amiro-lld / source / DW1000 / v1 / deca_instance_common_v1.c @ 69a601a5
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1 | 69a601a5 | Cung Sang | /*! ----------------------------------------------------------------------------
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2 | * @file instance_common.c
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3 | * @brief DecaWave application level common instance functions
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4 | *
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5 | * @attention
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6 | *
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7 | * Copyright 2015 (c) DecaWave Ltd, Dublin, Ireland.
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8 | *
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9 | * All rights reserved.
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10 | *
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11 | * @author DecaWave
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12 | */
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13 | |||
14 | #include <alld_DW1000.h> |
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15 | |||
16 | #if (defined(AMIROLLD_CFG_DW1000) && (AMIROLLD_CFG_DW1000 == 1)) || defined(__DOXYGEN__) |
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17 | |||
18 | #include "module.h" |
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19 | #include <string.h> |
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20 | #include <math.h> |
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21 | |||
22 | |||
23 | extern double dwt_getrangebias(uint8_t chan, float range, uint8_t prf); |
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24 | |||
25 | extern const uint16_t rfDelays[2]; |
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26 | extern const uint16_t rfDelaysTREK[2]; |
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27 | extern const tx_struct txSpectrumConfig[8]; |
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28 | |||
29 | |||
30 | |||
31 | // -------------------------------------------------------------------------------------------------------------------
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32 | // Deca Calibration Values
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33 | // -------------------------------------------------------------------------------------------------------------------
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34 | |||
35 | #define DWT_PRF_64M_RFDLY (514.462f) |
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36 | #define DWT_PRF_16M_RFDLY (513.9067f) |
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37 | |||
38 | // -------------------------------------------------------------------------------------------------------------------
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39 | |||
40 | //The table below specifies the default TX spectrum configuration parameters... this has been tuned for DW EVK hardware units
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41 | //the table is set for smart power - see below in the instance_config function how this is used when not using smart power
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42 | const tx_struct txSpectrumConfig[8] = |
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43 | { |
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44 | //Channel 0 ----- this is just a place holder so the next array element is channel 1
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45 | { |
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46 | 0x0, //0 |
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47 | { |
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48 | 0x0, //0 |
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49 | 0x0 //0 |
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50 | } |
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51 | }, |
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52 | //Channel 1
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53 | { |
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54 | 0xc9, //PG_DELAY |
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55 | { |
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56 | 0x15355575, //16M prf power |
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57 | 0x07274767 //64M prf power |
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58 | } |
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59 | |||
60 | }, |
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61 | //Channel 2
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62 | { |
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63 | 0xc2, //PG_DELAY |
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64 | { |
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65 | 0x15355575, //16M prf power |
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66 | 0x07274767 //64M prf power |
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67 | } |
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68 | }, |
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69 | //Channel 3
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70 | { |
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71 | 0xc5, //PG_DELAY |
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72 | { |
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73 | 0x0f2f4f6f, //16M prf power |
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74 | 0x2b4b6b8b //64M prf power |
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75 | } |
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76 | }, |
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77 | //Channel 4
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78 | { |
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79 | 0x95, //PG_DELAY |
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80 | { |
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81 | 0x1f1f3f5f, //16M prf power |
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82 | 0x3a5a7a9a //64M prf power |
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83 | } |
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84 | }, |
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85 | //Channel 5
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86 | { |
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87 | 0xc0, //PG_DELAY |
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88 | { |
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89 | 0x0E082848, //16M prf power |
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90 | 0x25456585 //64M prf power |
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91 | } |
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92 | }, |
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93 | //Channel 6 ----- this is just a place holder so the next array element is channel 7
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94 | { |
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95 | 0x0, //0 |
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96 | { |
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97 | 0x0, //0 |
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98 | 0x0 //0 |
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99 | } |
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100 | }, |
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101 | //Channel 7
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102 | { |
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103 | 0x93, //PG_DELAY |
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104 | { |
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105 | 0x32527292, //16M prf power |
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106 | 0x5171B1d1 //64M prf power |
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107 | } |
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108 | } |
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109 | }; |
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110 | |||
111 | //these are default antenna delays for EVB1000, these can be used if there is no calibration data in the DW1000,
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112 | //or instead of the calibration data
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113 | const uint16_t rfDelays[2] = { |
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114 | (uint16_t) ((DWT_PRF_16M_RFDLY/ 2.0) * 1e-9 / DWT_TIME_UNITS),//PRF 16 |
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115 | (uint16_t) ((DWT_PRF_64M_RFDLY/ 2.0) * 1e-9 / DWT_TIME_UNITS) |
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116 | }; |
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117 | |||
118 | //these are default TREK Tag/Anchor antenna delays
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119 | const uint16_t rfDelaysTREK[2] = { |
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120 | (uint16_t) ((514.83f/ 2.0) * 1e-9 / DWT_TIME_UNITS),//channel 2 |
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121 | (uint16_t) ((514.65f/ 2.0) * 1e-9 / DWT_TIME_UNITS) //channel 5 |
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122 | }; |
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123 | |||
124 | //int instance_starttxtest(int framePeriod)
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125 | //{
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126 | // //define some test data for the tx buffer
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127 | // uint8 msg[127] = "The quick brown fox jumps over the lazy dog. The quick brown fox jumps over the lazy dog. The quick brown fox jumps over the l";
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128 | |||
129 | // //NOTE: SPI frequency must be < 3MHz
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130 | // port_set_dw1000_slowrate(); //max SPI before PLLs configured is ~4M
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131 | |||
132 | // // the value here 0x1000 gives a period of 32.82 µs
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133 | // //this is setting 0x1000 as frame period (125MHz clock cycles) (time from Tx en - to next - Tx en)
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134 | // dwt_configcontinuousframemode(framePeriod);
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135 | |||
136 | // dwt_writetxdata(127, (uint8 *) msg, 0) ;
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137 | // dwt_writetxfctrl(127, 0, 0);
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138 | |||
139 | // //to start the first frame - set TXSTRT
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140 | // dwt_starttx(DWT_START_TX_IMMEDIATE);
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141 | |||
142 | // //measure the power
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143 | // //Spectrum Analyser set:
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144 | // //FREQ to be channel default e.g. 3.9936 GHz for channel 2
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145 | // //SPAN to 1GHz
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146 | // //SWEEP TIME 1s
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147 | // //RBW and VBW 1MHz
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148 | // //measure channel power
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149 | |||
150 | // return DWT_SUCCESS ;
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151 | //}
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152 | |||
153 | // -------------------------------------------------------------------------------------------------------------------
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154 | // Data Definitions
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155 | // -------------------------------------------------------------------------------------------------------------------
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156 | |||
157 | instance_data_t instance_data[NUM_INST] ; |
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158 | |||
159 | static double inst_tdist[MAX_TAG_LIST_SIZE] ; |
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160 | static double inst_idist[MAX_ANCHOR_LIST_SIZE] ; |
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161 | static double inst_idistraw[MAX_ANCHOR_LIST_SIZE] ; |
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162 | |||
163 | // TODO: Instance_data declaration in .c. Not on .h (extern only)
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164 | instance_data_t instance_data[NUM_INST] ; |
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165 | |||
166 | /* TODO: Custom data declarations */
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167 | typedef struct |
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168 | { |
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169 | uint32_t deviceID ; |
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170 | uint8_t chan; // added chan here - used in the reading of acc
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171 | uint16_t rfrxDly; // rf delay (delay though the RF blocks before the signal comes out of the antenna i.e. "antenna delay")
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172 | uint16_t rftxDly; // rf delay (delay though the RF blocks before the signal comes out of the antenna i.e. "antenna delay")
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173 | uint32_t antennaDly; // antenna delay read from OTP 64 PRF value is in high 16 bits and 16M PRF in low 16 bits
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174 | uint32_t antennaCals[4]; // antenna delays for the TREKs (Anchor high 16-bits, Tag low 16-bits) |
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175 | uint32_t txPowCfg[12]; // stores the Tx power configuration read from OTP (6 channels consecutively with PRF16 then 64, e.g. Ch 1 PRF16 is index 0 and 64 index 1) |
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176 | uint32_t states[3] ; //MP workaround debug states register |
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177 | uint8_t statescount ; |
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178 | int prfIndex ;
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179 | uint32_t ldoTune ; //low 32 bits of LDO tune value
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180 | } platform_local_data_t ; |
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181 | |||
182 | static platform_local_data_t platformLocalData ; // Static local device data |
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183 | |||
184 | // -------------------------------------------------------------------------------------------------------------------
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185 | // Functions
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186 | // -------------------------------------------------------------------------------------------------------------------
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187 | |||
188 | // -------------------------------------------------------------------------------------------------------------------
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189 | // convert microseconds to device time
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190 | uint64_t convertmicrosectodevicetimeu (double microsecu){
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191 | uint64_t dt; |
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192 | long double dtime; |
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193 | |||
194 | dtime = (microsecu / (double) DWT_TIME_UNITS) / 1e6 ; |
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195 | |||
196 | dt = (uint64_t) (dtime) ; |
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197 | |||
198 | return dt;
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199 | } |
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200 | |||
201 | double convertdevicetimetosec(int32_t dt){
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202 | double f = 0; |
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203 | |||
204 | f = dt * DWT_TIME_UNITS ; // seconds #define TIME_UNITS (1.0/499.2e6/128.0) = 15.65e-12
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205 | |||
206 | return f ;
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207 | } |
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208 | |||
209 | #pragma GCC optimize ("O3") |
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210 | int reportTOF(int idx, uint32_t tofx){ |
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211 | double distance ;
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212 | double distance_to_correct;
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213 | double tof ;
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214 | int32_t tofi ; |
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215 | |||
216 | // check for negative results and accept them making them proper negative integers
