RCL.c File Reference

#include <stdint.h>
#include <stddef.h>
#include <stdbool.h>
#include <string.h>
#include <ti/drivers/rcl/hal/hal.h>
#include <ti/drivers/rcl/RCL.h>
#include <ti/drivers/rcl/LRF.h>
#include <ti/drivers/rcl/RCL_Scheduler.h>
#include <ti/drivers/rcl/RCL_Profiling.h>
#include <ti/drivers/rcl/RCL_Tracer.h>
#include <ti/drivers/rcl/RCL_Debug.h>
#include <ti/drivers/dpl/SemaphoreP.h>
#include <ti/drivers/dpl/HwiP.h>
#include <ti/log/Log.h>

Include dependency graph for RCL.c:

Functions
static void	rclCommandHwi (void)
static void	rclDispatchHwi (void)
static void	rclSchedulerHwi (void)
static void	rclPowerNotify (RCL_PowerEvent eventType)
RCL_StopType	policyHook (RCL_Command *currentCmd, RCL_Command *newCmd)
	Hook function to determine what stop type the ongoing command should get. More...
void	phyHook (RCL *rclState, RCL_Handle client, RCL_Command *cmd)
	Hook function to allow dynamic PHY change. More...
void	scheduleHook (RCL_SchedulerState *rclSchedulerState, RCL_Handle client, RCL_Command *cmd)
	Hook function to schedule new command. More...
	__attribute__ ((weak))
int	RCL_init (void)
	Initializes the RCL driver state. More...
RCL_Handle	RCL_open (RCL_Client *c, const LRF_Config *lrfConfig)
	Initializes an RCL client instance. More...
void	RCL_close (RCL_Handle h)
	Closes client instance and deallocates open resources. More...
RCL_CommandStatus	RCL_Command_submit (RCL_Handle h, RCL_Command_Handle c)
	Submit RCL command object to be scheduled for execution. More...
RCL_CommandStatus	RCL_Command_pend (RCL_Command_Handle c)
	Wait for a submitted command to complete. More...
RCL_CommandStatus	RCL_Command_stop (RCL_Command_Handle c, RCL_StopType stopType)
	Stop a command. More...
int8_t	RCL_readRssi (void)
	Get the last valid RSSI value. More...

Variables
RCL	rclState

Function Documentation

rclCommandHwi()

static void rclCommandHwi ( void  )

static

References RCL_SchedulerState::currCmd, hal_cancel_graceful_stop_time(), hal_cancel_hard_stop_time(), hal_cancel_start_time(), hal_check_clear_timer_compare(), hal_disable_radio_interrupts(), hal_get_ifg_reg(), hal_power_release_constraint(), hal_power_set_constraint(), HAL_TIMER_EVT_GRACEFUL_STOP, HAL_TIMER_EVT_HARD_STOP, HAL_TIMER_EVT_SETUP, HAL_TIMER_EVT_START, hal_trigger_dispatch_fsm(), LRF_hardStop(), LRF_setupRadio(), RCL::lrfConfig, RCL::lrfState, RCL_SchedulerState::postedRclEvents, RCL::powerState, RadioState_Configured, RadioState_Down, RadioState_ImagesLoaded, RCL_Command_stop(), RCL_CommandStatus_Descheduled, RCL_CommandStatus_Error_Setup, RCL_CommandStatus_Finished, RCL_CommandStatus_Scheduled, RCL_Debug_assert, RCL_EventNone, RCL_Scheduler_setStopTimes(), RCL_standbyAllow, RCL_standbyDisallow, RCL_StopType_None, rclSchedulerState, rclState, and SetupResult_Ok.

Referenced by RCL_init().

rclDispatchHwi()

static void rclDispatchHwi ( void  )

static

References RCL_SchedulerState::currCmd, hal_trigger_scheduler_fsm(), LRF_EventNone, RCL::nextCmd, RCL_SchedulerState::nextWantsStop, RCL_CommandStatus_Finished, RCL_CommandStatus_RejectedStart, RCL_Debug_assert, RCL_EventNone, rclSchedulerState, and rclState.

