/drivers/DW1000/v1/deca_instance_common.c - Annotate - AMiRo-OS - Research for Cognitive Interaction

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-a601a5
+/*! ----------------------------------------------------------------------------
  *  @file    instance_common.c
  *  @brief   DecaWave application level common instance functions
+ *
  * @attention
+ *
  * Copyright 2015 (c) DecaWave Ltd, Dublin, Ireland.
+ *
  * All rights reserved.
+ *
  * @author DecaWave
  */
 #include <alld_DW1000.h>
-e34d
+#include <module.h>
-a601a5
+#include <string.h>
 #include <math.h>
-e34d
+#include <deca_instance.h>
-f54213
+            Cung Sang
 /*! @brief Software defined configuration settings for RTLS applications */
 /*! Configuration for DecaRangeRTLS TREK Modes (4 default use cases selected by the switch S1 [2,3] on EVB1000, indexed 0 to 3 )*/
 instanceConfig_t chConfig[4] ={
                                //mode 1 - S1: 2 off, 3 off
+                               {
                                 .channelNumber = 2,             // channel
                                 .preambleCode = 4,              // preambleCode
                                 .pulseRepFreq = DWT_PRF_16M,    // prf
                                 .dataRate = DWT_BR_110K,        // datarate
                                 .preambleLen = DWT_PLEN_1024,   // preambleLength
                                 .pacSize = DWT_PAC32,           // pacSize
                                 .nsSFD = 1,                     // non-standard SFD
                                 .sfdTO = (1025 + 64 - 32)       // SFD timeout
                                },
                                //mode 2 - S1: 2 on, 3 off
+                               {
                                 .channelNumber = 2,            // channel
                                 .preambleCode = 4,             // preambleCode
                                 .pulseRepFreq = DWT_PRF_16M,   // prf
                                 .dataRate = DWT_BR_6M8,        // datarate
                                 .preambleLen = DWT_PLEN_128,   // preambleLength
                                 .pacSize = DWT_PAC8,           // pacSize
                                 .nsSFD = 0,                    // non-standard SFD
                                 .sfdTO = (129 + 8 - 8)        // SFD timeout
                                },
                                //mode 3 - S1: 2 off, 3 on
+                               {
                                 .channelNumber = 5,             // channel
                                 .preambleCode = 3,              // preambleCode
                                 .pulseRepFreq = DWT_PRF_16M,    // prf
                                 .dataRate = DWT_BR_110K,        // datarate
                                 .preambleLen = DWT_PLEN_1024,   // preambleLength
                                 .pacSize = DWT_PAC32,           // pacSize
                                 .nsSFD = 1,                     // non-standard SFD
                                 .sfdTO = (1025 + 64 - 32)       // SFD timeout
                                },
                                //mode 4 - S1: 2 on, 3 on
+                               {
                                 .channelNumber = 5,            // channel
                                 .preambleCode = 3,             // preambleCode
                                 .pulseRepFreq = DWT_PRF_16M,   // prf
                                 .dataRate = DWT_BR_6M8,        // datarate
                                 .preambleLen = DWT_PLEN_128,   // preambleLength
                                 .pacSize = DWT_PAC8,           // pacSize
                                 .nsSFD = 0,                    // non-standard SFD
                                 .sfdTO = (129 + 8 - 8)        // SFD timeout
+                               }
 };
-a601a5
+            Cung Sang
-f54213
+/*! Slot and Superframe Configuration for DecaRangeRTLS TREK Modes (4 default use cases selected by the switch S1 [2,3] on EVB1000, indexed 0 to 3 )*/
 sfConfig_t sfConfig[4] ={
                          //mode 1 - S1: 2 off, 3 off
+                         {
                           .slotPeriod = (28), //slot duration in milliseconds (NOTE: the ranging exchange must be able to complete in this time
                           //e.g. tag sends a poll, 4 anchors send responses and tag sends the final + processing time
                           .numSlots = (10),        //number of slots in the superframe (8 tag slots and 2 used for anchor to anchor ranging),
                           .sfPeriod = (10*28),  //in ms => 280ms frame means 3.57 Hz location rate
                           .pollSleepDly = (10*28), //tag period in ms (sleep time + ranging time)
                           .replyDly = (25000) //poll to final delay in microseconds (needs to be adjusted according to lengths of ranging frames)
                          },
 #if (DISCOVERY == 1)
                          //mode 2 - S1: 2 on, 3 off
+                         {
                           .slotPeriod = (10), //slot duration in milliseconds (NOTE: the ranging exchange must be able to complete in this time
                           //e.g. tag sends a poll, 4 anchors send responses and tag sends the final + processing time
                           .numSlots = (100),        //number of slots in the superframe (98 tag slots and 2 used for anchor to anchor ranging),
                           .sfPeriod = (10*100),  //in ms => 1000 ms frame means 1 Hz location rate
                           .pollSleepDly = (10*100), //tag period in ms (sleep time + ranging time)
                           .replyDly = (2500) //poll to final delay in microseconds (needs to be adjusted according to lengths of ranging frames)
                          },
 #else
                          //mode 2 - S1: 2 on, 3 off
+                         {
                           .slotPeriod = (10), //slot duration in milliseconds (NOTE: the ranging exchange must be able to complete in this time
                           //e.g. tag sends a poll, 4 anchors send responses and tag sends the final + processing time
                           .numSlots = (10),        //number of slots in the superframe (8 tag slots and 2 used for anchor to anchor ranging),
                           .sfPeriod = (10*10),  //in ms => 100 ms frame means 10 Hz location rate
                           .pollSleepDly = (10*10), //tag period in ms (sleep time + ranging time)
                           .replyDly = (2500) //poll to final delay in microseconds (needs to be adjusted according to lengths of ranging frames)
                          },
 #endif
                          //mode 3 - S1: 2 off, 3 on
+                         {
                           .slotPeriod = (28), //slot duration in milliseconds (NOTE: the ranging exchange must be able to complete in this time
                           //e.g. tag sends a poll, 4 anchors send responses and tag sends the final + processing time
                           .numSlots = (10),        //number of slots in the superframe (8 tag slots and 2 used for anchor to anchor ranging),
                           .sfPeriod = (10*28),  //in ms => 280ms frame means 3.57 Hz location rate
                           .pollSleepDly = (10*28), //tag period in ms (sleep time + ranging time)
                           .replyDly = (20000) //poll to final delay in microseconds (needs to be adjusted according to lengths of ranging frames)
                          },
                          //mode 4 - S1: 2 on, 3 on
+                         {
                           .slotPeriod = (10), //slot duration in milliseconds (NOTE: the ranging exchange must be able to complete in this time
                           //e.g. tag sends a poll, 4 anchors send responses and tag sends the final + processing time
                           .numSlots = (10),        //number of slots in the superframe (8 tag slots and 2 used for anchor to anchor ranging),
                           .sfPeriod = (10*10),  //in ms => 100 ms frame means 10 Hz location rate
                           .pollSleepDly = (10*10), //tag period in ms (sleep time + ranging time)
                           .replyDly = (2500) //poll to final delay in microseconds (needs to be adjusted according to lengths of ranging frames)
+                         }
 };
-a601a5
+            Cung Sang
 // -------------------------------------------------------------------------------------------------------------------
 //The table below specifies the default TX spectrum configuration parameters... this has been tuned for DW EVK hardware units
 //the table is set for smart power - see below in the instance_config function how this is used when not using smart power
 const tx_struct txSpectrumConfig[8] =
+{
     //Channel 0 ----- this is just a place holder so the next array element is channel 1
+    {
 x0,   //0
+            {
 x0, //0
 x0 //0
+            }
     },
     //Channel 1
+    {
 xc9,   //PG_DELAY
+            {
 x15355575, //16M prf power
 x07274767 //64M prf power
+            }
     },
     //Channel 2
+    {
 xc2,   //PG_DELAY
+            {
 x15355575, //16M prf power
 x07274767 //64M prf power
+            }
     },
     //Channel 3
+    {
 xc5,   //PG_DELAY
+            {
 x0f2f4f6f, //16M prf power
 x2b4b6b8b //64M prf power
+            }
     },
     //Channel 4
+    {
 x95,   //PG_DELAY
+            {
 x1f1f3f5f, //16M prf power
 x3a5a7a9a //64M prf power
+            }
     },
     //Channel 5
+    {
 xc0,   //PG_DELAY
+            {
 x0E082848, //16M prf power
 x25456585 //64M prf power
+            }
     },
     //Channel 6 ----- this is just a place holder so the next array element is channel 7
+    {
 x0,   //0
+            {
 x0, //0
 x0 //0
+            }
     },
     //Channel 7
+    {
 x93,   //PG_DELAY
+            {
 x32527292, //16M prf power
 x5171B1d1 //64M prf power
+            }
+    }
 };
 //these are default antenna delays for EVB1000, these can be used if there is no calibration data in the DW1000,
 //or instead of the calibration data
 const uint16_t rfDelays[2] = {
-dead12
+        (uint16_t) (((double)DWT_PRF_16M_RFDLY/ 2.0) * 1e-9 / DWT_TIME_UNITS),//PRF 16
         (uint16_t) (((double)DWT_PRF_64M_RFDLY/ 2.0) * 1e-9 / DWT_TIME_UNITS)
-a601a5
+};
 //these are default TREK Tag/Anchor antenna delays
 const uint16_t rfDelaysTREK[2] = {