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217 | tofi = (int32_t) tofx ; // make it signed
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218 | if (tofi > 0x7FFFFFFF){ // close up TOF may be negative |
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219 | tofi -= 0x80000000 ; // |
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220 | } |
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221 | |||
222 | // convert to seconds (as floating point)
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223 | tof = convertdevicetimetosec(tofi) ; //this is divided by 4 to get single time of flight
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224 | inst_idistraw[idx] = distance = tof * SPEED_OF_LIGHT; |
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225 | |||
226 | #if (CORRECT_RANGE_BIAS == 1) |
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227 | //for the 6.81Mb data rate we assume gating gain of 6dB is used,
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228 | //thus a different range bias needs to be applied
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229 | //if(inst->configData.dataRate == DWT_BR_6M8)
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230 | if(instance_data[0].configData.smartPowerEn){ |
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231 | //1.31 for channel 2 and 1.51 for channel 5
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232 | if(instance_data[0].configData.chan == 5){ |
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233 | distance_to_correct = distance/1.51; |
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234 | } |
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235 | else{ //channel 2 |
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236 | distance_to_correct = distance/1.31; |
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237 | } |
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238 | } |
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239 | else{
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240 | distance_to_correct = distance; |
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241 | } |
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242 | |||
243 | distance = distance - dwt_getrangebias(instance_data[0].configData.chan, (float) distance_to_correct, instance_data[0].configData.prf); |
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244 | #endif
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245 | |||
246 | if ((distance < 0) || (distance > 20000.000)) // discard any results less than <0 cm or >20 km |
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247 | return 0; |
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248 | |||
249 | inst_idist[idx] = distance; |
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250 | |||
251 | instance_data[0].longTermRangeCount++ ; // for computing a long term average |
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252 | |||
253 | return 1; |
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254 | }// end of reportTOF
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255 | |||
256 | void setTagDist(int tidx, int aidx){ |
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257 | inst_tdist[tidx] = inst_idist[aidx]; |
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258 | } |
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259 | |||
260 | double getTagDist(int idx){ |
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261 | return inst_tdist[idx];
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262 | } |
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263 | |||
264 | void clearDistTable(int idx){ |
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265 | inst_idistraw[idx] = 0;
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266 | inst_idist[idx] = 0;
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267 | } |
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268 | |||
269 | void instancecleardisttableall(void){ |
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270 | int i;
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271 | |||
272 | for(i=0; i<MAX_ANCHOR_LIST_SIZE; i++) { |
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273 | inst_idistraw[i] = 0xffff;
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274 | inst_idist[i] = 0xffff;
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275 | } |
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276 | } |
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277 | |||
278 | // -------------------------------------------------------------------------------------------------------------------
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279 | #if NUM_INST != 1 |
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280 | #error These functions assume one instance only
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281 | #else
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282 | |||
283 | |||
284 | // -------------------------------------------------------------------------------------------------------------------
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285 | // Set this instance role as the Tag, Anchor or Listener
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286 | void instancesetrole(int inst_mode){ |
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287 | // assume instance 0, for this
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288 | instance_data[0].mode = inst_mode; // set the role |
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289 | } |
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290 | |||
291 | int instancegetrole(void){ |
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292 | return instance_data[0].mode; |
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293 | } |
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294 | |||
295 | int instancenewrange(void){ |
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296 | int x = instance_data[0].newRange; |
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297 | instance_data[0].newRange = TOF_REPORT_NUL;
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298 | return x;
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299 | } |
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300 | |||
301 | int instancenewrangeancadd(void){ |
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302 | return instance_data[0].newRangeAncAddress; |
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303 | } |
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304 | |||
305 | int instancenewrangetagadd(void){ |
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306 | return instance_data[0].newRangeTagAddress; |
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307 | } |
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308 | |||
309 | int instancenewrangetim(void){ |
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310 | return instance_data[0].newRangeTime; |
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311 | } |
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312 | |||
313 | // -------------------------------------------------------------------------------------------------------------------
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314 | // function to clear counts/averages/range values
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315 | //
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316 | void instanceclearcounts(void){ |
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317 | int instance = 0 ; |
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318 | int i= 0 ; |
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319 | |||
320 | instance_data[instance].rxTimeouts = 0 ;
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321 | |||
322 | dwt_configeventcounters(1); //enable and clear - NOTE: the counters are not preserved when in DEEP SLEEP |
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323 | |||
324 | instance_data[instance].frameSN = 0;
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325 | |||
326 | instance_data[instance].longTermRangeCount = 0;
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327 | |||
328 | |||
329 | for(i=0; i<MAX_ANCHOR_LIST_SIZE; i++){ |
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330 | instance_data[instance].tofArray[i] = INVALID_TOF; |
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331 | } |
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332 | |||
333 | for(i=0; i<MAX_TAG_LIST_SIZE; i++){ |
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334 | instance_data[instance].tof[i] = INVALID_TOF; |
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335 | } |
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336 | |||
337 | } // end instanceclearcounts()
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338 | |||
339 | |||
340 | // -------------------------------------------------------------------------------------------------------------------
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341 | // function to initialise instance structures
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342 | //
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343 | // Returns 0 on success and -1 on error
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344 | int instance_init(void){ |
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345 | int instance = 0 ; |
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346 | int i;
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347 | int result;
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348 | |||
349 | instance_data[instance].mode = ANCHOR; // assume listener,
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350 | instance_data[instance].testAppState = TA_INIT ; |
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351 | instance_data[instance].instToSleep = FALSE; |
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352 | |||
353 | |||
354 | // Reset the IC (might be needed if not getting here from POWER ON)
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355 | // ARM code: Remove soft reset here as using hard reset in the inittestapplication() in the main.c file
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356 | //dwt_softreset();
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357 | |||
358 | //this initialises DW1000 and uses specified configurations from OTP/ROM
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359 | result = dwt_initialise(DWT_LOADUCODE) ; |
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360 | |||
361 | //this is platform dependent - only program if DW EVK/EVB
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362 | dwt_setleds(3) ; //configure the GPIOs which control the leds on EVBs |
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363 | |||
364 | if (DWT_SUCCESS != result){
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365 | return (-1) ; // device initialise has failed |
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366 | } |
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367 | |||
368 | |||
369 | instanceclearcounts() ; |
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370 | |||
371 | instance_data[instance].panID = 0xdeca ;
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372 | |||
373 | instance_data[instance].wait4ack = 0;
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374 | instance_data[instance].stopTimer = 0;
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375 | instance_data[instance].instanceTimerEn = 0;
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376 | |||
377 | instance_clearevents(); |
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378 | |||
379 | //dwt_geteui(instance_data[instance].eui64);
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380 | memset(instance_data[instance].eui64, 0, ADDR_BYTE_SIZE_L);
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381 | |||
382 | instance_data[instance].tagSleepCorrection = 0;
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383 | |||
384 | // dwt_setautorxreenable(0); //disable auto RX re-enable
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385 | dwt_setdblrxbuffmode(0); //disable double RX buffer |
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386 | |||
387 | // if using auto CRC check (DWT_INT_RFCG and DWT_INT_RFCE) are used instead of DWT_INT_RDFR flag
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388 | // other errors which need to be checked (as they disable receiver) are
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389 | //dwt_setinterrupt(DWT_INT_TFRS | DWT_INT_RFCG | (DWT_INT_SFDT | DWT_INT_RFTO /*| DWT_INT_RXPTO*/), 1);
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390 | dwt_setinterrupt(DWT_INT_TFRS | DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);
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391 | |||
392 | dwt_setcallbacks(instance_txcallback, instance_rxcallback, instance_rxtimeoutcallback,instance_rxerrorcallback ); |
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393 | |||
394 | instance_data[instance].monitor = 0;
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395 | |||
396 | instance_data[instance].lateTX = 0;
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397 | instance_data[instance].lateRX = 0;
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398 | |||
399 | instance_data[instance].responseTO = -1; //initialise |
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400 | for(i=0; i<256; i++) { |
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401 | instance_data[instance].rxResps[i] = -10;
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402 | } |
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403 | |||
404 | instance_data[instance].delayedReplyTime = 0;
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405 | |||
406 | return 0 ; |
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407 | } |
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408 | |||
409 | // -------------------------------------------------------------------------------------------------------------------
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410 | //
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411 | // Return the Device ID register value, enables higher level validation of physical device presence
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412 | //
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413 | |||
414 | uint32_t instancereaddeviceid(void){
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415 | return dwt_readdevid() ;
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416 | } |
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417 | |||
418 | |||
419 | // -------------------------------------------------------------------------------------------------------------------
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420 | //
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421 | // function to allow application configuration be passed into instance and affect underlying device operation
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422 | //
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423 | void instance_config(instanceConfig_t *config, sfConfig_t *sfConfig){
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424 | int instance = 0 ; |
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425 | uint32_t power = 0;
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426 | uint8_t otprev ; |
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427 | |||
428 | instance_data[instance].configData.chan = config->channelNumber ; |
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429 | instance_data[instance].configData.rxCode = config->preambleCode ; |
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430 | instance_data[instance].configData.txCode = config->preambleCode ; |
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431 | instance_data[instance].configData.prf = config->pulseRepFreq ; |
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432 | instance_data[instance].configData.dataRate = config->dataRate ; |
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433 | instance_data[instance].configData.txPreambLength = config->preambleLen ; |
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434 | instance_data[instance].configData.rxPAC = config->pacSize ; |
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435 | instance_data[instance].configData.nsSFD = config->nsSFD ; |
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436 | instance_data[instance].configData.phrMode = DWT_PHRMODE_STD ; |
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437 | instance_data[instance].configData.sfdTO = config->sfdTO; |
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438 | |||
439 | //the DW1000 will automatically use gating gain for frames < 1ms duration (i.e. 6.81Mbps data rate)
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440 | //smartPowerEn should be set based on the frame length, but we can also use dtaa rate.
