/*
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 .
*/
#include
#if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_DW1000) && (AMIROLLD_CFG_DW1000 == 1)) || defined(__DOXYGEN__)
#include
#include
#include
#include
#include
#include
#include
/******************************************************************************/
/* LOCAL DEFINITIONS */
/******************************************************************************/
//#define UNIT_TEST_SNIPPETS_DW1000 // switch between unit test and demo apps
#define SWS1_SHF_MODE 0x02 //short frame mode (6.81M)
#define SWS1_CH5_MODE 0x04 //channel 5 mode
#define SWS1_ANC_MODE 0x08 //anchor mode
#define SWS1_A1A_MODE 0x10 //anchor/tag address A1
#define SWS1_A2A_MODE 0x20 //anchor/tag address A2
#define SWS1_A3A_MODE 0x40 //anchor/tag address A3
#define SWS1_USB2SPI_MODE 0x78 //USB to SPI mode
#define S1_SWITCH_ON (1)
#define S1_SWITCH_OFF (0)
/******************************************************************************/
/* EXPORTED VARIABLES */
/******************************************************************************/
/******************************************************************************/
/* LOCAL TYPES */
/******************************************************************************/
/******************************************************************************/
/* LOCAL VARIABLES */
/******************************************************************************/
uint8_t s1switch = 0;
int instance_anchaddr = 0;
int dr_mode = 0;
int chan, tagaddr, ancaddr;
int instance_mode = ANCHOR;
DW1000Driver* spiDrv;
/******************************************************************************/
/* LOCAL FUNCTIONS */
/******************************************************************************/
/*! @brief Change the SPI speed configuration on the fly */
void setHighSpeed_SPI(bool speedValue){
spiStop(&MODULE_HAL_SPI_UWB);
// spiAcquireBus(&MODULE_HAL_SPI_UWB);
if (speedValue == FALSE){
spiStart(&MODULE_HAL_SPI_UWB, &moduleHalSpiUwbLsConfig); // low speed spi configuration
}
else{
spiStart(&MODULE_HAL_SPI_UWB, &moduleHalSpiUwbHsConfig); // high speed spi configuration
}
}
/* void setHighSpeed_SPI(bool speedValue){
spiStop(spiDrv->spid);
// spiAcquireBus(&MODULE_HAL_SPI_UWB);
if (speedValue == FALSE){
spiStart(spiDrv->spid, &moduleHalSpiUwbLsConfig); // low speed spi configuration
}
else{
spiStart(spiDrv->spid, &moduleHalSpiUwbHsConfig); // high speed spi configuration
}
} */
/*! @brief Manually set the chip select pin of the SPI */
void port_SPIx_set_chip_select(void){
apalGpioWrite(moduleGpioSpiChipSelect.gpio, APAL_GPIO_HIGH);
}
/*! @brief Manually reset the chip select pin of the SPI */
void port_SPIx_clear_chip_select(void){
apalGpioWrite(moduleGpioSpiChipSelect.gpio, APAL_GPIO_LOW);
}
/*! @brief Manually reset the DW1000 module */
void reset_DW1000(void){
// Set the pin as output
palSetPadMode(moduleGpioDw1000Reset.gpio->port, moduleGpioDw1000Reset.gpio->pad, APAL_GPIO_DIRECTION_OUTPUT);
//drive the RSTn pin low
apalGpioWrite(moduleGpioDw1000Reset.gpio, APAL_GPIO_LOW);
//put the pin back to tri-state ... as input
// palSetPadMode(moduleGpioDw1000Reset.gpio->port, moduleGpioDw1000Reset.gpio->pad, APAL_GPIO_DIRECTION_INPUT); // TODO:
aosThdMSleep(2);
}
/*! @brief Configure instance tag/anchor/etc... addresses