-dead12
+        (uint16_t) (((double)514.83f/ 2.0) * 1e-9 / DWT_TIME_UNITS),//channel 2
         (uint16_t) (((double)514.65f/ 2.0) * 1e-9 / DWT_TIME_UNITS) //channel 5
-a601a5
+};
 // -------------------------------------------------------------------------------------------------------------------
 //      Data Definitions
 // -------------------------------------------------------------------------------------------------------------------
 instance_data_t instance_data[NUM_INST] ;
 static double inst_tdist[MAX_TAG_LIST_SIZE] ;
 static double inst_idist[MAX_ANCHOR_LIST_SIZE] ;
 static double inst_idistraw[MAX_ANCHOR_LIST_SIZE] ;
 instance_data_t instance_data[NUM_INST] ;
-dead12
+typedef struct __attribute__((packed))
-a601a5
+            Cung Sang
     uint32_t      deviceID ;
     uint8_t       chan;               // added chan here - used in the reading of acc
     uint16_t      rfrxDly;            // rf delay (delay though the RF blocks before the signal comes out of the antenna i.e. "antenna delay")
     uint16_t      rftxDly;            // rf delay (delay though the RF blocks before the signal comes out of the antenna i.e. "antenna delay")
     uint32_t      antennaDly;         // antenna delay read from OTP 64 PRF value is in high 16 bits and 16M PRF in low 16 bits
     uint32_t      antennaCals[4];     // antenna delays for the TREKs (Anchor high 16-bits, Tag low 16-bits)
     uint32_t      txPowCfg[12];       // stores the Tx power configuration read from OTP (6 channels consecutively with PRF16 then 64, e.g. Ch 1 PRF16 is index 0 and 64 index 1)
     uint32_t      states[3] ;         //MP workaround debug states register
     uint8_t       statescount ;
     int           prfIndex ;
     uint32_t      ldoTune ;           //low 32 bits of LDO tune value
 } platform_local_data_t ;
 static platform_local_data_t platformLocalData ; // Static local device data
 // -------------------------------------------------------------------------------------------------------------------
 // Functions
 // -------------------------------------------------------------------------------------------------------------------
 // -------------------------------------------------------------------------------------------------------------------
 // convert microseconds to device time
 uint64_t convertmicrosectodevicetimeu (double microsecu){
   uint64_t dt;
   long double dtime;
-dead12
+  dtime = (long double)((microsecu / (double) DWT_TIME_UNITS) / 1e6);
-a601a5
+            Cung Sang
   dt =  (uint64_t) (dtime) ;
   return dt;
+}
 double convertdevicetimetosec(int32_t dt){
   double f = 0;
   f =  dt * DWT_TIME_UNITS ;  // seconds #define TIME_UNITS          (1.0/499.2e6/128.0) = 15.65e-12
   return f ;
+}
 #pragma GCC optimize ("O3")
 int reportTOF(int idx, uint32_t tofx){
   double distance ;
   double distance_to_correct;
   double tof ;
-dead12
+  int64_t tofi ;
-a601a5
+            Cung Sang
   // check for negative results and accept them making them proper negative integers
   tofi = (int32_t) tofx ; // make it signed
   if (tofi > 0x7FFFFFFF){  // close up TOF may be negative
     tofi -= 0x80000000 ;  //
+  }
   // convert to seconds (as floating point)
-dead12
+  tof = convertdevicetimetosec((int32_t)tofi) ;          //this is divided by 4 to get single time of flight
-a601a5
+  inst_idistraw[idx] = distance = tof * SPEED_OF_LIGHT;
 #if (CORRECT_RANGE_BIAS == 1)
   //for the 6.81Mb data rate we assume gating gain of 6dB is used,
   //thus a different range bias needs to be applied
   //if(inst->configData.dataRate == DWT_BR_6M8)
   if(instance_data[0].configData.smartPowerEn){
     //1.31 for channel 2 and 1.51 for channel 5
     if(instance_data[0].configData.chan == 5){
       distance_to_correct = distance/1.51;
+    }
     else{   //channel 2
       distance_to_correct = distance/1.31;
+    }
+  }
   else{
     distance_to_correct = distance;
+  }
   distance = distance - dwt_getrangebias(instance_data[0].configData.chan, (float) distance_to_correct, instance_data[0].configData.prf);
 #endif
   if ((distance < 0) || (distance > 20000.000))    // discard any results less than <0 cm or >20 km
     return 0;
   inst_idist[idx] = distance;
   instance_data[0].longTermRangeCount++ ;                          // for computing a long term average
   return 1;
 }// end of reportTOF
 void setTagDist(int tidx, int aidx){
   inst_tdist[tidx] = inst_idist[aidx];
+}
 double getTagDist(int idx){
   return inst_tdist[idx];
+}
 void clearDistTable(int idx){
   inst_idistraw[idx] = 0;
   inst_idist[idx] = 0;
+}
 void instancecleardisttableall(void){
   int i;
   for(i=0; i<MAX_ANCHOR_LIST_SIZE; i++)  {
     inst_idistraw[i] = 0xffff;
     inst_idist[i] = 0xffff;
+  }
+}
 // -------------------------------------------------------------------------------------------------------------------
 #if NUM_INST != 1
 #error These functions assume one instance only
 #else
 // -------------------------------------------------------------------------------------------------------------------
 // Set this instance role as the Tag, Anchor or Listener
 void instancesetrole(int inst_mode){
   // assume instance 0, for this
-dead12
+  instance_data[0].mode =  (INST_MODE)inst_mode;                   // set the role
-a601a5
+            Cung Sang
 int instancegetrole(void){
-dead12
+  return (int)instance_data[0].mode;
-a601a5
+            Cung Sang
 int instancenewrange(void){
   int x = instance_data[0].newRange;
   instance_data[0].newRange = TOF_REPORT_NUL;
   return x;
+}
 int instancenewrangeancadd(void){
   return instance_data[0].newRangeAncAddress;
+}
 int instancenewrangetagadd(void){
   return instance_data[0].newRangeTagAddress;
+}
-dead12
+uint32_t instancenewrangetim(void){
-a601a5
+  return instance_data[0].newRangeTime;
+}
 // -------------------------------------------------------------------------------------------------------------------
 // function to clear counts/averages/range values
 //
 void instanceclearcounts(void){
   int instance = 0 ;
   int i= 0 ;
   instance_data[instance].rxTimeouts = 0 ;
   dwt_configeventcounters(1); //enable and clear - NOTE: the counters are not preserved when in DEEP SLEEP
   instance_data[instance].frameSN = 0;
   instance_data[instance].longTermRangeCount  = 0;
   for(i=0; i<MAX_ANCHOR_LIST_SIZE; i++){
     instance_data[instance].tofArray[i] = INVALID_TOF;
+  }
   for(i=0; i<MAX_TAG_LIST_SIZE; i++){
     instance_data[instance].tof[i] = INVALID_TOF;
+  }
 } // end instanceclearcounts()
 // -------------------------------------------------------------------------------------------------------------------
 // function to initialise instance structures
 //
 // Returns 0 on success and -1 on error
-f54213
+int instance_init(DW1000Driver* drv){
-a601a5
+  int instance = 0 ;
   int i;
   int result;
   instance_data[instance].mode =  ANCHOR;                                // assume listener,
   instance_data[instance].testAppState = TA_INIT ;
   instance_data[instance].instToSleep = FALSE;
   // Reset the IC (might be needed if not getting here from POWER ON)
   // ARM code: Remove soft reset here as using hard reset in the inittestapplication() in the main.c file
   //dwt_softreset();
   //this initialises DW1000 and uses specified configurations from OTP/ROM
-dead12
+  result = dwt_initialise(DWT_LOADUCODE, drv);
-a601a5
+            Cung Sang
   //this is platform dependent - only program if DW EVK/EVB
   dwt_setleds(3) ; //configure the GPIOs which control the leds on EVBs
   if (DWT_SUCCESS != result){
     return (-1) ;   // device initialise has failed
+  }
   instanceclearcounts() ;
   instance_data[instance].panID = 0xdeca ;
   instance_data[instance].wait4ack = 0;
   instance_data[instance].stopTimer = 0;
   instance_data[instance].instanceTimerEn = 0;
   instance_clearevents();
   //dwt_geteui(instance_data[instance].eui64);
   memset(instance_data[instance].eui64, 0, ADDR_BYTE_SIZE_L);
   instance_data[instance].tagSleepCorrection = 0;
 //  dwt_setautorxreenable(0); //disable auto RX re-enable
   dwt_setdblrxbuffmode(0); //disable double RX buffer
   // if using auto CRC check (DWT_INT_RFCG and DWT_INT_RFCE) are used instead of DWT_INT_RDFR flag
   // other errors which need to be checked (as they disable receiver) are
   //dwt_setinterrupt(DWT_INT_TFRS | DWT_INT_RFCG | (DWT_INT_SFDT | DWT_INT_RFTO /*| DWT_INT_RXPTO*/), 1);
   dwt_setinterrupt(DWT_INT_TFRS | DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);
   dwt_setcallbacks(instance_txcallback, instance_rxcallback, instance_rxtimeoutcallback,instance_rxerrorcallback );
   instance_data[instance].monitor = 0;
   instance_data[instance].lateTX = 0;
   instance_data[instance].lateRX = 0;
   instance_data[instance].responseTO = -1; //initialise
   for(i=0; i<256; i++)  {
     instance_data[instance].rxResps[i] = -10;
+  }
   instance_data[instance].delayedReplyTime = 0;
   return 0 ;
+}
 // -------------------------------------------------------------------------------------------------------------------
 //
 // Return the Device ID register value, enables higher level validation of physical device presence
 //
 uint32_t instancereaddeviceid(void){
   return dwt_readdevid() ;
+}
 // -------------------------------------------------------------------------------------------------------------------
 //
 // function to allow application configuration be passed into instance and affect underlying device operation
 //
-c48d
+void instance_config(instanceConfig_t *config, sfConfig_t *sfConfig, DW1000Driver* drv){
-a601a5
+  int instance = 0 ;
   uint32_t power = 0;
   uint8_t otprev ;
   instance_data[instance].configData.chan = config->channelNumber ;
   instance_data[instance].configData.rxCode =  config->preambleCode ;
   instance_data[instance].configData.txCode = config->preambleCode ;
   instance_data[instance].configData.prf = config->pulseRepFreq ;
   instance_data[instance].configData.dataRate = config->dataRate ;
   instance_data[instance].configData.txPreambLength = config->preambleLen ;
   instance_data[instance].configData.rxPAC = config->pacSize ;
   instance_data[instance].configData.nsSFD = config->nsSFD ;
   instance_data[instance].configData.phrMode = DWT_PHRMODE_STD ;
   instance_data[instance].configData.sfdTO = config->sfdTO;
   //the DW1000 will automatically use gating gain for frames < 1ms duration (i.e. 6.81Mbps data rate)
   //smartPowerEn should be set based on the frame length, but we can also use dtaa rate.
