460 lines
9.5 KiB
C
460 lines
9.5 KiB
C
#include "24l01.h"
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#include "nrf.h"
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#include "stdio.h"
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#include "buff.h"
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#include "string.h"
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#include "rthw.h"
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// 接口函数
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static void nrf_dalay_us(int us)
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{
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rt_hw_us_delay(us);
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}
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static int nrf_get_random(void)
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{
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static int d=0;
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d++;
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return d;
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}
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/* -------------------------- 通信协议相关 ---------------------------- */
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typedef struct{
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// 连接状态
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int connect_state;
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// 数据交互状态
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int interaction_err;
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// 不发送回应
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int no_respond;
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// 数据发送成功
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int send_ok;
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// 交互超时时间，us
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int interaction_time_out;
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// 连接超时时间，ms
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int connect_time_out;
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// 重试次数
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int retry_itmes;
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// 信道频率
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int channel_frequency;
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// 发送数据包总数
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int send_packet_all;
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// 发送失败的数据包总数
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int send_packet_failed;
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// 本机地址
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u8 addr_myself[5];
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// 目标机地址
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u8 addr_dst[5];
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// 最近发送使用的魔数
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u8 magic_number_send;
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// 最近接收使用的魔数
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u8 magic_number_recv;
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}nrf_env_struct;
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static nrf_env_struct g_nrf_env={0};
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static data_buff g_buff={0};
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static const u8 g_dst_addr[TX_ADR_WIDTH]={0x34,0x43,0x10,0x10,0x01}; //发送地址
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static const u8 g_my_addr[RX_ADR_WIDTH]={0x34,0x43,0x10,0x10,0x01}; //发送地址
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// 设置连接状态
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int nrf_set_connect_state(int s)
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{
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g_nrf_env.connect_state=s;
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return NRF_OK;
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}
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// 获取连接状态
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int nrf_get_connect_state(void)
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{
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return g_nrf_env.connect_state;
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}
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// 设置通信地址
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int nrf_set_addr(const u8 *my,const u8 *dst)
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{
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if(my) memcpy(g_nrf_env.addr_myself,my,5);
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if(dst) memcpy(g_nrf_env.addr_dst,dst,5);
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nrf24l01_set_addr(g_nrf_env.addr_myself,g_nrf_env.addr_dst);
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return NRF_OK;
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}
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// 设置重试次数
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int nrf_set_retry_times(int times)
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{
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g_nrf_env.retry_itmes=times;
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return NRF_OK;
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}
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// 设置信道
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int nrf_set_chan(u8 chan)
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{
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if(chan>=64) return NRF_ERR;
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if(g_nrf_env.channel_frequency!=chan)
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{
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g_nrf_env.channel_frequency=chan;
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nrf24l01_set_chan(g_nrf_env.channel_frequency);
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}
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return NRF_OK;
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}
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// 获取当前信道
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int nrf_get_chan(void)
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{
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return g_nrf_env.channel_frequency;
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}
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// 设置超时时间
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int nrf_set_time_out(int connect_time_ms,int interaction_time_us)
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{
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g_nrf_env.connect_time_out=connect_time_ms;
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g_nrf_env.interaction_time_out=interaction_time_us;
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return 0;
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}
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// 获取发送数据包情况
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int nrf_get_packet_num(int *all,int *failed)
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{
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if(all) *all=g_nrf_env.send_packet_all;
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if(failed) *failed=g_nrf_env.send_packet_failed;
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return NRF_OK;
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}
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// 清空数据包发送记录
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int nrf_clear_packet_num(void)
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{
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g_nrf_env.send_packet_all=0;
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g_nrf_env.send_packet_failed=0;
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return NRF_OK;
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}
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// 发送完成数据回调
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void nrf_send_cb(void *t);
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// 接收到数据回调
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void nrf_recv_cb(void *t);
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// 无线通信初始化
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int nrf_init(void)
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{
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memset(&g_nrf_env,0,sizeof(nrf_env_struct));
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buff_init(&g_buff,4096*16,0,0,0);
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nrf24l01_set_recv_cb(nrf_recv_cb,0);
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nrf24l01_set_send_cb(nrf_send_cb,0);
