/source/DW1000/v1/alld_dw1000_v1.c - AMiRo-OS - Research for Cognitive Interaction

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       /*
       AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
       Copyright (C) 2016..2018  Thomas Schöpping et al.
       This program is free software: you can redistribute it and/or modify
       it under the terms of the GNU Lesser General Public License as published by
       the Free Software Foundation, either version 3 of the License, or
       (at your option) any later version.
       This program is distributed in the hope that it will be useful,
       but WITHOUT ANY WARRANTY; without even the implied warranty of
       MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
       GNU Lesser General Public License for more details.
       You should have received a copy of the GNU Lesser General Public License
       along with this program.  If not, see <http://www.gnu.org/licenses/>.
       */
       /*! ------------------------------------------------------------------------------------------------------------------
        * @file    deca_device.c
        * @brief   Decawave device configuration and control functions
+       *
        * @attention
+       *
        * Copyright 2013 (c) Decawave Ltd, Dublin, Ireland.
+       *
        * All rights reserved.
+       *
        */
       #include <alld_DW1000.h>
       #if (defined(AMIROLLD_CFG_DW1000) && (AMIROLLD_CFG_DW1000 == 1)) || defined(__DOXYGEN__)
       #include <v1/alld_dw1000_regs_v1.h>
       #include <assert.h>
       #include <string.h>
       #include <stdlib.h>
       #include <math.h>
       // HW dependent implementation (see bottom of file)
       static int writetospi(uint16_t headerLength,
                      const        uint8_t *headerBuffer,
                      uint32_t bodyLength,
                      const        uint8_t *bodyBuffer);
       static int readfromspi(uint16_t headerLength,
                       const uint8_t *headerBuffer,
                       uint32_t readlength,
                       uint8_t *readBuffer);
       // Defines for enable_clocks function
       #define FORCE_SYS_XTI  0
       #define ENABLE_ALL_SEQ 1
       #define FORCE_SYS_PLL  2
       #define READ_ACC_ON    7
       #define READ_ACC_OFF   8
       #define FORCE_OTP_ON   11
       #define FORCE_OTP_OFF  12
       #define FORCE_TX_PLL   13
       #define FORCE_LDE      14
       // Defines for ACK request bitmask in DATA and MAC COMMAND frame control (first byte) - Used to detect AAT bit wrongly set.
       #define FCTRL_ACK_REQ_MASK 0x20
       // Frame control maximum length in bytes.
       #define FCTRL_LEN_MAX 2
       typedef struct {
           uint32_t lo32;
           uint16_t target[NUM_PRF];
       } agc_cfg_struct ;
       extern const agc_cfg_struct agc_config ;
       //SFD threshold settings for 110k, 850k, 6.8Mb standard and non-standard
       extern const uint16_t sftsh[NUM_BR][NUM_SFD];
       extern const uint16_t dtune1[NUM_PRF];
       #define XMLPARAMS_VERSION   (1.17f)
       extern const uint32_t fs_pll_cfg[NUM_CH];
       extern const uint8_t fs_pll_tune[NUM_CH];
       extern const uint8_t rx_config[NUM_BW];
       extern const uint32_t tx_config[NUM_CH];
       extern const uint8_t dwnsSFDlen[NUM_BR]; //length of SFD for each of the bitrates
       extern const uint32_t digital_bb_config[NUM_PRF][NUM_PACS];
       //extern const uint8_t chan_idx[NUM_CH_SUPPORTED]; // move to header file
       extern const double txpwr_compensation[NUM_CH];
       #define PEAK_MULTPLIER  (0x60) //3 -> (0x3 * 32) & 0x00E0
       #define N_STD_FACTOR    (13)
       #define LDE_PARAM1      (PEAK_MULTPLIER | N_STD_FACTOR)
       #define LDE_PARAM3_16 (0x1607)
       #define LDE_PARAM3_64 (0x0607)
       #define MIXER_GAIN_STEP (0.5)
       #define DA_ATTN_STEP    (2.5)
       // #define DWT_API_ERROR_CHECK     // define so API checks config input parameters
       //-----------------------------------------
       // map the channel number to the index in the configuration arrays below
       // 0th element is chan 1, 1st is chan 2, 2nd is chan 3, 3rd is chan 4, 4th is chan 5, 5th is chan 7
       const uint8_t chan_idx[NUM_CH_SUPPORTED] = {0, 0, 1, 2, 3, 4, 0, 5};
       //-----------------------------------------
       const uint32_t tx_config[NUM_CH] =
+      {
           RF_TXCTRL_CH1,
           RF_TXCTRL_CH2,
           RF_TXCTRL_CH3,
           RF_TXCTRL_CH4,
           RF_TXCTRL_CH5,
           RF_TXCTRL_CH7,
       };
       //Frequency Synthesiser - PLL configuration
       const uint32_t fs_pll_cfg[NUM_CH] =
+      {
           FS_PLLCFG_CH1,
           FS_PLLCFG_CH2,
           FS_PLLCFG_CH3,
           FS_PLLCFG_CH4,
           FS_PLLCFG_CH5,
           FS_PLLCFG_CH7
       };
       //Frequency Synthesiser - PLL tuning
       const uint8_t fs_pll_tune[NUM_CH] =
+      {
           FS_PLLTUNE_CH1,
           FS_PLLTUNE_CH2,
           FS_PLLTUNE_CH3,
           FS_PLLTUNE_CH4,
           FS_PLLTUNE_CH5,
           FS_PLLTUNE_CH7
       };
       //bandwidth configuration
       const uint8_t rx_config[NUM_BW] =
+      {
           RF_RXCTRLH_NBW,
           RF_RXCTRLH_WBW
       };
       const agc_cfg_struct agc_config =
+      {
           AGC_TUNE2_VAL,
           { AGC_TUNE1_16M , AGC_TUNE1_64M }  //adc target
       };
       //DW non-standard SFD length for 110k, 850k and 6.81M
       const uint8_t dwnsSFDlen[NUM_BR] =
+      {
           DW_NS_SFD_LEN_110K,
           DW_NS_SFD_LEN_850K,
           DW_NS_SFD_LEN_6M8
       };
       // SFD Threshold
       const uint16_t sftsh[NUM_BR][NUM_SFD] =
+      {
+          {
               DRX_TUNE0b_110K_STD,
               DRX_TUNE0b_110K_NSTD
           },
+          {
               DRX_TUNE0b_850K_STD,
               DRX_TUNE0b_850K_NSTD
           },
+          {
               DRX_TUNE0b_6M8_STD,
               DRX_TUNE0b_6M8_NSTD
+          }
       };
       const uint16_t dtune1[NUM_PRF] =
+      {
           DRX_TUNE1a_PRF16,
           DRX_TUNE1a_PRF64
       };
       const uint32_t digital_bb_config[NUM_PRF][NUM_PACS] =
+      {
+          {
               DRX_TUNE2_PRF16_PAC8,
               DRX_TUNE2_PRF16_PAC16,
               DRX_TUNE2_PRF16_PAC32,
               DRX_TUNE2_PRF16_PAC64
           },
+          {
               DRX_TUNE2_PRF64_PAC8,
               DRX_TUNE2_PRF64_PAC16,
               DRX_TUNE2_PRF64_PAC32,
               DRX_TUNE2_PRF64_PAC64
+          }
       };
       const uint16_t lde_replicaCoeff[PCODES] =
+      {
 , // No preamble code 0
           LDE_REPC_PCODE_1,
           LDE_REPC_PCODE_2,
           LDE_REPC_PCODE_3,
           LDE_REPC_PCODE_4,
           LDE_REPC_PCODE_5,
           LDE_REPC_PCODE_6,
           LDE_REPC_PCODE_7,
           LDE_REPC_PCODE_8,
           LDE_REPC_PCODE_9,
           LDE_REPC_PCODE_10,
           LDE_REPC_PCODE_11,
           LDE_REPC_PCODE_12,
           LDE_REPC_PCODE_13,
           LDE_REPC_PCODE_14,
           LDE_REPC_PCODE_15,
           LDE_REPC_PCODE_16,
           LDE_REPC_PCODE_17,
           LDE_REPC_PCODE_18,
           LDE_REPC_PCODE_19,
           LDE_REPC_PCODE_20,
           LDE_REPC_PCODE_21,
           LDE_REPC_PCODE_22,
           LDE_REPC_PCODE_23,
           LDE_REPC_PCODE_24
       };
       const double txpwr_compensation[NUM_CH] = {
 .0,
 .035,
 .0,
 .0,
 .065,
 .0
       };
       const uint8_t chan_idxnb[NUM_CH_SUPPORTED] = {0, 0, 1, 2, 0, 3, 0, 0}; //only channels 1,2,3 and 5 are in the narrow band tables
       const uint8_t chan_idxwb[NUM_CH_SUPPORTED] = {0, 0, 0, 0, 0, 0, 0, 1}; //only channels 4 and 7 are in in the wide band tables
       //---------------------------------------------------------------------------------------------------------------------------
       // Range Bias Correction TABLES of range values in integer units of 25 CM, for 8-bit unsigned storage, MUST END IN 255 !!!!!!
       //---------------------------------------------------------------------------------------------------------------------------
       // offsets to nearest centimeter for index 0, all rest are +1 cm per value
       #define CM_OFFSET_16M_NB    (-23)   // for normal band channels at 16 MHz PRF
       #define CM_OFFSET_16M_WB    (-28)   // for wider  band channels at 16 MHz PRF
       #define CM_OFFSET_64M_NB    (-17)   // for normal band channels at 64 MHz PRF
       #define CM_OFFSET_64M_WB    (-30)   // for wider  band channels at 64 MHz PRF
       //---------------------------------------------------------------------------------------------------------------------------
       // range25cm16PRFnb: Range Bias Correction table for narrow band channels at 16 MHz PRF, NB: !!!! each MUST END IN 255 !!!!
       //---------------------------------------------------------------------------------------------------------------------------
       const uint8_t range25cm16PRFnb[4][NUM_16M_OFFSET] =
+      {
           // ch 1 - range25cm16PRFnb
+          {
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           },
           // ch 2 - range25cm16PRFnb
+          {
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           },
           // ch 3 - range25cm16PRFnb
+          {
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           // ch 5 - range25cm16PRFnb
+          {
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+          }
       }; // end range25cm16PRFnb
       //---------------------------------------------------------------------------------------------------------------------------
       // range25cm16PRFwb: Range Bias Correction table for wide band channels at 16 MHz PRF, NB: !!!! each MUST END IN 255 !!!!
       //---------------------------------------------------------------------------------------------------------------------------
       const uint8_t range25cm16PRFwb[2][NUM_16M_OFFSETWB] =
+      {
           // ch 4 - range25cm16PRFwb
+          {
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           },
           // ch 7 - range25cm16PRFwb
+          {
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+          }
       }; // end range25cm16PRFwb
       //---------------------------------------------------------------------------------------------------------------------------
       // range25cm64PRFnb: Range Bias Correction table for narrow band channels at 64 MHz PRF, NB: !!!! each MUST END IN 255 !!!!
       //---------------------------------------------------------------------------------------------------------------------------
       const uint8_t range25cm64PRFnb[4][NUM_64M_OFFSET] =
+      {
           // ch 1 - range25cm64PRFnb
+          {
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           },
           // ch 2 - range25cm64PRFnb
+          {
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           },
           // ch 3 - range25cm64PRFnb
+          {
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           },
           // ch 5 - range25cm64PRFnb
+          {
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+          }
       }; // end range25cm64PRFnb
       //---------------------------------------------------------------------------------------------------------------------------
       // range25cm64PRFwb: Range Bias Correction table for wide band channels at 64 MHz PRF, NB: !!!! each MUST END IN 255 !!!!