   if(instance_data[instance].configData.dataRate == DWT_BR_6M8)  {
     instance_data[instance].configData.smartPowerEn = 1;
+  }
   else{
     instance_data[instance].configData.smartPowerEn = 0;
+  }
   //configure the channel parameters
   dwt_configure(&instance_data[instance].configData) ;
   instance_data[instance].configTX.PGdly = txSpectrumConfig[config->channelNumber].PGdelay ;    //Default
   //firstly check if there are calibrated TX power value in the DW1000 OTP
   power = dwt_getotptxpower(config->pulseRepFreq, instance_data[instance].configData.chan);
   if((power == 0x0) || (power == 0xFFFFFFFF)) {    //if there are no calibrated values... need to use defaults
     power = txSpectrumConfig[config->channelNumber].txPwr[config->pulseRepFreq- DWT_PRF_16M];
+  }
   //Configure TX power
   instance_data[instance].configTX.power = power;
   //configure the tx spectrum parameters (power and PG delay)
   dwt_configuretxrf(&instance_data[instance].configTX);
   otprev = dwt_otprevision() ;  // this revision tells us how OTP is programmed.
   if ((2 == otprev) || (3 == otprev))  {  // board is calibrated with TREK1000 with antenna delays set for each use case)
     uint8_t mode = (instance_data[instance].mode == ANCHOR ? 1 : 0);
     uint8_t chanindex = 0;
     instance_data[instance].txAntennaDelay
     = dwt_getTREKOTPantennadelay(mode,
                                  instance_data[instance].configData.chan,
                                  instance_data[instance].configData.dataRate) ;
     // if nothing was actually programmed then set a reasonable value anyway
     if ((instance_data[instance].txAntennaDelay == 0)
         || (instance_data[instance].txAntennaDelay == 0xffff)){
       if(instance_data[instance].configData.chan == 5){
         chanindex = 1;
+      }
       instance_data[instance].txAntennaDelay = rfDelaysTREK[chanindex];
+    }
+  }
   else {  // assume it is older EVK1000 programming.
     //get the antenna delay that was read from the OTP calibration area
     instance_data[instance].txAntennaDelay = dwt_readantennadelay(config->pulseRepFreq) >> 1;
     // if nothing was actually programmed then set a reasonable value anyway
     if ((instance_data[instance].txAntennaDelay == 0)
         || (instance_data[instance].txAntennaDelay == 0xffff)){
       instance_data[instance].txAntennaDelay = rfDelays[config->pulseRepFreq - DWT_PRF_16M];
+    }
+  }
   // -------------------------------------------------------------------------------------------------------------------
   // set the antenna delay, we assume that the RX is the same as TX.
   dwt_setrxantennadelay(instance_data[instance].txAntennaDelay);
   dwt_settxantennadelay(instance_data[instance].txAntennaDelay);
   instance_data[instance].rxAntennaDelay = instance_data[instance].txAntennaDelay;
   if(config->preambleLen == DWT_PLEN_64)  {  //if preamble length is 64
     //reduce SPI to < 3MHz
-c48d
+    setHighSpeed_SPI(FALSE, drv);
-a601a5
+    dwt_loadopsettabfromotp(0);
     //increase SPI to max
-c48d
+    setHighSpeed_SPI(TRUE, drv);
-a601a5
+            Cung Sang
   instancesettagsleepdelay(sfConfig->pollSleepDly); //set the Tag sleep time
   instance_data[instance].sframePeriod = sfConfig->sfPeriod;
   instance_data[instance].slotPeriod = sfConfig->slotPeriod;
   instance_data[instance].tagSleepRnd = sfConfig->slotPeriod;
   instance_data[instance].numSlots = sfConfig->numSlots;
   //last two slots are used for anchor to anchor ranging
   instance_data[instance].a0SlotTime = (instance_data[instance].numSlots-2) * instance_data[instance].slotPeriod;
   //set the default response delays
   instancesetreplydelay(sfConfig->replyDly);
+}
 // -------------------------------------------------------------------------------------------------------------------
 // function to set the tag sleep time (in ms)
 //
 void instancesettagsleepdelay(int sleepdelay) {  //sleep in ms
   int instance = 0 ;
   instance_data[instance].tagSleepTime_ms = sleepdelay; //subtract the micro system delays (time it takes to switch states etc.)
+}
 int instancegetrnum(void) {  //get ranging number
   return instance_data[0].rangeNum;
+}
 int instancegetrnuma(int idx){  //get ranging number
   return instance_data[0].rangeNumA[idx];
+}
 int instancegetrnumanc(int idx){  //get ranging number
   return instance_data[0].rangeNumAAnc[idx];
+}
 int instancegetlcount(void) {  //get count of ranges used for calculation of lt avg
   int x = instance_data[0].longTermRangeCount;
   return (x);
+}
 double instancegetidist(int idx) {  //get instantaneous range
   double x ;
   idx &= (MAX_ANCHOR_LIST_SIZE - 1);
   x = inst_idist[idx];
   return (x);
+}
 double instancegetidistraw(int idx) { //get instantaneous range (uncorrected)
   double x ;
   idx &= (MAX_ANCHOR_LIST_SIZE - 1);
   x = inst_idistraw[idx];
   return (x);
+}
 int instancegetidist_mm(int idx) {  //get instantaneous range
   int x ;
   idx &= (MAX_ANCHOR_LIST_SIZE - 1);
   x = (int)(inst_idist[idx]*1000);
   return (x);
+}
 int instancegetidistraw_mm(int idx) {  //get instantaneous range (uncorrected)
   int x ;
   idx &= (MAX_ANCHOR_LIST_SIZE - 1);
   x = (int)(inst_idistraw[idx]*1000);
   return (x);
+}
 void instance_backtoanchor(instance_data_t *inst){
   //stay in RX and behave as anchor
   inst->testAppState = TA_RXE_WAIT ;
   inst->mode = ANCHOR ;
   dwt_setrxtimeout(0);
   dwt_setpreambledetecttimeout(0);
   dwt_setrxaftertxdelay(0);
+}
 #pragma GCC optimize ("O3")
 void inst_processrxtimeout(instance_data_t *inst){
   //inst->responseTimeouts ++ ;
   inst->rxTimeouts ++ ;
   inst->done = INST_NOT_DONE_YET;
   if(inst->mode == ANCHOR) { //we did not receive the final - wait for next poll
     //only enable receiver when not using double buffering
     inst->testAppState = TA_RXE_WAIT ;              // wait for next frame
     dwt_setrxtimeout(0);
+  }
   else if(inst->mode == TAG) {
     //if tag times out - no response (check if we are to send a final)
     //send the final only if it has received response from anchor 0
     if((inst->previousState == TA_TXPOLL_WAIT_SEND) && ((inst->rxResponseMask & 0x1) == 0)) {
       inst->instToSleep = TRUE ; //set sleep to TRUE so that tag will go to DEEP SLEEP before next ranging attempt
       inst->testAppState = TA_TXE_WAIT ;
       inst->nextState = TA_TXPOLL_WAIT_SEND ;
+    }
     else if (inst->previousState == TA_TXFINAL_WAIT_SEND) {  //got here from main (error sending final - handle as timeout)
       dwt_forcetrxoff();        //this will clear all events
       inst->instToSleep = TRUE ;
       // initiate the re-transmission of the poll that was not responded to
       inst->testAppState = TA_TXE_WAIT ;
       inst->nextState = TA_TXPOLL_WAIT_SEND ;
+    }
     else {  //send the final
       // initiate the re-transmission of the poll that was not responded to
       inst->testAppState = TA_TXE_WAIT ;
       inst->nextState = TA_TXFINAL_WAIT_SEND ;
+    }
+  }
   else {  //ANCHOR_RNG
     //no Response form the other anchor
     if(
         ((inst->previousState == TA_TXPOLL_WAIT_SEND)
             && ((A1_ANCHOR_ADDR == inst->instanceAddress16) && ((inst->rxResponseMaskAnc & 0x4) == 0)))
             ||
             ((inst->previousState == TA_TXPOLL_WAIT_SEND)
                 && ((GATEWAY_ANCHOR_ADDR == inst->instanceAddress16) && ((inst->rxResponseMaskAnc & 0x2) == 0)))
     )  {
       instance_backtoanchor(inst);
+    }
     else if (inst->previousState == TA_TXFINAL_WAIT_SEND) {  //got here from main (error ending final - handle as timeout)
       instance_backtoanchor(inst);
+    }
     else {  //send the final
       // initiate the re-transmission of the poll that was not responded to
       inst->testAppState = TA_TXE_WAIT ;
       inst->nextState = TA_TXFINAL_WAIT_SEND ;
+    }
+  }
