i am using nrf52832 in sdk11. I am interfacing motion sensor and spi flash memory. Both motion sensor and spi flash shares spi lines and having different chip select pin.
both working good individually but when i combine them i give spi instance 0 to one device and spi instance 1 to another device. The device having spi instance 0 works fine but data from other device is not coming. i have made spi0 and spi1 enabled in sdk_config.h and also tried with chip select with gpio, but nothing works...
sorry awneil,
i am attaching the files where you can see the spi instances.
/*
* This example is not extensively tested and only
* meant as a simple explanation and for inspiration.
* NO WARRANTY of ANY KIND is provided.
*/
#include <stdio.h>
#include "boards.h"
#include "app_uart.h"
#include "app_error.h"
#include "nrf_delay.h"
#include "app_mpu_20648.h"
#include "memory.h"
#include "nrf_gpio.h"
#include "app_util_platform.h"
#include "app_error.h"
#include <string.h>
#define NRF_LOG_MODULE_NAME "APP"
#include "nrf_log.h"
//#include "nrf_log_ctrl.h"
#include "memory.h"
#include "SEGGER_RTT.h"
/*UART buffer size. */
#define UART_TX_BUF_SIZE 256
#define UART_RX_BUF_SIZE 1
uint8_t data_val[256];
/**
* @brief UART events handler.
*/
static void uart_events_handler(app_uart_evt_t * p_event)
{
switch (p_event->evt_type)
{
case APP_UART_COMMUNICATION_ERROR:
APP_ERROR_HANDLER(p_event->data.error_communication);
break;
case APP_UART_FIFO_ERROR:
APP_ERROR_HANDLER(p_event->data.error_code);
break;
default:
break;
}
}
/**
* @brief UART initialization.
* Just the usual way. Nothing special here
*/
static void uart_config(void)
{
uint32_t err_code;
const app_uart_comm_params_t comm_params =
{
RX_PIN_NUMBER,
TX_PIN_NUMBER,
RTS_PIN_NUMBER,
CTS_PIN_NUMBER,
APP_UART_FLOW_CONTROL_DISABLED,
false,
UART_BAUDRATE_BAUDRATE_Baud115200
};
APP_UART_FIFO_INIT(&comm_params,
UART_RX_BUF_SIZE,
UART_TX_BUF_SIZE,
uart_events_handler,
APP_IRQ_PRIORITY_LOW,
err_code);
APP_ERROR_CHECK(err_code);
}
void mpu_setup(void)
{
ret_code_t ret_code;
// Initiate MPU driver
ret_code = mpu_init();
APP_ERROR_CHECK(ret_code); // Check for errors in return value
// Setup and configure the MPU with intial values
mpu_config_t p_mpu_config = MPU_DEFAULT_CONFIG(); // Load default values
p_mpu_config.smplrt_div = 19; // Change sampelrate. Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV). 19 gives a sample rate of 50Hz
p_mpu_config.accel_config.afs_sel = AFS_2G; // Set accelerometer full scale range to 2G
ret_code = mpu_config(&p_mpu_config); // Configure the MPU with above values
APP_ERROR_CHECK(ret_code); // Check for errors in return value
}
/**
* @brief Function for main application entry.
*/
int main(void)
{
uint32_t err_code;
/*LEDS_CONFIGURE(LEDS_MASK);
LEDS_OFF(LEDS_MASK);
uart_config();*/
// printf("\033[2J\033[;HMPU simple example. Compiled @ %s\r\n", __TIME__);
mpu_setup();
flash_init();
accel_values_t acc_values;
gyro_values_t gyro_values;
uint32_t sample_number = 0;
while(1)
{
// Read accelerometer sensor values
err_code = mpu_read_accel(&acc_values);
APP_ERROR_CHECK(err_code);
err_code = mpu_read_gyro(&gyro_values);
APP_ERROR_CHECK(err_code);
nrf_delay_ms(5000);
FLASH_Print_ID();
// Clear terminal and print values
// SEGGER_RTT_printf(0,"\033[3;1HSample # %d\r\nX: %06d\r\nY: %06d\r\nZ: %06d\r\n gyrox:%06d\r\n gyroy=%d\r\n gyroz=%d\r\n", ++sample_number, acc_values.x, acc_values.y, acc_values.z,gyro_values.x,gyro_values.y,gyro_values.z);
nrf_gpio_pin_toggle(LED_1);
nrf_delay_ms(250);
}
}
/** @} */
#include "memory.h"
#include "nrf_delay.h"
#include "SEGGER_RTT.h"
#include "nrf_drv_spi.h"
#include "app_util_platform.h"
#define NRF_LOG_MODULE_NAME "FLASH"
#define CMD_PAGE_PROGRAM ((uint8_t)0x02)
#define CMD_WRITE_ENABLE ((uint8_t)0x06)
#define CMD_READ_DATA ((uint8_t)0x03)
#define CMD_READ_ID ((uint8_t)0x9F)
#define CMD_READ_STATUS_REG ((uint8_t)0x05)
#define flash_SPI_INSTANCE_ID 0
#define QUEUE_LENGTH 10
#define flash_SCK_PIN 4
#define flash_MOSI_PIN 27
#define flash_MISO_PIN 26
#define flash_CS_PIN 18
//will return either a 1 or 0 if the bit is enabled
