void DWM1000_Anchor::init() {
INFO("HSPI");
//_________________________________________________INIT SPI ESP8266
resetChip();
initSpi();
enableIsr();
uint64_t eui = 0xF1F2F3F4F5F6F7F;
dwt_seteui((uint8_t*) &eui);
dwt_geteui((uint8_t*) &eui);
LOG<< HEX << "EUID : "<< eui <<FLUSH;
dwt_seteui((uint8_t*) &eui);
dwt_geteui((uint8_t*) &eui);
LOG<< HEX << "EUID : "<< eui <<FLUSH;
// dwt_softreset();
deca_sleep(100);
if (dwt_initialise(DWT_LOADUCODE)) {
LOG<< " dwt_initialise failed " << FLUSH;
} else
LOG<< " dwt_initialise done." << FLUSH;
if (dwt_configure(&config)) {
LOG<< " dwt_configure failed " << FLUSH;
} else
LOG<< " dwt_configure done." << FLUSH;
uint32_t device_id = dwt_readdevid();
uint32_t part_id = dwt_getpartid();
uint32_t lot_id = dwt_getlotid();
LOG<< HEX << " device id : " << device_id << ", part id : " << part_id << ", lot_id :" << lot_id <<FLUSH;
/* Apply default antenna delay value. See NOTE 1 below. */
dwt_setrxantennadelay(RX_ANT_DLY);
dwt_settxantennadelay(TX_ANT_DLY);
/* Set expected response's delay and timeout. See NOTE 4 and 5 below.
* As this example only handles one incoming frame with always the same delay and timeout, those values can be set here once for all. */
dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS);
dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
dwt_initialise(DWT_LOADUCODE);
// Configure the callbacks from the dwt library
dwt_setcallbacks(txcallback, rxcallback);
_count = 0;
}
int process_usbmessage(void)
{
int result = 0;
switch(application_mode)
{
case STAND_ALONE:
{
if(local_buff_length == 5)
{
//d (from "deca")
if((local_buff[0] == 100) && (result == 0)) //d (from "deca")
{
if(local_buff[4] == 63)
{
int i = sizeof(SOFTWARE_VER_STRINGUSB);
//change mode to USB_TO_SPI and send a reply "y"
tx_buff[0] = 121;
memcpy(&tx_buff[1], SOFTWARE_VER_STRINGUSB, i);
tx_buff[i+2] = 0;
tx_buff_length = i + 2;
application_mode = USB_TO_SPI;
result = 2;
//led_off(LED_ALL);
led_on(LED_PC7); //turn on LED to indicate connection to PC application
}
}
}
}
break;
case USB_TO_SPI:
{
//first byte specifies the SPI speed and SPI read/write operation
//bit 0 = 1 for write, 0 for read
//bit 1 = 1 for high speed, 0 for low speed
//<STX> <ETX>
//
//to read from the device (e.g. 4 bytes), total length is = 1 + 1 + length_of_command (2) + length_of_data_to_read (2) + header length (1/2) + 1
//
//to write to the device (e.g. 4 bytes), total length is = 1 + 1 + length_of_command (2) + length_of_data_to_write (2) + header length (1/2) + data length + 1
//
//LBS comes first: 0x2, 0x2, 0x7, 0x0, 0x04, 0x00, 0x3
if(local_buff_length)
{
//0x2 = STX - start of SPI transaction data
if(local_buff[0] == 0x2)
{
//configure SPI speed
configSPIspeed(((local_buff[1]>>1) & 0x1));
if((local_buff[1] & 0x1) == 0) //SPI read
{
int msglength = local_buff[2] + (local_buff[3]<<8);
int datalength = local_buff[4] + (local_buff[5]<<8);
//led_on(LED_PC6);
tx_buff[0] = 0x2;
tx_buff[datalength+2] = 0x3;
//max data we can read in a single SPI transaction is 4093 as the USB/VCP tx buffer is only 4096 bytes long
if((local_buff[msglength-1] != 0x3) || (datalength > 4093))
{
tx_buff[1] = 0x1; // if no ETX (0x3) indicate error
}
else
{
