Revision 33f54213 source/DW1000/v1/deca_instance_common_v1.c
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#include "module.h" |
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#include <string.h> |
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#include <math.h> |
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#include <v1/deca_instance_v1.h> |
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/*! @brief Software defined configuration settings for RTLS applications */ |
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/*! Configuration for DecaRangeRTLS TREK Modes (4 default use cases selected by the switch S1 [2,3] on EVB1000, indexed 0 to 3 )*/ |
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instanceConfig_t chConfig[4] ={
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//mode 1 - S1: 2 off, 3 off |
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{
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.channelNumber = 2, // channel |
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.preambleCode = 4, // preambleCode |
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.pulseRepFreq = DWT_PRF_16M, // prf |
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.dataRate = DWT_BR_110K, // datarate |
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.preambleLen = DWT_PLEN_1024, // preambleLength |
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.pacSize = DWT_PAC32, // pacSize |
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.nsSFD = 1, // non-standard SFD |
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.sfdTO = (1025 + 64 - 32) // SFD timeout |
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}, |
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//mode 2 - S1: 2 on, 3 off |
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{
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.channelNumber = 2, // channel |
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.preambleCode = 4, // preambleCode |
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.pulseRepFreq = DWT_PRF_16M, // prf |
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.dataRate = DWT_BR_6M8, // datarate |
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.preambleLen = DWT_PLEN_128, // preambleLength |
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.pacSize = DWT_PAC8, // pacSize |
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.nsSFD = 0, // non-standard SFD |
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.sfdTO = (129 + 8 - 8) // SFD timeout |
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}, |
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//mode 3 - S1: 2 off, 3 on |
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{
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.channelNumber = 5, // channel |
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.preambleCode = 3, // preambleCode |
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.pulseRepFreq = DWT_PRF_16M, // prf |
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.dataRate = DWT_BR_110K, // datarate |
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.preambleLen = DWT_PLEN_1024, // preambleLength |
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.pacSize = DWT_PAC32, // pacSize |
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.nsSFD = 1, // non-standard SFD |
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.sfdTO = (1025 + 64 - 32) // SFD timeout |
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}, |
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//mode 4 - S1: 2 on, 3 on |
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{
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.channelNumber = 5, // channel |
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.preambleCode = 3, // preambleCode |
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.pulseRepFreq = DWT_PRF_16M, // prf |
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.dataRate = DWT_BR_6M8, // datarate |
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.preambleLen = DWT_PLEN_128, // preambleLength |
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.pacSize = DWT_PAC8, // pacSize |
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.nsSFD = 0, // non-standard SFD |
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.sfdTO = (129 + 8 - 8) // SFD timeout |
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} |
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}; |
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extern double dwt_getrangebias(uint8_t chan, float range, uint8_t prf); |
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extern const uint16_t rfDelays[2]; |
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extern const uint16_t rfDelaysTREK[2]; |
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extern const tx_struct txSpectrumConfig[8]; |
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// ------------------------------------------------------------------------------------------------------------------- |
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// Deca Calibration Values |
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// ------------------------------------------------------------------------------------------------------------------- |
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/*! Slot and Superframe Configuration for DecaRangeRTLS TREK Modes (4 default use cases selected by the switch S1 [2,3] on EVB1000, indexed 0 to 3 )*/ |
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sfConfig_t sfConfig[4] ={
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//mode 1 - S1: 2 off, 3 off |
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{
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.slotPeriod = (28), //slot duration in milliseconds (NOTE: the ranging exchange must be able to complete in this time |
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//e.g. tag sends a poll, 4 anchors send responses and tag sends the final + processing time |
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.numSlots = (10), //number of slots in the superframe (8 tag slots and 2 used for anchor to anchor ranging), |
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.sfPeriod = (10*28), //in ms => 280ms frame means 3.57 Hz location rate |
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.pollSleepDly = (10*28), //tag period in ms (sleep time + ranging time) |
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.replyDly = (25000) //poll to final delay in microseconds (needs to be adjusted according to lengths of ranging frames) |