#define CHECK_BIT(var,pos) (((var)>>(pos)) & 1)
void spi_event_handler(nrf_drv_spi_evt_t const * p_event)
{
// NRF_LOG_INFO("Transfer completed.\r\n");
// if (m_rx_buf[0] != 0)
{
// NRF_LOG_INFO(" Received: \r\n");
// NRF_LOG_HEXDUMP_INFO(m_rx_buf, strlen((const char *)m_rx_buf));
}
}
static const nrf_drv_spi_t spi = NRF_DRV_SPI_INSTANCE(flash_SPI_INSTANCE_ID);
uint32_t flash_init(void)
{
const nrf_drv_spi_config_t flash_config = { \
.sck_pin = flash_SCK_PIN,
.mosi_pin = flash_MOSI_PIN,
.miso_pin = flash_MISO_PIN,
.ss_pin = flash_CS_PIN,
.irq_priority = APP_IRQ_PRIORITY_HIGH,
.orc = 0xFF,
.frequency = NRF_DRV_SPI_FREQ_1M,
.mode = NRF_DRV_SPI_MODE_0,
.bit_order = NRF_DRV_SPI_BIT_ORDER_MSB_FIRST,
};
return nrf_drv_spi_init(&spi, &flash_config,spi_event_handler);
}
static uint8_t cmd[1] = { 0 };
static uint8_t tx4[4];
static uint8_t rx2[2];
static uint8_t rx4[4];
static uint8_t rx5[5];
static uint8_t rx8[8];
static uint8_t rx256[256];
static uint8_t rxHalf[4+128];
static uint8_t txHalf[4+128];
static uint8_t rx20[16+4];
uint8_t err_code;
#define APP_IRQ_PRIORITY_LOW 3 //overrides definition elsewhere
void FLASH_Print_ID( void )
{
cmd[0] = CMD_READ_ID; //Get JEDEC ID
memset(rx4, 0, sizeof(rx4));
APP_ERROR_CHECK( nrf_drv_spi_transfer(&spi, cmd, sizeof(cmd), rx4, sizeof(rx4))); // rx + tx
nrf_delay_ms(100);
SEGGER_RTT_printf(0, "MemID: %x Type: %x CAP: %x\r\n", rx4[1], rx4[2], rx4[3]);
}
bool FLASH_Is_Busy( void )
{
memset(rx2, 0, sizeof(rx2));
cmd[0] = CMD_READ_STATUS_REG;
nrf_drv_spi_transfer(&spi, cmd, sizeof(cmd), rx2, sizeof(rx2));
nrf_delay_ms(200);
//bool retval = false;
if ( CHECK_BIT(rx2[1],0) == 1 ) return true;
//{
// retval = true;
//NRF_LOG_DEBUG("FLASH_Is_Busy!\r\n");
//}
return false;
}
uint8_t FLASH_Read_Status( void )
{
memset(rx2, 0, sizeof(rx2));
cmd[0] = CMD_READ_STATUS_REG;
nrf_drv_spi_transfer(&spi, cmd, sizeof(cmd), rx2, sizeof(rx2));
nrf_delay_ms(200);
/* S0; 1 = busy
S1; Write Enable Latch (WEL) is a read only bit in the status register
that is set to 1 after executing a Write Enable Instruction.
The WEL status bit is cleared to 0 when the device is write disabled
*/
if ( CHECK_BIT(rx2[1],0) ) {
//NRF_LOG_DEBUG("SR: Busy\r\n")
SEGGER_RTT_printf(0, "busy\n");
} else {
//NRF_LOG_DEBUG("SR: Ready\r\n")
SEGGER_RTT_printf(0, "ready\n");
};
if ( CHECK_BIT(rx2[1],1) ) {
//NRF_LOG_DEBUG("SR: WEL\r\n")
SEGGER_RTT_printf(0, "wel\n");
} else {
//NRF_LOG_DEBUG("SR: NoWEL\r\n")
SEGGER_RTT_printf(0, "nowel\n");
};
return rx2[1];
}
bool FLASH_Is_Write_Enabled( void )
{
memset(rx2, 0, sizeof(rx2));
cmd[0] = CMD_READ_STATUS_REG;
nrf_drv_spi_transfer(&spi, cmd, sizeof(cmd), rx2, sizeof(rx2));
nrf_delay_ms(100);
//bool retval = true;
//S1 == 1 Write Enable Latch (WEL) is a read only bit in the status register
if ( CHECK_BIT(rx2[1],1) != 1) return false;
//{
//NRF_LOG_DEBUG("FLASH_Is_Write_Enabled: False\r\n");
//}
return true;
}
bool FLASH_Set_Write_Enable( void )
{
bool enabled = false;
cmd[0] = CMD_WRITE_ENABLE;
nrf_drv_spi_transfer(&spi, cmd, sizeof(cmd), NULL, 0);
nrf_delay_ms(100);
if( FLASH_Is_Write_Enabled() ) {
enabled = true;
} else {
enabled = false;
//NRF_LOG_DEBUG("FLASH_Set_Write_Enable Fail\r\n");
};
return enabled;
}
uint8_t * FLASH_Page_Read( uint16_t pageN )
{
memset( tx4, 0, sizeof( tx4));
memset( rx256, 0, sizeof( rx256));
memset(rxHalf, 0, sizeof(rxHalf));
if ( pageN > 8192 ) { //memory has 4095 pages
//NRF_LOG_DEBUG("FLASH_Page_Read: Out of bounds!\r\n")
return rx256;
};
int address = page_to_address( pageN );
//read the first 1/2
tx4[0] = CMD_READ_DATA;
tx4[1] = (address >> 16) & 0xFF;
tx4[2] = (address >> 8) & 0xFF;
tx4[3] = address & 0xFF;
uint16_t i = 0;
nrf_drv_spi_transfer(&spi, tx4, sizeof(tx4), rxHalf, sizeof(rxHalf) + sizeof(tx4)); // rx + tx
nrf_delay_ms(200);
for(i = 0; i < 128; i++) { rx256[i] = rxHalf[i+4]; };
tx4[3] = 128;
memset(rxHalf, 0, sizeof(rxHalf));
nrf_drv_spi_transfer(&spi, tx4, sizeof(tx4), rxHalf, sizeof(rxHalf) + sizeof(tx4)); //rx + tx
nrf_delay_ms(200);
for(i = 128; i < 256; i++) { rx256[i] = rxHalf[(i-128)+4]; };
//NRF_LOG_HEXDUMP_DEBUG((uint8_t *)rx256, 256);