   //timeout - disable the radio (if using SW timeout the rx will not be off)
   //dwt_forcetrxoff() ;
+}
 //
 // NB: This function is called from the (TX) interrupt handler
 //
 #pragma GCC optimize ("O3")
 void instance_txcallback(const dwt_cb_data_t *txd){
   (void) txd;
   int instance = 0;
   uint8_t txTimeStamp[5] = {0, 0, 0, 0, 0};
 //  uint8 txevent = txd->event;
   event_data_t dw_event;
   dw_event.uTimeStamp = portGetTickCnt();
-dead12
+  dwt_readtxtimestamp(txTimeStamp) ;
   dw_event.timeStamp32l = (uint32_t)txTimeStamp[0] + ((uint32_t)txTimeStamp[1] << 8) + ((uint32_t)txTimeStamp[2] << 16) + ((uint32_t)txTimeStamp[3] << 24);
   dw_event.timeStamp = txTimeStamp[4];
   dw_event.timeStamp <<= 32;
   dw_event.timeStamp += dw_event.timeStamp32l;
   dw_event.timeStamp32h = ((uint32_t)txTimeStamp[4] << 24) + (dw_event.timeStamp32l >> 8);
-a601a5
+            Cung Sang
-dead12
+  instance_data[instance].stopTimer = 0;
-a601a5
+            Cung Sang
-dead12
+  dw_event.rxLength = instance_data[instance].psduLength;
   dw_event.type =  0;
   dw_event.type_pend =  0;
   dw_event.type_save = DWT_SIG_TX_DONE;
-a601a5
+            Cung Sang
-dead12
+  memcpy((uint8_t *)&dw_event.msgu.frame[0], (uint8_t *)&instance_data[instance].msg_f, instance_data[instance].psduLength);
-a601a5
+            Cung Sang
-dead12
+  instance_putevent(dw_event, DWT_SIG_TX_DONE);
-a601a5
+            Cung Sang
-dead12
+  instance_data[instance].txMsgCount++;
-a601a5
+            Cung Sang
   instance_data[instance].monitor = 0;
+}
 /**
  * @brief function to re-enable the receiver and also adjust the timeout before sending the final message
  * if it is time so send the final message, the callback will notify the application, else the receiver is
  * automatically re-enabled
+ *
  * this function is only used for tag when ranging to other anchors
  */
 uint8_t tagrxreenable(uint16_t sourceAddress){
   uint8_t type_pend = DWT_SIG_DW_IDLE;
   uint8_t anc = sourceAddress & 0x3;
   int instance = 0;
   switch(anc){
   //if we got Response from anchor 3 - this is the last expected response - send the final
   case 3:
     type_pend = DWT_SIG_DW_IDLE;
     break;
     //if we got Response from anchor 0, 1, or 2 - go back to wait for next anchor's response
   case 0:
   case 1:
   case 2:
   default:
     if(instance_data[instance].responseTO > 0) {  //can get here as result of error frame so need to check
-dead12
+      dwt_setrxtimeout((uint16_t)(instance_data[instance].fwtoTime_sy * instance_data[instance].responseTO)); //reconfigure the timeout
-a601a5
+      dwt_rxenable(DWT_START_RX_IMMEDIATE) ;
       type_pend = DWT_SIG_RX_PENDING ;
+    }
     else //last response was not received (got error/frame was corrupt)
+    {
       type_pend = DWT_SIG_DW_IDLE; //report timeout - send the final
+    }
     break;
+  }
   return type_pend;
+}
 /**
  * @brief function to re-enable the receiver and also adjust the timeout before sending the final message
  * if it is time so send the final message, the callback will notify the application, else the receiver is
  * automatically re-enabled
+ *
  * this function is only used for anchors (having a role of ANCHOR_RNG) when ranging to other anchors
  */
 uint8_t ancsendfinalorrxreenable(uint16_t sourceAddress){
   uint8_t type_pend = DWT_SIG_DW_IDLE;
   uint8_t anc = sourceAddress & 0x3;
   int instance = 0;
   if(instance_data[instance].instanceAddress16 == GATEWAY_ANCHOR_ADDR) {
     switch(anc) {
     //if we got Response from anchor 1 - go back to wait for next anchor's response
     case 1:
       dwt_setrxtimeout((uint16_t)instance_data[instance].fwtoTime_sy); //reconfigure the timeout
       dwt_rxenable(DWT_START_RX_IMMEDIATE) ;
       type_pend = DWT_SIG_RX_PENDING ;
       break;
       //if we got Response from anchor 2 - this is the last expected response - send the final
     case 2:
     default:
       type_pend = DWT_SIG_DW_IDLE;
       break;
+    }
+  }
   if(instance_data[instance].instanceAddress16 == A1_ANCHOR_ADDR){
     switch(anc)
+    {
     //if we got Response from anchor 2 - this is the last expected response - send the final
     case 2:
     default:
       type_pend = DWT_SIG_DW_IDLE;
       break;
+    }
+  }
   return type_pend;
+}
 /**
  * @brief this function either enables the receiver (delayed)
+ *
  **/
 void ancenablerx(void){
   int instance = 0;
   //subtract preamble length
   dwt_setdelayedtrxtime(instance_data[instance].delayedReplyTime - instance_data[instance].fixedReplyDelayAncP) ;
   if(dwt_rxenable(DWT_START_RX_DELAYED)) {  //delayed rx
     //if the delayed RX failed - time has passed - do immediate enable
     //led_on(LED_PC9);
     dwt_setrxtimeout((uint16_t)instance_data[instance].fwtoTimeAnc_sy*2); //reconfigure the timeout before enable
     //longer timeout as we cannot do delayed receive... so receiver needs to stay on for longer
     dwt_rxenable(DWT_START_RX_IMMEDIATE);
     dwt_setrxtimeout((uint16_t)instance_data[instance].fwtoTimeAnc_sy); //restore the timeout for next RX enable
     instance_data[instance].lateRX++;
     //led_off(LED_PC9);
+  }
+}
 /**
  * @brief this function either re-enables the receiver (delayed or immediate) or transmits the response frame
+ *
  * @param the sourceAddress is the address of the sender of the current received frame
  * @param ancToAncTWR == 1 means that the anchor is ranging to another anchor, if == 0 then ranging to a tag
+ *
  */
 #pragma GCC optimize ("O0")
 uint8_t anctxorrxreenable(uint16_t sourceAddress, int ancToAncTWR){
   uint8_t type_pend = DWT_SIG_DW_IDLE;
   int sendResp = 0;
   int instance = 0;
   if(instance_data[instance].responseTO == 0) {  //go back to RX without TO - ranging has finished. (wait for Final but no TO)
     dwt_setrxtimeout(0); //reconfigure the timeout
     dwt_setpreambledetecttimeout(0);
+  }
   if((ancToAncTWR & 1) == 1)  {
     if(instance_data[instance].responseTO == 1) {  //if one response left to receive (send a response now)
       sendResp = 1;
+    }
     //if A0 or A3 go back to RX as they do not send any responses when Anchor to Anchor ranging
     if((instance_data[instance].gatewayAnchor)
         || (instance_data[instance].shortAdd_idx == 3)) { //if this is anchor ID 3 do not reply to anchor poll
       dwt_setrxtimeout(0);
       dwt_rxenable(DWT_START_RX_IMMEDIATE);
       return DWT_SIG_RX_PENDING ;
+    }
+  }
   //configure delayed reply time (this is incremented for each received frame) it is timed from Poll rx time
   instance_data[instance].delayedReplyTime += (instance_data[instance].fixedReplyDelayAnc >> 8);
   //this checks if to send a frame
   if((((ancToAncTWR & 1) == 0) && ((instance_data[instance].responseTO + instance_data[instance].shortAdd_idx) == NUM_EXPECTED_RESPONSES)) //it's our turn to tx
       || (sendResp == 1)) {
     //led_on(LED_PC9);
     //response is expected
     instance_data[instance].wait4ack = DWT_RESPONSE_EXPECTED; //re has/will be re-enabled
     dwt_setdelayedtrxtime(instance_data[instance].delayedReplyTime) ;
     if(dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED)) {
       //if TX has failed - we need to re-enable RX for the next response or final reception...
       dwt_setrxaftertxdelay(0);
       instance_data[instance].wait4ack = 0; //clear the flag as the TX has failed the TRX is off
       instance_data[instance].lateTX++;
       instance_data[instance].delayedReplyTime += 2*(instance_data[instance].fixedReplyDelayAnc >> 8); //to take into account W4R
       ancenablerx();
       type_pend = DWT_SIG_RX_PENDING ;
+    }
     else {
       instance_data[instance].delayedReplyTime += (instance_data[instance].fixedReplyDelayAnc >> 8); //to take into account W4R
       type_pend = DWT_SIG_TX_PENDING ; // exit this interrupt and notify the application/instance that TX is in progress.