       //---------------------------------------------------------------------------------------------------------------------------
       const uint8_t range25cm64PRFwb[2][NUM_64M_OFFSETWB] =
+      {
           // ch 4 - range25cm64PRFwb
+          {
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           // ch 7 - range25cm64PRFwb
+          {
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+          }
       }; // end range25cm64PRFwb
       /*! ------------------------------------------------------------------------------------------------------------------
        * Function: dwt_getrangebias()
+       *
        * Description: This function is used to return the range bias correction need for TWR with DW1000 units.
+       *
        * input parameters:
        * @param chan  - specifies the operating channel (e.g. 1, 2, 3, 4, 5, 6 or 7)
        * @param range - the calculated distance before correction
        * @param prf        - this is the PRF e.g. DWT_PRF_16M or DWT_PRF_64M
+       *
        * output parameters
+       *
        * returns correction needed in meters
        */
       double dwt_getrangebias(uint8_t chan, float range, uint8_t prf)
+      {
           //first get the lookup index that corresponds to given range for a particular channel at 16M PRF
           int i = 0 ;
           int chanIdx ;
           int cmoffseti ;                                 // integer number of CM offset
           double mOffset ;                                // final offset result in metres
           // NB: note we may get some small negitive values e.g. up to -50 cm.
           int rangeint25cm = (int) ((double)range * 4.00) ;       // convert range to integer number of 25cm values.
           if (rangeint25cm > 255) rangeint25cm = 255 ;    // make sure it matches largest value in table (all tables end in 255 !!!!)
           if (prf == DWT_PRF_16M)
+          {
               switch(chan)
+              {
                   case 4:
                   case 7:
+                  {
                       chanIdx = chan_idxwb[chan];
                       while (rangeint25cm > range25cm16PRFwb[chanIdx][i]) i++ ;       // find index in table corresponding to range
                       cmoffseti = i + CM_OFFSET_16M_WB ;                              // nearest centimeter correction
+                  }
                   break;
                   default:
+                  {
                       chanIdx = chan_idxnb[chan];
                       while (rangeint25cm > range25cm16PRFnb[chanIdx][i]) i++ ;       // find index in table corresponding to range
                       cmoffseti = i + CM_OFFSET_16M_NB ;                              // nearest centimeter correction
+                  }
               }//end of switch
+          }
           else // 64M PRF
+          {
               switch(chan)
+              {
                   case 4:
                   case 7:
+                  {
                       chanIdx = chan_idxwb[chan];
                       while (rangeint25cm > range25cm64PRFwb[chanIdx][i]) i++ ;       // find index in table corresponding to range
                       cmoffseti = i + CM_OFFSET_64M_WB ;                              // nearest centimeter correction
+                  }
                   break;
                   default:
+                  {
                       chanIdx = chan_idxnb[chan];
                       while (rangeint25cm > range25cm64PRFnb[chanIdx][i]) i++ ;       // find index in table corresponding to range
                       cmoffseti = i + CM_OFFSET_64M_NB ;                              // nearest centimeter correction
+                  }
               }//end of switch
           } // end else
           mOffset = (double) cmoffseti ;                                       // offset result in centimmetres
           mOffset *= 0.01 ;                                                   // convert to metres
           return (mOffset) ;
+      }
       // -------------------------------------------------------------------------------------------------------------------
       //
       // Internal functions for controlling and configuring the device
       //
       // -------------------------------------------------------------------------------------------------------------------
       // Enable and Configure specified clocks
       void _dwt_enableclocks(int clocks) ;
       // Configure the ucode (FP algorithm) parameters
       void _dwt_configlde(int prf);
       // Load ucode from OTP/ROM
       void _dwt_loaducodefromrom(void);
       // Read non-volatile memory
       uint32_t _dwt_otpread(uint32_t address);
       // Program the non-volatile memory
       int32_t _dwt_otpprogword32(uint32_t data, uint16_t address);
       // Upload the device configuration into always on memory
       void _dwt_aonarrayupload(void);
       // -------------------------------------------------------------------------------------------------------------------
       /*!
        * Static data for DW1000 DecaWave Transceiver control
        */
       static dwt_local_data_t dw1000local[DWT_NUM_DW_DEV] ; // Static local device data, can be an array to support multiple DW1000 testing applications/platforms
       static dwt_local_data_t *pdw1000local = dw1000local ; // Static local data structure pointer
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_setdevicedataptr()
+       *
        * @brief This function sets the local data structure pointer to point to the structure in the local array as given by the index.
+       *
        * input parameters
        * @param index    - selects the array object to point to. Must be within the array bounds, i.e. < DWT_NUM_DW_DEV
+       *
        * output parameters
+       *
        * returns DWT_SUCCESS for success, or DWT_ERROR for error
        */
       int dwt_setdevicedataptr(unsigned int index)
+      {
           // Check the index is within the array bounds
           if (DWT_NUM_DW_DEV > index) // return error if index outside the array bounds
+          {
               return DWT_ERROR ;
+          }
           pdw1000local = &dw1000local[index];
           return DWT_SUCCESS ;
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_initialise()
+       *
        * @brief This function initiates communications with the DW1000 transceiver
        * and reads its DEV_ID register (address 0x00) to verify the IC is one supported
        * by this software (e.g. DW1000 32-bit device ID value is 0xDECA0130).  Then it
        * does any initial once only device configurations needed for use and initialises
        * as necessary any static data items belonging to this low-level driver.
+       *
        * NOTES:
        * 1.this function needs to be run before dwt_configuresleep, also the SPI frequency has to be < 3MHz
        * 2.it also reads and applies LDO tune and crystal trim values from OTP memory
+       *
        * input parameters
        * @param config    -   specifies what configuration to load
        *                  DWT_LOADUCODE     0x1 - load the LDE microcode from ROM - enabled accurate RX timestamp
        *                  DWT_LOADNONE      0x0 - do not load any values from OTP memory
+       *
        * output parameters
+       *
        * returns DWT_SUCCESS for success, or DWT_ERROR for error
        */
       // OTP addresses definitions
       #define LDOTUNE_ADDRESS (0x04)
       #define PARTID_ADDRESS (0x06)
       #define LOTID_ADDRESS  (0x07)
       #define VBAT_ADDRESS   (0x08)
       #define VTEMP_ADDRESS  (0x09)
       #define XTRIM_ADDRESS  (0x1E)
       int dwt_initialise(const uint16_t config, DW1000Driver* drv)
+      {
           uint16_t otp_addr = 0;
           uint32_t ldo_tune = 0;
           pdw1000local->dblbuffon = 0; // Double buffer mode off by default
           pdw1000local->wait4resp = 0;
           pdw1000local->sleep_mode = 0;
           pdw1000local->cbTxDone = NULL;
           pdw1000local->cbRxOk = NULL;
           pdw1000local->cbRxTo = NULL;
           pdw1000local->cbRxErr = NULL;
           pdw1000local->driver = drv;
           // Read and validate device ID return -1 if not recognised
           if (DWT_DEVICE_ID != dwt_readdevid()) // MP IC ONLY (i.e. DW1000) FOR THIS CODE
+          {
               return DWT_ERROR ;
+          }
           // Make sure the device is completely reset before starting initialisation
           dwt_softreset();
           _dwt_enableclocks(FORCE_SYS_XTI); // NOTE: set system clock to XTI - this is necessary to make sure the values read by _dwt_otpread are reliable
           // Configure the CPLL lock detect
           dwt_write8bitoffsetreg(EXT_SYNC_ID, EC_CTRL_OFFSET, EC_CTRL_PLLLCK);
           // Read OTP revision number
           otp_addr = _dwt_otpread(XTRIM_ADDRESS) & 0xffff;        // Read 32 bit value, XTAL trim val is in low octet-0 (5 bits)
           pdw1000local->otprev = (otp_addr >> 8) & 0xff;            // OTP revision is next byte
           // Load LDO tune from OTP and kick it if there is a value actually programmed.
           ldo_tune = _dwt_otpread(LDOTUNE_ADDRESS);
           if((ldo_tune & 0xFF) != 0)
+          {
               // Kick LDO tune
               dwt_write8bitoffsetreg(OTP_IF_ID, OTP_SF, OTP_SF_LDO_KICK); // Set load LDE kick bit
               pdw1000local->sleep_mode |= AON_WCFG_ONW_LLDO; // LDO tune must be kicked at wake-up
+          }
           // Load Part and Lot ID from OTP
           pdw1000local->partID = _dwt_otpread(PARTID_ADDRESS);
           pdw1000local->lotID = _dwt_otpread(LOTID_ADDRESS);
           // XTAL trim value is set in OTP for DW1000 module and EVK/TREK boards but that might not be the case in a custom design
           pdw1000local->init_xtrim = otp_addr & 0x1F;
           if (!pdw1000local->init_xtrim) // A value of 0 means that the crystal has not been trimmed
+          {
               pdw1000local->init_xtrim = FS_XTALT_MIDRANGE ; // Set to mid-range if no calibration value inside
+          }
           // Configure XTAL trim
           dwt_setxtaltrim(pdw1000local->init_xtrim);
           // Load leading edge detect code
           if(config & DWT_LOADUCODE)
+          {
               _dwt_loaducodefromrom();
               pdw1000local->sleep_mode |= AON_WCFG_ONW_LLDE; // microcode must be loaded at wake-up
+          }
           else // Should disable the LDERUN enable bit in 0x36, 0x4
+          {
               uint16_t rega = dwt_read16bitoffsetreg(PMSC_ID, PMSC_CTRL1_OFFSET+1) ;
               rega &= 0xFDFF ; // Clear LDERUN bit
               dwt_write16bitoffsetreg(PMSC_ID, PMSC_CTRL1_OFFSET+1, rega) ;
+          }
           _dwt_enableclocks(ENABLE_ALL_SEQ); // Enable clocks for sequencing
           // The 3 bits in AON CFG1 register must be cleared to ensure proper operation of the DW1000 in DEEPSLEEP mode.
           dwt_write8bitoffsetreg(AON_ID, AON_CFG1_OFFSET, 0x00);
           // Read system register / store local copy
           pdw1000local->sysCFGreg = dwt_read32bitreg(SYS_CFG_ID) ; // Read sysconfig register
           return DWT_SUCCESS ;
       } // end dwt_initialise()
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_otprevision()
+       *
        * @brief This is used to return the read OTP revision
+       *
        * NOTE: dwt_initialise() must be called prior to this function so that it can return a relevant value.
+       *
        * input parameters
+       *
        * output parameters
+       *
        * returns the read OTP revision value
        */
       uint8_t dwt_otprevision(void)
+      {
           return pdw1000local->otprev ;
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_setfinegraintxseq()
+       *
        * @brief This function enables/disables the fine grain TX sequencing (enabled by default).
+       *
        * input parameters
        * @param enable - 1 to enable fine grain TX sequencing, 0 to disable it.
+       *
        * output parameters none
+       *
        * no return value
        */
       void dwt_setfinegraintxseq(int enable)
+      {
           if (enable)
+          {
               dwt_write16bitoffsetreg(PMSC_ID, PMSC_TXFINESEQ_OFFSET, PMSC_TXFINESEQ_ENABLE);
+          }
           else
+          {
               dwt_write16bitoffsetreg(PMSC_ID, PMSC_TXFINESEQ_OFFSET, PMSC_TXFINESEQ_DISABLE);
+          }
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_setlnapamode()
+       *
        * @brief This is used to enable GPIO for external LNA or PA functionality - HW dependent, consult the DW1000 User Manual.
        *        This can also be used for debug as enabling TX and RX GPIOs is quite handy to monitor DW1000's activity.
