void SPI_Init(void)
{
//MOSI --> J17-12 --> GPIO-115
//SCK --> J17-11 -->GPIO-109
spi = mraa_spi_init(1);
if (spi == NULL)
{
printf("SPI initialization failed, check syslog for details, exit...\n");
exit(1);
}
//printf("SPI initialized successfully\n");
mraa_spi_frequency (spi, fSCLK);
//printf("SPI clock frequency set to %iHz\n", fSCLK);
/*
MRAA_SPI_MODE0
CPOL = 0, CPHA = 0,
Clock idle low, data is clocked in on rising edge, output data (change) on falling edge
*/
mraa_spi_mode(spi, MRAA_SPI_MODE0);
//printf("SPI set to MODE0\n");
//LSB Transmission
mraa_spi_lsbmode(spi, 0);
}
int
main(int argc, char** argv)
{
//! [Interesting]
mraa_spi_context spi;
spi = mraa_spi_init(1);
if (spi == NULL) {
printf("Initialization of spi failed, check syslog for details, exit...\n");
exit(1);
}
printf("SPI initialised successfully\n");
mraa_spi_frequency(spi, 400000);
mraa_spi_lsbmode(spi, 0);
// The MAX7219/21 Chip needs the data in word size
if (mraa_spi_bit_per_word(spi, 16) != MRAA_SUCCESS) {
printf("Could not set SPI Device to 16Bit mode, exit...\n");
exit(1);
};
mraa_spi_write_word(spi, 0x0900); // Do not decode bits
mraa_spi_write_word(spi, 0x0a05); // Brightness of LEDs
mraa_spi_write_word(spi, 0x0b07); // Show all Scan Lines
mraa_spi_write_word(spi, 0x0c01); // Display on
mraa_spi_write_word(spi, 0x0f00); // Testmode off
// Display Pattern on the display
uint16_t dataAA55[] = { 0x01aa, 0x0255, 0x03aa, 0x0455, 0x05aa, 0x0655, 0x07aa, 0x0855 };
mraa_spi_write_buf_word(spi, dataAA55, 16);
sleep(2);
// Display inverted Pattern
uint16_t data55AA[] = { 0x0155, 0x02aa, 0x0355, 0x04aa, 0x0555, 0x06aa, 0x0755, 0x08aa };
mraa_spi_write_buf_word(spi, data55AA, 16);
sleep(2);
// Clear the display
uint16_t data[] = { 0x0100, 0x0200, 0x0300, 0x0400, 0x0500, 0x0600, 0x0700, 0x0800 };
mraa_spi_write_buf_word(spi, data, 16);
int i;
int j;
// cycle through all LED's
for (i = 1; i <= 8; i++) {
for (j = 0; j < 8; j++) {
mraa_spi_write_word(spi, (i << 8) + (1 << j));
sleep(1);
}
mraa_spi_write_word(spi, i << 8);
}
mraa_spi_stop(spi);
//! [Interesting]
}
/**
* Initialise SPI object using the board mapping to set muxes
*
* @param bus to use, as listed in the platform definition, normally 0
*/
Spi(int bus)
{
m_spi = mraa_spi_init(bus);
if (m_spi == NULL) {
throw std::invalid_argument("Error initialising SPI bus");
}
}
DW1000::DW1000()
{
spi = mraa_spi_init(5);
mraa_spi_frequency(spi, DW1000_SPI_CLOCK_SPEED);
cs = mraa_gpio_init(DW_CS);
mraa_gpio_dir(cs, MRAA_GPIO_OUT);
mraa_gpio_write(cs, 0x1);
resetAll(); // we do a soft reset of the DW1000 everytime the driver starts
//Those values are for the 110kbps mode (5, 16MHz, 1024 Symbols) and are quite complete
writeRegister16(DW1000_AGC_CTRL, 0x04, 0x8870); //AGC_TUNE1 for 16MHz PRF
writeRegister32(DW1000_AGC_CTRL, 0x0C, 0x2502A907); //AGC_TUNE2 (Universal)
writeRegister16(DW1000_AGC_CTRL, 0x12, 0x0055); //AGC_TUNE3 (Universal)
