/ - Diff - AMiRo-OS - Research for Cognitive Interaction

Revision 10b520a8

     #ifdef AMIROLLD_CFG_DW1000
     /*! @brief entry point to the IRQn event in DW1000 module
+     *
      * */
     void process_deca_irq(void){
       do{
         dwt_isr();
         //while IRS line active (ARM can only do edge sensitive interrupts)
       }while(port_CheckEXT_IRQ() == 1);
+    }
     /*! @brief Check the current value of GPIO pin and return the value */
     apalGpioState_t port_CheckEXT_IRQ(void) {
       apalGpioState_t  val;
       apalGpioRead(moduleGpioDw1000Irqn.gpio, &val);
       return val;
+    }
     /*! @brief TODO: Manual implementation of SPI configuration. Somehow, it is necessary in NUCLEO-F103RB  */
     void dw1000_spi_init(void){
       palSetPadMode(GPIOB, GPIOB_PIN13, PAL_MODE_STM32_ALTERNATE_PUSHPULL);

     extern "C" {
     #endif
     apalGpioState_t port_CheckEXT_IRQ(void) ;
     void dw1000_spi_init(void);
     void process_deca_irq(void);
     #ifdef __cplusplus
+    }
     #endif

periphery-lld/AMiRo-LLD
1		Subproject commit 119ec0d2a484fa5054ca0abb175eca8ea7b2ca5a
	1	Subproject commit 26dead12185b7721d47c45900bebd6dda6ff4ea7

       extern int instance_mode;
       int UWB_Init(DW1000Driver* drv);
       uint32_t inittestapplication(uint8_t s1switch, DW1000Driver* drv);
       int32_t inittestapplication(uint8_t s1switch, DW1000Driver* drv);
       int decarangingmode(uint8_t s1switch);
       void addressconfigure(uint8_t s1switch, uint8_t mode);
       void set_SPI_chip_select(void);
       void clear_SPI_chip_select(void);
       void reset_DW1000(void);
       void setHighSpeed_SPI(bool speedValue, DW1000Driver* drv);
       apalGpioState_t port_CheckEXT_IRQ(void) ;
       void process_deca_irq(void);
     #ifdef __cplusplus
+    }
     #endif

