pkg/uwb-dw1000: initial import

pkg/uwb-dw1000/Makefile

@@ -0,0 +1,26 @@
+PKG_NAME=uwb-dw1000
+PKG_URL=https://github.com/Decawave/uwb-dw1000/
+PKG_VERSION=6eaa85e6d429450d19a6ddeb2de05303016c0dd2
+PKG_LICENSE=Apache-2.0
+
+include $(RIOTBASE)/pkg/pkg.mk
+
+CFLAGS += -Wno-address-of-packed-member
+CFLAGS += -Wno-enum-conversion
+CFLAGS += -Wno-maybe-uninitialized
+CFLAGS += -Wno-missing-braces
+CFLAGS += -Wno-missing-declarations
+CFLAGS += -Wno-sign-compare
+CFLAGS += -Wno-return-type
+CFLAGS += -Wno-unused-but-set-variable
+CFLAGS += -Wno-unused-function
+CFLAGS += -Wno-unused-parameter
+CFLAGS += -Wno-unused-variable
+CFLAGS += -fms-extensions
+
+ifneq (,$(filter llvm,$(TOOLCHAIN)))
+  CFLAGS += -Wno-microsoft-anon-tag
+endif
+
+all:
+	"$(MAKE)" -C $(PKG_SOURCE_DIR)/hw/drivers/uwb/uwb_dw1000/src -f $(RIOTPKG)/uwb-dw1000/uwb-dw1000.mk MODULE=uwb-dw1000

pkg/uwb-dw1000/Makefile.dep

@@ -0,0 +1,13 @@
+USEMODULE += uwb-dw1000_hal
+DEFAULT_MODULE += auto_init_uwb-dw1000
+
+USEMODULE += xtimer
+
+FEATURES_REQUIRED += periph_gpio_irq
+FEATURES_REQUIRED += periph_spi
+
+# Some of the pkg operation would overflow on 16bit
+FEATURES_REQUIRED += arch_32bit
+
+# LLVM ARM shows issues with missing definitions for stdatomic
+TOOLCHAINS_BLACKLIST += llvm

pkg/uwb-dw1000/Makefile.include

@@ -0,0 +1,5 @@
+INCLUDES += -I$(PKGDIRBASE)/uwb-dw1000/hw/drivers/uwb/uwb_dw1000/include \
+            -I$(RIOTPKG)/uwb-dw1000/include \
+            #
+
+DIRS += $(RIOTPKG)/uwb-dw1000/hal

pkg/uwb-dw1000/doc.txt

@@ -0,0 +1,41 @@
+/**
+ * @defgroup pkg_uwb_dw1000 Driver implementation for the uwb-core driver for Decawave DW1000 transceiver
+ * @ingroup  pkg
+ * @brief    uwb-core driver for Decawave DW1000 transceiver
+ * @see      https://github.com/Decawave/uwb-dw1000
+ */
+
+# Decawave uwb-dw1000 RIOT Port
+
+The distribution https://github.com/decawave/uwb-core contains the
+device driver implementation for the Decawave Impulse Radio-Ultra
+Wideband (IR-UWB) transceiver(s). The driver includes hardware abstraction
+layers (HAL), media access control (MAC) layer, Ranging Services (RNG).
+
+## Abstraction details
+
+uwb-dw1000 is meant as a hardware and architecture agnostic driver. It
+was developed with MyNewt as its default OS, but its abstractions are
+well defined which makes it easy to use with another OS.
+
+A porting layer DPL (Decawave Porting Layer) has been implemented that
+wraps around OS functionalities and modules: mutex, semaphores, threads,
+etc.. In most cases the mapping is direct although some specific
+functionalities might not be supported. This layer is found in the uwb-core
+pkg.
+
+A hardware abstraction layer is defined under `hal` which wraps around
+modules such as: periph_gpio, periph_spi, etc.
+
+Since the library was used on top of mynewt most configuration values
+are prefixed with `MYNEWT_VAL_%`, all configurations can be found under
+`pkg/uwb-dw1000/include/syscfg`.
+
+## Todos
+
+The uwb-dw1000 can be used to provide a netdev driver for the dw1000
+module.
+
+uwb-dw1000 repository uses fixed length arrays to keep track of the
+devices that are present. This port uses linked list but some of the
+upstream code is not compatible with this.

