aZholtikov/zh_avr_touch_pad
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feat: added sensor pairing to gateway

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aZholtikov committed 2026-10-24 10:03:54 +03:00
1 parent cd81e27665
commit 4514ce4a10
4 files changed
+638 -112
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src/main.c
+463 -19
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@@ -2,8 +2,11 @@
#include "avr/sleep.h"
#include "avr/fuse.h"
#include "avr/interrupt.h"
#include "avr/eeprom.h"
#include "avr/wdt.h"
#include "util/delay.h"
#include "math.h"
#include "stdbool.h"
#include "zh_rf_config.h"
#if defined(__AVR_ATmega328PB__)
@@ -28,16 +31,36 @@
#ifndef SPIF
#define SPIF SPIF0
#endif
#ifndef PRR
#define PRR PRR0
#endif
#ifndef PRTWI
#define PRTWI PRTWI0
#endif
#ifndef PRSPI
#define PRSPI PRSPI0
#endif
#endif
#define GATEWAY_CHANNEL 120
#define GATEWAY_ADDRESS 0xDDEEFF
#define DEVICE_ID 6
#define EEPROM_DEVICE_ID_ADDR ((uint8_t *)0x00)
#define DEVICE_ID_UNASSIGNED 0xFF
#define PAIRING_TIMEOUT_ATTEMPTS 7
#define WDT_T_250MS 0x04
#define WDT_T_4S 0x08
#define NRF_CMD_W_REGISTER 0x20
#define NRF_CMD_W_TX_PAYLOAD 0xA0
#define NRF_CMD_R_RX_PAYLOAD 0x61
#define NRF_CMD_FLUSH_TX 0xE1
#define NRF_CMD_FLUSH_RX 0xE2
#define NRF_CMD_NOP 0xFF
#define NRF_CMD_ACTIVATE 0x50
#define NRF_CMD_R_RX_PL_WID 0x60
#define NRF_REG_CONFIG 0x00
#define NRF_REG_EN_AA 0x01
@@ -49,15 +72,38 @@
#define NRF_REG_STATUS 0x07
#define NRF_REG_RX_ADDR_P0 0x0A
#define NRF_REG_TX_ADDR 0x10
#define NRF_REG_RX_PW_P0 0x11
#define NRF_REG_DYNPD 0x1C
#define NRF_REG_FEATURE 0x1D
#define NRF_CONFIG_MASK_RX_DR 0x40
#define NRF_CONFIG_MASK_TX_DS 0x20
#define NRF_CONFIG_MASK_MAX_RT 0x10
#define NRF_CONFIG_EN_CRC 0x08
#define NRF_CONFIG_PWR_UP 0x02
#define NRF_CONFIG_PRIM_RX 0x01
#define NRF_STATUS_RX_DR 0x40
#define NRF_STATUS_TX_DS 0x20
#define NRF_STATUS_MAX_RT 0x10
#define NRF_FEATURE_EN_DPL 0x04
#define NRF_DYNPD_DPL_P0 0x01
/**
* @brief Load the device identifier from EEPROM.
*
* @return Stored device id, or DEVICE_ID_UNASSIGNED if none is stored
*/
static uint8_t zh_load_device_id(void);
/**
* @brief Save the device identifier to EEPROM.
*
* @param id Device identifier to store
*/
static void zh_save_device_id(uint8_t id);
/**
* @brief Initialize INT1 external interrupt for the touch-pad wake-up signal.
*
@@ -93,6 +139,15 @@ static uint8_t zh_spi_transfer(uint8_t data);
*/
static void zh_nrf24_init(void);
/**
* @brief Initialize INT0 external interrupt for the nRF24 IRQ signal.
*
* Configures PD2 as a falling-edge triggered external interrupt source and
* enables the INT0 interrupt mask bit. The ISR sets the nrf_event flag used
* by the pairing state machine.
*/
static void zh_nrf24_interrupt_init(void);
/**
* @brief Transmit a payload buffer through the nRF24L01+ module.
*
@@ -105,6 +160,26 @@ static void zh_nrf24_init(void);
*/
static void zh_nrf24_send(uint8_t *buf, uint8_t size);
/**
* @brief Start a transmission without blocking on completion.
*
* Loads the payload, pulses CE for 15 us and returns immediately. The
* transmission completion is signalled by the nRF24 IRQ pin.
*
* @param buf Pointer to the payload data to transmit (must not be NULL)
* @param size Number of bytes in the payload buffer (must be > 0)
*/
static void zh_nrf24_send_no_wait(uint8_t *buf, uint8_t size);
/**
* @brief Send a single-byte command to the nRF24L01+ and read the status.
