Revision 8d4d058e
| modules/NUCLEO-F103RB/Makefile | ||
|---|---|---|
| 142 | 142 |
|
| 143 | 143 |
# Periphery LLDs. |
| 144 | 144 |
AMIROOS_PERIPHERYLLD_INC += $(AMIROLLD)/drivers/LED/v1 \ |
| 145 |
$(AMIROLLD)/drivers/button/v1 |
|
| 146 |
# $(AMIROLLD)/drivers/DW1000/v1
|
|
| 145 |
$(AMIROLLD)/drivers/button/v1\
|
|
| 146 |
$(AMIROLLD)/drivers/DW1000/v1 |
|
| 147 | 147 |
|
| 148 | 148 |
# Tests. |
| 149 | 149 |
AMIROOS_TEST_INC += $(AMIROOS_TEST_DIR)periphery-lld/button_v1 \ |
| 150 |
$(AMIROOS_TEST_DIR)periphery-lld/LED_v1 |
|
| 151 |
# $(AMIROOS_TEST_DIR)periphery-lld/DW1000_v1
|
|
| 150 |
$(AMIROOS_TEST_DIR)periphery-lld/LED_v1\
|
|
| 151 |
$(AMIROOS_TEST_DIR)periphery-lld/DW1000_v1 |
|
| 152 | 152 |
|
| 153 | 153 |
# Module specific inclusion directories |
| 154 | 154 |
MODULE_INC = $(MODULEDIR) \ |
| modules/NUCLEO-F103RB/aosconf.h | ||
|---|---|---|
| 84 | 84 |
* @note Any mandatory events (e.g. for SSSP) are enabled implicitely despite this configuration. |
| 85 | 85 |
*/ |
| 86 | 86 |
#if !defined(OS_CFG_MAIN_LOOP_IOEVENT_MASK) |
| 87 |
#define AMIROOS_CFG_MAIN_LOOP_IOEVENT_MASK MODULE_OS_IOEVENTFLAGS_USERBUTTON
|
|
| 88 |
// #define AMIROOS_CFG_MAIN_LOOP_IOEVENT_MASK (MODULE_OS_IOEVENTFLAGS_DW1000_IRQn | MODULE_OS_IOEVENTFLAGS_USERBUTTON)
|
|
| 87 |
#define AMIROOS_CFG_MAIN_LOOP_IOEVENT_MASK (MODULE_OS_IOEVENTFLAGS_DW1000_IRQn | MODULE_OS_IOEVENTFLAGS_USERBUTTON)
|
|
| 88 |
// #define AMIROOS_CFG_MAIN_LOOP_IOEVENT_MASK MODULE_OS_IOEVENTFLAGS_USERBUTTON
|
|
| 89 | 89 |
#else /* !defined(OS_CFG_MAIN_LOOP_IOEVENT_MASK) */ |
| 90 | 90 |
#define AMIROOS_CFG_MAIN_LOOP_IOEVENT_MASK OS_CFG_MAIN_LOOP_IOEVENT_MASK |
| 91 | 91 |
#endif /* !defined(OS_CFG_MAIN_LOOP_IOEVENT_MASK) */ |
| modules/NUCLEO-F103RB/module.c | ||
|---|---|---|
| 50 | 50 |
}; |
| 51 | 51 |
|
| 52 | 52 |
#if (BOARD_DW1000_CONNECTED == true) |
| 53 |
|
|
| 54 | 53 |
/*! SPI (high and low speed) configuration for DW1000 */ |
| 55 | 54 |
SPIConfig moduleHalSpiUwbHsConfig = {
|
| 56 | 55 |
/* circular buffer mode */ false, |
| ... | ... | |
| 69 | 68 |
/* CR1 */ SPI_CR1_BR_1 | SPI_CR1_BR_0, |
| 70 | 69 |
/* CR2 */ 0, |
| 71 | 70 |
}; |
| 72 |
|
|
| 73 | 71 |
#endif /* (BOARD_DW1000_CONNECTED == true) */ |
| 74 | 72 |
|
| 75 | 73 |
/** @} */ |
| ... | ... | |
| 97 | 95 |
}; |
| 98 | 96 |
|
| 99 | 97 |
#if (BOARD_DW1000_CONNECTED == true) |
| 100 |
|
|
| 101 | 98 |
/** |
| 102 | 99 |
* @brief DW1000 reset output signal GPIO. |
| 103 | 100 |
*/ |
| 104 | 101 |
static apalGpio_t _gpioDw1000Reset = {
|
| 105 |
/* line */ PAL_LINE(GPIOA, GPIOA_ARD_A0),
|
|
| 102 |
/* line */ LINE_ARD_D15, //PAL_LINE(GPIOA, GPIOA_ARD_A0)
|
|
| 106 | 103 |
}; |
| 107 | 104 |
ROMCONST apalControlGpio_t moduleGpioDw1000Reset = {
|
| 108 | 105 |
/* GPIO */ &_gpioDw1000Reset, |
| ... | ... | |
| 118 | 115 |
* @brief DW1000 interrrupt input signal GPIO. |
| 119 | 116 |
*/ |
| 120 | 117 |
static apalGpio_t _gpioDw1000Irqn = {
