/*! ------------------------------------------------------------------------------------------------------------------ * Function: decamutexoff() * * Description: This function should re-enable interrupts, or at least restore their state as returned(&saved) by decamutexon * This is called at the end of a critical section * * Note: The body of this function is defined in deca_mutex.c and is platform specific * * input parameters: * @param s - the state of the DW1000 interrupt as returned by decamutexon * * output parameters * * returns the state of the DW1000 interrupt */ void decamutexoff(decaIrqStatus_t s) // put a function here that re-enables the interrupt at the end of the critical section { if(s) { //need to check the port state as we can't use level sensitive interrupt on the STM ARM port_EnableEXT_IRQ(); //HAL_GPIO_TogglePin(GPIOA, GPIO_PIN_5); } }
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()); } } } } }
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; }
/** * Application entry point. */ int main(void) { int prijem=0; uint32 device_id; /* Start with board specific hardware init. */ peripherals_init(); spi_peripheral_init(); Sleep(1000); //wait for LCD to power on initLCD(); /* Display application name on LCD. */ setLCDline1( 234); // Sleep(1000); usb_init(); //Sleep(1000); // lcd_display_str("connected"); /* Reset and initialise DW1000. * For initialisation, DW1000 clocks must be temporarily set to crystal speed. After initialisation SPI rate can be increased for optimum * performance. */ reset_DW1000(); /* Target specific drive of RSTn line into DW1000 low for a period. */ SPI_ChangeRate(SPI_BaudRatePrescaler_32); // spi_set_rate_low(); // uint32 temp = dwt_read32bitoffsetreg(AON_ID,AON_WCFG_OFFSET); dwt_initialise(DWT_LOADUCODE); // dwt_configuresleepcnt(sleep16); //needed for LPL // dwt_configuresleep(DWT_LOADUCODE | DWT_LOADOPSET | DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_WK | DWT_SLP_EN); //needed for LPL SPI_ChangeRate(SPI_BaudRatePrescaler_4); //spi_set_rate_high(); // dwt_configure(&config); /* Loop forever receiving frames. */ /* while (1) { led_on(LED_ALL); Sleep(100); led_off(LED_ALL); Sleep(100); push_over_usb("nikola",6); setLCDline1( 123); }*/ s1switch = is_button_low(0) << 1 // is_switch_on(TA_SW1_2) << 2 | is_switch_on(TA_SW1_3) << 2 | is_switch_on(TA_SW1_4) << 3 | is_switch_on(TA_SW1_5) << 4 | is_switch_on(TA_SW1_6) << 5 | is_switch_on(TA_SW1_7) << 6 | is_switch_on(TA_SW1_8) << 7; port_EnableEXT_IRQ(); while(1){ setLCDline1(123); deca_sleep(1000); device_id= inittestapplication(s1switch); setLCDline1(instance_data[0].mode); if(instance_mode == TAG){ setLCDline1(1); } else if(instance_mode==ANCHOR){ setLCDline1(2); } else { setLCDline1(3); } deca_sleep(1000); // instance_run(); //setLCDline1(message); instance_run(); } }