pkg/uwb-dw1000/hal/Makefile

@@ -0,0 +1,3 @@
+MODULE = uwb-dw1000_hal
+
+include $(RIOTBASE)/Makefile.base

pkg/uwb-dw1000/hal/uwb_dw1000.c

@@ -0,0 +1,170 @@
+/*
+ * Copyright (C) 2020 Inria
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup     pkg_uwb_dw1000
+ * @{
+ *
+ * @file
+ * @brief       Glue code for running uwb-core for RIOT
+ *
+ * @author      Francisco Molina <francois-xavier.molina@inria.fr>
+ * @}
+ */
+
+#include "dpl/dpl.h"
+#include "dw1000/dw1000_phy.h"
+#include "dw1000/dw1000_hal.h"
+#include "uwb_dw1000.h"
+#include "uwb_dw1000_config.h"
+
+#include "uwb/uwb.h"
+#include "uwb/uwb_mac.h"
+
+#include "utlist.h"
+#include "thread.h"
+
+#ifndef LOG_LEVEL
+#define LOG_LEVEL   LOG_NONE
+#endif
+#include "log.h"
+
+
+#ifndef DW1000_THREAD_PRIORITY
+#define DW1000_THREAD_PRIORITY  MYNEWT_VAL_UWB_DEV_TASK_PRIO
+#endif
+
+/* Link list head */
+static struct _dw1000_dev_instance_t * dw1000_instance_head;
+
+/* Default instance configuration */
+static const dw1000_dev_instance_t dw1000_instance_config_default = {
+    .uwb_dev = {
+        .idx = 0,
+        .role = DW1000_ROLE_DEFAULT,
+        .task_prio = DW1000_THREAD_PRIORITY,
+        .status = {0},
+        .rx_ant_separation = DW1000_RX_ANTSEP_DEFAULT,
+        .attrib = {
+            .nsfd = DW1000_NSFD_DEFAULT,
+            .nsync = DW1000_NSYNC_DEFAULT,
+            .nphr = DW1000_NPHR_DEFAULT ,
+        },
+        .config = {
+            .channel = DW1000_CHANNEL_DEFAULT,
+            .prf = DW1000_PRF_DEFAULT,
+            .dataRate = DW1000_DATARATE_DEFAULT,
+            .rx = {
+                .pacLength = DW1000_PACLEN_DEFAULT,
+                .preambleCodeIndex = DW1000_RX_PREAM_CIDX_DEFAULT,
+                .sfdType = DW1000_RX_SFD_TYPE_DEFAULT,
+                .phrMode = DW1000_RX_PHR_MODE_DEFAULT,
+                .sfdTimeout = DW1000_RX_SFD_TO_DEFAULT,
+                .timeToRxStable = DW1000_RX_STABLE_TIME_US ,
+                .frameFilter = DW1000_FRAME_FILTER_DEFAULT,
+                .xtalTrim = DW1000_XTAL_TRIM_DEFAULT,
+            },
+            .tx ={
+                .preambleCodeIndex = DW1000_TX_PREAM_CIDX_DEAULT,
+                .preambleLength = DW1000_TX_PREAM_LEN_DEFAULT,
+            },
+            .txrf={
+                .PGdly = DW1000_CHANNEL_DEFAULT,
+                .BOOSTNORM = dw1000_power_value(DW1000_txrf_config_9db, 2.5),
+                .BOOSTP500 = dw1000_power_value(DW1000_txrf_config_9db, 2.5),
+                .BOOSTP250 = dw1000_power_value(DW1000_txrf_config_9db, 2.5),
+                .BOOSTP125 = dw1000_power_value(DW1000_txrf_config_9db, 2.5)
+            },
+            .trxoff_enable = DW1000_TRXOFF_ENABLE,
+            .rxdiag_enable = DW1000_RX_DIAGNOSTIC,
+            .dblbuffon_enabled = DW1000_DOUBLE_BUFFER_ENABLE,
+            .LDE_enable = DW1000_LDE_ENABLE,
+            .LDO_enable = DW1000_LDO_ENABLE,
+            .sleep_enable =  DW1000_SLEEP_ENABLE,
+            .wakeup_rx_enable = DW1000_WAKEUP_RX_ENABLE,
+            .rxauto_enable = DW1000_RX_AUTO_ENABLE,
+            .cir_enable = 0,             /**< Default behavior for CIR interface */
+            .cir_pdoa_slave = 0,         /**< First instance should not act as pdoa slave */
+            .blocking_spi_transfers = 1, /**< Nonblocking spi transfers are not supported */
+        },
+    }
+};
+
+void _uwb_dw1000_set_idx(dw1000_dev_instance_t* dev)
+{
+    int count = 0;
+    dw1000_dev_instance_t *elt = NULL;
+    LL_COUNT(dw1000_instance_head, elt, count);
+    dev->uwb_dev.idx = count++;
+    /* prepend to list */
+    LL_PREPEND(dw1000_instance_head, dev);
+}
+
+void uwb_dw1000_setup(dw1000_dev_instance_t* dev, dw1000_params_t* params)
+{
+    /* set semaphore */
+    dpl_sem_init(params->spi_sem, 0x1);
+    /* set default uwb config */
+    memcpy(dev, &dw1000_instance_config_default,
+           sizeof(dw1000_dev_instance_t));
+    /* set uwb_dev idx */
+    _uwb_dw1000_set_idx(dev);
+    /* this will set the configuration and init uwb_dev which ATM only
+       allocates an RX and TX buffer if none is yet available */
+    dw1000_dev_init((struct os_dev *) dev, (void *) params);
+}
+
+void uwb_dw1000_config_and_start(dw1000_dev_instance_t* dev)
+{
+    dw1000_dev_config(dev);
+}
+
+void uwb_dw1000_set_buffs(dw1000_dev_instance_t* dev, uint8_t* tx_buf,
+                          uint8_t* rx_buf)
+{
+    dev->uwb_dev.rxbuf = rx_buf;
+    dev->uwb_dev.txbuf = tx_buf;
+}
+
+void uwb_dw1000_init(void)
+{
+    dw1000_instance_head = NULL;
+}
+
+struct uwb_dev* uwb_dev_idx_lookup(int idx)
+{
+    dw1000_dev_instance_t *current = dw1000_instance_head;
+
+    while (current) {
+        if (current->uwb_dev.idx == idx) {
+            LOG_DEBUG("uwb_dev: found dev of idx %d\n", idx);
+            break;
+        }
+        current = current->next;
+    }
+
+    return (struct uwb_dev*) &current->uwb_dev;
+}
+
+/**
+ * API to choose DW1000 instances based on parameters.
+ *
+ * @param idx  Indicates number of instances for the chosen bsp.
+ * @return dw1000_dev_instance_t
+ */
+
+struct _dw1000_dev_instance_t * hal_dw1000_inst(uint8_t idx)
+{
+    dw1000_dev_instance_t *current = dw1000_instance_head;
+
+    for (uint8_t i = 0; i < idx; i++) {
+        current = current->next;
+    }
+
+    return current;
+}

pkg/uwb-dw1000/hal/uwb_dw1000_spi.c

@@ -0,0 +1,92 @@
+/*
+ * Copyright (C) 2020 Inria
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup     pkg_uwb_dw1000
+ * @{
+ *
+ * @file
+ * @brief       SPI abstraction layer implementation
+ *
+ * @author      Francisco Molina <francois-xavier.molina@inria.fr>
+ * @}
+ */
+
+#include "hal/hal_spi.h"
+#include "periph/spi.h"
+
+static uint32_t spi_clk[SPI_NUMOF] = { SPI_CLK_1MHZ };
+static uint32_t spi_mode[SPI_NUMOF] = { SPI_MODE_0 };
+
+int hal_spi_set_txrx_cb(int spi_num, hal_spi_txrx_cb txrx_cb, void *arg)
+{
+    (void) txrx_cb;
+    (void) spi_num;
+    (void) arg;
+    return 0;
+}
+
+int hal_spi_init(int spi_num, void *cfg, uint8_t spi_type)
+{
+    (void) cfg;
+    (void) spi_type;
+    spi_init(spi_num);
+    return 0;
+}
+
+int hal_spi_config(int spi_num, struct hal_spi_settings *settings)
+{
+    spi_clk[spi_num] = settings->baudrate;
+    spi_mode[spi_num] = settings->data_mode;
+    return 0;
+}
+
+int hal_spi_enable(int spi_num)
+{
+    (void) spi_num;
+    return 0;
+}
+
+int hal_spi_disable(int spi_num)
+{
+    (void) spi_num;
+    return 0;
+}
+
+int hal_spi_txrx(int spi_num, void *txbuf, void *rxbuf, int cnt)
+{
+    spi_acquire(spi_num,
+                SPI_CS_UNDEF,
+                spi_mode[spi_num],
+                spi_clk[spi_num]);
+
+    spi_transfer_bytes(spi_num,
+                       SPI_CS_UNDEF,
+                       false,
+                       txbuf,
+                       rxbuf,
+                       cnt);
+
+    spi_release(spi_num);
+    return 0;
+}
+
+int hal_spi_txrx_noblock(int spi_num, void *txbuf, void *rxbuf, int cnt)
+{
+    (void) spi_num;
+    (void) txbuf;
+    (void) rxbuf;
+    (void) cnt;
+    return 0;
+}
+
+int hal_spi_deinit(int spi_num)
+{
+    (void) spi_num;
+    return 0;
+}

