AMiRo-OS

/*

AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2020  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU Lesser General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

/**

 * @file    alld_DW1000.c

 * @brief   UWB transceiver function implementations.

 *

 * @addtogroup lld_uwb

 * @{

 */

#include <alld_DW1000.h>

#include "decadriver/deca_device_api.h"

#include <string.h>

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/* LOCAL DEFINITIONS                                                          */

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/* EXPORTED VARIABLES                                                         */

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/* LOCAL TYPES                                                                */

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/* LOCAL VARIABLES                                                            */

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/* LOCAL FUNCTIONS                                                            */

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/* EXPORTED FUNCTIONS                                                         */

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int writetospi(uint16 headerLength, const uint8 *headerBuffer, uint32 bodylength, const uint8 *bodyBuffer)

{

  apalDbgAssert(dw1000.spid != NULL);

  apalDbgAssert(headerLength + bodylength <= DW1000_LLD_SPIBUFLEN);

  uint8_t buffer[DW1000_LLD_SPIBUFLEN];

  memcpy(&buffer[0], headerBuffer, headerLength);

  memcpy(&buffer[headerLength], bodyBuffer, bodylength);

  return (apalSPITransmit(dw1000.spid, buffer, headerLength + bodylength) == APAL_STATUS_OK) ? 0 : -1;

}

int readfromspi(uint16 headerLength, const uint8 *headerBuffer, uint32 readlength, uint8 *readBuffer)

{

  apalDbgAssert(dw1000.spid != NULL);

  return (apalSPITransmitAndReceive(dw1000.spid, headerBuffer, readBuffer, headerLength, readlength) == APAL_STATUS_OK) ? 0 : -1;

}

decaIrqStatus_t decamutexon(void)

{

  apalDbgAssert(dw1000.gpio_exti != NULL);

  bool enabled;

  apalGpioIsInterruptEnabled(dw1000.gpio_exti->gpio, &enabled);

  if (enabled) {

    apalControlGpioSetInterrupt(dw1000.gpio_exti, false);

  }

  return enabled;

}

void decamutexoff(decaIrqStatus_t s)

{

  apalDbgAssert(dw1000.gpio_exti != NULL);

  if (s) {

    apalControlGpioSetInterrupt(dw1000.gpio_exti, true);

  }

  return;

}

void deca_sleep(unsigned int time_ms)

{

  apalSleep((apalTime_t)time_ms * 1000);

  return;

}

/** @} */