|
| 121 |
/* line */ PAL_LINE(GPIOB, GPIOB_ARD_D6),
|
|
| 118 |
/* line */ LINE_ARD_D14, // PAL_LINE(GPIOB, GPIOB_ARD_D6)
|
|
| 122 | 119 |
}; |
| 123 | 120 |
ROMCONST apalControlGpio_t moduleGpioDw1000Irqn = {
|
| 124 | 121 |
/* GPIO */ &_gpioDw1000Irqn, |
| ... | ... | |
| 144 | 141 |
/* interrupt edge */ APAL_GPIO_EDGE_NONE, |
| 145 | 142 |
}, |
| 146 | 143 |
}; |
| 147 |
|
|
| 148 | 144 |
#endif /* (BOARD_DW1000_CONNECTED == true) */ |
| 149 | 145 |
|
| 150 | 146 |
/** |
| ... | ... | |
| 194 | 190 |
/*===========================================================================*/ |
| 195 | 191 |
|
| 196 | 192 |
#if (BOARD_DW1000_CONNECTED == true) |
| 197 |
|
|
| 198 | 193 |
/*! @brief TODO: Manual implementation of SPI configuration. Somehow, it is necessary in NUCLEO-F103RB */ |
| 199 | 194 |
void dw1000_spi_init(void){
|
| 200 | 195 |
palSetPadMode(GPIOB, GPIOB_PIN13, PAL_MODE_STM32_ALTERNATE_PUSHPULL); |
| ... | ... | |
| 204 | 199 |
apalGpioWrite(moduleGpioSpiChipSelect.gpio, APAL_GPIO_LOW); |
| 205 | 200 |
} |
| 206 | 201 |
|
| 202 |
/*! @brief entry point to the IRQn event in DW1000 module |
|
| 203 |
* |
|
| 204 |
* */ |
|
| 205 |
void process_deca_irq(void){
|
|
| 206 |
do{
|
|
| 207 |
dwt_isr(); |
|
| 208 |
//while IRS line active (ARM can only do edge sensitive interrupts) |
|
| 209 |
}while(port_CheckEXT_IRQ() == 1); |
|
| 210 |
} |
|
| 211 |
|
|
| 212 |
/*! @brief Check the current value of GPIO pin and return the value */ |
|
| 213 |
apalGpioState_t port_CheckEXT_IRQ(void) {
|
|
| 214 |
apalGpioState_t val; |
|
| 215 |
apalGpioRead(moduleGpioDw1000Irqn.gpio, &val); |
|
| 216 |
return val; |
|
| 217 |
} |
|
| 218 |
|
|
| 219 |
/*! @brief Manually set the chip select pin of the SPI */ |
|
| 220 |
void set_SPI_chip_select(void){
|
|
| 221 |
apalGpioWrite(moduleGpioSpiChipSelect.gpio, APAL_GPIO_HIGH); |
|
| 222 |
} |
|
| 223 |
|
|
| 224 |
/*! @brief Manually reset the chip select pin of the SPI */ |
|
| 225 |
void clear_SPI_chip_select(void){
|
|
| 226 |
apalGpioWrite(moduleGpioSpiChipSelect.gpio, APAL_GPIO_LOW); |
|
| 227 |
} |
|
| 228 |
|
|
| 229 |
/*! @brief Change the SPI speed configuration on the fly */ |
|
| 230 |
void setHighSpeed_SPI(bool speedValue, DW1000Driver* drv){
|
|
| 231 |
|
|
| 232 |
spiStop(drv->spid); |
|
| 233 |
|
|
| 234 |
if (speedValue == FALSE){
|
|
| 235 |
spiStart(drv->spid, &moduleHalSpiUwbLsConfig); // low speed spi configuration |
|
| 236 |
} |
|
| 237 |
else{
|
|
| 238 |
spiStart(drv->spid, &moduleHalSpiUwbHsConfig); // high speed spi configuration |
|
| 239 |
} |
|
| 240 |
} |
|
| 207 | 241 |
#endif /* (BOARD_DW1000_CONNECTED == true) */ |
| 208 | 242 |
/** @} */ |
| 209 | 243 |
|
| ... | ... | |
| 223 | 257 |
}; |
| 224 | 258 |
|
| 225 | 259 |
#if (BOARD_DW1000_CONNECTED == true) |
| 226 |
|
|
| 227 | 260 |
DW1000Driver moduleLldDw1000 = {
|
| 228 | 261 |
/* SPI driver */ &MODULE_HAL_SPI_UWB, |
| 229 | 262 |
