Inc/dw1000.h

@@ -153,3 +153,9 @@ void vTaskGlobalTimeIncrement(void *pvParameters);
 void dw1000_generateConfig(uint16_t mode, dwt_config_t *config);
 
 #endif /*__ dw1000_H */
+/**
+ *	Defines various return codes for driver functions
+ */
+#define DW1000_RET_OK 0
+#define DW1000_RET_MSG_TO_LONG -1
+#define DW1000_RET_TX_BUFFER_OVERFLOW -2

Inc/dw1000_util.h

@@ -4,7 +4,7 @@
 #include <stdint.h>
 #include <string.h>
 #include "deca_regs.h"
-
+//#define DOUBLE_BUFFER
 
 //DECA:Defines for enable_clocks function
 #define FORCE_SYS_XTI  0
@@ -88,8 +88,6 @@ extern const uint16_t lde_replicaCoeff[PCODES];
 
 #define DEBUG
 
-
-
 void dw1000Util_enableclocks(int clocks);
 void dw1000Util_enableRX();
 uint32_t dw1000Util_otpread(uint32_t address);

Src/dw1000.c

@@ -137,14 +137,20 @@ int dw1000_init(uint16_t config, BaseType_t (*sendCallback)(),
 	dw1000Hal_readRegister(SYS_CFG_ID, (uint8_t *) &dw1000local.sysCFGreg,
 	SYS_CFG_LEN);
 
+#ifdef DOUBLE_BUFFER
+	 //Enable double buffer
+	dw1000local.sysCFGreg &= (~SYS_CFG_DIS_DRXB);
+	dw1000Hal_writeRegister(SYS_CFG_ID, (uint8_t *) &dw1000local.sysCFGreg,
+	SYS_CFG_LEN);
+#endif
 
-	uint32_t event_clear = 0xFFFFFFFF;
-	dw1000Hal_writeRegister(SYS_STATUS_ID, (uint8_t*) &event_clear,
-	SYS_STATUS_LEN);
 
 
 	//Enable Receiver
 	dw1000Util_enableRX();
+	uint32_t event_clear = 0xFFFFFFFF;
+	dw1000Hal_writeRegister(SYS_STATUS_ID, (uint8_t*) &event_clear,
+	SYS_STATUS_LEN);
 
 	return 0;
 }
@@ -172,10 +178,10 @@ int dw1000_configure(dwt_config_t *config, uint8_t use_otpconfigvalues) {
 
 	dw1000local.sysCFGreg |= (SYS_CFG_PHR_MODE_11 & (config->phrMode << 16)); //Set to enable PhyHdr for long frames
 
-	dw1000local.sysCFGreg |= (1 << 29); //RXAUTR
+	dw1000local.sysCFGreg |= (SYS_CFG_RXAUTR); //Automatic reenable of the receiver
 
-	dw1000Hal_writeRegister(SYS_CFG_ID, (uint8_t *) &dw1000local.sysCFGreg,
-	SYS_CFG_LEN);
+
+	dw1000Hal_writeRegister(SYS_CFG_ID, (uint8_t *) &dw1000local.sysCFGreg, SYS_CFG_LEN);
 
 	//DECA:write/set the lde_replicaCoeff
 	dw1000Hal_writeSubRegister(LDE_IF_ID, LDE_REPC_OFFSET, (uint8_t *) &reg16,

Src/dw1000_hal.c

@@ -75,7 +75,7 @@ int dw1000Hal_readSubRegisterFromIsr(uint8_t regID, uint16_t offset,
 	int ret;
 	//portENTER_CRITICAL();
 	if ((spiSema != NULL)
-			&& (xSemaphoreTakeFromISR(spiSema, ( TickType_t ) DW1000HAL_SPI_TIMEOUT)
+			&& (xSemaphoreTakeFromISR(spiSema, pdFALSE)
 					== pdTRUE)) {
 		if (len <= 127) {
 			dummy[0] = regID & 0x3f; //set the first two bit 0 (read access, no subregister)

Src/dw1000_isr.c

 #include "dw1000_hal.h"
 #include "deca_regs.h"
 #include "dw1000_util.h"
+#include "Trace.h"
 
 BaseType_t dw1000Hal_handleTx(uint64_t * event, uint64_t * event_clear) {
 	// Ignore unused parameters, may be needed for later purposes
@@ -36,6 +37,11 @@ BaseType_t dw1000Hal_handleRx(uint64_t * event, uint64_t * event_clear) {
 	} else if (dw1000local.taskHandle != NULL) {
 		//TODO Notify taskHandle
 	}
+#ifdef DOUBLE_BUFFER
+	if((*event & SYS_STATUS_HSRBP) != (*event & SYS_STATUS_ICRBP)){
+		*event_clear |= *event & CLEAR_DBLBUFF_EVENTS  ;
+	}
+#endif
 