       instance_data[instance].timeofTx = portGetTickCnt();
       instance_data[instance].monitor = 1;
+    }
     //led_off(LED_PC9);
+  }
   else {  //stay in receive
     if(sourceAddress == 0) { //we got here after RX error, as we don't need to TX, we just enable RX
       dwt_setrxtimeout(0);
       dwt_rxenable(DWT_START_RX_IMMEDIATE);
+    }
     else{
       //led_on(LED_PC9);
       ancenablerx();
       //led_off(LED_PC9);
+    }
     type_pend = DWT_SIG_RX_PENDING ;
+  }
   //if time to send a response
   return type_pend;
+}
 /**
  * @brief this function handles frame error event, it will either signal TO or re-enable the receiver
  */
 void handle_error_unknownframe(event_data_t dw_event){
   int instance = 0;
   //re-enable the receiver (after error frames as we are not using auto re-enable
   //for ranging application rx error frame is same as TO - as we are not going to get the expected frame
   if(instance_data[instance].mode == ANCHOR){
     //if we are participating in the ranging (i.e. Poll was received)
     //and we get an rx error (in one of the responses)
     //need to consider this as a timeout as we could be sending our response next and
     //the applications needs to know to change the state
     //
     if(instance_data[instance].responseTO > 0){
       instance_data[instance].responseTO--;
       //send a response or re-enable rx
       dw_event.type_pend = anctxorrxreenable(0, 0);
       dw_event.type = 0;
       dw_event.type_save = 0x40 | DWT_SIG_RX_TIMEOUT;
       dw_event.rxLength = 0;
       instance_putevent(dw_event, DWT_SIG_RX_TIMEOUT);
+    }
     else{
       dwt_setrxtimeout(0); //reconfigure the timeout
       dwt_rxenable(DWT_START_RX_IMMEDIATE) ;
+    }
+  }
   else if(instance_data[instance].mode == LISTENER){
     dwt_rxenable(DWT_START_RX_IMMEDIATE) ;
+  }
   else{
     instance_data[instance].responseTO--; //got something (need to reduce timeout (for remaining responses))
     dw_event.type_pend = tagrxreenable(0); //check if receiver will be re-enabled or it's time to send the final
     dw_event.type = 0;
     dw_event.type_save = 0x40 | DWT_SIG_RX_TIMEOUT;
     dw_event.rxLength = 0;
     instance_putevent(dw_event, DWT_SIG_RX_TIMEOUT);
+  }
+}
 /**
  * @brief this function prepares and writes the anchor to anchor response frame into the TX buffer
  * it is called after anchor receives a Poll from an anchor
  */
 void ancprepareresponse2(uint16_t sourceAddress, uint8_t srcAddr_index, uint8_t fcode_index, uint8_t *frame){
   uint16_t frameLength = 0;
   uint8_t tof_idx = (sourceAddress) & 0x3 ;
   int instance = 0;
   instance_data[instance].psduLength = frameLength = ANCH_RESPONSE_MSG_LEN + FRAME_CRTL_AND_ADDRESS_S + FRAME_CRC;
   //set the destination address (copy source as this is a reply)
   memcpy(&instance_data[instance].msg_f.destAddr[0], &frame[srcAddr_index], ADDR_BYTE_SIZE_S); //remember who to send the reply to (set destination address)
   instance_data[instance].msg_f.sourceAddr[0] = instance_data[instance].eui64[0];
   instance_data[instance].msg_f.sourceAddr[1] = instance_data[instance].eui64[1];
   // Write calculated TOF into response message (get the previous ToF+range number from that anchor)
   memcpy(&(instance_data[instance].msg_f.messageData[TOFR]), &instance_data[instance].tofAnc[tof_idx], 4);
   instance_data[instance].msg_f.messageData[TOFRN] = instance_data[instance].rangeNumAAnc[tof_idx]; //get the previous range number
   instance_data[instance].rangeNumAAnc[tof_idx] = 0; //clear the entry
   instance_data[instance].rangeNumAnc = frame[POLL_RNUM + fcode_index] ;
   instance_data[instance].msg_f.seqNum = instance_data[instance].frameSN++;
   //set the delayed rx on time (the final message will be sent after this delay)
-dead12
+  dwt_setrxaftertxdelay((uint32_t)instance_data[instance].ancRespRxDelay);  //units are 1.0256us - wait for wait4respTIM before RX on (delay RX)
-a601a5
+            Cung Sang
   instance_data[instance].tagSleepCorrection = 0;
   instance_data[instance].msg_f.messageData[RES_TAG_SLP0] = 0 ;
   instance_data[instance].msg_f.messageData[RES_TAG_SLP1] = 0 ;
   instance_data[instance].msg_f.messageData[FCODE] = RTLS_DEMO_MSG_ANCH_RESP2; //message function code (specifies if message is a poll, response or other...)
   //write the TX data
   dwt_writetxfctrl(frameLength, 0, 1);
   dwt_writetxdata(frameLength, (uint8_t *)  &instance_data[instance].msg_f, 0) ;        // write the frame data
+}
 /**
  * @brief this function prepares and writes the anchor to tag response frame into the TX buffer
  * it is called after anchor receives a Poll from a tag
  */
 void ancprepareresponse(uint16_t sourceAddress, uint8_t srcAddr_index, uint8_t fcode_index, uint8_t *frame, uint32_t uTimeStamp){
   uint16_t frameLength = 0;
   uint8_t tof_idx = (sourceAddress) & 0x7 ;
   int instance = 0;
   instance_data[instance].psduLength = frameLength = ANCH_RESPONSE_MSG_LEN + FRAME_CRTL_AND_ADDRESS_S + FRAME_CRC;
   memcpy(&instance_data[instance].msg_f.destAddr[0], &frame[srcAddr_index], ADDR_BYTE_SIZE_S); //remember who to send the reply to (set destination address)
   instance_data[instance].msg_f.sourceAddr[0] = instance_data[instance].eui64[0];
   instance_data[instance].msg_f.sourceAddr[1] = instance_data[instance].eui64[1];
   // Write calculated TOF into response message (get the previous ToF+range number from that tag)
   memcpy(&(instance_data[instance].msg_f.messageData[TOFR]), &instance_data[instance].tof[tof_idx], 4);
   instance_data[instance].msg_f.messageData[TOFRN] = instance_data[instance].rangeNumA[tof_idx]; //get the previous range number
   instance_data[instance].rangeNumA[tof_idx] = 0; //clear after copy above...
   instance_data[instance].rangeNum = frame[POLL_RNUM+fcode_index] ;
   instance_data[instance].msg_f.seqNum = instance_data[instance].frameSN++;
   //we have our range - update the own mask entry...
   if(instance_data[instance].tof[tof_idx] != INVALID_TOF) { //check the last ToF entry is valid and copy into the current array
-dead12
+    instance_data[instance].rxResponseMask = (uint8_t)(0x1 << instance_data[instance].shortAdd_idx);
-a601a5
+    instance_data[instance].tofArray[instance_data[instance].shortAdd_idx] = instance_data[instance].tof[tof_idx];
+  }
   else        {  //reset response mask
     instance_data[instance].tofArray[instance_data[instance].shortAdd_idx] = INVALID_TOF ;
     instance_data[instance].rxResponseMask = 0;        //reset the mask of received responses when rx poll
+  }
   //set the delayed rx on time (the final message will be sent after this delay)
-dead12
+  dwt_setrxaftertxdelay((uint32_t)instance_data[instance].ancRespRxDelay);  //units are 1.0256us - wait for wait4respTIM before RX on (delay RX)
-a601a5
+            Cung Sang
   //if this is gateway anchor - calculate the slot period correction
   if(instance_data[instance].gatewayAnchor)  {
     int error = 0;
     int currentSlotTime = 0;
     int expectedSlotTime = 0;
     //find the time in the current superframe
     currentSlotTime = uTimeStamp % instance_data[instance].sframePeriod;
     //this is the slot time the poll should be received in (Mask 0x07 for the 8 MAX tags we support in TREK)
     expectedSlotTime = (sourceAddress&0xFF) * instance_data[instance].slotPeriod; //
     //error = expectedSlotTime - currentSlotTime
     error = expectedSlotTime - currentSlotTime;
     if(error < (-(instance_data[instance].sframePeriod>>1))) { //if error is more negative than 0.5 period, add whole period to give up to 1.5 period sleep
       instance_data[instance].tagSleepCorrection = (instance_data[instance].sframePeriod + error);
+    }
     else { //the minimum Sleep time will be 0.5 period
       instance_data[instance].tagSleepCorrection = error;
+    }
     instance_data[instance].msg_f.messageData[RES_TAG_SLP0] = instance_data[instance].tagSleepCorrection & 0xFF ;
     instance_data[instance].msg_f.messageData[RES_TAG_SLP1] = (instance_data[instance].tagSleepCorrection >> 8) & 0xFF;
+  }
   else {
     instance_data[instance].tagSleepCorrection = 0;
     instance_data[instance].msg_f.messageData[RES_TAG_SLP0] = 0 ;
     instance_data[instance].msg_f.messageData[RES_TAG_SLP1] = 0 ;
+  }
   instance_data[instance].msg_f.messageData[FCODE] = RTLS_DEMO_MSG_ANCH_RESP; //message function code (specifies if message is a poll, response or other...)
