Revision 88449987 unittests/periphery-lld/src/ut_alld_DW1000_v1.c
unittests/periphery-lld/src/ut_alld_DW1000_v1.c | ||
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27 | 27 |
#include <module.h> |
28 | 28 |
#include <alld_DW1000.h> |
29 | 29 |
#include <v1/deca_instance_v1.h> |
30 |
#include <v1/alld_dw1000_regs_v1.h> |
|
31 |
#include <string.h> |
|
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|
31 | 33 |
|
32 | 34 |
/******************************************************************************/ |
... | ... | |
69 | 71 |
|
70 | 72 |
/*! @brief Change the SPI speed configuration on the fly */ |
71 | 73 |
void setHighSpeed_SPI(bool speedValue, DW1000Driver* drv){ |
72 |
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73 | 74 |
spiStop(drv->spid); |
74 |
|
|
75 | 75 |
if (speedValue == FALSE){ |
76 | 76 |
spiStart(drv->spid, &moduleHalSpiUwbLsConfig); // low speed spi configuration |
77 | 77 |
} |
... | ... | |
80 | 80 |
} |
81 | 81 |
} |
82 | 82 |
|
83 |
/*! @brief entry point to the IRQn event in DW1000 module |
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84 |
* |
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85 |
* */ |
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83 |
/*! @brief entry point to the IRQn event in DW1000 module */ |
|
86 | 84 |
void process_deca_irq(void){ |
87 | 85 |
do{ |
88 | 86 |
dwt_isr(); |
... | ... | |
90 | 88 |
}while(port_CheckEXT_IRQ() == 1); |
91 | 89 |
} |
92 | 90 |
|
93 |
/*! @brief Check the current value of GPIO pin and return the value */ |
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94 |
apalGpioState_t port_CheckEXT_IRQ(void) { |
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95 |
apalGpioState_t val; |
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96 |
apalGpioRead(moduleGpioDw1000Irqn.gpio, &val); |
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97 |
return val; |
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98 |
} |
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99 |
|
|
100 | 91 |
/*! @brief Manually set the chip select pin of the SPI */ |
101 | 92 |
void set_SPI_chip_select(void){ |
102 | 93 |
apalGpioWrite(moduleGpioSpiChipSelect.gpio, APAL_GPIO_HIGH); |
... | ... | |
109 | 100 |
|
110 | 101 |
/*! @brief Manually reset the DW1000 module */ |
111 | 102 |
void reset_DW1000(void){ |
112 |
|
|
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// Set the pin as output |
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palSetLineMode(moduleGpioDw1000Reset.gpio->line, APAL_GPIO_DIRECTION_OUTPUT); |
115 |
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|
116 | 105 |
//drive the RSTn pin low |
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apalGpioWrite(moduleGpioDw1000Reset.gpio, APAL_GPIO_LOW); |
118 |
|
|
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//put the pin back to tri-state ... as input |
120 | 108 |
// palSetLineMode(moduleGpioDw1000Reset.gpio->line, APAL_GPIO_DIRECTION_INPUT); // TODO: |
109 |
aosThdMSleep(7); |
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110 |
} |
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121 | 111 |
|
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aosThdMSleep(2); |
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/*! @brief waking up the DW1000 module using Chip Select pin */ |
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113 |
void wakeup_DW1000(void){ |
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clear_SPI_chip_select(); |
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aosThdMSleep(1); |
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set_SPI_chip_select(); |
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aosThdMSleep(7); // wait for XTAL to stabilize |
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|
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// set wakeup pin directly high |