pkg/uwb-dw1000/include/hal/hal_gpio.h

@@ -0,0 +1,197 @@
+/*
+ * Copyright (C) 2020 Inria
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup     pkg_uwb_dw1000
+ * @{
+ *
+ * @file
+ * @brief       GPIO abstraction layer RIOT adaption
+ *
+ * @author      Francisco Molina <francois-xavier.molina@inria.fr>
+ * @}
+ */
+
+#ifndef HAL_HAL_GPIO_H
+#define HAL_HAL_GPIO_H
+
+#include "periph/gpio.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief Map hal_gpio_pull_t enum types to gpio_mode_t enum types
+ */
+enum {
+    /** Pull-up/down not enabled */
+    HAL_GPIO_PULL_NONE = GPIO_IN,
+    /** Pull-up enabled */
+    HAL_GPIO_PULL_UP = GPIO_IN_PU,
+    /** Pull-down enabled */
+    HAL_GPIO_PULL_DOWN = GPIO_IN_PD
+};
+/**
+ * @brief hal_gpio_pull type
+ */
+typedef gpio_mode_t hal_gpio_pull_t;
+
+/**
+ * @brief Map hal_gpio_irq_trig_t enum types to gpio_flank_t enum types
+ */
+enum {
+#ifdef GPIO_NONE
+    HAL_GPIO_TRIG_NONE = GPIO_NONE,
+#endif
+    /** IRQ occurs on rising edge */
+    HAL_GPIO_TRIG_RISING = GPIO_RISING,
+    /** IRQ occurs on falling edge */
+    HAL_GPIO_TRIG_FALLING = GPIO_FALLING,
+    /** IRQ occurs on either edge */
+    HAL_GPIO_TRIG_BOTH = GPIO_BOTH,
+    /** IRQ occurs when line is low */
+#ifdef GPIO_LOW
+    HAL_GPIO_TRIG_LOW = GPIO_LOW,
+#endif
+    /** IRQ occurs when line is high */
+#ifdef GPIO_HIGH
+    HAL_GPIO_TRIG_HIGH = GPIO_HIGH
+#endif
+};
+/**
+ * @brief hal_gpio_irq_trig type
+ */
+typedef gpio_flank_t hal_gpio_irq_trig_t;
+
+/**
+ * @brief Function proto for GPIO irq handler functions
+ */
+typedef gpio_cb_t hal_gpio_irq_handler_t;
+
+/**
+ * Initializes the specified pin as an input
+ *
+ * @param pin   Pin number to set as input
+ * @param pull  pull type
+ *
+ * @return int  0: no error; -1 otherwise.
+ */
+static inline int hal_gpio_init_in(gpio_t pin, hal_gpio_pull_t pull)
+{
+    return gpio_init(pin, pull);
+}
+
+/**
+ * Initialize the specified pin as an output, setting the pin to the specified
+ * value.
+ *
+ * @param pin Pin number to set as output
+ * @param val Value to set pin
+ *
+ * @return int  0: no error; -1 otherwise.
+ */
+static inline int hal_gpio_init_out(gpio_t pin, int val)
+{
+    int res = gpio_init(pin, GPIO_OUT);
+    gpio_write(pin, val);
+    return res;
+}
+
+/**
+ * Write a value (either high or low) to the specified pin.
+ *
+ * @param pin Pin to set
+ * @param val Value to set pin (0:low 1:high)
+ */
+static inline void hal_gpio_write(gpio_t pin, int val)
+{
+    gpio_write(pin, val);
+}
+
+/**
+ * Reads the specified pin.
+ *
+ * @param pin Pin number to read
+ *
+ * @return int 0: low, 1: high
+ */
+static inline int hal_gpio_read(gpio_t pin)
+{
+    return gpio_read(pin);
+}
+
+/**
+ * Toggles the specified pin
+ *
+ * @param pin Pin number to toggle
+ *
+ * @return current gpio state int 0: low, 1: high
+ */
+static inline int hal_gpio_toggle(gpio_t pin)
+{
+    gpio_toggle(pin);
+    return gpio_read(pin);
+}
+
+/**
+ * Initialize a given pin to trigger a GPIO IRQ callback.
+ *
+ * @param pin     The pin to trigger GPIO interrupt on
+ * @param handler The handler function to call
+ * @param arg     The argument to provide to the IRQ handler
+ * @param trig    The trigger mode (e.g. rising, falling)
+ * @param pull    The mode of the pin (e.g. pullup, pulldown)
+ *
+ * @return 0 on success, non-zero error code on failure.
+ */
+static inline int hal_gpio_irq_init(gpio_t pin,
+                                    hal_gpio_irq_handler_t handler,
+                                    void *arg,
+                                    hal_gpio_irq_trig_t trig,
+                                    hal_gpio_pull_t pull)
+{
+    return gpio_init_int(pin, pull, trig, handler, arg);
+}
+
+/**
+ * Release a pin from being configured to trigger IRQ on state change.
+ *
+ * @param pin The pin to release
+ */
+static inline void hal_gpio_irq_release(gpio_t pin)
+{
+    /* can't release the interrupt so ar least disable it */
+    gpio_irq_disable(pin);
+}
+
+/**
+ * Enable IRQs on the passed pin
+ *
+ * @param pin The pin to enable IRQs on
+ */
+static inline void hal_gpio_irq_enable(gpio_t pin)
+{
+    gpio_irq_enable(pin);
+}
+
+/**
+ * Disable IRQs on the passed pin
+ *
+ * @param pin The pin to disable IRQs on
+ */
+static inline void hal_gpio_irq_disable(gpio_t pin)
+{
+    gpio_irq_disable(pin);
+}
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* HAL_HAL_GPIO_H */

pkg/uwb-dw1000/include/hal/hal_spi.h

@@ -0,0 +1,169 @@
+/*
+ * Copyright (C) 2020 Inria
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup     pkg_uwb_dw1000
+ * @{
+ *
+ * @file
+ * @brief       SPI abstraction layer RIOT adaption
+ *
+ * @author      Francisco Molina <francois-xavier.molina@inria.fr>
+ * @}
+ */
+
+#ifndef HAL_HAL_SPI_H
+#define HAL_HAL_SPI_H
+
+#include "periph/spi.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/** SPI mode 0 */
+#define HAL_SPI_MODE0               (SPI_MODE_0)
+/** SPI mode 1 */
+#define HAL_SPI_MODE1               (SPI_MODE_1)
+/** SPI mode 2 */
+#define HAL_SPI_MODE2               (SPI_MODE_2)
+/** SPI mode 3 */
+#define HAL_SPI_MODE3               (SPI_MODE_3)
+
+/**
+ * @brief Prototype for tx/rx callback
+ */
+typedef void (*hal_spi_txrx_cb)(void *arg, int len);
+
+/**
+ * @brief since one spi device can control multiple devices, some configuration
+ * can be changed on the fly from the hal
+ */
+struct hal_spi_settings {
+    /** Data mode of SPI driver, defined by HAL_SPI_MODEn */
+    spi_mode_t         data_mode;
+    /** Baudrate in kHz */
+    spi_clk_t          baudrate;
+};
+
+/**
+ * @brief Configure the spi. Must be called after the spi is initialized (after
+ * hal_spi_init is called) and when the spi is disabled (user must call
+ * hal_spi_disable if the spi has been enabled through hal_spi_enable prior
+ * to calling this function). Can also be used to reconfigure an initialized
+ * SPI (assuming it is disabled as described previously).
+ *
+ * @param spi_num The number of the SPI to configure.
+ * @param psettings The settings to configure this SPI with
+ *
+ * @return int 0 on success, non-zero error code on failure.
+ */
+int hal_spi_config(int spi_num, struct hal_spi_settings *psettings);
+
+/**
+ * @brief Sets the txrx callback (executed at interrupt context) when the
+ * buffer is transferred by the master or the slave using the non-blocking API.
+ * Cannot be called when the spi is enabled. This callback will also be called
+ * when chip select is de-asserted on the slave.
+ *
+ * NOTE: This callback is only used for the non-blocking interface and must
+ * be called prior to using the non-blocking API.
+ *
+ * @param spi_num   SPI interface on which to set callback
+ * @param txrx_cb   Callback function
+ * @param arg       Argument to be passed to callback function
+ *
+ * @return int 0 on success, non-zero error code on failure.
+ */
+int hal_spi_set_txrx_cb(int spi_num, hal_spi_txrx_cb txrx_cb, void *arg);
+
+/**
+ * @brief Enables the SPI. This does not start a transmit or receive operation;
+ * it is used for power mgmt. Cannot be called when a SPI transfer is in
+ * progress.
+ *
+ * @param spi_num
+ *
+ * @return int 0 on success, non-zero error code on failure.
+ */
+int hal_spi_enable(int spi_num);
+
+/**
+ * @brief Disables the SPI. Used for power mgmt. It will halt any current SPI transfers
+ * in progress.
+ *
+ * @param spi_num
+ *
+ * @return int 0 on success, non-zero error code on failure.
+ */
+int hal_spi_disable(int spi_num);
+
+/**
+ * @brief Blocking interface to send a buffer and store the received values from the
+ * slave. The transmit and receive buffers are either arrays of 8-bit (uint8_t)
+ * values or 16-bit values depending on whether the spi is configured for 8 bit
+ * data or more than 8 bits per value. The 'cnt' parameter is the number of
+ * 8-bit or 16-bit values. Thus, if 'cnt' is 10, txbuf/rxbuf would point to an
+ * array of size 10 (in bytes) if the SPI is using 8-bit data; otherwise
+ * txbuf/rxbuf would point to an array of size 20 bytes (ten, uint16_t values).
+ *
+ * NOTE: these buffers are in the native endian-ness of the platform.
+ *
+ *     MASTER: master sends all the values in the buffer and stores the
+ *             stores the values in the receive buffer if rxbuf is not NULL.
+ *             The txbuf parameter cannot be NULL.
+ *     SLAVE: cannot be called for a slave; returns -1
+ *
+ * @param spi_num   SPI interface to use
+ * @param txbuf     Pointer to buffer where values to transmit are stored.
+ * @param rxbuf     Pointer to buffer to store values received from peer.
+ * @param cnt       Number of 8-bit or 16-bit values to be transferred.
+ *
+ * @return int 0 on success, non-zero error code on failure.
+ */
+int hal_spi_txrx(int spi_num, void *txbuf, void *rxbuf, int cnt);
+
+/**
+ * @brief Non-blocking interface to send a buffer and store received values. Can be
+ * used for both master and slave SPI types. The user must configure the
+ * callback (using hal_spi_set_txrx_cb); the txrx callback is executed at
+ * interrupt context when the buffer is sent.
+ *
+ * The transmit and receive buffers are either arrays of 8-bit (uint8_t)
+ * values or 16-bit values depending on whether the spi is configured for 8 bit
+ * data or more than 8 bits per value. The 'cnt' parameter is the number of
+ * 8-bit or 16-bit values. Thus, if 'cnt' is 10, txbuf/rxbuf would point to an
+ * array of size 10 (in bytes) if the SPI is using 8-bit data; otherwise
+ * txbuf/rxbuf would point to an array of size 20 bytes (ten, uint16_t values).
+ *
+ * NOTE: these buffers are in the native endian-ness of the platform.
+ *
+ *     MASTER: master sends all the values in the buffer and stores the
+ *             stores the values in the receive buffer if rxbuf is not NULL.
+ *             The txbuf parameter cannot be NULL
+ *     SLAVE: Slave "preloads" the data to be sent to the master (values
+ *            stored in txbuf) and places received data from master in rxbuf
+ *            (if not NULL). The txrx callback occurs when len values are
+ *            transferred or master de-asserts chip select. If txbuf is NULL,
+ *            the slave transfers its default byte. Both rxbuf and txbuf cannot
+ *            be NULL.
+ *
+ * @param spi_num   SPI interface to use
+ * @param txbuf     Pointer to buffer where values to transmit are stored.
+ * @param rxbuf     Pointer to buffer to store values received from peer.
+ * @param cnt       Number of 8-bit or 16-bit values to be transferred.
+ *
+ * @return int 0 on success, non-zero error code on failure.
+ */
+int hal_spi_txrx_noblock(int spi_num, void *txbuf, void *rxbuf, int cnt);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* HAL_HAL_SPI_H */

