AMiRo-OS

Subproject commit 27227574f700b45e9a476af8dbae3fedbdfb8871

/**

 * @brief   Enable flag for the DW1000.

 */

#define AMIROLLD_CFG_USE_DW1000

SPIConfig moduleHalSpiUWBConfig = {

  /* CR1                         */ SPI_CR1_BR_0 | SPI_CR1_BR_1,

//INFO WL_GDO2,WL_GDO0 /  -> UWB EXTI config.

DW1000Driver moduleLldDW1000 = {

  /* SPI driver */ &MODULE_HAL_SPI_UWB,

  /* EXTI GPIO  */ &_gpioWlGdo2,

  /* RESET GPIO */ &_gpioWlGdo2,

};

/* UWB Module */

static int _utShellCmdCb_Dw1000(BaseSequentialStream* stream, int argc, char* argv[])

{

  (void)argc;

  (void)argv;

  aosUtRun(stream,&moduleUtAlldDw1000, NULL);

  return AOS_OK;

}

aos_unittest_t moduleUtAlldDw1000 = {

  /* info           */ "DW1000",

  /* name           */ "UWB Module",

  /* test function  */ utAlldDw1000Func,

  /* shell command  */ {

    /* name     */ "unittest:UWB",

    /* callback */ _utShellCmdCb_Dw1000,

    /* next     */ NULL,

  },

  /* data           */ &moduleLldDW1000,

};

static void _alld_dw1000_callback(void* args);

 * @brief   SPI interface driver for UWB Module.

#define MODULE_HAL_SPI_UWB                      SPID2

 * @brief   Configuration for the SPI interface driver to communicate with the LED driver.

extern SPIConfig moduleHalSpiLightConfig;

 * @brief   Configuration for the SPI interface driver to communicate with the LED driver.

extern SPIConfig moduleHalSpiUWBConfig;

  palSetPadCallback(moduleGpioWlGdo2.gpio->port, moduleGpioWlGdo2.gpio->pad, _alld_dw1000_callback, &moduleGpioWlGdo2.gpio->pad);  \

  palSetPadCallback(moduleGpioWlGdo0.gpio->port, moduleGpioWlGdo0.gpio->pad, _alld_dw1000_callback, &moduleGpioWlGdo0.gpio->pad);  \

  aosShellAddCommand(&aos.shell, &moduleUtAlldDw1000.shellcmd);                \

  spiStart(&MODULE_HAL_SPI_UWB, &moduleHalSpiUWBConfig);                      \

  spiStop(&MODULE_HAL_SPI_UWB);                                               \

#include <alld_dw1000.h>

/**

 * @brief   DW1000 driver for UWB.

 */

extern DW1000Driver moduleLldDW1000;

/*! ------------------------------------------------------------------------------------------------------------------

 * Function: _alld_dw1000_callback()

 *

 * Low level abstract function to handle 'reset' adn 'irq' interrupt from DW1000

 * Expects arg to be of iopadid_t* type, used to distinguish between irq or reset signal

 */

static void _alld_dw1000_callback(void* args) {

    aosDbgCheck(true);

    chSysLockFromISR();

    if ((*(iopadid_t*) args) == moduleLldDW1000.gpio_reset->pad)

    {

        // dw1000 external indicate reset done

    }

    else if ((*(iopadid_t*) args) == moduleLldDW1000.gpio_exti->pad)

    {

        dwt_isr();

    }

    else

    {

        return;

    }

    chSysUnlockFromISR();

}

#include <ut_alld_dw1000.h>

/**

 * @brief   DW1000 unit test object.

 */

extern aos_unittest_t moduleUtAlldDw1000;

    return chnControl(((AosIOChannel*)instance)->asyncchannel, operation, arg));

/*

AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2018  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

#ifndef _AMIROOS_UT_DW1000_LLD_HPP_

#define _AMIROOS_UT_DW1000_LLD_HPP_

#include <aos_unittest.h>

#include <amiro-lld.h>

#if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_DW1000)) || defined(__DOXYGEN__)

#include <alld_dw1000.h>

//#include <deca_instance.h>

#ifdef __cplusplus

extern "C" {

#endif

  aos_utresult_t utAlldDw1000Func(BaseSequentialStream* stream, aos_unittest_t* ut);

#ifdef __cplusplus

}

#endif

#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_DW1000) */

#endif /* _AMIROOS_UT_DW1000_LLD_HPP_ */

/*

AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2018  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

#ifndef _AMIROOS_MODULE_H_

#define _AMIROOS_MODULE_H_

/*===========================================================================*/

/**

 * @name Module specific functions

 * @{

 */

/*===========================================================================*/

static void _alld_dw1000_callback(void* args);

/** @} */

/*===========================================================================*/

/**

 * @name ChibiOS/HAL configuration

 * @{

 */

/*===========================================================================*/

#include <hal.h>

/**

 * @brief   CAN driver to use.