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// apalGpioWrite(moduleGpioDw1000WakeUp.gpio, APAL_GPIO_HIGH); |
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aosThdMSleep(10); |
|
123 | 122 |
} |
124 | 123 |
|
125 | 124 |
/*! @brief Configure instance tag/anchor/etc... addresses */ |
126 | 125 |
void addressconfigure(uint8_t s1switch, uint8_t mode){ |
127 | 126 |
uint16_t instAddress ; |
128 |
|
|
129 | 127 |
instance_anchaddr = (((s1switch & SWS1_A1A_MODE) << 2) + (s1switch & SWS1_A2A_MODE) + ((s1switch & SWS1_A3A_MODE) >> 2)) >> 4; |
130 |
|
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131 | 128 |
if(mode == ANCHOR) { |
132 | 129 |
if(instance_anchaddr > 3) { |
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instAddress = GATEWAY_ANCHOR_ADDR | 0x4 ; //listener |
... | ... | |
139 | 136 |
else{ |
140 | 137 |
instAddress = (uint16_t)instance_anchaddr; |
141 | 138 |
} |
142 |
|
|
143 | 139 |
instancesetaddresses(instAddress); |
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} |
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|
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/*! @brief returns the use case / operational mode */ |
147 | 143 |
int decarangingmode(uint8_t s1switch){ |
148 | 144 |
int mode = 0; |
149 |
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|
150 | 145 |
if(s1switch & SWS1_SHF_MODE) { |
151 | 146 |
mode = 1; |
152 | 147 |
} |
153 |
|
|
154 | 148 |
if(s1switch & SWS1_CH5_MODE) { |
155 | 149 |
mode = mode + 2; |
156 | 150 |
} |
157 |
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|
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return mode; |
159 | 152 |
} |
160 | 153 |
|
... | ... | |
177 | 170 |
} |
178 | 171 |
dwt_softreset(); |
179 | 172 |
} |
180 |
|
|
181 | 173 |
reset_DW1000(); //reset the DW1000 by driving the RSTn line low |
182 |
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183 | 174 |
if((s1switch & SWS1_ANC_MODE) == 0){ |
184 | 175 |
instance_mode = TAG; |
185 | 176 |
} |
186 | 177 |
else{ |
187 | 178 |
instance_mode = ANCHOR; |
188 | 179 |
} |
189 |
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result = instance_init(drv) ; |
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result = instance_init(drv); |
|
192 | 181 |
if (0 > result){ |
193 | 182 |
return(-1) ; |
194 | 183 |
} |
195 |
|
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setHighSpeed_SPI(TRUE, drv); // high speed spi max. ~ 20M |
197 | 185 |
devID = instancereaddeviceid() ; |
198 |
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|
199 | 186 |
if (DWT_DEVICE_ID != devID){ |
200 | 187 |
return(-1) ; |
201 | 188 |
} |
202 |
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203 | 189 |
addressconfigure(s1switch, (uint8_t)instance_mode) ; |
204 |
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if((instance_mode == ANCHOR) && (instance_anchaddr > 0x3)){ |
206 | 191 |
instance_mode = LISTENER; |
207 | 192 |
} |
208 |
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|
209 | 193 |
instancesetrole(instance_mode) ; // Set this instance role |
210 | 194 |
dr_mode = decarangingmode(s1switch); |
211 | 195 |
chan = chConfig[dr_mode].channelNumber ; |
... | ... | |
227 | 211 |
| S1_SWITCH_OFF << 6 // (configure Tag or anchor ID no.) |
228 | 212 |
| S1_SWITCH_OFF << 7; // Not use in this demo |
229 | 213 |
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230 |
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231 | 214 |
port_DisableEXT_IRQ(); //disable ScenSor IRQ until we configure the device |
232 |
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233 | 215 |
if(inittestapplication(s1switch, drv) == -1) { |
234 | 216 |
return (-1); //error |
235 | 217 |
} |
236 |
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237 | 218 |
aosThdMSleep(5); |
238 |
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239 | 219 |
port_EnableEXT_IRQ(); //enable DW1000 IRQ before starting |
240 | 220 |
|
241 | 221 |
return 0; |
... | ... | |
245 | 225 |