*
* @param cmd Command byte to send
*
* @return Status register value returned by the nRF24L01+
*/
static uint8_t zh_nrf24_send_command(uint8_t cmd);
/**
* @brief Write a data buffer to the nRF24L01+ via SPI with a given command.
*
@@ -144,13 +219,67 @@ static uint8_t zh_nrf24_write_register(uint8_t reg, uint8_t val);
static uint8_t zh_nrf24_write_buff_register(uint8_t reg, uint8_t *buf, uint8_t count);
/**
* @brief Send a single-byte command to the nRF24L01+ and read the status.
* @brief Read the received payload from the nRF24L01+ into a buffer.
*
* @param cmd Command byte to send
*
* @return Status register value returned by the nRF24L01+
* @param buf Pointer to the destination buffer (must not be NULL)
* @param count Number of bytes to read from the RX FIFO
*/
static uint8_t zh_nrf24_send_command(uint8_t cmd);
static void zh_nrf24_read_payload(uint8_t *buf, uint8_t count);
/**
* @brief Read the width of the payload in the nRF24L01+ RX FIFO.
*
* @return Payload width in bytes
*/
static uint8_t zh_nrf24_read_payload_width(void);
/**
* @brief Switch the nRF24L01+ to RX mode on pipe 0.
*/
static void zh_nrf24_enter_rx(void);
/**
* @brief Put the nRF24L01+ into power-down mode.
*/
static void zh_nrf24_enter_power_down(void);
/**
* @brief Start the watchdog timer in interrupt mode with the given timeout.
*
* @param timeout_bits Watchdog timeout prescaler bits (WDP3:0)
*/
static void zh_wdt_start(uint8_t timeout_bits);
/**
* @brief Stop the watchdog timer.
*/
static void zh_wdt_stop(void);
/**
* @brief Generate a pseudo-random token from MCU state and ADC noise.
*
* @return 16-bit random token (never zero)
*/
static uint16_t zh_get_random_token(void);
/**
* @brief Run the non-blocking pairing procedure to obtain a device id.
*
* Sends pairing requests, waits for the gateway acknowledgment in RX mode
* and retries with watchdog-timed backoff. Sleeps forever if the gateway
* does not answer within the allowed number of attempts.
*
* @return Device identifier assigned by the gateway
*/
static uint8_t zh_do_pairing(void);
/**
* @brief Enter permanent power-down sleep until the next reset.
*
* Disables all interrupts, the watchdog, the radio, the ADC, SPI and all
* unused peripheral clocks, then loops in power-down sleep mode.
*/
static void zh_enter_final_sleep(void);
/**
* @brief Measure the battery voltage using the internal AVcc reference.
@@ -163,32 +292,55 @@ static uint8_t zh_nrf24_send_command(uint8_t cmd);
*/
static float zh_get_battery_voltage(void);
static volatile uint8_t send_request = 0;
static volatile uint8_t send_request = false;
static volatile uint8_t nrf_event = false;
static volatile uint8_t wdt_event = false;
zh_rf_sensor_transmitted_data_t transmitted_data = {DEVICE_ID, ZH_RF_SENSOR_TOUCH_SWITCH, 0, 0, 0, 0, 0};
zh_rf_sensor_transmitted_data_t transmitted_data = {0};
int main(void)
{
transmitted_data.type = ZH_RF_SENSOR_TOUCH_SWITCH;
MCUSR &= ~(1 << WDRF);
wdt_disable();
cli();
zh_pad_interrupt_init();
zh_spi_init();
zh_nrf24_init();
set_sleep_mode(SLEEP_MODE_PWR_DOWN);
sei();
uint8_t device_id = zh_load_device_id();
