[457] | 1 | /* Copyright (c) 2014, Nordic Semiconductor ASA
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| 2 | *
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| 3 | * Permission is hereby granted, free of charge, to any person obtaining a copy
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| 4 | * of this software and associated documentation files (the "Software"), to deal
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| 5 | * in the Software without restriction, including without limitation the rights
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| 6 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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| 7 | * copies of the Software, and to permit persons to whom the Software is
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| 8 | * furnished to do so, subject to the following conditions:
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| 9 | *
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| 10 | * The above copyright notice and this permission notice shall be included in all
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| 11 | * copies or substantial portions of the Software.
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| 12 | *
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| 13 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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| 14 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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| 15 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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| 16 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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| 17 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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| 18 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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| 19 | * SOFTWARE.
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| 20 | */
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| 21 |
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| 22 | /** @file
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| 23 | @brief Implementation of the ACI transport layer module
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| 24 | */
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| 25 |
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| 26 | #include "hal_platform.h"
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| 27 | #include "hal_aci_tl.h"
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| 28 | #include "aci_queue.h"
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| 29 |
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| 30 | /*
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| 31 | PIC32 supports only MSbit transfer on SPI and the nRF8001 uses LSBit
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| 32 | Use the REVERSE_BITS macro to convert from MSBit to LSBit
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| 33 | The outgoing command and the incoming event needs to be converted
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| 34 | */
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| 35 | //Board dependent defines
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| 36 | //For ChipKit as the transmission has to be reversed, the next definitions have to be added
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| 37 | #ifdef __STM32__
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| 38 | #define REVERSE_BITS(byte) (byte)
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| 39 | #else
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| 40 | #define REVERSE_BITS(byte) (((reverse_lookup[(byte & 0x0F)]) << 4) + reverse_lookup[((byte & 0xF0) >> 4)])
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| 41 | static const uint8_t reverse_lookup[] = { 0, 8, 4, 12, 2, 10, 6, 14,1, 9, 5, 13,3, 11, 7, 15 };
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| 42 | #endif
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| 43 |
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| 44 | static void m_aci_data_print(hal_aci_data_t *p_data);
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| 45 | static void m_aci_event_check(void);
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| 46 | static void m_aci_pins_set(aci_pins_t *a_pins_ptr);
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| 47 | static inline void m_aci_reqn_disable (void);
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| 48 | static inline void m_aci_reqn_enable (void);
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| 49 | static void m_aci_q_flush(void);
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| 50 | static bool m_aci_spi_transfer(hal_aci_data_t * data_to_send, hal_aci_data_t * received_data);
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| 51 |
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| 52 | static uint8_t spi_readwrite(uint8_t aci_byte);
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| 53 |
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| 54 |
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| 55 | static bool aci_debug_print = false;
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| 56 |
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| 57 | aci_queue_t aci_tx_q;
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| 58 | aci_queue_t aci_rx_q;
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| 59 |
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| 60 | static aci_pins_t *a_pins_local_ptr;
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| 61 |
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| 62 | static SPI_Handle_t *hspi;
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| 63 | static int evt_taskid;
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| 64 | static int aci_activate;
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| 65 |
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| 66 | /* Buffer used for transmission */
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| 67 | uint8_t aTxBuffer[4];
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| 68 |
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| 69 | /* Buffer used for reception */
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| 70 | uint8_t aRxBuffer[4];
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| 71 |