/* ext interrupt */ &moduleGpioDw1000Irqn, |
| 230 | 263 |
/* RESET DW1000 */ &moduleGpioDw1000Reset, |
| 231 | 264 |
}; |
| 232 |
|
|
| 233 | 265 |
#endif /* (BOARD_DW1000_CONNECTED == true) */ |
| 234 | 266 |
|
| 235 | 267 |
/** @} */ |
| ... | ... | |
| 263 | 295 |
AOS_SHELL_COMMAND(moduleTestButtonShellCmd, "test:button", _testButtonShellCmdCb); |
| 264 | 296 |
|
| 265 | 297 |
#if (BOARD_DW1000_CONNECTED == true) || defined(__DOXYGEN__) |
| 266 |
|
|
| 267 | 298 |
/* |
| 268 | 299 |
* UwB Driver (DW1000) |
| 269 | 300 |
*/ |
| 270 |
static int _utShellCmdCb_Dw1000(BaseSequentialStream* stream, int argc, char* argv[]) |
|
| 301 |
#include <module_test_DW1000.h> |
|
| 302 |
static int _testDw1000ShellCmdCb(BaseSequentialStream* stream, int argc, char* argv[]) |
|
| 271 | 303 |
{
|
| 272 |
(void)argc; |
|
| 273 |
(void)argv; |
|
| 274 |
aosUtRun(stream, &moduleUtAlldDw1000, NULL); |
|
| 275 |
return AOS_OK; |
|
| 304 |
return moduleTestDw1000ShellCb(stream, argc, argv, NULL); |
|
| 276 | 305 |
} |
| 277 |
aos_unittest_t moduleUtAlldDw1000 = {
|
|
| 278 |
/* info */ "DW1000", |
|
| 279 |
/* name */ "UWB System", |
|
| 280 |
/* test function */ utAlldDw1000Func, |
|
| 281 |
/* shell command */ {
|
|
| 282 |
/* name */ "unittest:Uwb", |
|
| 283 |
/* callback */ _utShellCmdCb_Dw1000, |
|
| 284 |
/* next */ NULL, |
|
| 285 |
}, |
|
| 286 |
/* data */ &moduleLldDw1000, |
|
| 287 |
}; |
|
| 306 |
AOS_SHELL_COMMAND(moduleTestDw1000ShellCmd, "test:DW1000", _testDw1000ShellCmdCb); |
|
| 288 | 307 |
#endif /* (BOARD_DW1000_CONNECTED == true) */ |
| 289 | 308 |
|
| 290 | 309 |
/* |
| ... | ... | |
| 308 | 327 |
status |= moduleTestButtonShellCb(stream, 0, targv, &result_test); |
| 309 | 328 |
result_total = aosTestResultAdd(result_total, result_test); |
| 310 | 329 |
|
| 330 |
#if (BOARD_DW1000_CONNECTED == true) || defined(__DOXYGEN__) |
|
| 311 | 331 |
/* DW1000 */ |
| 312 |
//TODO |
|
| 332 |
status |= moduleTestDw1000ShellCb(stream, 0, targv, &result_test); |
|
| 333 |
result_total = aosTestResultAdd(result_total, result_test); |
|
| 334 |
#endif /* (BOARD_DW1000_CONNECTED == true) */ |
|
| 313 | 335 |
|
| 314 | 336 |
// print total result |
| 315 | 337 |
chprintf(stream, "\n"); |
| modules/NUCLEO-F103RB/module.h | ||
|---|---|---|
| 36 | 36 |
*/ |
| 37 | 37 |
/*===========================================================================*/ |
| 38 | 38 |
|
| 39 |
#if (BOARD_DW1000_CONNECTED == true) |
|
| 40 |
|
|
| 41 | 39 |
#if defined(__cplusplus) |
| 42 | 40 |
extern "C" {
|
| 43 | 41 |
#endif /* defined(__cplusplus) */ |
| 44 | 42 |
|
| 43 |
#if (BOARD_DW1000_CONNECTED == true) |
|
| 45 | 44 |
void dw1000_spi_init(void); |
| 45 |
void process_deca_irq(void); |
|
| 46 |
apalGpioState_t port_CheckEXT_IRQ(void) ; |
|
| 47 |
#endif /* (BOARD_DW1000_CONNECTED == true) */ |
|
| 48 |
|
|
| 49 |
void set_SPI_chip_select(void); |
|
| 50 |
void clear_SPI_chip_select(void); |
|
| 46 | 51 |