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441 | if(instance_data[instance].configData.dataRate == DWT_BR_6M8) {
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442 | instance_data[instance].configData.smartPowerEn = 1;
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443 | } |
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444 | else{
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445 | instance_data[instance].configData.smartPowerEn = 0;
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446 | } |
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447 | |||
448 | //configure the channel parameters
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449 | dwt_configure(&instance_data[instance].configData) ; |
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450 | |||
451 | instance_data[instance].configTX.PGdly = txSpectrumConfig[config->channelNumber].PGdelay ; //Default
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452 | |||
453 | //firstly check if there are calibrated TX power value in the DW1000 OTP
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454 | power = dwt_getotptxpower(config->pulseRepFreq, instance_data[instance].configData.chan); |
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455 | |||
456 | if((power == 0x0) || (power == 0xFFFFFFFF)) { //if there are no calibrated values... need to use defaults |
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457 | power = txSpectrumConfig[config->channelNumber].txPwr[config->pulseRepFreq- DWT_PRF_16M]; |
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458 | } |
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459 | |||
460 | //Configure TX power
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461 | instance_data[instance].configTX.power = power; |
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462 | |||
463 | //configure the tx spectrum parameters (power and PG delay)
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464 | dwt_configuretxrf(&instance_data[instance].configTX); |
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465 | |||
466 | otprev = dwt_otprevision() ; // this revision tells us how OTP is programmed.
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467 | |||
468 | if ((2 == otprev) || (3 == otprev)) { // board is calibrated with TREK1000 with antenna delays set for each use case) |
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469 | uint8_t mode = (instance_data[instance].mode == ANCHOR ? 1 : 0); |
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470 | uint8_t chanindex = 0;
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471 | |||
472 | instance_data[instance].txAntennaDelay |
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473 | = dwt_getTREKOTPantennadelay(mode, |
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474 | instance_data[instance].configData.chan, |
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475 | instance_data[instance].configData.dataRate) ; |
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476 | |||
477 | // if nothing was actually programmed then set a reasonable value anyway
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478 | if ((instance_data[instance].txAntennaDelay == 0) |
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479 | || (instance_data[instance].txAntennaDelay == 0xffff)){
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480 | if(instance_data[instance].configData.chan == 5){ |
||
481 | chanindex = 1;
|
||
482 | } |
||
483 | |||
484 | instance_data[instance].txAntennaDelay = rfDelaysTREK[chanindex]; |
||
485 | } |
||
486 | |||
487 | } |
||
488 | else { // assume it is older EVK1000 programming. |
||
489 | //get the antenna delay that was read from the OTP calibration area
|
||
490 | instance_data[instance].txAntennaDelay = dwt_readantennadelay(config->pulseRepFreq) >> 1;
|
||
491 | |||
492 | // if nothing was actually programmed then set a reasonable value anyway
|
||
493 | if ((instance_data[instance].txAntennaDelay == 0) |
||
494 | || (instance_data[instance].txAntennaDelay == 0xffff)){
|
||
495 | instance_data[instance].txAntennaDelay = rfDelays[config->pulseRepFreq - DWT_PRF_16M]; |
||
496 | } |
||
497 | } |
||
498 | |||
499 | // -------------------------------------------------------------------------------------------------------------------
|
||
500 | // set the antenna delay, we assume that the RX is the same as TX.
|
||
501 | dwt_setrxantennadelay(instance_data[instance].txAntennaDelay); |
||
502 | dwt_settxantennadelay(instance_data[instance].txAntennaDelay); |
||
503 | |||
504 | instance_data[instance].rxAntennaDelay = instance_data[instance].txAntennaDelay; |
||
505 | |||
506 | if(config->preambleLen == DWT_PLEN_64) { //if preamble length is 64 |
||
507 | //reduce SPI to < 3MHz
|
||
508 | setHighSpeed_SPI(FALSE); //TODO: workaround using flag to change speed
|
||
509 | dwt_loadopsettabfromotp(0);
|
||
510 | //increase SPI to max
|
||
511 | setHighSpeed_SPI(TRUE); //TODO: workaround using flag to change speed
|
||
512 | } |
||
513 | |||
514 | instancesettagsleepdelay(sfConfig->pollSleepDly); //set the Tag sleep time
|
||
515 | instance_data[instance].sframePeriod = sfConfig->sfPeriod; |
||
516 | instance_data[instance].slotPeriod = sfConfig->slotPeriod; |
||
517 | instance_data[instance].tagSleepRnd = sfConfig->slotPeriod; |
||
518 | instance_data[instance].numSlots = sfConfig->numSlots; |
||
519 | |||
520 | //last two slots are used for anchor to anchor ranging
|
||
521 | instance_data[instance].a0SlotTime = (instance_data[instance].numSlots-2) * instance_data[instance].slotPeriod;
|
||
522 | |||
523 | //set the default response delays
|
||
524 | instancesetreplydelay(sfConfig->replyDly); |
||
525 | |||
526 | } |
||
527 | |||
528 | // -------------------------------------------------------------------------------------------------------------------
|
||
529 | // function to set the tag sleep time (in ms)
|
||
530 | //
|
||
531 | void instancesettagsleepdelay(int sleepdelay) { //sleep in ms |
||
532 | int instance = 0 ; |
||
533 | instance_data[instance].tagSleepTime_ms = sleepdelay; //subtract the micro system delays (time it takes to switch states etc.)
|
||
534 | } |
||
535 | |||
536 | |||
537 | int instancegetrnum(void) { //get ranging number |
||
538 | return instance_data[0].rangeNum; |
||
539 | } |
||
540 | |||
541 | int instancegetrnuma(int idx){ //get ranging number |
||
542 | return instance_data[0].rangeNumA[idx]; |
||
543 | } |
||
544 | |||
545 | int instancegetrnumanc(int idx){ //get ranging number |
||
546 | return instance_data[0].rangeNumAAnc[idx]; |
||
547 | } |
||
548 | |||
549 | int instancegetlcount(void) { //get count of ranges used for calculation of lt avg |
||
550 | int x = instance_data[0].longTermRangeCount; |
||
551 | |||
552 | return (x);
|
||
553 | } |
||
554 | |||
555 | double instancegetidist(int idx) { //get instantaneous range |
||
556 | double x ;
|
||
557 | |||
558 | idx &= (MAX_ANCHOR_LIST_SIZE - 1);
|
||
559 | |||
560 | x = inst_idist[idx]; |
||
561 | |||
562 | return (x);
|
||
563 | } |
||
564 | |||
565 | double instancegetidistraw(int idx) { //get instantaneous range (uncorrected) |
||
566 | double x ;
|
||
567 | |||
568 | idx &= (MAX_ANCHOR_LIST_SIZE - 1);
|
||
569 | |||
570 | x = inst_idistraw[idx]; |
||
571 | |||
572 | return (x);
|
||
573 | } |
||
574 | |||
575 | int instancegetidist_mm(int idx) { //get instantaneous range |
||
576 | int x ;
|
||
577 | |||
578 | idx &= (MAX_ANCHOR_LIST_SIZE - 1);
|
||
579 | |||
580 | x = (int)(inst_idist[idx]*1000); |
||
581 | |||
582 | return (x);
|
||
583 | } |
||
584 | |||
585 | int instancegetidistraw_mm(int idx) { //get instantaneous range (uncorrected) |
||
586 | int x ;
|
||
587 | |||
588 | idx &= (MAX_ANCHOR_LIST_SIZE - 1);
|
||
589 | |||
590 | x = (int)(inst_idistraw[idx]*1000); |
||
591 | |||
592 | return (x);
|
||
593 | } |
||
594 | |||
595 | void instance_backtoanchor(instance_data_t *inst){
|
||
596 | //stay in RX and behave as anchor
|
||
597 | inst->testAppState = TA_RXE_WAIT ; |
||
598 | inst->mode = ANCHOR ; |
||
599 | dwt_setrxtimeout(0);
|
||
600 | dwt_setpreambledetecttimeout(0);
|
||
601 | dwt_setrxaftertxdelay(0);
|
||
602 | } |
||
603 | |||
604 | |||
605 | #pragma GCC optimize ("O3") |
||
606 | void inst_processrxtimeout(instance_data_t *inst){
|
||
607 | |||
608 | //inst->responseTimeouts ++ ;
|
||
609 | inst->rxTimeouts ++ ; |
||
610 | inst->done = INST_NOT_DONE_YET; |
||
611 | |||
612 | if(inst->mode == ANCHOR) { //we did not receive the final - wait for next poll |
||
613 | //only enable receiver when not using double buffering
|
||
614 | inst->testAppState = TA_RXE_WAIT ; // wait for next frame
|
||
615 | dwt_setrxtimeout(0);
|
||
616 | } |
||
617 | |||
618 | else if(inst->mode == TAG) { |
||
619 | //if tag times out - no response (check if we are to send a final)
|
||
620 | //send the final only if it has received response from anchor 0
|
||
621 | if((inst->previousState == TA_TXPOLL_WAIT_SEND) && ((inst->rxResponseMask & 0x1) == 0)) { |
||
622 | inst->instToSleep = TRUE ; //set sleep to TRUE so that tag will go to DEEP SLEEP before next ranging attempt
|
||
623 | inst->testAppState = TA_TXE_WAIT ; |
||
624 | inst->nextState = TA_TXPOLL_WAIT_SEND ; |
||
625 | } |
||
626 | else if (inst->previousState == TA_TXFINAL_WAIT_SEND) { //got here from main (error sending final - handle as timeout) |
||
627 | dwt_forcetrxoff(); //this will clear all events
|
||
628 | inst->instToSleep = TRUE ; |
||
629 | // initiate the re-transmission of the poll that was not responded to
|
||
630 | inst->testAppState = TA_TXE_WAIT ; |
||
631 | inst->nextState = TA_TXPOLL_WAIT_SEND ; |
||
632 | } |
||
633 | else { //send the final |
||
634 | // initiate the re-transmission of the poll that was not responded to
|
||
635 | inst->testAppState = TA_TXE_WAIT ; |
||
636 | inst->nextState = TA_TXFINAL_WAIT_SEND ; |
||
637 | } |
||
638 | |||
639 | } |
||
640 | else { //ANCHOR_RNG |
||
641 | //no Response form the other anchor
|
||
642 | if(