*
* */
void addressconfigure(uint8_t s1switch, uint8_t mode){
uint16_t instAddress ;
instance_anchaddr = (((s1switch & SWS1_A1A_MODE) << 2) + (s1switch & SWS1_A2A_MODE) + ((s1switch & SWS1_A3A_MODE) >> 2)) >> 4;
if(mode == ANCHOR) {
if(instance_anchaddr > 3) {
instAddress = GATEWAY_ANCHOR_ADDR | 0x4 ; //listener
}
else {
instAddress = GATEWAY_ANCHOR_ADDR | (uint16_t)instance_anchaddr;
}
}
else{
instAddress = (uint16_t)instance_anchaddr;
}
instancesetaddresses(instAddress);
}
/*! @brief returns the use case / operational mode
*
* */
int decarangingmode(uint8_t s1switch){
int mode = 0;
if(s1switch & SWS1_SHF_MODE) {
mode = 1;
}
if(s1switch & SWS1_CH5_MODE) {
mode = mode + 2;
}
return mode;
}
/*! @brief Check connection setting and initialize DW1000 module
*
**/
uint32_t inittestapplication(uint8_t s1switch){
uint32_t devID ;
int result;
setHighSpeed_SPI(FALSE); //low speed spi max. ~4M
devID = instancereaddeviceid() ;
if(DWT_DEVICE_ID != devID) {
port_SPIx_clear_chip_select();
Sleep(1);
port_SPIx_set_chip_select();
Sleep(7);
devID = instancereaddeviceid() ;
if(DWT_DEVICE_ID != devID){
return(-1) ; // SPI not working or Unsupported Device ID
}
dwt_softreset();//clear the sleep bit - so that after the hard reset below the DW does not go into sleep
}
reset_DW1000(); //reset the DW1000 by driving the RSTn line low
if((s1switch & SWS1_ANC_MODE) == 0){
instance_mode = TAG;
}
else{
instance_mode = ANCHOR;
}
result = instance_init(spiDrv) ; // TODO
// result = instance_init() ;
if (0 > result){
return(-1) ;
}
setHighSpeed_SPI(TRUE); // high speed spi max. ~ 20M
devID = instancereaddeviceid() ;
if (DWT_DEVICE_ID != devID){
return(-1) ;
}
addressconfigure(s1switch, (uint8_t)instance_mode) ;
if((instance_mode == ANCHOR) && (instance_anchaddr > 0x3)){
instance_mode = LISTENER;
}
instancesetrole(instance_mode) ; // Set this instance role
dr_mode = decarangingmode(s1switch);
chan = chConfig[dr_mode].channelNumber ;
instance_config(&chConfig[dr_mode], &sfConfig[dr_mode]) ;
return devID;
}
/*! @brief Main Entry point to Initialization of UWB DW1000 configuration
*
* */
#pragma GCC optimize ("O3")
int UWB_Init(void){
/*! Software defined Configurartion for TAG, ANC, and other settings as needed */
s1switch = S1_SWITCH_OFF << 1 // is_switch_on(TA_SW1_2) << 2 // (on = 6.8 Mbps, off = 110 kbps)
| S1_SWITCH_OFF << 2 // (on = CH5, off = CH2)
| S1_SWITCH_OFF << 3 // (on = Anchor, off = TAG)
| S1_SWITCH_OFF << 4 // (configure Tag or anchor ID no.)
| S1_SWITCH_OFF << 5 // (configure Tag or anchor ID no.)
| S1_SWITCH_OFF << 6 // (configure Tag or anchor ID no.)
| S1_SWITCH_OFF << 7; // Not use in this demo
port_DisableEXT_IRQ(); //disable ScenSor IRQ until we configure the device
if((s1switch & SWS1_USB2SPI_MODE) == SWS1_USB2SPI_MODE){
return 1;
}
else{
//run RTLS application
if(inittestapplication(s1switch) == (uint32_t)-1) {
return 0; //error
}
aosThdMSleep(5);
}
port_EnableEXT_IRQ(); //enable ScenSor IRQ before starting
return 0;
}
/******************************************************************************/
/* EXPORTED FUNCTIONS */
/******************************************************************************/
aos_utresult_t utAlldDw1000Func(BaseSequentialStream* stream, aos_unittest_t* ut) {
aosDbgCheck(ut->data != NULL);
aos_utresult_t result = {0, 0};
/*! Unit Test snippets for DW1000.