pkg/uwb-dw1000/include/hal/hal_timer.h

@@ -0,0 +1,45 @@
+/*
+ * Copyright (C) 2020 Inria
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup     pkg_uwb_dw1000
+ * @{
+ *
+ * @file
+ * @brief       Timer abstraction layer RIOT adaption
+ *
+ * @author      Francisco Molina <francois-xavier.molina@inria.fr>
+ * @}
+ */
+
+#ifndef HAL_HAL_TIMER_H
+#define HAL_HAL_TIMER_H
+
+#include "xtimer.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief   HAL timer callback
+ */
+typedef xtimer_callback_t hal_timer_cb;
+
+/**
+ * @brief   The HAL timer structure.
+ */
+struct hal_timer {
+    xtimer_t timer;     /**< the timer */
+};
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* HAL_HAL_TIMER_H */

pkg/uwb-dw1000/include/syscfg_uwb_dw1000.h

@@ -0,0 +1,120 @@
+/*
+ * Copyright (C) 2020 Inria
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup     pkg_uwb_core
+ * @{
+ *
+ * @file
+ * @brief       uwb-dw1000 module configurations
+ *              taken from decawave-uwb-dw1000/hw/drivers/uwb/uwb_dw1000
+ *
+ * @author      Francisco Molina <francois-xavier.molina@inria.fr>
+ * @}
+ */
+
+#ifndef SYSCFG_UWB_DW1000_H
+#define SYSCFG_UWB_DW1000_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief Used to check that the UWB_DEV has been setup correctly
+ *        at compile time.
+ * @note  (UWB_DEV_RXDIAG_MAXLEN > 19)
+ */
+#ifndef MYNEWT_VAL_UWB_DW1000_API_CHECKS
+#define MYNEWT_VAL_UWB_DW1000_API_CHECKS (1)
+#endif
+
+/**
+ * @brief Size of spi read/write buffer, sets the
+ *        maximum allowed nonblocking read operation
+ */
+#ifndef MYNEWT_VAL_DW1000_HAL_SPI_BUFFER_SIZE
+#define MYNEWT_VAL_DW1000_HAL_SPI_BUFFER_SIZE (256)
+#endif
+
+/**
+ * @brief The maximum number of bytes in a single transfer that the
+ *        SPI hardware supports.
+ *
+ * @note RIOT spi implementation will take care of splitting if this max
+ *       value is exceeded. If asynchronous (non-blocking) spi is ever
+ *       added to RIOT this value will need to be adapted to the platform
+ *       specific value.
+ */
+#ifndef MYNEWT_VAL_DW1000_HAL_SPI_MAX_CNT
+#define MYNEWT_VAL_DW1000_HAL_SPI_MAX_CNT (1024)
+#endif
+
+/**
+ * @brief Max size spi read in bytes that is always done with blocking io.
+ *        Reads longer than this value will be done with non-blocking io.
+ * @note  Ignore in RIOT since non-blocking SPI is not yet enabled
+ */
+#ifndef MYNEWT_VAL_DW1000_DEVICE_SPI_RD_MAX_NOBLOCK
+#define MYNEWT_VAL_DW1000_DEVICE_SPI_RD_MAX_NOBLOCK (9)
+#endif
+
+/**
+ * @brief Enable range bias correction polynomial
+ */
+#ifndef MYNEWT_VAL_DW1000_BIAS_CORRECTION_ENABLED
+#define MYNEWT_VAL_DW1000_BIAS_CORRECTION_ENABLED (0)
+#endif
+
+/**
+ * @brief Tx Power dBm
+ */
+#ifndef MYNEWT_VAL_DW1000_DEVICE_TX_PWR
+#define MYNEWT_VAL_DW1000_DEVICE_TX_PWR (((float)-14.3f))
+#endif
+
+/**
+ * @brief Antenna Gain dB
+ */
+#ifndef MYNEWT_VAL_DW1000_DEVICE_ANT_GAIN
+#define MYNEWT_VAL_DW1000_DEVICE_ANT_GAIN (((float)1.0f))
+#endif
+
+/**
+ * @brief Enable showing rx and tx activity on leds
+ */
+#ifndef MYNEWT_VAL_DW1000_RXTX_LEDS
+#define MYNEWT_VAL_DW1000_RXTX_LEDS (1)
+#endif
+
+/**
+ * @brief Enable showing rx and tx activity on gpios
+ */
+#ifndef MYNEWT_VAL_DW1000_RXTX_GPIO
+#define MYNEWT_VAL_DW1000_RXTX_GPIO (0)
+#endif
+
+/**
+ * @brief Toggle LED_1 for every range packet received
+ */
+#ifndef MYNEWT_VAL_DW1000_RNG_INDICATE_LED
+#define MYNEWT_VAL_DW1000_RNG_INDICATE_LED (0)
+#endif
+
+/**
+ * @brief Expose event counter cli api
+ */
+#ifndef MYNEWT_VAL_DW1000_CLI_EVENT_COUNTERS
+#define MYNEWT_VAL_DW1000_CLI_EVENT_COUNTERS (0)
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* SYSCFG_UWB_DW1000_H */

