diff --git a/as5013-test/nrf52-as5013/host.py b/as5013-test/nrf52-as5013/host.py
new file mode 100644
index 0000000000000000000000000000000000000000..de345866405b835c82629d8e4b16a4e80246454a
--- /dev/null
+++ b/as5013-test/nrf52-as5013/host.py
@@ -0,0 +1,55 @@
+#!/usr/bin/env python
+import numpy as np
+from math import *
+import serial, time
+import struct
+import sys
+import socket
+import matplotlib.pyplot as plt
+import matplotlib.animation as animation
+import bitstring
+
+n_samples = 20
+
+def read_as5013_12bit(bytes):
+ return (bitstring.Bits(bytes=bytes, length=16)<<4).unpack('uint:16')[0]
+ #signed 12 bit val comes in two bytes
+ #return struct.unpack("<h",bytearray([ (high<<4) , low<<4 ]))[0]
+
+def read(ser=None):
+ if ser is None:
+ print "No serial connection!"
+ else:
+ c = ser.read(n_samples)
+ data = [read_as5013_12bit(c[x:x+2]) for x in xrange(0,n_samples,2)]
+ return data
+
+def main():
+ try:
+ ser = serial.Serial(port='/dev/tty.usbserial-FT9L3KWR',baudrate=1000000,timeout=1.)
+ ser.isOpen()
+ print "Established serial connection."
+ except(OSError):
+ #no serial port
+ print "Couldn't find the serial port, entering debug mode."
+ ser = None
+ ser.flush()
+
+
+ while True:
+ #connection, address = serversocket.accept()
+
+ try:
+ data = np.asarray(read(ser=ser))
+ print data[1::2] - data[::2]
+ except(KeyboardInterrupt):
+ break
+ #if data:
+ # clientsocket.send(data)
+ print "quitting"
+ ser.close()
+
+
+
+if __name__ == '__main__':
+ main()
diff --git a/as5013-test/nrf52-as5013/nrf52-as5013.ino b/as5013-test/nrf52-as5013/nrf52-as5013.ino
index 1b7424a9c2cf5c4c76df1144718d62165c29b76e..fef0576be41957cc5fb1888b90bbd68a9ac2a72f 100644
--- a/as5013-test/nrf52-as5013/nrf52-as5013.ino
+++ b/as5013-test/nrf52-as5013/nrf52-as5013.ino
@@ -1,8 +1,10 @@
-//read raw values from as5013 hall effect array ic
+//read raw values from as5013 hall effect array ic and pass to uarte
//sec, 2017
+#include "radio.h"
//as5013 registers
#define ctrl_reg 0x0F
+#define y_res_reg 0x11
#define T_ctrl_reg 0x2D
#define c_raw_values_start 0x16 //starting address for raw sensor values
#define n_tx_bytes 1 //only need transmit the start read address
@@ -11,27 +13,39 @@
#define scl_pin 0 //XL1
#define sda_pin 1 //XL2
#define rst_pin 3 //A1
-
static uint8_t txdata[n_tx_bytes] = {0};
static uint8_t rxdata[n_rx_bytes] = {0};
-//raw sensor values
-volatile int16_t c1,c2,c3,c4,c5;
+//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
-void twi_tx(){
- // triggering the STARTTX task
- NRF_TWIM0->TASKS_STARTTX = 1;
- while( !(NRF_TWIM0->EVENTS_STOPPED) ){}
-}
-void twi_rx(){
- // triggering the STARTRX task
- NRF_TWIM0->TASKS_STARTRX = 1;
- while( !(NRF_TWIM0->EVENTS_STOPPED) ){}
+//
+//UARTE
+//
+void uarte_setup(){
+ //uart with dma
+ NRF_UARTE0->PSEL.TXD = (pin_tx << UARTE_PSEL_TXD_PIN_Pos) & UARTE_PSEL_TXD_PIN_Msk;
+ NRF_UARTE0->PSEL.RXD = (pin_rx << UARTE_PSEL_RXD_PIN_Pos) & UARTE_PSEL_RXD_PIN_Msk;
+ NRF_UARTE0->CONFIG = ((UART_CONFIG_PARITY_Excluded << UARTE_CONFIG_PARITY_Pos) & UARTE_CONFIG_PARITY_Msk)
+ | ((UARTE_CONFIG_HWFC_Disabled << UARTE_CONFIG_HWFC_Pos) & UARTE_CONFIG_HWFC_Msk);
+ NRF_UARTE0->BAUDRATE = UART_BAUDRATE_BAUDRATE_Baud1M;
+ NRF_UARTE0->ENABLE = (UARTE_ENABLE_ENABLE_Enabled << UARTE_ENABLE_ENABLE_Pos) & UARTE_ENABLE_ENABLE_Msk;
+
+ NRF_UARTE0->TXD.MAXCNT = n_rx_bytes;
}
-void setup() {
- Serial.begin(115200);
+//
+//TWI
+//
+void twi_set_cnts(uint8_t n_tx, uint8_t n_rx){
+ NRF_TWIM0->TXD.MAXCNT = (n_tx << TWIM_TXD_MAXCNT_MAXCNT_Pos) & TWIM_TXD_MAXCNT_MAXCNT_Msk;
+ NRF_TWIM0->RXD.MAXCNT = (n_rx << TWIM_RXD_MAXCNT_MAXCNT_Pos) & TWIM_RXD_MAXCNT_MAXCNT_Msk;
+}
+void twi_setup(){
//Need to switch to internal LFCLK to disconnect from XL1 and XL2
NRF_CLOCK->LFCLKSRC = 0; //disconnect XL1 AND XL2 FROM LFCLK?
