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

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

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;
 
@@ -330,7 +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
@@ -342,20 +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