writeRegister16(DW1000_DRX_CONF, 0x02, 0x000A); //DRX_TUNE0b for 110kbps
writeRegister16(DW1000_DRX_CONF, 0x04, 0x0087); //DRX_TUNE1a for 16MHz PRF
writeRegister16(DW1000_DRX_CONF, 0x06, 0x0064); //DRX_TUNE1b for 110kbps & > 1024 symbols
writeRegister32(DW1000_DRX_CONF, 0x08, 0x351A009A); //PAC size for 1024 symbols preamble & 16MHz PRF
//writeRegister32(DW1000_DRX_CONF, 0x08, 0x371A011D); //PAC size for 2048 symbols preamble
writeRegister8 (DW1000_LDE_CTRL, 0x0806, 0xD); //LDE_CFG1
writeRegister16(DW1000_LDE_CTRL, 0x1806, 0x1607); //LDE_CFG2 for 16MHz PRF
writeRegister32(DW1000_TX_POWER, 0, 0x28282828); //Power for channel 5
writeRegister8(DW1000_RF_CONF, 0x0B, 0xD8); //RF_RXCTRLH for channel 5
writeRegister32(DW1000_RF_CONF, 0x0C, 0x001E3FE0); //RF_TXCTRL for channel 5
writeRegister8 (DW1000_TX_CAL, 0x0B, 0xC0); //TC_PGDELAY for channel 5
writeRegister32 (DW1000_FS_CTRL, 0x07, 0x0800041D); //FS_PLLCFG for channel 5
writeRegister8 (DW1000_FS_CTRL, 0x0B, 0xA6); //FS_PLLTUNE for channel 5
loadLDE(); // important everytime DW1000 initialises/awakes otherwise the LDE algorithm must be turned off or there's receiving malfunction see User Manual LDELOAD on p22 & p158
// 110kbps CAUTION: a lot of other registers have to be set for an optimized operation on 110kbps
writeRegister16(DW1000_TX_FCTRL, 1, 0x0800 | 0x0100 | 0x0080); // use 1024 symbols preamble (0x0800) (previously 2048 - 0x2800), 16MHz pulse repetition frequency (0x0100), 110kbps bit rate (0x0080) see p.69 of DW1000 User Manual
writeRegister8(DW1000_SYS_CFG, 2, 0x44); // enable special receiving option for 110kbps (disable smartTxPower)!! (0x44) see p.64 of DW1000 User Manual [DO NOT enable 1024 byte frames (0x03) becuase it generates disturbance of ranging don't know why...]
writeRegister16(DW1000_TX_ANTD, 0, 16384); // set TX and RX Antenna delay to neutral because we calibrate afterwards
writeRegister16(DW1000_LDE_CTRL, 0x1804, 16384); // = 2^14 a quarter of the range of the 16-Bit register which corresponds to zero calibration in a round trip (TX1+RX2+TX2+RX1)
writeRegister8(DW1000_SYS_CFG, 3, 0x20); // enable auto reenabling receiver after error
}
// Init
lis3dh_context
lis3dh_init(int bus, int addr, int cs)
{
lis3dh_context dev = (lis3dh_context) malloc(sizeof(struct _lis3dh_context));
if (!dev) {
return NULL;
}
// Zero out context
memset((void*) dev, 0, sizeof(struct _lis3dh_context));
// Make sure MRAA is initialized
if (mraa_init() != MRAA_SUCCESS) {
printf("%s: mraa_init() failed\n", __FUNCTION__);
lis3dh_close(dev);
return NULL;
}
if (addr < 0) {
// SPI
if (!(dev->spi = mraa_spi_init(bus))) {
printf("%s: mraa_spi_init() for bus %d failed\n", __FUNCTION__, bus);
lis3dh_close(dev);
return NULL;
}
// Only create CS context if we are actually using a valid pin.
// A hardware controlled pin should specify CS as -1.
