmissions to ensure delivery... hack.
static int16_t radio_buffer[PACKET_LENGTH] = {0};
+//static int16_t reference_buffer[PACKET_LENGTH] = {0}; //for checking against receipt
+
//
//RADIO
@@ -13,8 +16,8 @@ void radio_setup(){
delay(10);
NRF_RADIO->TXPOWER = (RADIO_TXPOWER_TXPOWER_Pos3dBm << RADIO_TXPOWER_TXPOWER_Pos);
- NRF_RADIO->FREQUENCY = 7UL; // Frequency bin 7, 2407MHz
- NRF_RADIO->MODE = (RADIO_MODE_MODE_Nrf_1Mbit << RADIO_MODE_MODE_Pos);
+ NRF_RADIO->FREQUENCY = 11UL; // 2400 + X MHz
+ NRF_RADIO->MODE = (RADIO_MODE_MODE_Nrf_2Mbit << RADIO_MODE_MODE_Pos);
NRF_RADIO->PREFIX0 = ((uint32_t)0xC0 << 0); // Prefix byte of address 0
NRF_RADIO->BASE0 = 0x01234567UL; // Base address for prefix 0
@@ -28,6 +31,7 @@ void radio_setup(){
(RADIO_PCNF1_ENDIAN_Big << RADIO_PCNF1_ENDIAN_Pos) |
(2 << RADIO_PCNF1_BALEN_Pos);
NRF_RADIO->CRCCNF = (RADIO_CRCCNF_LEN_Three << RADIO_CRCCNF_LEN_Pos); // Number of checksum bits
+ NRF_RADIO->CRCINIT = 0xFFFFUL; // Initial value
NRF_RADIO->CRCPOLY = 0x18D; //x8 + x7 + x3 + x2 + 1 = 110001101
NRF_RADIO->MODECNF0 |= RADIO_MODECNF0_RU_Fast << RADIO_MODECNF0_RU_Pos; //turn on fast ramp up
NRF_RADIO->SHORTS = 0; //turn off all shortcuts, for debug
@@ -48,24 +52,61 @@ void radio_disable(){
void radio_send(){
NRF_RADIO->EVENTS_READY = 0; //clear ready event
NRF_RADIO->TASKS_TXEN=1; //trigger tx enable task
- delayMicroseconds(15);
+ delayMicroseconds(20);
//radio_wait_for_ready(); //only generated when actually switching to tx mode
NRF_RADIO->TASKS_START=1; //start
radio_wait_for_end();
- //add wait for ack?
}
+void radio_send_redundant(){
+ for(int i=0; i<REDUNDANCY_COUNT; i++){
+ radio_send();
+ }
+}
+
int radio_recv(){
- //return 0 if success
+ //return number of packets before CRC match
NRF_RADIO->EVENTS_CRCOK = 0;
- NRF_RADIO->EVENTS_CRCERROR = 0;
+ //NRF_RADIO->EVENTS_CRCERROR = 0;
+ int i=1;
while(true){
NRF_RADIO->EVENTS_READY = 0; //clear ready event
NRF_RADIO->TASKS_RXEN=1; //trigger rx enable task
- delayMicroseconds(15);
+ delayMicroseconds(20);
//radio_wait_for_ready(); //only generated when actually switching to rx mode
NRF_RADIO->TASKS_START=1;
radio_wait_for_end();
if (NRF_RADIO->EVENTS_CRCOK == 1){ break;}
+ i++;
+ }
+ return i;
+}
+
+
+/*
+// start of 3 way handshake implementation
+void copy_buffer_to_reference(){
+ for(int i=0; i++; i<PACKET_LENGTH){
+ reference_buffer[i] = radio_buffer[i];
+ }
+}
+bool buffer_matches_reference(){
+ bool match = true;
+ for(int i=0; i++; i<PACKET_LENGTH){
+ if (reference_buffer[i] != radio_buffer[i]){
+ match = false;
+ break;
+ }
}
- return 0;
+ return match;
}
+void radio_send_with_handshake(){
+ copy_buffer_to_reference();
+ radio_send(); //send packet
+ int crc_match = radio_recv(); //receive ack
+ if crc_match && buffer_matches_reference(){
+ radio_send(); //send ack
+ }
+}
+*/
+
+