#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_Gpio.h>
#include <ti/drivers/rcl/RCL_Debug.h>
#include <ti/drivers/rcl/RCL_Version.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)

static RCL_CommandStatus	rclStop (RCL_Command_Handle c, RCL_StopType stopType, RCL_SchedulerStopReason stopReason)

void	RCL_clearNextCommandHook ()
	Hook function to clear nextCmd pointer. More...

RCL_Command *	RCL_getNextCommandHook ()
	Hook function to get the nextCmd from the command queue. More...

RCL_StopType	RCL_policyHook (RCL_Command currentCmd, RCL_Command newCmd)
	Hook function to determine what stop type the ongoing command should get. More...

void	RCL_phyHook (RCL rclState, RCL_Handle client, RCL_Command cmd)
	Hook function to allow dynamic PHY change. More...

void	RCL_scheduleHook (RCL_SchedulerState rclSchedulerState, RCL_Handle client, RCL_Command cmd)
	Hook function to schedule new command. More...

	__attribute__ ((weak))

void	RCL_init (void)
	Initializes the RCL driver state. More...

void	RCL_openPowerNotifications (void)
	Request RCL power notifications. More...

void	RCL_closePowerNotifications (void)
	Remove RCL power notification request. 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...

void	RCL_triggerScheduler (void)
	Trigger the RCL Scheduler. More...

uint32_t	RCL_getPhySwitchingTime (void)
	Get Phy RCL Switching time. More...

Variables
static bool	isInitialized = 0

static RCL_Command *	rclNextCmd = NULL

RCL	rclState

Function Documentation

§ rclCommandHwi()

static void rclCommandHwi ( void )

static

References RCL_SchedulerState::currCmd, RCL_SchedulerState::descheduleReason, RCL_SchedulerState::gracefulStopInfo, hal_cancel_graceful_stop_time(), hal_cancel_hard_stop_time(), hal_cancel_start_time(), hal_check_clear_timer_compare(), hal_disable_all_command_radio_interrupts(), hal_get_command_ifg_reg(), hal_power_release_standby_constraint(), hal_power_set_standby_constraint(), HAL_TIMER_EVT_GRACEFUL_STOP, HAL_TIMER_EVT_HARD_STOP, HAL_TIMER_EVT_PACKET_TIMEOUT, HAL_TIMER_EVT_SETUP, HAL_TIMER_EVT_START, hal_trigger_dispatch_fsm(), RCL_SchedulerState::hardStopInfo, LRF_hardStop(), LRF_setupRadio(), RCL::lrfConfig, RCL::lrfState, RCL_SchedulerState::postedRclEvents, RCL::powerState, RadioState_Configured, RadioState_Down, RadioState_ImagesLoaded, RCL_CommandStatus_Error_Setup, RCL_CommandStatus_Finished, RCL_CommandStatus_Scheduled, RCL_Debug_assert, RCL_EventHandlerCmdUpdate, RCL_EventNone, RCL_Scheduler_findStopStatus(), RCL_Scheduler_postEvent(), RCL_Scheduler_setStopTimes(), RCL_SchedulerStopReason_Timeout, RCL_standbyAllow, RCL_standbyDisallow, RCL_StopType_DescheduleOnly, RCL_StopType_None, rclSchedulerState, rclStop(), RCL_SchedulerState::requestedPhyFeatures, result, SetupResult_Ok, and RCL_SchedulerStopInfo::stopReason.

Referenced by RCL_init().

§ rclDispatchHwi()

static void rclDispatchHwi ( void )

static

References RCL_SchedulerState::currCmd, hal_disable_all_dispatch_radio_interrupts(), hal_get_dispatch_ifg_reg(), hal_trigger_scheduler_fsm(), LRF_EventNone, RCL_SchedulerState::nextWantsStop, RCL_clearNextCommandHook(), RCL_CommandStatus_Finished, RCL_CommandStatus_RejectedStart, RCL_Debug_assert, RCL_EventNone, RCL_getNextCommandHook(), and rclSchedulerState.

Referenced by RCL_init().

§ rclSchedulerHwi()

static void rclSchedulerHwi ( void )

static

§ rclPowerNotify()

static void rclPowerNotify ( RCL_PowerEvent eventType )

static

References RCL_SchedulerState::currCmd, hal_enable_setup_time_irq(), hal_init_dispatch_radio_interrupts(), RCL::lrfState, RCL::numClients, RadioState_ImagesLoaded, RCL_GPIO_disable(), RCL_GPIO_enable(), RCL_POWER_STANDBY_AWAKE, RCL_POWER_STANDBY_ENTER, and RCL_ProfilingEvent_PreprocStart.

Referenced by hal_power_post_notify_fxn(), and RCL_openPowerNotifications().