   //write the TX data
   dwt_writetxfctrl(frameLength, 0, 1);
   dwt_writetxdata(frameLength, (uint8_t *)  &instance_data[instance].msg_f, 0) ;        // write the frame data
+}
 /**
  * @brief this is the receive event callback handler, the received event is processed and the instance either
  * responds by sending a response frame or re-enables the receiver to await the next frame
  * once the immediate action is taken care of the event is queued up for application to process
  */
 #pragma GCC optimize ("O3")
 void instance_rxcallback(const dwt_cb_data_t *rxd){
   int instance = 0;
   uint8_t rxTimeStamp[5]  = {0, 0, 0, 0, 0};
   uint8_t rxd_event = 0;
   uint8_t fcode_index  = 0;
   uint8_t srcAddr_index = 0;
   event_data_t dw_event;
   //microcontroller time at which we received the frame
   dw_event.uTimeStamp = portGetTickCnt();
   //if we got a frame with a good CRC - RX OK
   //  if(rxd->event == DWT_SIG_RX_OKAY) { // Timeout and error are handle separately in the driver itself
   dw_event.rxLength = rxd->datalength;
   //need to process the frame control bytes to figure out what type of frame we have received
   if(((rxd->fctrl[0] == 0x41) || (rxd->fctrl[0] == 0x61))
       &&
       ((rxd->fctrl[1] & 0xCC) == 0x88)) {  //short address
     fcode_index = FRAME_CRTL_AND_ADDRESS_S; //function code is in first byte after source address
     srcAddr_index = FRAME_CTRLP + ADDR_BYTE_SIZE_S;
     rxd_event = DWT_SIG_RX_OKAY;
+  }
   else {
     rxd_event = SIG_RX_UNKNOWN; //not supported - all TREK1000 frames are short addressed
+  }
   //read RX timestamp
   dwt_readrxtimestamp(rxTimeStamp) ;
   dwt_readrxdata((uint8_t *)&dw_event.msgu.frame[0], rxd->datalength, 0);  // Read Data Frame
   dw_event.timeStamp32l =  (uint32_t)rxTimeStamp[0] + ((uint32_t)rxTimeStamp[1] << 8) + ((uint32_t)rxTimeStamp[2] << 16) + ((uint32_t)rxTimeStamp[3] << 24);
   dw_event.timeStamp = rxTimeStamp[4];
   dw_event.timeStamp <<= 32;
   dw_event.timeStamp += dw_event.timeStamp32l;
   dw_event.timeStamp32h = ((uint32_t)rxTimeStamp[4] << 24) + (dw_event.timeStamp32l >> 8);
   dw_event.type = 0; //type will be added as part of adding to event queue
   dw_event.type_save = rxd_event;
   dw_event.type_pend = DWT_SIG_DW_IDLE;
   //if Listener then just report the received frame to the instance (application)
   if(rxd_event == DWT_SIG_RX_OKAY) { //Process good/known frame types
-dead12
+    uint16_t sourceAddress = (uint16_t)(((uint16_t)dw_event.msgu.frame[srcAddr_index+1]) << 8) + (uint16_t)(dw_event.msgu.frame[srcAddr_index]);
-a601a5
+            Cung Sang
     if(instance_data[instance].mode != LISTENER)      {
       if(instance_data[instance].mode == TAG) //if tag got a good frame - this is probably a response, but could also be some other non-ranging frame
         //(although due to frame filtering this is limited as non-addressed frames are filtered out)
+      {
         instance_data[instance].responseTO--; //got 1 more response or other RX frame - need to reduce timeout (for next response)
+      }
       //check if this is a TWR message (and also which one)
       switch(dw_event.msgu.frame[fcode_index]){
       //poll message from an anchor
       case RTLS_DEMO_MSG_ANCH_POLL:{
         //the anchor to anchor ranging poll frames are ignored by A0 and A3
         if(instance_data[instance].gatewayAnchor || (instance_data[instance].instanceAddress16 > A2_ANCHOR_ADDR)){
           //ignore poll from anchor 1 if gateway or anchor 3
           //anchors 2 and 3 will never send polls
           dw_event.type_pend = DWT_SIG_DW_IDLE ;
           break;
+        }
         if(instance_data[instance].mode == TAG)  {  //tag should ignore any other Polls from anchors
           instance_data[instance].responseTO++; //as will be decremented in the function and was also decremented above
           handle_error_unknownframe(dw_event);
           instance_data[instance].stopTimer = 1;
           instance_data[instance].rxMsgCount++;
           return;
+        }
         //update the response index and number of responses received tables
         instance_data[instance].rxRespsIdx = (uint8_t) ((dw_event.msgu.frame[POLL_RNUM+fcode_index] & 0xf)
             + (((sourceAddress&0x3) + 8) << 4));
         instance_data[instance].rxResps[instance_data[instance].rxRespsIdx] = 0;
         //debug LED on
         //                                                led_on(LED_PC9);
         //prepare the response and write it to the tx buffer
         ancprepareresponse2(sourceAddress, srcAddr_index, fcode_index, &dw_event.msgu.frame[0]);
         //A2 does not need timeout if ranging to A1
         if(sourceAddress != A1_ANCHOR_ADDR){
           dwt_setrxtimeout((uint16_t)instance_data[instance].fwtoTimeAnc_sy); //reconfigure the timeout for response
+        }
         //set the bast reply time (the actual will be Poll rx time + instance_data[0].fixedReplyDelayAnc)
         instance_data[instance].delayedReplyTime = dw_event.timeStamp32h ;
         instance_data[instance].responseTO = (instance_data[instance].instanceAddress16 - sourceAddress) & 0x3; //set number of expected responses
         dw_event.type_pend = anctxorrxreenable(instance_data[instance].instanceAddress16, 2+1);
         instance_data[instance].tofAnc[sourceAddress & 0x3] = INVALID_TOF; //clear ToF ..
         //debug LED off
         //                                                led_off(LED_PC9);
         break;
+      }
       case RTLS_DEMO_MSG_TAG_POLL:{
         if(instance_data[instance].mode == TAG) {  //tag should ignore any other Polls from tags
           instance_data[instance].responseTO++; //as will be decremented in the function and was also decremented above
           handle_error_unknownframe(dw_event);
           instance_data[instance].stopTimer = 1;
           instance_data[instance].rxMsgCount++;
           return;
+        }
-dead12
+        instance_data[instance].rxRespsIdx = (uint8_t) ((dw_event.msgu.frame[POLL_RNUM+fcode_index] & 0xf)
-a601a5
+            + ((sourceAddress&0x7) << 4));
         instance_data[instance].rxResps[instance_data[instance].rxRespsIdx] = 0;
         //prepare the response and write it to the tx buffer
         ancprepareresponse(sourceAddress, srcAddr_index, fcode_index, &dw_event.msgu.frame[0], dw_event.uTimeStamp);
         dwt_setrxtimeout((uint16_t)instance_data[instance].fwtoTimeAnc_sy); //reconfigure the timeout for response
         instance_data[0].delayedReplyTime = dw_event.timeStamp32h /*+ (instance_data[0].fixedReplyDelayAnc >> 8)*/ ;
         instance_data[instance].responseTO = NUM_EXPECTED_RESPONSES; //set number of expected responses to 3 (from other anchors)
         dw_event.type_pend = anctxorrxreenable(instance_data[instance].instanceAddress16, 2+0);
         instance_data[instance].tof[sourceAddress & 0x7] = INVALID_TOF; //clear ToF ..
+      }
       break;
       //we got a response from a "responder" (anchor)
       case RTLS_DEMO_MSG_ANCH_RESP:
       case RTLS_DEMO_MSG_ANCH_RESP2:{
         //we are a tag
         if(instance_data[instance].mode == TAG){
           uint8_t index ;
           instance_data[instance].rxResps[instance_data[instance].rangeNum]++;
           dw_event.type_pend = tagrxreenable(sourceAddress); //responseTO decremented above...
           index = RRXT0 + 5*(sourceAddress & 0x3);
           instance_data[instance].rxResponseMask |= (0x1 << (sourceAddress & 0x3)); //add anchor ID to the mask
           // Write Response RX time field of Final message
           memcpy(&(instance_data[instance].msg_f.messageData[index]), rxTimeStamp, 5);
+        }
         else if (instance_data[instance].mode == ANCHOR_RNG) {  //A0 and A1 only when ranging to other anchors
           uint8_t index ;
           instance_data[instance].rxResps[instance_data[instance].rangeNumAnc]++;
           dw_event.type_pend = ancsendfinalorrxreenable(sourceAddress);
           index = RRXT0 + 5*(sourceAddress & 0x3);
           instance_data[instance].rxResponseMaskAnc |= (0x1 << (sourceAddress & 0x3)); //add anchor ID to the mask
           // Write Response RX time field of Final message
           memcpy(&(instance_data[instance].msg_f.messageData[index]), rxTimeStamp, 5);
+        }
         else { //normal anchor mode
           //got a response... (check if we got a Poll with the same range number as in this response)
           if(RTLS_DEMO_MSG_ANCH_RESP == dw_event.msgu.frame[fcode_index]){
             if((instance_data[instance].rxResps[instance_data[instance].rxRespsIdx] >= 0) //we got the poll else ignore this response
                 && (instance_data[instance].responseTO > 0)        ) {  //if responseTO == 0 we have already received all of the responses - meaning should not be here => error
               instance_data[instance].rxResps[instance_data[instance].rxRespsIdx]++; //increment the number of responses received
               instance_data[instance].responseTO--;
               //send a response or re-enable rx
               dw_event.type_pend = anctxorrxreenable(sourceAddress, 4+0);
+            }
             else {  //like a timeout (error) ...