|
||
643 | ((inst->previousState == TA_TXPOLL_WAIT_SEND) |
||
644 | && ((A1_ANCHOR_ADDR == inst->instanceAddress16) && ((inst->rxResponseMaskAnc & 0x4) == 0))) |
||
645 | || |
||
646 | ((inst->previousState == TA_TXPOLL_WAIT_SEND) |
||
647 | && ((GATEWAY_ANCHOR_ADDR == inst->instanceAddress16) && ((inst->rxResponseMaskAnc & 0x2) == 0))) |
||
648 | ) { |
||
649 | instance_backtoanchor(inst); |
||
650 | } |
||
651 | else if (inst->previousState == TA_TXFINAL_WAIT_SEND) { //got here from main (error ending final - handle as timeout) |
||
652 | instance_backtoanchor(inst); |
||
653 | } |
||
654 | else { //send the final |
||
655 | // initiate the re-transmission of the poll that was not responded to
|
||
656 | inst->testAppState = TA_TXE_WAIT ; |
||
657 | inst->nextState = TA_TXFINAL_WAIT_SEND ; |
||
658 | } |
||
659 | } |
||
660 | |||
661 | //timeout - disable the radio (if using SW timeout the rx will not be off)
|
||
662 | //dwt_forcetrxoff() ;
|
||
663 | } |
||
664 | |||
665 | //
|
||
666 | // NB: This function is called from the (TX) interrupt handler
|
||
667 | //
|
||
668 | #pragma GCC optimize ("O3") |
||
669 | void instance_txcallback(const dwt_cb_data_t *txd){ |
||
670 | |||
671 | (void) txd;
|
||
672 | int instance = 0; |
||
673 | uint8_t txTimeStamp[5] = {0, 0, 0, 0, 0}; |
||
674 | // uint8 txevent = txd->event;
|
||
675 | event_data_t dw_event; |
||
676 | |||
677 | dw_event.uTimeStamp = portGetTickCnt(); |
||
678 | |||
679 | // chprintf((BaseSequentialStream *)&SD2, " TX callback! \r\n");
|
||
680 | |||
681 | // if(txevent == DWT_SIG_TX_DONE) {
|
||
682 | //uint32_t txtimestamp = 0;
|
||
683 | |||
684 | //NOTE - we can only get TX good (done) while here
|
||
685 | //dwt_readtxtimestamp((uint8*) &instance_data[instance].txu.txTimeStamp);
|
||
686 | |||
687 | dwt_readtxtimestamp(txTimeStamp) ; |
||
688 | dw_event.timeStamp32l = (uint32_t)txTimeStamp[0] + ((uint32_t)txTimeStamp[1] << 8) + ((uint32_t)txTimeStamp[2] << 16) + ((uint32_t)txTimeStamp[3] << 24); |
||
689 | dw_event.timeStamp = txTimeStamp[4];
|
||
690 | dw_event.timeStamp <<= 32;
|
||
691 | dw_event.timeStamp += dw_event.timeStamp32l; |
||
692 | dw_event.timeStamp32h = ((uint32_t)txTimeStamp[4] << 24) + (dw_event.timeStamp32l >> 8); |
||
693 | |||
694 | instance_data[instance].stopTimer = 0;
|
||
695 | |||
696 | dw_event.rxLength = instance_data[instance].psduLength; |
||
697 | dw_event.type = 0;
|
||
698 | dw_event.type_pend = 0;
|
||
699 | dw_event.type_save = DWT_SIG_TX_DONE; |
||
700 | |||
701 | memcpy((uint8_t *)&dw_event.msgu.frame[0], (uint8_t *)&instance_data[instance].msg_f, instance_data[instance].psduLength);
|
||
702 | |||
703 | instance_putevent(dw_event, DWT_SIG_TX_DONE); |
||
704 | |||
705 | instance_data[instance].txMsgCount++; |
||
706 | // }
|
||
707 | // else if(txevent == DWT_SIG_TX_AA_DONE) {
|
||
708 | // //auto ACK confirmation
|
||
709 | // dw_event.rxLength = 0;
|
||
710 | // dw_event.type = 0;
|
||
711 | // dw_event.type_save = DWT_SIG_TX_AA_DONE;
|
||
712 | //
|
||
713 | // instance_putevent(dw_event, DWT_SIG_TX_AA_DONE);
|
||
714 | //
|
||
715 | // //printf("TX AA time %f ecount %d\n",convertdevicetimetosecu(instance_data[instance].txu.txTimeStamp), instance_data[instance].dweventCnt);
|
||
716 | // }
|
||
717 | |||
718 | instance_data[instance].monitor = 0;
|
||
719 | } |
||
720 | |||
721 | /**
|
||
722 | * @brief function to re-enable the receiver and also adjust the timeout before sending the final message
|
||
723 | * if it is time so send the final message, the callback will notify the application, else the receiver is
|
||
724 | * automatically re-enabled
|
||
725 | *
|
||
726 | * this function is only used for tag when ranging to other anchors
|
||
727 | */
|
||
728 | uint8_t tagrxreenable(uint16_t sourceAddress){ |
||
729 | uint8_t type_pend = DWT_SIG_DW_IDLE; |
||
730 | uint8_t anc = sourceAddress & 0x3;
|
||
731 | int instance = 0; |
||
732 | |||
733 | switch(anc){
|
||
734 | //if we got Response from anchor 3 - this is the last expected response - send the final
|
||
735 | case 3: |
||
736 | type_pend = DWT_SIG_DW_IDLE; |
||
737 | break;
|
||
738 | |||
739 | //if we got Response from anchor 0, 1, or 2 - go back to wait for next anchor's response
|
||
740 | case 0: |
||
741 | case 1: |
||
742 | case 2: |
||
743 | default:
|
||
744 | if(instance_data[instance].responseTO > 0) { //can get here as result of error frame so need to check |
||
745 | dwt_setrxtimeout((uint16_t)instance_data[instance].fwtoTime_sy * instance_data[instance].responseTO); //reconfigure the timeout
|
||
746 | dwt_rxenable(DWT_START_RX_IMMEDIATE) ; |
||
747 | type_pend = DWT_SIG_RX_PENDING ; |
||
748 | } |
||
749 | else //last response was not received (got error/frame was corrupt) |
||
750 | { |
||
751 | type_pend = DWT_SIG_DW_IDLE; //report timeout - send the final
|
||
752 | } |
||
753 | break;
|
||
754 | } |
||
755 | |||
756 | return type_pend;
|
||
757 | } |
||
758 | |||
759 | /**
|
||
760 | * @brief function to re-enable the receiver and also adjust the timeout before sending the final message
|
||
761 | * if it is time so send the final message, the callback will notify the application, else the receiver is
|
||
762 | * automatically re-enabled
|
||
763 | *
|
||
764 | * this function is only used for anchors (having a role of ANCHOR_RNG) when ranging to other anchors
|
||
765 | */
|
||
766 | uint8_t ancsendfinalorrxreenable(uint16_t sourceAddress){ |
||
767 | uint8_t type_pend = DWT_SIG_DW_IDLE; |
||
768 | uint8_t anc = sourceAddress & 0x3;
|
||
769 | int instance = 0; |
||
770 | |||
771 | if(instance_data[instance].instanceAddress16 == GATEWAY_ANCHOR_ADDR) {
|
||
772 | switch(anc) {
|
||
773 | //if we got Response from anchor 1 - go back to wait for next anchor's response
|
||
774 | case 1: |
||
775 | dwt_setrxtimeout((uint16_t)instance_data[instance].fwtoTime_sy); //reconfigure the timeout
|
||
776 | dwt_rxenable(DWT_START_RX_IMMEDIATE) ; |
||
777 | type_pend = DWT_SIG_RX_PENDING ; |
||
778 | break;
|
||
779 | |||
780 | //if we got Response from anchor 2 - this is the last expected response - send the final
|
||
781 | case 2: |
||
782 | default:
|
||
783 | type_pend = DWT_SIG_DW_IDLE; |
||
784 | break;
|
||
785 | } |
||
786 | } |
||
787 | |||
788 | if(instance_data[instance].instanceAddress16 == A1_ANCHOR_ADDR){
|
||
789 | switch(anc)
|
||
790 | { |
||
791 | //if we got Response from anchor 2 - this is the last expected response - send the final
|
||
792 | case 2: |
||
793 | default:
|
||
794 | type_pend = DWT_SIG_DW_IDLE; |
||
795 | break;
|
||
796 | } |
||
797 | } |
||
798 | return type_pend;
|
||
799 | } |
||
800 | |||
801 | /**
|
||
802 | * @brief this function either enables the receiver (delayed)
|
||
803 | *
|
||
804 | **/
|
||
805 | void ancenablerx(void){ |
||
806 | int instance = 0; |
||
807 | //subtract preamble length
|
||
808 | dwt_setdelayedtrxtime(instance_data[instance].delayedReplyTime - instance_data[instance].fixedReplyDelayAncP) ; |
||
809 | if(dwt_rxenable(DWT_START_RX_DELAYED)) { //delayed rx |
||
810 | //if the delayed RX failed - time has passed - do immediate enable
|
||
811 | //led_on(LED_PC9);
|
||
812 | dwt_setrxtimeout((uint16_t)instance_data[instance].fwtoTimeAnc_sy*2); //reconfigure the timeout before enable |
||
813 | //longer timeout as we cannot do delayed receive... so receiver needs to stay on for longer
|
||
814 | dwt_rxenable(DWT_START_RX_IMMEDIATE); |
||
815 | dwt_setrxtimeout((uint16_t)instance_data[instance].fwtoTimeAnc_sy); //restore the timeout for next RX enable
|
||
816 | instance_data[instance].lateRX++; |
||
817 | //led_off(LED_PC9);
|
||
818 | } |
||
819 | |||
820 | } |
||
821 | |||
822 | /**
|
||
823 | * @brief this function either re-enables the receiver (delayed or immediate) or transmits the response frame
|
||
824 | *
|
||
825 | * @param the sourceAddress is the address of the sender of the current received frame
|
||
826 | * @param ancToAncTWR == 1 means that the anchor is ranging to another anchor, if == 0 then ranging to a tag
|
||
827 | *
|
||
828 | */
|
||
829 | #pragma GCC optimize ("O0") |
||
830 | uint8_t anctxorrxreenable(uint16_t sourceAddress, int ancToAncTWR){
|
||
831 | uint8_t type_pend = DWT_SIG_DW_IDLE; |
||
832 | int sendResp = 0; |
||
833 | int instance = 0; |
||
834 | |||
835 | if(instance_data[instance].responseTO == 0) { //go back to RX without TO - ranging has finished. (wait for Final but no TO) |
||
836 | dwt_setrxtimeout(0); //reconfigure the timeout |
||
837 | dwt_setpreambledetecttimeout(0);
|
||
838 | } |
||
839 | |||
840 | if((ancToAncTWR & 1) == 1) { |
||
841 | if(instance_data[instance].responseTO == 1) { //if one response left to receive (send a response now) |
||
842 | sendResp = 1;
|
||
843 | } |
||
844 | //if A0 or A3 go back to RX as they do not send any responses when Anchor to Anchor ranging
|
||
845 | if((instance_data[instance].gatewayAnchor)
|
||
846 | || (instance_data[instance].shortAdd_idx == 3)) { //if this is anchor ID 3 do not reply to anchor poll |
||
847 | dwt_setrxtimeout(0);
|
||
848 | dwt_rxenable(DWT_START_RX_IMMEDIATE); |
||
849 | return DWT_SIG_RX_PENDING ;
|
||
850 | } |
||
851 | } |
||
852 | |||
853 | //configure delayed reply time (this is incremented for each received frame) it is timed from Poll rx time
|
||
854 | instance_data[instance].delayedReplyTime += (instance_data[instance].fixedReplyDelayAnc >> 8);
|
||
855 | |||
856 | //this checks if to send a frame
|
||
857 | if((((ancToAncTWR & 1) == 0) && ((instance_data[instance].responseTO + instance_data[instance].shortAdd_idx) == NUM_EXPECTED_RESPONSES)) //it's our turn to tx |
||
858 | || (sendResp == 1)) {
|
||
859 | //led_on(LED_PC9);
|
||
860 | //response is expected
|
||
861 | instance_data[instance].wait4ack = DWT_RESPONSE_EXPECTED; //re has/will be re-enabled
|
||
862 | |||
863 | dwt_setdelayedtrxtime(instance_data[instance].delayedReplyTime) ; |
||
864 | if(dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED)) {
|
||
865 | //if TX has failed - we need to re-enable RX for the next response or final reception...
