AMiRo-OS

        (uint16_t) ((DWT_PRF_16M_RFDLY/ 2.0) * 1e-9 / DWT_TIME_UNITS),//PRF 16

        (uint16_t) ((DWT_PRF_64M_RFDLY/ 2.0) * 1e-9 / DWT_TIME_UNITS)

        (uint16_t) ((514.83f/ 2.0) * 1e-9 / DWT_TIME_UNITS),//channel 2

        (uint16_t) ((514.65f/ 2.0) * 1e-9 / DWT_TIME_UNITS) //channel 5

//int instance_starttxtest(int framePeriod)

//{

//    //define some test data for the tx buffer

//    uint8 msg[127] = "The quick brown fox jumps over the lazy dog. The quick brown fox jumps over the lazy dog. The quick brown fox jumps over the l";

//    //NOTE: SPI frequency must be < 3MHz

//    port_set_dw1000_slowrate();  //max SPI before PLLs configured is ~4M

//    // the value here 0x1000 gives a period of 32.82 µs

//    //this is setting 0x1000 as frame period (125MHz clock cycles) (time from Tx en - to next - Tx en)

//    dwt_configcontinuousframemode(framePeriod);

//    dwt_writetxdata(127, (uint8 *)  msg, 0) ;

//    dwt_writetxfctrl(127, 0, 0);

//    //to start the first frame - set TXSTRT

//    dwt_starttx(DWT_START_TX_IMMEDIATE);

//    //measure the power

//    //Spectrum Analyser set:

//    //FREQ to be channel default e.g. 3.9936 GHz for channel 2

//    //SPAN to 1GHz

//    //SWEEP TIME 1s

//    //RBW and VBW 1MHz

//    //measure channel power

//    return DWT_SUCCESS ;

//}

// TODO: Instance_data declaration in .c. Not on .h (extern only)

/* TODO: Custom data declarations */

typedef struct

  dtime = (microsecu / (double) DWT_TIME_UNITS) / 1e6 ;

  int32_t tofi ;

  tof = convertdevicetimetosec(tofi) ;          //this is divided by 4 to get single time of flight

  instance_data[0].mode =  inst_mode;                   // set the role

  return instance_data[0].mode;

int instancenewrangetim(void){

  result = dwt_initialise(DWT_LOADUCODE, drv) ;    // TODO

//  result = dwt_initialise(DWT_LOADUCODE) ;

//  chprintf((BaseSequentialStream *)&SD2, " TX callback! \r\n");

//  if(txevent == DWT_SIG_TX_DONE) {

    //uint32_t txtimestamp = 0;

    //NOTE - we can only get TX good (done) while here

    //dwt_readtxtimestamp((uint8*) &instance_data[instance].txu.txTimeStamp);

    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);

    instance_data[instance].stopTimer = 0;

    dw_event.rxLength = instance_data[instance].psduLength;

    dw_event.type =  0;

    dw_event.type_pend =  0;

    dw_event.type_save = DWT_SIG_TX_DONE;

    memcpy((uint8_t *)&dw_event.msgu.frame[0], (uint8_t *)&instance_data[instance].msg_f, instance_data[instance].psduLength);

    instance_putevent(dw_event, DWT_SIG_TX_DONE);

    instance_data[instance].txMsgCount++;

//  }

//  else if(txevent == DWT_SIG_TX_AA_DONE)  {

//    //auto ACK confirmation

//    dw_event.rxLength = 0;

//    dw_event.type =  0;

//    dw_event.type_save = DWT_SIG_TX_AA_DONE;

//

//    instance_putevent(dw_event, DWT_SIG_TX_AA_DONE);

//

//    //printf("TX AA time %f ecount %d\n",convertdevicetimetosecu(instance_data[instance].txu.txTimeStamp), instance_data[instance].dweventCnt);

//  }

      dwt_setrxtimeout((uint16_t)instance_data[instance].fwtoTime_sy * instance_data[instance].responseTO); //reconfigure the timeout

  dwt_setrxaftertxdelay(instance_data[instance].ancRespRxDelay);  //units are 1.0256us - wait for wait4respTIM before RX on (delay RX)

    instance_data[instance].rxResponseMask = (0x1 << instance_data[instance].shortAdd_idx);

  dwt_setrxaftertxdelay(instance_data[instance].ancRespRxDelay);  //units are 1.0256us - wait for wait4respTIM before RX on (delay RX)

    uint16_t sourceAddress = (((uint16_t)dw_event.msgu.frame[srcAddr_index+1]) << 8) + dw_event.msgu.frame[srcAddr_index];

        instance_data[instance].rxRespsIdx = (int8_t) ((dw_event.msgu.frame[POLL_RNUM+fcode_index] & 0xf)

      break;  // TODO: fallthourgh for anchor

/*TODO: Callback funtion for RX timeout (available from newer driver version) */

/*TODO: Callback funtion for RX error (available from newer driver version) */

  instance_data[instance].dwevent[indexOut].gotit = x;

/*! TODO: the following Functions are added for user application (previously on the API )*/