pkg/uwb-dw1000/include/uwb_dw1000.h

@@ -0,0 +1,87 @@
+/*
+ * Copyright (C) 2020 Inria
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup     pkg_uwb_dw1000
+ *
+ * @{
+ *
+ * @file
+ * @brief       Abstraction layer for RIOT adaption
+ *
+ * @author      Francisco Molina <francois-xavier.molina@inria.fr>
+ * @}
+ */
+#ifndef UWB_DW1000_H
+#define UWB_DW1000_H
+
+#include <stdint.h>
+
+#include "dw1000/dw1000_dev.h"
+#include "dw1000/dw1000_hal.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief   Device initialization parameters
+ */
+typedef struct dw1000_dev_cfg dw1000_params_t;
+
+/**
+ * @brief   Device descriptor for the driver
+ */
+typedef struct {
+    dw1000_dev_instance_t dev;         /**< dwDevice parent struct */
+} uwb_dw1000_t;
+
+/**
+ * @brief   Sets device linked list to 0, not really needed...
+ */
+void uwb_dw1000_init(void);
+
+/**
+ * @brief   Sets the tx and rx buffer for the uwb_dev in the dw1000 instance
+ *
+ * @note If this is not set before uwb_dw1000_setup() is called then
+ *       the buffers will be dynamically allocated.
+ *
+ * @param[in]   dev     dw1000 device instance pointer
+ * @param[in]   tx_buf  transmit buffer
+ * @param[in]   rx_buf  receive buffer
+ */
+void uwb_dw1000_set_buffs(dw1000_dev_instance_t* dev, uint8_t* tx_buf,
+                          uint8_t* rx_buf);
+
+/**
+ * @brief   Setup a dw1000 device
+ *
+ * This will setup the dw1000 dev instance and the uwb_dev instance within.
+ *
+ * @param[out]  dev     dw1000 device descriptor
+ * @param[in]   params  receive buffer
+ */
+void uwb_dw1000_setup(dw1000_dev_instance_t* dev, dw1000_params_t* params);
+
+/**
+ * @brief   Configure and start the dw1000
+ *
+ * This will wakeup and setup the dw1000 device, configure the mac and
+ * phy. Setting up the mac will also call dw1000_tasks_init() that will
+ * handle the device interrupts.
+ *
+ * @param[out]  dev     dw1000 device descriptor
+ */
+void uwb_dw1000_config_and_start(dw1000_dev_instance_t* dev);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* UWB_DW1000_H */

pkg/uwb-dw1000/include/uwb_dw1000_config.h

@@ -0,0 +1,263 @@
+/*
+ * Copyright (C) 2020 Inria
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup     pkg_uwb_core
+ * @{
+ *
+ * @file
+ * @brief       uwb-dw1000 radio configurations
+ *
+ * @author      Francisco Molina <francois-xavier.molina@inria.fr>
+ * @}
+ */
+
+#ifndef UWB_DW1000_CONFIG_H
+#define UWB_DW1000_CONFIG_H
+
+#include "dw1000/dw1000_regs.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief   Default UWB Role
+ *
+ *  - Tag          "0x00"
+ *  - Node         "0x01"
+ *  - Pan master   "0x02"
+ *  - Anchor       "0x04"
+ *  - Panmaster    "0x07"
+ */
+#ifndef DW1000_ROLE_DEFAULT
+#define DW1000_ROLE_DEFAULT         0x0
+#endif
+
+/**
+ * @brief   Default Number of symbols in start of frame delimiter
+ */
+#ifndef DW1000_NSFD_DEFAULT
+#define DW1000_NSFD_DEFAULT         8
+#endif
+
+/**
+ * @brief   Default Number of symbols in preamble sequence
+ */
+#ifndef DW1000_NSYNC_DEFAULT
+#define DW1000_NSYNC_DEFAULT         128
+#endif
+
+/**
+ * @brief   Default Number of symbols in phy header
+ */
+#ifndef DW1000_NPHR_DEFAULT
+#define DW1000_NPHR_DEFAULT         21
+#endif
+
+
+/**
+ * @brief   Default channel
+ */
+#ifndef DW1000_CHANNEL_DEFAULT
+#define DW1000_CHANNEL_DEFAULT      5
+#if DW1000_CHANNEL_DEFAULT > 7 || DW1000_CHANNEL_DEFAULT < 1
+#error "DW1000_CHANNEL_DEFAULT must be 1..7"
+#endif
+#endif
+
+/**
+ * @brief   Default Pulse generator delay
+ */
+#ifndef DW1000_TX_PGDELAY_DEFAULT
+#if DW1000_CHANNEL_DEFAULT == 1
+#define DW1000_TX_PGDELAY_DEFAULT   TC_PGDELAY_CH1
+#elif DW1000_CHANNEL_DEFAULT == 2
+#define DW1000_TX_PGDELAY_DEFAULT   TC_PGDELAY_CH2
+#elif DW1000_CHANNEL_DEFAULT == 3
+#define DW1000_TX_PGDELAY_DEFAULT   TC_PGDELAY_CH3
+#elif DW1000_CHANNEL_DEFAULT == 4
+#define DW1000_TX_PGDELAY_DEFAULT   TC_PGDELAY_CH4
+#elif DW1000_CHANNEL_DEFAULT == 5
+#define DW1000_TX_PGDELAY_DEFAULT   TC_PGDELAY_CH5
+#elif DW1000_CHANNEL_DEFAULT == 6
+#define DW1000_TX_PGDELAY_DEFAULT   TC_PGDELAY_CH7
+#elif DW1000_CHANNEL_DEFAULT == 7
+#define DW1000_TX_PGDELAY_DEFAULT   TC_PGDELAY_CH7
+#endif
+#endif
+
+/**
+ * @brief   Default UWB Pulse Repetition Frequency (MHz)
+ *
+ * - DWT_PRF_16M
+ * - DWT_PRF_64M
+ */
+#ifndef DW1000_PRF_DEFAULT
+#define DW1000_PRF_DEFAULT          DWT_PRF_64M
+#endif
+
+/**
+ * @brief   Default UWB Datarate (110k, 850k, 6m8)
+ *
+ * - DWT_BR_110K
+ * - DWT_BR_850K
+ * - DWT_BR_6M8
+ */
+#ifndef DW1000_DATARATE_DEFAULT
+#define DW1000_DATARATE_DEFAULT     DWT_BR_6M8
+#endif
+
+/**
+ * @brief   Default UWB Acquisition Chunk Size (Relates to RX preamble length)
+ *
+ * - 8
+ * - 16
+ * - 32
+ * - 64
+ */
+#ifndef DW1000_PACLEN_DEFAULT
+#define DW1000_PACLEN_DEFAULT       DWT_PAC8
+#endif
+
+/**
+ * @brief Default UWB RX Preamble Code Index
+ */
+#ifndef DW1000_RX_PREAM_CIDX_DEFAULT
+#define DW1000_RX_PREAM_CIDX_DEFAULT    9
+#endif
+
+/**
+ * @brief Default UWB SFD Type
+ *
+ * - true: use non standard SFD for better performance
+ * - false: use standard SFD
+ */
+#ifndef DW1000_RX_SFD_TYPE_DEFAULT
+#define DW1000_RX_SFD_TYPE_DEFAULT  true
+#endif
+
+/**
+ * @brief Default UWB SFD Timeout (-1=auto, timeout in symbols)
+ *
+ */
+#ifndef DW1000_RX_SFD_TO_DEFAULT
+#define DW1000_RX_SFD_TO_DEFAULT   (128 + 1 + 8 - 8) /* (preamble length + 1 + SFD length - PAC size) */
+#endif
+
+/**
+ * @brief Default UWB PHR Mode
+ *
+ * - 0x0 - standard DWT_PHRMODE_STD
+ * - 0x3 - extended frames DWT_PHRMODE_EXT
+ */
+#ifndef DW1000_RX_PHR_MODE_DEFAULT
+#define DW1000_RX_PHR_MODE_DEFAULT      DWT_PHRMODE_EXT
+#endif
+
+/**
+ * @brief Enable RX Frame Quality diagnositics (rssi, fppl, etc.)
+ */
+#ifndef DW1000_RX_DIAGNOSTIC
+#define DW1000_RX_DIAGNOSTIC    0
+#endif
+
+
+/**
+ * @brief Default UWB RX Antenna separation distance in m
+ */
+#ifndef DW1000_TX_PREAM_CIDX_DEAULT
+#define DW1000_TX_PREAM_CIDX_DEAULT     9
+#endif
+
+/**
+ * @brief Default UWB Preamble Length
+ *
+ * - DWT_PLEN_4096 : Standard preamble length 4096 symbols
+ * - DWT_PLEN_2048 : Non-standard preamble length 2048 symbols
+ * - DWT_PLEN_1536 : Non-standard preamble length 1536 symbols
+ * - DWT_PLEN_1024 : Standard preamble length 1024 symbols
+ * - DWT_PLEN_512  : Non-standard preamble length 512 symbols
+ * - DWT_PLEN_256  : Non-standard preamble length 256 symbols
+ * - DWT_PLEN_128  : Non-standard preamble length 128 symbols
+ * - DWT_PLEN_64   : Standard preamble length 64 symbols
+ * - DWT_PLEN_32   : When setting length 32 symbols this is 0x0,  which is programmed to byte 2 of the TX_FCTRL register
+ * - DWT_PLEN_72   : Non-standard length 72
+ */
+#ifndef DW1000_TX_PREAM_LEN_DEFAULT
+#define DW1000_TX_PREAM_LEN_DEFAULT     DWT_PLEN_128
+#endif
+
+/**
+ * @brief Default UWB RX Antenna separation distance in m
+ */
+#ifndef DW1000_RX_ANTSEP_DEFAULT
+#define DW1000_RX_ANTSEP_DEFAULT       0.0205
+#endif
+
+/**
+ * @brief   Default MAC FrameFilter (0x0000 = no filter)
+ */
+#ifndef DW1000_FRAME_FILTER_DEFAULT
+#define DW1000_FRAME_FILTER_DEFAULT     0x0000
+#endif
+
+/**
+ * @brief   Default MAC FrameFilter Crystal Trim value, 0xff == not set
+ */
+#ifndef DW1000_XTAL_TRIM_DEFAULT
+#define DW1000_XTAL_TRIM_DEFAULT        0x10
+#endif
+
+/**
+ * @brief    Time until the Receiver is stable, (in us)
+ */
+#ifndef DW1000_RX_STABLE_TIME_US
+#define DW1000_RX_STABLE_TIME_US        6
+#endif
+
+/**
+ * @brief Enables forced TRXOFF in start_tx and start_tx interface
+ */
+#define DW1000_TRXOFF_ENABLE            1
+
+/**
+ * @brief Enables double buffer
+ */
+#define DW1000_DOUBLE_BUFFER_ENABLE    false
+
+/**
+ * @brief Load LDE microcode on wake up
+ */
+#define DW1000_LDE_ENABLE   true
+
+/**
+ * @brief Load the LDO tune value on wake up
+ */
+#define DW1000_LDO_ENABLE   false
+
+/**
+ * @brief Enable sleep
+ */
+#define DW1000_SLEEP_ENABLE     true
+
+/**
+ * @brief Wakeup to Rx state
+ */
+#define DW1000_WAKEUP_RX_ENABLE true
+
+/**
+ * @brief On error re-enable
+ */
+#define DW1000_RX_AUTO_ENABLE    true
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* UWB_DW1000_CONFIG_H */