 */

#define MODULE_HAL_CAN                          CAND1

/**

 * @brief   Configuration for the CAN driver.

 */

extern CANConfig moduleHalCanConfig;

/**

 * @brief   I2C driver to access the EEPROM.

 */

#define MODULE_HAL_I2C_EEPROM                   I2CD2

/**

 * @brief   Configuration for the EEPROM I2C driver.

 */

extern I2CConfig moduleHalI2cEepromConfig;

/**

 * @brief   Serial driver of the programmer interface.

 */

#define MODULE_HAL_PROGIF                       SD1

/**

 * @brief   Configuration for the programmer serial interface driver.

 */

extern SerialConfig moduleHalProgIfConfig;

/**

 * @brief   SPI interface driver for the motion sensors (gyroscope and accelerometer).

 */

#define MODULE_HAL_SPI_LIGHT                    SPID1

/**

 * @brief   SPI interface driver for UWB Module.

 */

#define MODULE_HAL_SPI_UWB                      SPID2

/**

 * @brief   Configuration for the SPI interface driver to communicate with the LED driver.

 */

extern SPIConfig moduleHalSpiLightConfig;

/**

 * @brief   Configuration for the SPI interface driver to communicate with the LED driver.

 */

extern SPIConfig moduleHalSpiUWBConfig;

/**

 * @brief   Real-Time Clock driver.

 */

#define MODULE_HAL_RTC                          RTCD1

/** @} */

/*===========================================================================*/

/**

 * @name GPIO definitions

 * @{

 */

/*===========================================================================*/

#include <amiro-lld.h>

/**

 * @brief   LIGHT_BANK output signal GPIO.

 */

extern apalControlGpio_t moduleGpioLightBlank;

/**

 * @brief   LASER_EN output signal GPIO.

 */

extern apalControlGpio_t moduleGpioLaserEn;

/**

 * @brief   LASER_OC input signal GPIO.

 */

extern apalControlGpio_t moduleGpioLaserOc;

/**

 * @brief   SYS_UART_DN bidirectional signal GPIO.

 */

extern apalControlGpio_t moduleGpioSysUartDn;

/**

 * @brief   WL_GDO2 input signal GPIO.

 */

extern apalControlGpio_t moduleGpioWlGdo2;

/**

 * @brief   WL_GDO0 input signal GPIO.

 */

extern apalControlGpio_t moduleGpioWlGdo0;

/**

 * @brief   LIGHT_XLAT output signal GPIO.

 */

extern apalControlGpio_t moduleGpioLightXlat;

/**

 * @brief   SYS_PD bidirectional signal GPIO.

 */

extern apalControlGpio_t moduleGpioSysPd;

/**

 * @brief   SYS_SYNC bidirectional signal GPIO.

 */

extern apalControlGpio_t moduleGpioSysSync;

/** @} */

/*===========================================================================*/

/**

 * @name AMiRo-OS core configurations

 * @{

 */

/*===========================================================================*/

/**

 * @brief   Event flag to be set on a LASER_OC interrupt.

 */

#define MODULE_OS_IOEVENTFLAGS_LASEROC          ((eventflags_t)1 << GPIOB_LASER_OC_N)

/**

 * @brief   Event flag to be set on a SYS_UART_DN interrupt.

 */

#define MODULE_OS_IOEVENTFLAGS_SYSUARTDN        ((eventflags_t)1 << GPIOB_SYS_UART_DN)

/**

 * @brief   Event flag to be set on a WL_GDO2 interrupt.

 */

#define MODULE_OS_IOEVENTFLAGS_WLGDO2           ((eventflags_t)1 << GPIOB_WL_GDO2)

/**

 * @brief   Event flag to be set on a WL_GDO0 interrupt.

 */

#define MODULE_OS_IOEVENTFLAGS_WLGDO0           ((eventflags_t)1 << GPIOB_WL_GDO0)

/**

 * @brief   Event flag to be set on a SYS_PD interrupt.