§ rclStop()

static RCL_CommandStatus rclStop	(	RCL_Command_Handle	c,
		RCL_StopType	stopType,
		RCL_SchedulerStopReason	stopReason
	)

static

§ RCL_clearNextCommandHook()

void RCL_clearNextCommandHook ( )

Hook function to clear nextCmd pointer.

Referenced by __attribute__(), rclDispatchHwi(), rclSchedulerHwi(), and rclStop().

§ RCL_getNextCommandHook()

RCL_Command* RCL_getNextCommandHook ( )

Hook function to get the nextCmd from the command queue.

Returns: ::Pointer to the nextCmd

Referenced by __attribute__(), RCL_close(), RCL_Command_submit(), rclDispatchHwi(), and rclSchedulerHwi().

§ RCL_policyHook()

RCL_StopType RCL_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

Referenced by __attribute__().

§ RCL_phyHook()

void RCL_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 __attribute__(), and rclSchedulerHwi().

§ RCL_scheduleHook()

void RCL_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 __attribute__(), and rclSchedulerHwi().

§ attribute()

__attribute__ ( (weak) )

§ RCL_init()

void RCL_init ( void )

Initializes the RCL driver state.

Resets global state and initialize hardware.

Note: Must be called before using any other RCL API

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

Referenced by RCL_AdcNoise_get_samples_blocking(), and RCL_AdcNoise_get_samples_callback().

§ RCL_openPowerNotifications()

void RCL_openPowerNotifications ( void )

Request RCL power notifications.

References hal_power_open(), RCL::powerNotifyEnableCount, RCL_Debug_assert, and rclPowerNotify().

Referenced by RCL_open().

§ RCL_closePowerNotifications()

void RCL_closePowerNotifications ( void )

Remove RCL power notification request.

References hal_power_close(), RCL::powerNotifyEnableCount, and RCL_Debug_assert.

Referenced by RCL_close().

§ 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(), LRF_rclEnableRadioClocks(), RCL::numClients, RCL_GPIO_enable(), RCL_openPowerNotifications(), RCL_VERSION, RCL_VERSION_CHANNEL_NUMBER, and RCL_VERSION_SHA.

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 __attribute__(), LRF_rclDisableRadioClocks(), RCL::lrfConfig, RCL::numClients, RCL_closePowerNotifications(), RCL_CommandStatus_Error_CommandQueueFull, RCL_CommandStatus_Scheduled, RCL_getNextCommandHook(), RCL_GPIO_disable(), and rclNextCmd.

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_CommandStatus_Error_AlreadySubmitted, RCL_CommandStatus_Finished, RCL_CommandStatus_Idle, RCL_CommandStatus_Scheduled, and RCL_getNextCommandHook().

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_SchedulerStopReason_Api, and rclStop().

§ 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, and RadioState_Configured.

§ RCL_triggerScheduler()

void RCL_triggerScheduler ( void )

Trigger the RCL Scheduler.

This API is meant to be used when there is an update in the command queue by DMM due to change in order of priority. RCL will update nextCmd based on this.

References hal_trigger_scheduler_fsm().

§ RCL_getPhySwitchingTime()

uint32_t RCL_getPhySwitchingTime ( void )

Get Phy RCL Switching time.

This API will return the phy switching time for the radio including the wakeup margin, configuration time, buffer preparation time and phy load time.

Returns: Returns the phy switching time in microseconds

References RCL_SCHEDULER_MARGIN_ARM, RCL_SCHEDULER_MARGIN_CONFIGURE, RCL_SCHEDULER_MARGIN_LOAD, and RCL_SCHEDULER_WAKEUP_MARGIN.

Variable Documentation

§ isInitialized

bool isInitialized = 0

static

Referenced by RCL_init().

§ rclNextCmd

RCL_Command* rclNextCmd = NULL

static

Referenced by __attribute__(), and RCL_close().

§ rclState

RCL rclState

Functions

Variables

Function Documentation

§ rclCommandHwi()

§ rclDispatchHwi()

§ rclSchedulerHwi()

§ rclPowerNotify()

§ rclStop()

§ RCL_clearNextCommandHook()

§ RCL_getNextCommandHook()

§ RCL_policyHook()

§ RCL_phyHook()

§ RCL_scheduleHook()

§ __attribute__()

§ RCL_init()

§ RCL_openPowerNotifications()

§ RCL_closePowerNotifications()

§ RCL_open()

§ RCL_close()

§ RCL_Command_submit()

§ RCL_Command_pend()

§ RCL_Command_stop()

§ RCL_readRssi()

§ RCL_triggerScheduler()

§ RCL_getPhySwitchingTime()

Variable Documentation

§ isInitialized

§ rclNextCmd

§ rclState

§ attribute()