if (cs >= 0) {
if (!(dev->gpioCS = mraa_gpio_init(cs))) {
printf("%s: mraa_gpio_init() for CS pin %d failed\n", __FUNCTION__, cs);
lis3dh_close(dev);
return NULL;
}
mraa_gpio_dir(dev->gpioCS, MRAA_GPIO_OUT);
}
mraa_spi_mode(dev->spi, MRAA_SPI_MODE0);
if (mraa_spi_frequency(dev->spi, 5000000)) {
printf("%s: mraa_spi_frequency() failed\n", __FUNCTION__);
lis3dh_close(dev);
return NULL;
}
} else {
// I2C
if (!(dev->i2c = mraa_i2c_init(bus))) {
printf("%s: mraa_i2c_init() for bus %d failed\n", __FUNCTION__, bus);
lis3dh_close(dev);
return NULL;
}
if (mraa_i2c_address(dev->i2c, addr)) {
printf("%s: mraa_i2c_address() for address 0x%x failed\n", __FUNCTION__, addr);
lis3dh_close(dev);
return NULL;
}
}
// Check the chip id
uint8_t chipID = lis3dh_get_chip_id(dev);
if (chipID != LIS3DH_CHIPID) {
printf("%s: invalid chip id: %02x, expected %02x\n", __FUNCTION__, chipID, LIS3DH_CHIPID);
lis3dh_close(dev);
return NULL;
}
// Call devinit with default options
if (lis3dh_devinit(dev, LIS3DH_ODR_100HZ, LIS3DH_FS_2G, true)) {
printf("%s: lis3dh_devinit() failed\n", __FUNCTION__);
lis3dh_close(dev);
return NULL;
}
return dev;
}
void hal_aci_tl_init(aci_pins_t *a_pins, bool debug)
{
mraa_result_t error = MRAA_SUCCESS;
aci_debug_print = debug;
/* Needs to be called as the first thing for proper intialization*/
m_aci_pins_set(a_pins);
/*
* Init SPI
*/
a_pins->m_spi = mraa_spi_init (0);
if (a_pins->m_spi == NULL) {
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_spi_init() failed");
}
mraa_spi_frequency (a_pins->m_spi, 2000000);
mraa_spi_mode (a_pins->m_spi, MRAA_SPI_MODE0);
/* Initialize the ACI Command queue. This must be called after the delay above. */
aci_queue_init(&aci_tx_q);
aci_queue_init(&aci_rx_q);
// Configure the IO lines
a_pins->m_rdy_ctx = mraa_gpio_init (a_pins->rdyn_pin);
if (a_pins->m_rdy_ctx == NULL) {
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_gpio_init(rdyn) failed, invalid pin?");
}
a_pins->m_req_ctx = mraa_gpio_init (a_pins->reqn_pin);
if (a_pins->m_req_ctx == NULL) {
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_gpio_init(reqn) failed, invalid pin?");
}
a_pins->m_rst_ctx = mraa_gpio_init (a_pins->reset_pin);
if (a_pins->m_rst_ctx == NULL) {
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_gpio_init(reset) failed, invalid pin?");
}
error = mraa_gpio_dir (a_pins->m_rdy_ctx, MRAA_GPIO_IN);
if (error != MRAA_SUCCESS) {
printf ("[ERROR] GPIO failed to initilize \n");
}
error = mraa_gpio_dir (a_pins->m_req_ctx, MRAA_GPIO_OUT);
if (error != MRAA_SUCCESS) {
printf ("[ERROR] GPIO failed to initilize \n");
}
error = mraa_gpio_dir (a_pins->m_rst_ctx, MRAA_GPIO_OUT);
if (error != MRAA_SUCCESS) {
printf ("[ERROR] GPIO failed to initilize \n");
}
if (UNUSED != a_pins->active_pin) {
}
/* Pin reset the nRF8001, required when the nRF8001 setup is being changed */
hal_aci_tl_pin_reset();
/* Set the nRF8001 to a known state as required by the datasheet*/
mraa_gpio_write (a_pins->m_req_ctx, LOW);
usleep(30000); //Wait for the nRF8001 to get hold of its lines - the lines float for a few ms after the reset
/* Attach the interrupt to the RDYN line as requested by the caller */
if (a_pins->interface_is_interrupt) {
// We use the LOW level of the RDYN line as the atmega328 can wakeup from sleep only on LOW
// attachInterrupt(a_pins->interrupt_number, m_aci_isr, LOW);
}
}
int
main(int argc, char** argv)
{
mraa_result_t status = MRAA_SUCCESS;
mraa_spi_context spi;
int i, j;
/* initialize mraa for the platform (not needed most of the times) */
mraa_init();
//! [Interesting]