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nrf24l01_init();
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g_nrf_env.channel_frequency=-1;
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nrf_set_connect_state(1);
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nrf_set_addr(g_my_addr,g_dst_addr);
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nrf_set_chan(20);
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nrf_set_time_out(1000,5000);
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nrf_set_retry_times(1000);
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if(nrf24l01_check()==0)
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return NRF_OK;
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else
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{
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buff_deinit(&g_buff);
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return NRF_ERR;
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}
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}
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// 去初始化
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int nrf_deinit(void)
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{
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buff_deinit(&g_buff);
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nrf24l01_deinit();
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return NRF_OK;
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}
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// 读取一个字节数据，NRF_OK成功
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int nrf_read_byte(uint8_t *data)
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{
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if(buff_read_byte(&g_buff,data)==0)
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return NRF_OK;
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else return NRF_ERR;
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}
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// 清空接收区
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int nrf_clear(void)
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{
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buff_clear(&g_buff);
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return NRF_OK;
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}
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// 发送任意长度的数据，成功返回NRF_OK
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int nrf_send(void *data,int size,int *rs)
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{
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int ret=NRF_OK;
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int len=0;
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uint8_t *ptr=data;
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nrf_load_struct load;
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while(size>0)
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{
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if(size>29)
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len=29;
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else len=size;
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nrf_packet_pack(&load,NRF_TYPE_DATA,ptr,len);
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if(ret=nrf_send_load(&load),ret!=NRF_OK)
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{
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return ret;
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}
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else
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{
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if(rs) (*rs)+=len;
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size-=len;
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ptr+=len;
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}
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}
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return ret;
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}
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// 同步通信信道
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int nrf_ctrl_chan(u8 chan)
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{
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if(nrf_get_connect_state()==0) return NRF_ERR;
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nrf_load_struct load={0};
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nrf_chan_struct c={0};
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c.chan=chan;
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c.times=0;
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u8 chan_old=g_nrf_env.channel_frequency;
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// 第一次发送是收不到回应的，因为从机已经改了信道
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nrf_packet_pack(&load,NRF_TYPE_CHAN,&c,sizeof(nrf_chan_struct));
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nrf_send_load(&load);
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// 这里修改信道后发送第二次
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nrf_set_chan(c.chan);
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c.times++;
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// 这次要是成功了则调频成功
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nrf_packet_pack(&load,NRF_TYPE_CHAN,&c,sizeof(nrf_chan_struct));
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if(nrf_send_load(&load)==NRF_OK)
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{
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return NRF_OK;
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}
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else
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{
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// 设置回之前的信道
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nrf_set_chan(chan_old);
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return NRF_ERR;
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}
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}
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// 通过协议发送负载数据，成功返回 NRF_OK
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int nrf_send_load(nrf_load_struct *load)
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{
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int ret=0;
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int time_out=0;
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int retry_times=0;
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// 交互成功设置为NRF_ERR，在收到对方返回后自动更新
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g_nrf_env.interaction_err=NRF_ERR;
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// 在发送的时候设置魔数
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do{
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load->magic_number=nrf_get_random();
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}while(load->magic_number==g_nrf_env.magic_number_send);
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g_nrf_env.magic_number_send=load->magic_number;
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// TODO 这里设置收到数据回调函数，用于接收对方的回应
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retry:
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nrf24l01_send(load);
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g_nrf_env.send_packet_all++;
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while(time_out<g_nrf_env.interaction_time_out)
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{
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if(g_nrf_env.interaction_err==NRF_OK) return NRF_OK;
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if(g_nrf_env.interaction_err!=NRF_ERR) return g_nrf_env.interaction_err;
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nrf_dalay_us(1);
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time_out++;
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}
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if(retry_times<g_nrf_env.retry_itmes)
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{
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g_nrf_env.send_packet_failed++;
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retry_times++;
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time_out=0;
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goto retry;
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}
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return NRF_TIMEOUT;
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}
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// 在接收到数据之后回复对方
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int nrf_respond(nrf_load_struct *load)
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{
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if(g_nrf_env.no_respond) return NRF_OK;
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int ret=0;