//SEGGER_RTT_WriteString(0, "Reading now!");
for(i = 0; i < 16; i++) { SEGGER_RTT_printf(0, "%d ", rx256[i]); }; SEGGER_RTT_WriteString(0, "\n");
for(i = 16; i < 32; i++) { SEGGER_RTT_printf(0, "%d ", rx256[i]); }; SEGGER_RTT_WriteString(0, "\n");
for(i = 32; i < 48; i++) { SEGGER_RTT_printf(0, "%d ", rx256[i]); }; SEGGER_RTT_WriteString(0, "\n");
for(i = 48; i < 64; i++) { SEGGER_RTT_printf(0, "%d ", rx256[i]); }; SEGGER_RTT_WriteString(0, "\n");
nrf_delay_ms(100);
for(i = 64; i < 80; i++) { SEGGER_RTT_printf(0, "%d ", rx256[i]); }; SEGGER_RTT_WriteString(0, "\n");
for(i = 80; i < 96; i++) { SEGGER_RTT_printf(0, "%d ", rx256[i]); }; SEGGER_RTT_WriteString(0, "\n");
for(i = 96; i < 112; i++) { SEGGER_RTT_printf(0, "%d ", rx256[i]); }; SEGGER_RTT_WriteString(0, "\n");
for(i = 112; i < 128; i++) { SEGGER_RTT_printf(0, "%d ", rx256[i]); }; SEGGER_RTT_WriteString(0, "\n");
nrf_delay_ms(100);
for(i = 128; i < 144; i++) { SEGGER_RTT_printf(0, "%d ", rx256[i]); }; SEGGER_RTT_WriteString(0, "\n");
for(i = 144; i < 160; i++) { SEGGER_RTT_printf(0, "%d ", rx256[i]); }; SEGGER_RTT_WriteString(0, "\n");
for(i = 160; i < 176; i++) { SEGGER_RTT_printf(0, "%d ", rx256[i]); }; SEGGER_RTT_WriteString(0, "\n");
for(i = 176; i < 192; i++) { SEGGER_RTT_printf(0, "%d ", rx256[i]); }; SEGGER_RTT_WriteString(0, "\n");
nrf_delay_ms(100);
for(i = 192; i < 208; i++) { SEGGER_RTT_printf(0, "%d ", rx256[i]); }; SEGGER_RTT_WriteString(0, "\n");
for(i = 208; i < 224; i++) { SEGGER_RTT_printf(0, "%d ", rx256[i]); }; SEGGER_RTT_WriteString(0, "\n");
for(i = 224; i < 240; i++) { SEGGER_RTT_printf(0, "%d ", rx256[i]); }; SEGGER_RTT_WriteString(0, "\n");
for(i = 240; i < 256; i++) { SEGGER_RTT_printf(0, "%d ", rx256[i]); }; SEGGER_RTT_WriteString(0, "\n");
/*
SEGGER_RTT_printf(0, "%d %d %d %d %d %d %d %d %d %d %d %d %d %d %d %d\n", \
rx256[i], rx256[i],rx256[i],rx256[i],rx256[i],rx256[i],rx256[i],rx256[i])
for(i = 0; i < 256; i++) { SEGGER_RTT_printf(0, "%d ", rx256[i]); };
SEGGER_RTT_WriteString(0, "\n");
*/
return rx256;
}
void FLASH_Erase( void )
{
if( !FLASH_Set_Write_Enable() ) {
//NRF_LOG_DEBUG("Erase: Write not enabled\r\n");
}
if ( FLASH_Is_Busy() ) {
//NRF_LOG_DEBUG("Erase: FLASH is busy\r\n");
}
//NRF_LOG_DEBUG("Erase: Erasing Flash\r\n");
cmd[0] = 0xC7;
nrf_drv_spi_transfer(&spi, cmd, sizeof(cmd), NULL, 0);
nrf_delay_ms(200);
//wait for some
while ( FLASH_Is_Busy() ) {
nrf_delay_ms(1500);
//NRF_LOG_DEBUG("Erase: FLASH is still busy\r\n");
}
}
void FLASH_Reset( void )
{
cmd[0] = 0xF0;
nrf_drv_spi_transfer(&spi, cmd, sizeof(cmd), NULL, 0);
nrf_delay_ms(200);
}
int address_to_page(int addr)
{
return(addr >> 8);
}
int page_to_address(int pn)
{
return(pn << 8);
}
uint16_t FLASH_Get_First_Available_Location( void )
{
//this assumes that data were written contiguously
uint16_t ds;
for(ds = 0; ds < 8192; ds++)
{
//NRF_LOG_DEBUG("Testing page %d\r\n", ds);
if( FLASH_Page_Is_Empty( ds ) )
{
//NRF_LOG_DEBUG("Page %d is empty.\r\n", ds);
return ds;
} else {
//keep searching
//NRF_LOG_DEBUG("Page %d is full.\r\n", ds);
};
};
//should never really get here
//NRF_LOG_DEBUG("No memory available!\r\n", ds);
return 8192;
}
bool FLASH_Page_Is_Empty( uint16_t pageN )
{
if ( pageN > 8192 - 1 ) { //memory has 16384 pages
//NRF_LOG_DEBUG("FLASH_PE: Out of bounds!\r\n")
return false; //err on the side of safety
};
memset(tx4, 0, sizeof(tx4));
memset(rx8, 0, sizeof(rx8));
int address = page_to_address( pageN );
tx4[0] = CMD_READ_DATA;
tx4[1] = (address >> 16) & 0xFF;
tx4[2] = (address >> 8) & 0xFF;
tx4[3] = address & 0xFF;
//NRF_LOG_HEXDUMP_DEBUG((uint8_t *)send4, 4);
nrf_drv_spi_transfer(&spi, tx4, sizeof(tx4), rx8, sizeof(rx8));
nrf_delay_ms(200);
uint16_t check = rx8[4] + rx8[5] + rx8[6] + rx8[7];
//empty = 255, so 255+255+255+255 = 1020
//NRF_LOG_INFO("FLASH_PE Page:%d contains:%d\r\n", pageN, check);
//NRF_LOG_HEXDUMP_DEBUG((uint8_t *)rx8, 8);
if ( check == 1020 ) {
//NRF_LOG_DEBUG("FLASH_PE: Page:%d is empty.\r\n", pageN);
return true;
} else {
//NRF_LOG_DEBUG("FLASH_PE: Page:%d contains:%d\r\n", pageN, check);
return false;