|
||
866 | dwt_setrxaftertxdelay(0);
|
||
867 | instance_data[instance].wait4ack = 0; //clear the flag as the TX has failed the TRX is off |
||
868 | instance_data[instance].lateTX++; |
||
869 | instance_data[instance].delayedReplyTime += 2*(instance_data[instance].fixedReplyDelayAnc >> 8); //to take into account W4R |
||
870 | ancenablerx(); |
||
871 | type_pend = DWT_SIG_RX_PENDING ; |
||
872 | } |
||
873 | else {
|
||
874 | instance_data[instance].delayedReplyTime += (instance_data[instance].fixedReplyDelayAnc >> 8); //to take into account W4R |
||
875 | type_pend = DWT_SIG_TX_PENDING ; // exit this interrupt and notify the application/instance that TX is in progress.
|
||
876 | instance_data[instance].timeofTx = portGetTickCnt(); |
||
877 | instance_data[instance].monitor = 1;
|
||
878 | } |
||
879 | //led_off(LED_PC9);
|
||
880 | } |
||
881 | else { //stay in receive |
||
882 | if(sourceAddress == 0) { //we got here after RX error, as we don't need to TX, we just enable RX |
||
883 | dwt_setrxtimeout(0);
|
||
884 | dwt_rxenable(DWT_START_RX_IMMEDIATE); |
||
885 | } |
||
886 | else{
|
||
887 | //led_on(LED_PC9);
|
||
888 | ancenablerx(); |
||
889 | //led_off(LED_PC9);
|
||
890 | } |
||
891 | |||
892 | type_pend = DWT_SIG_RX_PENDING ; |
||
893 | } |
||
894 | //if time to send a response
|
||
895 | |||
896 | return type_pend;
|
||
897 | } |
||
898 | |||
899 | /**
|
||
900 | * @brief this function handles frame error event, it will either signal TO or re-enable the receiver
|
||
901 | */
|
||
902 | void handle_error_unknownframe(event_data_t dw_event){
|
||
903 | int instance = 0; |
||
904 | //re-enable the receiver (after error frames as we are not using auto re-enable
|
||
905 | //for ranging application rx error frame is same as TO - as we are not going to get the expected frame
|
||
906 | if(instance_data[instance].mode == ANCHOR){
|
||
907 | //if we are participating in the ranging (i.e. Poll was received)
|
||
908 | //and we get an rx error (in one of the responses)
|
||
909 | //need to consider this as a timeout as we could be sending our response next and
|
||
910 | //the applications needs to know to change the state
|
||
911 | //
|
||
912 | if(instance_data[instance].responseTO > 0){ |
||
913 | instance_data[instance].responseTO--; |
||
914 | |||
915 | //send a response or re-enable rx
|
||
916 | dw_event.type_pend = anctxorrxreenable(0, 0); |
||
917 | dw_event.type = 0;
|
||
918 | dw_event.type_save = 0x40 | DWT_SIG_RX_TIMEOUT;
|
||
919 | dw_event.rxLength = 0;
|
||
920 | |||
921 | instance_putevent(dw_event, DWT_SIG_RX_TIMEOUT); |
||
922 | } |
||
923 | else{
|
||
924 | dwt_setrxtimeout(0); //reconfigure the timeout |
||
925 | dwt_rxenable(DWT_START_RX_IMMEDIATE) ; |
||
926 | } |
||
927 | } |
||
928 | else if(instance_data[instance].mode == LISTENER){ |
||
929 | dwt_rxenable(DWT_START_RX_IMMEDIATE) ; |
||
930 | } |
||
931 | else{
|
||
932 | instance_data[instance].responseTO--; //got something (need to reduce timeout (for remaining responses))
|
||
933 | |||
934 | dw_event.type_pend = tagrxreenable(0); //check if receiver will be re-enabled or it's time to send the final |
||
935 | dw_event.type = 0;
|
||
936 | dw_event.type_save = 0x40 | DWT_SIG_RX_TIMEOUT;
|
||
937 | dw_event.rxLength = 0;
|
||
938 | |||
939 | instance_putevent(dw_event, DWT_SIG_RX_TIMEOUT); |
||
940 | } |
||
941 | } |
||
942 | |||
943 | |||
944 | /**
|
||
945 | * @brief this function prepares and writes the anchor to anchor response frame into the TX buffer
|
||
946 | * it is called after anchor receives a Poll from an anchor
|
||
947 | */
|
||
948 | void ancprepareresponse2(uint16_t sourceAddress, uint8_t srcAddr_index, uint8_t fcode_index, uint8_t *frame){
|
||
949 | uint16_t frameLength = 0;
|
||
950 | uint8_t tof_idx = (sourceAddress) & 0x3 ;
|
||
951 | int instance = 0; |
||
952 | |||
953 | instance_data[instance].psduLength = frameLength = ANCH_RESPONSE_MSG_LEN + FRAME_CRTL_AND_ADDRESS_S + FRAME_CRC; |
||
954 | //set the destination address (copy source as this is a reply)
|
||
955 | memcpy(&instance_data[instance].msg_f.destAddr[0], &frame[srcAddr_index], ADDR_BYTE_SIZE_S); //remember who to send the reply to (set destination address) |
||
956 | instance_data[instance].msg_f.sourceAddr[0] = instance_data[instance].eui64[0]; |
||
957 | instance_data[instance].msg_f.sourceAddr[1] = instance_data[instance].eui64[1]; |
||
958 | // Write calculated TOF into response message (get the previous ToF+range number from that anchor)
|
||
959 | memcpy(&(instance_data[instance].msg_f.messageData[TOFR]), &instance_data[instance].tofAnc[tof_idx], 4);
|
||
960 | instance_data[instance].msg_f.messageData[TOFRN] = instance_data[instance].rangeNumAAnc[tof_idx]; //get the previous range number
|
||
961 | |||
962 | instance_data[instance].rangeNumAAnc[tof_idx] = 0; //clear the entry |
||
963 | instance_data[instance].rangeNumAnc = frame[POLL_RNUM + fcode_index] ; |
||
964 | instance_data[instance].msg_f.seqNum = instance_data[instance].frameSN++; |
||
965 | |||
966 | //set the delayed rx on time (the final message will be sent after this delay)
|
||
967 | dwt_setrxaftertxdelay(instance_data[instance].ancRespRxDelay); //units are 1.0256us - wait for wait4respTIM before RX on (delay RX)
|
||
968 | |||
969 | instance_data[instance].tagSleepCorrection = 0;
|
||
970 | instance_data[instance].msg_f.messageData[RES_TAG_SLP0] = 0 ;
|
||
971 | instance_data[instance].msg_f.messageData[RES_TAG_SLP1] = 0 ;
|
||
972 | |||
973 | instance_data[instance].msg_f.messageData[FCODE] = RTLS_DEMO_MSG_ANCH_RESP2; //message function code (specifies if message is a poll, response or other...)