+       *
        * NOTE: Enabling PA functionality requires that fine grain TX sequencing is deactivated. This can be done using
        *       dwt_setfinegraintxseq().
+       *
        * input parameters
        * @param lna - 1 to enable LNA functionality, 0 to disable it
        * @param pa - 1 to enable PA functionality, 0 to disable it
+       *
        * output parameters
+       *
        * no return value
        */
       void dwt_setlnapamode(int lna, int pa)
+      {
           uint32_t gpio_mode = dwt_read32bitoffsetreg(GPIO_CTRL_ID, GPIO_MODE_OFFSET);
           gpio_mode &= ~(GPIO_MSGP4_MASK | GPIO_MSGP5_MASK | GPIO_MSGP6_MASK);
           if (lna)
+          {
               gpio_mode |= GPIO_PIN6_EXTRXE;
+          }
           if (pa)
+          {
               gpio_mode |= (GPIO_PIN5_EXTTXE | GPIO_PIN4_EXTPA);
+          }
           dwt_write32bitoffsetreg(GPIO_CTRL_ID, GPIO_MODE_OFFSET, gpio_mode);
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_setgpiodirection()
+       *
        * @brief This is used to set GPIO direction as an input (1) or output (0)
+       *
        * input parameters
        * @param gpioNum    -   this is the GPIO to configure - see GxM0... GxM8 in the deca_regs.h file
        * @param direction  -   this sets the GPIO direction - see GxP0... GxP8 in the deca_regs.h file
+       *
        * output parameters
+       *
        * no return value
        */
       void dwt_setgpiodirection(uint32_t gpioNum, uint32_t direction)
+      {
           uint8_t buf[GPIO_DIR_LEN];
           uint32_t command = direction | gpioNum;
           buf[0] = command & 0xff;
           buf[1] = (command >> 8) & 0xff;
           buf[2] = (command >> 16) & 0xff;
           dwt_writetodevice(GPIO_CTRL_ID, GPIO_DIR_OFFSET, GPIO_DIR_LEN, buf);
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_setgpiovalue()
+       *
        * @brief This is used to set GPIO value as (1) or (0) only applies if the GPIO is configured as output
+       *
        * input parameters
        * @param gpioNum    -   this is the GPIO to configure - see GxM0... GxM8 in the deca_regs.h file
        * @param value  -   this sets the GPIO value - see GDP0... GDP8 in the deca_regs.h file
+       *
        * output parameters
+       *
        * no return value
        */
       void dwt_setgpiovalue(uint32_t gpioNum, uint32_t value)
+      {
           uint8_t buf[GPIO_DOUT_LEN];
           uint32_t command = value | gpioNum;
           buf[0] = command & 0xff;
           buf[1] = (command >> 8) & 0xff;
           buf[2] = (command >> 16) & 0xff;
           dwt_writetodevice(GPIO_CTRL_ID, GPIO_DOUT_OFFSET, GPIO_DOUT_LEN, buf);
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_getpartid()
+       *
        * @brief This is used to return the read part ID of the device
+       *
        * NOTE: dwt_initialise() must be called prior to this function so that it can return a relevant value.
+       *
        * input parameters
+       *
        * output parameters
+       *
        * returns the 32 bit part ID value as programmed in the factory
        */
       uint32_t dwt_getpartid(void)
+      {
           return pdw1000local->partID;
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_getlotid()
+       *
        * @brief This is used to return the read lot ID of the device
+       *
        * NOTE: dwt_initialise() must be called prior to this function so that it can return a relevant value.
+       *
        * input parameters
+       *
        * output parameters
+       *
        * returns the 32 bit lot ID value as programmed in the factory
        */
       uint32_t dwt_getlotid(void)
+      {
           return pdw1000local->lotID;
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_readdevid()
+       *
        * @brief This is used to return the read device type and revision information of the DW1000 device (MP part is 0xDECA0130)
+       *
        * input parameters
+       *
        * output parameters
+       *
        * returns the read value which for DW1000 is 0xDECA0130
        */
       uint32_t dwt_readdevid(void)
+      {
           return dwt_read32bitoffsetreg(DEV_ID_ID,0);
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_configuretxrf()
+       *
        * @brief This function provides the API for the configuration of the TX spectrum
        * including the power and pulse generator delay. The input is a pointer to the data structure
        * of type dwt_txconfig_t that holds all the configurable items.
+       *
        * input parameters
        * @param config    -   pointer to the txrf configuration structure, which contains the tx rf config data
+       *
        * output parameters
+       *
        * no return value
        */
       void dwt_configuretxrf(dwt_txconfig_t* config)
+      {
           // Configure RF TX PG_DELAY
           dwt_write8bitoffsetreg(TX_CAL_ID, TC_PGDELAY_OFFSET, config->PGdly);
           // Configure TX power
           dwt_write32bitreg(TX_POWER_ID, config->power);
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_configure()
+       *
        * @brief This function provides the main API for the configuration of the
        * DW1000 and this low-level driver.  The input is a pointer to the data structure
        * of type dwt_config_t that holds all the configurable items.
        * The dwt_config_t structure shows which ones are supported
+       *
        * input parameters
        * @param config    -   pointer to the configuration structure, which contains the device configuration data.
+       *
        * output parameters
+       *
        * no return value
        */
       void dwt_configure(dwt_config_t *config)
+      {
           uint8_t nsSfd_result  = 0;
           uint8_t useDWnsSFD = 0;
           uint8_t chan = config->chan ;
           uint32_t regval ;
           uint16_t reg16 = lde_replicaCoeff[config->rxCode];
           uint8_t prfIndex = config->prf - DWT_PRF_16M;
           uint8_t bw = ((chan == 4) || (chan == 7)) ? 1 : 0 ; // Select wide or narrow band
       #ifdef DWT_API_ERROR_CHECK
           assert(config->dataRate <= DWT_BR_6M8);
           assert(config->rxPAC <= DWT_PAC64);
           assert((chan >= 1) && (chan <= 7) && (chan != 6));
           assert(((config->prf == DWT_PRF_64M) && (config->txCode >= 9) && (config->txCode <= 24))
                  || ((config->prf == DWT_PRF_16M) && (config->txCode >= 1) && (config->txCode <= 8)));
           assert(((config->prf == DWT_PRF_64M) && (config->rxCode >= 9) && (config->rxCode <= 24))
                  || ((config->prf == DWT_PRF_16M) && (config->rxCode >= 1) && (config->rxCode <= 8)));
           assert((config->txPreambLength == DWT_PLEN_64) || (config->txPreambLength == DWT_PLEN_128) || (config->txPreambLength == DWT_PLEN_256)
                  || (config->txPreambLength == DWT_PLEN_512) || (config->txPreambLength == DWT_PLEN_1024) || (config->txPreambLength == DWT_PLEN_1536)
                  || (config->txPreambLength == DWT_PLEN_2048) || (config->txPreambLength == DWT_PLEN_4096));
           assert((config->phrMode == DWT_PHRMODE_STD) || (config->phrMode == DWT_PHRMODE_EXT));
       #endif
           // For 110 kbps we need a special setup
           if(DWT_BR_110K == config->dataRate)
+          {
               pdw1000local->sysCFGreg |= SYS_CFG_RXM110K ;
               reg16 >>= 3; // lde_replicaCoeff must be divided by 8
+          }
           else
+          {
               pdw1000local->sysCFGreg &= (~SYS_CFG_RXM110K) ;
+          }
           pdw1000local->longFrames = config->phrMode ;
           pdw1000local->sysCFGreg &= ~SYS_CFG_PHR_MODE_11;
           pdw1000local->sysCFGreg |= (SYS_CFG_PHR_MODE_11 & (uint32_t)(config->phrMode << SYS_CFG_PHR_MODE_SHFT));
           dwt_write32bitreg(SYS_CFG_ID,pdw1000local->sysCFGreg) ;
           // Set the lde_replicaCoeff
           dwt_write16bitoffsetreg(LDE_IF_ID, LDE_REPC_OFFSET, reg16) ;
           _dwt_configlde(prfIndex);
           // Configure PLL2/RF PLL block CFG/TUNE (for a given channel)
           dwt_write32bitoffsetreg(FS_CTRL_ID, FS_PLLCFG_OFFSET, fs_pll_cfg[chan_idx[chan]]);
           dwt_write8bitoffsetreg(FS_CTRL_ID, FS_PLLTUNE_OFFSET, fs_pll_tune[chan_idx[chan]]);
           // Configure RF RX blocks (for specified channel/bandwidth)
           dwt_write8bitoffsetreg(RF_CONF_ID, RF_RXCTRLH_OFFSET, rx_config[bw]);
           // Configure RF TX blocks (for specified channel and PRF)
           // Configure RF TX control
           dwt_write32bitoffsetreg(RF_CONF_ID, RF_TXCTRL_OFFSET, tx_config[chan_idx[chan]]);
           // Configure the baseband parameters (for specified PRF, bit rate, PAC, and SFD settings)
           // DTUNE0
           dwt_write16bitoffsetreg(DRX_CONF_ID, DRX_TUNE0b_OFFSET, sftsh[config->dataRate][config->nsSFD]);
           // DTUNE1
           dwt_write16bitoffsetreg(DRX_CONF_ID, DRX_TUNE1a_OFFSET, dtune1[prfIndex]);
           if(config->dataRate == DWT_BR_110K)
+          {
               dwt_write16bitoffsetreg(DRX_CONF_ID, DRX_TUNE1b_OFFSET, DRX_TUNE1b_110K);
+          }
           else
+          {
               if(config->txPreambLength == DWT_PLEN_64)
+              {
                   dwt_write16bitoffsetreg(DRX_CONF_ID, DRX_TUNE1b_OFFSET, DRX_TUNE1b_6M8_PRE64);
                   dwt_write8bitoffsetreg(DRX_CONF_ID, DRX_TUNE4H_OFFSET, DRX_TUNE4H_PRE64);
+              }
               else
+              {
                   dwt_write16bitoffsetreg(DRX_CONF_ID, DRX_TUNE1b_OFFSET, DRX_TUNE1b_850K_6M8);
                   dwt_write8bitoffsetreg(DRX_CONF_ID, DRX_TUNE4H_OFFSET, DRX_TUNE4H_PRE128PLUS);
+              }
+          }
           // DTUNE2
           dwt_write32bitoffsetreg(DRX_CONF_ID, DRX_TUNE2_OFFSET, digital_bb_config[prfIndex][config->rxPAC]);
           // DTUNE3 (SFD timeout)
           // Don't allow 0 - SFD timeout will always be enabled
           if(config->sfdTO == 0)
+          {
               config->sfdTO = DWT_SFDTOC_DEF;
+          }
           dwt_write16bitoffsetreg(DRX_CONF_ID, DRX_SFDTOC_OFFSET, config->sfdTO);
           // Configure AGC parameters
           dwt_write32bitoffsetreg( AGC_CFG_STS_ID, 0xC, agc_config.lo32);
           dwt_write16bitoffsetreg( AGC_CFG_STS_ID, 0x4, agc_config.target[prfIndex]);
           // Set (non-standard) user SFD for improved performance,
           if(config->nsSFD)
+          {
               // Write non standard (DW) SFD length
               dwt_write8bitoffsetreg(USR_SFD_ID, 0x00, dwnsSFDlen[config->dataRate]);
               nsSfd_result = 3 ;
               useDWnsSFD = 1 ;
+          }
           regval =  (CHAN_CTRL_TX_CHAN_MASK & (uint32_t)(chan << CHAN_CTRL_TX_CHAN_SHIFT)) | // Transmit Channel
                     (CHAN_CTRL_RX_CHAN_MASK & (uint32_t)(chan << CHAN_CTRL_RX_CHAN_SHIFT)) | // Receive Channel
                     (CHAN_CTRL_RXFPRF_MASK & (uint32_t)(config->prf << CHAN_CTRL_RXFPRF_SHIFT)) | // RX PRF
                     ((CHAN_CTRL_TNSSFD|CHAN_CTRL_RNSSFD) & (uint32_t)(nsSfd_result << CHAN_CTRL_TNSSFD_SHIFT)) | // nsSFD enable RX&TX
                     (CHAN_CTRL_DWSFD & (uint32_t)(useDWnsSFD << CHAN_CTRL_DWSFD_SHIFT)) | // Use DW nsSFD
                     (CHAN_CTRL_TX_PCOD_MASK & (uint32_t)(config->txCode << CHAN_CTRL_TX_PCOD_SHIFT)) | // TX Preamble Code
                     (CHAN_CTRL_RX_PCOD_MASK & (uint32_t)(config->rxCode << CHAN_CTRL_RX_PCOD_SHIFT)) ; // RX Preamble Code
           dwt_write32bitreg(CHAN_CTRL_ID,regval) ;
           // Set up TX Preamble Size, PRF and Data Rate
           pdw1000local->txFCTRL = (uint32_t)(((config->txPreambLength | config->prf) << TX_FCTRL_TXPRF_SHFT) | (config->dataRate << TX_FCTRL_TXBR_SHFT));
           dwt_write32bitreg(TX_FCTRL_ID, pdw1000local->txFCTRL);
           // The SFD transmit pattern is initialised by the DW1000 upon a user TX request, but (due to an IC issue) it is not done for an auto-ACK TX. The
           // SYS_CTRL write below works around this issue, by simultaneously initiating and aborting a transmission, which correctly initialises the SFD
           // after its configuration or reconfiguration.