NRF_CLOCK->EVENTS_LFCLKSTARTED = 0;
@@ -42,12 +56,6 @@ void setup() {
NRF_GPIO->PIN_CNF[scl_pin] = (GPIO_PIN_CNF_DRIVE_S0D1 << GPIO_PIN_CNF_DRIVE_Pos) & GPIO_PIN_CNF_DRIVE_Msk;
NRF_GPIO->PIN_CNF[sda_pin] = (GPIO_PIN_CNF_DRIVE_S0D1 << GPIO_PIN_CNF_DRIVE_Pos) & GPIO_PIN_CNF_DRIVE_Msk;
NRF_GPIO->DIRCLR = (1<<scl_pin)|(1<<sda_pin); //set SDA/SCL as inputs (likely not necessary)
-
- NRF_GPIO->DIRSET = (1<<rst_pin); //set AS5013 nRESET pin as output
- NRF_GPIO->OUTCLR = (1<<rst_pin); //hardware reset
- delay(1);
- NRF_GPIO->OUTSET = (1<<rst_pin); //turn on as5013
- delay(1);
NRF_TWIM0->PSEL.SCL = ((scl_pin << TWIM_PSEL_SCL_PIN_Pos) & TWIM_PSEL_SCL_PIN_Msk)
| ((TWIM_PSEL_SCL_CONNECT_Connected << TWIM_PSEL_SCL_CONNECT_Pos) & TWIM_PSEL_SCL_CONNECT_Msk);
@@ -57,37 +65,85 @@ void setup() {
NRF_TWIM0->ADDRESS = (0x41 << TWI_ADDRESS_ADDRESS_Pos) & TWI_ADDRESS_ADDRESS_Msk;
NRF_TWIM0->TXD.PTR = (uint32_t)(&txdata);
NRF_TWIM0->RXD.PTR = (uint32_t)(&rxdata);
- NRF_TWIM0->TXD.MAXCNT = (n_tx_bytes << TWIM_TXD_MAXCNT_MAXCNT_Pos) & TWIM_TXD_MAXCNT_MAXCNT_Msk;
- NRF_TWIM0->RXD.MAXCNT = (n_rx_bytes << TWIM_RXD_MAXCNT_MAXCNT_Pos) & TWIM_RXD_MAXCNT_MAXCNT_Msk;
+ twi_set_cnts(n_tx_bytes, n_rx_bytes);
//set up short between LASTTX and STOP and between LASTRX and STOP
NRF_TWIM0->SHORTS = ((TWIM_SHORTS_LASTTX_STOP_Enabled << TWIM_SHORTS_LASTTX_STOP_Pos) & TWIM_SHORTS_LASTTX_STOP_Msk)
| ((TWIM_SHORTS_LASTRX_STOP_Enabled << TWIM_SHORTS_LASTRX_STOP_Pos) & TWIM_SHORTS_LASTRX_STOP_Msk);
//NRF_TWIM0->ENABLE = (TWI_ENABLE_ENABLE_Enabled << TWI_ENABLE_ENABLE_Pos) & TWI_ENABLE_ENABLE_Msk;
//There's a typo in nrf52_bitfields, so we set this manually.