 */

#define MODULE_OS_IOEVENTFLAGS_SYSPD            ((eventflags_t)1 << GPIOC_SYS_PD_N)

/**

 * @brief   Event flag to be set on a SYS_SYNC interrupt.

 */

#define MODULE_OS_IOEVENTFLAGS_SYSSYNC          ((eventflags_t)1 << GPIOD_SYS_INT_N)

#if (AMIROOS_CFG_SHELL_ENABLE == true) || defined(__DOXYGEN__)

/**

 * @brief   Shell prompt text.

 */

extern const char* moduleShellPrompt;

#endif

/**

 * @brief   Interrupt initialization macro.

 * @note    SSSP related interrupt signals are already initialized in 'aos_system.c'.

 */

#define MODULE_INIT_INTERRUPTS() {                                            \

  /* LASER_OC */                                                              \

  palSetPadCallback(moduleGpioLaserOc.gpio->port, moduleGpioLaserOc.gpio->pad, _intCallback, &moduleGpioLaserOc.gpio->pad); \

  palEnablePadEvent(moduleGpioLaserOc.gpio->port, moduleGpioLaserOc.gpio->pad, APAL2CH_EDGE(moduleGpioLaserOc.meta.edge));  \

  /* WL_GDO2 */                                                               \

  palSetPadCallback(moduleGpioWlGdo2.gpio->port, moduleGpioWlGdo2.gpio->pad, _alld_dw1000_callback, &moduleGpioWlGdo2.gpio->pad);  \

  palEnablePadEvent(moduleGpioWlGdo2.gpio->port, moduleGpioWlGdo2.gpio->pad, APAL2CH_EDGE(moduleGpioWlGdo2.meta.edge));   \

  /* WL_GDO0 */                                                               \

  palSetPadCallback(moduleGpioWlGdo0.gpio->port, moduleGpioWlGdo0.gpio->pad, _alld_dw1000_callback, &moduleGpioWlGdo0.gpio->pad);  \

  /*palEnablePadEvent(moduleGpioWlGdo0.gpio->port, moduleGpioWlGdo0.gpio->pad, APAL2CH_EDGE(moduleGpioWlGdo0.meta.edge)); // this is broken for some reason*/   \

}

/**

 * @brief   Unit test initialization hook.

 */

#define MODULE_INIT_TESTS() {                                                 \

  /* add unit-test shell commands */                                          \

  aosShellAddCommand(&aos.shell, &moduleUtAlldAt24c01bn.shellcmd);            \

  aosShellAddCommand(&aos.shell, &moduleUtAlldTlc5947.shellcmd);              \

  aosShellAddCommand(&aos.shell, &moduleUtAlldTps2051bdbv.shellcmd);          \

  aosShellAddCommand(&aos.shell, &moduleUtAlldDw1000.shellcmd);                \

}

/**

 * @brief   Periphery communication interfaces initialization hook.

 */

#define MODULE_INIT_PERIPHERY_COMM() {                                        \

  /* serial driver */                                                         \

  sdStart(&MODULE_HAL_PROGIF, &moduleHalProgIfConfig);                        \

  /* I2C */                                                                   \

  moduleHalI2cEepromConfig.clock_speed = (AT24C01BN_LLD_I2C_MAXFREQUENCY < moduleHalI2cEepromConfig.clock_speed) ? AT24C01BN_LLD_I2C_MAXFREQUENCY : moduleHalI2cEepromConfig.clock_speed; \

  moduleHalI2cEepromConfig.duty_cycle = (moduleHalI2cEepromConfig.clock_speed <= 100000) ? STD_DUTY_CYCLE : FAST_DUTY_CYCLE_2;  \

  i2cStart(&MODULE_HAL_I2C_EEPROM, &moduleHalI2cEepromConfig);                \

  /* SPI */                                                                   \

  spiStart(&MODULE_HAL_SPI_LIGHT, &moduleHalSpiLightConfig);                  \

  spiStart(&MODULE_HAL_SPI_UWB, &moduleHalSpiUWBConfig);                      \

}

/**

 * @brief   Periphery communication interface deinitialization hook.

 */

#define MODULE_SHUTDOWN_PERIPHERY_COMM() {                                    \

  /* SPI */                                                                   \

  spiStop(&MODULE_HAL_SPI_LIGHT);                                             \

  spiStop(&MODULE_HAL_SPI_UWB);                                               \

  /* I2C */                                                                   \

  i2cStop(&MODULE_HAL_I2C_EEPROM);                                            \

  /* don't stop the serial driver so messages can still be printed */         \

}

/** @} */

/*===========================================================================*/

/**

 * @name Startup Shutdown Synchronization Protocol (SSSP)

 * @{

 */

/*===========================================================================*/

/**

 * @brief   PD signal GPIO.

