Using ubxlib with dwm3000 drivers (UWB)

[darkhmiza]

Hello,

I am trying to merge two scripts, the first one is a TWR code to calculate distance between a tag and an anchor using the decawave dwm3000 drivers that you can find here https://github.com/foldedtoad/dwm3000, the second one is the main_pos.c example https://github.com/u-blox/ubxlib/tree/master/example/gnss ,The two codes work fine on their own but when I try to add ubxlib to my existing TWR project (for now I am simply copying the ubxlib directory in my project directory and adding the CMakeLists lines), it builds with no error but I get the error below when flashing :

*** Booting Zephyr OS build v3.0.99-ncs1  ***
ASSERTION FAIL [((((prio)) == 0 && z_is_idle_thread_entry((entry))) || (((0 - 1) >= ((-16))) && ((prio)) >= ((-16)) && ((prio)) <= (0 - 1)))] @ WEST_TOPDIR/zephyr/kernel/thread.c:511
        invalid priority (99); allowed range: -1 to -16
[00:00:00.423,431] <err> os: r0/a1:  0x00000004  r1/a2:  0x000001ff  r2/a3:  0x00000002
[00:00:00.423,431] <err> os: r3/a4:  0xfffffff0 r12/ip:  0x0001702c r14/lr:  0x0000fb73
[00:00:00.423,461] <err> os:  xpsr:  0x41000000
[00:00:00.423,461] <err> os: Faulting instruction address (r15/pc): 0x00012c28
[00:00:00.423,492] <err> os: >>> ZEPHYR FATAL ERROR 4: Kernel panic on CPU 0
[00:00:00.423,492] <err> os: Current thread: 0x20001f58 (main)
[00:00:01.461,608] <err> os: Halting system

The only changes I make are the addition of these two lines in the 'CMakeLists.txt' :

set(ENV{UBXLIB_DIR} ${CMAKE_CURRENT_LIST_DIR}/ubxlib)
include($ENV{UBXLIB_DIR}/zephyr/ubxlib.cmake)

Here is the 'CMakeLists.txt' without ubxlib :

cmake_minimum_required(VERSION 3.13.1)
#set(ENV{UBXLIB_DIR} ${CMAKE_CURRENT_LIST_DIR}/ubxlib)
#include($ENV{UBXLIB_DIR}/zephyr/ubxlib.cmake)
set(DTS_ROOT   "${CMAKE_CURRENT_SOURCE_DIR}/../..")
set(BOARD_ROOT "${CMAKE_CURRENT_SOURCE_DIR}/../..")
set(SHIELD qorvo_dwm3000)

set(BOARD nrf52840dk_nrf52840)
#set(BOARD nrf52dk_nrf52832)
#set(BOARD nrf5340dk_nrf5340_cpuapp)
#set(BOARD nrf5340dk_nrf5340_cpunet)
#set(BOARD nucleo_f429zi)
#set(BOARD nucleo_l476rg)

find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
project(Example_01A)

add_definitions(-DSIMPLE_TX)

target_sources(app PRIVATE ../../main.c)
target_sources(app PRIVATE ../../config_options.c)
target_sources(app PRIVATE simple_tx.c)

target_sources(app PRIVATE ../../decadriver/deca_device.c)

target_sources(app PRIVATE ../../platform/port.c)
target_sources(app PRIVATE ../../platform/deca_sleep.c)
target_sources(app PRIVATE ../../platform/deca_spi.c)
target_sources(app PRIVATE ../../platform/port.c)

target_sources(app PRIVATE ../../shared_data/shared_functions.c)

target_include_directories(app PRIVATE ../../)
target_include_directories(app PRIVATE ../../decadriver/)
target_include_directories(app PRIVATE ../../platform/)
target_include_directories(app PRIVATE ../../compiler/)
target_include_directories(app PRIVATE ../../shared_data/)

# zephyr_compile_options(-save-temps)

I am running my code in the main thread no multithreading is used.

I am using ncs 2.0.0 on an nrf52840dk Does anyone know the cause of this error.