amiro-os / unittests / periphery-lld / src / ut_alld_DW1000_v1.c @ 908b6fb4
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/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2019 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <amiroos.h> |
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#if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_DW1000) && (AMIROLLD_CFG_DW1000 == 1)) || defined(__DOXYGEN__) |
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#include <aos_debug.h> |
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#include <chprintf.h> |
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#include <aos_thread.h> |
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#include <math.h> |
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#include <module.h> |
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#include <alld_DW1000.h> |
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#include <v1/deca_instance_v1.h> |
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#include <v1/alld_dw1000_regs_v1.h> |
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#include <string.h> |
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/******************************************************************************/
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/* LOCAL DEFINITIONS */
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/******************************************************************************/
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//#define UNIT_TEST_SNIPPETS_DW1000 // switch between unit test and demo apps
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#define SWS1_SHF_MODE 0x02 //short frame mode (6.81M) |
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#define SWS1_CH5_MODE 0x04 //channel 5 mode |
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#define SWS1_ANC_MODE 0x08 //anchor mode |
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#define SWS1_A1A_MODE 0x10 //anchor/tag address A1 |
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#define SWS1_A2A_MODE 0x20 //anchor/tag address A2 |
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#define SWS1_A3A_MODE 0x40 //anchor/tag address A3 |
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#define S1_SWITCH_ON (1) |
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#define S1_SWITCH_OFF (0) |
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/******************************************************************************/
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/* EXPORTED VARIABLES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL TYPES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL VARIABLES */
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/******************************************************************************/
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uint8_t s1switch = 0;
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int instance_anchaddr = 0; |
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int dr_mode = 0; |
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int chan, tagaddr, ancaddr;
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int instance_mode = ANCHOR;
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/******************************************************************************/
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/* LOCAL FUNCTIONS */
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/******************************************************************************/
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/*! @brief Change the SPI speed configuration on the fly */
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void setHighSpeed_SPI(bool speedValue, DW1000Driver* drv){ |
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spiStop(drv->spid); |
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if (speedValue == FALSE){
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spiStart(drv->spid, &moduleHalSpiUwbLsConfig); // low speed spi configuration
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} |
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else{
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spiStart(drv->spid, &moduleHalSpiUwbHsConfig); // high speed spi configuration
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} |
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} |
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/*! @brief entry point to the IRQn event in DW1000 module */
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void process_deca_irq(void){ |
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do{
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dwt_isr(); |
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//while IRS line active (ARM can only do edge sensitive interrupts)
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}while(port_CheckEXT_IRQ() == 1); |
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} |
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/*! @brief Manually set the chip select pin of the SPI */
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void set_SPI_chip_select(void){ |
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apalGpioWrite(moduleGpioSpiChipSelect.gpio, APAL_GPIO_HIGH); |
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} |
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/*! @brief Manually reset the chip select pin of the SPI */
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void clear_SPI_chip_select(void){ |
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apalGpioWrite(moduleGpioSpiChipSelect.gpio, APAL_GPIO_LOW); |
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} |
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/*! @brief Manually reset the DW1000 module */
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void reset_DW1000(void){ |
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// Set the pin as output
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palSetLineMode(moduleGpioDw1000Reset.gpio->line, APAL_GPIO_DIRECTION_OUTPUT); |
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//drive the RSTn pin low
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apalGpioWrite(moduleGpioDw1000Reset.gpio, APAL_GPIO_LOW); |
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//put the pin back to tri-state ... as input
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// palSetLineMode(moduleGpioDw1000Reset.gpio->line, APAL_GPIO_DIRECTION_INPUT); // TODO:
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aosThdMSleep(7);
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} |
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/*! @brief waking up the DW1000 module using Chip Select pin */
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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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// set wakeup pin directly high
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// apalGpioWrite(moduleGpioDw1000WakeUp.gpio, APAL_GPIO_HIGH);
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aosThdMSleep(10);
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} |