 */

#define moduleSsspGpioPd                        moduleGpioSysPd

/**

 * @brief   SYNC signal GPIO.

 */

#define moduleSsspGpioSync                      moduleGpioSysSync

/**

 * @brief   DN signal GPIO.

 */

#define moduleSsspGpioDn                        moduleGpioSysUartDn

/**

 * @brief   Event flags for PD signal events.

 */

#define MODULE_SSSP_EVENTFLAGS_PD               MODULE_OS_IOEVENTFLAGS_SYSPD

/**

 * @brief   Event flags for SYNC signal events.

 */

#define MODULE_SSSP_EVENTFLAGS_SYNC             MODULE_OS_IOEVENTFLAGS_SYSSYNC

/**

 * @brief   Event flags for DN signal events.

 */

#define MODULE_SSSP_EVENTFLAGS_DN               MODULE_OS_IOEVENTFLAGS_SYSUARTDN

/** @} */

/*===========================================================================*/

/**

 * @name Low-level drivers

 * @{

 */

/*===========================================================================*/

#include <alld_at24c01bn-sh-b.h>

#include <alld_tlc5947.h>

#include <alld_tps2051bdbv.h>

#include <alld_dw1000.h>

/**

 * @brief   EEPROM driver.

 */

extern AT24C01BNDriver moduleLldEeprom;

/**

 * @brief   LED PWM driver.

 */

extern TLC5947Driver moduleLldLedPwm;

/**

 * @brief   Power switch driver for the laser supply power.

 */

extern TPS2051BDriver moduleLldPowerSwitchLaser;

/**

 * @brief   DW1000 driver for UWB.

 */

extern DW1000Driver moduleLldDW1000;

/*! ------------------------------------------------------------------------------------------------------------------

 * Function: _alld_dw1000_callback()

 *

 * Low level abstract function to handle 'reset' adn 'irq' interrupt from DW1000

 * Expects arg to be of iopadid_t* type, used to distinguish between irq or reset signal

 */

static void _alld_dw1000_callback(void* args) {

    aosDbgCheck(true);

    chSysLockFromISR();

    if ((*(iopadid_t*) args) == moduleLldDW1000.gpio_reset->pad)

    {

        // dw1000 external indicate reset done

    }

    else if ((*(iopadid_t*) args) == moduleLldDW1000.gpio_exti->pad)

    {

        dwt_isr();

    }

    else

    {

        return;

    }

    chSysUnlockFromISR();

}

/** @} */

/*===========================================================================*/

/**

 * @name Unit tests (UT)

 * @{

 */

/*===========================================================================*/

#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__)

#include <ut_alld_at24c01bn-sh-b.h>

#include <ut_alld_tlc5947.h>

#include <ut_alld_tps2051bdbv.h>

#include <ut_alld_dw1000.h>

/**

 * @brief   EEPROM unit test object.

 */

extern aos_unittest_t moduleUtAlldAt24c01bn;

/**

 * @brief   LED PWM driver unit test object.

 */

extern aos_unittest_t moduleUtAlldTlc5947;

/**

 * @brief   Current-limited power switch (Laser output)

 */

extern aos_unittest_t moduleUtAlldTps2051bdbv;

/**

 * @brief   DW1000 unit test object.

 */

extern aos_unittest_t moduleUtAlldDw1000;

#endif /* AMIROOS_CFG_TESTS_ENABLE == true */

/** @} */

#endif /* _AMIROOS_MODULE_H_ */

/*

AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2018  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

#include <ut_alld_dw1000.h>

#if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_DW1000)) || defined(__DOXYGEN__)

#include <aos_debug.h>

#include <chprintf.h>

#include <aos_thread.h>

// No unit testing! -> Contains the Deca Demo Application

#include <deca_instance.h>

#include <alld_dw1000.h>

#include <alld_dw1000_regs.h>

#include <math.h>

aos_utresult_t utAlldDw1000Func(BaseSequentialStream* stream, aos_unittest_t* ut) {

    aosDbgCheck(ut->data != NULL);

    aos_utresult_t result = {0, 0};

    chprintf(stream, "init DW1000...\n");

    dwt_initialise(DWT_LOADUCODE, (DW1000Driver*) ut->data);

    chprintf(stream, "device ID should be: 0xDECA0130\nget device ID...\n");

    uint32_t actual_deviceId = dwt_readdevid();

    chprintf(stream, "actual device ID is: 0x%x\n", actual_deviceId);

    aosThdMSleep(1);

    if (actual_deviceId == DWT_DEVICE_ID){

      aosUtPassed(stream, &result);

