amiro-os / unittests / periphery-lld / src / ut_alld_dw1000.c @ f3ac1c96
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1 | e05848a6 | Robin Ewers | /*
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2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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3 | 84f0ce9e | Thomas Schöpping | Copyright (C) 2016..2019 Thomas Schöpping et al.
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4 | e05848a6 | Robin Ewers | |
5 | This program is free software: you can redistribute it and/or modify
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6 | it under the terms of the GNU General Public License as published by
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7 | the Free Software Foundation, either version 3 of the License, or
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8 | (at your option) any later version.
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9 | |||
10 | This program is distributed in the hope that it will be useful,
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11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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13 | GNU General Public License for more details.
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14 | |||
15 | You should have received a copy of the GNU General Public License
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16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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17 | */
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18 | |||
19 | #include <ut_alld_dw1000.h> |
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20 | |||
21 | #if ((AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_DW1000)) || defined(__DOXYGEN__) |
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22 | |||
23 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
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24 | /* LOCAL DEFINITIONS */
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25 | /******************************************************************************/
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26 | e05848a6 | Robin Ewers | #include <aos_debug.h> |
27 | #include <chprintf.h> |
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28 | #include <aos_thread.h> |
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29 | // No unit testing! -> Contains the Deca Demo Application
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30 | #include <deca_instance.h> |
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31 | #include <alld_dw1000.h> |
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32 | #include <alld_dw1000_regs.h> |
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33 | #include <math.h> |
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34 | |||
35 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
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36 | /* EXPORTED VARIABLES */
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37 | /******************************************************************************/
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38 | |||
39 | /******************************************************************************/
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40 | /* LOCAL TYPES */
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41 | /******************************************************************************/
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42 | |||
43 | /******************************************************************************/
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44 | /* LOCAL VARIABLES */
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45 | /******************************************************************************/
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46 | |||
47 | /******************************************************************************/
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48 | /* LOCAL FUNCTIONS */
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49 | /******************************************************************************/
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50 | |||
51 | /******************************************************************************/
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52 | /* EXPORTED FUNCTIONS */
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53 | /******************************************************************************/
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54 | e05848a6 | Robin Ewers | |
55 | aos_utresult_t utAlldDw1000Func(BaseSequentialStream* stream, aos_unittest_t* ut) { |
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56 | |||
57 | aosDbgCheck(ut->data != NULL);
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58 | |||
59 | aos_utresult_t result = {0, 0}; |
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60 | |||
61 | chprintf(stream, "init DW1000...\n");
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62 | dwt_initialise(DWT_LOADUCODE, (DW1000Driver*) ut->data); |
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63 | chprintf(stream, "device ID should be: 0xDECA0130\nget device ID...\n");
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64 | uint32_t actual_deviceId = dwt_readdevid(); |
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65 | chprintf(stream, "actual device ID is: 0x%x\n", actual_deviceId);
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66 | aosThdMSleep(1);
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67 | |||
68 | if (actual_deviceId == DWT_DEVICE_ID){
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69 | aosUtPassed(stream, &result); |
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70 | } else {
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71 | aosUtFailed(stream, &result); |
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72 | } |
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73 | |||
74 | /*chprintf(stream, "write-read test...\n");
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75 | uint32_t testvalue = 0x0A;
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76 | uint16_t panid = 0x00;
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77 | |||
78 | dwt_readfromdevice(PANADR_ID, PANADR_PAN_ID_OFFSET, 2, (uint8_t*) &panid);
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79 | chprintf(stream, "value PANADR register before write: %x\n", panid);
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80 | chprintf(stream, "write 0x%x to PANADR register...\n", testvalue);
