/*! ------------------------------------------------------------------------------------------------------------------
* Function: decamutexon()
*
* Description: This function should disable interrupts. This is called at the start of a critical section
* It returns the irq state before disable, this value is used to re-enable in decamutexoff call
*
* Note: The body of this function is defined in deca_mutex.c and is platform specific
*
* input parameters:
*
* output parameters
*
* returns the state of the DW1000 interrupt
*/
decaIrqStatus_t decamutexon(void)
{
decaIrqStatus_t s = port_GetEXT_IRQStatus();
if(s) {
port_DisableEXT_IRQ(); //disable the external interrupt line
}
return s ; // return state before disable, value is used to re-enable in decamutexoff call
}
/*! ------------------------------------------------------------------------------------------------------------------
* Function: decamutexon()
*
* Description: This function should disable interrupts. This is called at the start of a critical section
* It returns the irq state before disable, this value is used to re-enable in decamutexoff call
*
* Note: The body of this function is defined in deca_mutex.c and is platform specific
*
* input parameters:
*
* output parameters
*
* returns the state of the DW1000 interrupt
*/
decaIrqStatus_t decamutexon(void)
{
decaIrqStatus_t s = port_GetEXT_IRQStatus();
if(s) {
//HAL_GPIO_TogglePin(GPIOA, GPIO_PIN_5);
port_DisableEXT_IRQ(); //disable the external interrupt line
}
return s ; // return state before disable, value is used to re-enable in decamutexoff call
}
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;
}
portTASK_FUNCTION(task_decawave, pvParameters) {
UNUSED(pvParameters);
int i = 0;
int toggle = 1;
int ranging = 0;
uint8 dataseq[40];
double range_result = 0;
double avg_result = 0;
uint8 dataseq1[40];
uint8 command = 0x0;
led_off(LED_ALL); //turn off all the LEDs
peripherals_init();
spi_peripheral_init();
Sleep(1000); //wait for LCD to power on
printf("DECAWAVE \r\n");
printf(SOFTWARE_VER_STRING);
printf("\r\n");
Sleep(1000);
port_DisableEXT_IRQ(); //disable ScenSor IRQ until we configure the device
printf("DECAWAVE RANGE\r\n");
led_off(LED_ALL);
int testresult = inittestapplication();
if (testresult < 0) {
led_on(LED_ALL); //to display error....
printf("ERROR\r\n");
printf("INIT FAIL %d\r\n", testresult);
for (;;) {
}
}
//sleep for 5 seconds displaying "Decawave"
i = 30;
while (i--) {
if (i & 1)
led_off(LED_ALL);
else
led_on(LED_ALL);
Sleep(200);
}
i = 0;
led_off(LED_ALL);
if (is_tag) {
instance_mode = TAG;
printf("TAG\r\n");
} else {
instance_mode = ANCHOR;
printf("ANCHOR\r\n");
#if (DR_DISCOVERY == 1)
printf("DR_DISCOVER == 1\r\n");
#else
printf("DR_DISCOVER == 0\r\n");
#endif
}
if (instance_mode == TAG) {
//if TA_SW1_2 is on use fast ranging (fast 2wr)
if (use_fast2wr) {
printf("Fast Tag Ranging\r\n");
} else {
printf("TAG BLINK %llX\r\n", instance_get_addr());
}
} else {
printf("AWAITING POLL\r\n");
}
port_EnableEXT_IRQ(); //enable ScenSor IRQ before starting
// main loop
while (1) {
//ERIC: Delay irq handling...will this work?
uint32_t bail = 0;
if (irq_set) {
do {
if (bail++ > 2000) {
printf("BAIL!\r\n");
Sleep(10);
for (;;) {
}
}
instance_process_irq(0);
} while (port_CheckEXT_IRQ() == 1);
irq_set = 0x00;
}
instance_run();
if (instancenewrange()) {
ranging = 1;
//send the new range information to LCD and/or USB
range_result = instance_get_idist();
#if (DR_DISCOVERY == 0)
if(instance_mode == ANCHOR)
#endif
avg_result = instance_get_adist();
//set_rangeresult(range_result);
printf("LAST: %4.2f m ", range_result);
#if (DR_DISCOVERY == 0)
if(instance_mode == ANCHOR)
printf("AVG8: %4.2f m", avg_result);
else
printf("%llx", instance_get_anchaddr());
#else
printf("AVG8: %4.2f m\r\n", avg_result);
#endif
}
if (ranging == 0) {
if (instance_mode != ANCHOR) {
if (instancesleeping()) {
if (toggle) {
printf("AWAITING RESPONSE\r\n");
} else {
toggle = 1;
printf("TAG BLINK %llX\r\n", instance_get_addr());
}
}
if (instanceanchorwaiting() == 2) {
ranging = 1;
printf("RANGING WITH %016llX\r\n", instance_get_anchaddr());
}
} else {
if (instanceanchorwaiting()) {
toggle += 2;
if (toggle > 300000) {
if (toggle & 0x1) {
toggle = 0;
printf("AWAITING POLL\r\n");
} else {
toggle = 1;
#if (DR_DISCOVERY == 1)
printf("DISCOVERY MODE ");
#else
printf("NON DISCOVERY ");
#endif
printf("%llX\r\n", instance_get_addr());
}
// print_status();
}
} else if (instanceanchorwaiting() == 2) {
printf("RANGING WITH %llX", instance_get_tagaddr());
}
}
}
}
}