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| 72 | static uint8_t spi_transfer(uint8_t a)
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| 73 | {
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| 74 | ER ercd;
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| 75 |
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| 76 | aTxBuffer[0] = a;
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| 77 | #if SPI_WAIT_TIME != 0
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| 78 | ercd = spi_transrecv(hspi, (uint8_t*)aTxBuffer, (uint8_t *)aRxBuffer, 1);
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| 79 | #else
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| 80 | if((ercd = spi_transrecv(hspi, (uint8_t*)aTxBuffer, (uint8_t *)aRxBuffer, 1)) == E_OK)
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| 81 | ercd = spi_wait(hspi, 100);
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| 82 | #endif
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| 83 | if(ercd != E_OK){
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| 84 | /* Transfer error in transmission process */
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| 85 | syslog_1(LOG_NOTICE, "## call Error_Handler(2)(%d) ##", ercd);
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| 86 | }
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| 87 | return aRxBuffer[0];
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| 88 | }
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| 89 |
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| 90 | /*
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| 91 | * GPIO設定関数
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| 92 | */
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| 93 | static void pinMode(uint32_t no, int mode)
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| 94 | {
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| 95 | Arduino_PortControlBlock *ppcb = getGpioTable(DIGITAL_PIN, no);
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| 96 | GPIO_Init_t GPIO_Init_Data;
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| 97 |
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| 98 | syslog_2(LOG_NOTICE, "## pinMode(%d, %d) ##", no, mode);
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| 99 | syslog_2(LOG_NOTICE, "## [%08x](%d) ##", ppcb->giobase, ppcb->giopin);
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| 100 | if(ppcb == NULL)
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| 101 | return;
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| 102 | pinClock(no);
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| 103 | if(mode == OUTPUT){
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| 104 | GPIO_Init_Data.mode = GPIO_MODE_OUTPUT;
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| 105 | GPIO_Init_Data.pull = GPIO_PULLUP;
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| 106 | GPIO_Init_Data.otype = GPIO_OTYPE_PP;
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| 107 | #ifdef TOPPERS_BASE_PLATFORM_RV
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| 108 | GPIO_Init_Data.oxor = GPIO_OUTPUT_NORMAL;
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| 109 | GPIO_Init_Data.iof = GPIO_NOIOF;
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| 110 | #else
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| 111 | GPIO_Init_Data.speed = GPIO_SPEED_FAST;
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| 112 | #endif
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| 113 | gpio_setup(ppcb->giobase, &GPIO_Init_Data, ppcb->giopin);
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| 114 | }
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| 115 | else{
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| 116 | GPIO_Init_Data.mode = GPIO_MODE_IT_RISING_FALLING;
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| 117 | if(mode == INPUT_PULLUP)
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| 118 | GPIO_Init_Data.pull = GPIO_PULLUP;
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| 119 | else
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| 120 | GPIO_Init_Data.pull = GPIO_NOPULL;
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| 121 | gpio_setup(ppcb->giobase, &GPIO_Init_Data, ppcb->giopin);
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| 122 | }
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| 123 | }
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| 124 |
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| 125 | void m_aci_data_print(hal_aci_data_t *p_data)
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| 126 | {
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| 127 | const uint8_t length = p_data->buffer[0];
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| 128 | uint8_t i, j, len, data[5];
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| 129 |
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| 130 | len = length % 5;
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| 131 | if(len == 0)
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| 132 | len = length;
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| 133 | else
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| 134 | len = length + 5 - len;
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| 135 | for (i=j=0; i< len; i++){
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| 136 | if(i < length)
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| 137 | data[j] = p_data->buffer[i+1];
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| 138 | else
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| 139 | data[j] = 0xff;
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| 140 | if(j == 4){
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| 141 | syslog_5(LOG_NOTICE, "%02x, %02x, %02x, %02x, %02x,", data[0], data[1], data[2], data[3], data[4]);
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| 142 | j = 0;
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| 143 | }
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| 144 | else
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| 145 | j++;
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| 146 | }
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| 147 | }
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| 148 |
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| 149 | /*
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| 150 | Interrupt service routine called when the RDYN line goes low. Runs the SPI transfer.