pkg/uwb-dw1000/include/uwb_dw1000_params.h

@@ -0,0 +1,96 @@
+/*
+ * Copyright (C) 2020 Inria
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @ingroup     pkg_uwb_dw1000
+ *
+ * @{
+ * @file
+ * @brief       Default configuration
+ *
+ * @author      Francisco Molina <francois-xavier.molina@inria.fr>
+ */
+
+#ifndef UWB_DW1000_PARAMS_H
+#define UWB_DW1000_PARAMS_H
+
+#include "board.h"
+#include "uwb_dw1000.h"
+#include "dpl/dpl_sem.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @name    Set default configuration parameters
+ * @{
+ */
+#ifndef DW1000_SPI_SEM
+static struct dpl_sem sem_spi;
+#define DW1000_SPI_SEM              &sem_spi
+#endif
+#ifndef DW1000_PARAM_SPI
+#define DW1000_PARAM_SPI            (SPI_DEV(1))
+#endif
+#ifndef DW1000_PARAM_SPI_CLK_LOW
+#define DW1000_PARAM_SPI_CLK_LOW    (SPI_CLK_1MHZ)
+#endif
+#ifndef DW1000_PARAM_SPI_CLK_HIGH
+#define DW1000_PARAM_SPI_CLK_HIGH   (SPI_CLK_10MHZ)
+#endif
+#ifndef DW1000_SPI_MODE
+#define DW1000_SPI_MODE             (SPI_MODE_0)
+#endif
+#ifndef DW1000_PARAM_CS_PIN
+#define DW1000_PARAM_CS_PIN         (GPIO_PIN(0, 17))
+#endif
+#ifndef DW1000_PARAM_IRQ_PIN
+#define DW1000_PARAM_IRQ_PIN        (GPIO_PIN(0, 19))
+#endif
+#ifndef DW1000_PARAM_RESET_PIN
+#define DW1000_PARAM_RESET_PIN      (GPIO_PIN(0, 24))
+#endif
+#ifndef DW1000_RX_ANTENNA_DELAY
+#define DW1000_RX_ANTENNA_DELAY     (0x4042)
+#endif
+#ifndef DW1000_TX_ANTENNA_DELAY
+#define DW1000_TX_ANTENNA_DELAY     (0x4042)
+#endif
+#ifndef DW1000_EXT_CLOCK_DELAY
+#define DW1000_EXT_CLOCK_DELAY      (0)
+#endif
+
+#ifndef DW1000_PARAMS
+#define DW1000_PARAMS           { .spi_sem = DW1000_SPI_SEM, \
+                                  .spi_baudrate = DW1000_PARAM_SPI_CLK_HIGH, \
+                                  .spi_baudrate_low = DW1000_PARAM_SPI_CLK_LOW, \
+                                  .spi_num = DW1000_PARAM_SPI, \
+                                  .rst_pin = DW1000_PARAM_RESET_PIN, \
+                                  .irq_pin = DW1000_PARAM_IRQ_PIN, \
+                                  .ss_pin = DW1000_PARAM_CS_PIN, \
+                                  .rx_antenna_delay = DW1000_RX_ANTENNA_DELAY, \
+                                  .tx_antenna_delay = DW1000_TX_ANTENNA_DELAY, \
+                                  .ext_clock_delay = DW1000_EXT_CLOCK_DELAY }
+#endif
+/**@}*/
+
+/**
+ * @brief   Configuration struct
+ */
+static const dw1000_params_t dw1000_params[] =
+{
+    DW1000_PARAMS
+};
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* UWB_DW1000_PARAMS_H */
+/** @} */

pkg/uwb-dw1000/patches/0001-uwb_dw1000-include-dw1000-dw1000_dev-add-linked-list.patch