               //send a response or re-enable rx
               dwt_setrxtimeout(0); //reconfigure the timeout
               dwt_rxenable(DWT_START_RX_IMMEDIATE) ;
               dw_event.type_pend = DWT_SIG_RX_PENDING ;
+            }
+          }
           else {  //in anchor mode and got RTLS_DEMO_MSG_ANCH_RESP2
             if((instance_data[instance].gatewayAnchor) &&
                 (instance_data[instance].rxResps[instance_data[instance].rangeNumAnc]) == 2){ //got two responses A1 and A2 this is third (A2's to A1)
               instance_data[instance].rxResps[instance_data[instance].rangeNumAnc]++;
               instance_data[instance].rxResponseMaskAnc |= 0x8 ;
               dw_event.type_pend = anctxorrxreenable(sourceAddress, 4+1); //re-enable the RX
+            }
             //A2 got A1's response to A0 - send A2 response (but only if we got the Poll from A0)
             else if((instance_data[instance].instanceAddress16 == A2_ANCHOR_ADDR) &&
                 (instance_data[instance].rxResps[instance_data[instance].rxRespsIdx] >= 0) ){
               instance_data[instance].rxResps[instance_data[instance].rxRespsIdx]++;
               instance_data[instance].responseTO--;
               dwt_setrxtimeout(0);
               dwt_setrxaftertxdelay(0); //clear rx on delay as Final will come sooner than if we were waiting for next Response
               dw_event.type_pend = anctxorrxreenable(sourceAddress, 1);
+            }
             else {  // if other anchor A1, A2, A3 .. ignore these responses when in ANCHOR mode
               dwt_setrxtimeout(0); //reconfigure the timeout
               dwt_rxenable(DWT_START_RX_IMMEDIATE) ;
               dw_event.type_pend = DWT_SIG_RX_PENDING ;
+            }
+          }
+        }
+      }
       break;
       case RTLS_DEMO_MSG_TAG_FINAL:
       case RTLS_DEMO_MSG_ANCH_FINAL:
         if(instance_data[instance].mode == TAG) {  //tag should ignore any other Final from anchors
           instance_data[instance].responseTO++; //as will be decremented in the function and was also decremented above
           handle_error_unknownframe(dw_event);
           instance_data[instance].stopTimer = 1;
           instance_data[instance].rxMsgCount++;
           return;
+        }
-dead12
+      break;
-a601a5
+//        __attribute__ ((fallthrough));
         //if anchor fall into case below and process the frame
       default: {  //process rx frame
         dw_event.type_pend = DWT_SIG_DW_IDLE;
+      }
       break;
+      }
     }//end of if not Listener mode
     instance_data[instance].stopTimer = 1;
     instance_putevent(dw_event, rxd_event);
     instance_data[instance].rxMsgCount++;
+  }
   else { //if (rxd_event == SIG_RX_UNKNOWN) //need to re-enable the rx (got unknown frame type)
     handle_error_unknownframe(dw_event);
+  }
   //  }
+}
-dead12
+/*! Callback funtion for RX timeout (available from newer driver version) */
-a601a5
+#pragma GCC optimize ("O3")
 void instance_rxtimeoutcallback(const dwt_cb_data_t *rxd){
     (void) rxd;
     event_data_t dw_event;
     int instance = 0;
     dw_event.type_pend = DWT_SIG_DW_IDLE;
     if(instance_data[instance].mode == ANCHOR) {
         //check if anchor has received all of the responses from other anchors (it could have received only 1 or 2)
         //it's timed out (re-enable rx or tx response)
         if(instance_data[instance].responseTO > 0) {
             instance_data[instance].responseTO--;
             //send a response or re-enable rx
             dw_event.type_pend = anctxorrxreenable(instance_data[instance].instanceAddress16, 6+0);
 //          Print_On_Uart("Re-enable RX in rxtimeout callback\r\n");
+        }
+    }
     dw_event.type = 0;
     dw_event.type_save = DWT_SIG_RX_TIMEOUT;
     dw_event.rxLength = 0;
     dw_event.timeStamp = 0;
     dw_event.timeStamp32l = 0;
     dw_event.timeStamp32h = 0;
     instance_putevent(dw_event, DWT_SIG_RX_TIMEOUT);
 //  printf("RX timeout while in %d\n", instance_data[instance].testAppState);
+}
-dead12
+/*! Callback funtion for RX error (available from newer driver version) */
-a601a5
+#pragma GCC optimize ("O3")
 void instance_rxerrorcallback(const dwt_cb_data_t *rxd) {
     (void) rxd;
     event_data_t dw_event;
     dw_event.uTimeStamp = portGetTickCnt();
     handle_error_unknownframe(dw_event);
+}
 #pragma GCC optimize ("O3")
 int instance_peekevent(void){
   int instance = 0;
   return instance_data[instance].dwevent[instance_data[instance].dweventPeek].type; //return the type of event that is in front of the queue
+}
 #pragma GCC optimize ("O3")
 void instance_saveevent(event_data_t newevent, uint8_t etype){
   int instance = 0;
   instance_data[instance].saved_dwevent = newevent;
   instance_data[instance].saved_dwevent.type = etype;
+}
 #pragma GCC optimize ("O3")
 event_data_t instance_getsavedevent(void){
   int instance = 0;
   return instance_data[instance].saved_dwevent;
+}
 #pragma GCC optimize ("O3")
 void instance_putevent(event_data_t newevent, uint8_t etype){
   int instance = 0;
   //newevent.eventtime = portGetTickCnt();
   newevent.gotit = 0 ; //newevent.eventtimeclr = 0;
   //copy event
   instance_data[instance].dwevent[instance_data[instance].dweventIdxIn] = newevent;
   //set type - this makes it a new event (making sure the event data is copied before event is set as new)
   //to make sure that the get event function does not get an incomplete event
   instance_data[instance].dwevent[instance_data[instance].dweventIdxIn].type = etype;
   instance_data[instance].dweventIdxIn++;
   if(MAX_EVENT_NUMBER == instance_data[instance].dweventIdxIn)
+  {
     instance_data[instance].dweventIdxIn = 0;
+  }
   //eventIncount++;
   //printf("put %d - in %d out %d @ %d\n", newevent.type, instance_data[instance].dweventCntIn, instance_data[instance].dweventCntOut, ptime);
+}
 event_data_t dw_event_g;
 #pragma GCC optimize ("O3")
 event_data_t* instance_getevent(int x){
   int instance = 0;
   int indexOut = instance_data[instance].dweventIdxOut;
   //dw_event_g = instance_data[instance].dwevent[instance_data[instance].dweventCntOut]; //this holds any TX/RX events
   //memcpy(&dw_event_g, &instance_data[instance].dwevent[instance_data[instance].dweventCntOut], sizeof(event_data_t));
   if(instance_data[instance].dwevent[indexOut].type == 0) {  //exit with "no event"
     dw_event_g.type = 0;
     dw_event_g.type_save = 0;
     return &dw_event_g;
+  }
   //copy the event
   dw_event_g.type_save = instance_data[instance].dwevent[indexOut].type_save ;
   dw_event_g.type_pend = instance_data[instance].dwevent[indexOut].type_pend ;
   dw_event_g.rxLength = instance_data[instance].dwevent[indexOut].rxLength ;
   dw_event_g.timeStamp = instance_data[instance].dwevent[indexOut].timeStamp ;
   dw_event_g.timeStamp32l = instance_data[instance].dwevent[indexOut].timeStamp32l ;
   dw_event_g.timeStamp32h = instance_data[instance].dwevent[indexOut].timeStamp32h ;
   dw_event_g.uTimeStamp = instance_data[instance].dwevent[indexOut].uTimeStamp ;
   //dw_event_g.eventtime = instance_data[instance].dwevent[indexOut].eventtime ;
   //dw_event_g.eventtimeclr = instance_data[instance].dwevent[indexOut].eventtimeclr ;
   //dw_event_g.gotit = instance_data[instance].dwevent[indexOut].gotit ;
   memcpy(&dw_event_g.msgu, &instance_data[instance].dwevent[indexOut].msgu, sizeof(instance_data[instance].dwevent[indexOut].msgu));
   dw_event_g.type = instance_data[instance].dwevent[indexOut].type ;
-dead12
+  instance_data[instance].dwevent[indexOut].gotit = (uint8_t)x;
-a601a5
+            Cung Sang
   //instance_data[instance].dwevent[indexOut].eventtimeclr = portGetTickCnt();
   instance_data[instance].dwevent[indexOut].type = 0; //clear the event
   instance_data[instance].dweventIdxOut++;
   if(MAX_EVENT_NUMBER == instance_data[instance].dweventIdxOut){   //wrap the counter
     instance_data[instance].dweventIdxOut = 0;
+  }
   instance_data[instance].dweventPeek = instance_data[instance].dweventIdxOut; //set the new peek value
   //if(dw_event.type) printf("get %d - in %d out %d @ %d\n", dw_event.type, instance_data[instance].dweventCntIn, instance_data[instance].dweventCntOut, ptime);
   //eventOutcount++;
   return &dw_event_g;
+}
 void instance_clearevents(void){
   int i = 0;
   int instance = 0;
   for(i=0; i<MAX_EVENT_NUMBER; i++) {
     memset(&instance_data[instance].dwevent[i], 0, sizeof(event_data_t));
+  }
   instance_data[instance].dweventIdxIn = 0;
   instance_data[instance].dweventIdxOut = 0;
   instance_data[instance].dweventPeek = 0;
   //eventOutcount = 0;
   //eventIncount = 0;
+}
 // -------------------------------------------------------------------------------------------------------------------
 #pragma GCC optimize ("O3")
 int instance_run(void){
   int instance = 0 ;
   int done = INST_NOT_DONE_YET;
   int message = instance_peekevent(); //get any of the received events from ISR
   while(done == INST_NOT_DONE_YET){
     //int state = instance_data[instance].testAppState;
     done = testapprun(&instance_data[instance], message) ;                                               // run the communications application
     //we've processed message
     message = 0;
+  }
   if(done == INST_DONE_WAIT_FOR_NEXT_EVENT_TO) { //we are in RX and need to timeout (Tag needs to send another poll if no Rx frame)
     if(instance_data[instance].mode == TAG) { //Tag (is either in RX or sleeping)
       int32_t nextPeriod ;
       // next period will be a positive number because correction is -0.5 to +1.5 periods, (and tagSleepTime_ms is the period)
       nextPeriod = instance_data[instance].tagSleepRnd + instance_data[instance].tagSleepTime_ms + instance_data[instance].tagSleepCorrection;
       instance_data[instance].nextSleepPeriod = (uint32_t) nextPeriod ; //set timeout time, CAST the positive period to UINT for correct wrapping.
