zr-v4/libraries/AP_Radio/driver_cc2500.h

/*
  low level driver for the TI CC2500 radio on SPI

  With thanks to betaflight
*/

#pragma once

#include <AP_HAL/AP_HAL.h>

enum {
    CC2500_00_IOCFG2 = 0x00,   // GDO2 output pin configuration
    CC2500_01_IOCFG1 = 0x01,   // GDO1 output pin configuration
    CC2500_02_IOCFG0 = 0x02,   // GDO0 output pin configuration
    CC2500_03_FIFOTHR = 0x03,  // RX FIFO and TX FIFO thresholds
    CC2500_04_SYNC1 = 0x04,    // Sync word, high byte
    CC2500_05_SYNC0 = 0x05,    // Sync word, low byte
    CC2500_06_PKTLEN = 0x06,   // Packet length
    CC2500_07_PKTCTRL1 = 0x07, // Packet automation control
    CC2500_08_PKTCTRL0 = 0x08, // Packet automation control
    CC2500_09_ADDR = 0x09,     // Device address
    CC2500_0A_CHANNR = 0x0A,   // Channel number
    CC2500_0B_FSCTRL1 = 0x0B,  // Frequency synthesizer control
    CC2500_0C_FSCTRL0 = 0x0C,  // Frequency synthesizer control
    CC2500_0D_FREQ2 = 0x0D,    // Frequency control word, high byte
    CC2500_0E_FREQ1 = 0x0E,    // Frequency control word, middle byte
    CC2500_0F_FREQ0 = 0x0F,    // Frequency control word, low byte
    CC2500_10_MDMCFG4 = 0x10,  // Modem configuration
    CC2500_11_MDMCFG3 = 0x11,  // Modem configuration
    CC2500_12_MDMCFG2 = 0x12,  // Modem configuration
    CC2500_13_MDMCFG1 = 0x13,  // Modem configuration
    CC2500_14_MDMCFG0 = 0x14,  // Modem configuration
    CC2500_15_DEVIATN = 0x15,  // Modem deviation setting
    CC2500_16_MCSM2 = 0x16,    // Main Radio Cntrl State Machine config
    CC2500_17_MCSM1 = 0x17,    // Main Radio Cntrl State Machine config
    CC2500_18_MCSM0 = 0x18,    // Main Radio Cntrl State Machine config
    CC2500_19_FOCCFG = 0x19,   // Frequency Offset Compensation config
    CC2500_1A_BSCFG = 0x1A,    // Bit Synchronization configuration
    CC2500_1B_AGCCTRL2 = 0x1B, // AGC control
    CC2500_1C_AGCCTRL1 = 0x1C, // AGC control
    CC2500_1D_AGCCTRL0 = 0x1D, // AGC control
    CC2500_1E_WOREVT1 = 0x1E,  // High byte Event 0 timeout
    CC2500_1F_WOREVT0 = 0x1F,  // Low byte Event 0 timeout
    CC2500_20_WORCTRL = 0x20,  // Wake On Radio control
    CC2500_21_FREND1 = 0x21,   // Front end RX configuration
    CC2500_22_FREND0 = 0x22,   // Front end TX configuration
    CC2500_23_FSCAL3 = 0x23,   // Frequency synthesizer calibration
    CC2500_24_FSCAL2 = 0x24,   // Frequency synthesizer calibration
    CC2500_25_FSCAL1 = 0x25,   // Frequency synthesizer calibration
    CC2500_26_FSCAL0 = 0x26,   // Frequency synthesizer calibration
    CC2500_27_RCCTRL1 = 0x27,  // RC oscillator configuration
    CC2500_28_RCCTRL0 = 0x28,  // RC oscillator configuration
    CC2500_29_FSTEST = 0x29,   // Frequency synthesizer cal control
    CC2500_2A_PTEST = 0x2A,    // Production test
    CC2500_2B_AGCTEST = 0x2B,  // AGC test
    CC2500_2C_TEST2 = 0x2C,    // Various test settings
    CC2500_2D_TEST1 = 0x2D,    // Various test settings
    CC2500_2E_TEST0 = 0x2E,    // Various test settings

    // Status registers
    CC2500_30_PARTNUM = 0x30,    // Part number
    CC2500_31_VERSION = 0x31,    // Current version number
    CC2500_32_FREQEST = 0x32,    // Frequency offset estimate
    CC2500_33_LQI = 0x33,        // Demodulator estimate for link quality
    CC2500_34_RSSI = 0x34,       // Received signal strength indication
    CC2500_35_MARCSTATE = 0x35,  // Control state machine state
    CC2500_36_WORTIME1 = 0x36,   // High byte of WOR timer
    CC2500_37_WORTIME0 = 0x37,   // Low byte of WOR timer
    CC2500_38_PKTSTATUS = 0x38,  // Current GDOx status and packet status
    CC2500_39_VCO_VC_DAC = 0x39, // Current setting from PLL cal module
    CC2500_3A_TXBYTES = 0x3A,    // Underflow and # of bytes in TXFIFO
    CC2500_3B_RXBYTES = 0x3B,    // Overflow and # of bytes in RXFIFO