}
}
int FLASH_Page_Write( uint16_t pageN, uint8_t *wp )
{
//memory has 0-4095 pages, and each page has length 256
if ( pageN > 8192 - 1 ) {
//NRF_LOG_DEBUG("FLASH_Page_Write: Out of bounds!\r\n")
return 1;
};
if ( !FLASH_Set_Write_Enable() ) {
//NRF_LOG_DEBUG("FLASH_Page_Write: Write not enabled!\r\n")
return 2;
};
if ( FLASH_Is_Busy() ) {
//NRF_LOG_DEBUG("FLASH_Page_Write: Busy!\r\n")
return 3;
};
if ( FLASH_Page_Is_Empty( pageN) == false ) {
//NRF_LOG_DEBUG("FLASH_Page_Write: Page already contains data!\r\n")
return 4;
}
//NRF_LOG_DEBUG("Write looking good\r\n");
//the command and address
int address = page_to_address( pageN );
memset(txHalf, 0, sizeof(txHalf));
txHalf[0] = CMD_PAGE_PROGRAM;
txHalf[1] = (address >> 16) & 0xFF;
txHalf[2] = (address >> 8) & 0xFF;
txHalf[3] = address & 0xFF;
uint16_t i = 0;
//write the first 128 bytes
for( i = 4; i < (128+4); i++ ) { txHalf[i] = wp[i-4]; };
nrf_drv_spi_transfer(&spi, txHalf, sizeof(txHalf), NULL, 0);
//wait for at most 200 ms to make sure write completes
for( i = 0; i < 10; i++ ) {
nrf_delay_ms(20);
if ( FLASH_Is_Busy() ) {
//wait
} else {
break;
}
}
//wait for at most 200 ms to make sure we are good for next write
for( i = 0; i < 10; i++ ) {
nrf_delay_ms(20);
if ( FLASH_Set_Write_Enable() ) {
break;
} else {
//NRF_LOG_DEBUG("Erase: Not able to write\r\n");
}
}
//write the next 128 bytes
txHalf[3] = 128;
for( i = 4; i < (128+4); i++ ) { txHalf[i] = wp[i-4+128]; };
nrf_drv_spi_transfer(&spi, txHalf, sizeof(txHalf), NULL, 0);
nrf_delay_ms(100);
return 0;
}
void FLASH_WriteCustom(uint8_t value)
{
FLASH_Set_Write_Enable();
memset(rx5, 0, sizeof(rx5));
rx5[0] = CMD_PAGE_PROGRAM;
rx5[1] = 0x00;
rx5[2] = 0x00;
rx5[3] = 0x01;
rx5[4] = value;
nrf_drv_spi_transfer(&spi, rx5, sizeof(rx5), NULL, 0);
nrf_delay_ms(100);
}
void FLASH_CustomRead()
{
FLASH_Set_Write_Enable();
memset(tx4, 0, sizeof(rx4));
memset(rx2, 0, sizeof(rx2));
rx4[0] = CMD_PAGE_PROGRAM;
rx4[1] = 0x00;
rx4[2] = 0x00;
rx4[3] = 0x01;
nrf_drv_spi_transfer(&spi, tx4, sizeof(tx4), cmd, sizeof(rx2));
SEGGER_RTT_printf(0, "%d %d\n", *cmd, *(cmd+1));
}
/*
* The library is not extensively tested and only
* meant as a simple explanation and for inspiration.
* NO WARRANTY of ANY KIND is provided.
*/
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include "nrf_drv_spi.h"
#include "nrf_drv_mpu.h"
#include "app_util_platform.h"
#include "nrf_gpio.h"
#include "SEGGER_RTT.h"
#define SPI_INSTANCE_ID 0
#if defined(MPU9150)
#error "MPU9150 does not support SPI"
#endif
/* Pins to connect MPU. Pinout is different for nRF51 DK and nRF52 DK
* and therefore I have added a conditional statement defining different pins
* for each board. This is only for my own convenience and might be subject to changes as I devleop.
*/
#if defined(BOARD_PCA10040)
#define MPU_SPI_MISO_PIN 26 // MPU SDO. 'AD0' on MPU breakout board silk screen
#define MPU_SPI_MOSI_PIN 27// MPU SDI. 'SDA' on MPU breakout board silk screen
#define MPU_SPI_SCL_PIN 4 // MPU SCLK. 'SCL' on MPU breakout board silk screen
#define MPU_SPI_CS_PIN 5 // MPU nCS. 'NCS' on MPU breakout board silk screen1/
#else // If PCA10028
#define MPU_SPI_MISO_PIN 3 // MPU SDO. 'AD0' on MPU breakout board silk screen
#define MPU_SPI_MOSI_PIN 2 // MPU SDI. 'SDA' on MPU breakout board silk screen
#define MPU_SPI_SCL_PIN 1 // MPU SCLK. 'SCL' on MPU breakout board silk screen
#define MPU_SPI_CS_PIN 4 // MPU nCS. 'NCS' on MPU breakout board silk screen
#endif
#define MPU_SPI_BUFFER_SIZE 14 // 14 byte buffers will suffice to read acceleromter, gyroscope and temperature data in one transmission.
#define MPU_SPI_WRITE_BIT 0x00
#define MPU_SPI_READ_BIT 0x80
#define MPU_SPI_TIMEOUT 5000
static const nrf_drv_spi_t m_spi_instance = NRF_DRV_SPI_INSTANCE(SPI_INSTANCE_ID);
volatile static bool spi_tx_done = false;
uint8_t spi_tx_buffer[MPU_SPI_BUFFER_SIZE];
uint8_t spi_rx_buffer[MPU_SPI_BUFFER_SIZE];
void nrf_drv_mpu_spi_event_handler(const nrf_drv_spi_evt_t *evt)
{
if(evt->type == NRF_DRV_SPI_EVENT_DONE)
{
spi_tx_done = true;
}
else
{
// Something is wrong
}
}
/**
* @brief SPI initialization.