/******************************************************************************/ |
246 | 226 |
/* EXPORTED FUNCTIONS */ |
247 | 227 |
/******************************************************************************/ |
248 |
|
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249 |
|
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250 | 228 |
aos_utresult_t utAlldDw1000Func(BaseSequentialStream* stream, aos_unittest_t* ut) { |
251 | 229 |
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252 | 230 |
aosDbgCheck(ut->data != NULL); |
253 |
|
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254 | 231 |
aos_utresult_t result = {0, 0}; |
255 | 232 |
|
233 |
#if defined (AMIROLLD_CFG_MIC9404x) |
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234 |
// Enable 3.3 and 1.8 supply voltages for powering up the DW1000 module in AMiRo Light Ring |
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235 |
if ((ut->data != NULL) && (((ut_dw1000data_t*)(ut->data))->mic9404xd != NULL)){ |
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236 |
mic9404x_lld_state_t state; |
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237 |
uint32_t status = APAL_STATUS_OK; |
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238 |
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239 |
chprintf(stream, "reading current status of the Power..\n"); |
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240 |
status = mic9404x_lld_get(((ut_dw1000data_t*)(ut->data))->mic9404xd, &state); |
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241 |
if (status == APAL_STATUS_OK) { |
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242 |
aosUtPassedMsg(stream, &result, "power %s\n", (state == MIC9404x_LLD_STATE_ON) ? "enabled" : "disabled"); |
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} else { |
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244 |
aosUtFailed(stream, &result); |
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245 |
} |
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246 |
if (state == MIC9404x_LLD_STATE_OFF) { |
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247 |
chprintf(stream, "enabling the power ...\n"); |
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status = mic9404x_lld_set(((ut_dw1000data_t*)(ut->data))->mic9404xd, MIC9404x_LLD_STATE_ON); |
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status |= mic9404x_lld_get(((ut_dw1000data_t*)(ut->data))->mic9404xd, &state); |
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if (state == MIC9404x_LLD_STATE_ON) { |
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aosThdSSleep(2); |
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status |= mic9404x_lld_get(((ut_dw1000data_t*)(ut->data))->mic9404xd, &state); |
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253 |
} |
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if ((status == APAL_STATUS_OK) && (state == MIC9404x_LLD_STATE_ON)) { |
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255 |
aosUtPassed(stream, &result); |
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256 |
} else { |
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257 |
aosUtFailed(stream, &result); |
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} |
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} |
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aosThdSleep(1); |
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return result; |
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} |
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263 |
#endif /* defined (AMIROLLD_CFG_MIC9404x) */ |
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|
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265 |
|
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// Start the DW1000 module UT after powering up |
|
256 | 267 |
chprintf(stream, "init DW1000...\n"); |
257 |
dwt_initialise(DWT_LOADUCODE, (DW1000Driver*) ut->data); |
