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cm-projects
dw1000_driver_freertos
Commits
30518228
Commit
30518228
authored
9 years ago
by
Georg von Zengen
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Plain Diff
dw1000: fixed transmission with interrupt support
parent
45952cd3
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2
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2 changed files
Src/dw1000.c
+6
-3
6 additions, 3 deletions
Src/dw1000.c
Src/dw1000_hal.c
+94
-19
94 additions, 19 deletions
Src/dw1000_hal.c
with
100 additions
and
22 deletions
Src/dw1000.c
+
6
−
3
View file @
30518228
...
...
@@ -38,6 +38,9 @@ int dw1000_sendFrame(uint8_t *payload, uint16_t len) {
// set up a complete config for the register
// the bits are cleared automatically after the transmission and need to be set up for the next transmission again!
uint32_t
sys_ctrl
=
0
;
sys_ctrl
|=
SYS_CTRL_TRXOFF
;
// Immediately cancel all RX and TX operations, bring radio to IDLE state
dw1000Hal_writeRegister
(
SYS_CTRL_ID
,
&
sys_ctrl
,
4
);
sys_ctrl
=
0
;
// SFCST not set -> automatic CRC calculation
sys_ctrl
|=
SYS_CTRL_TXSTRT
;
// start transmission
...
...
@@ -57,9 +60,9 @@ int dw1000_sendFrame(uint8_t *payload, uint16_t len) {
// check for TXFRS bit set
uint32_t
sys_status
=
0
;
do
{
dw1000Hal_readRegister
(
SYS_STATUS_ID
,
&
sys_status
,
4
);
}
while
(
!
(
sys_status
&
SYS_STATUS_TXFRS
));
//
do {
//
dw1000Hal_readRegister(SYS_STATUS_ID, &sys_status, 4);
//
} while (!(sys_status & SYS_STATUS_TXFRS));
// return status
return
0
;
...
...
This diff is collapsed.
Click to expand it.
Src/dw1000_hal.c
+
94
−
19
View file @
30518228
...
...
@@ -46,6 +46,7 @@ int dw1000Hal_readSubRegister(uint8_t regID, uint16_t offset, uint8_t *dest, uin
{
uint8_t
dummy
[
3
];
int
ret
;
portENTER_CRITICAL
();
if
((
spiSema
!=
NULL
)
&&
(
xSemaphoreTake
(
spiSema
,
(
TickType_t
)
DW1000HAL_SPI_TIMEOUT
)
==
pdTRUE
))
{
if
(
len
<=
127
)
{
dummy
[
0
]
=
regID
&
0x3f
;
//set the first two bit 0 (read access, no subregister)
...
...
@@ -70,6 +71,7 @@ int dw1000Hal_readSubRegister(uint8_t regID, uint16_t offset, uint8_t *dest, uin
}
else
{
ret
=
HAL_LOCKED
;
}
portEXIT_CRITICAL
();
return
ret
;
}
...
...
@@ -77,6 +79,7 @@ int dw1000Hal_writeSubRegister(uint8_t regID, uint16_t offset, uint8_t *src, uin
{
uint8_t
dummy
[
3
];
int
ret
;
portENTER_CRITICAL
();
if
((
spiSema
!=
NULL
)
&&
(
xSemaphoreTake
(
spiSema
,
(
TickType_t
)
DW1000HAL_SPI_TIMEOUT
)
==
pdTRUE
))
{
if
(
len
<=
127
)
{
dummy
[
0
]
=
regID
&
0x3f
;
//set the first two bit 0 (read access, no subregister)
...
...
@@ -102,6 +105,7 @@ int dw1000Hal_writeSubRegister(uint8_t regID, uint16_t offset, uint8_t *src, uin
}
else
{
ret
=
HAL_LOCKED
;
}
portEXIT_CRITICAL
();
return
ret
;
}
...
...
@@ -110,7 +114,8 @@ int dw1000Hal_readRegister(uint8_t regID, uint8_t *dest, uint16_t len)
uint8_t
dummy
;
dummy
=
regID
&
0x3f
;
//set the first two bit 0 (read access, no subregister)
int
ret
;
if
((
spiSema
!=
NULL
)
&&
(
xSemaphoreTake
(
spiSema
,
(
TickType_t
)
DW1000HAL_SPI_TIMEOUT
)
==
pdTRUE
))
{
portENTER_CRITICAL
();
if
((
spiSema
!=
NULL
)
&&
(
xSemaphoreTake
(
spiSema
,
10
)
==
pdTRUE
))
{
dw1000Hal_chipSelect
();
ret
=
HAL_SPI_Transmit
(
hspi
,
&
dummy
,
1
,
DW1000HAL_SPI_TIMEOUT
);
if
(
ret
==
HAL_OK
)
{
...