NRF_TWIM0->ENABLE = (6 << TWI_ENABLE_ENABLE_Pos) & TWI_ENABLE_ENABLE_Msk;
-
+}
+void twi_tx(){
+ // clear the stopped event
+ NRF_TWIM0->EVENTS_STOPPED = 0;
+ // triggering the STARTTX task
+ NRF_TWIM0->TASKS_STARTTX = 1;
+ while( !(NRF_TWIM0->EVENTS_STOPPED) ){}
+}
+void twi_rx(){
+ // clear the stopped event
+ NRF_TWIM0->EVENTS_STOPPED = 0;
+ // trigger the STARTRX task
+ NRF_TWIM0->TASKS_STARTRX = 1;
+ while( !(NRF_TWIM0->EVENTS_STOPPED) ){}
+}
+
+
+//
+//AS5013
+//
+void as5013_setup(){
+ NRF_GPIO->DIRSET = (1<<rst_pin); //set AS5013 nRESET pin as output
+ NRF_GPIO->OUTCLR = (1<<rst_pin); //hardware reset
+ delayMicroseconds(10);
+ NRF_GPIO->OUTSET = (1<<rst_pin); //turn on as5013
+ delayMicroseconds(1000);
+
+ //Loop check ctrl_reg until the value F0h or F1h is present
+ delay(1); //in practice even no delay is fine.
+ //config sensor
+ //todo: experiment with setting values
+}
+void as5013_read(){
+ //read raw values
+ twi_set_cnts(n_tx_bytes, n_rx_bytes);
+ txdata[0] = c_raw_values_start; //set up to read from this address
+ twi_tx();
+ twi_rx();
+ //assume idle mode, so we must read from Y_res_int register at end to trigger new conversion
+ twi_set_cnts(1, 1);
+ txdata[0] = y_res_reg;
+ twi_tx();
+ twi_rx();
+}
+
+//
+//main
+//
+void setup() {
+ Serial.begin(115200);
+ //uarte_setup();
+ twi_setup();
+ as5013_setup();
+ radio_setup();
while(1){
- //Serial.println("start txing");
- txdata[0] = c_raw_values_start; //set up to read from address
- twi_tx();
- //Serial.println("done txing");
- //Serial.println("start rxing");
- twi_rx();
- //Serial.println("done rxing");
-
- c1 = (((int16_t)rxdata[2])<<8 + (int16_t)rxdata[3]) - (((int16_t)rxdata[0])<<8 + (int16_t)rxdata[1]);
- c2 = (((int16_t)rxdata[6])<<8 + (int16_t)rxdata[7]) - (((int16_t)rxdata[4])<<8 + (int16_t)rxdata[5]);
- c3 = (((int16_t)rxdata[10])<<8 + (int16_t)rxdata[11]) - (((int16_t)rxdata[8])<<8 + (int16_t)rxdata[9]);
- c4 = (((int16_t)rxdata[14])<<8 + (int16_t)rxdata[15]) - (((int16_t)rxdata[12])<<8 + (int16_t)rxdata[13]);
- c5 = (((int16_t)rxdata[18])<<8 + (int16_t)rxdata[19]) - (((int16_t)rxdata[16])<<8 + (int16_t)rxdata[17]);
- Serial.println("Raw sensor values");
- Serial.println(c1);
- Serial.println(c2);
- Serial.println(c3);
- Serial.println(c4);
- Serial.println(c5);
+ if (millis() - last_tx_time > tx_period){
+ 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);
+
+ //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();
+ }
}
- delay(100);
}
diff --git a/as5013-test/nrf52-as5013/radio.h b/as5013-test/nrf52-as5013/radio.h
new file mode 100644
index 0000000000000000000000000000000000000000..ee6b0059b76006ed538f696067528b002f982c01
--- /dev/null
+++ b/as5013-test/nrf52-as5013/radio.h
@@ -0,0 +1,76 @@
+#define PACKET_BASE_ADDRESS_LENGTH (2UL) //Packet base address length field size in bytes
+#define PACKET_LENGTH 4
+static int16_t radio_buffer[PACKET_LENGTH] = {0};
+
+
+//
+//RADIO
+//
+void radio_setup(){
+ NRF_RADIO->POWER = RADIO_POWER_POWER_Disabled; //turn off radio to reset registers
+ delay(10);
+ NRF_RADIO->POWER = RADIO_POWER_POWER_Enabled; //turn on radio
+ 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->PREFIX0 = ((uint32_t)0xC0 << 0); // Prefix byte of address 0
+ NRF_RADIO->BASE0 = 0x01234567UL; // Base address for prefix 0