@@ -0,0 +1,25 @@
+From 068dbad87ebebc9cf5d91bb9397dbd148420769e Mon Sep 17 00:00:00 2001
+From: Francisco Molina <femolina@uc.cl>
+Date: Fri, 14 Aug 2020 13:38:05 +0200
+Subject: [PATCH 1/5] uwb_dw1000/include/dw1000/dw1000_dev: add linked list
+ next ptr
+
+---
+ hw/drivers/uwb/uwb_dw1000/include/dw1000/dw1000_dev.h | 1 +
+ 1 file changed, 1 insertion(+)
+
+diff --git a/hw/drivers/uwb/uwb_dw1000/include/dw1000/dw1000_dev.h b/hw/drivers/uwb/uwb_dw1000/include/dw1000/dw1000_dev.h
+index aec0bec..2dcd7f8 100644
+--- a/hw/drivers/uwb/uwb_dw1000/include/dw1000/dw1000_dev.h
++++ b/hw/drivers/uwb/uwb_dw1000/include/dw1000/dw1000_dev.h
+@@ -204,6 +204,7 @@ typedef struct _dw1000_dev_instance_t{
+     /* To allow translation from ticks to usecs in gdb during backtrace*/
+     uint32_t bt_ticks2usec;
+ #endif
++    struct _dw1000_dev_instance_t* next;
+ } dw1000_dev_instance_t;
+ 
+ //! SPI and other init parameters
+-- 
+2.28.0
+

pkg/uwb-dw1000/patches/0002-uwb_dw1000-dw1000_hal-send-spi-cmd-and-data-separetl.patch

@@ -0,0 +1,57 @@
+From 8fc632df3880e9bc53766b8e2559c6e71c4d3c28 Mon Sep 17 00:00:00 2001
+From: Francisco Molina <femolina@uc.cl>
+Date: Fri, 14 Aug 2020 13:55:11 +0200
+Subject: [PATCH 2/5] uwb_dw1000/dw1000_hal: send spi cmd and data separetly
+ for RIOT
+
+---
+ hw/drivers/uwb/uwb_dw1000/src/dw1000_hal.c | 10 +++++-----
+ 1 file changed, 5 insertions(+), 5 deletions(-)
+
+diff --git a/hw/drivers/uwb/uwb_dw1000/src/dw1000_hal.c b/hw/drivers/uwb/uwb_dw1000/src/dw1000_hal.c
+index c9107fa..b85e32a 100644
+--- a/hw/drivers/uwb/uwb_dw1000/src/dw1000_hal.c
++++ b/hw/drivers/uwb/uwb_dw1000/src/dw1000_hal.c
+@@ -310,7 +310,7 @@ hal_dw1000_read(struct _dw1000_dev_instance_t * inst,
+ 
+     hal_gpio_write(inst->ss_pin, 0);
+ 
+-#if !defined(MYNEWT)
++#if !defined(MYNEWT) && !defined(RIOT)
+     /* Linux mode really, for when we can't split the command and data */
+     assert(cmd_size + length < inst->uwb_dev.txbuf_size);
+     assert(cmd_size + length < MYNEWT_VAL(DW1000_HAL_SPI_MAX_CNT));
+@@ -322,7 +322,7 @@ hal_dw1000_read(struct _dw1000_dev_instance_t * inst,
+                       inst->uwb_dev.txbuf, cmd_size+length);
+     memcpy(buffer, inst->uwb_dev.txbuf + cmd_size, length);
+ #else
+-    rc = hal_spi_txrx(inst->spi_num, (void*)cmd, 0, cmd_size);
++    rc = hal_spi_txrx(inst->spi_num, (void*)cmd, NULL, cmd_size);
+     assert(rc == DPL_OK);
+     int step = (inst->uwb_dev.txbuf_size > MYNEWT_VAL(DW1000_HAL_SPI_MAX_CNT)) ?
+         MYNEWT_VAL(DW1000_HAL_SPI_MAX_CNT) : inst->uwb_dev.txbuf_size;
+@@ -537,7 +537,7 @@ hal_dw1000_write(struct _dw1000_dev_instance_t * inst, const uint8_t * cmd, uint
+ 
+     hal_gpio_write(inst->ss_pin, 0);
+ 
+-#if !defined(MYNEWT)
++#if !defined(MYNEWT) && !defined(RIOT)
+     /* Linux mode really, for when we can't split the command and data */
+     assert(cmd_size + length < inst->uwb_dev.txbuf_size);
+     assert(cmd_size + length < MYNEWT_VAL(DW1000_HAL_SPI_MAX_CNT));
+@@ -549,10 +549,10 @@ hal_dw1000_write(struct _dw1000_dev_instance_t * inst, const uint8_t * cmd, uint
+                       0, cmd_size+length);
+     assert(rc == DPL_OK);
+ #else
+-    rc = hal_spi_txrx(inst->spi_num, (void*)cmd, 0, cmd_size);
++    rc = hal_spi_txrx(inst->spi_num, (void*)cmd, NULL, cmd_size);
+     assert(rc == DPL_OK);
+     if (length) {
+-        hal_spi_txrx(inst->spi_num, (void*)buffer, 0, length);
++        hal_spi_txrx(inst->spi_num, (void*)buffer, NULL, length);
+     }
+ #endif
+ 
+-- 
+2.28.0
+

pkg/uwb-dw1000/patches/0003-uwb_dw1000-dw1000_hal-define-even-if-DW1000_DEVICE_0.patch

@@ -0,0 +1,36 @@
+From ed15486f7890a3ffb0426c153cefb951d822e93e Mon Sep 17 00:00:00 2001
+From: Francisco Molina <femolina@uc.cl>
+Date: Fri, 14 Aug 2020 13:56:25 +0200
+Subject: [PATCH 3/5] uwb_dw1000/dw1000_hal: define even if DW1000_DEVICE_0 is
+ unset
+
+In RIOT multiple DW1000 devices will be speficied thorugh a link
+list so `hal_dw1000_inst` must be customly defined.
+
+The rest of the api should still be defined
+---
+ hw/drivers/uwb/uwb_dw1000/src/dw1000_hal.c | 4 ++--
+ 1 file changed, 2 insertions(+), 2 deletions(-)
+
+diff --git a/hw/drivers/uwb/uwb_dw1000/src/dw1000_hal.c b/hw/drivers/uwb/uwb_dw1000/src/dw1000_hal.c
+index b85e32a..90ccd6c 100644
+--- a/hw/drivers/uwb/uwb_dw1000/src/dw1000_hal.c
++++ b/hw/drivers/uwb/uwb_dw1000/src/dw1000_hal.c
+@@ -262,6 +262,8 @@ hal_dw1000_inst(uint8_t idx)
+     return 0;
+ }
+ 
++#endif
++
+ /**
+  * API to reset all the gpio pins.
+  *
+@@ -756,5 +758,3 @@ hal_dw1000_get_rst(struct _dw1000_dev_instance_t * inst)
+ {
+     return hal_gpio_read(inst->rst_pin);
+ }
+-
+-#endif
+-- 
+2.28.0
+

pkg/uwb-dw1000/patches/0004-uwb_dw1000-dw1000_hal-replace-OS_-_CRTICAL-with-DPL_.patch

@@ -0,0 +1,35 @@
+From 445e0e92d874d9af5b4e679328e07ec32e79b07a Mon Sep 17 00:00:00 2001
+From: Francisco Molina <femolina@uc.cl>
+Date: Fri, 14 Aug 2020 15:19:26 +0200
+Subject: [PATCH 4/5] uwb_dw1000/dw1000_hal: replace OS_%_CRTICAL with
+ DPL_%_CRITICAL
+
+---
+ hw/drivers/uwb/uwb_dw1000/src/dw1000_hal.c | 4 ++--
+ 1 file changed, 2 insertions(+), 2 deletions(-)
+
+diff --git a/hw/drivers/uwb/uwb_dw1000/src/dw1000_hal.c b/hw/drivers/uwb/uwb_dw1000/src/dw1000_hal.c
+index 90ccd6c..30539a5 100644
+--- a/hw/drivers/uwb/uwb_dw1000/src/dw1000_hal.c
++++ b/hw/drivers/uwb/uwb_dw1000/src/dw1000_hal.c
+@@ -723,7 +723,7 @@ hal_dw1000_wakeup(struct _dw1000_dev_instance_t * inst)
+         goto early_exit;
+     }
+ 
+-    OS_ENTER_CRITICAL(sr);
++    DPL_ENTER_CRITICAL(sr);
+ 
+     hal_spi_disable(inst->spi_num);
+     hal_gpio_write(inst->ss_pin, 0);
+@@ -738,7 +738,7 @@ hal_dw1000_wakeup(struct _dw1000_dev_instance_t * inst)
+     // (check PLL bit in IRQ?)
+     dpl_cputime_delay_usecs(5000);
+ 
+-    OS_EXIT_CRITICAL(sr);
++    DPL_EXIT_CRITICAL(sr);
+ 
+     rc = dpl_sem_release(inst->spi_sem);
+     assert(rc == DPL_OK);
+-- 
+2.28.0
+