|
| 47 | 52 |
#if defined(__cplusplus) |
| 48 | 53 |
} |
| 49 | 54 |
#endif /* defined(__cplusplus) */ |
| 50 | 55 |
|
| 51 |
#endif /* (BOARD_DW1000_CONNECTED == true) */ |
|
| 56 |
|
|
| 52 | 57 |
|
| 53 | 58 |
|
| 54 | 59 |
/** @} */ |
| ... | ... | |
| 76 | 81 |
#define MODULE_HAL_RTC RTCD1 |
| 77 | 82 |
|
| 78 | 83 |
#if (BOARD_DW1000_CONNECTED == true) |
| 79 |
|
|
| 80 | 84 |
/** |
| 81 | 85 |
* @brief SPI interface driver for the motion sensors (gyroscope and accelerometer). |
| 82 | 86 |
*/ |
| ... | ... | |
| 91 | 95 |
* @brief Configuration for the SPI interface driver to communicate with the wireless transceiver. |
| 92 | 96 |
*/ |
| 93 | 97 |
extern SPIConfig moduleHalSpiUwbLsConfig; |
| 94 |
|
|
| 95 | 98 |
#endif /* (BOARD_DW1000_CONNECTED == true) */ |
| 96 | 99 |
|
| 97 | 100 |
/** @} */ |
| ... | ... | |
| 108 | 111 |
*/ |
| 109 | 112 |
extern ROMCONST apalControlGpio_t moduleGpioLed; |
| 110 | 113 |
|
| 111 |
#if (BOARD_DW1000_CONNECTED == true) |
|
| 112 |
|
|
| 114 |
//#if (BOARD_DW1000_CONNECTED == true) |
|
| 113 | 115 |
/** |
| 114 | 116 |
* @brief DW1000 reset output signal |
| 115 | 117 |
* @note the reset pin should be drived as low by MCU to activate. |
| ... | ... | |
| 127 | 129 |
* @brief DW1000 SPI chip select output signal. |
| 128 | 130 |
*/ |
| 129 | 131 |
extern ROMCONST apalControlGpio_t moduleGpioSpiChipSelect ; |
| 130 |
|
|
| 131 |
#endif /* (BOARD_DW1000_CONNECTED == true) */ |
|
| 132 |
//#endif /* (BOARD_DW1000_CONNECTED == true) */ |
|
| 132 | 133 |
|
| 133 | 134 |
/** |
| 134 | 135 |
* @brief User button input signal. |
| ... | ... | |
| 144 | 145 |
*/ |
| 145 | 146 |
/*===========================================================================*/ |
| 146 | 147 |
|
| 147 |
#if (BOARD_DW1000_CONNECTED == true) |
|
| 148 |
|
|
| 148 |
//#if (BOARD_DW1000_CONNECTED == true) |
|
| 149 | 149 |
/** |
| 150 | 150 |
* @brief Event flag to be call dwt_isr() interrupt. |
| 151 | 151 |
*/ |
| 152 |
#define MODULE_OS_IOEVENTFLAGS_DW1000_IRQn AOS_IOEVENT_FLAG(PAL_PAD(LINE_ARD_D6)) |
|
| 153 |
|
|
| 154 |
#endif /* (BOARD_DW1000_CONNECTED == true) */ |
|
| 152 |
#define MODULE_OS_IOEVENTFLAGS_DW1000_IRQn AOS_IOEVENT_FLAG(PAL_PAD(LINE_ARD_D14)) |
|
| 153 |
//#endif /* (BOARD_DW1000_CONNECTED == true) */ |
|
| 155 | 154 |
|
| 156 | 155 |
/** |
| 157 | 156 |
* @brief Event flag to be set on a USER_BUTTON interrupt. |
| ... | ... | |
| 259 | 258 |
*/ |
| 260 | 259 |
#define MODULE_MAIN_LOOP_IO_EVENT_DW1000() { \
|
| 261 | 260 |
if(eventflags & MODULE_OS_IOEVENTFLAGS_DW1000_IRQn) { \
|
| 262 |
/*apalGpioToggle(moduleGpioLedGreen.gpio); // just for debug */ \
|
|
| 261 |
/*apalGpioToggle(moduleGpioLed.gpio);*/ /* just for debug*/ \
|
|
| 263 | 262 |
process_deca_irq(); \ |
| 264 | 263 |
} \ |
| 265 | 264 |
} |
| ... | ... | |
| 298 | 297 |
*/ |
| 299 | 298 |
extern ButtonDriver moduleLldUserButton; |
| 300 | 299 |
|
| 301 |