+ NRF_RADIO->TXADDRESS = 0x00UL; // Set device address 0 to use when transmitting
+ NRF_RADIO->RXADDRESSES = 0x01UL; // Enable device address 0 to use to select which addresses to receive
+
+ // Packet configuration
+ NRF_RADIO->PCNF0 = (0 << RADIO_PCNF0_S1LEN_Pos) | (0 << RADIO_PCNF0_S0LEN_Pos) | (0 << RADIO_PCNF0_LFLEN_Pos);
+ NRF_RADIO->PCNF1 = (RADIO_PCNF1_WHITEEN_Enabled << RADIO_PCNF1_WHITEEN_Pos) |
+ ((PACKET_LENGTH) << RADIO_PCNF1_STATLEN_Pos) |
+ (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
+ NRF_RADIO->PACKETPTR = (uint32_t)&radio_buffer; //set pointer to packet buffer
+ //start HFCLK
+ NRF_CLOCK->TASKS_HFCLKSTART = 1;
+ while(!(NRF_CLOCK->HFCLKSTAT & CLOCK_HFCLKSTAT_STATE_Msk)); //wait for hfclk to start
+ delay(10);
+}
+
+void radio_wait_for_end(){ while(!(NRF_RADIO->EVENTS_END)); NRF_RADIO->EVENTS_END = 0;} //clear end event
+void radio_wait_for_ready(){ while(!(NRF_RADIO->EVENTS_READY)); NRF_RADIO->EVENTS_READY = 0;} //clear ready event
+void radio_disable(){
+ NRF_RADIO->EVENTS_DISABLED = 0; //clear disabled event
+ NRF_RADIO->TASKS_DISABLE = 1;
+ while(!(NRF_RADIO->EVENTS_DISABLED));
+}
+void radio_send(){
+ NRF_RADIO->EVENTS_READY = 0; //clear ready event
+ NRF_RADIO->TASKS_TXEN=1; //trigger tx enable task
+ 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?
+}
+int radio_recv(){
+ //return 0 if success
+ NRF_RADIO->EVENTS_CRCOK = 0;
+ NRF_RADIO->EVENTS_CRCERROR = 0;
+ NRF_RADIO->EVENTS_DEVMATCH = 0;
+ while(true){
+ NRF_RADIO->EVENTS_READY = 0; //clear ready event
+ NRF_RADIO->TASKS_RXEN=1; //trigger rx enable task
+ delayMicroseconds(20);
+ //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);
+ }
+ return 0;
+}
diff --git a/as5013-test/nrf52-drv8825/nrf52-drv8825.ino b/as5013-test/nrf52-drv8825/nrf52-drv8825.ino
new file mode 100644
index 0000000000000000000000000000000000000000..8e5b659789ee5589bb312eff6ee694a18f35ce37
--- /dev/null
+++ b/as5013-test/nrf52-drv8825/nrf52-drv8825.ino
@@ -0,0 +1,128 @@
+#include "radio.h"
+uint16_t pwms[1] = {0};
+
+const uint8_t pin_mode1 = 3; //A1
+const uint8_t pin_mode0 = 0; //XL1
+const uint8_t pin_step = 1; //XL2
+const uint8_t pin_direction = 2; //A0
+const uint8_t pin_nrst = 27; //p27
+const uint8_t pin_ref = 26; //p26
+
+int i=0; //counter
+
+void stepper_setup(){
+ NRF_GPIO->DIRSET = (1 << pin_nrst); //set nrst/nslp pins as output
+ NRF_GPIO->OUTCLR = (1 << pin_nrst); //set nrst/nslp low to disable drv8825
+ NRF_GPIO->OUT = (0<<pin_nrst);
+
+ NRF_GPIO->DIRSET = (1 << pin_mode1) | (1 << pin_mode0); //set mode pins as output
+ NRF_GPIO->OUTCLR = (1 << pin_mode1) | (1 << pin_mode0); //set to full step mode
+
+ NRF_GPIO->DIRSET = (1 << pin_step) | (1 << pin_direction); //set step/dir pins as output
+
+ //Use PWM module to generate aref/bref
+ NRF_GPIO->DIRSET = (1<<pin_ref); //set ref pin as output
+ NRF_GPIO->OUTCLR = (1<<pin_ref); //set ref pin low
+ NRF_PWM0->PSEL.OUT[0] = (pin_ref << PWM_PSEL_OUT_PIN_Pos) | (PWM_PSEL_OUT_CONNECT_Connected << PWM_PSEL_OUT_CONNECT_Pos); //set aref pin to pwm out[0]
+ NRF_PWM0->ENABLE = (PWM_ENABLE_ENABLE_Enabled << PWM_ENABLE_ENABLE_Pos);
+ NRF_PWM0->MODE = (PWM_MODE_UPDOWN_Up << PWM_MODE_UPDOWN_Pos);
+ NRF_PWM0->PRESCALER = (PWM_PRESCALER_PRESCALER_DIV_1 << PWM_PRESCALER_PRESCALER_Pos); //16MHz tick
+ NRF_PWM0->COUNTERTOP = (1600 << PWM_COUNTERTOP_COUNTERTOP_Pos); //1 kHz pwm freq.