     #define SWS1_A1A_MODE 0x10  //anchor/tag address A1
     #define SWS1_A2A_MODE 0x20  //anchor/tag address A2
     #define SWS1_A3A_MODE 0x40  //anchor/tag address A3
     #define SWS1_USB2SPI_MODE 0x78  //USB to SPI mode
     #define S1_SWITCH_ON  (1)
     #define S1_SWITCH_OFF (0)
-...
     void setHighSpeed_SPI(bool speedValue, DW1000Driver* drv){
       spiStop(drv->spid);
       //  spiAcquireBus(&MODULE_HAL_SPI_UWB);
       if (speedValue == FALSE){
         spiStart(drv->spid, &moduleHalSpiUwbLsConfig);  // low speed spi configuration
-...
+      }
+    }
     /*! @brief entry point to the IRQn event in DW1000 module
+     *
      * */
     void process_deca_irq(void){
       do{
         dwt_isr();
         //while IRS line active (ARM can only do edge sensitive interrupts)
       }while(port_CheckEXT_IRQ() == 1);
+    }
     /*! @brief Check the current value of GPIO pin and return the value */
     apalGpioState_t port_CheckEXT_IRQ(void) {
       apalGpioState_t  val;
       apalGpioRead(moduleGpioDw1000Irqn.gpio, &val);
       return val;
+    }
     /*! @brief Manually set the chip select pin of the SPI */
     void set_SPI_chip_select(void){
       apalGpioWrite(moduleGpioSpiChipSelect.gpio, APAL_GPIO_HIGH);
-...
       aosThdMSleep(2);
+    }
     /*! @brief Configure instance tag/anchor/etc... addresses */
     void addressconfigure(uint8_t s1switch, uint8_t mode){
       uint16_t instAddress ;
-...
       instancesetaddresses(instAddress);
+    }
     /*! @brief returns the use case / operational mode */
     int decarangingmode(uint8_t s1switch){
       int mode = 0;
-...
+    }
     /*! @brief Check connection setting and initialize DW1000 module */
     uint32_t inittestapplication(uint8_t s1switch, DW1000Driver* drv){
     int32_t inittestapplication(uint8_t s1switch, DW1000Driver* drv){
       uint32_t devID ;
       int result;
-...
         instance_mode = ANCHOR;
+      }
       result = instance_init(drv) ; // TODO
     //  result = instance_init() ;
       result = instance_init(drv) ;
       if (0 > result){
         return(-1) ;
+      }
       setHighSpeed_SPI(TRUE, drv);             // high speed spi max. ~ 20M
       setHighSpeed_SPI(TRUE, drv);       // high speed spi max. ~ 20M
       devID = instancereaddeviceid() ;
       if (DWT_DEVICE_ID != devID){
-...
       chan = chConfig[dr_mode].channelNumber ;
       instance_config(&chConfig[dr_mode], &sfConfig[dr_mode], drv) ;
       return devID;
       return (int32_t)devID;
+    }
     /*! @brief Main Entry point to Initialization of UWB DW1000 configuration  */
     #pragma GCC optimize ("O3")
     int UWB_Init(DW1000Driver* drv){
-...
       port_DisableEXT_IRQ();           //disable ScenSor IRQ until we configure the device
       if((s1switch & SWS1_USB2SPI_MODE) == SWS1_USB2SPI_MODE){
         return 1;
       if(inittestapplication(s1switch, drv) == -1) {
         return (-1); //error
+      }
       else{
         //run RTLS application
         if(inittestapplication(s1switch, drv) == (uint32_t)-1) {
           return 0; //error
+        }
         aosThdMSleep(5);
+      }
       aosThdMSleep(5);
       port_EnableEXT_IRQ();           //enable ScenSor IRQ before starting
       port_EnableEXT_IRQ();  //enable DW1000 IRQ before starting
       return 0;
+    }
-...
     /*! Unit Test snippets for DW1000.
      * @Note: Passed all 4 unit tests. Event IRQ should be tested separately
      * @Note: Event IRQ for DW1000 should be tested separately
      */
     #ifdef UNIT_TEST_SNIPPETS_DW1000
-...
       chprintf(stream, "actual read ID: 0x%x\n", actual_deviceId);
       aosThdMSleep(5);
       if(DWT_DEVICE_ID != actual_deviceId) //if the read of device ID fails, the DW1000 could be asleep
+      {
         port_SPIx_clear_chip_select();  //CS low
         aosThdMSleep(1);   //200 us to wake up then waits 5ms for DW1000 XTAL to stabilise
         port_SPIx_set_chip_select();  //CS high
       //if the read of device ID fails, the DW1000 could be asleep
       if(DWT_DEVICE_ID != actual_deviceId){
         clear_SPI_chip_select();
         aosThdMSleep(1);
         set_SPI_chip_select();
         aosThdMSleep(7);
         actual_deviceId = instancereaddeviceid() ;
         // SPI not working or Unsupported Device ID
         if(DWT_DEVICE_ID != actual_deviceId){
           chprintf(stream, "SPI not working or Unsupported Device ID\n");
           chprintf(stream, "SPI is not working or Unsupported Device ID\n");
           chprintf(stream, "actual device ID is: 0x%x\n", actual_deviceId);
           chprintf(stream, "expected device ID: 0xDECA0130 \n");
           aosThdMSleep(5);
           //          return(-1) ;
+        }
         //clear the sleep bit - so that after the hard reset below the DW does not go into sleep
-...
       } else {
         aosUtFailed(stream, &result);
+      }
       reset_DW1000();
       reset_DW1000();
       chprintf(stream, " Initialise instance for DW1000 \n");
       aosThdSleep(5);
       chprintf(stream, "initialise instance for DW1000 \n");
       aosThdSleep(1);
       int x_init = instance_init((DW1000Driver*) ut->data) ;   // TODO
     //  int x_init = instance_init() ;
       int x_init = instance_init((DW1000Driver*) ut->data) ;
       if (0 != x_init){
         chprintf(stream, "Init error with return value: %d \n", x_init);
         aosThdSleep(5);
         chprintf(stream, "init error with return value: %d \n", x_init);
         aosThdSleep(1);
+      }
       else {
         chprintf(stream, "Init success with return value: %d \n", x_init);
         aosThdSleep(5);
         chprintf(stream, "init success with return value: %d \n", x_init);
         aosThdSleep(1);
+      }
       /*! UT2: Initialization  result*/
       if (x_init == 0){
         aosUtPassed(stream, &result);
-...
         aosUtFailed(stream, &result);
+      }
       setHighSpeed_SPI(true, (DW1000Driver*) ut->data);
       chprintf(stream, "expected device ID (HS SPI): 0xDECA0130\n");
       actual_deviceId = instancereaddeviceid();
       chprintf(stream, "actual read ID: 0x%x\n", actual_deviceId);
       aosThdMSleep(5);
       aosThdMSleep(1);
       /*! UT3: High speed SPI result*/
       if (actual_deviceId == DWT_DEVICE_ID){
-...
       port_EnableEXT_IRQ();
       reset_DW1000();
       chprintf(stream, " Initialise the configuration for UWB application \n");
       aosThdSleep(5);
       chprintf(stream, "initialise the configuration for UWB application \n");
       aosThdSleep(1);
       int uwb_init = UWB_Init((DW1000Driver*) ut->data);
       if (0 != uwb_init){
         chprintf(stream, "UWB config error with return value: %d \n", uwb_init);
         aosThdSleep(5);
         aosThdSleep(1);
+      }
       else {
         chprintf(stream, "UWB config success with return value: %d \n", uwb_init);
         aosThdSleep(5);
         aosThdSleep(1);
+      }
       /*! UT4: UWB configuration result
-...
     #else
       // RUN THE STATE MACHINE DEMO APP
       chprintf(stream, " Initialise the State Machine \n");
       /*! RUN THE STATE MACHINE DEMO APP (RTLS) */
       chprintf(stream, "initialise the State Machine \n");
       aosThdSleep(2);
       /* Initialize UWB system with user defined configuration  */
       int uwb_init = UWB_Init((DW1000Driver*) ut->data);
       if (0 != uwb_init){
         chprintf(stream, "UWB config error with return value: %d \n", uwb_init);
         chprintf(stream, "error in UWB config with return value: %d \n", uwb_init);
+      }
       else {
         chprintf(stream, "UWB config success with return value: %d \n", uwb_init);
         chprintf(stream, "succeed the init of UWB config \n");
+      }
       aosThdSleep(1);
       chprintf(stream, " Running the RTLS demo application \n");
       chprintf(stream, "running the RTLS demo application ... \n");
       aosThdSleep(1);
       /* Run the localization system demo app as a thread */
       /*! Run the localization system demo app as a thread */
       while(1){
         instance_run();
     //    aosThdUSleep(10);

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