RCL.c File Reference

#include <stdint.h>
#include <stddef.h>
#include <stdbool.h>
#include <string.h>
#include <ti/drivers/RCL.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/rcl/LRF.h>
#include <ti/drivers/rcl/hal/RCL_Hal.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...
RCL_CommandStatus	RCL_stopNextCmdHook (RCL_Command *cmd, RCL_StopType stopType, RCL_SchedulerStopReason stopReason)
	Hook function to stop a queued command. More...
RCL_CommandStatus	RCL_submitHook (RCL_Handle h, RCL_Command *cmd)
	Hook function to submit a command to the RCL. More...
RCL_CommandStatus	RCL_ScheduleStop (RCL_Command_Handle c, RCL_StopType stopType)
	Function to schedule a stop for a running command. More...
static void	rclCheckNextCommandPendCallback (void)
	__attribute__ ((weak))
void	RCL_init (void)
void	RCL_openPowerNotifications (void)
void	RCL_closePowerNotifications (void)
RCL_Handle	RCL_open (RCL_Client *c, const LRF_Config *lrfConfig)
void	RCL_close (RCL_Handle h)
RCL_CommandStatus	RCL_Command_submit (RCL_Handle h, RCL_Command_Handle c)
RCL_CommandStatus	RCL_Command_pend (RCL_Command_Handle c)
RCL_CommandStatus	RCL_Command_stop (RCL_Command_Handle c, RCL_StopType stopType)
int8_t	RCL_readRssi (void)
void	RCL_triggerScheduler (void)
uint32_t	RCL_getPhySwitchingTime (void)
RCL_Command_TxPower	RCL_txPowerLookup (const LRF_TxPowerTable *table, RCL_Command_TxPower powerLevel, bool roundUp, bool returnBoundaryOnOutOfRange)

Variables
static bool	isInitialized = false
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_TIMER_EVT_GRACEFUL_STOP, HAL_TIMER_EVT_HARD_STOP, HAL_TIMER_EVT_PACKET_TIMEOUT, HAL_TIMER_EVT_SETUP, HAL_TIMER_EVT_START, RCL_SchedulerState::hardStopInfo, LRF_hardStop(), LRF_setupRadio(), RCL_SchedulerState::postedRclEvents, RadioState_Configured, RadioState_Down, RadioState_ImagesLoaded, RCL_CommandStatus_Error_Setup, RCL_CommandStatus_Finished, RCL_CommandStatus_Scheduled, RCL_Debug_assert, RCL_EventHandlerCmdUpdate, RCL_EventNone, RCL_Hal_cancelGracefulStopTime(), RCL_Hal_cancelHardStopTime(), RCL_Hal_cancelStartTime(), RCL_Hal_checkClearTimerCompare(), RCL_Hal_disableAllCommandRadioInterrupts(), RCL_Hal_getCommandIfgReg(), RCL_Hal_powerReleaseStandbyConstraint(), RCL_Hal_powerSetStandbyConstraint(), RCL_Hal_triggerDispatchFsm(), RCL_Scheduler_findStopStatus(), RCL_Scheduler_postEvent(), RCL_Scheduler_setStopTimes(), RCL_SchedulerStopReason_Timeout, RCL_StopType_DescheduleOnly, RCL_StopType_None, rclSchedulerState, rclState, rclStop(), RCL_SchedulerState::requestedPhyFeatures, SetupResult_Ok, and RCL_SchedulerStopInfo::stopReason.

Referenced by RCL_init().

rclDispatchHwi()

static void rclDispatchHwi ( void  )

static

References RCL_SchedulerState::currCmd, LRF_EventNone, RCL_SchedulerState::nextWantsStop, RCL_clearNextCommandHook(), RCL_CommandStatus_Finished, RCL_CommandStatus_RejectedStart, RCL_Debug_assert, RCL_EventNone, RCL_getNextCommandHook(), RCL_Hal_disableAllDispatchRadioInterrupts(), RCL_Hal_getDispatchIfgReg(), RCL_Hal_triggerSchedulerFsm(), rclCheckNextCommandPendCallback(), and rclSchedulerState.

Referenced by RCL_init().

rclSchedulerHwi()

static void rclSchedulerHwi ( void  )

static

References RCL_SchedulerState::currCmd, LRF_imagesNeedUpdate(), RadioState_Configured, RadioState_ImagesLoaded, RCL_clearNextCommandHook(), RCL_CommandStatus_Finished, RCL_CommandStatus_Scheduled, RCL_Debug_assert, RCL_EventCmdScheduleDone, RCL_EventSetup, RCL_getNextCommandHook(), RCL_Hal_initDispatchRadioInterrupts(), RCL_Hal_setupSetupTime(), RCL_phyHook(), RCL_ProfilingEvent_PostprocStop, RCL_Schedule_Now, RCL_scheduleHook(), 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, and rclSchedulerState.