/* initialize SPI bus */
spi = mraa_spi_init(SPI_BUS);
if (spi == NULL) {
fprintf(stderr, "Failed to initialize SPI\n");
mraa_deinit();
return EXIT_FAILURE;
}
/* set SPI frequency */
status = mraa_spi_frequency(spi, SPI_FREQ);
if (status != MRAA_SUCCESS)
goto err_exit;
/* set big endian mode */
status = mraa_spi_lsbmode(spi, 0);
if (status != MRAA_SUCCESS) {
goto err_exit;
}
/* MAX7219/21 chip needs the data in word size */
status = mraa_spi_bit_per_word(spi, 16);
if (status != MRAA_SUCCESS) {
fprintf(stdout, "Failed to set SPI Device to 16Bit mode\n");
goto err_exit;
}
/* do not decode bits */
mraa_spi_write_word(spi, 0x0900);
/* brightness of LEDs */
mraa_spi_write_word(spi, 0x0a05);
/* show all scan lines */
mraa_spi_write_word(spi, 0x0b07);
/* set display on */
mraa_spi_write_word(spi, 0x0c01);
/* testmode off */
mraa_spi_write_word(spi, 0x0f00);
while (flag) {
/* set display pattern */
mraa_spi_write_buf_word(spi, pat, 16);
sleep(2);
/* set inverted display pattern */
mraa_spi_write_buf_word(spi, pat_inv, 16);
sleep(2);
/* clear the LED's */
mraa_spi_write_buf_word(spi, pat_clear, 16);
/* cycle through all LED's */
for (i = 1; i <= 8; i++) {
for (j = 0; j < 8; j++) {
mraa_spi_write_word(spi, (i << 8) + (1 << j));
sleep(1);
}
mraa_spi_write_word(spi, i << 8);
}
}
/* stop spi */
mraa_spi_stop(spi);
//! [Interesting]
/* deinitialize mraa for the platform (not needed most of the times) */
mraa_deinit();
return EXIT_SUCCESS;
err_exit:
mraa_result_print(status);
/* stop spi */
mraa_spi_stop(spi);
/* deinitialize mraa for the platform (not needed most of the times) */
mraa_deinit();
return EXIT_FAILURE;
}
uint8_t RF22::init()
{
// Wait for RF22 POR (up to 16msec)
usleep (16);
// Initialise the slave select pin
_cs = mraa_gpio_init(_slaveSelectPin);
mraa_gpio_dir(_cs, MRAA_GPIO_OUT);
mraa_gpio_write(_cs, 0x1);
// start the SPI library:
// Note the RF22 wants mode 0, MSB first and default to 1 Mbps
_spi = mraa_spi_init(0);
mraa_spi_mode (_spi, MRAA_SPI_MODE0);
mraa_spi_lsbmode(_spi, 0);
mraa_spi_frequency(_spi, 1000000); // 1Mhz
usleep (100);
// Software reset the device
reset();
// Get the device type and check it
// This also tests whether we are really connected to a device
_deviceType = spiRead(RF22_REG_00_DEVICE_TYPE);
if ( _deviceType != RF22_DEVICE_TYPE_RX_TRX
&& _deviceType != RF22_DEVICE_TYPE_TX)
return 0;
_irq = mraa_gpio_init(_interrupt + 2);
mraa_gpio_dir(_irq, MRAA_GPIO_IN);
gpio_edge_t edge = MRAA_GPIO_EDGE_FALLING;
// Set up interrupt handler
if (_interrupt == 0)
{
_RF22ForInterrupt[0] = this;
mraa_gpio_isr(_irq, edge, &RF22::isr0, NULL);
}
else if (_interrupt == 1)
{
_RF22ForInterrupt[1] = this;
mraa_gpio_isr(_irq, edge, &RF22::isr1, NULL);
}
else
return 0;
clearTxBuf();
clearRxBuf();
// Most of these are the POR default
spiWrite(RF22_REG_7D_TX_FIFO_CONTROL2, RF22_TXFFAEM_THRESHOLD);
spiWrite(RF22_REG_7E_RX_FIFO_CONTROL, RF22_RXFFAFULL_THRESHOLD);
spiWrite(RF22_REG_30_DATA_ACCESS_CONTROL, RF22_ENPACRX | RF22_ENPACTX | RF22_ENCRC | RF22_CRC_CRC_16_IBM);
// Configure the message headers
// Here we set up the standard packet format for use by the RF22 library
// 8 nibbles preamble
// 2 SYNC words 2d, d4
// Header length 4 (to, from, id, flags)
// 1 octet of data length (0 to 255)
// 0 to 255 octets data
// 2 CRC octets as CRC16(IBM), computed on the header, length and data
// On reception the to address is check for validity against RF22_REG_3F_CHECK_HEADER3
// or the broadcast address of 0xff
// If no changes are made after this, the transmitted