 	//Set the clear bits.
 	*event_clear |= CLEAR_ALLRXGOOD_EVENTS;
@@ -71,12 +77,17 @@ void dw1000Isr_handleInterrupt(void) {
 	} else if ((event
 			& ( SYS_STATUS_RXFCG | SYS_STATUS_RXPHD | SYS_STATUS_RXSFDD))
 			!= (SYS_STATUS_RXFCG | SYS_STATUS_RXPHD | SYS_STATUS_RXSFDD)) {
+
+#ifdef DOUBLE_BUFFER
+		dw1000Hal_handleRx(&event, &event_clear);
+#else
 		//Error Case
 		trace_printf("Error!\n");
-		hexdump(event, 5);
+		hexdump(&event, 5);
 		event_clear |= CLEAR_ALLRXERROR_EVENTS;
 		event_clear |= CLEAR_ALLRXGOOD_EVENTS;
 		dw1000Util_enableRX();
+#endif
 	} else {
 		dw1000Hal_handleRx(&event, &event_clear);
 	}

Src/dw1000_util.c

@@ -2,6 +2,7 @@
 #include "dw1000_hal.h"
 #include "dw1000_util.h"
 #include <stdio.h>
+#include "Trace.h"
 
 extern volatile uint32_t global_time;
 
@@ -225,6 +226,19 @@ void dw1000Util_enableclocks(int clocks)
 
 
 void dw1000Util_enableRX(){
+#ifdef DOUBLE_BUFFER
+	//Align HSRBP and ICRBP if needed (see page 37 in the Usermanual)
+	uint64_t event = 0;
+	dw1000Hal_readRegisterFromIsr(SYS_STATUS_ID, (uint8_t*) &event,
+	SYS_STATUS_LEN);
+	if((event & SYS_STATUS_HSRBP) != (event & SYS_STATUS_ICRBP)){
+		uint32_t reg;
+		dw1000Hal_readRegisterFromIsr(SYS_CTRL_ID, (uint8_t *)&reg, SYS_CTRL_LEN);
+		reg |= SYS_CTRL_HSRBTOGGLE;
+		dw1000Hal_writeRegisterFromIsr(SYS_CTRL_ID, (uint8_t *)&reg, SYS_CTRL_LEN);
+	}
+#endif
+
 	uint32_t sys_ctrl = 0;
 	dw1000Hal_readRegisterFromIsr(SYS_CTRL_ID, (uint8_t*) &sys_ctrl,
 	SYS_CTRL_LEN); // switch to rx mode
@@ -317,7 +331,7 @@ void dw1000Util_forceTrxOff(void) {
 	uint32_t sys_ctrl = 0;
 	//DECA: decaIrqStatus_t stat ; ???
 	uint32_t  sys_mask;
-	dw1000Hal_readRegister(SYS_MASK_ID, (uint8_t *) &sys_mask, SYS_MASK_LEN);
+	dw1000Hal_readRegisterFromIsr(SYS_MASK_ID, (uint8_t *) &sys_mask, SYS_MASK_LEN);
 
 
 	// need to beware of interrupts occurring in the middle of following read modify write cycle
@@ -329,20 +343,20 @@ void dw1000Util_forceTrxOff(void) {
 
 	uint32_t tmp_mask = 0;
 	// No interrupts
-	dw1000Hal_writeRegister(SYS_MASK_ID, (uint8_t *) &tmp_mask, SYS_MASK_LEN);
+	dw1000Hal_writeRegisterFromIsr(SYS_MASK_ID, (uint8_t *) &tmp_mask, SYS_MASK_LEN);
 
 	//Disable radio
-	dw1000Hal_readRegister(SYS_CTRL_ID, (uint8_t *) &sys_ctrl, 4);
+	dw1000Hal_readRegisterFromIsr(SYS_CTRL_ID, (uint8_t *) &sys_ctrl, 4);
 	sys_ctrl |= SYS_CTRL_TRXOFF;//  Immediately cancel all RX and TX operations, bring radio to IDLE state
-	dw1000Hal_writeRegister(SYS_CTRL_ID, (uint8_t *) &sys_ctrl, 4);
+	dw1000Hal_writeRegisterFromIsr(SYS_CTRL_ID, (uint8_t *) &sys_ctrl, 4);
 
 
 	uint32_t tmp = (CLEAR_ALLTX_EVENTS | CLEAR_ALLRXERROR_EVENTS | CLEAR_ALLRXGOOD_EVENTS);
 
-	dw1000Hal_writeRegister(SYS_STATUS_ID,(uint8_t *)  &tmp, 4) ;
+	dw1000Hal_writeRegisterFromIsr(SYS_STATUS_ID,(uint8_t *)  &tmp, 4) ;
 	//TODO     dwt_syncrxbufptrs();
 
-	dw1000Hal_writeRegister(SYS_MASK_ID, (uint8_t *) &sys_mask, SYS_MASK_LEN);
+	dw1000Hal_writeRegisterFromIsr(SYS_MASK_ID, (uint8_t *) &sys_mask, SYS_MASK_LEN);
 
 	portENABLE_INTERRUPTS();
 

makefile.inc

+CFLAGS+=-I"Inc" -I"dw1000/Inc/"
+SRC+=$(wildcard dw1000/Src/*.c)
\ No newline at end of file