AMiRo-OS

#define RX_RESPONSE1_TURNAROUND_6M81 (300) //takes about 100 us for response to come back

#define RX_RESPONSE1_TURNAROUND_110K (300) //takes about 100 us for response to come back

  //Tag will range to 3 or 4 anchors

  //Each ranging exchange will consist of minimum of 3 messages (Poll, Response, Final)

  //and a maximum of 6 messages (Poll, Response x 4, Final)

    uint8_t fcs[2] ;                              	//  125-126  we allow space for the CRC as it is logically part of the message. However ScenSor TX calculates and adds these bytes.

  } srd_msg_dssl ;

  {

    uint8_t channelNumber ;       // valid range is 1 to 11

    uint8_t preambleCode ;        // 00 = use NS code, 1 to 24 selects code

  //in turn and the event queued up before the instance processed the TX event.

#define MAX_EVENT_NUMBER (6)

  {

    uint8_t  type;			// event type - if 0 there is no event in the queue

    uint8_t  type_save;		// holds the event type - does not clear (used to show what event has been processed)

    uint8_t gotit;			//stores the instance function which processed the event (used for debug)

  }event_data_t ;

  // TX power and PG delay configuration structure

    uint8_t PGdelay;

    //TX POWER

    uint32_t txPwr[2]; //

  }tx_struct;

  {

    INST_MODE mode;				//instance mode (tag or anchor)

    int newRange;			//flag set when there is a new range to report TOF_REPORT_A2A or TOF_REPORT_T2A

    int newRangeAncAddress; //last 4 bytes of anchor address - used for printing/range output display

    int newRangeTagAddress; //last 4 bytes of tag address - used for printing/range output display

    uint8_t gatewayAnchor ; //set to TRUE = 1 if anchor address == GATEWAY_ANCHOR_ADDR

  void instance_close(void);

  // Call init, then call config, then call run. call close when finished

  // initialise the instance (application) structures and DW1000 device

  // configure the instance and DW1000 device

  void instance_config(instanceConfig_t *config, sfConfig_t *sfconfig, DW1000Driver* drv) ;

  // configure TX/RX callback functions that are called from DW1000 ISR

  void instance_rxcallback(const dwt_cb_data_t *rxd);

  void instance_txcallback(const dwt_cb_data_t *txd);

  void instance_rxtimeoutcallback(const dwt_cb_data_t *rxd);

  void instance_rxerrorcallback(const dwt_cb_data_t *rxd);

  int instancenewrangetagadd(void);

  int instancenewrangepolltim(void);

  int instancenewrange(void);

  uint64_t convertmicrosectodevicetimeu (double microsecu);

  double convertdevicetimetosec(int32_t dt);

  void instance_notify_DW1000_inIDLE(int idle);

  double dwt_getrangebias(uint8_t chan, float range, uint8_t prf);

  uint32_t dwt_getotptxpower(uint8_t prf, uint8_t chan);

  uint16_t dwt_readantennadelay(uint8_t prf);

  // configure TX power

  void instanceconfigtxpower(uint32_t txpower);

  void instancesettxpower(void);