/unittests/periphery-lld/src/ut_alld_dw1000_v1.c - Diff - AMiRo-OS - Research for Cognitive Interaction

Revision 7b6ab4bf unittests/periphery-lld/src/ut_alld_dw1000_v1.c

     int chan, tagaddr, ancaddr;
     int instance_mode = ANCHOR;
     DW1000Driver* spiDrv;
     /******************************************************************************/
     /* LOCAL FUNCTIONS                                                            */
     /******************************************************************************/
     /*! @brief Change the SPI speed configuration  on the fly */
     void setHighSpeed_SPI(bool speedValue){
     /*! @brief Change the SPI speed configuration on the fly */
     void setHighSpeed_SPI(bool speedValue, DW1000Driver* drv){
       spiStop(&MODULE_HAL_SPI_UWB);
       spiStop(drv->spid);
       //  spiAcquireBus(&MODULE_HAL_SPI_UWB);
       if (speedValue == FALSE){
         spiStart(&MODULE_HAL_SPI_UWB, &moduleHalSpiUwbLsConfig);  // low speed spi configuration
         spiStart(drv->spid, &moduleHalSpiUwbLsConfig);  // low speed spi configuration
+      }
       else{
         spiStart(&MODULE_HAL_SPI_UWB, &moduleHalSpiUwbHsConfig); // high speed spi configuration
         spiStart(drv->spid, &moduleHalSpiUwbHsConfig); // high speed spi configuration
+      }
+    }
     /* void setHighSpeed_SPI(bool speedValue){
       spiStop(spiDrv->spid);
       //  spiAcquireBus(&MODULE_HAL_SPI_UWB);
       if (speedValue == FALSE){
         spiStart(spiDrv->spid, &moduleHalSpiUwbLsConfig);  // low speed spi configuration
+      }
       else{
         spiStart(spiDrv->spid, &moduleHalSpiUwbHsConfig); // high speed spi configuration
+      }
     } */
     /*! @brief Manually set the chip select pin of the SPI */
     void port_SPIx_set_chip_select(void){
     void set_SPI_chip_select(void){
       apalGpioWrite(moduleGpioSpiChipSelect.gpio, APAL_GPIO_HIGH);
+    }
     /*! @brief Manually reset the chip select pin of the SPI */
     void port_SPIx_clear_chip_select(void){
     void clear_SPI_chip_select(void){
       apalGpioWrite(moduleGpioSpiChipSelect.gpio, APAL_GPIO_LOW);
+    }
-...
+    }
     /*! @brief Configure instance tag/anchor/etc... addresses
+     *
      * */
     /*! @brief Configure instance tag/anchor/etc... addresses */
     void addressconfigure(uint8_t s1switch, uint8_t mode){
       uint16_t instAddress ;
-...
+    }
     /*! @brief returns the use case / operational mode
+     *
      * */
     /*! @brief returns the use case / operational mode */
     int decarangingmode(uint8_t s1switch){
       int mode = 0;
-...
       return mode;
+    }
     /*! @brief Check connection setting and initialize DW1000 module
+     *
      **/
     uint32_t inittestapplication(uint8_t s1switch){
     /*! @brief Check connection setting and initialize DW1000 module */
     uint32_t inittestapplication(uint8_t s1switch, DW1000Driver* drv){
       uint32_t devID ;
       int result;
       setHighSpeed_SPI(FALSE);          //low speed spi max. ~4M
       setHighSpeed_SPI(FALSE, drv);          //low speed spi max. ~4M
       devID = instancereaddeviceid() ;
       if(DWT_DEVICE_ID != devID) {
         port_SPIx_clear_chip_select();
         clear_SPI_chip_select();
         Sleep(1);
         port_SPIx_set_chip_select();
         set_SPI_chip_select();
         Sleep(7);
         devID = instancereaddeviceid() ;
         if(DWT_DEVICE_ID != devID){
           return(-1) ;  // SPI not working or Unsupported Device ID
           return(-1) ;
+        }
         dwt_softreset();//clear the sleep bit - so that after the hard reset below the DW does not go into sleep
         dwt_softreset();
+      }
         reset_DW1000();  //reset the DW1000 by driving the RSTn line low
-...
         instance_mode = ANCHOR;
+      }
       result = instance_init(spiDrv) ; // TODO
       result = instance_init(drv) ; // TODO
     //  result = instance_init() ;
       if (0 > result){
         return(-1) ;
+      }
       setHighSpeed_SPI(TRUE);               // high speed spi max. ~ 20M
       setHighSpeed_SPI(TRUE, drv);             // high speed spi max. ~ 20M
       devID = instancereaddeviceid() ;
       if (DWT_DEVICE_ID != devID){
-...
       instancesetrole(instance_mode) ;       // Set this instance role
       dr_mode = decarangingmode(s1switch);
       chan = chConfig[dr_mode].channelNumber ;