...
@@ -122,17 +127,41 @@ int dw1000Hal_readRegister(uint8_t regID, uint8_t *dest, uint16_t len)
xSemaphoreGive
(
spiSema
);
}
else
{
ret
=
HAL_LOCKED
;
trace_printf
(
"nb"
);
}
portEXIT_CRITICAL
();
return
ret
;
}
int
dw1000Hal_readRegisterFromIsr
(
uint8_t
regID
,
uint8_t
*
dest
,
uint16_t
len
)
{
uint8_t
dummy
;
dummy
=
regID
&
0x3f
;
//set the first two bit 0 (read access, no subregister)
int
ret
;
if
((
spiSema
!=
NULL
)
&&
(
xSemaphoreTakeFromISR
(
spiSema
,
pdFALSE
)
==
pdTRUE
))
{
dw1000Hal_chipSelect
();
ret
=
HAL_SPI_Transmit
(
hspi
,
&
dummy
,
1
,
DW1000HAL_SPI_TIMEOUT
);
if
(
ret
==
HAL_OK
)
{
ret
=
HAL_SPI_Receive
(
hspi
,
dest
,
len
,
DW1000HAL_SPI_TIMEOUT
);
}
dw1000Hal_chipDeselect
();
while
(
hspi
->
State
!=
HAL_SPI_STATE_READY
)
{
}
xSemaphoreGiveFromISR
(
spiSema
,
pdFALSE
);
}
else
{
ret
=
HAL_LOCKED
;
trace_printf
(
"ib"
);
}
return
ret
;
}
int
dw1000Hal_writeRegister
(
uint8_t
regID
,
uint8_t
*
src
,
uint16_t
len
)
{
uint8_t
dummy
;
dummy
=
regID
&
0x3f
;
//set the first two bit 0 (read access, no subregister)
dummy
|=
0x80
;
//set first byte 1 (write access)
int
ret
;
if
((
spiSema
!=
NULL
)
&&
(
xSemaphoreTake
(
spiSema
,
(
TickType_t
)
DW1000HAL_SPI_TIMEOUT
)
==
pdTRUE
))
{
portENTER_CRITICAL
();
if
((
spiSema
!=
NULL
)
&&
(
xSemaphoreTake
(
spiSema
,
10
)
==
pdTRUE
))
{
dw1000Hal_chipSelect
();
ret
=
HAL_SPI_Transmit
(
hspi
,
&
dummy
,
1
,
DW1000HAL_SPI_TIMEOUT
);
if
(
ret
==
HAL_OK
)
{
...
...
@@ -144,6 +173,30 @@ int dw1000Hal_writeRegister(uint8_t regID, uint8_t *src, uint16_t len)
xSemaphoreGive
(
spiSema
);
}
else
{
ret
=
HAL_LOCKED
;
trace_printf
(
"na"
);
}
portEXIT_CRITICAL
();
return
ret
;
}
int
dw1000Hal_writeRegisterFromIsr
(
uint8_t
regID
,
uint8_t
*
src
,
uint16_t
len
)
{
uint8_t
dummy
;
dummy
=
regID
&
0x3f
;
//set the first two bit 0 (read access, no subregister)
dummy
|=
0x80
;
//set first byte 1 (write access)
int
ret
;
if
((
spiSema
!=
NULL
)
&&
(
xSemaphoreTakeFromISR
(
spiSema
,
pdFALSE
)
==
pdTRUE
))
{
dw1000Hal_chipSelect
();
ret
=
HAL_SPI_Transmit
(
hspi
,
&
dummy
,
1
,
DW1000HAL_SPI_TIMEOUT
);
if
(
ret
==
HAL_OK
)
{
ret
=
HAL_SPI_Transmit
(
hspi
,
src
,
len
,
DW1000HAL_SPI_TIMEOUT
);
}
dw1000Hal_chipDeselect
();
while
(
hspi
->
State
!=
HAL_SPI_STATE_READY
)
{
}
xSemaphoreGiveFromISR
(
spiSema
,
pdFALSE
);
}
else
{
ret
=
HAL_LOCKED
;
trace_printf
(
"ia"
);
}
return
ret
;
}
...
...