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}, |
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#if (DISCOVERY == 1) |
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//mode 2 - S1: 2 on, 3 off |
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{
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.slotPeriod = (10), //slot duration in milliseconds (NOTE: the ranging exchange must be able to complete in this time |
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//e.g. tag sends a poll, 4 anchors send responses and tag sends the final + processing time |
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.numSlots = (100), //number of slots in the superframe (98 tag slots and 2 used for anchor to anchor ranging), |
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.sfPeriod = (10*100), //in ms => 1000 ms frame means 1 Hz location rate |
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.pollSleepDly = (10*100), //tag period in ms (sleep time + ranging time) |
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.replyDly = (2500) //poll to final delay in microseconds (needs to be adjusted according to lengths of ranging frames) |
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}, |
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#else |
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//mode 2 - S1: 2 on, 3 off |
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{
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.slotPeriod = (10), //slot duration in milliseconds (NOTE: the ranging exchange must be able to complete in this time |
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//e.g. tag sends a poll, 4 anchors send responses and tag sends the final + processing time |
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.numSlots = (10), //number of slots in the superframe (8 tag slots and 2 used for anchor to anchor ranging), |
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.sfPeriod = (10*10), //in ms => 100 ms frame means 10 Hz location rate |
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.pollSleepDly = (10*10), //tag period in ms (sleep time + ranging time) |
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.replyDly = (2500) //poll to final delay in microseconds (needs to be adjusted according to lengths of ranging frames) |
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}, |
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#endif |
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//mode 3 - S1: 2 off, 3 on |
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{
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.slotPeriod = (28), //slot duration in milliseconds (NOTE: the ranging exchange must be able to complete in this time |
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//e.g. tag sends a poll, 4 anchors send responses and tag sends the final + processing time |
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.numSlots = (10), //number of slots in the superframe (8 tag slots and 2 used for anchor to anchor ranging), |
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.sfPeriod = (10*28), //in ms => 280ms frame means 3.57 Hz location rate |
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.pollSleepDly = (10*28), //tag period in ms (sleep time + ranging time) |
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.replyDly = (20000) //poll to final delay in microseconds (needs to be adjusted according to lengths of ranging frames) |
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}, |
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//mode 4 - S1: 2 on, 3 on |
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{
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.slotPeriod = (10), //slot duration in milliseconds (NOTE: the ranging exchange must be able to complete in this time |
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//e.g. tag sends a poll, 4 anchors send responses and tag sends the final + processing time |
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.numSlots = (10), //number of slots in the superframe (8 tag slots and 2 used for anchor to anchor ranging), |
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.sfPeriod = (10*10), //in ms => 100 ms frame means 10 Hz location rate |
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.pollSleepDly = (10*10), //tag period in ms (sleep time + ranging time) |
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.replyDly = (2500) //poll to final delay in microseconds (needs to be adjusted according to lengths of ranging frames) |
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} |
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}; |
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#define DWT_PRF_64M_RFDLY (514.462f) |
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#define DWT_PRF_16M_RFDLY (513.9067f) |
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// ------------------------------------------------------------------------------------------------------------------- |
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| ... | ... | |
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// function to initialise instance structures |
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// |
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// Returns 0 on success and -1 on error |
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int instance_init(void){
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//int instance_init(void){ // TODO
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int instance_init(DW1000Driver* drv){
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int instance = 0 ; |
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int i; |
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int result; |
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//dwt_softreset(); |
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//this initialises DW1000 and uses specified configurations from OTP/ROM |
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result = dwt_initialise(DWT_LOADUCODE) ; |
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result = dwt_initialise(DWT_LOADUCODE, drv) ; // TODO |
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// result = dwt_initialise(DWT_LOADUCODE) ; |
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//this is platform dependent - only program if DW EVK/EVB |
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dwt_setleds(3) ; //configure the GPIOs which control the leds on EVBs |
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