Properly initialize alternate DW radios

lab11 · Sep 11, 2023 · 70b22ae · 70b22ae
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commit 70b22ae
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diff --git a/software/firmware/src/boards/revL/pinout.h b/software/firmware/src/boards/revL/pinout.h
@@ -27,8 +27,12 @@
 #define PIN_RADIO_SPI_CS2                           24
 #define PIN_RADIO_SPI_CS3                           25
 #define PIN_RADIO_INTERRUPT                         27
+#define PIN_RADIO_INTERRUPT2                        51
+#define PIN_RADIO_INTERRUPT3                        79
 #define PIN_RADIO_RESET                             50
 #define PIN_RADIO_WAKEUP                            26
+#define PIN_RADIO_WAKEUP2                           53
+#define PIN_RADIO_WAKEUP3                           88
 #define PIN_RADIO_SPI_SCK_FUNCTION                  AM_HAL_PIN_31_M3SCK
 #define PIN_RADIO_SPI_MISO_FUNCTION                 AM_HAL_PIN_33_M3MISO
 #define PIN_RADIO_SPI_MOSI_FUNCTION                 AM_HAL_PIN_32_M3MOSI

diff --git a/software/firmware/src/peripherals/src/ranging.c b/software/firmware/src/peripherals/src/ranging.c
@@ -145,6 +145,12 @@ void ranging_radio_init(uint8_t *uid)
    // Set up the DW3000 wake-up pin as an output, initially set to low
    configASSERT0(am_hal_gpio_pinconfig(PIN_RADIO_WAKEUP, am_hal_gpio_pincfg_output));
    am_hal_gpio_output_clear(PIN_RADIO_WAKEUP);
+#if REVISION_ID >= REVISION_L
+   configASSERT0(am_hal_gpio_pinconfig(PIN_RADIO_WAKEUP2, am_hal_gpio_pincfg_output));
+   am_hal_gpio_output_clear(PIN_RADIO_WAKEUP2);
+   configASSERT0(am_hal_gpio_pinconfig(PIN_RADIO_WAKEUP3, am_hal_gpio_pincfg_output));
+   am_hal_gpio_output_clear(PIN_RADIO_WAKEUP3);
+#endif
 
    // Set up the DW3000 antenna selection pins
 #if REVISION_ID < REVISION_L
@@ -167,6 +173,22 @@ void ranging_radio_init(uint8_t *uid)
    configASSERT0(am_hal_gpio_interrupt_control(AM_HAL_GPIO_INT_CHANNEL_0, AM_HAL_GPIO_INT_CTRL_INDV_ENABLE, &radio_interrupt_pin));
    NVIC_SetPriority(GPIO0_001F_IRQn + GPIO_NUM2IDX(PIN_RADIO_INTERRUPT), NVIC_configMAX_SYSCALL_INTERRUPT_PRIORITY);
    NVIC_EnableIRQ(GPIO0_001F_IRQn + GPIO_NUM2IDX(PIN_RADIO_INTERRUPT));
+#if REVISION_ID >= REVISION_L
+   radio_interrupt_pin = PIN_RADIO_INTERRUPT2;
+   am_hal_gpio_pincfg_t interrupt_pin_config = AM_HAL_GPIO_PINCFG_INPUT;
+   interrupt_pin_config.GP.cfg_b.ePullup = AM_HAL_GPIO_PIN_PULLDOWN_50K;
+   configASSERT0(am_hal_gpio_pinconfig(PIN_RADIO_INTERRUPT2, interrupt_pin_config));
+   configASSERT0(am_hal_gpio_interrupt_control(AM_HAL_GPIO_INT_CHANNEL_0, AM_HAL_GPIO_INT_CTRL_INDV_ENABLE, &radio_interrupt_pin));
+   //NVIC_SetPriority(GPIO0_001F_IRQn + GPIO_NUM2IDX(PIN_RADIO_INTERRUPT2), NVIC_configMAX_SYSCALL_INTERRUPT_PRIORITY);
+   //NVIC_EnableIRQ(GPIO0_001F_IRQn + GPIO_NUM2IDX(PIN_RADIO_INTERRUPT2));
+   radio_interrupt_pin = PIN_RADIO_INTERRUPT3;
+   am_hal_gpio_pincfg_t interrupt_pin_config = AM_HAL_GPIO_PINCFG_INPUT;
+   interrupt_pin_config.GP.cfg_b.ePullup = AM_HAL_GPIO_PIN_PULLDOWN_50K;
+   configASSERT0(am_hal_gpio_pinconfig(PIN_RADIO_INTERRUPT3, interrupt_pin_config));
+   configASSERT0(am_hal_gpio_interrupt_control(AM_HAL_GPIO_INT_CHANNEL_0, AM_HAL_GPIO_INT_CTRL_INDV_ENABLE, &radio_interrupt_pin));
+   //NVIC_SetPriority(GPIO0_001F_IRQn + GPIO_NUM2IDX(PIN_RADIO_INTERRUPT3), NVIC_configMAX_SYSCALL_INTERRUPT_PRIORITY);
+   //NVIC_EnableIRQ(GPIO0_001F_IRQn + GPIO_NUM2IDX(PIN_RADIO_INTERRUPT3));
+#endif
 
    // Initialize the SPI module and enable all relevant SPI pins
    am_hal_gpio_pincfg_t sck_config = g_AM_BSP_GPIO_IOM0_SCK;