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| 151 | */
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| 152 | void
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| 153 | m_aci_isr(void)
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| 154 | {
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| 155 | if(aci_activate == 0){
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| 156 | if(evt_taskid != 0)
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| 157 | iact_tsk(evt_taskid);
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| 158 | else
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| 159 | aci_task(0);
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| 160 | }
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| 161 | }
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| 162 |
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| 163 | void aci_task(int arg)
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| 164 | {
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| 165 | hal_aci_data_t data_to_send;
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| 166 | hal_aci_data_t received_data;
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| 167 | #ifdef NOACT_TASK /* ROI DEBUG */
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| 168 | syslog_1(LOG_NOTICE, "## aci_task(%d) ##", arg);
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| 169 | #endif /* ROI DEBUG */
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| 170 |
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| 171 | aci_activate = 1;
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| 172 | // Receive from queue
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| 173 | if (!aci_queue_dequeue/*_from_isr*/(&aci_tx_q, &data_to_send))
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| 174 | {
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| 175 | /* queue was empty, nothing to send */
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| 176 | data_to_send.status_byte = 0;
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| 177 | data_to_send.buffer[0] = 0;
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| 178 | }
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| 179 |
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| 180 | // Receive and/or transmit data
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| 181 | if(!m_aci_spi_transfer(&data_to_send, &received_data)){
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| 182 | m_aci_reqn_enable();
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| 183 | aci_activate = 0;
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| 184 | return;
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| 185 | }
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| 186 |
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| 187 | if (!aci_queue_is_full/*_from_isr*/(&aci_rx_q) && !aci_queue_is_empty/*_from_isr*/(&aci_tx_q))
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| 188 | {
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| 189 | m_aci_reqn_enable();
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| 190 | }
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| 191 |
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| 192 | // Check if we received data
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| 193 | if (received_data.buffer[0] > 0)
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| 194 | {
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| 195 | if (!aci_queue_enqueue/*_from_isr*/(&aci_rx_q, &received_data))
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| 196 | {
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| 197 | /* Receive Buffer full.
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| 198 | Should never happen.
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| 199 | Spin in a while loop.
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| 200 | */
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| 201 | syslog_0(LOG_ERROR, "aci_task Buffer full !");
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| 202 | while(1);
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| 203 | }
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| 204 | }
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| 205 | aci_activate = 0;
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| 206 |
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| 207 | return;
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| 208 | }
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| 209 |
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| 210 | /*
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| 211 | Checks the RDYN line and runs the SPI transfer if required.
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| 212 | */
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| 213 | static void m_aci_event_check(void)
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| 214 | {
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| 215 | hal_aci_data_t data_to_send;
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| 216 | hal_aci_data_t received_data;
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| 217 |
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| 218 | // No room to store incoming messages
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| 219 | if (aci_queue_is_full(&aci_rx_q))
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| 220 | {
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| 221 | return;
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| 222 | }
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| 223 |
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| 224 | // If the ready line is disabled and we have pending messages outgoing we enable the request line
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| 225 | if (HIGH == digitalRead(a_pins_local_ptr->rdyn_pin))
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| 226 | {
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| 227 | if (!aci_queue_is_empty(&aci_tx_q))
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| 228 | {
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| 229 | m_aci_reqn_enable();
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| 230 | }
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| 231 |
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| 232 | return;
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| 233 | }
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| 234 |
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| 235 | // Receive from queue
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| 236 | if (!aci_queue_dequeue(&aci_tx_q, &data_to_send))
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| 237 | {
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| 238 | /* queue was empty, nothing to send */
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| 239 | data_to_send.status_byte = 0;
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| 240 | data_to_send.buffer[0] = 0;
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| 241 | }
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| 242 |
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| 243 | // Receive and/or transmit data
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| 244 | m_aci_spi_transfer(&data_to_send, &received_data);
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| 245 |
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| 246 | /* If there are messages to transmit, and we can store the reply, we request a new transfer */
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| 247 | if (!aci_queue_is_full(&aci_rx_q) && !aci_queue_is_empty(&aci_tx_q))
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| 248 | {
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| 249 | m_aci_reqn_enable();
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| 250 | }
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| 251 |
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| 252 | // Check if we received data
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| 253 | if (received_data.buffer[0] > 0)
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| 254 | {
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| 255 | if (!aci_queue_enqueue(&aci_rx_q, &received_data))
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| 256 | {
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| 257 | /* Receive Buffer full.
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| 258 | Should never happen.
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| 259 | Spin in a while loop.
