Merge pull request #17264 from fjmolinas/pr_pkg_uwb_core_fixes

pkg/uwb-core: multiple cleanups

examples/twr_aloha/control.c

@@ -227,20 +227,11 @@ void init_ranging(void)
               (uint16_t)ceilf(uwb_dwt_usecs_to_usecs(rng->config.
                                                      tx_holdoff_delay)));
 
-    if (IS_USED(MODULE_UWB_CORE_TWR_SS_ACK)) {
-        uwb_set_autoack(udev, true);
-        uwb_set_autoack_delay(udev, 12);
-    }
-
     dpl_callout_init(&_rng_req_callout, dpl_eventq_dflt_get(),
                      uwb_ev_cb, rng);
     dpl_callout_reset(&_rng_req_callout, RANGE_REQUEST_T_MS);
     dpl_event_init(&_slot_event, _slot_complete_cb, rng);
 
-    /* Apply config */
-    uwb_mac_config(udev, NULL);
-    uwb_txrf_config(udev, &udev->config.txrf);
-
     if ((udev->role & UWB_ROLE_ANCHOR)) {
         printf("Node role: ANCHOR \n");
         udev->my_short_address = ANCHOR_ADDRESS;

pkg/uwb-core/Kconfig

@@ -74,6 +74,10 @@ config MODULE_UWB-CORE_UWBCFG
     bool "uwb-core configuration module"
     select MODULE_UWB-CORE_CONFIG
 
+config MODULE_UWB-CORE_EVENT_THREAD
+    bool "Use event-thread loop as uwb-core's event loop"
+    select MODULE_UWB-CORE_CONFIG
+
 config MODULE_UWB-CORE_CONFIG
     bool
 

pkg/uwb-core/Makefile.dep

@@ -30,6 +30,10 @@ ifneq (,$(filter uwb-core_dpl,$(USEMODULE)))
   endif
 endif
 
+ifneq (,$(filter uwb-core_event_thread,$(USEMODULE)))
+  USEMODULE += event_thread
+endif
+
 # Some stdlib functions used by the pkg are not in avr-gcc
 FEATURES_BLACKLIST += arch_avr8
 # uwb-core has specific compilation sources when compiling kernel

pkg/uwb-core/contrib/uwb_core.c

@@ -19,43 +19,37 @@
 
 #include "thread.h"
 #include "event.h"
-#include "event/callback.h"
 #include "uwb_core.h"
 
-#include "os/os_cputime.h"
-#include "hal/hal_timer.h"
-
-#ifndef UWB_CORE_STACKSIZE
-#define UWB_CORE_STACKSIZE  (THREAD_STACKSIZE_LARGE)
-#endif
-#ifndef UWB_CORE_PRIO
-#define UWB_CORE_PRIO       (THREAD_PRIORITY_MAIN - 5)
-#endif
-
-static char _stack_uwb_core[UWB_CORE_STACKSIZE];
-
+#if !IS_USED(MODULE_UWB_CORE_EVENT_THREAD)
 static event_queue_t _queue;
-
+static char _stack_uwb_core[UWB_CORE_STACKSIZE];
 static void *_uwb_core_thread(void *arg)
 {
     (void)arg;
-
     event_queue_init(&_queue);
     event_loop(&_queue);
     /* never reached */
     return NULL;
 }
+#endif
 
 event_queue_t *uwb_core_get_eventq(void)
 {
+#if !IS_USED(MODULE_UWB_CORE_EVENT_THREAD)
     return &_queue;
+#else
+    return UWB_CORE_EVENT_THREAD_QUEUE;
+#endif
 }
 
 void uwb_core_riot_init(void)
 {
+#if !IS_USED(MODULE_UWB_CORE_EVENT_THREAD)
     thread_create(_stack_uwb_core, sizeof(_stack_uwb_core),
                   UWB_CORE_PRIO,
                   THREAD_CREATE_STACKTEST,
                   _uwb_core_thread, NULL,
-                  "uwb_core");
+                  "uwb_core_event");
+#endif
 }

pkg/uwb-core/contrib/uwb_core_init.c

@@ -47,25 +47,28 @@ void uwb_core_init(void)
     uwb_dw1000_setup(&dev, (void *) &dw1000_params[0]);
     /* this will start a thread handling dw1000 device */
     uwb_dw1000_config_and_start(&dev);
+    /* apply default configuration */
+    uwb_mac_config(&dev.uwb_dev, NULL);
+    uwb_txrf_config(&dev.uwb_dev, &dev.uwb_dev.config.txrf);
 