#if (BOARD_DW1000_CONNECTED == true) |
|
| 302 | 300 |
|
| 301 |
/** |
|
| 302 |
* @brief DW1000 driver. |
|
| 303 |
*/ |
|
| 303 | 304 |
#include <alld_DW1000.h> |
| 305 |
void setHighSpeed_SPI(bool speedValue, DW1000Driver* drv); |
|
| 304 | 306 |
|
| 307 |
#if (BOARD_DW1000_CONNECTED == true) |
|
| 305 | 308 |
extern DW1000Driver moduleLldDw1000; |
| 306 |
|
|
| 307 | 309 |
#endif /* (BOARD_DW1000_CONNECTED == true) */ |
| 308 | 310 |
|
| 309 | 311 |
/** @} */ |
| ... | ... | |
| 327 | 329 |
extern aos_shellcommand_t moduleTestButtonShellCmd; |
| 328 | 330 |
|
| 329 | 331 |
#if (BOARD_DW1000_CONNECTED == true) |
| 330 |
|
|
| 331 | 332 |
/** |
| 332 | 333 |
* @brief DW1000 (UWB transmitter) test command. |
| 333 | 334 |
*/ |
| 334 | 335 |
extern aos_shellcommand_t moduleTestDw1000ShellCmd; |
| 335 |
|
|
| 336 | 336 |
#endif /* (BOARD_DW1000_CONNECTED == true) */ |
| 337 | 337 |
|
| 338 | 338 |
/** |
| modules/NUCLEO-F103RB/test/DW1000/module_test_DW1000.c | ||
|---|---|---|
| 1 |
/* |
|
| 2 |
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform. |
|
| 3 |
Copyright (C) 2016..2019 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 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 General Public License for more details. |
|
| 14 |
|
|
| 15 |
You should have received a copy of the GNU General Public License |
|
| 16 |
along with this program. If not, see <http://www.gnu.org/licenses/>. |
|
| 17 |
*/ |
|
| 18 |
|
|
| 19 |
#include <amiroos.h> |
|
| 20 |
|
|
| 21 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) && (BOARD_DW1000_CONNECTED == true) || defined(__DOXYGEN__) |
|
| 22 |
|
|
| 23 |
|
|
| 24 |
#include <module_test_DW1000.h> |
|
| 25 |
#include <aos_test_DW1000.h> |
|
| 26 |
|
|
| 27 |
/******************************************************************************/ |
|
| 28 |
/* LOCAL DEFINITIONS */ |
|
| 29 |
/******************************************************************************/ |
|
| 30 |
|
|
| 31 |
/******************************************************************************/ |
|
| 32 |
/* EXPORTED VARIABLES */ |
|
| 33 |
/******************************************************************************/ |
|
| 34 |
|
|
| 35 |
/******************************************************************************/ |
|
| 36 |
/* LOCAL TYPES */ |
|
| 37 |
/******************************************************************************/ |
|
| 38 |
|
|
| 39 |
/******************************************************************************/ |
|
| 40 |
/* LOCAL VARIABLES */ |
|
| 41 |
/******************************************************************************/ |
|
| 42 |
|
|
| 43 |
static aos_test_dw1000data_t _data = {
|
|
| 44 |
/* UWB data */ &moduleLldDw1000, |
|
| 45 |
/* event source */ &aos.events.io, |
|
| 46 |
/* event flags */ MODULE_OS_IOEVENTFLAGS_DW1000_IRQn, |
|
| 47 |
}; |
|
| 48 |
|
|
| 49 |
static AOS_TEST(_test, "DW1000", NULL, moduleTestDw1000ShellCb, aosTestDw1000Func, &_data); |