pkg/uwb-dw1000/patches/0005-uwb_dw1000-dw1000_hal-os_sr_t-by-dpl_sr_t.patch

@@ -0,0 +1,25 @@
+From 715f6687e3b2b77f63303e3c231fbeb2c8588e97 Mon Sep 17 00:00:00 2001
+From: Francisco Molina <femolina@uc.cl>
+Date: Thu, 17 Sep 2020 12:26:44 +0200
+Subject: [PATCH 5/5] uwb_dw1000/dw1000_hal: os_sr_t by dpl_sr_t
+
+---
+ hw/drivers/uwb/uwb_dw1000/src/dw1000_hal.c | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/hw/drivers/uwb/uwb_dw1000/src/dw1000_hal.c b/hw/drivers/uwb/uwb_dw1000/src/dw1000_hal.c
+index 30539a5..4cff459 100644
+--- a/hw/drivers/uwb/uwb_dw1000/src/dw1000_hal.c
++++ b/hw/drivers/uwb/uwb_dw1000/src/dw1000_hal.c
+@@ -715,7 +715,7 @@ int
+ hal_dw1000_wakeup(struct _dw1000_dev_instance_t * inst)
+ {
+     int rc = DPL_OK;
+-    os_sr_t sr;
++    dpl_sr_t sr;
+     assert(inst->spi_sem);
+     rc = dpl_sem_pend(inst->spi_sem, DPL_TIMEOUT_NEVER);
+     if (rc != DPL_OK) {
+-- 
+2.28.0
+

pkg/uwb-dw1000/patches/0006-dw1000-dw1000_dev-use-gpio_t-types-for-dev_cfg.patch

@@ -0,0 +1,29 @@
+From e8207fa0b9ececc5e1d5e3c4fe1bc491b4d74884 Mon Sep 17 00:00:00 2001
+From: Francisco Molina <femolina@uc.cl>
+Date: Wed, 7 Oct 2020 14:11:43 +0200
+Subject: [PATCH 6/6] dw1000/dw1000_dev: use gpio_t types for dev_cfg
+
+---
+ hw/drivers/uwb/uwb_dw1000/include/dw1000/dw1000_dev.h | 6 +++---
+ 1 file changed, 3 insertions(+), 3 deletions(-)
+
+diff --git a/hw/drivers/uwb/uwb_dw1000/include/dw1000/dw1000_dev.h b/hw/drivers/uwb/uwb_dw1000/include/dw1000/dw1000_dev.h
+index 2dcd7f8..e149054 100644
+--- a/hw/drivers/uwb/uwb_dw1000/include/dw1000/dw1000_dev.h
++++ b/hw/drivers/uwb/uwb_dw1000/include/dw1000/dw1000_dev.h
+@@ -214,9 +214,9 @@ struct dw1000_dev_cfg {
+     int spi_baudrate;             //!< SPI Baudrate (<20MHz)
+     int spi_baudrate_low;         //!< Low SPI Baudrate (<2MHz)
+     uint8_t spi_num;              //!< SPI number
+-    uint8_t rst_pin;              //!< Reset pin
+-    uint8_t irq_pin;              //!< Interrupt request pin
+-    uint8_t ss_pin;               //!< Slave select pin
++    gpio_t rst_pin;               //!< Reset pin
++    gpio_t irq_pin;               //!< Interrupt request pin
++    gpio_t ss_pin;                //!< Slave select pin
+ 
+     uint16_t rx_antenna_delay;    //!< Receive antenna delay
+     uint16_t tx_antenna_delay;    //!< Transmit antenna delay
+-- 
+2.28.0
+

pkg/uwb-dw1000/patches/0007-uwb_dw1000-dw1000_mac-avoid-conflict-with-msp430-N.patch

@@ -0,0 +1,47 @@
+From cea55ec226b13c3c57c492af76d08573e834f164 Mon Sep 17 00:00:00 2001
+From: Francisco Molina <femolina@uc.cl>
+Date: Wed, 7 Oct 2020 16:14:22 +0200
+Subject: [PATCH 7/7] uwb_dw1000/dw1000_mac: avoid conflict with msp430 #N
+
+---
+ hw/drivers/uwb/uwb_dw1000/src/dw1000_mac.c | 10 +++++-----
+ 1 file changed, 5 insertions(+), 5 deletions(-)
+
+diff --git a/hw/drivers/uwb/uwb_dw1000/src/dw1000_mac.c b/hw/drivers/uwb/uwb_dw1000/src/dw1000_mac.c
+index c4e5a3e..0d520b9 100644
+--- a/hw/drivers/uwb/uwb_dw1000/src/dw1000_mac.c
++++ b/hw/drivers/uwb/uwb_dw1000/src/dw1000_mac.c
+@@ -1841,25 +1841,25 @@ dpl_float32_t
+ dw1000_calc_fppl(struct _dw1000_dev_instance_t * inst,
+                  struct _dw1000_dev_rxdiag_t * diag)
+ {
+-    dpl_float32_t A, N, v, fppl;
++    dpl_float32_t A, n, v, fppl;
+     if (diag->pacc_cnt == 0 ||
+         (!diag->fp_amp && !diag->fp_amp2 && !diag->fp_amp3)) {
+         return DPL_FLOAT32_NAN();
+     }
+     A = (inst->uwb_dev.config.prf == DWT_PRF_16M) ? DPL_FLOAT32_INIT(113.77f) : DPL_FLOAT32_INIT(121.74f);
+ #ifdef __KERNEL__
+-    N = ui32_to_f32(diag->pacc_cnt);
++    n = ui32_to_f32(diag->pacc_cnt);
+     v = f32_add(f32_add(ui32_to_f32(diag->fp_amp*diag->fp_amp),
+                         ui32_to_f32(diag->fp_amp2*diag->fp_amp2)),
+                 ui32_to_f32(diag->fp_amp3*diag->fp_amp3));
+-    v = f32_div(v, f32_mul(N, N));
++    v = f32_div(v, f32_mul(n, n));
+     fppl = f32_sub(f32_mul(DPL_FLOAT32_INIT(10.0), f64_to_f32(log10_soft(f32_to_f64(v)))), A);
+ #else
+-    N = (float)(diag->pacc_cnt);
++    n = (float)(diag->pacc_cnt);
+     v = (float)(diag->fp_amp*diag->fp_amp) +
+         (float)(diag->fp_amp2*diag->fp_amp2) +
+         (float)(diag->fp_amp3*diag->fp_amp3);
+-    v /= N * N;
++    v /= n * n;
+     fppl = 10.0f * log10f(v) - A;
+ #endif
+     return fppl;
+-- 
+2.28.0
+

pkg/uwb-dw1000/uwb-dw1000.mk

@@ -0,0 +1,13 @@
+# exclude submodule sources from *.c wildcard source selection
+
+IGNORE_SRC = \
+    dw1000_pkg.c \
+    dw1000_cli.c \
+    dw1000_cli_priv.c \
+    dw1000_sysfs.c \
+    dw1000_debugfs.c \
+    #
+
+SRC := $(filter-out $(IGNORE_SRC),$(wildcard *.c))
+
+include $(RIOTBASE)/Makefile.base