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aosThdMSleep(5); |
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aosThdSleep(1); |
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ut_dw1000data_t* h_dw1000data = NULL; |
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if((ut->data != NULL) && (((ut_dw1000data_t*)(ut->data))->dw1000d != NULL)){ |
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h_dw1000data = ut->data; |
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chprintf(stream, "assign handle for DW1000Driver struct \n"); |
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} |
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else { |
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chprintf(stream, "unsupported data type \n"); |
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return result; |
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} |
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aosThdSleep(1); |
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259 | 279 |
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reset_DW1000(); // hard reset |
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// wakeup_DW1000(); |
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aosThdMSleep(5); |
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int init = dwt_initialise(DWT_LOADUCODE, h_dw1000data->dw1000d); |
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if (init == 0){ |
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chprintf(stream, "DW1000 is initialized \n"); |
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} |
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else { |
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chprintf(stream, "init error with return value: %d \n", init); |
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} |
|
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aosThdMSleep(5); |
|
260 | 291 |
|
261 | 292 |
/*! Unit Test snippets for DW1000. |
262 | 293 |
* @Note: Event IRQ for DW1000 should be tested separately |
263 | 294 |
*/ |
264 | 295 |
#if defined(UNIT_TEST_SNIPPETS_DW1000) |
265 |
|
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266 |
uint32_t actual_deviceId; |
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267 |
|
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296 |
uint32_t actual_devID; |
|
268 | 297 |
port_DisableEXT_IRQ(); |
269 | 298 |
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270 |
setHighSpeed_SPI(false, (DW1000Driver*) ut->data); |
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chprintf(stream, "expected device ID (LS SPI): 0xDECA0130 \n"); |
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299 |
/*! UT1: Low speed SPI result */ |
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setHighSpeed_SPI(false, h_dw1000data->dw1000d); |
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chprintf(stream, "expected ID (LS SPI): 0xDECA0130 \n"); |
|
272 | 302 |
aosThdMSleep(5); |
273 |
actual_deviceId = instancereaddeviceid();
|
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274 |
chprintf(stream, "actual read ID: 0x%x\n", actual_deviceId);
|
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actual_devID = instancereaddeviceid();
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chprintf(stream, "read ID (LS SPI): 0x%x\n", actual_devID);
|
|
275 | 305 |
aosThdMSleep(5); |
276 | 306 |
|
277 | 307 |
//if the read of device ID fails, the DW1000 could be asleep |
278 |
if(DWT_DEVICE_ID != actual_deviceId){ |
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279 |
|
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if(DWT_DEVICE_ID != actual_devID){ |
|
280 | 309 |
clear_SPI_chip_select(); |
281 | 310 |
aosThdMSleep(1); |
282 | 311 |
set_SPI_chip_select(); |
283 | 312 |
aosThdMSleep(7); |
284 |
actual_deviceId = instancereaddeviceid() ; |
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285 |
