From 61bf787234eb5b5bfee6eccdc6f000656326d4f0 Mon Sep 17 00:00:00 2001
From: Sam Calisch <s.calisch@gmail.com>
Date: Wed, 1 Nov 2017 09:08:30 -0400
Subject: [PATCH] added firmware
---
nrf52-stepper/index.html | 134 ++++++++++++++++++
nrf52-stepper/nrf52-drv8825/nrf52-drv8825.ino | 133 +++++++++++------
nrf52-stepper/nrf52-drv8825/radio.h | 114 +++++++++++++++
3 files changed, 340 insertions(+), 41 deletions(-)
create mode 100644 nrf52-stepper/nrf52-drv8825/radio.h
diff --git a/nrf52-stepper/index.html b/nrf52-stepper/index.html
index 7c56394..f9df329 100644
--- a/nrf52-stepper/index.html
+++ b/nrf52-stepper/index.html
@@ -1,8 +1,142 @@
<html>
+<head>
+<style>
+pre code {
+ background-color: #eee;
+ border: 1px solid #999;
+ display: block;
+ padding: 20px;
+}
+</style>
+</head>
<body>
+<h1>nRF52 + DRV8825 Stepper Driver</h1>
+
<a href='nrf52-stepper-layout.png'><img src='nrf52-stepper-layout.png' height=300px></a>
<a href='nrf52-stepper-traces.png'><img src='nrf52-stepper-traces.png' height=300px></a>
<a href='nrf52-stepper-interior.png'><img src='nrf52-stepper-interior.png' height=300px></a>
<p>This is a stepper motor controller built around the DRV8825 and the nRF52.</p>
+
+<p>Some sample firmware is available below (or as files: <a href='nrf52-drv8825/nrf52-drv8825.ino'>nrf52-drv8825.ino</a> and <a href='nrf52-drv8825/radio.h'>radio.h</a>). This code defines a command set issued over the radio for moving a number of steps, changing stepping speed, setting microstepping parameters, and setting a current limit value.</p>
+
+<pre>
+<code>
+#include "radio.h"
+uint16_t pwms[1] = {0};
+uint16_t step_period = 20000; //microseconds
+
+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); //10 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] = 1600-100; //100/1600 * 3.3v = .2V = 200 mA limit
+ 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
+ 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
+ }
+ radio_buffer[1] = radio_buffer[1] > 0 ? radio_buffer[1] : -radio_buffer[1];
+ for(i=0; i < radio_buffer[1]; i++){
+ NRF_GPIO->OUTSET = (1 << pin_step);
+ delayMicroseconds(step_period);
+ NRF_GPIO->OUTCLR = (1 << pin_step);
+ delayMicroseconds(10);
+ }
+ } else if (radio_buffer[0] == 2){
+ //change step speed
+ step_period = radio_buffer[1];
+ } else if (radio_buffer[0] == 3){
+ //change microstepping
+ if (radio_buffer[1] & 1){
+ NRF_GPIO->OUTSET = (1 << pin_mode0);
+ } else {
+ NRF_GPIO->OUTCLR = (1 << pin_mode0);
+ }
+ if (radio_buffer[1] & 2){
+ NRF_GPIO->OUTSET = (1 << pin_mode1);
+ } else {
+ NRF_GPIO->OUTCLR = (1 << pin_mode1);
+ }
+ } else if (radio_buffer[0] == 4){
+ //change current limit
+ pwms[0] = 1600-radio_buffer[1]; //100/1600 * 3.3v = .2V = 200 mA limit
+ NRF_PWM0->SEQ[0].REFRESH = 1;
+ }
+ else{
+ }
+
+ //unrecognized command, set radio buffer to all -1
+ //for(int i=0; i < PACKET_LENGTH; i++){
+ // radio_buffer[i] = -1;
+ //}
+
+ //reset radio buffer
+ for(i=0; i < PACKET_LENGTH; i++){
+ radio_buffer[i] = 0;
+ }
+}
+
+
+void setup() {
+
+ //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
+
+ while (true) {
+ int result = radio_recv(); //wait until recieve
+ parse_command();
+ }
+}
+
+void loop() {}
+
+</code>
+</pre>
+
</body>
</html>
\ No newline at end of file
diff --git a/nrf52-stepper/nrf52-drv8825/nrf52-drv8825.ino b/nrf52-stepper/nrf52-drv8825/nrf52-drv8825.ino
index 4183de5..1e79dd0 100644
--- a/nrf52-stepper/nrf52-drv8825/nrf52-drv8825.ino
+++ b/nrf52-stepper/nrf52-drv8825/nrf52-drv8825.ino
@@ -1,5 +1,6 @@
-
+#include "radio.h"
uint16_t pwms[1] = {0};
+uint16_t step_period = 20000; //microseconds