* Just the usual way. Nothing special here
*/
uint32_t nrf_drv_mpu_init(void)
{
const nrf_drv_spi_config_t spi_mpu_config = { \
.sck_pin = MPU_SPI_SCL_PIN,
.mosi_pin = MPU_SPI_MOSI_PIN,
.miso_pin = MPU_SPI_MISO_PIN,
.ss_pin = MPU_SPI_CS_PIN,
.irq_priority = APP_IRQ_PRIORITY_HIGH,
.orc = 0xFF,
.frequency = NRF_DRV_SPI_FREQ_1M,
.mode = NRF_DRV_SPI_MODE_0,
.bit_order = NRF_DRV_SPI_BIT_ORDER_MSB_FIRST,
};
return nrf_drv_spi_init(&m_spi_instance, &spi_mpu_config, nrf_drv_mpu_spi_event_handler);
}
/**@brief Function to merge a register and a buffer of data
*/
static void merge_register_and_data(uint8_t * new_buffer, uint8_t reg, uint8_t * p_data, uint32_t length)
{
new_buffer[0] = reg;
memcpy((new_buffer + 1), p_data, length);
}
/**@brief Function to write a series of bytes. The function merges
* the register and the data.
*/
uint32_t nrf_drv_mpu_write_registers(uint8_t reg, uint8_t * p_data, uint32_t length)
{
uint32_t err_code;
if(length > MPU_SPI_BUFFER_SIZE - 1) // Must be space for register byte in buffer
{
return NRF_ERROR_DATA_SIZE;
}
uint32_t timeout = MPU_SPI_TIMEOUT;
// Add write bit to register.
reg = reg | MPU_SPI_WRITE_BIT;
merge_register_and_data(spi_tx_buffer, reg, p_data, length + 1);
err_code = nrf_drv_spi_transfer(&m_spi_instance, spi_tx_buffer, length + 1, NULL, 0);
if(err_code != NRF_SUCCESS) return err_code;
while((!spi_tx_done) && --timeout);
if(!timeout) return NRF_ERROR_TIMEOUT;
spi_tx_done = false;
return err_code;
}
uint32_t nrf_drv_mpu_write_single_register(uint8_t reg, uint8_t data)
{
uint32_t err_code;
uint32_t timeout = MPU_SPI_TIMEOUT;
uint8_t packet[2] = {reg, data};
// Add write bit to register.
reg = reg | MPU_SPI_WRITE_BIT;
err_code = nrf_drv_spi_transfer(&m_spi_instance, packet, 2, NULL, 0);
if(err_code != NRF_SUCCESS) return err_code;
while((!spi_tx_done) && --timeout);
if(!timeout) return NRF_ERROR_TIMEOUT;
spi_tx_done = false;
return err_code;
}
uint32_t nrf_drv_mpu_read_registers(uint8_t reg, uint8_t * p_data, uint32_t length)
{
uint32_t err_code;
uint32_t timeout = MPU_SPI_TIMEOUT;
// Add read bit to register.
reg = reg | MPU_SPI_READ_BIT;
// Read data over SPI and store incomming data in spi_rx_buffer
err_code = nrf_drv_spi_transfer(&m_spi_instance, ®, 1, spi_rx_buffer, length + 1); // Length + 1 because register byte has to be clocked out before MPU returns data of length 'length'
if(err_code != NRF_SUCCESS) return err_code;
while((!spi_tx_done) && --timeout);
if(!timeout) return NRF_ERROR_TIMEOUT;
spi_tx_done = false;
// Copy data in spi_rx_buffer over to p_data
memcpy(p_data, &spi_rx_buffer[1], length);
return NRF_SUCCESS;
}
/**
@}
*/
Hi
Jared
i am using only one spi instance
hardware is setup correct, we had confirmed with nordic...
yes there is activity on spi lines...
will you check the code?
i am attaching the revised code..
#include "memory.h"
#include "nrf_delay.h"
#include "SEGGER_RTT.h"
#include "nrf_drv_spi.h"
#include "app_util_platform.h"
#include "nrf_gpio.h"
#define NRF_LOG_MODULE_NAME "FLASH"
#define CMD_PAGE_PROGRAM ((uint8_t)0x02)
#define CMD_WRITE_ENABLE ((uint8_t)0x06)
#define CMD_READ_DATA ((uint8_t)0x03)
#define CMD_READ_ID ((uint8_t)0x9F)
#define CMD_READ_STATUS_REG ((uint8_t)0x05)
#define flash_SPI_INSTANCE_ID 0
#define QUEUE_LENGTH 10
#define flash_SCK_PIN 4
#define flash_MOSI_PIN 27
#define flash_MISO_PIN 26
#define flash_CS_PIN 18
#define flash_cs 18
//will return either a 1 or 0 if the bit is enabled
#define CHECK_BIT(var,pos) (((var)>>(pos)) & 1)
void spi_event_handler(nrf_drv_spi_evt_t const * p_event)
{
// NRF_LOG_INFO("Transfer completed.\r\n");
// if (m_rx_buf[0] != 0)
{
// NRF_LOG_INFO(" Received: \r\n");
// NRF_LOG_HEXDUMP_INFO(m_rx_buf, strlen((const char *)m_rx_buf));
}
}
static const nrf_drv_spi_t spi = NRF_DRV_SPI_INSTANCE(flash_SPI_INSTANCE_ID);
uint32_t flash_init(void)
{
const nrf_drv_spi_config_t flash_config = { \
.sck_pin = flash_SCK_PIN,
.mosi_pin = flash_MOSI_PIN,
.miso_pin = flash_MISO_PIN,
.ss_pin = NRF_DRV_SPI_PIN_NOT_USED,//flash_CS_PIN,
.irq_priority = APP_IRQ_PRIORITY_HIGH,
.orc = 0xFF,
.frequency = NRF_DRV_SPI_FREQ_1M,
.mode = NRF_DRV_SPI_MODE_0,
.bit_order = NRF_DRV_SPI_BIT_ORDER_MSB_FIRST,
};
return nrf_drv_spi_init(&spi, &flash_config,spi_event_handler);
}
static uint8_t cmd[1] = { 0 };
static uint8_t tx4[4];
static uint8_t rx2[2];
static uint8_t rx4[4];
static uint8_t rx5[5];
static uint8_t rx8[8];
static uint8_t rx256[256];
static uint8_t rxHalf[4+128];
static uint8_t txHalf[4+128];
static uint8_t rx20[16+4];
uint8_t err_code;
#define APP_IRQ_PRIORITY_LOW 3 //overrides definition elsewhere
void FLASH_Print_ID( void )
{ nrf_gpio_cfg_output(flash_cs);
nrf_gpio_pin_clear(flash_cs);
cmd[0] = CMD_READ_ID; //Get JEDEC ID
memset(rx4, 0, sizeof(rx4));
APP_ERROR_CHECK( nrf_drv_spi_transfer(&spi, cmd, sizeof(cmd), rx4, sizeof(rx4))); // rx + tx
nrf_delay_ms(100);
SEGGER_RTT_printf(0, "MemID: %x Type: %x CAP: %x\r\n", rx4[1], rx4[2], rx4[3]);
nrf_gpio_pin_set(flash_cs);
}
bool FLASH_Is_Busy( void )
{
memset(rx2, 0, sizeof(rx2));
cmd[0] = CMD_READ_STATUS_REG;
nrf_drv_spi_transfer(&spi, cmd, sizeof(cmd), rx2, sizeof(rx2));
nrf_delay_ms(200);
//bool retval = false;
if ( CHECK_BIT(rx2[1],0) == 1 ) return true;
//{
// retval = true;
//NRF_LOG_DEBUG("FLASH_Is_Busy!\r\n");
//}
return false;
}
uint8_t FLASH_Read_Status( void )
{
memset(rx2, 0, sizeof(rx2));
cmd[0] = CMD_READ_STATUS_REG;
nrf_drv_spi_transfer(&spi, cmd, sizeof(cmd), rx2, sizeof(rx2));
nrf_delay_ms(200);
/* S0; 1 = busy
S1; Write Enable Latch (WEL) is a read only bit in the status register
that is set to 1 after executing a Write Enable Instruction.