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/*! @brief Configure instance tag/anchor/etc... addresses */
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void addressconfigure(uint8_t s1switch, uint8_t mode){
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uint16_t instAddress ; |
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instance_anchaddr = (((s1switch & SWS1_A1A_MODE) << 2) + (s1switch & SWS1_A2A_MODE) + ((s1switch & SWS1_A3A_MODE) >> 2)) >> 4; |
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if(mode == ANCHOR) {
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if(instance_anchaddr > 3) { |
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instAddress = GATEWAY_ANCHOR_ADDR | 0x4 ; //listener |
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} |
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else {
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instAddress = GATEWAY_ANCHOR_ADDR | (uint16_t)instance_anchaddr; |
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} |
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} |
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else{
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instAddress = (uint16_t)instance_anchaddr; |
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} |
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instancesetaddresses(instAddress); |
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} |
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/*! @brief returns the use case / operational mode */
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int decarangingmode(uint8_t s1switch){
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int mode = 0; |
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if(s1switch & SWS1_SHF_MODE) {
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mode = 1;
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} |
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if(s1switch & SWS1_CH5_MODE) {
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mode = mode + 2;
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} |
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return mode;
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} |
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/*! @brief Check connection setting and initialize DW1000 module */
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int32_t inittestapplication(uint8_t s1switch, DW1000Driver* drv){
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uint32_t devID ; |
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int result;
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setHighSpeed_SPI(FALSE, drv); //low speed spi max. ~4M
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devID = instancereaddeviceid() ; |
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if(DWT_DEVICE_ID != devID) {
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clear_SPI_chip_select(); |
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Sleep(1);
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set_SPI_chip_select(); |
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Sleep(7);
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devID = instancereaddeviceid() ; |
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if(DWT_DEVICE_ID != devID){
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return(-1) ; |
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} |
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dwt_softreset(); |
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} |
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reset_DW1000(); //reset the DW1000 by driving the RSTn line low
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if((s1switch & SWS1_ANC_MODE) == 0){ |
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instance_mode = TAG; |
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} |
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else{
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instance_mode = ANCHOR; |
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} |
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result = instance_init(drv); |
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if (0 > result){ |
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return(-1) ; |
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} |
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setHighSpeed_SPI(TRUE, drv); // high speed spi max. ~ 20M
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devID = instancereaddeviceid() ; |
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if (DWT_DEVICE_ID != devID){
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return(-1) ; |
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} |
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addressconfigure(s1switch, (uint8_t)instance_mode) ; |
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if((instance_mode == ANCHOR) && (instance_anchaddr > 0x3)){ |
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instance_mode = LISTENER; |
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} |
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instancesetrole(instance_mode) ; // Set this instance role
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dr_mode = decarangingmode(s1switch); |
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chan = chConfig[dr_mode].channelNumber ; |
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instance_config(&chConfig[dr_mode], &sfConfig[dr_mode], drv) ; |
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return (int32_t)devID;
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} |
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/*! @brief Main Entry point to Initialization of UWB DW1000 configuration */
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#pragma GCC optimize ("O3") |
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int UWB_Init(DW1000Driver* drv){
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/*! Software defined Configurartion for TAG, ANC, and other settings as needed */
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s1switch = S1_SWITCH_OFF << 1 // (on = 6.8 Mbps, off = 110 kbps) |
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| S1_SWITCH_OFF << 2 // (on = CH5, off = CH2) |
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| S1_SWITCH_OFF << 3 // (on = Anchor, off = TAG) |
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| S1_SWITCH_OFF << 4 // (configure Tag or anchor ID no.) |
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| S1_SWITCH_OFF << 5 // (configure Tag or anchor ID no.) |
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| S1_SWITCH_OFF << 6 // (configure Tag or anchor ID no.) |
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| S1_SWITCH_OFF << 7; // Not use in this demo |
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port_DisableEXT_IRQ(); //disable ScenSor IRQ until we configure the device
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if(inittestapplication(s1switch, drv) == -1) { |
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return (-1); //error |
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} |