           // This issue is not documented at the time of writing this code. It should be in next release of DW1000 User Manual (v2.09, from July 2016).
           dwt_write8bitoffsetreg(SYS_CTRL_ID, SYS_CTRL_OFFSET, SYS_CTRL_TXSTRT | SYS_CTRL_TRXOFF); // Request TX start and TRX off at the same time
       } // end dwt_configure()
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_setrxantennadelay()
+       *
        * @brief This API function writes the antenna delay (in time units) to RX registers
+       *
        * input parameters:
        * @param rxDelay - this is the total (RX) antenna delay value, which
        *                          will be programmed into the RX register
+       *
        * output parameters
+       *
        * no return value
        */
       void dwt_setrxantennadelay(uint16_t rxDelay)
+      {
           // Set the RX antenna delay for auto TX timestamp adjustment
           dwt_write16bitoffsetreg(LDE_IF_ID, LDE_RXANTD_OFFSET, rxDelay);
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_settxantennadelay()
+       *
        * @brief This API function writes the antenna delay (in time units) to TX registers
+       *
        * input parameters:
        * @param txDelay - this is the total (TX) antenna delay value, which
        *                          will be programmed into the TX delay register
+       *
        * output parameters
+       *
        * no return value
        */
       void dwt_settxantennadelay(uint16_t txDelay)
+      {
           // Set the TX antenna delay for auto TX timestamp adjustment
           dwt_write16bitoffsetreg(TX_ANTD_ID, TX_ANTD_OFFSET, txDelay);
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_writetxdata()
+       *
        * @brief This API function writes the supplied TX data into the DW1000's
        * TX buffer.  The input parameters are the data length in bytes and a pointer
        * to those data bytes.
+       *
        * input parameters
        * @param txFrameLength  - This is the total frame length, including the two byte CRC.
        *                         Note: this is the length of TX message (including the 2 byte CRC) - max is 1023
        *                         standard PHR mode allows up to 127 bytes
        *                         if > 127 is programmed, DWT_PHRMODE_EXT needs to be set in the phrMode configuration
        *                         see dwt_configure function
        * @param txFrameBytes   - Pointer to the user’s buffer containing the data to send.
        * @param txBufferOffset - This specifies an offset in the DW1000’s TX Buffer at which to start writing data.
+       *
        * output parameters
+       *
        * returns DWT_SUCCESS for success, or DWT_ERROR for error
        */
       int dwt_writetxdata(uint16_t txFrameLength, uint8_t *txFrameBytes, uint16_t txBufferOffset)
+      {
       #ifdef DWT_API_ERROR_CHECK
           assert(txFrameLength >= 2);
           assert((pdw1000local->longFrames && (txFrameLength <= 1023)) || (txFrameLength <= 127));
           assert((txBufferOffset + txFrameLength) <= 1024);
       #endif
           if ((txBufferOffset + txFrameLength) <= 1024)
+          {
               // Write the data to the IC TX buffer, (-2 bytes for auto generated CRC)
               dwt_writetodevice( TX_BUFFER_ID, txBufferOffset, txFrameLength-2, txFrameBytes);
               return DWT_SUCCESS;
+          }
           else
+          {
               return DWT_ERROR;
+          }
       } // end dwt_writetxdata()
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_writetxfctrl()
+       *
        * @brief This API function configures the TX frame control register before the transmission of a frame
+       *
        * input parameters:
        * @param txFrameLength - this is the length of TX message (including the 2 byte CRC) - max is 1023
        *                              NOTE: standard PHR mode allows up to 127 bytes
        *                              if > 127 is programmed, DWT_PHRMODE_EXT needs to be set in the phrMode configuration
        *                              see dwt_configure function
        * @param txBufferOffset - the offset in the tx buffer to start writing the data
        * @param ranging - 1 if this is a ranging frame, else 0
+       *
        * output parameters
+       *
        * no return value
        */
       void dwt_writetxfctrl(uint16_t txFrameLength, uint16_t txBufferOffset, int ranging)
+      {
       #ifdef DWT_API_ERROR_CHECK
           assert((pdw1000local->longFrames && (txFrameLength <= 1023)) || (txFrameLength <= 127));
       #endif
           // Write the frame length to the TX frame control register
           // pdw1000local->txFCTRL has kept configured bit rate information
           uint32_t reg32 = pdw1000local->txFCTRL | txFrameLength | (uint16_t)(txBufferOffset << TX_FCTRL_TXBOFFS_SHFT) | (uint16_t)(ranging << TX_FCTRL_TR_SHFT);
           dwt_write32bitreg(TX_FCTRL_ID, reg32);
       } // end dwt_writetxfctrl()
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_readrxdata()
+       *
        * @brief This is used to read the data from the RX buffer, from an offset location give by offset parameter
+       *
        * input parameters
        * @param buffer - the buffer into which the data will be read
        * @param length - the length of data to read (in bytes)
        * @param rxBufferOffset - the offset in the rx buffer from which to read the data
+       *
        * output parameters
+       *
        * no return value
        */
       void dwt_readrxdata(uint8_t *buffer, uint16_t length, uint16_t rxBufferOffset)
+      {
           dwt_readfromdevice(RX_BUFFER_ID,rxBufferOffset,length,buffer) ;
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_readaccdata()
+       *
        * @brief This is used to read the data from the Accumulator buffer, from an offset location give by offset parameter
+       *
        * NOTE: Because of an internal memory access delay when reading the accumulator the first octet output is a dummy octet
        *       that should be discarded. This is true no matter what sub-index the read begins at.
+       *
        * input parameters
        * @param buffer - the buffer into which the data will be read
        * @param length - the length of data to read (in bytes)
        * @param accOffset - the offset in the acc buffer from which to read the data
+       *
        * output parameters
+       *
        * no return value
        */
       void dwt_readaccdata(uint8_t *buffer, uint16_t len, uint16_t accOffset)
+      {
           // Force on the ACC clocks if we are sequenced
           _dwt_enableclocks(READ_ACC_ON);
           dwt_readfromdevice(ACC_MEM_ID,accOffset,len,buffer) ;
           _dwt_enableclocks(READ_ACC_OFF); // Revert clocks back
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_readdiagnostics()
+       *
        * @brief this function reads the RX signal quality diagnostic data
+       *
        * input parameters
        * @param diagnostics - diagnostic structure pointer, this will contain the diagnostic data read from the DW1000
+       *
        * output parameters
+       *
        * no return value
        */
       void dwt_readdiagnostics(dwt_rxdiag_t *diagnostics)
+      {
           // Read the HW FP index
           diagnostics->firstPath = dwt_read16bitoffsetreg(RX_TIME_ID, RX_TIME_FP_INDEX_OFFSET);
           // LDE diagnostic data
           diagnostics->maxNoise = dwt_read16bitoffsetreg(LDE_IF_ID, LDE_THRESH_OFFSET);
           // Read all 8 bytes in one SPI transaction
           dwt_readfromdevice(RX_FQUAL_ID, 0x0, 8, (uint8_t*)&diagnostics->stdNoise);
           diagnostics->firstPathAmp1 = dwt_read16bitoffsetreg(RX_TIME_ID, RX_TIME_FP_AMPL1_OFFSET);
           diagnostics->rxPreamCount = (dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXPACC_MASK) >> RX_FINFO_RXPACC_SHIFT  ;
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_readtxtimestamp()
+       *
        * @brief This is used to read the TX timestamp (adjusted with the programmed antenna delay)
+       *
        * input parameters
        * @param timestamp - a pointer to a 5-byte buffer which will store the read TX timestamp time
+       *
        * output parameters - the timestamp buffer will contain the value after the function call
+       *
        * no return value
        */
       void dwt_readtxtimestamp(uint8_t * timestamp)
+      {
           dwt_readfromdevice(TX_TIME_ID, TX_TIME_TX_STAMP_OFFSET, TX_TIME_TX_STAMP_LEN, timestamp) ; // Read bytes directly into buffer
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_readtxtimestamphi32()
+       *
        * @brief This is used to read the high 32-bits of the TX timestamp (adjusted with the programmed antenna delay)
+       *
        * input parameters
+       *
        * output parameters
+       *
        * returns high 32-bits of TX timestamp
        */
       uint32_t dwt_readtxtimestamphi32(void)
+      {
           return dwt_read32bitoffsetreg(TX_TIME_ID, 1); // Offset is 1 to get the 4 upper bytes out of 5
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_readtxtimestamplo32()
+       *
        * @brief This is used to read the low 32-bits of the TX timestamp (adjusted with the programmed antenna delay)
+       *
        * input parameters
+       *
        * output parameters
+       *
        * returns low 32-bits of TX timestamp
        */
       uint32_t dwt_readtxtimestamplo32(void)
+      {
           return dwt_read32bitreg(TX_TIME_ID); // Read TX TIME as a 32-bit register to get the 4 lower bytes out of 5
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_readrxtimestamp()
+       *
        * @brief This is used to read the RX timestamp (adjusted time of arrival)
+       *
        * input parameters
        * @param timestamp - a pointer to a 5-byte buffer which will store the read RX timestamp time
+       *
        * output parameters - the timestamp buffer will contain the value after the function call
+       *
        * no return value
        */
       void dwt_readrxtimestamp(uint8_t * timestamp)
+      {
           dwt_readfromdevice(RX_TIME_ID, RX_TIME_RX_STAMP_OFFSET, RX_TIME_RX_STAMP_LEN, timestamp) ; // Get the adjusted time of arrival
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_readrxtimestamphi32()
+       *
        * @brief This is used to read the high 32-bits of the RX timestamp (adjusted with the programmed antenna delay)
+       *
        * input parameters
+       *
        * output parameters
+       *
        * returns high 32-bits of RX timestamp
        */
       uint32_t dwt_readrxtimestamphi32(void)
+      {
           return dwt_read32bitoffsetreg(RX_TIME_ID, 1); // Offset is 1 to get the 4 upper bytes out of 5
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_readrxtimestamplo32()
+       *
        * @brief This is used to read the low 32-bits of the RX timestamp (adjusted with the programmed antenna delay)
+       *
        * input parameters
+       *
        * output parameters
+       *
        * returns low 32-bits of RX timestamp
        */
       uint32_t dwt_readrxtimestamplo32(void)
+      {
           return dwt_read32bitreg(RX_TIME_ID); // Read RX TIME as a 32-bit register to get the 4 lower bytes out of 5
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_readsystimestamphi32()
+       *
        * @brief This is used to read the high 32-bits of the system time
+       *
        * input parameters
+       *
        * output parameters
+       *
        * returns high 32-bits of system time timestamp
        */
       uint32_t dwt_readsystimestamphi32(void)
+      {
           return dwt_read32bitoffsetreg(SYS_TIME_ID, 1); // Offset is 1 to get the 4 upper bytes out of 5
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_readsystime()
+       *
        * @brief This is used to read the system time
+       *
        * input parameters
        * @param timestamp - a pointer to a 5-byte buffer which will store the read system time
+       *
        * output parameters
        * @param timestamp - the timestamp buffer will contain the value after the function call
+       *
        * no return value
        */
       void dwt_readsystime(uint8_t * timestamp)
+      {
           dwt_readfromdevice(SYS_TIME_ID, SYS_TIME_OFFSET, SYS_TIME_LEN, timestamp) ;
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_writetodevice()
+       *
        * @brief  this function is used to write to the DW1000 device registers
        * Notes:
        *        1. Firstly we create a header (the first byte is a header byte)
        *        a. check if sub index is used, if subindexing is used - set bit-6 to 1 to signify that the sub-index address follows the register index byte
        *        b. set bit-7 (or with 0x80) for write operation
        *        c. if extended sub address index is used (i.e. if index > 127) set bit-7 of the first sub-index byte following the first header byte
+       *
        *        2. Write the header followed by the data bytes to the DW1000 device
+       *
+       *
        * input parameters:
        * @param recordNumber  - ID of register file or buffer being accessed
        * @param index         - byte index into register file or buffer being accessed
        * @param length        - number of bytes being written
        * @param buffer        - pointer to buffer containing the 'length' bytes to be written
+       *
        * output parameters
+       *
        * no return value
        */
       void dwt_writetodevice
+      (
           uint16_t      recordNumber,
           uint16_t      index,
           uint32_t      length,
           const uint8_t *buffer
+      )
+      {
           uint8_t header[3] ; // Buffer to compose header in
           int   cnt = 0; // Counter for length of header
       #ifdef DWT_API_ERROR_CHECK
           assert(recordNumber <= 0x3F); // Record number is limited to 6-bits.
