commit 8588411e63dbbe4d874ecacf262a31bd59cbd174
Author: Thomas Schöpping <tschoepp@cit-ec.uni-bielefeld.de>
Date:   Wed Mar 6 10:19:44 2019 +0100

    renamed the DW1000_V0 unit test to _v1 according to the LLD version change some time ago.

diff --git a/unittests/periphery-lld/inc/ut_alld_DW1000_v0.h b/unittests/periphery-lld/inc/ut_alld_DW1000_v0.h
deleted file mode 100755
index 4dfb38d..0000000
--- a/unittests/periphery-lld/inc/ut_alld_DW1000_v0.h
+++ /dev/null
@@ -1,66 +0,0 @@
-/*
-AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
-Copyright (C) 2016..2019  Thomas Schöpping et al.
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU 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 General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program.  If not, see <http://www.gnu.org/licenses/>.
-*/
-
-#ifndef AMIROOS_UT_ALLD_DW1000_V0_H
-#define AMIROOS_UT_ALLD_DW1000_V0_H
-
-#include <amiroos.h>
-
-#if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_DW1000) && (AMIROLLD_CFG_DW1000 == 0)) || defined(__DOXYGEN__)
-
-#include <alld_DW1000.h>
-
-/******************************************************************************/
-/* CONSTANTS                                                                  */
-/******************************************************************************/
-
-/******************************************************************************/
-/* SETTINGS                                                                   */
-/******************************************************************************/
-
-/******************************************************************************/
-/* CHECKS                                                                     */
-/******************************************************************************/
-
-/******************************************************************************/
-/* DATA STRUCTURES AND TYPES                                                  */
-/******************************************************************************/
-
-/******************************************************************************/
-/* MACROS                                                                     */
-/******************************************************************************/
-
-/******************************************************************************/
-/* EXTERN DECLARATIONS                                                        */
-/******************************************************************************/
-
-#if defined(__cplusplus)
-extern "C" {
-#endif /* defined(__cplusplus) */
-  aos_utresult_t utAlldDw1000Func(BaseSequentialStream* stream, aos_unittest_t* ut);
-#if defined(__cplusplus)
-}
-#endif /* defined(__cplusplus) */
-
-/******************************************************************************/
-/* INLINE FUNCTIONS                                                           */
-/******************************************************************************/
-
-#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_DW1000) && (AMIROLLD_CFG_DW1000 == 0) */
-
-#endif /* AMIROOS_UT_ALLD_DW1000_V0_H */
diff --git a/unittests/periphery-lld/inc/ut_alld_DW1000_v1.h b/unittests/periphery-lld/inc/ut_alld_DW1000_v1.h
new file mode 100755
index 0000000..87b3318
--- /dev/null
+++ b/unittests/periphery-lld/inc/ut_alld_DW1000_v1.h
@@ -0,0 +1,66 @@
+/*
+AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
+Copyright (C) 2016..2019  Thomas Schöpping et al.
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#ifndef AMIROOS_UT_ALLD_DW1000_V1_H
+#define AMIROOS_UT_ALLD_DW1000_V1_H
+
+#include <amiroos.h>
+
+#if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_DW1000) && (AMIROLLD_CFG_DW1000 == 0)) || defined(__DOXYGEN__)
+
+#include <alld_DW1000.h>
+
+/******************************************************************************/
+/* CONSTANTS                                                                  */
+/******************************************************************************/
+
+/******************************************************************************/
+/* SETTINGS                                                                   */
+/******************************************************************************/
+
+/******************************************************************************/
+/* CHECKS                                                                     */
+/******************************************************************************/
+
+/******************************************************************************/
+/* DATA STRUCTURES AND TYPES                                                  */
+/******************************************************************************/
+
+/******************************************************************************/
+/* MACROS                                                                     */
+/******************************************************************************/
+
+/******************************************************************************/
+/* EXTERN DECLARATIONS                                                        */
+/******************************************************************************/
+
+#if defined(__cplusplus)
+extern "C" {
+#endif /* defined(__cplusplus) */
+  aos_utresult_t utAlldDw1000Func(BaseSequentialStream* stream, aos_unittest_t* ut);
+#if defined(__cplusplus)
+}
+#endif /* defined(__cplusplus) */
+
+/******************************************************************************/
+/* INLINE FUNCTIONS                                                           */
+/******************************************************************************/
+
+#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_DW1000) && (AMIROLLD_CFG_DW1000 == 0) */
+
+#endif /* AMIROOS_UT_ALLD_DW1000_V1_H */
diff --git a/unittests/periphery-lld/src/ut_alld_DW1000_v0.c b/unittests/periphery-lld/src/ut_alld_DW1000_v0.c
deleted file mode 100755
index 9a98f78..0000000
--- a/unittests/periphery-lld/src/ut_alld_DW1000_v0.c
+++ /dev/null
@@ -1,157 +0,0 @@
-/*
-AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
-Copyright (C) 2016..2019  Thomas Schöpping et al.