Referenced by RCL_init().

rclPowerNotify()

static void rclPowerNotify ( RCL_PowerEvent  eventType )

static

References RCL_SchedulerState::currCmd, RadioState_ImagesLoaded, RCL_GPIO_disable(), RCL_GPIO_enable(), RCL_Hal_enableSetupTimeIrq(), RCL_Hal_initDispatchRadioInterrupts(), RCL_POWER_STANDBY_AWAKE, RCL_POWER_STANDBY_ENTER, RCL_ProfilingEvent_PreprocStart, and rclSchedulerState.

Referenced by RCL_Hal_powerPostNotifyFxn(), and RCL_openPowerNotifications().

rclStop()

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

static

References RCL_SchedulerStopInfo::apiStopEnabled, RCL_SchedulerState::currCmd, RCL_SchedulerState::descheduleReason, RCL_SchedulerState::gracefulStopInfo, RCL_SchedulerState::hardStopInfo, LRF_sendGracefulStop(), LRF_sendHardStop(), RCL_CommandStatus_Finished, RCL_CommandStatus_Queued, RCL_Debug_assert, RCL_EventNone, RCL_Scheduler_postEvent(), RCL_stopNextCmdHook(), RCL_StopType_DescheduleOnly, RCL_StopType_Graceful, RCL_StopType_Hard, RCL_StopType_None, rclSchedulerState, and RCL_SchedulerStopInfo::stopReason.

Referenced by __attribute__(), RCL_Command_stop(), RCL_ScheduleStop(), and rclCommandHwi().

RCL_clearNextCommandHook()

void RCL_clearNextCommandHook

(

)

Hook function to clear nextCmd pointer.

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

RCL_getNextCommandHook()

RCL_Command* RCL_getNextCommandHook

(

)

Hook function to get the nextCmd from the command queue.

Returns

::Pointer to the nextCmd

Referenced by __attribute__(), 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().

RCL_stopNextCmdHook()

RCL_CommandStatus RCL_stopNextCmdHook	(	RCL_Command *	cmd,
		RCL_StopType	stopType,
		RCL_SchedulerStopReason	stopReason
	)

Hook function to stop a queued command.

This hook is invoked when a command that is still in the queue (i.e. not yet scheduled or active) needs to be stopped.

Parameters

[in]	cmd	Pointer to the command to be stopped
[in]	stopType	Type of stop that should be applied
[in]	stopReason	Reason for stopping the command

Returns

RCL_CommandStatus The resulting status of the command after the stop operation.

Referenced by __attribute__(), and rclStop().

RCL_submitHook()

RCL_CommandStatus RCL_submitHook	(	RCL_Handle	h,
		RCL_Command *	cmd
	)

Hook function to submit a command to the RCL.

Parameters

[in]	h	Handle of the RCL client submitting the command
[in]	cmd	Pointer to the command being submitted

Returns

RCL_CommandStatus Status indicating success or the reason for rejection of the submission.

Referenced by RCL_close(), and RCL_Command_submit().

RCL_ScheduleStop()

RCL_CommandStatus RCL_ScheduleStop	(	RCL_Command_Handle	c,
		RCL_StopType	stopType
	)

Function to schedule a stop for a running command.

Parameters

[in]	c	Handle of the RCL command to be stopped
[in]	stopType	Type of stop to apply (hard, graceful, etc.)

Returns

RCL_CommandStatus Resulting status of the command after the stop request has been processed.

References RCL_SchedulerStopReason_Scheduling, and rclStop().

rclCheckNextCommandPendCallback()

static void rclCheckNextCommandPendCallback ( void  )

static

References LRF_EventNone, RCL_EventDescheduleStop, RCL_EventLastCmdDone, rclSchedulerState, and RCL_SchedulerState::stopCmd.

Referenced by rclDispatchHwi().

__attribute__()

__attribute__

(

(weak)

)

