void configurePorts()
{
enableClock();
enablePortA();
enablePortB();
enablePortC();
enablePortD();
enablePortE();
enablePortF();
enableSSI1();
PA[0x3FC] = 0x00;
PB[0x3FC] = 0xFF;
PC[0x3FC] = 0x00;
PD[0x3FC] = 0x00;
PE[0x3FC] = 0x00;
PA[0x3FC] |= 0xC4; //RESET and RDX high
PA[0x3FC] &= 0xF7; // CSX chip select low
PB[0x3FC] = 0x07; // LEDs active low, TP_CS low
//interrupts
PF[0x404] = 0x10; // PF4 level sensitive GPIOIS
PF[0x40C] = 0x00; // low level GPIOIEV
PF[0x410] = 0x10; // PF4 GPIOIM
CORE[0x103] = 0x40; // enable interrupts PF
}
void DW1000Class::begin(int irq, int rst) {
// generous initial init/wake-up-idle delay
delay(5);
// start SPI
SPI.begin();
SPI.usingInterrupt(irq);
// pin and basic member setup
_rst = rst;
_irq = irq;
_deviceMode = IDLE_MODE;
pinMode(_rst, OUTPUT);
digitalWrite(_rst, HIGH);
// reset chip (either soft or hard)
if(_rst <= 0) {
softReset();
} else {
reset();
}
// try locking clock at PLL speed (should be done already,
// but just to be sure)
enableClock(AUTO_CLOCK);
delay(5);
// default network and node id
writeValueToBytes(_networkAndAddress, 0xFF, LEN_PANADR);
writeNetworkIdAndDeviceAddress();
// default system configuration
memset(_syscfg, 0, LEN_SYS_CFG);
setDoubleBuffering(false);
setInterruptPolarity(true);
writeSystemConfigurationRegister();
// default interrupt mask, i.e. no interrupts
clearInterrupts();
writeSystemEventMaskRegister();
// attach interrupt
attachInterrupt(_irq, DW1000Class::handleInterrupt, RISING);
}