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| 260 | */
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| 261 | syslog_0(LOG_ERROR, "m_aci_event_check Buffer full !");
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| 262 | while(1);
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| 263 | }
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| 264 | }
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| 265 |
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| 266 | return;
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| 267 | }
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| 268 |
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| 269 | /** @brief Point the low level library at the ACI pins specified
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| 270 | * @details
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| 271 | * The ACI pins are specified in the application and a pointer is made available for
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| 272 | * the low level library to use
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| 273 | */
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| 274 | static void m_aci_pins_set(aci_pins_t *a_pins_ptr)
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| 275 | {
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| 276 | a_pins_local_ptr = a_pins_ptr;
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| 277 | }
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| 278 |
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| 279 | static inline void m_aci_reqn_disable (void)
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| 280 | {
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| 281 | digitalWrite(a_pins_local_ptr->reqn_pin, 1);
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| 282 | }
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| 283 |
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| 284 | static inline void m_aci_reqn_enable (void)
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| 285 | {
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| 286 | digitalWrite(a_pins_local_ptr->reqn_pin, 0);
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| 287 | }
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| 288 |
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| 289 | static void m_aci_q_flush(void)
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| 290 | {
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| 291 | noInterrupts();
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| 292 | /* re-initialize aci cmd queue and aci event queue to flush them*/
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| 293 | aci_queue_init(&aci_tx_q);
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| 294 | aci_queue_init(&aci_rx_q);
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| 295 | interrupts();
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| 296 | }
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| 297 |
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| 298 | static bool m_aci_spi_transfer(hal_aci_data_t * data_to_send, hal_aci_data_t * received_data)
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| 299 | {
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| 300 | uint8_t byte_cnt;
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| 301 | uint8_t byte_sent_cnt;
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| 302 | uint8_t max_bytes;
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| 303 |
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| 304 | m_aci_reqn_enable();
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| 305 |
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| 306 | // Send length, receive header
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| 307 | byte_sent_cnt = 0;
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| 308 | received_data->status_byte = spi_readwrite(data_to_send->buffer[byte_sent_cnt++]);
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| 309 | // Send first byte, receive length from slave
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| 310 | received_data->buffer[0] = spi_readwrite(data_to_send->buffer[byte_sent_cnt++]);
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| 311 | if(received_data->buffer[0] == 0xff)
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| 312 | return false;
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| 313 | if (0 == data_to_send->buffer[0])
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| 314 | {
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| 315 | max_bytes = received_data->buffer[0];
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| 316 | }
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| 317 | else
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| 318 | {
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| 319 | // Set the maximum to the biggest size. One command byte is already sent
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| 320 | max_bytes = (received_data->buffer[0] > (data_to_send->buffer[0] - 1))
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| 321 | ? received_data->buffer[0]
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| 322 | : (data_to_send->buffer[0] - 1);
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| 323 | }
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| 324 |
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| 325 | if (max_bytes > HAL_ACI_MAX_LENGTH)
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| 326 | {
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| 327 | max_bytes = HAL_ACI_MAX_LENGTH;
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| 328 | }
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| 329 |
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| 330 | // Transmit/receive the rest of the packet
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| 331 | for (byte_cnt = 0; byte_cnt < max_bytes; byte_cnt++)
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| 332 | {
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| 333 | received_data->buffer[byte_cnt+1] = spi_readwrite(data_to_send->buffer[byte_sent_cnt++]);
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| 334 | }
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| 335 |
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| 336 | // RDYN should follow the REQN line in approx 100ns
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| 337 | m_aci_reqn_disable();
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| 338 |
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| 339 | return (max_bytes > 0);
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| 340 | }
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| 341 |
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| 342 | void hal_aci_tl_debug_print(bool enable)
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| 343 | {
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| 344 | aci_debug_print = enable;
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| 345 | }
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| 346 |
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| 347 | void hal_aci_tl_pin_reset(void)