|
| 50 |
|
|
| 51 |
/******************************************************************************/ |
|
| 52 |
/* LOCAL FUNCTIONS */ |
|
| 53 |
/******************************************************************************/ |
|
| 54 |
|
|
| 55 |
/******************************************************************************/ |
|
| 56 |
/* EXPORTED FUNCTIONS */ |
|
| 57 |
/******************************************************************************/ |
|
| 58 |
|
|
| 59 |
int moduleTestDw1000ShellCb(BaseSequentialStream* stream, int argc, char* argv[], aos_testresult_t* result) |
|
| 60 |
{
|
|
| 61 |
(void)argc; |
|
| 62 |
(void)argv; |
|
| 63 |
|
|
| 64 |
if (result != NULL) {
|
|
| 65 |
*result = aosTestRun(stream, &_test, NULL); |
|
| 66 |
} else {
|
|
| 67 |
aosTestRun(stream, &_test, NULL); |
|
| 68 |
} |
|
| 69 |
|
|
| 70 |
return AOS_OK; |
|
| 71 |
} |
|
| 72 |
|
|
| 73 |
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
|
| modules/NUCLEO-F103RB/test/DW1000/module_test_DW1000.h | ||
|---|---|---|
| 1 |
/* |
|
| 2 |
AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform. |
|
| 3 |
Copyright (C) 2016..2019 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 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 General Public License for more details. |
|
| 14 |
|
|
| 15 |
You should have received a copy of the GNU General Public License |
|
| 16 |
along with this program. If not, see <http://www.gnu.org/licenses/>. |
|
| 17 |
*/ |
|
| 18 |
|
|
| 19 |
|
|
| 20 |
#ifndef MODULE_TEST_DW1000_H |
|
| 21 |
#define MODULE_TEST_DW1000_H |
|
| 22 |
|
|
| 23 |
#include <amiroos.h> |
|
| 24 |
|
|
| 25 |
#if (AMIROOS_CFG_TESTS_ENABLE == true) && (BOARD_DW1000_CONNECTED == true) || defined(__DOXYGEN__) |
|
| 26 |
|
|
| 27 |
/******************************************************************************/ |
|
| 28 |
/* CONSTANTS */ |
|
| 29 |
/******************************************************************************/ |
|
| 30 |
|
|
| 31 |
/******************************************************************************/ |
|
| 32 |
/* SETTINGS */ |
|
| 33 |
/******************************************************************************/ |
|
| 34 |
|
|
| 35 |
/******************************************************************************/ |
|
| 36 |
/* CHECKS */ |
|
| 37 |
/******************************************************************************/ |
|
| 38 |
|
|
| 39 |
/******************************************************************************/ |
|
| 40 |
/* DATA STRUCTURES AND TYPES */ |
|
| 41 |
/******************************************************************************/ |
|
| 42 |
|
|
| 43 |
/******************************************************************************/ |
|
| 44 |
/* MACROS */ |
|
| 45 |
/******************************************************************************/ |
|
| 46 |
|
|
