further work on dw1000 driver

Inc/dw1000_hal.h

 
 #ifndef __dw1000_hal_H
 #define __dw1000_hal_H
+#include "FreeRTOS.h"
+#include "task.h"
+extern TaskHandle_t xHandleDW1000HAL;
 
 #define DW1000HAL_SPI_TIMEOUT 10
 
@@ -17,6 +20,5 @@ int dw1000Hal_readDmaRegister(uint8_t regID, uint8_t *dest, uint16_t len, void (
 int dw1000Hal_writeDmaRegister(uint8_t regID, uint8_t *src, uint16_t len, void (*callback)(int state, void *data, uint16_t len));
 
 void vTaskDW1000HAL(void *pvParameters);
-
 void dw1000Hal_extiCallback(void);
 #endif /*__ dw1000_hal_H */

Src/dw1000.c

@@ -4,8 +4,10 @@
 #include "deca_regs.h"
 
 // sends a frame and blocks until finished
-int dw1000_sendFrame(uint8_t *payload, uint16_t len) {
+int dw1000_sendFrame(uint8_t *payload, uint16_t len)
+{
 
+	uint64_t event_clear = 0;
 	// write tx data to data buffer
 	// this buffer only contains the payload, PHR is generated by the chip
 	// the chip automatically appends two FCS (CRC) bytes to this payload
@@ -69,3 +71,11 @@ int dw1000_sendFrame(uint8_t *payload, uint16_t len) {
 	return 0;
 
 }
+int dw1000_setPanAddr(uint16_t addr)
+{
+	return dw1000Hal_writeSubRegister(PANADR_ID, PANADR_SHORT_ADDR_OFFSET,(uint8_t*)&addr,PANADR_SHORT_ADDR_LEN);
+}
+int dw1000_setPanId(uint16_t addr)
+{
+	return dw1000Hal_writeSubRegister(PANADR_ID, PANADR_PAN_ID_OFFSET,(uint8_t*)&addr,PANADR_PAN_ID_LEN);
+}

Src/dw1000_hal.c

@@ -9,12 +9,15 @@
 
 #include "spi.h"
 
+#include "test_app.h"
+
 SPI_HandleTypeDef *hspi;
 
 uint8_t read3[7];
 static void (*spiCallback)(int state, void *data, uint16_t len);
 static void *spiCallbackData;
 static SemaphoreHandle_t spiSema = NULL;	//semaphore for SPI access
+TaskHandle_t xHandleDW1000HAL  = NULL;
 
 void dw1000Hal_reset(void)
 {
@@ -127,7 +130,7 @@ int dw1000Hal_readRegister(uint8_t regID, uint8_t *dest, uint16_t len)
 		xSemaphoreGive(spiSema);
 	} else {
 		ret = HAL_LOCKED;
-		trace_printf("nb");
+		//trace_printf("nb");
 	}
 	portEXIT_CRITICAL();
 	return ret;
@@ -150,7 +153,7 @@ int dw1000Hal_readRegisterFromIsr(uint8_t regID, uint8_t *dest, uint16_t len)
 		xSemaphoreGiveFromISR(spiSema,pdFALSE);
 	} else {
 		ret = HAL_LOCKED;
-		trace_printf("ib");
+		//trace_printf("ib");
 	}
 	return ret;
 }
@@ -173,7 +176,7 @@ int dw1000Hal_writeRegister(uint8_t regID, uint8_t *src, uint16_t len)
 		xSemaphoreGive(spiSema);
 	} else {
 		ret = HAL_LOCKED;
-		trace_printf("na");
+		//trace_printf("na");
 	}
 	portEXIT_CRITICAL();
 	return ret;
@@ -196,7 +199,7 @@ int dw1000Hal_writeRegisterFromIsr(uint8_t regID, uint8_t *src, uint16_t len)
 		xSemaphoreGiveFromISR(spiSema,pdFALSE);
 	} else {
 		ret = HAL_LOCKED;
-		trace_printf("ia");
+		//trace_printf("ia");
 	}
 	return ret;
 }
@@ -251,8 +254,6 @@ void vTaskDW1000HAL(void *pvParameters)
 	hspi = &hspi1;
 	spiSema = xSemaphoreCreateMutex(); //creating semaphore for SPI access
 