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| 348 | {
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| 349 | if (UNUSED != a_pins_local_ptr->reset_pin)
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| 350 | {
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| 351 | pinMode(a_pins_local_ptr->reset_pin, OUTPUT);
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| 352 |
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| 353 | if ((REDBEARLAB_SHIELD_V1_1 == a_pins_local_ptr->board_name) ||
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| 354 | (REDBEARLAB_SHIELD_V2012_07 == a_pins_local_ptr->board_name))
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| 355 | {
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| 356 | //The reset for the Redbearlab v1.1 and v2012.07 boards are inverted and has a Power On Reset
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| 357 | //circuit that takes about 100ms to trigger the reset
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| 358 | digitalWrite(a_pins_local_ptr->reset_pin, 1);
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| 359 | delay(100);
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| 360 | digitalWrite(a_pins_local_ptr->reset_pin, 0);
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| 361 | }
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| 362 | else
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| 363 | {
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| 364 | digitalWrite(a_pins_local_ptr->reset_pin, 1);
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| 365 | digitalWrite(a_pins_local_ptr->reset_pin, 0);
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| 366 | digitalWrite(a_pins_local_ptr->reset_pin, 1);
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| 367 | }
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| 368 | }
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| 369 | }
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| 370 |
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| 371 | bool hal_aci_tl_event_peek(hal_aci_data_t *p_aci_data)
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| 372 | {
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| 373 | if (!a_pins_local_ptr->interface_is_interrupt)
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| 374 | {
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| 375 | m_aci_event_check();
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| 376 | }
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| 377 |
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| 378 | if (aci_queue_peek(&aci_rx_q, p_aci_data))
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| 379 | {
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| 380 | return true;
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| 381 | }
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| 382 |
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| 383 | return false;
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| 384 | }
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| 385 |
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| 386 | bool hal_aci_tl_event_get(hal_aci_data_t *p_aci_data)
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| 387 | {
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| 388 | bool was_full;
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| 389 |
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| 390 | if (!a_pins_local_ptr->interface_is_interrupt && !aci_queue_is_full(&aci_rx_q))
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| 391 | {
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| 392 | m_aci_event_check();
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| 393 | }
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| 394 |
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| 395 | was_full = aci_queue_is_full(&aci_rx_q);
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| 396 |
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| 397 | if (aci_queue_dequeue(&aci_rx_q, p_aci_data))
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| 398 | {
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| 399 | if (aci_debug_print)
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| 400 | {
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| 401 | syslog_1(LOG_NOTICE, "EVT %d:", p_aci_data->buffer[0]);
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| 402 | m_aci_data_print(p_aci_data);
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| 403 | }
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| 404 |
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| 405 | /* Attempt to pull REQN LOW since we've made room for new messages */
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| 406 | if (!aci_queue_is_full(&aci_rx_q) && !aci_queue_is_empty(&aci_tx_q))
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| 407 | {
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| 408 | m_aci_reqn_enable();
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| 409 | }
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| 410 |
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| 411 | return true;
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| 412 | }
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| 413 |
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| 414 | (void)(was_full);
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| 415 | return false;
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| 416 | }
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| 417 |
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| 418 | void hal_aci_tl_init(aci_pins_t *a_pins, bool debug)
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| 419 | {
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| 420 | aci_debug_print = debug;
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| 421 |
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| 422 | /* Needs to be called as the first thing for proper intialization*/
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| 423 | m_aci_pins_set(a_pins);
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| 424 |
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| 425 | /*
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| 426 | The SPI lines used are mapped directly to the hardware SPI
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| 427 | MISO MOSI and SCK
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| 428 | Change here if the pins are mapped differently
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| 429 |
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| 430 | The SPI library assumes that the hardware pins are used
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| 431 | */
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| 432 | hspi = a_pins->spihandle;
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| 433 | evt_taskid = a_pins->event_taskid;
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| 434 |
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| 435 | /* Initialize the ACI Command queue. This must be called after the delay above. */
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| 436 | aci_queue_init(&aci_tx_q);