       #endif
           // Write message header selecting WRITE operation and addresses as appropriate (this is one to three bytes long)
           if (index == 0) // For index of 0, no sub-index is required
+          {
               header[cnt++] = 0x80 | (uint8_t)recordNumber ; // Bit-7 is WRITE operation, bit-6 zero=NO sub-addressing, bits 5-0 is reg file id
+          }
           else
+          {
       #ifdef DWT_API_ERROR_CHECK
               assert((index <= 0x7FFF) && ((index + length) <= 0x7FFF)); // Index and sub-addressable area are limited to 15-bits.
       #endif
               header[cnt++] = 0xC0 | (uint8_t)recordNumber ; // Bit-7 is WRITE operation, bit-6 one=sub-address follows, bits 5-0 is reg file id
               if (index <= 127) // For non-zero index < 127, just a single sub-index byte is required
+              {
                   header[cnt++] = (uint8_t)index ; // Bit-7 zero means no extension, bits 6-0 is index.
+              }
               else
+              {
                   header[cnt++] = 0x80 | (uint8_t)(index) ; // Bit-7 one means extended index, bits 6-0 is low seven bits of index.
                   header[cnt++] =  (uint8_t) (index >> 7) ; // 8-bit value = high eight bits of index.
+              }
+          }
           // Write it to the SPI
           writetospi((uint16_t)cnt,header,length,buffer);
       } // end dwt_writetodevice()
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_readfromdevice()
+       *
        * @brief  this function is used to read from the DW1000 device registers
        * Notes:
        *        1. Firstly we create a header (the first byte is a header byte)
        *        a. check if sub index is used, if subindexing is used - set bit-6 to 1 to signify that the sub-index address follows the register index byte
        *        b. set bit-7 (or with 0x80) for write operation
        *        c. if extended sub address index is used (i.e. if index > 127) set bit-7 of the first sub-index byte following the first header byte
+       *
        *        2. Write the header followed by the data bytes to the DW1000 device
        *        3. Store the read data in the input buffer
+       *
        * input parameters:
        * @param recordNumber  - ID of register file or buffer being accessed
        * @param index         - byte index into register file or buffer being accessed
        * @param length        - number of bytes being read
        * @param buffer        - pointer to buffer in which to return the read data.
+       *
        * output parameters
+       *
        * no return value
        */
       void dwt_readfromdevice
+      (
           uint16_t  recordNumber,
           uint16_t  index,
           uint32_t  length,
           uint8_t   *buffer
+      )
+      {
           uint8_t header[3] ; // Buffer to compose header in
           int   cnt = 0; // Counter for length of header
       #ifdef DWT_API_ERROR_CHECK
           assert(recordNumber <= 0x3F); // Record number is limited to 6-bits.
       #endif
           // Write message header selecting READ operation and addresses as appropriate (this is one to three bytes long)
           if (index == 0) // For index of 0, no sub-index is required
+          {
               header[cnt++] = (uint8_t) recordNumber ; // Bit-7 zero is READ operation, bit-6 zero=NO sub-addressing, bits 5-0 is reg file id
+          }
           else
+          {
       #ifdef DWT_API_ERROR_CHECK
               assert((index <= 0x7FFF) && ((index + length) <= 0x7FFF)); // Index and sub-addressable area are limited to 15-bits.
       #endif
               header[cnt++] = (uint8_t)(0x40 | recordNumber) ; // Bit-7 zero is READ operation, bit-6 one=sub-address follows, bits 5-0 is reg file id
               if (index <= 127) // For non-zero index < 127, just a single sub-index byte is required
+              {
                   header[cnt++] = (uint8_t) index ; // Bit-7 zero means no extension, bits 6-0 is index.
+              }
               else
+              {
                   header[cnt++] = 0x80 | (uint8_t)(index) ; // Bit-7 one means extended index, bits 6-0 is low seven bits of index.
                   header[cnt++] =  (uint8_t) (index >> 7) ; // 8-bit value = high eight bits of index.
+              }
+          }
           // Do the read from the SPI
           readfromspi((uint16_t)cnt, header, length, buffer);
       } // end dwt_readfromdevice()
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_read32bitoffsetreg()
+       *
        * @brief  this function is used to read 32-bit value from the DW1000 device registers
+       *
        * input parameters:
        * @param regFileID - ID of register file or buffer being accessed
        * @param regOffset - the index into register file or buffer being accessed
+       *
        * output parameters
+       *
        * returns 32 bit register value
        */
       uint32_t dwt_read32bitoffsetreg(int regFileID,int regOffset)
+      {
           uint32_t  regval = 0 ;
           int     j ;
           uint8_t   buffer[4] ;
           dwt_readfromdevice((uint16_t)regFileID, (uint16_t)regOffset,4,buffer); // Read 4 bytes (32-bits) register into buffer
           for (j = 3 ; j >= 0 ; j --)
+          {
               regval = (regval << 8) + buffer[j] ;
+          }
           return regval ;
       } // end dwt_read32bitoffsetreg()
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_read16bitoffsetreg()
+       *
        * @brief  this function is used to read 16-bit value from the DW1000 device registers
+       *
        * input parameters:
        * @param regFileID - ID of register file or buffer being accessed
        * @param regOffset - the index into register file or buffer being accessed
+       *
        * output parameters
+       *
        * returns 16 bit register value
        */
       uint16_t dwt_read16bitoffsetreg(int regFileID,int regOffset)
+      {
           uint16_t  regval = 0 ;
           uint8_t   buffer[2] ;
           dwt_readfromdevice((uint16_t)regFileID, (uint16_t)regOffset,2,buffer); // Read 2 bytes (16-bits) register into buffer
           regval = (uint16_t)((buffer[1] << 8) + buffer[0] );
           return regval ;
       } // end dwt_read16bitoffsetreg()
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_read8bitoffsetreg()
+       *
        * @brief  this function is used to read an 8-bit value from the DW1000 device registers
+       *
        * input parameters:
        * @param regFileID - ID of register file or buffer being accessed
        * @param regOffset - the index into register file or buffer being accessed
+       *
        * output parameters
+       *
        * returns 8-bit register value
        */
       uint8_t dwt_read8bitoffsetreg(int regFileID, int regOffset)
+      {
           uint8_t regval;
           dwt_readfromdevice((uint16_t)regFileID, (uint16_t)regOffset, 1, &regval);
           return regval ;
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_write8bitoffsetreg()
+       *
        * @brief  this function is used to write an 8-bit value to the DW1000 device registers
+       *
        * input parameters:
        * @param regFileID - ID of register file or buffer being accessed
        * @param regOffset - the index into register file or buffer being accessed
        * @param regval    - the value to write
+       *
        * output parameters
+       *
        * no return value
        */
       void dwt_write8bitoffsetreg(int regFileID, int regOffset, uint8_t regval)
+      {
           dwt_writetodevice((uint16_t)regFileID, (uint16_t)regOffset, 1, &regval);
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_write16bitoffsetreg()
+       *
        * @brief  this function is used to write 16-bit value to the DW1000 device registers
+       *
        * input parameters:
        * @param regFileID - ID of register file or buffer being accessed
        * @param regOffset - the index into register file or buffer being accessed
        * @param regval    - the value to write
+       *
        * output parameters
+       *
        * no return value
        */
       void dwt_write16bitoffsetreg(int regFileID,int regOffset,uint16_t regval)
+      {
           uint8_t   buffer[2] ;
           buffer[0] = regval & 0xFF;
           buffer[1] = regval >> 8 ;
           dwt_writetodevice((uint16_t)regFileID, (uint16_t)regOffset,2,buffer);
       } // end dwt_write16bitoffsetreg()
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_write32bitoffsetreg()
+       *
        * @brief  this function is used to write 32-bit value to the DW1000 device registers
+       *
        * input parameters:
        * @param regFileID - ID of register file or buffer being accessed
        * @param regOffset - the index into register file or buffer being accessed
        * @param regval    - the value to write
+       *
        * output parameters
+       *
        * no return value
        */
       void dwt_write32bitoffsetreg(int regFileID,int regOffset,uint32_t regval)
+      {
           int     j ;
           uint8_t   buffer[4] ;
           for ( j = 0 ; j < 4 ; j++ )
+          {
               buffer[j] = regval & 0xff ;
               regval >>= 8 ;
+          }
           dwt_writetodevice((uint16_t)regFileID,(uint16_t)regOffset,4,buffer);
       } // end dwt_write32bitoffsetreg()
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_enableframefilter()
+       *
        * @brief This is used to enable the frame filtering - (the default option is to
        * accept any data and ACK frames with correct destination address
+       *
        * input parameters
        * @param - bitmask - enables/disables the frame filtering options according to
        *      DWT_FF_NOTYPE_EN        0x000   no frame types allowed
        *      DWT_FF_COORD_EN         0x002   behave as coordinator (can receive frames with no destination address (PAN ID has to match))
        *      DWT_FF_BEACON_EN        0x004   beacon frames allowed
        *      DWT_FF_DATA_EN          0x008   data frames allowed
        *      DWT_FF_ACK_EN           0x010   ack frames allowed
        *      DWT_FF_MAC_EN           0x020   mac control frames allowed
        *      DWT_FF_RSVD_EN          0x040   reserved frame types allowed
+       *
        * output parameters
+       *
        * no return value
        */
       void dwt_enableframefilter(uint16_t enable)