     /* init uwb pkg's */
 #if IS_USED(MODULE_UWB_CORE_RNG)
     extern void uwb_rng_pkg_init(void);
     uwb_rng_pkg_init();
 #endif
-
     /* uwb configuration module */
 #if IS_USED(MODULE_UWB_CORE_UWBCFG)
     extern int uwbcfg_pkg_init(void);
     uwbcfg_pkg_init();
 #endif
-
     /* ranging algorithms */
 #if IS_USED(MODULE_UWB_CORE_TWR_SS)
     twr_ss_pkg_init();
 #endif
 #if IS_USED(MODULE_UWB_CORE_TWR_SS_ACK)
     twr_ss_ack_pkg_init();
+    uwb_set_autoack(&dev.uwb_dev, true);
+    uwb_set_autoack_delay(&dev.uwb_dev, 12);
 #endif
 #if IS_USED(MODULE_UWB_CORE_TWR_SS_EXT)
     twr_ss_ext_pkg_init();

pkg/uwb-core/include/uwb_core.h

@@ -21,23 +21,33 @@
 
 #include <stdint.h>
 #include "event.h"
+#if IS_USED(MODULE_UWB_CORE_EVENT_THREAD)
+#include "event/thread"
+#endif
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
 /**
- * @brief   Priority used for
+ * @brief   The event queue if uwb_core_event_thread is used
  */
-#ifndef UWB_CORE__PRIO
-#define UWB_CORE__PRIO            (THREAD_PRIORITY_MAIN - 2)
+#ifndef UWB_CORE_EVENT_THREAD_QUEUE
+#define UWB_CORE_EVENT_THREAD_QUEUE     EVENT_PRIO_MEDIUM
 #endif
 
 /**
- * @brief   Stacksize used for
+ * @brief   Priority used for uwb-core event queue
  */
-#ifndef UWB_CORE__STACKSIZE
-#define UWB_CORE__STACKSIZE       (THREAD_STACKSIZE_DEFAULT)
+#ifndef UWB_CORE_PRIO
+#define UWB_CORE_PRIO                   (THREAD_PRIORITY_MAIN - 2)
+#endif
+
+/**
+ * @brief   Stacksize used for uwb-core event queue
+ */
+#ifndef UWB_CORE_STACKSIZE
+#define UWB_CORE_STACKSIZE              (THREAD_STACKSIZE_LARGE)
 #endif
 
 /**
@@ -48,8 +58,8 @@ void uwb_core_riot_init(void);
 /**
  * @brief   Retrieves the default event queue.
  *
- * As there is no default event queue in RIOT, uwb-core will start and
- * handle a default event queue.
+ * if uwb_core_event_thread is used then the event_thread module queue will be
+ * used. Otherwise uwb-core will start and handle its own event queue.
  *
  * @return  the default event queue.
  */

pkg/uwb-dw1000/include/uwb_dw1000_config.h

@@ -199,10 +199,11 @@ extern "C" {
 #endif
 
 /**
- * @brief   Default MAC FrameFilter (0x0000 = no filter)
+ * @brief   Default MAC FrameFilter (0x00ff = frame filtering enabled, all frames
+ *          matching PANID and destination address accepted)
  */
 #ifndef DW1000_FRAME_FILTER_DEFAULT
-#define DW1000_FRAME_FILTER_DEFAULT     0x0000
+#define DW1000_FRAME_FILTER_DEFAULT     0x00ff
 #endif
 
 /**