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aosThdMSleep(5);
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port_EnableEXT_IRQ(); //enable DW1000 IRQ before starting
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return 0; |
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} |
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/******************************************************************************/
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/* EXPORTED FUNCTIONS */
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/******************************************************************************/
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aos_utresult_t utAlldDw1000Func(BaseSequentialStream* stream, aos_unittest_t* ut) {
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aosDbgCheck(ut->data != NULL);
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aos_utresult_t result = {0, 0};
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#if defined (AMIROLLD_CFG_MIC9404x)
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// Enable 3.3 and 1.8 supply voltages for powering up the DW1000 module in AMiRo Light Ring
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if ((ut->data != NULL) && (((ut_dw1000data_t*)(ut->data))->mic9404xd != NULL)){ |
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mic9404x_lld_state_t state; |
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uint32_t status = APAL_STATUS_OK; |
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chprintf(stream, "reading current status of the Power..\n");
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status = mic9404x_lld_get(((ut_dw1000data_t*)(ut->data))->mic9404xd, &state); |
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if (status == APAL_STATUS_OK) {
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aosUtPassedMsg(stream, &result, "power %s\n", (state == MIC9404x_LLD_STATE_ON) ? "enabled" : "disabled"); |
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} else {
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aosUtFailed(stream, &result); |
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} |
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if (state == MIC9404x_LLD_STATE_OFF) {
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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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} |
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if ((status == APAL_STATUS_OK) && (state == MIC9404x_LLD_STATE_ON)) {
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aosUtPassed(stream, &result); |
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} else {
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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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#endif /* defined (AMIROLLD_CFG_MIC9404x) */ |
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// Start the DW1000 module UT after powering up
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chprintf(stream, "init DW1000...\n");
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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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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);
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/*! Unit Test snippets for DW1000.
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* @Note: Event IRQ for DW1000 should be tested separately
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*/
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#if defined(UNIT_TEST_SNIPPETS_DW1000)
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uint32_t actual_devID; |
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port_DisableEXT_IRQ(); |
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/*! 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");
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aosThdMSleep(5);
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actual_devID = instancereaddeviceid(); |
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chprintf(stream, "read ID (LS SPI): 0x%x\n", actual_devID);
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aosThdMSleep(5);
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//if the read of device ID fails, the DW1000 could be asleep
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if(DWT_DEVICE_ID != actual_devID){
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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);
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actual_devID = instancereaddeviceid() ; |
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if(DWT_DEVICE_ID != actual_devID){
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chprintf(stream, "SPI is not working or Unsupported Device ID\n");
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chprintf(stream, "actual device ID is: 0x%x\n", actual_devID);
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chprintf(stream, "expected device ID: 0xDECA0130 \n");
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aosThdMSleep(5);
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} |
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dwt_softreset(); |
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} |
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if (actual_devID == DWT_DEVICE_ID){
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aosUtPassed(stream, &result); |
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} else {
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aosUtFailed(stream, &result); |
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} |
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/*! Blinking TX and RX LED simultenously for 5 times */
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chprintf(stream, "blinking TX and RX LEDs simultenously for 5 times \n");
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for(int i =0; i< 5; i++){ |
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uint8_t mode = 3;
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uint32_t reg ; |
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// Set up for LED output.
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reg = dwt_read32bitoffsetreg(GPIO_CTRL_ID, GPIO_MODE_OFFSET); // Hardcoded = 0xDE001400
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reg &= ~(GPIO_MSGP2_MASK | GPIO_MSGP3_MASK); |
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reg |= (GPIO_PIN2_RXLED | GPIO_PIN3_TXLED); |
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dwt_write32bitoffsetreg(GPIO_CTRL_ID, GPIO_MODE_OFFSET, reg); |
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// Enable LP Oscillator to run from counter and turn on de-bounce clock.
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reg = dwt_read32bitoffsetreg(PMSC_ID, PMSC_CTRL0_OFFSET); // hard-coded = 0xF0B40200
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reg |= (PMSC_CTRL0_GPDCE | PMSC_CTRL0_KHZCLEN); |
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dwt_write32bitoffsetreg(PMSC_ID, PMSC_CTRL0_OFFSET, reg); |
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// Enable LEDs to blink and set default blink time.