Referenced by RCL_init().

rclSchedulerHwi()

static void rclSchedulerHwi ( void  )

static

References RCL_SchedulerState::currCmd, hal_set_systim_imask(), hal_setup_setup_time(), LRF_imagesNeedUpdate(), RCL::lrfConfig, RCL::lrfState, RCL::nextCmd, phyHook(), RadioState_Configured, RadioState_ImagesLoaded, RCL_CommandStatus_Error_StartTooLate, RCL_CommandStatus_Finished, RCL_Debug_assert, RCL_EventSetup, RCL_ProfilingEvent_PostprocStop, RCL_Schedule_Now, RCL_Scheduler_delta(), RCL_Scheduler_getCurrentTime(), RCL_SCHEDULER_MARGIN_ARM, RCL_SCHEDULER_MARGIN_CONFIGURE, RCL_SCHEDULER_MARGIN_LOAD, RCL_Scheduler_postEvent(), RCL_SCHEDULER_SLEEP_CUTOFF, RCL_SCHEDULER_TRIG_NOW_DELAY, RCL_SCHEDULER_WAKEUP_MARGIN, rclSchedulerState, rclState, and scheduleHook().

Referenced by RCL_init().

rclPowerNotify()

static void rclPowerNotify ( RCL_PowerEvent  eventType )

static

References RCL_SchedulerState::currCmd, hal_enable_setup_time_irq(), LRF_rclEnableRadioClocks(), RCL::lrfState, RadioState_ImagesLoaded, RCL_POWER_STANDBY_AWAKE, RCL_POWER_XTAL_AVAILABLE, RCL_ProfilingEvent_PreprocStart, rclSchedulerState, and rclState.

Referenced by RCL_open().

policyHook()

RCL_StopType policyHook	(	RCL_Command *	currentCmd,
		RCL_Command *	newCmd
	)

Hook function to determine what stop type the ongoing command should get.

Parameters

[in]	currentCmd	Currently running command
[in]	newCmd	New command to potentially take its place

Returns

RCL_StopType How the ongoing command will be terminated if not already terminated when needed

phyHook()

void phyHook	(	RCL *	rclState,
		RCL_Handle	client,
		RCL_Command *	cmd
	)

Hook function to allow dynamic PHY change.

Parameters

[in]	rclState	RCL state
[in]	client	Current RCL client
[in]	cmd	Currently running command

Referenced by rclSchedulerHwi().

scheduleHook()

void scheduleHook	(	RCL_SchedulerState *	rclSchedulerState,
		RCL_Handle	client,
		RCL_Command *	cmd
	)

Hook function to schedule new command.

Parameters

[in]	rclSchedulerState	Scheduler state
[in]	client	Current RCL client
[in]	cmd	Command to be scheduled

Referenced by rclSchedulerHwi().

__attribute__()

__attribute__

(

(weak)

)

References RCL_ConflictPolicy_AlwaysInterrupt, RCL_ConflictPolicy_NeverInterrupt, RCL_ConflictPolicy_Polite, RCL_StopType_DescheduleOnly, RCL_StopType_Graceful, RCL_StopType_Hard, and RCL_StopType_None.

RCL_init()

int RCL_init

(

)

Initializes the RCL driver state.

Resets global state and initialize hardware.

Note

Must be called before using any other RCL API

Returns

>= 0 for success, negative for error.

References hal_init_fsm(), RCL::numClients, RadioState_Down, rclCommandHwi(), rclDispatchHwi(), rclSchedulerHwi(), and rclState.

Referenced by RCL_AdcNoise_get_samples_blocking(), and RCL_AdcNoise_get_samples_callback().

RCL_open()

RCL_Handle RCL_open	(	RCL_Client *	c,
		const LRF_Config *	lrfConfig
	)

Initializes an RCL client instance.