if (device_id == DEVICE_ID_UNASSIGNED)
{
device_id = zh_do_pairing();
}
transmitted_data.id = (int16_t)device_id;
{
uint8_t probe[ZH_RF_MAX_PAYLOAD_SIZE];
if (zh_rf_sensor_build_payload(&transmitted_data, probe, sizeof(probe)) == 0)
{
zh_enter_final_sleep();
}
}
for (;;)
{
if (send_request == 1)
if (send_request == true)
{
cli();
send_request = 0;
send_request = false;
sei();
transmitted_data.battery_voltage = (int16_t)lroundf(zh_get_battery_voltage() * 100.0);
zh_nrf24_send((uint8_t *)&transmitted_data, sizeof(transmitted_data));
transmitted_data.battery = (int16_t)lroundf(zh_get_battery_voltage() * 100.0);
uint8_t payload[ZH_RF_MAX_PAYLOAD_SIZE];
uint8_t size = zh_rf_sensor_build_payload(&transmitted_data, payload, sizeof(payload));
if (size > 0)
{
zh_nrf24_send(payload, size);
}
}
else
{
cli();
if (send_request == 0)
if (send_request == false)
{
sleep_enable();
sei();
@@ -203,7 +355,32 @@ int main(void)
ISR(INT1_vect)
{
send_request = 1;
send_request = true;
}
ISR(INT0_vect)
{
nrf_event = true;
}
ISR(WDT_vect)
{
wdt_event = true;
}
static uint8_t zh_load_device_id(void)
{
uint8_t id = eeprom_read_byte(EEPROM_DEVICE_ID_ADDR);
if (id == 0xFF || id == 0x00)
{
return DEVICE_ID_UNASSIGNED;
}
return id;
}
static void zh_save_device_id(uint8_t id)
{
eeprom_update_byte(EEPROM_DEVICE_ID_ADDR, id);
}
static void zh_pad_interrupt_init(void)
@@ -240,6 +417,7 @@ static void zh_nrf24_init(void)
DDRD &= ~(1 << PD2);
PORTD |= (1 << PD2);
uint64_t gateway_address = GATEWAY_ADDRESS;
uint8_t activation_key = 0x73;
zh_nrf24_write_register(NRF_REG_CONFIG, 0x00);
zh_nrf24_write_register(NRF_REG_EN_AA, 0x01);
zh_nrf24_write_register(NRF_REG_EN_RXADDR, 0x01);
@@ -250,9 +428,22 @@ static void zh_nrf24_init(void)
zh_nrf24_write_buff_register(NRF_REG_TX_ADDR, (uint8_t *)&gateway_address, 3);
zh_nrf24_write_buff_register(NRF_REG_RX_ADDR_P0, (uint8_t *)&gateway_address, 3);
zh_nrf24_write_register(NRF_REG_STATUS, NRF_STATUS_RX_DR | NRF_STATUS_TX_DS | NRF_STATUS_MAX_RT);
zh_nrf24_write_buffer(NRF_CMD_ACTIVATE, &activation_key, sizeof(activation_key));
zh_nrf24_write_register(NRF_REG_FEATURE, NRF_FEATURE_EN_DPL);
zh_nrf24_write_register(NRF_REG_DYNPD, NRF_DYNPD_DPL_P0);
zh_nrf24_write_register(NRF_REG_CONFIG, NRF_CONFIG_MASK_RX_DR | NRF_CONFIG_EN_CRC);
}
static void zh_nrf24_interrupt_init(void)
{
DDRD &= ~(1 << PD2);
PORTD |= (1 << PD2);
EICRA &= ~((1 << ISC01) | (1 << ISC00));
EICRA |= (1 << ISC01);
EIFR |= (1 << INTF0);
EIMSK |= (1 << INT0);
}
static void zh_nrf24_send(uint8_t *buf, uint8_t size)
{
zh_nrf24_write_register(NRF_REG_CONFIG, NRF_CONFIG_MASK_RX_DR | NRF_CONFIG_EN_CRC | NRF_CONFIG_PWR_UP);
@@ -276,6 +467,27 @@ static void zh_nrf24_send(uint8_t *buf, uint8_t size)
zh_nrf24_write_register(NRF_REG_CONFIG, NRF_CONFIG_MASK_RX_DR | NRF_CONFIG_EN_CRC);
}
static void zh_nrf24_send_no_wait(uint8_t *buf, uint8_t size)
{
PORTB &= ~(1 << PB1);
zh_nrf24_write_register(NRF_REG_CONFIG, NRF_CONFIG_MASK_RX_DR | NRF_CONFIG_EN_CRC | NRF_CONFIG_PWR_UP);
_delay_ms(2);
zh_nrf24_send_command(NRF_CMD_FLUSH_TX);
zh_nrf24_write_register(NRF_REG_STATUS, NRF_STATUS_TX_DS | NRF_STATUS_MAX_RT | NRF_STATUS_RX_DR);