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reg = PMSC_LEDC_BLNKEN | PMSC_LEDC_BLINK_TIME_DEF; |
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// Make LEDs blink once if requested.
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if (mode & DWT_LEDS_INIT_BLINK)
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{
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reg |= PMSC_LEDC_BLINK_NOW_ALL; |
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} |
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dwt_write32bitoffsetreg(PMSC_ID, PMSC_LEDC_OFFSET, reg); |
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// Clear force blink bits if needed.
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if(mode & DWT_LEDS_INIT_BLINK)
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{
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reg &= ~PMSC_LEDC_BLINK_NOW_ALL; |
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dwt_write32bitoffsetreg(PMSC_ID, PMSC_LEDC_OFFSET, reg); |
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} |
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aosThdMSleep(500);
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} |
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/*! UT2: Initialization of the DW1000 module */
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reset_DW1000(); |
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chprintf(stream, "initialise the instance for DW1000 \n");
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aosThdMSleep(100);
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int x_init = instance_init(h_dw1000data->dw1000d) ;
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if (x_init != 0){ |
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chprintf(stream, "init error with return value: %d \n", x_init);
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} |
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else {
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chprintf(stream, "succeed init! \n");
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} |
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aosThdMSleep(100);
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if (x_init == 0){ |
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aosUtPassed(stream, &result); |
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} else {
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aosUtFailed(stream, &result); |
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} |
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/*! UT3: High speed SPI Testing */
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setHighSpeed_SPI(true, h_dw1000data->dw1000d);
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chprintf(stream, "expected ID (HS SPI): 0xDECA0130\n");
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actual_devID = instancereaddeviceid(); |
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chprintf(stream, "Read ID (HS SPI): 0x%x\n", actual_devID);
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aosThdMSleep(100);
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if (actual_devID == DWT_DEVICE_ID){
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aosUtPassed(stream, &result); |
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} else {
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aosUtFailed(stream, &result); |
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} |
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/*! UT4: Configuration of UWB module
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* If all the five unit tests are passed, the module is ready to run.
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* Note that the interrupt IRQn should be tested separately.
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*/
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port_EnableEXT_IRQ(); |
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reset_DW1000(); |
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chprintf(stream, "initialise the configuration for UWB application \n");
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aosThdSleep(1);
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int uwb_init = UWB_Init(h_dw1000data->dw1000d);
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if (uwb_init != 0){ |
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chprintf(stream, "UWB config error with return value: %d \n", uwb_init);
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} |
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else {
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chprintf(stream, "succeed UWB config process \n", uwb_init);
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} |
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if (uwb_init == 0){ |
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aosUtPassed(stream, &result); |
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} else {
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aosUtFailed(stream, &result); |
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} |
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/************** End of UNIT_TEST_SNIPPETS_DW1000 *****************/
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#else /* defined(UNIT_TEST_SNIPPETS_DW1000) */ |
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/*! RUN THE STATE MACHINE DEMO APP (RTLS) */
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chprintf(stream, "initialise the State Machine \n");
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aosThdSleep(2);
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/* Initialize UWB system with user defined configuration */
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int uwb_init = UWB_Init(h_dw1000data->dw1000d);
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if (uwb_init != 0){ |
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chprintf(stream, "error in UWB config with return value: %d \n", uwb_init);
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} |
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else {
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chprintf(stream, "succeed the init of UWB config \n");
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} |
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aosThdSleep(1);
|
| 432 |
chprintf(stream, "running the RTLS demo application ... \n");
|
| 433 |
|
| 434 |
/*! Run the localization system demo app as a thread */
|
| 435 |
while(1){ |
| 436 |
instance_run(); |
| 437 |
// aosThdUSleep(10);
|
| 438 |
// aosThdMSleep(1);
|
| 439 |
} |
| 440 |
|
| 441 |
#endif /* defined(UNIT_TEST_SNIPPETS_DW1000) */ |
| 442 |
|
| 443 |
return result;
|
| 444 |
} |
| 445 |
|
| 446 |
|
| 447 |
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_DW1000) && (AMIROLLD_CFG_DW1000 == 1) */ |