amiro-lld / drivers / DW1000 / v2 / alld_DW1000.c @ ed9a1bf5
History | View | Annotate | Download (3.661 KB)
| 1 |
/*
|
|---|---|
| 2 |
AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
|
| 3 |
Copyright (C) 2016..2020 Thomas Schöpping et al.
|
| 4 |
|
| 5 |
This program is free software: you can redistribute it and/or modify
|
| 6 |
it under the terms of the GNU Lesser General Public License as published by
|
| 7 |
the Free Software Foundation, either version 3 of the License, or
|
| 8 |
(at your option) any later version.
|
| 9 |
|
| 10 |
This program is distributed in the hope that it will be useful,
|
| 11 |
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
| 12 |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
| 13 |
GNU Lesser General Public License for more details.
|
| 14 |
|
| 15 |
You should have received a copy of the GNU Lesser General Public License
|
| 16 |
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
| 17 |
*/
|
| 18 |
|
| 19 |
/**
|
| 20 |
* @file alld_DW1000.c
|
| 21 |
* @brief UWB transceiver function implementations.
|
| 22 |
*
|
| 23 |
* @addtogroup lld_uwb
|
| 24 |
* @{
|
| 25 |
*/
|
| 26 |
|
| 27 |
#include <alld_DW1000.h> |
| 28 |
#include "decadriver/deca_device_api.h" |
| 29 |
#include <string.h> |
| 30 |
|
| 31 |
/******************************************************************************/
|
| 32 |
/* LOCAL DEFINITIONS */
|
| 33 |
/******************************************************************************/
|
| 34 |
|
| 35 |
/******************************************************************************/
|
| 36 |
/* EXPORTED VARIABLES */
|
| 37 |
/******************************************************************************/
|
| 38 |
|
| 39 |
/******************************************************************************/
|
| 40 |
/* LOCAL TYPES */
|
| 41 |
/******************************************************************************/
|
| 42 |
|
| 43 |
/******************************************************************************/
|
| 44 |
/* LOCAL VARIABLES */
|
| 45 |
/******************************************************************************/
|
| 46 |
|
| 47 |
/******************************************************************************/
|
| 48 |
/* LOCAL FUNCTIONS */
|
| 49 |
/******************************************************************************/
|
| 50 |
|
| 51 |
/******************************************************************************/
|
| 52 |
/* EXPORTED FUNCTIONS */
|
| 53 |
/******************************************************************************/
|
| 54 |
|
| 55 |
int writetospi(uint16 headerLength, const uint8 *headerBuffer, uint32 bodylength, const uint8 *bodyBuffer) |
| 56 |
{
|
| 57 |
apalDbgAssert(dw1000.spid != NULL);
|
| 58 |
apalDbgAssert(headerLength + bodylength <= DW1000_LLD_SPIBUFLEN); |
| 59 |
|
| 60 |
uint8_t buffer[DW1000_LLD_SPIBUFLEN]; |
| 61 |
memcpy(&buffer[0], headerBuffer, headerLength);
|
| 62 |
memcpy(&buffer[headerLength], bodyBuffer, bodylength); |
| 63 |
|
| 64 |
return (apalSPITransmit(dw1000.spid, buffer, headerLength + bodylength) == APAL_STATUS_OK) ? 0 : -1; |
| 65 |
} |
| 66 |
|
| 67 |
int readfromspi(uint16 headerLength, const uint8 *headerBuffer, uint32 readlength, uint8 *readBuffer) |
| 68 |
{
|
| 69 |
apalDbgAssert(dw1000.spid != NULL);
|
| 70 |
|
| 71 |
return (apalSPITransmitAndReceive(dw1000.spid, headerBuffer, readBuffer, headerLength, readlength) == APAL_STATUS_OK) ? 0 : -1; |
| 72 |
} |
| 73 |
|
| 74 |
decaIrqStatus_t decamutexon(void)
|
| 75 |
{
|
| 76 |
apalDbgAssert(dw1000.gpio_exti != NULL);
|
| 77 |
|
| 78 |
bool enabled;
|
| 79 |
apalGpioIsInterruptEnabled(dw1000.gpio_exti->gpio, &enabled); |
| 80 |
if (enabled) {
|
| 81 |
apalControlGpioSetInterrupt(dw1000.gpio_exti, false);
|
| 82 |
} |
| 83 |
|
| 84 |
return enabled;
|
| 85 |
} |
| 86 |
|
| 87 |
void decamutexoff(decaIrqStatus_t s)
|
| 88 |
{
|
| 89 |
apalDbgAssert(dw1000.gpio_exti != NULL);
|
| 90 |
|
| 91 |
if (s) {
|
| 92 |
apalControlGpioSetInterrupt(dw1000.gpio_exti, true);
|
| 93 |
} |
| 94 |
|
| 95 |
return;
|
| 96 |
} |
| 97 |
|
| 98 |
void deca_sleep(unsigned int time_ms) |
| 99 |
{
|
| 100 |
apalSleep((apalTime_t)time_ms * 1000);
|
| 101 |
return;
|
| 102 |
} |
| 103 |
|
| 104 |
/** @} */
|
| 105 |
|