|
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286 |
if(DWT_DEVICE_ID != actual_deviceId){ |
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actual_devID = instancereaddeviceid() ; |
|
314 |
if(DWT_DEVICE_ID != actual_devID){ |
|
287 | 315 |
chprintf(stream, "SPI is not working or Unsupported Device ID\n"); |
288 |
chprintf(stream, "actual device ID is: 0x%x\n", actual_deviceId);
|
|
316 |
chprintf(stream, "actual device ID is: 0x%x\n", actual_devID);
|
|
289 | 317 |
chprintf(stream, "expected device ID: 0xDECA0130 \n"); |
290 | 318 |
aosThdMSleep(5); |
291 |
} |
|
292 |
|
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293 |
//clear the sleep bit - so that after the hard reset below the DW does not go into sleep |
|
319 |
} |
|
294 | 320 |
dwt_softreset(); |
295 | 321 |
} |
296 | 322 |
|
297 |
/*! UT1: Low speed SPI result */ |
|
298 |
if (actual_deviceId == DWT_DEVICE_ID){ |
|
323 |
if (actual_devID == DWT_DEVICE_ID){ |
|
299 | 324 |
aosUtPassed(stream, &result); |
300 | 325 |
} else { |
301 | 326 |
aosUtFailed(stream, &result); |
302 | 327 |
} |
303 | 328 |
|
304 |
reset_DW1000(); |
|
305 |
|
|
306 |
chprintf(stream, "initialise instance for DW1000 \n"); |
|
307 |
aosThdSleep(1); |
|
308 |
|
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309 |
int x_init = instance_init((DW1000Driver*) ut->data) ; |
|
329 |
/*! Blinking TX and RX LED simultenously for 5 times */ |
|
330 |
chprintf(stream, "blinking TX and RX LEDs simultenously for 5 times \n"); |
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331 |
for(int i =0; i< 5; i++){ |
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332 |
uint8_t mode = 3; |
|
333 |
uint32_t reg ; |
|
334 |
|
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335 |
// Set up for LED output. |
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336 |
reg = dwt_read32bitoffsetreg(GPIO_CTRL_ID, GPIO_MODE_OFFSET); // Hardcoded = 0xDE001400 |
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337 |
reg &= ~(GPIO_MSGP2_MASK | GPIO_MSGP3_MASK); |
|
338 |
reg |= (GPIO_PIN2_RXLED | GPIO_PIN3_TXLED); |
|
339 |
dwt_write32bitoffsetreg(GPIO_CTRL_ID, GPIO_MODE_OFFSET, reg); |
|
340 |
|
|
341 |
// Enable LP Oscillator to run from counter and turn on de-bounce clock. |
|
342 |
reg = dwt_read32bitoffsetreg(PMSC_ID, PMSC_CTRL0_OFFSET); // hard-coded = 0xF0B40200 |
|
343 |
reg |= (PMSC_CTRL0_GPDCE | PMSC_CTRL0_KHZCLEN); |
|
344 |
dwt_write32bitoffsetreg(PMSC_ID, PMSC_CTRL0_OFFSET, reg); |
|
345 |
|
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346 |
// Enable LEDs to blink and set default blink time. |
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347 |
reg = PMSC_LEDC_BLNKEN | PMSC_LEDC_BLINK_TIME_DEF; |
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348 |
// Make LEDs blink once if requested. |
|
349 |
if (mode & DWT_LEDS_INIT_BLINK) |
|
350 |
{ |
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351 |
reg |= PMSC_LEDC_BLINK_NOW_ALL; |
|
352 |
} |
|
353 |
dwt_write32bitoffsetreg(PMSC_ID, PMSC_LEDC_OFFSET, reg); |
|
354 |
// Clear force blink bits if needed. |
|
355 |
if(mode & DWT_LEDS_INIT_BLINK) |
|
356 |
{ |
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357 |
reg &= ~PMSC_LEDC_BLINK_NOW_ALL; |
|
358 |
dwt_write32bitoffsetreg(PMSC_ID, PMSC_LEDC_OFFSET, reg); |
|
359 |
} |
|
360 |
aosThdMSleep(500); |
|
361 |
} |
|
310 | 362 |
|
311 |
if (0 != x_init){ |
|
363 |
/*! UT2: Initialization of the DW1000 module */ |
|
364 |
reset_DW1000(); |
|
365 |
chprintf(stream, "initialise the instance for DW1000 \n"); |
|
366 |
aosThdMSleep(100); |
|
367 |
int x_init = instance_init(h_dw1000data->dw1000d) ; |
|
368 |
if (x_init != 0){ |
|
312 | 369 |
chprintf(stream, "init error with return value: %d \n", x_init); |
313 |
aosThdSleep(1); |
|
314 | 370 |
} |
315 | 371 |
else { |
316 |
chprintf(stream, "init success with return value: %d \n", x_init); |
|
317 |
aosThdSleep(1); |
|
372 |