zh_nrf24_write_buffer(NRF_CMD_W_TX_PAYLOAD, buf, size);
PORTB |= (1 << PB1);
_delay_us(15);
PORTB &= ~(1 << PB1);
}
static uint8_t zh_nrf24_send_command(uint8_t cmd)
{
PORTB &= ~(1 << PB2);
uint8_t status = zh_spi_transfer(cmd);
PORTB |= (1 << PB2);
return status;
}
static uint8_t zh_nrf24_write_buffer(uint8_t cmd, uint8_t *buf, uint8_t count)
{
PORTB &= ~(1 << PB2);
@@ -302,12 +514,244 @@ static uint8_t zh_nrf24_write_buff_register(uint8_t reg, uint8_t *buf, uint8_t c
return zh_nrf24_write_buffer((reg | NRF_CMD_W_REGISTER), buf, count);
}
static uint8_t zh_nrf24_send_command(uint8_t cmd)
static void zh_nrf24_read_payload(uint8_t *buf, uint8_t count)
{
PORTB &= ~(1 << PB2);
uint8_t status = zh_spi_transfer(cmd);
zh_spi_transfer(NRF_CMD_R_RX_PAYLOAD);
while (count--)
{
*buf++ = zh_spi_transfer(0xFF);
}
PORTB |= (1 << PB2);
return status;
}
static uint8_t zh_nrf24_read_payload_width(void)
{
PORTB &= ~(1 << PB2);
zh_spi_transfer(NRF_CMD_R_RX_PL_WID);
uint8_t width = zh_spi_transfer(0xFF);
PORTB |= (1 << PB2);
return width;
}
static void zh_nrf24_enter_rx(void)
{
PORTB &= ~(1 << PB1);
zh_nrf24_write_register(NRF_REG_STATUS, NRF_STATUS_TX_DS | NRF_STATUS_MAX_RT | NRF_STATUS_RX_DR);
zh_nrf24_send_command(NRF_CMD_FLUSH_RX);
zh_nrf24_write_register(NRF_REG_CONFIG, NRF_CONFIG_EN_CRC | NRF_CONFIG_PWR_UP | NRF_CONFIG_PRIM_RX);
_delay_ms(2);
PORTB |= (1 << PB1);
_delay_us(130);
}
static void zh_nrf24_enter_power_down(void)
{
PORTB &= ~(1 << PB1);
zh_nrf24_write_register(NRF_REG_CONFIG, NRF_CONFIG_EN_CRC);
}
static void zh_wdt_start(uint8_t timeout_bits)
{
uint8_t wdp = (timeout_bits & 0x07) | ((timeout_bits & 0x08) ? (1 << WDP3) : 0);
cli();
wdt_reset();
WDTCSR = (1 << WDCE) | (1 << WDE);
WDTCSR = (1 << WDIE) | wdp;
sei();
}
static void zh_wdt_stop(void)
{
cli();
wdt_reset();
WDTCSR = (1 << WDCE) | (1 << WDE);
WDTCSR = 0;
sei();
}
static uint16_t zh_get_random_token(void)
{
uint16_t token = MCUSR;
MCUSR = 0;
ADMUX = (1 << REFS0);
ADCSRA = (1 << ADEN) | (1 << ADPS2) | (1 << ADPS1) | (1 << ADPS0);
_delay_ms(5);
for (uint8_t i = 0; i < 16; ++i)
{
ADCSRA |= (1 << ADSC);
while ((ADCSRA & (1 << ADSC)) != 0)
{
}
token = (token << 1) ^ (token >> 15) ^ ADC;
}
ADCSRA &= ~(1 << ADEN);
if (token == 0)
{
token = 0xACE1;
}
return token;
}
static uint8_t zh_do_pairing(void)
{
uint16_t token = zh_get_random_token();
zh_rf_sensor_pairing_data_t pairing_request;
pairing_request.type = (uint8_t)transmitted_data.type;
pairing_request.magic = ZH_RF_PAIRING_REQ_MAGIC;
pairing_request.token_hi = (uint8_t)(token >> 8);
pairing_request.token_lo = (uint8_t)(token & 0xFF);
pairing_request.id = 0;
zh_nrf24_interrupt_init();
zh_rf_sensor_pairing_state_t state = ZH_RF_PAIR_SEND;
uint8_t attempts = 0;
for (;;)
{
switch (state)
{
case ZH_RF_PAIR_SEND:
nrf_event = false;
wdt_event = false;
zh_nrf24_send_no_wait((uint8_t *)&pairing_request, ZH_RF_PAIRING_PACKET_SIZE);
state = ZH_RF_PAIR_TX_WAIT;
break;
case ZH_RF_PAIR_TX_WAIT:
if ((PIND & (1 << PD2)) == 0)
{
nrf_event = true;
}
else
{
nrf_event = false;
wdt_event = false;
zh_wdt_start(WDT_T_250MS);