// to address will be 0xff, the from address will be 0xff
// and all such messages will be accepted. This permits the out-of the box
// RF22 config to act as an unaddresed, unreliable datagram service
spiWrite(RF22_REG_32_HEADER_CONTROL1, RF22_BCEN_HEADER3 | RF22_HDCH_HEADER3);
spiWrite(RF22_REG_33_HEADER_CONTROL2, RF22_HDLEN_4 | RF22_SYNCLEN_2);
setPreambleLength(8);
uint8_t syncwords[] = { 0x2d, 0xd4 };
setSyncWords(syncwords, sizeof(syncwords));
setPromiscuous(0);
// Check the TO header against RF22_DEFAULT_NODE_ADDRESS
spiWrite(RF22_REG_3F_CHECK_HEADER3, RF22_DEFAULT_NODE_ADDRESS);
// Set the default transmit header values
setHeaderTo(RF22_DEFAULT_NODE_ADDRESS);
setHeaderFrom(RF22_DEFAULT_NODE_ADDRESS);
setHeaderId(0);
setHeaderFlags(0);
// Ensure the antenna can be switched automatically according to transmit and receive
// This assumes GPIO0(out) is connected to TX_ANT(in) to enable tx antenna during transmit
// This assumes GPIO1(out) is connected to RX_ANT(in) to enable rx antenna during receive
spiWrite (RF22_REG_0B_GPIO_CONFIGURATION0, 0x12) ; // TX state
spiWrite (RF22_REG_0C_GPIO_CONFIGURATION1, 0x15) ; // RX state
// Enable interrupts
spiWrite(RF22_REG_05_INTERRUPT_ENABLE1, RF22_ENTXFFAEM | RF22_ENRXFFAFULL | RF22_ENPKSENT | RF22_ENPKVALID | RF22_ENCRCERROR | RF22_ENFFERR);
spiWrite(RF22_REG_06_INTERRUPT_ENABLE2, RF22_ENPREAVAL);
// Set some defaults. An innocuous ISM frequency, and reasonable pull-in
setFrequency(434.0, 0.05);
// setFrequency(900.0);
// Some slow, reliable default speed and modulation
setModemConfig(FSK_Rb2_4Fd36);
// setModemConfig(FSK_Rb125Fd125);
// Minimum power
setTxPower(RF22_TXPOW_8DBM);
// setTxPower(RF22_TXPOW_17DBM);
return 1;
}
kx122_context kx122_init(int bus, int addr, int chip_select_pin, int spi_bus_frequency)
{
kx122_context dev = (kx122_context)malloc(sizeof(struct _kx122_context));
if(!dev){
return NULL;
}
dev->using_spi = false;
dev->i2c = NULL;
dev->spi = NULL;
dev->chip_select = NULL;
dev->gpio1 = NULL;
dev->gpio2 = NULL;
if(mraa_init() != MRAA_SUCCESS){
printf("%s: mraa_init() failed.\n", __FUNCTION__);
kx122_close(dev);
return NULL;
}
if(addr == -1){
dev->using_spi = true;
}
if(dev->using_spi){
if (spi_bus_frequency > 10000000){ // KX122 has a maximum SPI bus speed of 10MHz
printf("%s: bus frequency too high - KX122 has a maximum SPI bus speed of 10MHz.\n", __FUNCTION__);
kx122_close(dev);
return NULL;
}
if (!(dev->spi = mraa_spi_init(bus))){
printf("%s: mraa_spi_init() failed.\n", __FUNCTION__);
kx122_close(dev);
return NULL;
}
if (!(dev->chip_select = mraa_gpio_init(chip_select_pin))){
printf("%s: mraa_gpio_init() failed.\n", __FUNCTION__);
kx122_close(dev);
return NULL;
}
mraa_gpio_dir(dev->chip_select,MRAA_GPIO_OUT);
mraa_spi_mode(dev->spi,MRAA_SPI_MODE0);
if (mraa_spi_frequency(dev->spi, spi_bus_frequency)){
printf("%s: mraa_spi_frequency() failed.\n", __FUNCTION__);
kx122_close(dev);
return NULL;
}
}
else{ //Using I2C
if (!(dev->i2c = mraa_i2c_init(bus))){
printf("%s: mraa_i2c_init() failed, used bus: %d\n", __FUNCTION__,bus);
kx122_close(dev);
return NULL;
}
if (mraa_i2c_address(dev->i2c, addr)){
printf("%s: mraa_i2c_address() failed.\n", __FUNCTION__);
kx122_close(dev);
return NULL;
}
}
uint8_t who_am_i;
kx122_get_who_am_i(dev,&who_am_i);
if(who_am_i != KX122_WHO_AM_I_WIA_ID){
printf("%s: Wrong WHO AM I received, expected: 0x%x | got: 0x%x\n", __FUNCTION__,KX122_WHO_AM_I_WIA_ID,who_am_i);
kx122_close(dev);
return NULL;
}
kx122_set_default_values(dev);
kx122_device_init(dev,KX122_ODR_50,HIGH_RES,KX122_RANGE_2G);
return dev;
}