| 47 |
/******************************************************************************/ |
|
| 48 |
/* EXTERN DECLARATIONS */ |
|
| 49 |
/******************************************************************************/ |
|
| 50 |
|
|
| 51 |
#if defined(__cplusplus) |
|
| 52 |
extern "C" {
|
|
| 53 |
#endif /* defined(__cplusplus) */ |
|
| 54 |
int moduleTestDw1000ShellCb(BaseSequentialStream* stream, int argc, char* argv[], aos_testresult_t* result); |
|
| 55 |
#if defined(__cplusplus) |
|
| 56 |
} |
|
| 57 |
#endif /* defined(__cplusplus) */ |
|
| 58 |
|
|
| 59 |
/******************************************************************************/ |
|
| 60 |
/* INLINE FUNCTIONS */ |
|
| 61 |
/******************************************************************************/ |
|
| 62 |
|
|
| 63 |
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |
|
| 64 |
|
|
| 65 |
#endif /* MODULE_TEST_DW1000_H */ |
|
| 66 |
|
|
| test/periphery-lld/DW1000_v1/aos_test_DW1000.c | ||
|---|---|---|
| 34 | 34 |
/* LOCAL DEFINITIONS */ |
| 35 | 35 |
/******************************************************************************/ |
| 36 | 36 |
|
| 37 |
//#define TEST_SNIPPETS_DW1000 // switch between test and demo apps
|
|
| 37 |
#define TEST_SNIPPETS_DW1000 // switch between test and demo apps |
|
| 38 | 38 |
|
| 39 | 39 |
#define SWS1_SHF_MODE 0x02 //short frame mode (6.81M) |
| 40 | 40 |
#define SWS1_CH5_MODE 0x04 //channel 5 mode |
| ... | ... | |
| 68 | 68 |
/* LOCAL FUNCTIONS */ |
| 69 | 69 |
/******************************************************************************/ |
| 70 | 70 |
|
| 71 |
/*! @brief Change the SPI speed configuration on the fly */ |
|
| 72 |
void setHighSpeed_SPI(bool speedValue, DW1000Driver* drv){
|
|
| 73 |
|
|
| 74 |
spiStop(drv->spid); |
|
| 75 |
|
|
| 76 |
if (speedValue == FALSE){
|
|
| 77 |
spiStart(drv->spid, &moduleHalSpiUwbLsConfig); // low speed spi configuration |
|
| 78 |
} |
|
| 79 |
else{
|
|
| 80 |
spiStart(drv->spid, &moduleHalSpiUwbHsConfig); // high speed spi configuration |
|
| 81 |
} |
|
| 82 |
} |
|
| 83 |
|
|
| 84 |
/*! @brief entry point to the IRQn event in DW1000 module |
|
| 85 |
* |
|
| 86 |
* */ |
|
| 87 |
void process_deca_irq(void){
|
|
| 88 |
do{
|
|
| 89 |
dwt_isr(); |
|
| 90 |
//while IRS line active (ARM can only do edge sensitive interrupts) |
|
| 91 |
}while(port_CheckEXT_IRQ() == 1); |
|
| 92 |
} |
|
| 93 |
|
|
| 94 |
/*! @brief Check the current value of GPIO pin and return the value */ |
|
| 95 |
apalGpioState_t port_CheckEXT_IRQ(void) {
|
|
| 96 |
apalGpioState_t val; |
|
| 97 |
apalGpioRead(moduleGpioDw1000Irqn.gpio, &val); |
|
| 98 |
return val; |
|
| 99 |
} |
|
| 100 |
|
|
| 101 |
/*! @brief Manually set the chip select pin of the SPI */ |
|
| 102 |
void set_SPI_chip_select(void){
|
|
| 103 |
apalGpioWrite(moduleGpioSpiChipSelect.gpio, APAL_GPIO_HIGH); |
|
| 104 |
} |
|
| 105 |
|
|
| 106 |