+      {
           uint32_t sysconfig = SYS_CFG_MASK & dwt_read32bitreg(SYS_CFG_ID) ; // Read sysconfig register
           if(enable)
+          {
               // Enable frame filtering and configure frame types
               sysconfig &= ~(SYS_CFG_FF_ALL_EN); // Clear all
               sysconfig |= (enable & SYS_CFG_FF_ALL_EN) | SYS_CFG_FFE;
+          }
           else
+          {
               sysconfig &= ~(SYS_CFG_FFE);
+          }
           pdw1000local->sysCFGreg = sysconfig ;
           dwt_write32bitreg(SYS_CFG_ID,sysconfig) ;
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_setpanid()
+       *
        * @brief This is used to set the PAN ID
+       *
        * input parameters
        * @param panID - this is the PAN ID
+       *
        * output parameters
+       *
        * no return value
        */
       void dwt_setpanid(uint16_t panID)
+      {
           // PAN ID is high 16 bits of register
           dwt_write16bitoffsetreg(PANADR_ID, PANADR_PAN_ID_OFFSET, panID);
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_setaddress16()
+       *
        * @brief This is used to set 16-bit (short) address
+       *
        * input parameters
        * @param shortAddress - this sets the 16 bit short address
+       *
        * output parameters
+       *
        * no return value
        */
       void dwt_setaddress16(uint16_t shortAddress)
+      {
           // Short address into low 16 bits
           dwt_write16bitoffsetreg(PANADR_ID, PANADR_SHORT_ADDR_OFFSET, shortAddress);
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_seteui()
+       *
        * @brief This is used to set the EUI 64-bit (long) address
+       *
        * input parameters
        * @param eui64 - this is the pointer to a buffer that contains the 64bit address
+       *
        * output parameters
+       *
        * no return value
        */
       void dwt_seteui(uint8_t *eui64)
+      {
           dwt_writetodevice(EUI_64_ID, EUI_64_OFFSET, EUI_64_LEN, eui64);
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_geteui()
+       *
        * @brief This is used to get the EUI 64-bit from the DW1000
+       *
        * input parameters
        * @param eui64 - this is the pointer to a buffer that will contain the read 64-bit EUI value
+       *
        * output parameters
+       *
        * no return value
        */
       void dwt_geteui(uint8_t *eui64)
+      {
           dwt_readfromdevice(EUI_64_ID, EUI_64_OFFSET, EUI_64_LEN, eui64);
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_otpread()
+       *
        * @brief This is used to read the OTP data from given address into provided array
+       *
        * input parameters
        * @param address - this is the OTP address to read from
        * @param array - this is the pointer to the array into which to read the data
        * @param length - this is the number of 32 bit words to read (array needs to be at least this length)
+       *
        * output parameters
+       *
        * no return value
        */
       void dwt_otpread(uint32_t address, uint32_t *array, uint8_t length)
+      {
           int i;
           _dwt_enableclocks(FORCE_SYS_XTI); // NOTE: Set system clock to XTAL - this is necessary to make sure the values read by _dwt_otpread are reliable
           for(i=0; i<length; i++)
+          {
               array[i] = _dwt_otpread(address + (uint32_t)i) ;
+          }
           _dwt_enableclocks(ENABLE_ALL_SEQ); // Restore system clock to PLL
           return ;
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn _dwt_otpread()
+       *
        * @brief function to read the OTP memory. Ensure that MR,MRa,MRb are reset to 0.
+       *
        * input parameters
        * @param address - address to read at
+       *
        * output parameters
+       *
        * returns the 32bit of read data
        */
       uint32_t _dwt_otpread(uint32_t address)
+      {
           uint32_t ret_data;
           // Write the address
           dwt_write16bitoffsetreg(OTP_IF_ID, OTP_ADDR, (uint16_t)address);
           // Perform OTP Read - Manual read mode has to be set
           dwt_write8bitoffsetreg(OTP_IF_ID, OTP_CTRL, OTP_CTRL_OTPREAD | OTP_CTRL_OTPRDEN);
           dwt_write8bitoffsetreg(OTP_IF_ID, OTP_CTRL, 0x00); // OTPREAD is self clearing but OTPRDEN is not
           // Read read data, available 40ns after rising edge of OTP_READ
           ret_data = dwt_read32bitoffsetreg(OTP_IF_ID, OTP_RDAT);
           // Return the 32bit of read data
           return ret_data;
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn _dwt_otpsetmrregs()
+       *
        * @brief Configure the MR registers for initial programming (enable charge pump).
        * Read margin is used to stress the read back from the
        * programmed bit. In normal operation this is relaxed.
+       *
        * input parameters
        * @param mode - "0" : Reset all to 0x0:           MRA=0x0000, MRB=0x0000, MR=0x0000
        *               "1" : Set for inital programming: MRA=0x9220, MRB=0x000E, MR=0x1024
        *               "2" : Set for soak programming:   MRA=0x9220, MRB=0x0003, MR=0x1824
        *               "3" : High Vpp:                   MRA=0x9220, MRB=0x004E, MR=0x1824
        *               "4" : Low Read Margin:            MRA=0x0000, MRB=0x0003, MR=0x0000
        *               "5" : Array Clean:                MRA=0x0049, MRB=0x0003, MR=0x0024
        *               "4" : Very Low Read Margin:       MRA=0x0000, MRB=0x0003, MR=0x0000
+       *
        * output parameters
+       *
        * returns DWT_SUCCESS for success, or DWT_ERROR for error
        */
       int32_t _dwt_otpsetmrregs(int mode)
+      {
           uint8_t rd_buf[4];
           uint8_t wr_buf[4];
           uint32_t mra=0,mrb=0,mr=0;
           // PROGRAMME MRA
           // Set MRA, MODE_SEL
           wr_buf[0] = 0x03;
           dwt_writetodevice(OTP_IF_ID, OTP_CTRL+1,1,wr_buf);
           // Load data
           switch(mode&0x0f) {
           case 0x0 :
               mr =0x0000;
               mra=0x0000;
               mrb=0x0000;
               break;
           case 0x1 :
               mr =0x1024;
               mra=0x9220; // Enable CPP mon
               mrb=0x000e;
               break;
           case 0x2 :
               mr =0x1824;
               mra=0x9220;
               mrb=0x0003;
               break;
           case 0x3 :
               mr =0x1824;
               mra=0x9220;
               mrb=0x004e;
               break;
           case 0x4 :
               mr =0x0000;
               mra=0x0000;
               mrb=0x0003;
               break;
           case 0x5 :
               mr =0x0024;
               mra=0x0000;
               mrb=0x0003;
               break;
           default :
               return DWT_ERROR;
+          }
           wr_buf[0] = mra & 0x00ff;
           wr_buf[1] = (mra & 0xff00)>>8;
           dwt_writetodevice(OTP_IF_ID, OTP_WDAT,2,wr_buf);
           // Set WRITE_MR
           wr_buf[0] = 0x08;
           dwt_writetodevice(OTP_IF_ID, OTP_CTRL,1,wr_buf);
           // Wait?
           // Set Clear Mode sel
           wr_buf[0] = 0x02;
           dwt_writetodevice(OTP_IF_ID,OTP_CTRL+1,1,wr_buf);
           // Set AUX update, write MR
           wr_buf[0] = 0x88;
           dwt_writetodevice(OTP_IF_ID, OTP_CTRL,1,wr_buf);
           // Clear write MR
           wr_buf[0] = 0x80;
           dwt_writetodevice(OTP_IF_ID, OTP_CTRL,1,wr_buf);
           // Clear AUX update
           wr_buf[0] = 0x00;
           dwt_writetodevice(OTP_IF_ID, OTP_CTRL,1,wr_buf);
           ///////////////////////////////////////////
           // PROGRAM MRB
           // Set SLOW, MRB, MODE_SEL
           wr_buf[0] = 0x05;
           dwt_writetodevice(OTP_IF_ID,OTP_CTRL+1,1,wr_buf);
           wr_buf[0] = mrb & 0x00ff;
           wr_buf[1] = (mrb & 0xff00)>>8;
           dwt_writetodevice(OTP_IF_ID, OTP_WDAT,2,wr_buf);
           // Set WRITE_MR
           wr_buf[0] = 0x08;
           dwt_writetodevice(OTP_IF_ID, OTP_CTRL,1,wr_buf);
           // Wait?
           // Set Clear Mode sel
           wr_buf[0] = 0x04;
           dwt_writetodevice(OTP_IF_ID,OTP_CTRL+1,1,wr_buf);
           // Set AUX update, write MR
           wr_buf[0] = 0x88;
           dwt_writetodevice(OTP_IF_ID, OTP_CTRL,1,wr_buf);
           // Clear write MR
           wr_buf[0] = 0x80;
           dwt_writetodevice(OTP_IF_ID, OTP_CTRL,1,wr_buf);
           // Clear AUX update
           wr_buf[0] = 0x00;
           dwt_writetodevice(OTP_IF_ID, OTP_CTRL,1,wr_buf);
           ///////////////////////////////////////////
           // PROGRAM MR
           // Set SLOW, MODE_SEL
           wr_buf[0] = 0x01;
           dwt_writetodevice(OTP_IF_ID,OTP_CTRL+1,1,wr_buf);
           // Load data
           wr_buf[0] = mr & 0x00ff;
           wr_buf[1] = (mr & 0xff00)>>8;
           dwt_writetodevice(OTP_IF_ID, OTP_WDAT,2,wr_buf);
           // Set WRITE_MR
           wr_buf[0] = 0x08;
           dwt_writetodevice(OTP_IF_ID, OTP_CTRL,1,wr_buf);
           // Wait?
           deca_sleep(10);
           // Set Clear Mode sel
           wr_buf[0] = 0x00;
           dwt_writetodevice(OTP_IF_ID,OTP_CTRL+1,1,wr_buf);
           // Read confirm mode writes.
           // Set man override, MRA_SEL
           wr_buf[0] = OTP_CTRL_OTPRDEN;
           dwt_writetodevice(OTP_IF_ID, OTP_CTRL,1,wr_buf);
           wr_buf[0] = 0x02;
           dwt_writetodevice(OTP_IF_ID,OTP_CTRL+1,1,wr_buf);
           // MRB_SEL
           wr_buf[0] = 0x04;
           dwt_writetodevice(OTP_IF_ID,OTP_CTRL+1,1,wr_buf);
           deca_sleep(100);
           // Clear mode sel
           wr_buf[0] = 0x00;
           dwt_writetodevice(OTP_IF_ID,OTP_CTRL+1,1,wr_buf);
           // Clear MAN_OVERRIDE
           wr_buf[0] = 0x00;
           dwt_writetodevice(OTP_IF_ID, OTP_CTRL,1,wr_buf);
           deca_sleep(10);
           if (((mode&0x0f) == 0x1)||((mode&0x0f) == 0x2))
+          {
               // Read status register
               dwt_readfromdevice(OTP_IF_ID, OTP_STAT,1,rd_buf);
+          }
           return DWT_SUCCESS;
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn _dwt_otpprogword32()
+       *
        * @brief function to program the OTP memory. Ensure that MR,MRa,MRb are reset to 0.
        * VNM Charge pump needs to be enabled (see _dwt_otpsetmrregs)
        * Note the address is only 11 bits long.