-	TickType_t xNextWakeTime;
-	xNextWakeTime = xTaskGetTickCount();
 
 	//Configure the dw1000
 	dw1000Hal_reset();
@@ -262,21 +263,34 @@ void vTaskDW1000HAL(void *pvParameters)
 	//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;
+	uint32_t gpio = 0x5540;
 	dw1000Hal_writeSubRegister(GPIO_CTRL_ID,GPIO_MODE_OFFSET,(uint8_t*)&gpio,GPIO_MODE_LEN);
 	uint32_t led = 0;
+	dw1000Hal_readSubRegister(PMSC_ID,PMSC_CTRL0_OFFSET,(uint8_t*)&led,PMSC_CTRL0_LEN);
+led |= (1<<18) | (1<<23);									// Preparing LEDs for blink mode
+	dw1000Hal_writeSubRegister(PMSC_ID,PMSC_CTRL0_OFFSET,(uint8_t*)&led,PMSC_CTRL0_LEN);
 	dw1000Hal_readSubRegister(PMSC_ID,PMSC_LEDC_OFFSET,(uint8_t*)&led,PMSC_LEDC_LEN);
-	led |= PMSC_LEDC_BLNKEN;
+	led |= PMSC_LEDC_BLNKEN; // enable blink mode
+	//led |= 0xF0000; 		 // force leds to blink once
 	dw1000Hal_writeSubRegister(PMSC_ID,PMSC_LEDC_OFFSET,(uint8_t*)&led,PMSC_LEDC_LEN);
+	//led &= ~0xF0000;		 // reset froce blink bits. needed to make the leds blinking
+	//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);
 
+	uint32_t sys_ctrl = 0;
+	dw1000Hal_readRegisterFromIsr(SYS_CTRL_ID, (uint8_t*)&sys_ctrl, SYS_CTRL_LEN); // switch to rx mode
+	sys_ctrl |= SYS_CTRL_RXENAB;
+	dw1000Hal_writeRegisterFromIsr(SYS_CTRL_ID, (uint8_t*)&sys_ctrl, SYS_CTRL_LEN);
 
 	uint8_t led_values = 0;
+	TickType_t xNextWakeTime;
+	xNextWakeTime = xTaskGetTickCount();
 
 	while(1){
-		vTaskDelayUntil(&xNextWakeTime, 1000/portTICK_PERIOD_MS);
+		osDelay(1000);
 	}
 	vTaskDelete( NULL );
 }
@@ -323,14 +337,23 @@ void HAL_SPI_TxCpltCallback(SPI_HandleTypeDef *hspi)
 
 void dw1000Hal_extiCallback(void)
 {
+	BaseType_t xHigherPriorityTaskWoken;
 	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
+		//trace_printf("sent\n");
+		uint32_t sys_ctrl = 0;
+		dw1000Hal_readRegisterFromIsr(SYS_CTRL_ID, (uint8_t*)&sys_ctrl, SYS_CTRL_LEN); // switch to rx mode
+		sys_ctrl |= SYS_CTRL_RXENAB;
+		dw1000Hal_writeRegisterFromIsr(SYS_CTRL_ID, (uint8_t*)&sys_ctrl, SYS_CTRL_LEN);
+		xHigherPriorityTaskWoken = pdFALSE;
+		xTaskNotifyFromISR( xHandleTestApp, 0x50, eSetValueWithOverwrite, &xHigherPriorityTaskWoken);
 	}
-	if (event & SYS_STATUS_RXDFR){ // Frame sent
+	if (event & SYS_STATUS_RXDFR){ // Frame received
 		event_clear |= SYS_STATUS_RXDFR; //clear interrupt
+		//trace_printf("received\n");
 		uint32_t sys_ctrl = 0;
 		dw1000Hal_readRegisterFromIsr(SYS_CTRL_ID, (uint8_t*)&sys_ctrl, SYS_CTRL_LEN); // switch to rx mode
 		sys_ctrl |= SYS_CTRL_RXENAB;