chprintf(stream, "succeed init! \n"); |
|
318 | 373 |
} |
319 |
|
|
320 |
/*! UT2: Initialization result*/ |
|
374 |
aosThdMSleep(100); |
|
321 | 375 |
if (x_init == 0){ |
322 | 376 |
aosUtPassed(stream, &result); |
323 | 377 |
} else { |
324 | 378 |
aosUtFailed(stream, &result); |
325 | 379 |
} |
326 | 380 |
|
327 |
setHighSpeed_SPI(true, (DW1000Driver*) ut->data); |
|
328 |
|
|
329 |
chprintf(stream, "expected device ID (HS SPI): 0xDECA0130\n"); |
|
330 |
actual_deviceId = instancereaddeviceid(); |
|
331 |
chprintf(stream, "actual read ID: 0x%x\n", actual_deviceId); |
|
332 |
aosThdMSleep(1); |
|
333 |
|
|
334 |
/*! UT3: High speed SPI result*/ |
|
335 |
if (actual_deviceId == DWT_DEVICE_ID){ |
|
381 |
/*! UT3: High speed SPI Testing */ |
|
382 |
setHighSpeed_SPI(true, h_dw1000data->dw1000d); |
|
383 |
chprintf(stream, "expected ID (HS SPI): 0xDECA0130\n"); |
|
384 |
actual_devID = instancereaddeviceid(); |
|
385 |
chprintf(stream, "Read ID (HS SPI): 0x%x\n", actual_devID); |
|
386 |
aosThdMSleep(100); |
|
387 |
if (actual_devID == DWT_DEVICE_ID){ |
|
336 | 388 |
aosUtPassed(stream, &result); |
337 | 389 |
} else { |
338 | 390 |
aosUtFailed(stream, &result); |
339 | 391 |
} |
340 | 392 |
|
393 |
/*! UT4: Configuration of UWB module |
|
394 |
* If all the five unit tests are passed, the module is ready to run. |
|
395 |
* Note that the interrupt IRQn should be tested separately. |
|
396 |
*/ |
|
341 | 397 |
port_EnableEXT_IRQ(); |
342 | 398 |
reset_DW1000(); |
343 |
|
|
344 | 399 |
chprintf(stream, "initialise the configuration for UWB application \n"); |
345 | 400 |
aosThdSleep(1); |
346 |
|
|
347 |
int uwb_init = UWB_Init((DW1000Driver*) ut->data); |
|
348 |
|
|
349 |
if (0 != uwb_init){ |
|
401 |
int uwb_init = UWB_Init(h_dw1000data->dw1000d); |
|
402 |
if (uwb_init != 0){ |
|
350 | 403 |
chprintf(stream, "UWB config error with return value: %d \n", uwb_init); |
351 |
aosThdSleep(1); |
|
352 | 404 |
} |
353 | 405 |
else { |
354 |
chprintf(stream, "UWB config success with return value: %d \n", uwb_init); |
|
355 |
aosThdSleep(1); |
|
406 |
chprintf(stream, "succeed UWB config process \n", uwb_init); |
|
356 | 407 |
} |
357 |
|
|
358 |
/*! UT4: UWB configuration result |
|
359 |
* If all the four unit tests are passed, the module is ready to run. |
|
360 |
* Note that the interrupt IRQn should be tested separately. |
|
361 |
*/ |
|
362 | 408 |
if (uwb_init == 0){ |
363 | 409 |
aosUtPassed(stream, &result); |
364 | 410 |
} else { |
365 | 411 |
aosUtFailed(stream, &result); |
366 | 412 |
} |
367 | 413 |
|
368 |
/************** End of UNIT_TEST_SNIPPETS_DW1000*****************/ |
|
414 |
/************** End of UNIT_TEST_SNIPPETS_DW1000 *****************/
|
|
369 | 415 |
|
370 | 416 |
#else /* defined(UNIT_TEST_SNIPPETS_DW1000) */ |
371 | 417 |
|
372 |
|
|
373 | 418 |
/*! RUN THE STATE MACHINE DEMO APP (RTLS) */ |
374 |
|
|
375 | 419 |
chprintf(stream, "initialise the State Machine \n"); |
376 | 420 |
aosThdSleep(2); |
377 | 421 |
|
378 | 422 |
/* Initialize UWB system with user defined configuration */ |
379 |
int uwb_init = UWB_Init((DW1000Driver*) ut->data);
|
|
423 |
int uwb_init = UWB_Init(h_dw1000data->dw1000d);
|
|
380 | 424 |
|
381 |
if (0 != uwb_init){
|
|
425 |
if (uwb_init != 0){
|
|
382 | 426 |
chprintf(stream, "error in UWB config with return value: %d \n", uwb_init); |
383 | 427 |
} |
384 | 428 |
else { |
385 | 429 |
chprintf(stream, "succeed the init of UWB config \n"); |
386 | 430 |
} |
387 | 431 |
aosThdSleep(1); |
388 |
|
|
389 | 432 |
chprintf(stream, "running the RTLS demo application ... \n"); |
390 |
aosThdSleep(1); |
|
391 | 433 |
|
392 | 434 |
/*! Run the localization system demo app as a thread */ |
393 | 435 |
while(1){ |
394 | 436 |
instance_run(); |
395 | 437 |
// aosThdUSleep(10); |
438 |
// aosThdMSleep(1); |
|
396 | 439 |
} |
397 | 440 |
|
398 | 441 |
#endif /* defined(UNIT_TEST_SNIPPETS_DW1000) */ |
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