Parameters

[in]	c	- Client object struct to be initialized
[in]	lrfConfig	- Radio configuration to be used by client

Returns

Instance RCL_Handle handle or NULL

References hal_enable_clk_buffer(), hal_power_open(), LRF_rclEnableRadioClocks(), RCL::numClients, rclPowerNotify(), and rclState.

Referenced by RCL_AdcNoise_get_samples_blocking(), and RCL_AdcNoise_get_samples_callback().

RCL_close()

void RCL_close

(

RCL_Handle

h

)

Closes client instance and deallocates open resources.

Parameters

[in]

h

- Client handle

References hal_power_close(), LRF_rclDisableRadioClocks(), RCL::lrfConfig, RCL::numClients, and rclState.

Referenced by adcNoiseCallback(), and RCL_AdcNoise_get_samples_blocking().

RCL_Command_submit()

RCL_CommandStatus RCL_Command_submit	(	RCL_Handle	h,
		RCL_Command_Handle	c
	)

Submit RCL command object to be scheduled for execution.

This API returns immediately with either RCL_CommandStatus_Error or the asynchronous current state of the command.

Parameters

[in]	h	- Client handle
[in]	c	- Command handle

Returns

RCL_CommandStatus result of the submission

References RCL_SchedulerState::currCmd, hal_trigger_scheduler_fsm(), RCL::nextCmd, RCL_CommandStatus_Error, RCL_CommandStatus_Error_AlreadySubmitted, RCL_CommandStatus_Finished, RCL_CommandStatus_Idle, rclSchedulerState, and rclState.

Referenced by RCL_AdcNoise_get_samples_blocking(), and RCL_AdcNoise_get_samples_callback().

RCL_Command_pend()

RCL_CommandStatus RCL_Command_pend

(

RCL_Command_Handle

c

)

Wait for a submitted command to complete.

Uses SemaphoreP_pend to block in the callers context.

Precondition

This function must be called from a task context, with interrupts enabled.

Parameters

[in]

c

- Client handle

References RCL_CommandStatus_Active, and RCL_Debug_assert.

Referenced by RCL_AdcNoise_get_samples_blocking().

RCL_Command_stop()

RCL_CommandStatus RCL_Command_stop	(	RCL_Command_Handle	c,
		RCL_StopType	stopType
	)

Stop a command.

Sends the message to try to stop a command. When the function returns, the command may still be running. Depending on the stop type, the command may stop after some time. RCL_Command_pend may be used to wait for the command to finish.

Parameters

c	[in] - Command handle
stopType	[in] - Stop type; telling which situations the command will stop

Returns

Status of the command; if the command is not finished, a wait is needed.

References RCL_SchedulerStopInfo::apiStopEnabled, RCL_SchedulerState::gracefulStopInfo, RCL_SchedulerState::hardStopInfo, LRF_sendGracefulStop(), LRF_sendHardStop(), RCL::nextCmd, RCL_CommandStatus_Descheduled, RCL_CommandStatus_Finished, RCL_CommandStatus_Queued, RCL_Debug_assert, RCL_EventNone, RCL_Scheduler_postEvent(), RCL_StopType_DescheduleOnly, RCL_StopType_Graceful, RCL_StopType_Hard, RCL_StopType_None, rclSchedulerState, and rclState.

Referenced by rclCommandHwi().

RCL_readRssi()

int8_t RCL_readRssi

(

void

)

Get the last valid RSSI value.

This API returns the last valid RSSI value or a specific error status if the last obtained RSSI value is no longer valid.

Returns

Returns RSSI value, or LRF_RSSI_INVALID if the last obtained RSSI value is no longer valid or if the radio is unavailable (e.g. in the middle of a Tx operation).

References LRF_readRssi(), LRF_RSSI_INVALID, RCL::lrfState, RadioState_Configured, and rclState.

Variable Documentation

rclState

RCL rclState

Referenced by RCL_close(), RCL_Command_stop(), RCL_Command_submit(), RCL_init(), RCL_open(), RCL_readRssi(), rclCommandHwi(), rclDispatchHwi(), rclPowerNotify(), and rclSchedulerHwi().