/*! @brief Manually reset the chip select pin of the SPI */ |
|
| 107 |
void clear_SPI_chip_select(void){
|
|
| 108 |
apalGpioWrite(moduleGpioSpiChipSelect.gpio, APAL_GPIO_LOW); |
|
| 109 |
} |
|
| 110 |
|
|
| 111 | 71 |
/*! @brief Manually reset the DW1000 module */ |
| 112 | 72 |
void reset_DW1000(void){
|
| 113 | 73 |
|
| ... | ... | |
| 248 | 208 |
/******************************************************************************/ |
| 249 | 209 |
|
| 250 | 210 |
|
| 251 |
aos_testresult_t aosTestDw1000Func(BaseSequentialStream* stream, aos_test_t* test) {
|
|
| 211 |
aos_testresult_t aosTestDw1000Func(BaseSequentialStream* stream, const aos_test_t* test) {
|
|
| 212 |
|
|
| 213 |
aosDbgCheck(test->data != NULL && |
|
| 214 |
((aos_test_dw1000data_t*)test->data)->driver != NULL && |
|
| 215 |
((aos_test_dw1000data_t*)test->data)->evtsource != NULL); |
|
| 252 | 216 |
|
| 253 |
aosDbgCheck(test->data != NULL && ((aos_test_dw1000data_t*)test->data)->driver != NULL); |
|
| 254 | 217 |
|
| 255 | 218 |
aos_testresult_t result = {0, 0};
|
| 256 | 219 |
|
| ... | ... | |
| 393 | 356 |
/*! Run the localization system demo app as a thread */ |
| 394 | 357 |
while(1){
|
| 395 | 358 |
instance_run(); |
| 396 |
// aosThdUSleep(10); |
|
| 359 |
// aosThdUSleep(100);
|
|
| 397 | 360 |
} |
| 398 | 361 |
|
| 399 | 362 |
#endif /* defined(TEST_SNIPPETS_DW1000) */ |
| test/periphery-lld/DW1000_v1/aos_test_DW1000.h | ||
|---|---|---|
| 50 | 50 |
*/ |
| 51 | 51 |
DW1000Driver* driver; |
| 52 | 52 |
|
| 53 |
/** |
|
| 54 |
* @brief Event source to listen to. |
|
| 55 |
*/ |
|
| 56 |
event_source_t* evtsource; |
|
| 57 |
|
|
| 58 |
/** |
|
| 59 |
* @brief Event flags to watch. |
|
| 60 |
*/ |
|
| 61 |
eventflags_t evtflags; |
|
| 62 |
|
|
| 53 | 63 |
} aos_test_dw1000data_t; |
| 54 | 64 |
|
| 55 | 65 |
/******************************************************************************/ |
| ... | ... | |
| 63 | 73 |
#if defined(__cplusplus) |
| 64 | 74 |
extern "C" {
|
| 65 | 75 |
#endif /* defined(__cplusplus) */ |
| 66 |
aos_testresult_t aosTestDw1000Func(BaseSequentialStream* stream, aos_test_t* test); |
|
| 76 |
aos_testresult_t aosTestDw1000Func(BaseSequentialStream* stream, const aos_test_t* test);
|
|
| 67 | 77 |
|
| 68 | 78 |
extern uint8_t s1switch; |
| 69 | 79 |
extern int instance_anchaddr; |
| ... | ... | |
| 75 | 85 |
int32_t inittestapplication(uint8_t s1switch, DW1000Driver* drv); |
| 76 | 86 |
int decarangingmode(uint8_t s1switch); |
| 77 | 87 |
void addressconfigure(uint8_t s1switch, uint8_t mode); |
| 78 |
void set_SPI_chip_select(void); |
|
| 79 |
void clear_SPI_chip_select(void); |
|
| 80 | 88 |
void reset_DW1000(void); |
| 81 |
void setHighSpeed_SPI(bool speedValue, DW1000Driver* drv); |
|
| 82 |
apalGpioState_t port_CheckEXT_IRQ(void) ; |
|
| 83 |
void process_deca_irq(void); |
|
| 84 | 89 |
|
| 85 | 90 |
#if defined(__cplusplus) |
| 86 | 91 |
} |
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