merged colin's lates changes to the dw1000 driver

Inc/dw1000.h

@@ -3,13 +3,15 @@
 #include "FreeRTOS.h"
 #include <stdint.h>
 #include "cmsis_os.h"
+#include "dw1000_util.h"
+
 
 #define MAXIMUM_FRAME_LENGTH 127
 #define FRAME_OVERHEAD sizeof(dw1000_frame_t) - MAXIMUM_FRAME_LENGTH
 
 
 /**
- *	Defines for channel and prf selection and preamble Code.
+ *	Defines for channel and prf selection and Preamble Code.
  *	Refer to Page 204 in the dw1000 User Manual 2.04
  */
 #define PRF_SHIFT 0
@@ -131,6 +133,7 @@ typedef struct __attribute__((packed)){
 	uint8_t rx_timestamp[5];
 	uint16_t length;
 	uint8_t buffer[MAXIMUM_FRAME_LENGTH];
+
 } dw1000_frame_t;
 
 /**

Src/dw1000.c

@@ -3,6 +3,8 @@
 #include "dw1000_isr.h"
 #include "deca_regs.h"
 #include "dw1000_util.h"
+#include "stm32f4xx_hal.h"
+
 #ifdef DEBUG
 #include "Trace.h"
 #endif
@@ -256,6 +258,30 @@ int dw1000_sendFrame(uint8_t *frame, uint16_t frame_length) {
 
 }
 
+/*
+int dw1000_sendDelayedFrame(uint8_t *payload, uint16_t len, node_time_t tx_time) {
+
+	//Write payload to buffer
+	int ret = dw1000_writeFrameIntoBuffer(0, payload, len);
+
+	// Write desired tx time to register
+	dw1000Hal_writeSubRegister(DX_TIME_ID, 0, (uint8_t *)&tx_time, DX_TIME_LEN);
+
+	// Force receiver off
+	dw1000Util_forceTrxOff();
+
+	// Trigger delayed sending by setting TXSTART and TXDLYS
+    uint8_t temp = (uint8_t) SYS_CTRL_TXSTRT | SYS_CTRL_TXDLYS;
+    dw1000Hal_writeRegister(SYS_CTRL_ID, &temp, 1);
+
+    // Re-enable receiver
+    dw1000Util_enableRX();
+
+	return ret;
+
+}
+*/
+
 /**
  * See header file dw1000.h
  */
@@ -290,8 +316,10 @@ int dw1000_transmitFrame(uint16_t tx_buffer_offset, uint16_t frame_length) {
 	/* WITHOUT THE NEXT PART: SECOND TIME NO SENDING POSSIBLE, BUT CAN'T BE FOUND IN ORIGINAL DRIVER */
 	dw1000Util_forceTrxOff();
 
-	uint8_t temp = (uint8_t) SYS_CTRL_TXSTRT;
-	dw1000Hal_writeRegister(SYS_CTRL_ID, (uint8_t *) &temp, 1);
+    uint8_t temp = (uint8_t) SYS_CTRL_TXSTRT;
+	HAL_GPIO_WritePin(GPIOD, GPIO_PIN_11, GPIO_PIN_SET);
+    dw1000Hal_writeRegister(SYS_CTRL_ID, (uint8_t *)&temp,1);
+	HAL_GPIO_WritePin(GPIOD, GPIO_PIN_11, GPIO_PIN_RESET);
 
 	return DW1000_RET_OK;
 }
@@ -302,12 +330,22 @@ int dw1000_transmitFrame(uint16_t tx_buffer_offset, uint16_t frame_length) {
 void dw1000_receiveFrameFromIsr(dw1000_frame_t *frame) {
 	frame->length = dw1000local.frame_length;
 	frame->timestamp_valid = dw1000local.timestamp_valid;
-	if (frame->timestamp_valid) {
-		dw1000Util_getRxTimestamp((uint8_t *) &frame->rx_timestamp);
+	if(frame->timestamp_valid){
+		dw1000Util_getRxTimestamp((uint64_t *)&frame->rx_timestamp);
 	}
 	dw1000Hal_readRegisterFromIsr(RX_BUFFER_ID, frame->buffer, frame->length); //FromIsr important!
 }
 
+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);
+}
+
+
 /**
  * See header file dw1000.h
  */
@@ -330,8 +368,8 @@ void dw1000_generateConfig(uint16_t mode, dw1000_config_t *config, uint8_t fast)
 		//16MHz PRF
 		config->pulse_repetition_frequency = DWT_PRF_16M;
 	}
-
-	config->sfd_timeout = 129;
+	//Fixme: How to calculate SFD Timeout
+	config->sfd_timeout = (129 + 8 - 8);
 
 	if (fast == 2) {
 		trace_printf("Super fast\n");

Src/dw1000_isr.c

@@ -36,7 +36,9 @@ BaseType_t _handleTx(uint64_t * event, uint64_t * event_clear) {
 BaseType_t _handleRx(uint64_t * event, uint64_t * event_clear) {
 	BaseType_t higher_priority_task_woken = pdFALSE;
 
-	// Get frame length
+	//Fixme: Wann kann ein Overrun auftreten?
+
+	// Get get length
 	uint32_t rx_frame_info;
 	dw1000Hal_readRegisterFromIsr(RX_FINFO_ID, (uint8_t *) &rx_frame_info,
 	RX_FINFO_LEN);
@@ -54,7 +56,8 @@ BaseType_t _handleRx(uint64_t * event, uint64_t * event_clear) {
 	// Trigger callback or notify task
 	if (dw1000local.receive_callback != NULL) {
 		higher_priority_task_woken = dw1000local.receive_callback();
-	} else if (dw1000local.task_handle != NULL) {
+	} 
+	if (dw1000local.task_handle != NULL) {
 		vTaskNotifyGiveFromISR(dw1000local.task_handle, &higher_priority_task_woken);
 	}