* @Note: Passed all 4 unit tests. Event IRQ should be tested separately
*/
#ifdef UNIT_TEST_SNIPPETS_DW1000
uint32_t actual_deviceId;
chprintf(stream, "init DW1000...\n");
dwt_initialise(DWT_LOADUCODE, (DW1000Driver*) ut->data);
aosThdMSleep(5);
port_DisableEXT_IRQ();
setHighSpeed_SPI(false);
chprintf(stream, "expected device ID (LS SPI): 0xDECA0130 \n");
aosThdMSleep(5);
actual_deviceId = instancereaddeviceid();
chprintf(stream, "actual read ID: 0x%x\n", actual_deviceId);
aosThdMSleep(5);
if(DWT_DEVICE_ID != actual_deviceId) //if the read of device ID fails, the DW1000 could be asleep
{
port_SPIx_clear_chip_select(); //CS low
aosThdMSleep(1); //200 us to wake up then waits 5ms for DW1000 XTAL to stabilise
port_SPIx_set_chip_select(); //CS high
aosThdMSleep(7);
actual_deviceId = instancereaddeviceid() ;
// SPI not working or Unsupported Device ID
if(DWT_DEVICE_ID != actual_deviceId){
chprintf(stream, "SPI not working or Unsupported Device ID\n");
chprintf(stream, "actual device ID is: 0x%x\n", actual_deviceId);
chprintf(stream, "expected device ID: 0xDECA0130 \n");
aosThdMSleep(5);
// return(-1) ;
}
//clear the sleep bit - so that after the hard reset below the DW does not go into sleep
dwt_softreset();
}
/*! Low speed SPI unit test result */
if (actual_deviceId == DWT_DEVICE_ID){
aosUtPassed(stream, &result);
} else {
aosUtFailed(stream, &result);
}
reset_DW1000();
chprintf(stream, " Initialise instance for DW1000 \n");
aosThdSleep(5);
int x_init = instance_init((DW1000Driver*) ut->data) ; // TODO
// int x_init = instance_init() ;
if (0 != x_init){
chprintf(stream, "Init error with return value: %d \n", x_init);
aosThdSleep(5);
}
else {
chprintf(stream, "Init success with return value: %d \n", x_init);
aosThdSleep(5);
}
/* Initialization unit test result */
if (x_init == 0){
aosUtPassed(stream, &result);
} else {
aosUtFailed(stream, &result);
}
setHighSpeed_SPI(true);
chprintf(stream, "expected device ID (HS SPI): 0xDECA0130\n");
actual_deviceId = instancereaddeviceid();
chprintf(stream, "actual read ID: 0x%x\n", actual_deviceId);
aosThdMSleep(5);
/* High speed SPI unit test result */
if (actual_deviceId == DWT_DEVICE_ID){
aosUtPassed(stream, &result);
} else {
aosUtFailed(stream, &result);
}
port_EnableEXT_IRQ();
reset_DW1000();
chprintf(stream, " Initialise the configuration for UWB application \n");
aosThdSleep(5);
int uwb_init = UWB_Init();
if (0 != uwb_init){
chprintf(stream, "UWB config error with return value: %d \n", uwb_init);
aosThdSleep(5);
}
else {
chprintf(stream, "UWB config success with return value: %d \n", uwb_init);
aosThdSleep(5);
}
/* UWB configuration unit test.
* If all the four unit tests are passed, the module is ready to run.
* Note that the interrupt IRQn should be tested separately.
*/
if (uwb_init == 0){
aosUtPassed(stream, &result);
} else {
aosUtFailed(stream, &result);
}
/************** End of UNIT_TEST_SNIPPETS_DW1000*****************/
#else
// RUN THE STATE MACHINE DEMO APP
chprintf(stream, " Initialise the State Machine \n");
aosThdSleep(2);
/* Initialize UWB system with the configuration provided in module_uwb_conf.c */
int uwb_init = UWB_Init();
if (0 != uwb_init){
chprintf(stream, "UWB config error with return value: %d \n", uwb_init);
}
else {
chprintf(stream, "UWB config success with return value: %d \n", uwb_init);
}
aosThdSleep(1);
chprintf(stream, " Running the RTLS demo application \n");
aosThdSleep(1);
/* Run the localization system demo app as a thread */
while(1){
instance_run();
// aosThdUSleep(10);
}
#endif /* UNIT_TEST_SNIPPETS_DW1000 */
return result;
}
#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_DW1000) && (AMIROLLD_CFG_DW1000 == 1) */