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the GNU 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 General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program.  If not, see <http://www.gnu.org/licenses/>.
-*/
-
-#include <amiroos.h>
-#include <ut_alld_DW1000_v0.h>
-
-#if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_DW1000) && (AMIROLLD_CFG_DW1000 == 0)) || defined(__DOXYGEN__)
-
-/******************************************************************************/
-/* LOCAL DEFINITIONS                                                          */
-/******************************************************************************/
-
-/******************************************************************************/
-/* EXPORTED VARIABLES                                                         */
-/******************************************************************************/
-
-/******************************************************************************/
-/* LOCAL TYPES                                                                */
-/******************************************************************************/
-
-/******************************************************************************/
-/* LOCAL VARIABLES                                                            */
-/******************************************************************************/
-
-/******************************************************************************/
-/* LOCAL FUNCTIONS                                                            */
-/******************************************************************************/
-
-/******************************************************************************/
-/* EXPORTED FUNCTIONS                                                         */
-/******************************************************************************/
-
-aos_utresult_t utAlldDw1000Func(BaseSequentialStream* stream, aos_unittest_t* ut) {
-
-    aosDbgCheck(ut->data != NULL);
-
-    aos_utresult_t result = {0, 0};
-
-    chprintf(stream, "init DW1000...\n");
-    dwt_initialise(DWT_LOADUCODE, (DW1000Driver*) ut->data);
-    chprintf(stream, "device ID should be: 0xDECA0130\nget device ID...\n");
-    uint32_t actual_deviceId = dwt_readdevid();
-    chprintf(stream, "actual device ID is: 0x%x\n", actual_deviceId);
-    aosThdMSleep(1);
-
-    if (actual_deviceId == DWT_DEVICE_ID){
-      aosUtPassed(stream, &result);
-    } else {
-      aosUtFailed(stream, &result);
-    }
-
-    /*chprintf(stream, "write-read test...\n");
-    uint32_t testvalue = 0x0A;
-    uint16_t panid = 0x00;
-
-    dwt_readfromdevice(PANADR_ID, PANADR_PAN_ID_OFFSET, 2, (uint8_t*) &panid);
-    chprintf(stream, "value PANADR register before write: %x\n", panid);
-    chprintf(stream, "write 0x%x to PANADR register...\n", testvalue);
-    dwt_setpanid(testvalue);
-    dwt_readfromdevice(PANADR_ID, PANADR_PAN_ID_OFFSET, 2, (uint8_t*) &panid);
-
-    chprintf(stream, "PANADR register is now: 0x%x\n", panid);
-
-    if (panid == testvalue){
-      aosUtPassed(stream, &result);
-    } else {
-      aosUtFailed(stream, &result);
-    }
-*/
-
-    dwt_setleds(0x03);
-
-    // RUN DECA-DEMO
-
-    instanceConfig_t chConfig;
-    chConfig.channelNumber = 2;            // channel
-    chConfig.preambleCode = 4;             // preambleCode
-    chConfig.pulseRepFreq = DWT_PRF_16M;   // prf
-    chConfig.dataRate = DWT_BR_6M8;        // datarate
-    chConfig.preambleLen = DWT_PLEN_128;   // preambleLength
-    chConfig.pacSize = DWT_PAC8;           // pacSize
-    chConfig.nsSFD = 0;                    // non-standard SFD
-    chConfig.sfdTO = (129 + 8 - 8);        // SFD timeout
-
-    sfConfig_t sfConfig;
-    sfConfig.slotDuration_ms = (10);        //slot duration in milliseconds (NOTE: the ranging exchange must be able to complete in this time
-                                            //e.g. tag sends a poll, 4 anchors send responses and tag sends the final + processing time
-    sfConfig.numSlots = (10);               //number of slots in the superframe (8 tag slots and 2 used for anchor to anchor ranging),