The WEL status bit is cleared to 0 when the device is write disabled
*/
if ( CHECK_BIT(rx2[1],0) ) {
//NRF_LOG_DEBUG("SR: Busy\r\n")
SEGGER_RTT_printf(0, "busy\n");
} else {
//NRF_LOG_DEBUG("SR: Ready\r\n")
SEGGER_RTT_printf(0, "ready\n");
};
if ( CHECK_BIT(rx2[1],1) ) {
//NRF_LOG_DEBUG("SR: WEL\r\n")
SEGGER_RTT_printf(0, "wel\n");
} else {
//NRF_LOG_DEBUG("SR: NoWEL\r\n")
SEGGER_RTT_printf(0, "nowel\n");
};
return rx2[1];
}
bool FLASH_Is_Write_Enabled( void )
{
memset(rx2, 0, sizeof(rx2));
cmd[0] = CMD_READ_STATUS_REG;
nrf_drv_spi_transfer(&spi, cmd, sizeof(cmd), rx2, sizeof(rx2));
nrf_delay_ms(100);
//bool retval = true;
//S1 == 1 Write Enable Latch (WEL) is a read only bit in the status register
if ( CHECK_BIT(rx2[1],1) != 1) return false;
//{
//NRF_LOG_DEBUG("FLASH_Is_Write_Enabled: False\r\n");
//}
return true;
}
bool FLASH_Set_Write_Enable( void )
{
bool enabled = false;
cmd[0] = CMD_WRITE_ENABLE;
nrf_drv_spi_transfer(&spi, cmd, sizeof(cmd), NULL, 0);
nrf_delay_ms(100);
if( FLASH_Is_Write_Enabled() ) {
enabled = true;
} else {
enabled = false;
//NRF_LOG_DEBUG("FLASH_Set_Write_Enable Fail\r\n");
};
return enabled;
}
uint8_t * FLASH_Page_Read( uint16_t pageN )
{
memset( tx4, 0, sizeof( tx4));
memset( rx256, 0, sizeof( rx256));
memset(rxHalf, 0, sizeof(rxHalf));
if ( pageN > 8192 ) { //memory has 4095 pages
//NRF_LOG_DEBUG("FLASH_Page_Read: Out of bounds!\r\n")
return rx256;
};
int address = page_to_address( pageN );
//read the first 1/2
tx4[0] = CMD_READ_DATA;
tx4[1] = (address >> 16) & 0xFF;
tx4[2] = (address >> 8) & 0xFF;
tx4[3] = address & 0xFF;
uint16_t i = 0;
nrf_drv_spi_transfer(&spi, tx4, sizeof(tx4), rxHalf, sizeof(rxHalf) + sizeof(tx4)); // rx + tx
nrf_delay_ms(200);
for(i = 0; i < 128; i++) { rx256[i] = rxHalf[i+4]; };
tx4[3] = 128;
memset(rxHalf, 0, sizeof(rxHalf));
nrf_drv_spi_transfer(&spi, tx4, sizeof(tx4), rxHalf, sizeof(rxHalf) + sizeof(tx4)); //rx + tx
nrf_delay_ms(200);
for(i = 128; i < 256; i++) { rx256[i] = rxHalf[(i-128)+4]; };
//NRF_LOG_HEXDUMP_DEBUG((uint8_t *)rx256, 256);
//SEGGER_RTT_WriteString(0, "Reading now!");
for(i = 0; i < 16; i++) { SEGGER_RTT_printf(0, "%d ", rx256[i]); }; SEGGER_RTT_WriteString(0, "\n");
for(i = 16; i < 32; i++) { SEGGER_RTT_printf(0, "%d ", rx256[i]); }; SEGGER_RTT_WriteString(0, "\n");
for(i = 32; i < 48; i++) { SEGGER_RTT_printf(0, "%d ", rx256[i]); }; SEGGER_RTT_WriteString(0, "\n");
for(i = 48; i < 64; i++) { SEGGER_RTT_printf(0, "%d ", rx256[i]); }; SEGGER_RTT_WriteString(0, "\n");
nrf_delay_ms(100);
for(i = 64; i < 80; i++) { SEGGER_RTT_printf(0, "%d ", rx256[i]); }; SEGGER_RTT_WriteString(0, "\n");
for(i = 80; i < 96; i++) { SEGGER_RTT_printf(0, "%d ", rx256[i]); }; SEGGER_RTT_WriteString(0, "\n");
for(i = 96; i < 112; i++) { SEGGER_RTT_printf(0, "%d ", rx256[i]); }; SEGGER_RTT_WriteString(0, "\n");
for(i = 112; i < 128; i++) { SEGGER_RTT_printf(0, "%d ", rx256[i]); }; SEGGER_RTT_WriteString(0, "\n");
nrf_delay_ms(100);
for(i = 128; i < 144; i++) { SEGGER_RTT_printf(0, "%d ", rx256[i]); }; SEGGER_RTT_WriteString(0, "\n");
for(i = 144; i < 160; i++) { SEGGER_RTT_printf(0, "%d ", rx256[i]); }; SEGGER_RTT_WriteString(0, "\n");
for(i = 160; i < 176; i++) { SEGGER_RTT_printf(0, "%d ", rx256[i]); }; SEGGER_RTT_WriteString(0, "\n");
for(i = 176; i < 192; i++) { SEGGER_RTT_printf(0, "%d ", rx256[i]); }; SEGGER_RTT_WriteString(0, "\n");
nrf_delay_ms(100);
for(i = 192; i < 208; i++) { SEGGER_RTT_printf(0, "%d ", rx256[i]); }; SEGGER_RTT_WriteString(0, "\n");
for(i = 208; i < 224; i++) { SEGGER_RTT_printf(0, "%d ", rx256[i]); }; SEGGER_RTT_WriteString(0, "\n");
for(i = 224; i < 240; i++) { SEGGER_RTT_printf(0, "%d ", rx256[i]); }; SEGGER_RTT_WriteString(0, "\n");