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81 | dwt_setpanid(testvalue);
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82 | dwt_readfromdevice(PANADR_ID, PANADR_PAN_ID_OFFSET, 2, (uint8_t*) &panid);
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83 | |||
84 | chprintf(stream, "PANADR register is now: 0x%x\n", panid);
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85 | |||
86 | if (panid == testvalue){
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87 | aosUtPassed(stream, &result);
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88 | } else {
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89 | aosUtFailed(stream, &result);
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90 | }
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91 | */
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92 | |||
93 | dwt_setleds(0x03);
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94 | |||
95 | // RUN DECA-DEMO
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96 | |||
97 | instanceConfig_t chConfig; |
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98 | chConfig.channelNumber = 2; // channel |
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99 | chConfig.preambleCode = 4; // preambleCode |
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100 | chConfig.pulseRepFreq = DWT_PRF_16M; // prf
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101 | chConfig.dataRate = DWT_BR_6M8; // datarate
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102 | chConfig.preambleLen = DWT_PLEN_128; // preambleLength
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103 | chConfig.pacSize = DWT_PAC8; // pacSize
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104 | chConfig.nsSFD = 0; // non-standard SFD |
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105 | chConfig.sfdTO = (129 + 8 - 8); // SFD timeout |
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106 | |||
107 | sfConfig_t sfConfig; |
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108 | sfConfig.slotDuration_ms = (10); //slot duration in milliseconds (NOTE: the ranging exchange must be able to complete in this time |
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109 | //e.g. tag sends a poll, 4 anchors send responses and tag sends the final + processing time
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110 | sfConfig.numSlots = (10); //number of slots in the superframe (8 tag slots and 2 used for anchor to anchor ranging), |
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111 | sfConfig.sfPeriod_ms = (10*10); //in ms => 100 ms frame means 10 Hz location rate |
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112 | sfConfig.tagPeriod_ms = (10*10); //tag period in ms (sleep time + ranging time) |
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113 | sfConfig.pollTxToFinalTxDly_us = (2500); //poll to final delay in microseconds (needs to be adjusted according to lengths of ranging frames) |
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114 | |||
115 | //TODO Disable EXTI IRQ
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116 | //port_DisableEXT_IRQ();
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117 | |||
118 | // inittestapplication
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119 | // dwt_softreset(); // already done in instance_init()
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120 | |||
121 | // Set this instance mode (tag/anchor)
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122 | (void) instance_init(TAG, (DW1000Driver*) ut->data);
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123 | //int err = instance_init(TAG, (DW1000Driver*) ut->data);
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124 | (void) instance_readdeviceid();
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125 | //uint32_t deca_dev_id = instance_readdeviceid();
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126 | |||
127 | // TAG ID 0
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128 | instance_set_16bit_address(0);
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129 | // simulate DECA config Mode 2 (DIP 1100000)
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130 | instance_config(&chConfig, &sfConfig) ; |
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131 | |||
132 | //TODO Enable EXTI IRQ
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133 | //port_EnableEXT_IRQ();
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134 | |||
135 | // Start Ranging
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136 | |||
137 | chprintf(stream, "start ranging...\n");
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138 | |||
139 | |||
140 | while(1) { |
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141 | //int n = 0;
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142 | instance_data_t* inst = instance_get_local_structure_ptr(0);
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143 | |||
144 | int monitor_local = inst->monitor ;
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145 | int txdiff = (chVTGetSystemTimeX() - inst->timeofTx);
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146 | |||
147 | tag_run(); |
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148 | //if delayed TX scheduled but did not happen after expected time then it has failed... (has to be < slot period)
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149 | //if anchor just go into RX and wait for next message from tags/anchors
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150 | //if tag handle as a timeout
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151 | if( (monitor_local == 1) && ( txdiff > inst->slotDuration_ms) ) { |
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152 | inst->wait4ack = 0;
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153 | tag_process_rx_timeout(inst); |
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154 | inst->monitor = 0;
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155 | } |
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156 | } |
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157 | |||
158 | (void) instance_newrange();
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159 | //int rx = instance_newrange();
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160 | |||
161 | return result;
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162 | } |
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163 | |||
164 | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) && defined(AMIROLLD_CFG_USE_DW1000) */ |