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 |
|
---|
501 | bool hal_aci_tl_rx_q_empty (void)
|
---|
502 | {
|
---|
503 | return aci_queue_is_empty(&aci_rx_q);
|
---|
504 | }
|
---|
505 |
|
---|
506 | bool hal_aci_tl_rx_q_full (void)
|
---|
507 | {
|
---|
508 | return aci_queue_is_full(&aci_rx_q);
|
---|
509 | }
|
---|
510 |
|
---|
511 | bool hal_aci_tl_tx_q_empty (void)
|
---|
512 | {
|
---|
513 | return aci_queue_is_empty(&aci_tx_q);
|
---|
514 | }
|
---|
515 |
|
---|
516 | bool hal_aci_tl_tx_q_full (void)
|
---|
517 | {
|
---|
518 | return aci_queue_is_full(&aci_tx_q);
|
---|
519 | }
|
---|
520 |
|
---|
521 | void hal_aci_tl_q_flush (void)
|
---|
522 | {
|
---|
523 | m_aci_q_flush();
|
---|
524 | }
|
---|
525 |
|
---|