    } else {

      aosUtFailed(stream, &result);

    }

    /*chprintf(stream, "write-read test...\n");

    uint32_t testvalue = 0x0A;

    uint16_t panid = 0x00;

    dwt_readfromdevice(PANADR_ID, PANADR_PAN_ID_OFFSET, 2, (uint8_t*) &panid);

    chprintf(stream, "value PANADR register before write: %x\n", panid);

    chprintf(stream, "write 0x%x to PANADR register...\n", testvalue);

    dwt_setpanid(testvalue);

    dwt_readfromdevice(PANADR_ID, PANADR_PAN_ID_OFFSET, 2, (uint8_t*) &panid);

    chprintf(stream, "PANADR register is now: 0x%x\n", panid);

    if (panid == testvalue){

      aosUtPassed(stream, &result);

    } else {

      aosUtFailed(stream, &result);

    }

*/

    dwt_setleds(0x03);

    // RUN DECA-DEMO

    instanceConfig_t chConfig;

    chConfig.channelNumber = 2;            // channel

    chConfig.preambleCode = 4;             // preambleCode

    chConfig.pulseRepFreq = DWT_PRF_16M;   // prf

    chConfig.dataRate = DWT_BR_6M8;        // datarate

    chConfig.preambleLen = DWT_PLEN_128;   // preambleLength

    chConfig.pacSize = DWT_PAC8;           // pacSize

    chConfig.nsSFD = 0;                    // non-standard SFD

    chConfig.sfdTO = (129 + 8 - 8);        // SFD timeout

    sfConfig_t sfConfig;

    sfConfig.slotDuration_ms = (10);        //slot duration in milliseconds (NOTE: the ranging exchange must be able to complete in this time

                                            //e.g. tag sends a poll, 4 anchors send responses and tag sends the final + processing time

    sfConfig.numSlots = (10);               //number of slots in the superframe (8 tag slots and 2 used for anchor to anchor ranging),

    sfConfig.sfPeriod_ms = (10*10);         //in ms => 100 ms frame means 10 Hz location rate

    sfConfig.tagPeriod_ms = (10*10);        //tag period in ms (sleep time + ranging time)

    sfConfig.pollTxToFinalTxDly_us = (2500); //poll to final delay in microseconds (needs to be adjusted according to lengths of ranging frames)

    //TODO Disable EXTI IRQ

    //port_DisableEXT_IRQ();

    // inittestapplication

    // dwt_softreset(); // already done in instance_init()

    // Set this instance mode (tag/anchor)

    (void) instance_init(TAG, (DW1000Driver*) ut->data);

    //int err = instance_init(TAG, (DW1000Driver*) ut->data);

    (void) instance_readdeviceid();

    //uint32_t deca_dev_id = instance_readdeviceid();

    // TAG ID 0

    instance_set_16bit_address(0);

    // simulate DECA config Mode 2 (DIP 1100000)

    instance_config(&chConfig, &sfConfig) ;

    //TODO Enable EXTI IRQ

    //port_EnableEXT_IRQ();

    // Start Ranging

    chprintf(stream, "start ranging...\n");

    while(1) {

        //int n = 0;

        instance_data_t* inst = instance_get_local_structure_ptr(0);

        int monitor_local = inst->monitor ;

        int txdiff = (chVTGetSystemTimeX() - inst->timeofTx);

        tag_run();

        //if delayed TX scheduled but did not happen after expected time then it has failed... (has to be < slot period)

        //if anchor just go into RX and wait for next message from tags/anchors

        //if tag handle as a timeout

        if( (monitor_local == 1) && ( txdiff > inst->slotDuration_ms) )  {

            inst->wait4ack = 0;

            tag_process_rx_timeout(inst);

            inst->monitor = 0;

        }

    }

    (void) instance_newrange();

    //int rx = instance_newrange();

    return result;

}

#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_DW1000) */

                $(UNITTESTS_DIR)periphery-lld/src/ut_alld_vcnl4020.c \

                $(UNITTESTS_DIR)periphery-lld/src/ut_alld_dw1000.c

Subproject commit cf1f756b0cb3a504a95343b00c436d93b82ef1a2