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int time_out=0;
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int retry_times=0;
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// 发送成功设置为0，在发送完成后自动置1
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g_nrf_env.send_ok=0;
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// 把魔数设置成和接收时相同
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load->magic_number=g_nrf_env.magic_number_recv;
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// 由于这个函数在中断中调用，因此不能在这里判断发送成功，
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// 先假设每次都发送成功，再由主机端来做重试操作
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nrf24l01_send(load);
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return NRF_OK;
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}
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// 设置是否回应,1,不回应，0，回应
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int nrf_set_no_respond(int power)
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{
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g_nrf_env.no_respond=power;
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return NRF_OK;
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}
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// 打包帧,返回NRF_OK成功
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int nrf_packet_pack(nrf_load_struct *load,u8 type,void *data,int data_len)
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{
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if(data_len>29) return NRF_ERR;
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if(load==0) return NRF_ERR;
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load->len=data_len;
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load->type=type;
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memcpy(load->load,data,data_len);
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return NRF_OK;
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}
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// 比较两个地址是否相同，是返回1
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int nrf_addr_cmp(u8 addr1[5],u8 addr2[5])
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{
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for(int i=0;i<5;i++)
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{
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if(addr1[i]!=addr2[i]) return 0;
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}
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return 1;
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}
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// 接收到数据回调
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void nrf_recv_cb(void *t)
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{
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nrf_load_struct r={0};
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nrf24l01_read(&r);
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// TODO 接收到数据之后重置超时定时器
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u8 magic_number_old=g_nrf_env.magic_number_recv;
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g_nrf_env.magic_number_recv=r.magic_number;
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switch(r.type)
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{
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case NRF_TYPE_NULL:
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// TODO 是空操作，回复成功即可
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nrf_packet_pack(&r,NRF_TYPE_ANSWER,NRF_ANSWER_OK);
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nrf_respond(&r);
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break;
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case NRF_TYPE_CONN:
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{
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nrf_conn_struct *c=(nrf_conn_struct *)r.load;
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if(nrf_addr_cmp(c->addr_dst,g_nrf_env.addr_myself))
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{
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nrf_packet_pack(&r,NRF_TYPE_ANSWER,NRF_ANSWER_OK);
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nrf_respond(&r);
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// TODO 这里设置连接后的信道
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nrf_set_addr(0,c->addr_src);
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nrf_set_chan(c->chan);
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}
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}
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break;
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case NRF_TYPE_CHAN:
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{
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// 在与主句连接后可以切换信道
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nrf_chan_struct *c=(nrf_chan_struct *)r.load;
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if(nrf_get_connect_state())
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{
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if(c->times==0)
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{
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// 第一次接收直接改信道，不回应
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nrf_set_chan(c->chan);
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}
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else if(c->times==1)
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{
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// 第二次回应成功
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nrf_packet_pack(&r,NRF_TYPE_ANSWER,NRF_ANSWER_OK);
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nrf_respond(&r);
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}
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}
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}
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break;
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case NRF_TYPE_ANSWER:
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{
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// TODO 根据返回的错误类型设置交互状态
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if(g_nrf_env.magic_number_send==r.magic_number)
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{
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u8 err=r.load[0];
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g_nrf_env.interaction_err=err;
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}
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else
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{
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g_nrf_env.interaction_err=NRF_MISMATCH;
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}
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}
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break;
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case NRF_TYPE_DATA:
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{
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// 保存接收到的数据
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if(magic_number_old!=r.magic_number)
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{
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for(int i=0;i<r.len;i++)
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{
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if(buff_save_byte(&g_buff,r.load[i])!=0)
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{
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printf("%s:buff overflow\r\n",__func__);
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}
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}
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}
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else
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{
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printf("%s:resave\r\n",__func__);
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}
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nrf_packet_pack(&r,NRF_TYPE_ANSWER,NRF_ANSWER_OK);
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nrf_respond(&r);
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}
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break;
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default:
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break;
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}
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}
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// 发送完成数据回调
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void nrf_send_cb(void *t)
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{
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g_nrf_env.send_ok=1;
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}
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