|
||
974 | |||
975 | //write the TX data
|
||
976 | dwt_writetxfctrl(frameLength, 0, 1); |
||
977 | dwt_writetxdata(frameLength, (uint8_t *) &instance_data[instance].msg_f, 0) ; // write the frame data |
||
978 | |||
979 | } |
||
980 | |||
981 | /**
|
||
982 | * @brief this function prepares and writes the anchor to tag response frame into the TX buffer
|
||
983 | * it is called after anchor receives a Poll from a tag
|
||
984 | */
|
||
985 | void ancprepareresponse(uint16_t sourceAddress, uint8_t srcAddr_index, uint8_t fcode_index, uint8_t *frame, uint32_t uTimeStamp){
|
||
986 | uint16_t frameLength = 0;
|
||
987 | uint8_t tof_idx = (sourceAddress) & 0x7 ;
|
||
988 | int instance = 0; |
||
989 | |||
990 | instance_data[instance].psduLength = frameLength = ANCH_RESPONSE_MSG_LEN + FRAME_CRTL_AND_ADDRESS_S + FRAME_CRC; |
||
991 | memcpy(&instance_data[instance].msg_f.destAddr[0], &frame[srcAddr_index], ADDR_BYTE_SIZE_S); //remember who to send the reply to (set destination address) |
||
992 | instance_data[instance].msg_f.sourceAddr[0] = instance_data[instance].eui64[0]; |
||
993 | instance_data[instance].msg_f.sourceAddr[1] = instance_data[instance].eui64[1]; |
||
994 | // Write calculated TOF into response message (get the previous ToF+range number from that tag)
|
||
995 | memcpy(&(instance_data[instance].msg_f.messageData[TOFR]), &instance_data[instance].tof[tof_idx], 4);
|
||
996 | instance_data[instance].msg_f.messageData[TOFRN] = instance_data[instance].rangeNumA[tof_idx]; //get the previous range number
|
||
997 | |||
998 | instance_data[instance].rangeNumA[tof_idx] = 0; //clear after copy above... |
||
999 | instance_data[instance].rangeNum = frame[POLL_RNUM+fcode_index] ; |
||
1000 | instance_data[instance].msg_f.seqNum = instance_data[instance].frameSN++; |
||
1001 | |||
1002 | //we have our range - update the own mask entry...
|
||
1003 | if(instance_data[instance].tof[tof_idx] != INVALID_TOF) { //check the last ToF entry is valid and copy into the current array |
||
1004 | instance_data[instance].rxResponseMask = (0x1 << instance_data[instance].shortAdd_idx);
|
||
1005 | instance_data[instance].tofArray[instance_data[instance].shortAdd_idx] = instance_data[instance].tof[tof_idx]; |
||
1006 | } |
||
1007 | else { //reset response mask |
||
1008 | instance_data[instance].tofArray[instance_data[instance].shortAdd_idx] = INVALID_TOF ; |
||
1009 | instance_data[instance].rxResponseMask = 0; //reset the mask of received responses when rx poll |
||
1010 | } |
||
1011 | //set the delayed rx on time (the final message will be sent after this delay)
|
||
1012 | dwt_setrxaftertxdelay(instance_data[instance].ancRespRxDelay); //units are 1.0256us - wait for wait4respTIM before RX on (delay RX)
|
||
1013 | |||
1014 | //if this is gateway anchor - calculate the slot period correction
|
||
1015 | if(instance_data[instance].gatewayAnchor) {
|
||
1016 | int error = 0; |
||
1017 | int currentSlotTime = 0; |
||
1018 | int expectedSlotTime = 0; |
||
1019 | //find the time in the current superframe
|
||
1020 | currentSlotTime = uTimeStamp % instance_data[instance].sframePeriod; |
||
1021 | |||
1022 | //this is the slot time the poll should be received in (Mask 0x07 for the 8 MAX tags we support in TREK)
|
||
1023 | expectedSlotTime = (sourceAddress&0xFF) * instance_data[instance].slotPeriod; // |
||
1024 | |||
1025 | //error = expectedSlotTime - currentSlotTime
|
||
1026 | error = expectedSlotTime - currentSlotTime; |
||
1027 | |||
1028 | if(error < (-(instance_data[instance].sframePeriod>>1))) { //if error is more negative than 0.5 period, add whole period to give up to 1.5 period sleep |
||
1029 | instance_data[instance].tagSleepCorrection = (instance_data[instance].sframePeriod + error); |
||
1030 | } |
||
1031 | else { //the minimum Sleep time will be 0.5 period |
||
1032 | instance_data[instance].tagSleepCorrection = error; |
||
1033 | } |
||
1034 | instance_data[instance].msg_f.messageData[RES_TAG_SLP0] = instance_data[instance].tagSleepCorrection & 0xFF ;
|
||
1035 | instance_data[instance].msg_f.messageData[RES_TAG_SLP1] = (instance_data[instance].tagSleepCorrection >> 8) & 0xFF; |
||
1036 | } |
||
1037 | else {
|
||
1038 | instance_data[instance].tagSleepCorrection = 0;
|
||
1039 | instance_data[instance].msg_f.messageData[RES_TAG_SLP0] = 0 ;
|
||
1040 | instance_data[instance].msg_f.messageData[RES_TAG_SLP1] = 0 ;
|
||
1041 | } |
||
1042 | instance_data[instance].msg_f.messageData[FCODE] = RTLS_DEMO_MSG_ANCH_RESP; //message function code (specifies if message is a poll, response or other...)
|
||
1043 | |||
1044 | //write the TX data
|
||
1045 | dwt_writetxfctrl(frameLength, 0, 1); |
||
1046 | dwt_writetxdata(frameLength, (uint8_t *) &instance_data[instance].msg_f, 0) ; // write the frame data |
||
1047 | } |
||
1048 | |||
1049 | /**
|
||
1050 | * @brief this is the receive event callback handler, the received event is processed and the instance either
|
||
1051 | * responds by sending a response frame or re-enables the receiver to await the next frame
|
||
1052 | * once the immediate action is taken care of the event is queued up for application to process
|
||
1053 | */
|
||
1054 | #pragma GCC optimize ("O3") |
||
1055 | void instance_rxcallback(const dwt_cb_data_t *rxd){ |
||
1056 | int instance = 0; |
||
1057 | uint8_t rxTimeStamp[5] = {0, 0, 0, 0, 0}; |
||
1058 | |||
1059 | uint8_t rxd_event = 0;
|
||
1060 | uint8_t fcode_index = 0;
|
||
1061 | uint8_t srcAddr_index = 0;
|
||
1062 | event_data_t dw_event; |
||
1063 | |||
1064 | //microcontroller time at which we received the frame
|
||
1065 | dw_event.uTimeStamp = portGetTickCnt(); |
||
1066 | |||
1067 | //if we got a frame with a good CRC - RX OK
|
||
1068 | // if(rxd->event == DWT_SIG_RX_OKAY) { // Timeout and error are handle separately in the driver itself
|
||
1069 | dw_event.rxLength = rxd->datalength; |
||
1070 | |||
1071 | //need to process the frame control bytes to figure out what type of frame we have received
|
||
1072 | if(((rxd->fctrl[0] == 0x41) || (rxd->fctrl[0] == 0x61)) |
||
1073 | && |
||
1074 | ((rxd->fctrl[1] & 0xCC) == 0x88)) { //short address |
||
1075 | fcode_index = FRAME_CRTL_AND_ADDRESS_S; //function code is in first byte after source address
|
||
1076 | srcAddr_index = FRAME_CTRLP + ADDR_BYTE_SIZE_S; |
||
1077 | rxd_event = DWT_SIG_RX_OKAY; |
||
1078 | } |
||
1079 | else {
|
||
1080 | rxd_event = SIG_RX_UNKNOWN; //not supported - all TREK1000 frames are short addressed
|
||
1081 | } |
||
1082 | |||
1083 | //read RX timestamp
|
||
1084 | dwt_readrxtimestamp(rxTimeStamp) ; |
||
1085 | dwt_readrxdata((uint8_t *)&dw_event.msgu.frame[0], rxd->datalength, 0); // Read Data Frame |
||
1086 | dw_event.timeStamp32l = (uint32_t)rxTimeStamp[0] + ((uint32_t)rxTimeStamp[1] << 8) + ((uint32_t)rxTimeStamp[2] << 16) + ((uint32_t)rxTimeStamp[3] << 24); |
||
1087 | dw_event.timeStamp = rxTimeStamp[4];
|
||
1088 | dw_event.timeStamp <<= 32;
|
||
1089 | dw_event.timeStamp += dw_event.timeStamp32l; |
||
1090 | dw_event.timeStamp32h = ((uint32_t)rxTimeStamp[4] << 24) + (dw_event.timeStamp32l >> 8); |
||
1091 | |||
1092 | dw_event.type = 0; //type will be added as part of adding to event queue |
||
1093 | dw_event.type_save = rxd_event; |
||
1094 | dw_event.type_pend = DWT_SIG_DW_IDLE; |
||
1095 | |||
1096 | //if Listener then just report the received frame to the instance (application)
|
||
1097 | if(rxd_event == DWT_SIG_RX_OKAY) { //Process good/known frame types |
||
1098 | uint16_t sourceAddress = (((uint16_t)dw_event.msgu.frame[srcAddr_index+1]) << 8) + dw_event.msgu.frame[srcAddr_index]; |
||
1099 | |||
1100 | if(instance_data[instance].mode != LISTENER) {
|
||
1101 | if(instance_data[instance].mode == TAG) //if tag got a good frame - this is probably a response, but could also be some other non-ranging frame |
||
1102 | //(although due to frame filtering this is limited as non-addressed frames are filtered out)
|
||
1103 | { |
||
1104 | instance_data[instance].responseTO--; //got 1 more response or other RX frame - need to reduce timeout (for next response)
|
||
1105 | } |
||
1106 | |||
1107 | //check if this is a TWR message (and also which one)
|
||
1108 | switch(dw_event.msgu.frame[fcode_index]){
|
||
1109 | //poll message from an anchor
|
||
1110 | case RTLS_DEMO_MSG_ANCH_POLL:{
|
||
1111 | //the anchor to anchor ranging poll frames are ignored by A0 and A3
|
||