+       *
        * input parameters
        * @param address - address to read at
+       *
        * output parameters
+       *
        * returns DWT_SUCCESS for success, or DWT_ERROR for error
        */
       int32_t _dwt_otpprogword32(uint32_t data, uint16_t address)
+      {
           uint8_t rd_buf[1];
           uint8_t wr_buf[4];
           uint8_t otp_done;
           // Read status register
           dwt_readfromdevice(OTP_IF_ID, OTP_STAT, 1, rd_buf);
           if((rd_buf[0] & 0x02) != 0x02)
+          {
               return DWT_ERROR;
+          }
           // Write the data
           wr_buf[3] = (data>>24) & 0xff;
           wr_buf[2] = (data>>16) & 0xff;
           wr_buf[1] = (data>>8) & 0xff;
           wr_buf[0] = data & 0xff;
           dwt_writetodevice(OTP_IF_ID, OTP_WDAT, 4, wr_buf);
           // Write the address [10:0]
           wr_buf[1] = (address>>8) & 0x07;
           wr_buf[0] = address & 0xff;
           dwt_writetodevice(OTP_IF_ID, OTP_ADDR, 2, wr_buf);
           // Enable Sequenced programming
           wr_buf[0] = OTP_CTRL_OTPPROG;
           dwt_writetodevice(OTP_IF_ID, OTP_CTRL, 1, wr_buf);
           wr_buf[0] = 0x00; // And clear
           dwt_writetodevice(OTP_IF_ID, OTP_CTRL, 1, wr_buf);
           // WAIT for status to flag PRGM OK..
           otp_done = 0;
           while(otp_done == 0)
+          {
               deca_sleep(1);
               dwt_readfromdevice(OTP_IF_ID, OTP_STAT, 1, rd_buf);
               if((rd_buf[0] & 0x01) == 0x01)
+              {
                   otp_done = 1;
+              }
+          }
           return DWT_SUCCESS;
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_otpwriteandverify()
+       *
        * @brief This is used to program 32-bit value into the DW1000 OTP memory.
+       *
        * input parameters
        * @param value - this is the 32-bit value to be programmed into OTP
        * @param address - this is the 16-bit OTP address into which the 32-bit value is programmed
+       *
        * output parameters
+       *
        * returns DWT_SUCCESS for success, or DWT_ERROR for error
        */
       int dwt_otpwriteandverify(uint32_t value, uint16_t address)
+      {
           int prog_ok = DWT_SUCCESS;
           int retry = 0;
           // Firstly set the system clock to crystal
           _dwt_enableclocks(FORCE_SYS_XTI); //set system clock to XTI
           //
           //!!!!!!!!!!!!!! NOTE !!!!!!!!!!!!!!!!!!!!!
           //Set the supply to 3.7V
           //
           _dwt_otpsetmrregs(1); // Set mode for programming
           // For each value to program - the readback/check is done couple of times to verify it has programmed successfully
           while(1)
+          {
               _dwt_otpprogword32(value, address);
               if(_dwt_otpread(address) == value)
+              {
                   break;
+              }
               retry++;
               if(retry==5)
+              {
                   break;
+              }
+          }
           // Even if the above does not exit before retry reaches 5, the programming has probably been successful
           _dwt_otpsetmrregs(4); // Set mode for reading
           if(_dwt_otpread(address) != value) // If this does not pass please check voltage supply on VDDIO
+          {
               prog_ok = DWT_ERROR;
+          }
           _dwt_otpsetmrregs(0); // Setting OTP mode register for low RM read - resetting the device would be alternative
           return prog_ok;
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn _dwt_aonconfigupload()
+       *
        * @brief This function uploads always on (AON) configuration, as set in the AON_CFG0_OFFSET register.
+       *
        * input parameters
+       *
        * output parameters
+       *
        * no return value
        */
       void _dwt_aonconfigupload(void)
+      {
           dwt_write8bitoffsetreg(AON_ID, AON_CTRL_OFFSET, AON_CTRL_UPL_CFG);
           dwt_write8bitoffsetreg(AON_ID, AON_CTRL_OFFSET, 0x00); // Clear the register
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn _dwt_aonarrayupload()
+       *
        * @brief This function uploads always on (AON) data array and configuration. Thus if this function is used, then _dwt_aonconfigupload
        * is not necessary. The DW1000 will go so SLEEP straight after this if the DWT_SLP_EN has been set.
+       *
        * input parameters
+       *
        * output parameters
+       *
        * no return value
        */
       void _dwt_aonarrayupload(void)
+      {
           dwt_write8bitoffsetreg(AON_ID, AON_CTRL_OFFSET, 0x00); // Clear the register
           dwt_write8bitoffsetreg(AON_ID, AON_CTRL_OFFSET, AON_CTRL_SAVE);
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_entersleep()
+       *
        * @brief This function puts the device into deep sleep or sleep. dwt_configuresleep() should be called first
        * to configure the sleep and on-wake/wake-up parameters
+       *
        * input parameters
+       *
        * output parameters
+       *
        * no return value
        */
       void dwt_entersleep(void)
+      {
           // Copy config to AON - upload the new configuration
           _dwt_aonarrayupload();
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_configuresleepcnt()
+       *
        * @brief sets the sleep counter to new value, this function programs the high 16-bits of the 28-bit counter
+       *
        * NOTE: this function needs to be run before dwt_configuresleep, also the SPI frequency has to be < 3MHz
+       *
        * input parameters
        * @param sleepcnt - this it value of the sleep counter to program
+       *
        * output parameters
+       *
        * no return value
        */
       void dwt_configuresleepcnt(uint16_t sleepcnt)
+      {
           // Force system clock to crystal
           _dwt_enableclocks(FORCE_SYS_XTI);
           // Reset sleep configuration to make sure we don't accidentally go to sleep
           dwt_write8bitoffsetreg(AON_ID, AON_CFG0_OFFSET, 0x00); // NB: this write change the default LPCLKDIVA value which is not used anyway.
           dwt_write8bitoffsetreg(AON_ID, AON_CFG1_OFFSET, 0x00);
           // Disable the sleep counter
           _dwt_aonconfigupload();
           // Set new value
           dwt_write16bitoffsetreg(AON_ID, AON_CFG0_OFFSET + AON_CFG0_SLEEP_TIM_OFFSET, sleepcnt);
           _dwt_aonconfigupload();
           // Enable the sleep counter
           dwt_write8bitoffsetreg(AON_ID, AON_CFG1_OFFSET, AON_CFG1_SLEEP_CEN);
           _dwt_aonconfigupload();
           // Put system PLL back on
           _dwt_enableclocks(ENABLE_ALL_SEQ);
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_calibratesleepcnt()
+       *
        * @brief calibrates the local oscillator as its frequency can vary between 7 and 13kHz depending on temp and voltage
+       *
        * NOTE: this function needs to be run before dwt_configuresleepcnt, so that we know what the counter units are
+       *
        * input parameters
+       *
        * output parameters
+       *
        * returns the number of XTAL/2 cycles per low-power oscillator cycle. LP OSC frequency = 19.2 MHz/return value
        */
       uint16_t dwt_calibratesleepcnt(void)
+      {
           uint16_t result;
           // Enable calibration of the sleep counter
           dwt_write8bitoffsetreg(AON_ID, AON_CFG1_OFFSET, AON_CFG1_LPOSC_CAL);
           _dwt_aonconfigupload();
           // Disable calibration of the sleep counter
           dwt_write8bitoffsetreg(AON_ID, AON_CFG1_OFFSET, 0x00);
           _dwt_aonconfigupload();
           // Force system clock to crystal
           _dwt_enableclocks(FORCE_SYS_XTI);
           deca_sleep(1);
           // Read the number of XTAL/2 cycles one LP oscillator cycle took.
           // Set up address - Read upper byte first
           dwt_write8bitoffsetreg(AON_ID, AON_ADDR_OFFSET, AON_ADDR_LPOSC_CAL_1);
           // Enable manual override
           dwt_write8bitoffsetreg(AON_ID, AON_CTRL_OFFSET, AON_CTRL_DCA_ENAB);
           // Read confirm data that was written
           dwt_write8bitoffsetreg(AON_ID, AON_CTRL_OFFSET, AON_CTRL_DCA_ENAB | AON_CTRL_DCA_READ);
           // Read back byte from AON
           result = dwt_read8bitoffsetreg(AON_ID, AON_RDAT_OFFSET);
           result <<= 8;
           // Set up address - Read lower byte
           dwt_write8bitoffsetreg(AON_ID, AON_ADDR_OFFSET, AON_ADDR_LPOSC_CAL_0);
           // Enable manual override
           dwt_write8bitoffsetreg(AON_ID, AON_CTRL_OFFSET, AON_CTRL_DCA_ENAB);
           // Read confirm data that was written
           dwt_write8bitoffsetreg(AON_ID, AON_CTRL_OFFSET, AON_CTRL_DCA_ENAB | AON_CTRL_DCA_READ);
           // Read back byte from AON
           result |= dwt_read8bitoffsetreg(AON_ID, AON_RDAT_OFFSET);
           // Disable manual override
           dwt_write8bitoffsetreg(AON_ID, AON_CTRL_OFFSET, 0x00);
           // Put system PLL back on
           _dwt_enableclocks(ENABLE_ALL_SEQ);
           // Returns the number of XTAL/2 cycles per one LP OSC cycle
           // This can be converted into LP OSC frequency by 19.2 MHz/result
           return result;
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_configuresleep()
+       *
        * @brief configures the device for both DEEP_SLEEP and SLEEP modes, and on-wake mode
        * i.e. before entering the sleep, the device should be programmed for TX or RX, then upon "waking up" the TX/RX settings
        * will be preserved and the device can immediately perform the desired action TX/RX
+       *
        * NOTE: e.g. Tag operation - after deep sleep, the device needs to just load the TX buffer and send the frame
+       *
+       *
        *      mode: the array and LDE code (OTP/ROM) and LDO tune, and set sleep persist
        *      DWT_PRESRV_SLEEP 0x0100 - preserve sleep
        *      DWT_LOADOPSET    0x0080 - load operating parameter set on wakeup
        *      DWT_CONFIG       0x0040 - download the AON array into the HIF (configuration download)
        *      DWT_LOADEUI      0x0008
        *      DWT_GOTORX       0x0002
        *      DWT_TANDV        0x0001
+       *
        *      wake: wake up parameters
        *      DWT_XTAL_EN      0x10 - keep XTAL running during sleep
        *      DWT_WAKE_SLPCNT  0x8 - wake up after sleep count
        *      DWT_WAKE_CS      0x4 - wake up on chip select
        *      DWT_WAKE_WK      0x2 - wake up on WAKEUP PIN
        *      DWT_SLP_EN       0x1 - enable sleep/deep sleep functionality
+       *
        * input parameters
        * @param mode - config on-wake parameters
        * @param wake - config wake up parameters
+       *
        * output parameters
+       *
        * no return value
        */
       void dwt_configuresleep(uint16_t mode, uint8_t wake)
+      {
           // Add predefined sleep settings before writing the mode
           mode |= pdw1000local->sleep_mode;
           dwt_write16bitoffsetreg(AON_ID, AON_WCFG_OFFSET, mode);
           dwt_write8bitoffsetreg(AON_ID, AON_CFG0_OFFSET, wake);
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_entersleepaftertx(int enable)
+       *
        * @brief sets the auto TX to sleep bit. This means that after a frame
        * transmission the device will enter deep sleep mode. The dwt_configuresleep() function
        * needs to be called before this to configure the on-wake settings
+       *
        * NOTE: the IRQ line has to be low/inactive (i.e. no pending events)
+       *
        * input parameters
        * @param enable - 1 to configure the device to enter deep sleep after TX, 0 - disables the configuration
+       *
        * output parameters
+       *
        * no return value
        */
       void dwt_entersleepaftertx(int enable)
+      {
           uint32_t reg = dwt_read32bitoffsetreg(PMSC_ID, PMSC_CTRL1_OFFSET);
           // Set the auto TX -> sleep bit
           if(enable)
+          {
               reg |= PMSC_CTRL1_ATXSLP;
+          }
           else
+          {
               reg &= ~(PMSC_CTRL1_ATXSLP);
+          }
           dwt_write32bitoffsetreg(PMSC_ID, PMSC_CTRL1_OFFSET, reg);
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_spicswakeup()
+       *
        * @brief wake up the device from sleep mode using the SPI read,
        * the device will wake up on chip select line going low if the line is held low for at least 500us.