+ NRF_PWM0->LOOP = (PWM_LOOP_CNT_Disabled << PWM_LOOP_CNT_Pos);
+ NRF_PWM0->DECODER = (PWM_DECODER_LOAD_Common << PWM_DECODER_LOAD_Pos) | (PWM_DECODER_MODE_RefreshCount << PWM_DECODER_MODE_Pos);
+ pwms[0] = 1500; //50% duty cycle to test
+ NRF_PWM0->SEQ[0].PTR = ((uint32_t)(pwms) << PWM_SEQ_PTR_PTR_Pos);
+ NRF_PWM0->SEQ[0].CNT = (1 << PWM_SEQ_CNT_CNT_Pos);
+ NRF_PWM0->SEQ[0].REFRESH = 0;
+ NRF_PWM0->SEQ[0].ENDDELAY = 0;
+ NRF_PWM0->TASKS_SEQSTART[0] = 1;
+ delay(1); //give aref filter time to settle.
+}
+
+void parse_command(){
+ //interpret command from radio for stepper actions
+ //TODO: add commands for enable/disable driver, setting current limit, setting microstepping
+ if( radio_buffer[0] == 1 ){
+ //move by commanded number of steps
+ if (radio_buffer[1] > 0){
+ NRF_GPIO->OUTSET = (1<<pin_direction); //set direction forwards
+ } else {
+ NRF_GPIO->OUTCLR = (1<<pin_direction); //set direction backwards
+ }
+ for(i=0; i<radio_buffer[1]; i++){
+ NRF_GPIO->OUTSET = (1<<pin_step);
+ delay(10);
+ NRF_GPIO->OUTCLR = (1<<pin_step);
+ delay(1);
+ }
+
+ //reset radio buffer
+ for(i=0; i<PACKET_LENGTH; i++){
+ radio_buffer[i] = 0;
+ }
+ } else{
+ //unrecognized command, set radio buffer to all -1
+ for(int i=0; i<PACKET_LENGTH; i++){
+ radio_buffer[i] = -1;
+ }
+ }
+}
+
+
+void setup() {
+
+ Serial.begin(115200);
+
+ //Switch to internal LFCLK to disconnect from XL1 and XL2
+ NRF_CLOCK->LFCLKSRC = 0; //disconnect XL1 AND XL2 FROM LFCLK?
+ NRF_CLOCK->EVENTS_LFCLKSTARTED = 0;
+ NRF_CLOCK->TASKS_LFCLKSTART = 1;
+ while (NRF_CLOCK->EVENTS_LFCLKSTARTED == 0) {}
+
+ stepper_setup();
+ radio_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){
+ //no crc error
+ 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
+ }
+}
+
+void loop() {}
+
+
+// draft for using timer for pwm
+
+ //NRF_TIMER1->MODE = (TIMER_MODE_MODE_Timer << TIMER_MODE_MODE_Pos) & TIMER_MODE_MODE_Msk;
+ //NRF_TIMER1->BITMODE = (TIMER_BITMODE_BITMODE_16Bit << TIMER_BITMODE_BITMODE_Pos) & TIMER_BITMODE_BITMODE_Msk;
+ //NRF_TIMER1->PRESCALER = (7 << TIMER_PRESCALER_PRESCALER_Pos) & TIMER_PRESCALER_PRESCALER_Msk;
+ //NRF_TIMER1->SHORTS = ((TIMER_SHORTS_COMPARE0_CLEAR_Enabled << TIMER_SHORTS_COMPARE0_CLEAR_Pos) & TIMER_SHORTS_COMPARE0_CLEAR_Msk);
+ //NRF_TIMER1->CC[0] = (1 << 15); //50% duty cycle to test
+
+ //enable PPI channel 0 for compare task setting pin high
+ //NRF_PPI->CHEN = (PPI_CHEN_CH0_Enabled << PPI_CHEN_CH0_Pos) & PPI_CHEN_CH0_Msk;
+ //NRF_PPI->CH[0].EEP = (uint32_t)&NRF_TIMER1->EVENTS_COMPARE[0];
+ //NRF_PPI->CH[0].TEP = (uint32_t)&NRF_GPIOTE->TASKS_OUT[0];
+ //enable PPI channel 1 for compare overflow setting pin low
+ //NRF_PPI->CHEN = (PPI_CHEN_CH1_Enabled << PPI_CHEN_CH1_Pos) & PPI_CHEN_CH1_Msk;