sleep_enable();
sei();
sleep_cpu();
sleep_disable();
zh_wdt_stop();
sei();
}
if (nrf_event == true)
{
nrf_event = false;
uint8_t status = zh_nrf24_send_command(NRF_CMD_NOP);
zh_nrf24_write_register(NRF_REG_STATUS, NRF_STATUS_TX_DS | NRF_STATUS_MAX_RT | NRF_STATUS_RX_DR);
if ((status & NRF_STATUS_TX_DS) != 0)
{
zh_nrf24_enter_rx();
state = ZH_RF_PAIR_RX_WAIT;
}
else
{
state = ZH_RF_PAIR_BACKOFF;
}
}
else
{
state = ZH_RF_PAIR_BACKOFF;
}
break;
case ZH_RF_PAIR_RX_WAIT:
if ((PIND & (1 << PD2)) == 0)
{
nrf_event = true;
}
else
{
nrf_event = false;
wdt_event = false;
zh_wdt_start(WDT_T_250MS);
sleep_enable();
sei();
sleep_cpu();
sleep_disable();
zh_wdt_stop();
sei();
}
if (nrf_event == true)
{
nrf_event = false;
uint8_t status = zh_nrf24_send_command(NRF_CMD_NOP);
if ((status & NRF_STATUS_RX_DR) != 0)
{
uint8_t width = zh_nrf24_read_payload_width();
if (width > ZH_RF_MAX_PAYLOAD_SIZE)
{
zh_nrf24_send_command(NRF_CMD_FLUSH_RX);
zh_nrf24_write_register(NRF_REG_STATUS, NRF_STATUS_RX_DR);
state = ZH_RF_PAIR_BACKOFF;
break;
}
if (width != ZH_RF_PAIRING_PACKET_SIZE)
{
uint8_t dummy[ZH_RF_MAX_PAYLOAD_SIZE];
zh_nrf24_read_payload(dummy, width);
zh_nrf24_write_register(NRF_REG_STATUS, NRF_STATUS_RX_DR);
zh_nrf24_send_command(NRF_CMD_FLUSH_RX);
state = ZH_RF_PAIR_BACKOFF;
break;
}
zh_rf_sensor_pairing_data_t pairing_response;
zh_nrf24_read_payload((uint8_t *)&pairing_response, width);
zh_nrf24_write_register(NRF_REG_STATUS, NRF_STATUS_RX_DR | NRF_STATUS_TX_DS | NRF_STATUS_MAX_RT);
zh_nrf24_send_command(NRF_CMD_FLUSH_RX);
if (pairing_response.magic == ZH_RF_PAIRING_ACK_MAGIC && pairing_response.type == pairing_request.type &&
pairing_response.token_hi == pairing_request.token_hi && pairing_response.token_lo == pairing_request.token_lo &&
pairing_response.id != 0 && pairing_response.id != DEVICE_ID_UNASSIGNED)
{
zh_nrf24_enter_power_down();
EIMSK &= ~(1 << INT0);
zh_save_device_id(pairing_response.id);
return pairing_response.id;
}
}
state = ZH_RF_PAIR_BACKOFF;
}
else
{
state = ZH_RF_PAIR_BACKOFF;
}
break;
case ZH_RF_PAIR_BACKOFF:
zh_nrf24_enter_power_down();
nrf_event = false;
wdt_event = false;
zh_wdt_start(WDT_T_4S);
sleep_enable();
sei();
sleep_cpu();
sleep_disable();
zh_wdt_stop();
sei();
wdt_event = false;
if (++attempts >= PAIRING_TIMEOUT_ATTEMPTS)
{
zh_enter_final_sleep();
}
state = ZH_RF_PAIR_SEND;
break;
}
}
}
static void zh_enter_final_sleep(void)
{
cli();
EIMSK = 0;
EIFR = 0xFF;
zh_wdt_stop();
PORTB &= ~(1 << PB1);
zh_nrf24_write_register(NRF_REG_CONFIG, 0x00);
ADCSRA = 0;
SPCR = 0;
PRR = (1 << PRTWI) | (1 << PRTIM2) | (1 << PRTIM1) | (1 << PRTIM0) | (1 << PRSPI) | (1 << PRUSART0);
set_sleep_mode(SLEEP_MODE_PWR_DOWN);
sleep_enable();
for (;;)
{
sleep_cpu();
}
}
static float zh_get_battery_voltage(void)
@@ -316,11 +760,11 @@ static float zh_get_battery_voltage(void)
ADCSRA = (1 << ADEN) | (1 << ADPS2) | (1 << ADPS1) | (1 << ADPS0);
_delay_ms(10);
ADCSRA |= (1 << ADSC);
while (ADCSRA & (1 << ADSC))
while ((ADCSRA & (1 << ADSC)) != 0)
{
}
ADCSRA |= (1 << ADSC);
while (ADCSRA & (1 << ADSC))
while ((ADCSRA & (1 << ADSC)) != 0)
{
}
uint16_t adc = ADCL;