diff --git a/Src/dw1000.c b/Src/dw1000.c
index f2e5f58ae3fe6873c545d316df3a54366fac7ec8..3fe78b4ad3787ad78fc1e53fd7ae668de3f3cfd4 100644
--- a/Src/dw1000.c
+++ b/Src/dw1000.c
@@ -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;
diff --git a/Src/dw1000_hal.c b/Src/dw1000_hal.c
index a6292a8569a8dd3fc22694a8f9b40a0a63faf9f3..1542cdf5d523b29dd3909c631c46780c9aff4299 100644
--- a/Src/dw1000_hal.c
+++ b/Src/dw1000_hal.c
@@ -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);
+ }
}