amiro-lld / drivers / DW1000 / v2 / alld_DW1000.c @ 72369edc
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/*
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AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2019 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU Lesser General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file alld_DW1000.c
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* @brief UWB transceiver function implementations.
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*
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* @addtogroup lld_uwb
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* @{
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*/
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#include <alld_DW1000.h> |
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#include "decadriver/deca_device_api.h" |
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#include <string.h> |
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/******************************************************************************/
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/* LOCAL DEFINITIONS */
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/******************************************************************************/
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/******************************************************************************/
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/* EXPORTED VARIABLES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL TYPES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL VARIABLES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL FUNCTIONS */
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/******************************************************************************/
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/******************************************************************************/
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/* EXPORTED FUNCTIONS */
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/******************************************************************************/
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int writetospi(uint16 headerLength, const uint8 *headerBuffer, uint32 bodylength, const uint8 *bodyBuffer) |
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{
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apalDbgAssert(dw1000.spid != NULL);
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apalDbgAssert(headerLength + bodylength <= DW1000_LLD_SPIBUFLEN); |
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uint8_t buffer[DW1000_LLD_SPIBUFLEN]; |
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memcpy(&buffer[0], headerBuffer, headerLength);
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memcpy(&buffer[headerLength], bodyBuffer, bodylength); |
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return (apalSPITransmit(dw1000.spid, buffer, headerLength + bodylength) == APAL_STATUS_OK) ? 0 : -1; |
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} |
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int readfromspi(uint16 headerLength, const uint8 *headerBuffer, uint32 readlength, uint8 *readBuffer) |
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{
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apalDbgAssert(dw1000.spid != NULL);
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return (apalSPITransmitAndReceive(dw1000.spid, headerBuffer, readBuffer, headerLength, readlength) == APAL_STATUS_OK) ? 0 : -1; |
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} |
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decaIrqStatus_t decamutexon(void)
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{
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apalDbgAssert(dw1000.gpio_exti != NULL);
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bool enabled;
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apalGpioIsInterruptEnabled(dw1000.gpio_exti->gpio, &enabled); |
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if (enabled) {
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apalControlGpioSetInterrupt(dw1000.gpio_exti, false);
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} |
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return enabled;
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} |
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void decamutexoff(decaIrqStatus_t s)
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{
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apalDbgAssert(dw1000.gpio_exti != NULL);
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if (s) {
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apalControlGpioSetInterrupt(dw1000.gpio_exti, true);
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} |
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return;
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} |
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void deca_sleep(unsigned int time_ms) |
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{
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apalSleep((apalTime_t)time_ms * 1000);
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return;
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} |
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/** @} */
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