1112 | if(instance_data[instance].gatewayAnchor || (instance_data[instance].instanceAddress16 > A2_ANCHOR_ADDR)){
|
||
1113 | //ignore poll from anchor 1 if gateway or anchor 3
|
||
1114 | //anchors 2 and 3 will never send polls
|
||
1115 | dw_event.type_pend = DWT_SIG_DW_IDLE ; |
||
1116 | break;
|
||
1117 | } |
||
1118 | |||
1119 | if(instance_data[instance].mode == TAG) { //tag should ignore any other Polls from anchors |
||
1120 | instance_data[instance].responseTO++; //as will be decremented in the function and was also decremented above
|
||
1121 | handle_error_unknownframe(dw_event); |
||
1122 | instance_data[instance].stopTimer = 1;
|
||
1123 | instance_data[instance].rxMsgCount++; |
||
1124 | return;
|
||
1125 | } |
||
1126 | |||
1127 | //update the response index and number of responses received tables
|
||
1128 | instance_data[instance].rxRespsIdx = (uint8_t) ((dw_event.msgu.frame[POLL_RNUM+fcode_index] & 0xf)
|
||
1129 | + (((sourceAddress&0x3) + 8) << 4)); |
||
1130 | instance_data[instance].rxResps[instance_data[instance].rxRespsIdx] = 0;
|
||
1131 | //debug LED on
|
||
1132 | // led_on(LED_PC9);
|
||
1133 | |||
1134 | //prepare the response and write it to the tx buffer
|
||
1135 | ancprepareresponse2(sourceAddress, srcAddr_index, fcode_index, &dw_event.msgu.frame[0]);
|
||
1136 | |||
1137 | //A2 does not need timeout if ranging to A1
|
||
1138 | if(sourceAddress != A1_ANCHOR_ADDR){
|
||
1139 | dwt_setrxtimeout((uint16_t)instance_data[instance].fwtoTimeAnc_sy); //reconfigure the timeout for response
|
||
1140 | } |
||
1141 | |||
1142 | //set the bast reply time (the actual will be Poll rx time + instance_data[0].fixedReplyDelayAnc)
|
||
1143 | instance_data[instance].delayedReplyTime = dw_event.timeStamp32h ; |
||
1144 | instance_data[instance].responseTO = (instance_data[instance].instanceAddress16 - sourceAddress) & 0x3; //set number of expected responses |
||
1145 | |||
1146 | dw_event.type_pend = anctxorrxreenable(instance_data[instance].instanceAddress16, 2+1); |
||
1147 | |||
1148 | instance_data[instance].tofAnc[sourceAddress & 0x3] = INVALID_TOF; //clear ToF .. |
||
1149 | //debug LED off
|
||
1150 | // led_off(LED_PC9);
|
||
1151 | break;
|
||
1152 | } |
||
1153 | |||
1154 | case RTLS_DEMO_MSG_TAG_POLL:{
|
||
1155 | if(instance_data[instance].mode == TAG) { //tag should ignore any other Polls from tags |
||
1156 | instance_data[instance].responseTO++; //as will be decremented in the function and was also decremented above
|
||
1157 | handle_error_unknownframe(dw_event); |
||
1158 | instance_data[instance].stopTimer = 1;
|
||
1159 | instance_data[instance].rxMsgCount++; |
||
1160 | return;
|
||
1161 | } |
||
1162 | instance_data[instance].rxRespsIdx = (int8_t) ((dw_event.msgu.frame[POLL_RNUM+fcode_index] & 0xf)
|
||
1163 | + ((sourceAddress&0x7) << 4)); |
||
1164 | instance_data[instance].rxResps[instance_data[instance].rxRespsIdx] = 0;
|
||
1165 | |||
1166 | //prepare the response and write it to the tx buffer
|
||
1167 | ancprepareresponse(sourceAddress, srcAddr_index, fcode_index, &dw_event.msgu.frame[0], dw_event.uTimeStamp);
|
||
1168 | |||
1169 | dwt_setrxtimeout((uint16_t)instance_data[instance].fwtoTimeAnc_sy); //reconfigure the timeout for response
|
||
1170 | |||
1171 | instance_data[0].delayedReplyTime = dw_event.timeStamp32h /*+ (instance_data[0].fixedReplyDelayAnc >> 8)*/ ; |
||
1172 | instance_data[instance].responseTO = NUM_EXPECTED_RESPONSES; //set number of expected responses to 3 (from other anchors)
|
||
1173 | |||
1174 | dw_event.type_pend = anctxorrxreenable(instance_data[instance].instanceAddress16, 2+0); |
||
1175 | |||
1176 | instance_data[instance].tof[sourceAddress & 0x7] = INVALID_TOF; //clear ToF .. |
||
1177 | } |
||
1178 | break;
|
||
1179 | |||
1180 | //we got a response from a "responder" (anchor)
|
||
1181 | case RTLS_DEMO_MSG_ANCH_RESP:
|
||
1182 | case RTLS_DEMO_MSG_ANCH_RESP2:{
|
||
1183 | |||
1184 | //we are a tag
|
||
1185 | if(instance_data[instance].mode == TAG){
|
||
1186 | uint8_t index ; |
||
1187 | instance_data[instance].rxResps[instance_data[instance].rangeNum]++; |
||
1188 | dw_event.type_pend = tagrxreenable(sourceAddress); //responseTO decremented above...
|
||
1189 | index = RRXT0 + 5*(sourceAddress & 0x3); |
||
1190 | |||
1191 | instance_data[instance].rxResponseMask |= (0x1 << (sourceAddress & 0x3)); //add anchor ID to the mask |
||
1192 | // Write Response RX time field of Final message
|
||
1193 | memcpy(&(instance_data[instance].msg_f.messageData[index]), rxTimeStamp, 5);
|
||
1194 | |||
1195 | } |
||
1196 | else if (instance_data[instance].mode == ANCHOR_RNG) { //A0 and A1 only when ranging to other anchors |
||
1197 | uint8_t index ; |
||
1198 | instance_data[instance].rxResps[instance_data[instance].rangeNumAnc]++; |
||
1199 | dw_event.type_pend = ancsendfinalorrxreenable(sourceAddress); |
||
1200 | index = RRXT0 + 5*(sourceAddress & 0x3); |
||
1201 | |||
1202 | instance_data[instance].rxResponseMaskAnc |= (0x1 << (sourceAddress & 0x3)); //add anchor ID to the mask |
||
1203 | // Write Response RX time field of Final message
|
||
1204 | memcpy(&(instance_data[instance].msg_f.messageData[index]), rxTimeStamp, 5);
|
||
1205 | } |
||
1206 | else { //normal anchor mode |
||
1207 | //got a response... (check if we got a Poll with the same range number as in this response)
|
||
1208 | if(RTLS_DEMO_MSG_ANCH_RESP == dw_event.msgu.frame[fcode_index]){
|
||
1209 | if((instance_data[instance].rxResps[instance_data[instance].rxRespsIdx] >= 0) //we got the poll else ignore this response |
||
1210 | && (instance_data[instance].responseTO > 0) ) { //if responseTO == 0 we have already received all of the responses - meaning should not be here => error |
||
1211 | instance_data[instance].rxResps[instance_data[instance].rxRespsIdx]++; //increment the number of responses received
|
||
1212 | instance_data[instance].responseTO--; |
||
1213 | |||
1214 | //send a response or re-enable rx
|
||
1215 | dw_event.type_pend = anctxorrxreenable(sourceAddress, 4+0); |
||
1216 | } |
||
1217 | else { //like a timeout (error) ... |
||
1218 | |||
1219 | //send a response or re-enable rx
|
||
1220 | dwt_setrxtimeout(0); //reconfigure the timeout |
||
1221 | dwt_rxenable(DWT_START_RX_IMMEDIATE) ; |
||
1222 | dw_event.type_pend = DWT_SIG_RX_PENDING ; |
||
1223 | } |
||
1224 | } |
||
1225 | else { //in anchor mode and got RTLS_DEMO_MSG_ANCH_RESP2 |
||
1226 | if((instance_data[instance].gatewayAnchor) &&
|
||
1227 | (instance_data[instance].rxResps[instance_data[instance].rangeNumAnc]) == 2){ //got two responses A1 and A2 this is third (A2's to A1) |
||
1228 | instance_data[instance].rxResps[instance_data[instance].rangeNumAnc]++; |
||
1229 | instance_data[instance].rxResponseMaskAnc |= 0x8 ;
|
||
1230 | |||
1231 | dw_event.type_pend = anctxorrxreenable(sourceAddress, 4+1); //re-enable the RX |
||
1232 | } |
||
1233 | //A2 got A1's response to A0 - send A2 response (but only if we got the Poll from A0)
|
||
1234 | else if((instance_data[instance].instanceAddress16 == A2_ANCHOR_ADDR) && |
||
1235 | (instance_data[instance].rxResps[instance_data[instance].rxRespsIdx] >= 0) ){
|
||
1236 | instance_data[instance].rxResps[instance_data[instance].rxRespsIdx]++; |
||
1237 | instance_data[instance].responseTO--; |
||
1238 | |||
1239 | dwt_setrxtimeout(0);
|
||
1240 | dwt_setrxaftertxdelay(0); //clear rx on delay as Final will come sooner than if we were waiting for next Response |
||
1241 | dw_event.type_pend = anctxorrxreenable(sourceAddress, 1);
|
||
1242 | } |
||
1243 | else { // if other anchor A1, A2, A3 .. ignore these responses when in ANCHOR mode |
||
1244 | dwt_setrxtimeout(0); //reconfigure the timeout |
||
1245 | dwt_rxenable(DWT_START_RX_IMMEDIATE) ; |
||
1246 | dw_event.type_pend = DWT_SIG_RX_PENDING ; |
||
1247 | } |
||
1248 | } |
||
1249 | } |
||
1250 | |||
1251 | } |
||
1252 | break;
|
||
1253 | |||
1254 | case RTLS_DEMO_MSG_TAG_FINAL:
|
||
1255 | case RTLS_DEMO_MSG_ANCH_FINAL:
|
||
1256 | if(instance_data[instance].mode == TAG) { //tag should ignore any other Final from anchors |
||
1257 | instance_data[instance].responseTO++; //as will be decremented in the function and was also decremented above
|
||
1258 | handle_error_unknownframe(dw_event); |
||
1259 | instance_data[instance].stopTimer = 1;
|
||
1260 | instance_data[instance].rxMsgCount++; |
||
1261 | return;
|
||
1262 | } |