+ //NRF_PPI->CH[0].EEP = (uint32_t)&NRF_TIMER1->EVENTS_;
+ //NRF_PPI->CH[0].TEP = (uint32_t)&NRF_GPIOTE->TASKS_OUT[1];
+
+ //NRF_TIMER1->TASKS_START = 1; //start timer
diff --git a/as5013-test/nrf52-drv8825/radio.h b/as5013-test/nrf52-drv8825/radio.h
new file mode 100644
index 0000000000000000000000000000000000000000..040f155262395cf7127bd483f812cf6956474450
--- /dev/null
+++ b/as5013-test/nrf52-drv8825/radio.h
@@ -0,0 +1,71 @@
+#define PACKET_BASE_ADDRESS_LENGTH (2UL) //Packet base address length field size in bytes
+#define PACKET_LENGTH 4
+static int16_t radio_buffer[PACKET_LENGTH] = {0};
+
+
+//
+//RADIO
+//
+void radio_setup(){
+ NRF_RADIO->POWER = RADIO_POWER_POWER_Disabled; //turn off radio to reset registers
+ delay(10);
+ NRF_RADIO->POWER = RADIO_POWER_POWER_Enabled; //turn on radio
+ 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->PREFIX0 = ((uint32_t)0xC0 << 0); // Prefix byte of address 0
+ NRF_RADIO->BASE0 = 0x01234567UL; // Base address for prefix 0
+ NRF_RADIO->TXADDRESS = 0x00UL; // Set device address 0 to use when transmitting
+ NRF_RADIO->RXADDRESSES = 0x01UL; // Enable device address 0 to use to select which addresses to receive
+
+ // Packet configuration
+ NRF_RADIO->PCNF0 = (0 << RADIO_PCNF0_S1LEN_Pos) | (0 << RADIO_PCNF0_S0LEN_Pos) | (0 << RADIO_PCNF0_LFLEN_Pos);
+ NRF_RADIO->PCNF1 = (RADIO_PCNF1_WHITEEN_Enabled << RADIO_PCNF1_WHITEEN_Pos) |
+ ((PACKET_LENGTH) << RADIO_PCNF1_STATLEN_Pos) |
+ (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->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
+ NRF_RADIO->PACKETPTR = (uint32_t)&radio_buffer; //set pointer to packet buffer
+ //start HFCLK
+ NRF_CLOCK->TASKS_HFCLKSTART = 1;
+ while(!(NRF_CLOCK->HFCLKSTAT & CLOCK_HFCLKSTAT_STATE_Msk)); //wait for hfclk to start
+ delay(10);
+}
+
+void radio_wait_for_end(){ while(!(NRF_RADIO->EVENTS_END)); NRF_RADIO->EVENTS_END = 0;} //clear end event
+void radio_wait_for_ready(){ while(!(NRF_RADIO->EVENTS_READY)); NRF_RADIO->EVENTS_READY = 0;} //clear ready event
+void radio_disable(){
+ NRF_RADIO->EVENTS_DISABLED = 0; //clear disabled event
+ NRF_RADIO->TASKS_DISABLE = 1;
+ while(!(NRF_RADIO->EVENTS_DISABLED));
+}
+void radio_send(){
+ NRF_RADIO->EVENTS_READY = 0; //clear ready event
+ NRF_RADIO->TASKS_TXEN=1; //trigger tx enable task
+ delayMicroseconds(15);
+ //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?
+}
+int radio_recv(){
+ //return 0 if success
+ NRF_RADIO->EVENTS_CRCOK = 0;
+ NRF_RADIO->EVENTS_CRCERROR = 0;
+ while(true){
+ NRF_RADIO->EVENTS_READY = 0; //clear ready event
+ NRF_RADIO->TASKS_RXEN=1; //trigger rx enable task
+ delayMicroseconds(15);
+ //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;}
+ }
+ return 0;
+}