    // Multi byte memory locations
    CC2500_3E_PATABLE = 0x3E,
    CC2500_3F_TXFIFO = 0x3F,
    CC2500_3F_RXFIFO = 0x3F
};

// Definitions for burst/single access to registers
#define CC2500_WRITE_SINGLE 0x00
#define CC2500_WRITE_BURST 0x40
#define CC2500_READ_SINGLE 0x80
#define CC2500_READ_BURST 0xC0

// Strobe commands
#define CC2500_SRES 0x30 // Reset chip.
#define CC2500_SFSTXON                                                         \
    0x31 // Enable and calibrate frequency synthesizer (if MCSM0.FS_AUTOCAL=1).
// If in RX/TX: Go to a wait state where only the synthesizer is
// running (for quick RX / TX turnaround).
#define CC2500_SXOFF 0x32 // Turn off crystal oscillator.
#define CC2500_SCAL 0x33  // Calibrate frequency synthesizer and turn it off
// (enables quick start).
#define CC2500_SRX                                                             \
    0x34 // Enable RX. Perform calibration first if coming from IDLE and
// MCSM0.FS_AUTOCAL=1.
#define CC2500_STX                                                             \
    0x35 // In IDLE state: Enable TX. Perform calibration first if
// MCSM0.FS_AUTOCAL=1. If in RX state and CCA is enabled:
// Only go to TX if channel is clear.
#define CC2500_SIDLE                                                           \
    0x36 // Exit RX / TX, turn off frequency synthesizer and exit
// Wake-On-Radio mode if applicable.
#define CC2500_SAFC 0x37 // Perform AFC adjustment of the frequency synthesizer
#define CC2500_SWOR 0x38 // Start automatic RX polling sequence (Wake-on-Radio)
#define CC2500_SPWD 0x39 // Enter power down mode when CSn goes high.
#define CC2500_SFRX 0x3A // Flush the RX FIFO buffer.
#define CC2500_SFTX 0x3B // Flush the TX FIFO buffer.
#define CC2500_SWORRST 0x3C // Reset real time clock.
#define CC2500_SNOP                                                            \
    0x3D // No operation. May be used to pad strobe commands to two
// bytes for simpler software.
//----------------------------------------------------------------------------------
// Chip Status Byte
//----------------------------------------------------------------------------------

// Bit fields in the chip status byte
#define CC2500_STATUS_CHIP_RDYn_BM 0x80
#define CC2500_STATUS_STATE_BM 0x70
#define CC2500_STATUS_FIFO_BYTES_AVAILABLE_BM 0x0F

// Chip states
#define CC2500_STATE_IDLE 0x00
#define CC2500_STATE_RX 0x10
#define CC2500_STATE_TX 0x20
#define CC2500_STATE_FSTXON 0x30
#define CC2500_STATE_CALIBRATE 0x40
#define CC2500_STATE_SETTLING 0x50
#define CC2500_STATE_RX_OVERFLOW 0x60
#define CC2500_STATE_TX_UNDERFLOW 0x70

//----------------------------------------------------------------------------------
// Other register bit fields
//----------------------------------------------------------------------------------
#define CC2500_LQI_CRC_OK_BM 0x80
#define CC2500_LQI_EST_BM 0x7F

// CC2500 driver class
class Radio_CC2500
{
public:
    Radio_CC2500(AP_HAL::OwnPtr<AP_HAL::SPIDevice> _dev);

    void ReadFifo(uint8_t *dpbuffer, uint8_t len);
    void WriteFifo(const uint8_t *dpbuffer, uint8_t len);

    void ReadRegisterMulti(uint8_t address, uint8_t *data, uint8_t length);
    void WriteRegisterMulti(uint8_t address, const uint8_t *data, uint8_t length);

    uint8_t ReadReg(uint8_t reg);
    uint8_t Strobe(uint8_t address);
    void WriteReg(uint8_t address, uint8_t data);
    void WriteRegCheck(uint8_t address, uint8_t data);
    void SetPower(uint8_t power);
    bool Reset(void);

    bool lock_bus(void)
    {
        return dev && dev->get_semaphore()->take(HAL_SEMAPHORE_BLOCK_FOREVER);
    }
    void unlock_bus(void)
    {
        dev->get_semaphore()->give();
    }

private:
    AP_HAL::OwnPtr<AP_HAL::SPIDevice> dev;
    uint8_t last_power;
};