       instance_config(&chConfig[dr_mode], &sfConfig[dr_mode]) ;
       instance_config(&chConfig[dr_mode], &sfConfig[dr_mode], drv) ;
       return devID;
+    }
     /*! @brief Main Entry point to Initialization of UWB DW1000 configuration
+     *
      * */
     /*! @brief Main Entry point to Initialization of UWB DW1000 configuration  */
     #pragma GCC optimize ("O3")
     int UWB_Init(void){
     int UWB_Init(DW1000Driver* drv){
       /*! Software defined Configurartion for TAG, ANC, and other settings as needed */
       s1switch = S1_SWITCH_OFF << 1 // is_switch_on(TA_SW1_2) << 2  // (on = 6.8 Mbps, off = 110 kbps)
                                   | S1_SWITCH_OFF << 2  // (on = CH5, off = CH2)
                                   | S1_SWITCH_OFF << 3  // (on = Anchor, off = TAG)
                                   | S1_SWITCH_OFF << 4  // (configure Tag or anchor ID no.)
                                   | S1_SWITCH_OFF << 5  // (configure Tag or anchor ID no.)
                                   | S1_SWITCH_OFF << 6  // (configure Tag or anchor ID no.)
                                   | S1_SWITCH_OFF << 7; // Not use in this demo
       s1switch = S1_SWITCH_OFF << 1  // (on = 6.8 Mbps, off = 110 kbps)
                | S1_SWITCH_OFF << 2  // (on = CH5, off = CH2)
                | S1_SWITCH_OFF << 3  // (on = Anchor, off = TAG)
                | S1_SWITCH_OFF << 4  // (configure Tag or anchor ID no.)
                | S1_SWITCH_OFF << 5  // (configure Tag or anchor ID no.)
                | S1_SWITCH_OFF << 6  // (configure Tag or anchor ID no.)
                | S1_SWITCH_OFF << 7; // Not use in this demo
       port_DisableEXT_IRQ();           //disable ScenSor IRQ until we configure the device
-...
+      }
       else{
         //run RTLS application
         if(inittestapplication(s1switch) == (uint32_t)-1) {
         if(inittestapplication(s1switch, drv) == (uint32_t)-1) {
           return 0; //error
+        }
-...
       aos_utresult_t result = {0, 0};
       chprintf(stream, "init DW1000...\n");
       dwt_initialise(DWT_LOADUCODE, (DW1000Driver*) ut->data);
       aosThdMSleep(5);
       /*! Unit Test snippets for DW1000.
          * @Note: Passed all 4 unit tests. Event IRQ should be tested separately
          */
     /*! Unit Test snippets for DW1000.
      * @Note: Passed all 4 unit tests. Event IRQ should be tested separately
      */
     #ifdef UNIT_TEST_SNIPPETS_DW1000
       uint32_t actual_deviceId;
       chprintf(stream, "init DW1000...\n");
       dwt_initialise(DWT_LOADUCODE, (DW1000Driver*) ut->data);
       aosThdMSleep(5);
       port_DisableEXT_IRQ();
       setHighSpeed_SPI(false);
       setHighSpeed_SPI(false, (DW1000Driver*) ut->data);
       chprintf(stream, "expected device ID (LS SPI): 0xDECA0130 \n");
       aosThdMSleep(5);
       actual_deviceId = instancereaddeviceid();
-...
         dwt_softreset();
+      }
       /*! Low speed SPI unit test result */
       /*! UT1: Low speed SPI result */
       if (actual_deviceId == DWT_DEVICE_ID){
         aosUtPassed(stream, &result);
       } else {
-...
+      }
       /* Initialization unit test result */
       /*! UT2: Initialization  result*/
       if (x_init == 0){
         aosUtPassed(stream, &result);
       } else {
-...
+      }
       setHighSpeed_SPI(true);
       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);
       /* High speed SPI unit test result */
       /*! UT3: High speed SPI result*/
       if (actual_deviceId == DWT_DEVICE_ID){
         aosUtPassed(stream, &result);
       } else {
-...
       reset_DW1000();
       chprintf(stream, " Initialise the configuration for UWB application \n");
       aosThdSleep(5);
       int uwb_init = UWB_Init();
       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);
+      }
       /* UWB configuration unit test.
       /*! UT4: UWB configuration result
        * If all the four unit tests are passed, the module is ready to run.
        * Note that the interrupt IRQn should be tested separately.
        */
-...
       chprintf(stream, " Initialise the State Machine \n");
       aosThdSleep(2);
       /* Initialize UWB system with the configuration provided in module_uwb_conf.c */
       int uwb_init = UWB_Init();
       /* 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);

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