for(i = 240; i < 256; i++) { SEGGER_RTT_printf(0, "%d ", rx256[i]); }; SEGGER_RTT_WriteString(0, "\n");
/*
SEGGER_RTT_printf(0, "%d %d %d %d %d %d %d %d %d %d %d %d %d %d %d %d\n", \
rx256[i], rx256[i],rx256[i],rx256[i],rx256[i],rx256[i],rx256[i],rx256[i])
for(i = 0; i < 256; i++) { SEGGER_RTT_printf(0, "%d ", rx256[i]); };
SEGGER_RTT_WriteString(0, "\n");
*/
return rx256;
}
void FLASH_Erase( void )
{
if( !FLASH_Set_Write_Enable() ) {
//NRF_LOG_DEBUG("Erase: Write not enabled\r\n");
}
if ( FLASH_Is_Busy() ) {
//NRF_LOG_DEBUG("Erase: FLASH is busy\r\n");
}
//NRF_LOG_DEBUG("Erase: Erasing Flash\r\n");
cmd[0] = 0xC7;
nrf_drv_spi_transfer(&spi, cmd, sizeof(cmd), NULL, 0);
nrf_delay_ms(200);
//wait for some
while ( FLASH_Is_Busy() ) {
nrf_delay_ms(1500);
//NRF_LOG_DEBUG("Erase: FLASH is still busy\r\n");
}
}
void FLASH_Reset( void )
{
cmd[0] = 0xF0;
nrf_drv_spi_transfer(&spi, cmd, sizeof(cmd), NULL, 0);
nrf_delay_ms(200);
}
int address_to_page(int addr)
{
return(addr >> 8);
}
int page_to_address(int pn)
{
return(pn << 8);
}
uint16_t FLASH_Get_First_Available_Location( void )
{
//this assumes that data were written contiguously
uint16_t ds;
for(ds = 0; ds < 8192; ds++)
{
//NRF_LOG_DEBUG("Testing page %d\r\n", ds);
if( FLASH_Page_Is_Empty( ds ) )
{
//NRF_LOG_DEBUG("Page %d is empty.\r\n", ds);
return ds;
} else {
//keep searching
//NRF_LOG_DEBUG("Page %d is full.\r\n", ds);
};
};
//should never really get here
//NRF_LOG_DEBUG("No memory available!\r\n", ds);
return 8192;
}
bool FLASH_Page_Is_Empty( uint16_t pageN )
{
if ( pageN > 8192 - 1 ) { //memory has 16384 pages
//NRF_LOG_DEBUG("FLASH_PE: Out of bounds!\r\n")
return false; //err on the side of safety
};
memset(tx4, 0, sizeof(tx4));
memset(rx8, 0, sizeof(rx8));
int address = page_to_address( pageN );
tx4[0] = CMD_READ_DATA;
tx4[1] = (address >> 16) & 0xFF;
tx4[2] = (address >> 8) & 0xFF;
tx4[3] = address & 0xFF;
//NRF_LOG_HEXDUMP_DEBUG((uint8_t *)send4, 4);
nrf_drv_spi_transfer(&spi, tx4, sizeof(tx4), rx8, sizeof(rx8));
nrf_delay_ms(200);
uint16_t check = rx8[4] + rx8[5] + rx8[6] + rx8[7];
//empty = 255, so 255+255+255+255 = 1020
//NRF_LOG_INFO("FLASH_PE Page:%d contains:%d\r\n", pageN, check);
//NRF_LOG_HEXDUMP_DEBUG((uint8_t *)rx8, 8);
if ( check == 1020 ) {
//NRF_LOG_DEBUG("FLASH_PE: Page:%d is empty.\r\n", pageN);
return true;
} else {
//NRF_LOG_DEBUG("FLASH_PE: Page:%d contains:%d\r\n", pageN, check);
return false;
}
}
int FLASH_Page_Write( uint16_t pageN, uint8_t *wp )
{
//memory has 0-4095 pages, and each page has length 256
if ( pageN > 8192 - 1 ) {
//NRF_LOG_DEBUG("FLASH_Page_Write: Out of bounds!\r\n")
return 1;
};
if ( !FLASH_Set_Write_Enable() ) {
//NRF_LOG_DEBUG("FLASH_Page_Write: Write not enabled!\r\n")
return 2;
};
if ( FLASH_Is_Busy() ) {
//NRF_LOG_DEBUG("FLASH_Page_Write: Busy!\r\n")
return 3;
};
if ( FLASH_Page_Is_Empty( pageN) == false ) {
//NRF_LOG_DEBUG("FLASH_Page_Write: Page already contains data!\r\n")
return 4;
}
//NRF_LOG_DEBUG("Write looking good\r\n");
//the command and address
int address = page_to_address( pageN );
memset(txHalf, 0, sizeof(txHalf));
txHalf[0] = CMD_PAGE_PROGRAM;
txHalf[1] = (address >> 16) & 0xFF;
txHalf[2] = (address >> 8) & 0xFF;
txHalf[3] = address & 0xFF;
uint16_t i = 0;
//write the first 128 bytes
for( i = 4; i < (128+4); i++ ) { txHalf[i] = wp[i-4]; };
nrf_drv_spi_transfer(&spi, txHalf, sizeof(txHalf), NULL, 0);
//wait for at most 200 ms to make sure write completes
for( i = 0; i < 10; i++ ) {
nrf_delay_ms(20);
if ( FLASH_Is_Busy() ) {
//wait
} else {
break;
}
}
//wait for at most 200 ms to make sure we are good for next write
for( i = 0; i < 10; i++ ) {
nrf_delay_ms(20);
if ( FLASH_Set_Write_Enable() ) {
break;
} else {
//NRF_LOG_DEBUG("Erase: Not able to write\r\n");
}
}
//write the next 128 bytes