       instance_data[instance].tagSleepCorrection2 = instance_data[instance].tagSleepCorrection;
       instance_data[instance].tagSleepCorrection = 0; //clear the correction
       instance_data[instance].instanceTimerEn = 1; //start timer
+    }
     instance_data[instance].stopTimer = 0 ; //clear the flag - timer can run if instancetimer_en set (set above)
     instance_data[instance].done = INST_NOT_DONE_YET;
+  }
   //check if timer has expired
   if((instance_data[instance].instanceTimerEn == 1) && (instance_data[instance].stopTimer == 0))  {
     if(instance_data[instance].mode == TAG)    {
       if((portGetTickCnt() - instance_data[instance].instanceWakeTime) > instance_data[instance].nextSleepPeriod)      {
         event_data_t dw_event;
         instance_data[instance].instanceTimerEn = 0;
         dw_event.rxLength = 0;
         dw_event.type = 0;
         dw_event.type_save = 0x80 | DWT_SIG_RX_TIMEOUT;
         //printf("PC timeout DWT_SIG_RX_TIMEOUT\n");
         instance_putevent(dw_event, DWT_SIG_RX_TIMEOUT);
+      }
+    }
 #if (ANCTOANCTWR == 1) //allow anchor to anchor ranging
     else if(instance_data[instance].mode == ANCHOR)    {
       uint32_t slotTime = portGetTickCnt() % instance_data[instance].sframePeriod;
       if(instance_data[instance].gatewayAnchor) {
         //if we are in the last slot - then A0 ranges to A1 and A2
         if( slotTime >= instance_data[instance].a0SlotTime)        {
           port_DisableEXT_IRQ(); //enable ScenSor IRQ before starting
           //anchor0 sends poll to anchor1
           instance_data[instance].mode = ANCHOR_RNG; //change to ranging initiator
           dwt_forcetrxoff(); //disable DW1000
           instance_clearevents(); //clear any events
           //change state to send a Poll
           instance_data[instance].testAppState = TA_TXPOLL_WAIT_SEND ;
           instance_data[instance].msg_f.destAddr[0] = 0x1 ;
           instance_data[instance].msg_f.destAddr[1] = (GATEWAY_ANCHOR_ADDR >> 8);
           instance_data[instance].instanceTimerEn = 0;
           instance_data[instance].rangeNumAnc++;
           port_EnableEXT_IRQ(); //enable ScenSor IRQ before starting
+        }
+      }
       else if (instance_data[instance].instanceAddress16 == A1_ANCHOR_ADDR) { //A1 ranges to A2 in the 2nd half of last slot
         if(portGetTickCnt() >= instance_data[instance].a1SlotTime) {
           port_DisableEXT_IRQ(); //enable ScenSor IRQ before starting
           //anchor1 sends poll to anchor2
           instance_data[instance].mode = ANCHOR_RNG; //change to ranging initiator
           dwt_forcetrxoff(); //disable DW1000
           instance_clearevents(); //clear any events
           //change state to send a Poll
           instance_data[instance].testAppState = TA_TXPOLL_WAIT_SEND ;
           instance_data[instance].msg_f.destAddr[0] = 0x2 ;
           instance_data[instance].msg_f.destAddr[1] = (GATEWAY_ANCHOR_ADDR >> 8);
           instance_data[instance].instanceTimerEn = 0;
           //instance_data[instance].a1SlotTime = 0;
           port_EnableEXT_IRQ(); //enable ScenSor IRQ before starting
+        }
+      }
+    }
 #endif
+  }
 #if (ANCTOANCTWR == 1) //allow anchor to anchor ranging
   else if (instance_data[instance].instanceTimerEn == 0){
     if((instance_data[instance].mode == ANCHOR) && (instance_data[instance].gatewayAnchor)){
       uint32_t slotTime = portGetTickCnt() % instance_data[instance].sframePeriod;
       //enable the timer in 1st slot
       if(slotTime < instance_data[instance].slotPeriod){
         instance_data[instance].instanceTimerEn = 1;
+      }
+    }
+  }
 #endif
   return 0 ;
+}
 void instance_close(void){
   //wake up device from low power mode
   //NOTE - in the ARM  code just drop chip select for 200us
-c48d
+  clear_SPI_chip_select();  //CS low
-a601a5
+  Sleep(1);   //200 us to wake up then waits 5ms for DW1000 XTAL to stabilise
-c48d
+  set_SPI_chip_select();  //CS high
-a601a5
+  Sleep(5);
   dwt_entersleepaftertx(0); // clear the "enter deep sleep after tx" bit
   dwt_setinterrupt(0xFFFFFFFF, 0); //don't allow any interrupts
+}
 void instance_notify_DW1000_inIDLE(int idle){
   instance_data[0].dwIDLE = idle;
+}
 void instanceconfigtxpower(uint32_t txpower){
   instance_data[0].txPower = txpower ;
   instance_data[0].txPowerChanged = 1;
+}
 void instancesettxpower(void){
   if(instance_data[0].txPowerChanged == 1){
     //Configure TX power
     dwt_write32bitreg(0x1E, instance_data[0].txPower);
     instance_data[0].txPowerChanged = 0;
+  }
+}
 void instanceconfigantennadelays(uint16_t tx, uint16_t rx){
   instance_data[0].txAntennaDelay = tx ;
   instance_data[0].rxAntennaDelay = rx ;
   instance_data[0].antennaDelayChanged = 1;
+}
 void instancesetantennadelays(void){
   if(instance_data[0].antennaDelayChanged == 1){
     dwt_setrxantennadelay(instance_data[0].rxAntennaDelay);
     dwt_settxantennadelay(instance_data[0].txAntennaDelay);
     instance_data[0].antennaDelayChanged = 0;
+  }
+}
 uint16_t instancetxantdly(void){
   return instance_data[0].txAntennaDelay;
+}
 uint16_t instancerxantdly(void){
   return instance_data[0].rxAntennaDelay;
+}
 uint8_t instancevalidranges(void){
   uint8_t x = instance_data[0].rxResponseMaskReport;
   instance_data[0].rxResponseMaskReport = 0; //reset mask as we have printed out the ToFs
   return x;
+}
 #endif
-dead12
+/*! The following Functions are added for user application (previously on the API )*/
-a601a5
+            Cung Sang
 /*! ------------------------------------------------------------------------------------------------------------------
  * @fn dwt_getotptxpower()
+ *
  * @brief This API function returns the tx power value read from OTP memory as part of initialisation
+ *
  * input parameters
  * @param prf   -   this is the PRF e.g. DWT_PRF_16M or DWT_PRF_64M
  * @param chan  -   this is the channel e.g. 1 to 7
+ *
  * output parameters
+ *
  * returns tx power value for a given PRF and channel
  */
 uint32_t dwt_getotptxpower(uint8_t prf, uint8_t chan){
     return platformLocalData.txPowCfg[(prf - DWT_PRF_16M) + (chan_idx[chan] * 2)];
+}
 /*! ------------------------------------------------------------------------------------------------------------------
  * @fn dwt_getTREKOTPantennadelay()
+ *
  * @brief This API function returns the antenna delay read from the OTP memory as part of device initialisation
  * Note: the antenna delay will only be read if dwt_initialise is called with DWT_LOADANTDLY bit set in the config parameter
  * The values of antenna delay are only valid for TREK use case modes.
+ *
  * input parameters:
  * @param anchor   - this is the mode (Tag or Anchor) if Tag set to 0, if Anchor set to 1
  * @param chan   - this is the channel (1, 2, 3, 4, 5, 7)
  * @param datarate   - this is the datarate DWT_BR_6M8, DWT_BR_110K or DWT_BR_850K
+ *
  */
 uint16_t dwt_getTREKOTPantennadelay(uint8_t anchor, uint8_t chan, uint8_t datarate){
     uint32_t dly = 0;
     // 32-bit antenna delay value previously read from OTP, high 16 bits is value for Anchor mode, low 16-bits for Tag mode
     switch(chan){
         case 2:
             if(datarate == DWT_BR_6M8)
                 dly = platformLocalData.antennaCals[0];
             else if(datarate == DWT_BR_110K)
                 dly = platformLocalData.antennaCals[1];
             break;
         case 5:
             if(datarate == DWT_BR_6M8)
                 dly = platformLocalData.antennaCals[2];
             else if(datarate == DWT_BR_110K)
                 dly = platformLocalData.antennaCals[3];
             break;
         default:
             dly = 0;
             break;
+    }
     return (dly >> (16*(anchor & 0x1))) & 0xFFFF;
+}
 /*! ------------------------------------------------------------------------------------------------------------------
  * @fn dwt_readantennadelay()
+ *
  * @brief This API function returns the antenna delay read from the OTP memory as part of device initialisation
  * Note: the antenna delay will only be read if dwt_initialise is called with DWT_LOADANTDLY bit set in the config parameter
+ *
  * input parameters:
  * @param prf   -   this is the PRF e.g. DWT_PRF_16M or DWT_PRF_64M
+ *
  */
 uint16_t dwt_readantennadelay(uint8_t prf){
     // 32-bit antenna delay value previously read from OTP, high 16 bits is value for 64 MHz PRF, low 16-bits for 16 MHz PRF
     return (platformLocalData.antennaDly >> (16*(prf-DWT_PRF_16M))) & 0xFFFF;
+}
 /* ==========================================================
 Notes:
 Previously code handled multiple instances in a single console application
 Now have changed it to do a single instance only. With minimal code changes...(i.e. kept [instance] index but it is always 0.
 Windows application should call instance_init() once and then in the "main loop" call instance_run().
 */