const uint8_t pin_mode1 = 3; //A1
const uint8_t pin_mode0 = 0; //XL1
@@ -8,77 +9,127 @@ 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 setup() {
-
- Serial.begin(115200);
+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);
-
- //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) {}
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
-
-
- //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
-
- //Use PWM module
+ //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->COUNTERTOP = (1600 << PWM_COUNTERTOP_COUNTERTOP_Pos); //10 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
- delay(1);
+ pwms[0] = 1600-100; //100/1600 * 3.3v = .2V = 200 mA limit
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
+ 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
+ }
+ radio_buffer[1] = radio_buffer[1] > 0 ? radio_buffer[1] : -radio_buffer[1];
+ for(i=0; i<radio_buffer[1]; i++){
+ NRF_GPIO->OUTSET = (1<<pin_step);
+ delayMicroseconds(step_period);
+ NRF_GPIO->OUTCLR = (1<<pin_step);
+ delayMicroseconds(10);
+ }
+ } else if (radio_buffer[0] == 2){
+ //change step speed
+ step_period = radio_buffer[1];
+ } else if (radio_buffer[0] == 3){
+ //change microstepping
+ if (radio_buffer[1] & 1){
+ NRF_GPIO->OUTSET = (1 << pin_mode0);
+ } else {
+ NRF_GPIO->OUTCLR = (1 << pin_mode0);
+ }
+ if (radio_buffer[1] & 2){
+ NRF_GPIO->OUTSET = (1 << pin_mode1);
+ } else {
+ NRF_GPIO->OUTCLR = (1 << pin_mode1);
+ }
+ } else if (radio_buffer[0] == 4){
+ //change current limit
+ pwms[0] = 1600-radio_buffer[1]; //100/1600 * 3.3v = .2V = 200 mA limit
+ NRF_PWM0->SEQ[0].REFRESH = 1;
+ }
+ else{
+ }
+
+ //unrecognized command, set radio buffer to all -1
+ //for(int i=0; i<PACKET_LENGTH; i++){
+ // radio_buffer[i] = -1;
+ //}
+
+ //reset radio buffer
+ for(i=0; i<PACKET_LENGTH; i++){
+ radio_buffer[i] = 0;
+ }
+}
+
+
+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
- NRF_GPIO->OUTSET = (1<<pin_direction); //set nrst/nslp high to enable drv8825
while (true) {
- //Serial.println("hi there");
- NRF_GPIO->OUTSET = (1<<pin_step);
- delay(10);
- NRF_GPIO->OUTCLR = (1<<pin_step);
- delay(1);
+ int result = radio_recv(); //wait until recieve
+ parse_command(); //todo: move stepping to non-blocking so can receive commands during moves
}
}
+void loop() {}
+// draft for using timer for pwm
-void loop() {}
+ //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/nrf52-stepper/nrf52-drv8825/radio.h b/nrf52-stepper/nrf52-drv8825/radio.h
new file mode 100644
index 0000000..b09208b
--- /dev/null
+++ b/nrf52-stepper/nrf52-drv8825/radio.h
@@ -0,0 +1,114 @@
+#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
+//
+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 = 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
+ NRF_RADIO->BASE1 = 0x02345678UL; // Base address for prefix 0
+ NRF_RADIO->TXADDRESS = 0x00UL; // Set device address 0 to use when transmitting
+ //NRF_RADIO->RXADDRESSES = 0x01UL; // X Enable device address 0 to use to select which addresses to receive
+ NRF_RADIO->RXADDRESSES = 0x02UL; //Y Enable device address 1 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();
+}
+void radio_send_redundant(){
+ for(int i=0; i<REDUNDANCY_COUNT; i++){
+ radio_send();
+ }
+}
+
+int radio_recv(){
+ //return number of packets before CRC match
+ NRF_RADIO->EVENTS_CRCOK = 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(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 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
+ }
+}
+*/
+
+
--
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