References RCL_SchedulerStopInfo::apiStopEnabled, RCL_SchedulerState::currCmd, RCL_SchedulerState::descheduleReason, RCL_SchedulerState::gracefulStopInfo, RCL_SchedulerState::hardStopInfo, LRF_EventNone, LRF_sendGracefulStop(), LRF_sendHardStop(), RCL_SchedulerState::nextWantsStop, RCL_clearNextCommandHook(), RCL_CommandStatus_Error, RCL_CommandStatus_Error_StartTooLate, RCL_ConflictPolicy_AlwaysInterrupt, RCL_ConflictPolicy_NeverInterrupt, RCL_ConflictPolicy_Polite, RCL_EventGracefulStop, RCL_EventHardStop, RCL_getNextCommandHook(), RCL_Hal_triggerDispatchFsm(), RCL_phyHook(), RCL_policyHook(), RCL_Schedule_Now, RCL_scheduleHook(), RCL_Scheduler_cancelSchedStopTime(), RCL_Scheduler_delta(), RCL_Scheduler_getCurrentTime(), RCL_Scheduler_isLater(), RCL_SCHEDULER_MARGIN_LOAD, RCL_Scheduler_postEvent(), RCL_Scheduler_setSchedStopTime(), RCL_SCHEDULER_TRIG_NOW_DELAY, RCL_Scheduler_updateStopStatus(), RCL_SchedulerStopReason_Scheduling, RCL_stopNextCmdHook(), RCL_StopType_DescheduleOnly, RCL_StopType_Graceful, RCL_StopType_Hard, RCL_StopType_None, rclNextCmd, rclSchedulerState, rclState, rclStop(), and RCL_SchedulerState::stopCmd.

Referenced by RCL_close().

RCL_init()

void RCL_init

(

void

)

References isInitialized, RadioState_Down, RCL_Hal_initFsm(), RCL_Hal_temperatureInit(), rclCommandHwi(), rclDispatchHwi(), and rclSchedulerHwi().

Referenced by __attribute__().

RCL_openPowerNotifications()

void RCL_openPowerNotifications

(

void

)

References RCL_Debug_assert, RCL_Hal_powerOpen(), and rclPowerNotify().

Referenced by RCL_open().

RCL_closePowerNotifications()

void RCL_closePowerNotifications

(

void

)

References RCL_Debug_assert, and RCL_Hal_powerClose().

Referenced by RCL_close().

RCL_open()

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

References LRF_rclEnableRadioClocks(), RCL_GPIO_enable(), RCL_Hal_enableClkBuffer(), RCL_openPowerNotifications(), RCL_VERSION, RCL_VERSION_CHANNEL_NUMBER, and RCL_VERSION_SHA.

Referenced by __attribute__().

RCL_close()

void RCL_close

(

RCL_Handle

h

)

References __attribute__(), RCL_SchedulerState::currCmd, LRF_rclDisableRadioClocks(), RCL_closePowerNotifications(), RCL_CommandStatus_Error_AlreadySubmitted, RCL_CommandStatus_Error_CommandQueueFull, RCL_CommandStatus_Finished, RCL_CommandStatus_Idle, RCL_CommandStatus_Queued, RCL_GPIO_disable(), RCL_submitHook(), rclNextCmd, and rclSchedulerState.

Referenced by __attribute__(), and adcNoiseCallback().

RCL_Command_submit()

RCL_CommandStatus RCL_Command_submit	(	RCL_Handle	h,
		RCL_Command_Handle	c
	)

References RCL_CommandStatus_Queued, RCL_Hal_triggerSchedulerFsm(), and RCL_submitHook().

Referenced by __attribute__().

RCL_Command_pend()

RCL_CommandStatus RCL_Command_pend

(

RCL_Command_Handle

c

)

References RCL_CommandStatus_Active, RCL_CommandStatus_Error, and RCL_Debug_assert.

Referenced by __attribute__().

RCL_Command_stop()

RCL_CommandStatus RCL_Command_stop	(	RCL_Command_Handle	c,
		RCL_StopType	stopType
	)

References RCL_SchedulerStopReason_Api, and rclStop().

RCL_readRssi()

int8_t RCL_readRssi

(

void

)

References LRF_readRssi(), LRF_RSSI_INVALID, and RadioState_Configured.

RCL_triggerScheduler()

void RCL_triggerScheduler

(

void

)

References RCL_Hal_triggerSchedulerFsm().

RCL_getPhySwitchingTime()

uint32_t RCL_getPhySwitchingTime

(

void

)

References RCL_SCHEDULER_MARGIN_ARM, RCL_SCHEDULER_MARGIN_CONFIGURE, RCL_SCHEDULER_MARGIN_LOAD, and RCL_SCHEDULER_WAKEUP_MARGIN.

RCL_txPowerLookup()

RCL_Command_TxPower RCL_txPowerLookup	(	const LRF_TxPowerTable *	table,
		RCL_Command_TxPower	powerLevel,
		bool	roundUp,
		bool	returnBoundaryOnOutOfRange
	)

References LRF_TxPowerTable_findValueExtended(), and LRF_TxPowerTable_Entry::power.

Variable Documentation

isInitialized

bool isInitialized = false

static

Referenced by RCL_init().

rclNextCmd

RCL_Command* rclNextCmd = NULL

static

Referenced by __attribute__(), and RCL_close().

rclState

RCL rclState

Referenced by __attribute__(), and rclCommandHwi().