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| 437 | aci_queue_init(&aci_rx_q);
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| 438 |
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| 439 | //Configure the IO lines
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| 440 | pinMode(a_pins->rdyn_pin, INPUT_PULLUP);
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| 441 | pinMode(a_pins->reqn_pin, OUTPUT);
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| 442 |
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| 443 | if (UNUSED != a_pins->active_pin)
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| 444 | {
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| 445 | pinMode(a_pins->active_pin, INPUT);
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| 446 | }
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| 447 | /* Pin reset the nRF8001, required when the nRF8001 setup is being changed */
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| 448 | hal_aci_tl_pin_reset();
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| 449 |
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| 450 | /* Set the nRF8001 to a known state as required by the datasheet*/
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| 451 | digitalWrite(a_pins->reqn_pin, 1);
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| 452 |
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| 453 | dly_tsk(30); //Wait for the nRF8001 to get hold of its lines - the lines float for a few ms after the reset
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| 454 | }
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| 455 |
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| 456 | bool hal_aci_tl_send(hal_aci_data_t *p_aci_cmd)
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| 457 | {
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| 458 | const uint8_t length = p_aci_cmd->buffer[0];
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| 459 | bool ret_val = false;
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| 460 |
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| 461 | if (length > HAL_ACI_MAX_LENGTH)
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| 462 | {
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| 463 | return false;
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| 464 | }
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| 465 |
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| 466 | ret_val = aci_queue_enqueue(&aci_tx_q, p_aci_cmd);
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| 467 | if (ret_val)
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| 468 | {
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| 469 | if(!aci_queue_is_full(&aci_rx_q))
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| 470 | {
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| 471 | // Lower the REQN only when successfully enqueued
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| 472 | m_aci_reqn_enable();
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| 473 | }
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| 474 |
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| 475 | if (aci_debug_print)
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| 476 | {
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| 477 | syslog_1(LOG_NOTICE, "CMD %d:", p_aci_cmd->buffer[0]);
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| 478 | m_aci_data_print(p_aci_cmd);
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| 479 | }
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| 480 | }
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| 481 |
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| 482 | return ret_val;
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| 483 | }
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| 484 |
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| 485 | static uint8_t spi_readwrite(const uint8_t aci_byte)
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| 486 | {
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| 487 | //Board dependent defines
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| 488 | //For ChipKit the transmission has to be reversed
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| 489 | uint8_t tmp_bits;
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| 490 | tmp_bits = spi_transfer(REVERSE_BITS(aci_byte));
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| 491 | #if 0 /* ROI DEBUG */
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| 492 | {
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| 493 | uint32_t tim;
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| 494 | get_tim(&tim);
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| 495 | syslog_5(LOG_NOTICE, "## spi_readwrite in1[%02x] in2[%02x] out1[%02x] out2[%02x] tim(%d) ##", aci_byte, REVERSE_BITS(aci_byte), tmp_bits, REVERSE_BITS(tmp_bits), tim);
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| 496 | }
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| 497 | #endif /* ROI DEBUG */
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| 498 | return REVERSE_BITS(tmp_bits);
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| 499 | }
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| 500 |
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| 501 | bool hal_aci_tl_rx_q_empty (void)
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| 502 | {
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| 503 | return aci_queue_is_empty(&aci_rx_q);
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| 504 | }
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| 505 |
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| 506 | bool hal_aci_tl_rx_q_full (void)
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| 507 | {
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| 508 | return aci_queue_is_full(&aci_rx_q);
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| 509 | }
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| 510 |
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| 511 | bool hal_aci_tl_tx_q_empty (void)
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| 512 | {
|
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| 513 | return aci_queue_is_empty(&aci_tx_q);
|
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| 514 | }
|
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| 515 |
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| 516 | bool hal_aci_tl_tx_q_full (void)
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| 517 | {
|
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| 518 | return aci_queue_is_full(&aci_tx_q);
|
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| 519 | }
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| 520 |
|
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| 521 | void hal_aci_tl_q_flush (void)
|
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| 522 | {
|
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| 523 | m_aci_q_flush();
|
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| 524 | }
|
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| 525 |
|
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