@@ -201,29 +254,29 @@ void vTaskDW1000HAL(void *pvParameters)
TickType_t
xNextWakeTime
;
xNextWakeTime
=
xTaskGetTickCount
();
// all LED GPIOs as output
uint8_t
gpio_dir
=
0xF0
;
dw1000Hal_writeSubRegister
(
GPIO_CTRL_ID
,
GPIO_DIR_OFFSET
,
&
gpio_dir
,
1
);
//Configure the dw1000
dw1000Hal_reset
();
uint32_t
sys_mask
=
0
;
dw1000Hal_readRegister
(
SYS_MASK_ID
,
&
sys_mask
,
SYS_MASK_LEN
);
sys_mask
|=
(
SYS_MASK_MTXFRS
|
SYS_MASK_MRXDFR
|
SYS_MASK_MCPLLLL
);
/* Mask transmit frame sent event *//* Mask receiver data frame ready event */
//trace_printf("sys_mask %x\n",sys_mask);
dw1000Hal_writeRegister
(
SYS_MASK_ID
,
&
sys_mask
,
SYS_MASK_LEN
);
//set TX LED
uint32_t
gpio
=
0x00001000UL
;
dw1000Hal_writeSubRegister
(
GPIO_CTRL_ID
,
GPIO_MODE_OFFSET
,(
uint8_t
*
)
&
gpio
,
GPIO_MODE_LEN
);
uint32_t
led
=
0
;
dw1000Hal_readSubRegister
(
PMSC_ID
,
PMSC_LEDC_OFFSET
,(
uint8_t
*
)
&
led
,
PMSC_LEDC_LEN
);
led
|=
PMSC_LEDC_BLNKEN
;
dw1000Hal_writeSubRegister
(
PMSC_ID
,
PMSC_LEDC_OFFSET
,(
uint8_t
*
)
&
led
,
PMSC_LEDC_LEN
);
//uint8_t event_clear[SYS_STATUS_LEN];
//memset(event_clear, 0xff, SYS_STATUS_LEN);
//dw1000Hal_writeRegister(SYS_STATUS_ID, &event_clear, SYS_STATUS_LEN);
// turn on all 4 LEDs
uint8_t
gpio_dout
=
0xFF
;
dw1000Hal_writeSubRegister
(
GPIO_CTRL_ID
,
GPIO_DOUT_OFFSET
,
&
gpio_dout
,
1
);
uint8_t
led_values
=
0
;
while
(
1
){
vTaskDelayUntil
(
&
xNextWakeTime
,
1000
/
portTICK_PERIOD_MS
);
HAL_GPIO_TogglePin
(
GPIOD
,
GPIO_PIN_15
);
// count in binary on LEDs
gpio_dout
=
led_values
|
0xF0
;
dw1000Hal_writeSubRegister
(
GPIO_CTRL_ID
,
GPIO_DOUT_OFFSET
,
&
gpio_dout
,
1
);
led_values
+=
1
;
if
(
led_values
>
15
)
{
led_values
=
0
;
}
}
vTaskDelete
(
NULL
);
}
...
...
@@ -270,6 +323,28 @@ void HAL_SPI_TxCpltCallback(SPI_HandleTypeDef *hspi)
void
HAL_GPIO_EXTI_Callback
(
uint16_t
GPIO_Pin
)
{
if
(
GPIO_PIN_8
==
GPIO_Pin
){
uint64_t
event
=
0
;
uint64_t
event_clear
=
0
;
dw1000Hal_readRegisterFromIsr
(
SYS_STATUS_ID
,
(
uint8_t
*
)
&
event
,
SYS_STATUS_LEN
);
if
(
event
&
SYS_STATUS_TXFRS
){
// Frame sent
event_clear
|=
SYS_STATUS_TXFRS
;
//clear interrupt
}
if
(
event
&
SYS_STATUS_RXDFR
){
// Frame sent
event_clear
|=
SYS_STATUS_RXDFR
;
//clear interrupt
}
if
(
event
&
SYS_STATUS_CLKPLL_LL
){
// Frame sent
event_clear
|=
SYS_STATUS_CLKPLL_LL
;
if
(
event
&
SYS_STATUS_CPLOCK
){
event_clear
|=
SYS_STATUS_CPLOCK
;
//trace_printf("fuu\n");
}
}
dw1000Hal_writeRegisterFromIsr
(
SYS_STATUS_ID
,
(
uint8_t
*
)
&
event_clear
,
SYS_STATUS_LEN
);
}
}
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