        * To define the length depending on the time one wants to hold
        * the chip select line low, use the following formula:
+       *
        *      length (bytes) = time (s) * byte_rate (Hz)
+       *
        * where fastest byte_rate is spi_rate (Hz) / 8 if the SPI is sending the bytes back-to-back.
        * To save time and power, a system designer could determine byte_rate value more precisely.
+       *
        * NOTE: Alternatively the device can be waken up with WAKE_UP pin if configured for that operation
+       *
        * input parameters
        * @param buff   - this is a pointer to the dummy buffer which will be used in the SPI read transaction used for the WAKE UP of the device
        * @param length - this is the length of the dummy buffer
+       *
        * output parameters
+       *
        * returns DWT_SUCCESS for success, or DWT_ERROR for error
        */
       int dwt_spicswakeup(uint8_t *buff, uint16_t length)
+      {
           if(dwt_readdevid() != DWT_DEVICE_ID) // Device was in deep sleep (the first read fails)
+          {
               // Need to keep chip select line low for at least 500us
               dwt_readfromdevice(0x0, 0x0, length, buff); // Do a long read to wake up the chip (hold the chip select low)
               // Need 5ms for XTAL to start and stabilise (could wait for PLL lock IRQ status bit !!!)
               // NOTE: Polling of the STATUS register is not possible unless frequency is < 3MHz
               deca_sleep(5);
+          }
           else
+          {
               return DWT_SUCCESS;
+          }
           // DEBUG - check if still in sleep mode
           if(dwt_readdevid() != DWT_DEVICE_ID)
+          {
               return DWT_ERROR;
+          }
           return DWT_SUCCESS;
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn _dwt_configlde()
+       *
        * @brief configure LDE algorithm parameters
+       *
        * input parameters
        * @param prf   -   this is the PRF index (0 or 1) 0 corresponds to 16 and 1 to 64 PRF
+       *
        * output parameters
+       *
        * no return value
        */
       void _dwt_configlde(int prfIndex)
+      {
           dwt_write8bitoffsetreg(LDE_IF_ID, LDE_CFG1_OFFSET, LDE_PARAM1); // 8-bit configuration register
           if(prfIndex)
+          {
               dwt_write16bitoffsetreg( LDE_IF_ID, LDE_CFG2_OFFSET, (uint16_t) LDE_PARAM3_64); // 16-bit LDE configuration tuning register
+          }
           else
+          {
               dwt_write16bitoffsetreg( LDE_IF_ID, LDE_CFG2_OFFSET, (uint16_t) LDE_PARAM3_16);
+          }
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn _dwt_loaducodefromrom()
+       *
        * @brief  load ucode from OTP MEMORY or ROM
+       *
        * input parameters
+       *
        * output parameters
+       *
        * no return value
        */
       void _dwt_loaducodefromrom(void)
+      {
           // Set up clocks
           _dwt_enableclocks(FORCE_LDE);
           // Kick off the LDE load
           dwt_write16bitoffsetreg(OTP_IF_ID, OTP_CTRL, OTP_CTRL_LDELOAD); // Set load LDE kick bit
           deca_sleep(1); // Allow time for code to upload (should take up to 120 us)
           // Default clocks (ENABLE_ALL_SEQ)
           _dwt_enableclocks(ENABLE_ALL_SEQ); // Enable clocks for sequencing
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_loadopsettabfromotp()
+       *
        * @brief This is used to select which Operational Parameter Set table to load from OTP memory
+       *
        * input parameters
        * @param ops_sel - Operational Parameter Set table to load:
        *                  DWT_OPSET_64LEN = 0x0 - load the operational parameter set table for 64 length preamble configuration
        *                  DWT_OPSET_TIGHT = 0x1 - load the operational parameter set table for tight xtal offsets (<1ppm)
        *                  DWT_OPSET_DEFLT = 0x2 - load the default operational parameter set table (this is loaded from reset)
+       *
        * output parameters
+       *
        * no return value
        */
       void dwt_loadopsettabfromotp(uint8_t ops_sel)
+      {
           uint16_t reg = ((ops_sel << OTP_SF_OPS_SEL_SHFT) & OTP_SF_OPS_SEL_MASK) | OTP_SF_OPS_KICK; // Select defined OPS table and trigger its loading
           // Set up clocks
           _dwt_enableclocks(FORCE_LDE);
           dwt_write16bitoffsetreg(OTP_IF_ID, OTP_SF, reg);
           // Default clocks (ENABLE_ALL_SEQ)
           _dwt_enableclocks(ENABLE_ALL_SEQ); // Enable clocks for sequencing
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_setsmarttxpower()
+       *
        * @brief This call enables or disables the smart TX power feature.
+       *
        * input parameters
        * @param enable - this enables or disables the TX smart power (1 = enable, 0 = disable)
+       *
        * output parameters
+       *
        * no return value
        */
       void dwt_setsmarttxpower(int enable)
+      {
           // Config system register
           pdw1000local->sysCFGreg = dwt_read32bitreg(SYS_CFG_ID) ; // Read sysconfig register
           // Disable smart power configuration
           if(enable)
+          {
               pdw1000local->sysCFGreg &= ~(SYS_CFG_DIS_STXP) ;
+          }
           else
+          {
               pdw1000local->sysCFGreg |= SYS_CFG_DIS_STXP ;
+          }
           dwt_write32bitreg(SYS_CFG_ID,pdw1000local->sysCFGreg) ;
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_enableautoack()
+       *
        * @brief This call enables the auto-ACK feature. If the responseDelayTime (parameter) is 0, the ACK will be sent a.s.a.p.
        * otherwise it will be sent with a programmed delay (in symbols), max is 255.
        * NOTE: needs to have frame filtering enabled as well
+       *
        * input parameters
        * @param responseDelayTime - if non-zero the ACK is sent after this delay, max is 255.
+       *
        * output parameters
+       *
        * no return value
        */
       void dwt_enableautoack(uint8_t responseDelayTime)
+      {
           // Set auto ACK reply delay
           dwt_write8bitoffsetreg(ACK_RESP_T_ID, ACK_RESP_T_ACK_TIM_OFFSET, responseDelayTime); // In symbols
           // Enable auto ACK
           pdw1000local->sysCFGreg |= SYS_CFG_AUTOACK;
           dwt_write32bitreg(SYS_CFG_ID,pdw1000local->sysCFGreg) ;
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_setdblrxbuffmode()
+       *
        * @brief This call enables the double receive buffer mode
+       *
        * input parameters
        * @param enable - 1 to enable, 0 to disable the double buffer mode
+       *
        * output parameters
+       *
        * no return value
        */
       void dwt_setdblrxbuffmode(int enable)
+      {
           if(enable)
+          {
               // Enable double RX buffer mode
               pdw1000local->sysCFGreg &= ~SYS_CFG_DIS_DRXB;
               pdw1000local->dblbuffon = 1;
+          }
           else
+          {
               // Disable double RX buffer mode
               pdw1000local->sysCFGreg |= SYS_CFG_DIS_DRXB;
               pdw1000local->dblbuffon = 0;
+          }
           dwt_write32bitreg(SYS_CFG_ID,pdw1000local->sysCFGreg) ;
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_setrxaftertxdelay()
+       *
        * @brief This sets the receiver turn on delay time after a transmission of a frame
+       *
        * input parameters
        * @param rxDelayTime - (20 bits) - the delay is in UWB microseconds
+       *
        * output parameters
+       *
        * no return value
        */
       void dwt_setrxaftertxdelay(uint32_t rxDelayTime)
+      {
           uint32_t val = dwt_read32bitreg(ACK_RESP_T_ID) ; // Read ACK_RESP_T_ID register
           val &= ~(ACK_RESP_T_W4R_TIM_MASK) ; // Clear the timer (19:0)
           val |= (rxDelayTime & ACK_RESP_T_W4R_TIM_MASK) ; // In UWB microseconds (e.g. turn the receiver on 20uus after TX)
           dwt_write32bitreg(ACK_RESP_T_ID, val) ;
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_setcallbacks()
+       *
        * @brief This function is used to register the different callbacks called when one of the corresponding event occurs.
+       *
        * NOTE: Callbacks can be undefined (set to NULL). In this case, dwt_isr() will process the event as usual but the 'null'
        * callback will not be called.
+       *
        * input parameters
        * @param cbTxDone - the pointer to the TX confirmation event callback function
        * @param cbRxOk - the pointer to the RX good frame event callback function
        * @param cbRxTo - the pointer to the RX timeout events callback function
        * @param cbRxErr - the pointer to the RX error events callback function
+       *
        * output parameters
+       *
        * no return value
        */
       void dwt_setcallbacks(dwt_cb_t cbTxDone, dwt_cb_t cbRxOk, dwt_cb_t cbRxTo, dwt_cb_t cbRxErr)
+      {
           pdw1000local->cbTxDone = cbTxDone;
           pdw1000local->cbRxOk = cbRxOk;
           pdw1000local->cbRxTo = cbRxTo;
           pdw1000local->cbRxErr = cbRxErr;
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_checkirq()
+       *
        * @brief This function checks if the IRQ line is active - this is used instead of interrupt handler
+       *
        * input parameters
+       *
        * output parameters
+       *
        * return value is 1 if the IRQS bit is set and 0 otherwise
        */
       uint8_t dwt_checkirq(void)
+      {
           return (dwt_read8bitoffsetreg(SYS_STATUS_ID, SYS_STATUS_OFFSET) & SYS_STATUS_IRQS); // Reading the lower byte only is enough for this operation
+      }
       /*! ------------------------------------------------------------------------------------------------------------------
        * @fn dwt_isr()
+       *
        * @brief This is the DW1000's general Interrupt Service Routine. It will process/report the following events:
        *          - RXFCG (through cbRxOk callback)
        *          - TXFRS (through cbTxDone callback)
        *          - RXRFTO/RXPTO (through cbRxTo callback)
        *          - RXPHE/RXFCE/RXRFSL/RXSFDTO/AFFREJ/LDEERR (through cbRxTo cbRxErr)
        *        For all events, corresponding interrupts are cleared and necessary resets are performed. In addition, in the RXFCG case,
        *        received frame information and frame control are read before calling the callback. If double buffering is activated, it
        *        will also toggle between reception buffers once the reception callback processing has ended.
+       *
        *        /!\ This version of the ISR supports double buffering but does not support automatic RX re-enabling!
+       *
        * NOTE:  In PC based system using (Cheetah or ARM) USB to SPI converter there can be no interrupts, however we still need something
        *        to take the place of it and operate in a polled way. In an embedded system this function should be configured to be triggered
        *        on any of the interrupts described above.
        * input parameters
+       *
        * output parameters
+       *
        * no return value
        */
       void dwt_isr(void)
+      {
           uint32_t status = pdw1000local->cbData.status = dwt_read32bitreg(SYS_STATUS_ID); // Read status register low 32bits
           // Handle RX good frame event