-    sfConfig.sfPeriod_ms = (10*10);         //in ms => 100 ms frame means 10 Hz location rate
-    sfConfig.tagPeriod_ms = (10*10);        //tag period in ms (sleep time + ranging time)
-    sfConfig.pollTxToFinalTxDly_us = (2500); //poll to final delay in microseconds (needs to be adjusted according to lengths of ranging frames)
-
-    //TODO Disable EXTI IRQ
-    //port_DisableEXT_IRQ();
-
-    // inittestapplication
-    // dwt_softreset(); // already done in instance_init()
-
-    // Set this instance mode (tag/anchor)
-    (void) instance_init(TAG, (DW1000Driver*) ut->data);
-    //int err = instance_init(TAG, (DW1000Driver*) ut->data);
-    (void) instance_readdeviceid();
-    //uint32_t deca_dev_id = instance_readdeviceid();
-
-    // TAG ID 0
-    instance_set_16bit_address(0);
-    // simulate DECA config Mode 2 (DIP 1100000)
-    instance_config(&chConfig, &sfConfig) ;
-
-    //TODO Enable EXTI IRQ
-    //port_EnableEXT_IRQ();
-
-    // Start Ranging
-
-    chprintf(stream, "start ranging...\n");
-
-
-    while(1) {
-        //int n = 0;
-        instance_data_t* inst = instance_get_local_structure_ptr(0);
-
-        int monitor_local = inst->monitor ;
-        int txdiff = (chVTGetSystemTimeX() - inst->timeofTx);
-
-        tag_run();
-        //if delayed TX scheduled but did not happen after expected time then it has failed... (has to be < slot period)
-        //if anchor just go into RX and wait for next message from tags/anchors
-        //if tag handle as a timeout
-        if( (monitor_local == 1) && ( txdiff > inst->slotDuration_ms) )  {
-            inst->wait4ack = 0;
-            tag_process_rx_timeout(inst);
-            inst->monitor = 0;
-        }
-    }
-
-    (void) instance_newrange();
-    //int rx = instance_newrange();
-
-    return result;
-}
-
-#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_DW1000) && (AMIROLLD_CFG_DW1000 == 0) */
diff --git a/unittests/periphery-lld/src/ut_alld_DW1000_v1.c b/unittests/periphery-lld/src/ut_alld_DW1000_v1.c
new file mode 100755
index 0000000..4ac1430
--- /dev/null
+++ b/unittests/periphery-lld/src/ut_alld_DW1000_v1.c
@@ -0,0 +1,157 @@
+/*
+AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
+Copyright (C) 2016..2019  Thomas Schöpping et al.
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+#include <amiroos.h>
+#include <ut_alld_DW1000_v1.h>
+
+#if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_DW1000) && (AMIROLLD_CFG_DW1000 == 0)) || defined(__DOXYGEN__)
+
+/******************************************************************************/
+/* LOCAL DEFINITIONS                                                          */
+/******************************************************************************/
+
+/******************************************************************************/
+/* EXPORTED VARIABLES                                                         */
+/******************************************************************************/
+
+/******************************************************************************/
+/* LOCAL TYPES                                                                */
+/******************************************************************************/
+
+/******************************************************************************/
+/* LOCAL VARIABLES                                                            */
+/******************************************************************************/
+
+/******************************************************************************/
+/* LOCAL FUNCTIONS                                                            */
+/******************************************************************************/
+
+/******************************************************************************/
+/* EXPORTED FUNCTIONS                                                         */
+/******************************************************************************/
+
+aos_utresult_t utAlldDw1000Func(BaseSequentialStream* stream, aos_unittest_t* ut) {