txHalf[3] = 128;
for( i = 4; i < (128+4); i++ ) { txHalf[i] = wp[i-4+128]; };
nrf_drv_spi_transfer(&spi, txHalf, sizeof(txHalf), NULL, 0);
nrf_delay_ms(100);
return 0;
}
void FLASH_WriteCustom(uint8_t value)
{
FLASH_Set_Write_Enable();
memset(rx5, 0, sizeof(rx5));
rx5[0] = CMD_PAGE_PROGRAM;
rx5[1] = 0x00;
rx5[2] = 0x00;
rx5[3] = 0x01;
rx5[4] = value;
nrf_drv_spi_transfer(&spi, rx5, sizeof(rx5), NULL, 0);
nrf_delay_ms(100);
}
void FLASH_CustomRead()
{
FLASH_Set_Write_Enable();
memset(tx4, 0, sizeof(rx4));
memset(rx2, 0, sizeof(rx2));
rx4[0] = CMD_PAGE_PROGRAM;
rx4[1] = 0x00;
rx4[2] = 0x00;
rx4[3] = 0x01;
nrf_drv_spi_transfer(&spi, tx4, sizeof(tx4), cmd, sizeof(rx2));
SEGGER_RTT_printf(0, "%d %d\n", *cmd, *(cmd+1));
}
/*
* This example is not extensively tested and only
* meant as a simple explanation and for inspiration.
* NO WARRANTY of ANY KIND is provided.
*/
#include <stdio.h>
#include "boards.h"
#include "app_uart.h"
#include "app_error.h"
#include "nrf_delay.h"
#include "app_mpu_20648.h"
#include "memory.h"
#include "nrf_gpio.h"
#include "app_util_platform.h"
#include "app_error.h"
#include <string.h>
#define NRF_LOG_MODULE_NAME "APP"
#include "nrf_log.h"
//#include "nrf_log_ctrl.h"
#include "memory.h"
#include "SEGGER_RTT.h"
/*UART buffer size. */
#define UART_TX_BUF_SIZE 256
#define UART_RX_BUF_SIZE 1
uint8_t data_val[256];
/**
* @brief UART events handler.
*/
static void uart_events_handler(app_uart_evt_t * p_event)
{
switch (p_event->evt_type)
{
case APP_UART_COMMUNICATION_ERROR:
APP_ERROR_HANDLER(p_event->data.error_communication);
break;
case APP_UART_FIFO_ERROR:
APP_ERROR_HANDLER(p_event->data.error_code);
break;
default:
break;
}
}
/**
* @brief UART initialization.
* Just the usual way. Nothing special here
*/
static void uart_config(void)
{
uint32_t err_code;
const app_uart_comm_params_t comm_params =
{
RX_PIN_NUMBER,
TX_PIN_NUMBER,
RTS_PIN_NUMBER,
CTS_PIN_NUMBER,
APP_UART_FLOW_CONTROL_DISABLED,
false,
UART_BAUDRATE_BAUDRATE_Baud115200
};
APP_UART_FIFO_INIT(&comm_params,
UART_RX_BUF_SIZE,
UART_TX_BUF_SIZE,
uart_events_handler,
APP_IRQ_PRIORITY_LOW,
err_code);
APP_ERROR_CHECK(err_code);
}
void mpu_setup(void)
{
ret_code_t ret_code;
// Initiate MPU driver
ret_code = mpu_init();
APP_ERROR_CHECK(ret_code); // Check for errors in return value
// Setup and configure the MPU with intial values
mpu_config_t p_mpu_config = MPU_DEFAULT_CONFIG(); // Load default values
p_mpu_config.smplrt_div = 19; // Change sampelrate. Sample Rate = Gyroscope Output Rate / (1 + SMPLRT_DIV). 19 gives a sample rate of 50Hz
p_mpu_config.accel_config.afs_sel = AFS_2G; // Set accelerometer full scale range to 2G
ret_code = mpu_config(&p_mpu_config); // Configure the MPU with above values
APP_ERROR_CHECK(ret_code); // Check for errors in return value
}
/**
* @brief Function for main application entry.
*/
int main(void)
{
uint32_t err_code;
/*LEDS_CONFIGURE(LEDS_MASK);
LEDS_OFF(LEDS_MASK);
uart_config();*/
// printf("\033[2J\033[;HMPU simple example. Compiled @ %s\r\n", __TIME__);
mpu_setup();
flash_init();
accel_values_t acc_values;
gyro_values_t gyro_values;
uint32_t sample_number = 0;
while(1)
{
// Read accelerometer sensor values
err_code = mpu_read_accel(&acc_values);
APP_ERROR_CHECK(err_code);
err_code = mpu_read_gyro(&gyro_values);
APP_ERROR_CHECK(err_code);
nrf_delay_ms(100);
FLASH_Print_ID();
// Clear terminal and print values
SEGGER_RTT_printf(0,"\033[3;1HSample # %d\r\nX: %06d\r\nY: %06d\r\nZ: %06d\r\n gyrox:%06d\r\n gyroy=%d\r\n gyroz=%d\r\n", ++sample_number, acc_values.x, acc_values.y, acc_values.z,gyro_values.x,gyro_values.y,gyro_values.z);
}
}
/** @} */
spi0 is enabled in config file.
vohra alihussain said:yes there is activity on spi lines...
have you checked the code??