// do the read from the SPI
readfromspi(msglength-7, &local_buff[6], datalength, &tx_buff[2]); // result is stored in the buffer
tx_buff[1] = 0x0; // no error
}
tx_buff_length = datalength + 3;
result = 2;
}
if((local_buff[1] & 0x1) == 1) //SPI write
{
int msglength = local_buff[2] + (local_buff[3]<<8);
int datalength = local_buff[4] + (local_buff[5]<<8);
int headerlength = msglength - 7 - datalength;
if(local_buff_length == msglength) //we got the whole message (sent from the PC)
{
local_buff_offset = 0;
led_off(LED_PC6);
tx_buff[0] = 0x2;
tx_buff[2] = 0x3;
if(local_buff[msglength-1] != 0x3)
{
tx_buff[1] = 0x1; // if no ETX (0x3) indicate error
}
else
{
// do the write to the SPI
writetospi(headerlength, &local_buff[6], datalength, &local_buff[6+headerlength]); // result is stored in the buffer
tx_buff[1] = 0x0; // no error
}
tx_buff_length = 3;
result = 2;
}
else //wait for the whole message
{
led_on(LED_PC6);
}
}
}
if((local_buff[0] == 100) && (result == 0)) //d (from "deca")
{
if(local_buff[4] == 63)
{
int i = sizeof(SOFTWARE_VER_STRINGUSB);
//change mode to USB_TO_SPI and send a reply "y"
tx_buff[0] = 121;
memcpy(&tx_buff[1], SOFTWARE_VER_STRINGUSB, i);
tx_buff[i+2] = 0;
tx_buff_length = i + 2;
application_mode = USB_TO_SPI;
result = 2;
//led_off(LED_ALL);
led_on(LED_PC7); //turn on LED to indicate connection to PC application
}
}
if((local_buff[0] == 114) && (result == 0)) //r - flush the USB buffers...
{
DCD_EP_Flush(&USB_OTG_dev, CDC_IN_EP);
result = 0;
}
}
}
break;
case USB_PRINT_ONLY:
if(local_buff_length && (result == 0))
{
if((local_buff[0] == 0x5) && (local_buff[5] == 0x5))
{
uint16 txantennadelay = local_buff[1] + (local_buff[2]<<8);
uint16 rxantennadelay = local_buff[3] + (local_buff[4]<<8);
instanceconfigantennadelays(txantennadelay, rxantennadelay);
}
if((local_buff[0] == 0x7) && (local_buff[5] == 0x7))
{
//not used in EVK
}
if((local_buff[0] == 0x6) && (local_buff[2] == 0x6))
{
uint8 switchS1 = local_buff[1];
//disable DW1000 IRQ
port_DisableEXT_IRQ(); //disable IRQ until we configure the device
//turn DW1000 off
dwt_forcetrxoff();
//re-configure the instance
inittestapplication(switchS1);
//save the new setting
s1configswitch = switchS1;
//set the LDC
setLCDline1(switchS1);
//enable DW1000 IRQ
port_EnableEXT_IRQ(); //enable IRQ before starting
ranging = 0;
}
//d (from "deca")
if(local_buff[0] == 100) //d (from "deca")
{
if(local_buff[4] == 63)
{
int i = sizeof(SOFTWARE_VER_STRINGUSB);
//send a reply "n"
tx_buff[0] = 110;
memcpy(&tx_buff[1], SOFTWARE_VER_STRINGUSB, i);
tx_buff[i+2] = 0;
tx_buff_length = i + 2;
result = 2;
}
if(local_buff[4] == 36) //"$"
{
//send a reply "n"
tx_buff[0] = 110;
memcpy(&tx_buff[1], version, version_size);
tx_buff[version_size+1] = s1configswitch & 0xff;
tx_buff[version_size+2] = '\r';
tx_buff[version_size+3] = '\n';
tx_buff_length = version_size + 4;
result = 2;
}
if(local_buff[4] == 33) //"!"
{
//send back the DW1000 partID and lotID
uint32 partID = dwt_getpartid();
uint32 lotID = dwt_getlotid();
tx_buff[0] = 110;
memcpy(&tx_buff[1], &partID, 4);
memcpy(&tx_buff[5], &lotID, 4);
tx_buff[9] = '\r';
tx_buff[10] = '\n';
tx_buff_length = 11;
result = 2;
}
}
}
break;
default:
break;
}