+
+    aosDbgCheck(ut->data != NULL);
+
+    aos_utresult_t result = {0, 0};
+
+    chprintf(stream, "init DW1000...\n");
+    dwt_initialise(DWT_LOADUCODE, (DW1000Driver*) ut->data);
+    chprintf(stream, "device ID should be: 0xDECA0130\nget device ID...\n");
+    uint32_t actual_deviceId = dwt_readdevid();
+    chprintf(stream, "actual device ID is: 0x%x\n", actual_deviceId);
+    aosThdMSleep(1);
+
+    if (actual_deviceId == DWT_DEVICE_ID){
+      aosUtPassed(stream, &result);
+    } else {
+      aosUtFailed(stream, &result);
+    }
+
+    /*chprintf(stream, "write-read test...\n");
+    uint32_t testvalue = 0x0A;
+    uint16_t panid = 0x00;
+
+    dwt_readfromdevice(PANADR_ID, PANADR_PAN_ID_OFFSET, 2, (uint8_t*) &panid);
+    chprintf(stream, "value PANADR register before write: %x\n", panid);
+    chprintf(stream, "write 0x%x to PANADR register...\n", testvalue);
+    dwt_setpanid(testvalue);
+    dwt_readfromdevice(PANADR_ID, PANADR_PAN_ID_OFFSET, 2, (uint8_t*) &panid);
+
+    chprintf(stream, "PANADR register is now: 0x%x\n", panid);
+
+    if (panid == testvalue){
+      aosUtPassed(stream, &result);
+    } else {
+      aosUtFailed(stream, &result);
+    }
+*/
+
+    dwt_setleds(0x03);
+
+    // RUN DECA-DEMO
+
+    instanceConfig_t chConfig;
+    chConfig.channelNumber = 2;            // channel
+    chConfig.preambleCode = 4;             // preambleCode
+    chConfig.pulseRepFreq = DWT_PRF_16M;   // prf
+    chConfig.dataRate = DWT_BR_6M8;        // datarate
+    chConfig.preambleLen = DWT_PLEN_128;   // preambleLength
+    chConfig.pacSize = DWT_PAC8;           // pacSize
+    chConfig.nsSFD = 0;                    // non-standard SFD
+    chConfig.sfdTO = (129 + 8 - 8);        // SFD timeout
+
+    sfConfig_t sfConfig;
+    sfConfig.slotDuration_ms = (10);        //slot duration in milliseconds (NOTE: the ranging exchange must be able to complete in this time
+                                            //e.g. tag sends a poll, 4 anchors send responses and tag sends the final + processing time
+    sfConfig.numSlots = (10);               //number of slots in the superframe (8 tag slots and 2 used for anchor to anchor ranging),
+    sfConfig.sfPeriod_ms = (10*10);         //in ms => 100 ms frame means 10 Hz location rate
+    sfConfig.tagPeriod_ms = (10*10);        //tag period in ms (sleep time + ranging time)
+    sfConfig.pollTxToFinalTxDly_us = (2500); //poll to final delay in microseconds (needs to be adjusted according to lengths of ranging frames)
+
+    //TODO Disable EXTI IRQ
+    //port_DisableEXT_IRQ();
+
+    // inittestapplication
+    // dwt_softreset(); // already done in instance_init()
+
+    // Set this instance mode (tag/anchor)
+    (void) instance_init(TAG, (DW1000Driver*) ut->data);
+    //int err = instance_init(TAG, (DW1000Driver*) ut->data);
+    (void) instance_readdeviceid();
+    //uint32_t deca_dev_id = instance_readdeviceid();
+
+    // TAG ID 0
+    instance_set_16bit_address(0);
+    // simulate DECA config Mode 2 (DIP 1100000)
+    instance_config(&chConfig, &sfConfig) ;
+
+    //TODO Enable EXTI IRQ
+    //port_EnableEXT_IRQ();
+
+    // Start Ranging
+
+    chprintf(stream, "start ranging...\n");
+
+
+    while(1) {
+        //int n = 0;
+        instance_data_t* inst = instance_get_local_structure_ptr(0);
+
+        int monitor_local = inst->monitor ;
+        int txdiff = (chVTGetSystemTimeX() - inst->timeofTx);
+
+        tag_run();
+        //if delayed TX scheduled but did not happen after expected time then it has failed... (has to be < slot period)
+        //if anchor just go into RX and wait for next message from tags/anchors
+        //if tag handle as a timeout
+        if( (monitor_local == 1) && ( txdiff > inst->slotDuration_ms) )  {
+            inst->wait4ack = 0;
+            tag_process_rx_timeout(inst);
+            inst->monitor = 0;
+        }
+    }
+
+    (void) instance_newrange();
+    //int rx = instance_newrange();
+
+    return result;
+}
+
+#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_DW1000) && (AMIROLLD_CFG_DW1000 == 0) */