||
1263 | break; // TODO: fallthourgh for anchor |
||
1264 | // __attribute__ ((fallthrough));
|
||
1265 | |||
1266 | //if anchor fall into case below and process the frame
|
||
1267 | default: { //process rx frame |
||
1268 | dw_event.type_pend = DWT_SIG_DW_IDLE; |
||
1269 | } |
||
1270 | break;
|
||
1271 | |||
1272 | } |
||
1273 | }//end of if not Listener mode
|
||
1274 | instance_data[instance].stopTimer = 1;
|
||
1275 | |||
1276 | instance_putevent(dw_event, rxd_event); |
||
1277 | |||
1278 | instance_data[instance].rxMsgCount++; |
||
1279 | } |
||
1280 | else { //if (rxd_event == SIG_RX_UNKNOWN) //need to re-enable the rx (got unknown frame type) |
||
1281 | handle_error_unknownframe(dw_event); |
||
1282 | } |
||
1283 | // }
|
||
1284 | } |
||
1285 | |||
1286 | |||
1287 | /*TODO: Callback funtion for RX timeout (available from newer driver version) */
|
||
1288 | #pragma GCC optimize ("O3") |
||
1289 | void instance_rxtimeoutcallback(const dwt_cb_data_t *rxd){ |
||
1290 | |||
1291 | (void) rxd;
|
||
1292 | event_data_t dw_event; |
||
1293 | |||
1294 | int instance = 0; |
||
1295 | |||
1296 | dw_event.type_pend = DWT_SIG_DW_IDLE; |
||
1297 | |||
1298 | if(instance_data[instance].mode == ANCHOR) {
|
||
1299 | //check if anchor has received all of the responses from other anchors (it could have received only 1 or 2)
|
||
1300 | //it's timed out (re-enable rx or tx response)
|
||
1301 | if(instance_data[instance].responseTO > 0) { |
||
1302 | instance_data[instance].responseTO--; |
||
1303 | //send a response or re-enable rx
|
||
1304 | dw_event.type_pend = anctxorrxreenable(instance_data[instance].instanceAddress16, 6+0); |
||
1305 | // Print_On_Uart("Re-enable RX in rxtimeout callback\r\n");
|
||
1306 | } |
||
1307 | } |
||
1308 | dw_event.type = 0;
|
||
1309 | dw_event.type_save = DWT_SIG_RX_TIMEOUT; |
||
1310 | dw_event.rxLength = 0;
|
||
1311 | dw_event.timeStamp = 0;
|
||
1312 | dw_event.timeStamp32l = 0;
|
||
1313 | dw_event.timeStamp32h = 0;
|
||
1314 | |||
1315 | instance_putevent(dw_event, DWT_SIG_RX_TIMEOUT); |
||
1316 | // printf("RX timeout while in %d\n", instance_data[instance].testAppState);
|
||
1317 | |||
1318 | } |
||
1319 | |||
1320 | |||
1321 | /*TODO: Callback funtion for RX error (available from newer driver version) */
|
||
1322 | #pragma GCC optimize ("O3") |
||
1323 | void instance_rxerrorcallback(const dwt_cb_data_t *rxd) { |
||
1324 | |||
1325 | (void) rxd;
|
||
1326 | event_data_t dw_event; |
||
1327 | |||
1328 | dw_event.uTimeStamp = portGetTickCnt(); |
||
1329 | |||
1330 | handle_error_unknownframe(dw_event); |
||
1331 | } |
||
1332 | |||
1333 | |||
1334 | |||
1335 | #pragma GCC optimize ("O3") |
||
1336 | int instance_peekevent(void){ |
||
1337 | int instance = 0; |
||
1338 | return instance_data[instance].dwevent[instance_data[instance].dweventPeek].type; //return the type of event that is in front of the queue |
||
1339 | } |
||
1340 | |||
1341 | #pragma GCC optimize ("O3") |
||
1342 | void instance_saveevent(event_data_t newevent, uint8_t etype){
|
||
1343 | int instance = 0; |
||
1344 | |||
1345 | instance_data[instance].saved_dwevent = newevent; |
||
1346 | instance_data[instance].saved_dwevent.type = etype; |
||
1347 | } |
||
1348 | |||
1349 | #pragma GCC optimize ("O3") |
||
1350 | event_data_t instance_getsavedevent(void){
|
||
1351 | int instance = 0; |
||
1352 | |||
1353 | return instance_data[instance].saved_dwevent;
|
||
1354 | } |
||
1355 | |||
1356 | #pragma GCC optimize ("O3") |
||
1357 | void instance_putevent(event_data_t newevent, uint8_t etype){
|
||
1358 | int instance = 0; |
||
1359 | //newevent.eventtime = portGetTickCnt();
|
||
1360 | newevent.gotit = 0 ; //newevent.eventtimeclr = 0; |
||
1361 | |||
1362 | //copy event
|
||
1363 | instance_data[instance].dwevent[instance_data[instance].dweventIdxIn] = newevent; |
||
1364 | |||
1365 | //set type - this makes it a new event (making sure the event data is copied before event is set as new)
|
||
1366 | //to make sure that the get event function does not get an incomplete event
|
||
1367 | instance_data[instance].dwevent[instance_data[instance].dweventIdxIn].type = etype; |
||
1368 | |||
1369 | instance_data[instance].dweventIdxIn++; |
||
1370 | |||
1371 | if(MAX_EVENT_NUMBER == instance_data[instance].dweventIdxIn)
|
||
1372 | { |
||
1373 | instance_data[instance].dweventIdxIn = 0;
|
||
1374 | } |
||
1375 | //eventIncount++;
|
||
1376 | |||
1377 | //printf("put %d - in %d out %d @ %d\n", newevent.type, instance_data[instance].dweventCntIn, instance_data[instance].dweventCntOut, ptime);
|
||
1378 | } |
||
1379 | |||
1380 | event_data_t dw_event_g; |
||
1381 | |||
1382 | #pragma GCC optimize ("O3") |
||
1383 | event_data_t* instance_getevent(int x){
|
||
1384 | int instance = 0; |
||
1385 | int indexOut = instance_data[instance].dweventIdxOut;
|
||
1386 | |||
1387 | //dw_event_g = instance_data[instance].dwevent[instance_data[instance].dweventCntOut]; //this holds any TX/RX events
|
||
1388 | |||
1389 | //memcpy(&dw_event_g, &instance_data[instance].dwevent[instance_data[instance].dweventCntOut], sizeof(event_data_t));
|
||
1390 | |||
1391 | if(instance_data[instance].dwevent[indexOut].type == 0) { //exit with "no event" |
||
1392 | dw_event_g.type = 0;
|
||
1393 | dw_event_g.type_save = 0;
|
||
1394 | return &dw_event_g;
|
||
1395 | } |
||
1396 | |||
1397 | //copy the event
|
||
1398 | dw_event_g.type_save = instance_data[instance].dwevent[indexOut].type_save ; |
||
1399 | dw_event_g.type_pend = instance_data[instance].dwevent[indexOut].type_pend ; |
||
1400 | dw_event_g.rxLength = instance_data[instance].dwevent[indexOut].rxLength ; |
||
1401 | dw_event_g.timeStamp = instance_data[instance].dwevent[indexOut].timeStamp ; |
||
1402 | dw_event_g.timeStamp32l = instance_data[instance].dwevent[indexOut].timeStamp32l ; |
||
1403 | dw_event_g.timeStamp32h = instance_data[instance].dwevent[indexOut].timeStamp32h ; |
||
1404 | dw_event_g.uTimeStamp = instance_data[instance].dwevent[indexOut].uTimeStamp ; |
||
1405 | //dw_event_g.eventtime = instance_data[instance].dwevent[indexOut].eventtime ;
|
||
1406 | //dw_event_g.eventtimeclr = instance_data[instance].dwevent[indexOut].eventtimeclr ;
|
||
1407 | //dw_event_g.gotit = instance_data[instance].dwevent[indexOut].gotit ;
|
||
1408 | |||
1409 | memcpy(&dw_event_g.msgu, &instance_data[instance].dwevent[indexOut].msgu, sizeof(instance_data[instance].dwevent[indexOut].msgu));
|
||
1410 | |||
1411 | dw_event_g.type = instance_data[instance].dwevent[indexOut].type ; |
||
1412 | |||
1413 | |||
1414 | instance_data[instance].dwevent[indexOut].gotit = x; |
||
1415 | |||
1416 | //instance_data[instance].dwevent[indexOut].eventtimeclr = portGetTickCnt();
|
||
1417 | |||
1418 | instance_data[instance].dwevent[indexOut].type = 0; //clear the event |
||
1419 | |||
1420 | instance_data[instance].dweventIdxOut++; |
||
1421 | if(MAX_EVENT_NUMBER == instance_data[instance].dweventIdxOut){ //wrap the counter |
||
1422 | instance_data[instance].dweventIdxOut = 0;
|
||
1423 | } |
||
1424 | instance_data[instance].dweventPeek = instance_data[instance].dweventIdxOut; //set the new peek value
|
||
1425 | |||
1426 | //if(dw_event.type) printf("get %d - in %d out %d @ %d\n", dw_event.type, instance_data[instance].dweventCntIn, instance_data[instance].dweventCntOut, ptime);
|
||
1427 | |||
1428 | //eventOutcount++;
|
||
1429 | |||
1430 | |||
1431 | return &dw_event_g;
|
||
1432 | } |
||
1433 | |||
1434 | void instance_clearevents(void){ |
||
1435 | int i = 0; |
||
1436 | int instance = 0; |
||
1437 | |||
1438 | for(i=0; i<MAX_EVENT_NUMBER; i++) { |
||
1439 | memset(&instance_data[instance].dwevent[i], 0, sizeof(event_data_t)); |
||
1440 | } |
||
1441 | |||
1442 | instance_data[instance].dweventIdxIn = 0;
|
||
1443 | instance_data[instance].dweventIdxOut = 0;
|
||
1444 | instance_data[instance].dweventPeek = 0;
|
||
1445 | |||
1446 | //eventOutcount = 0;
|
||
1447 | //eventIncount = 0;
|
||
1448 | } |
||
1449 | |||
1450 | // -------------------------------------------------------------------------------------------------------------------
|
||
1451 | #pragma GCC optimize ("O3") |
||
1452 | int instance_run(void){ |
||
1453 | int instance = 0 ; |
||
1454 | int done = INST_NOT_DONE_YET;
|
||
1455 | int message = instance_peekevent(); //get any of the received events from ISR |
||
1456 | |||
1457 | |||
1458 | while(done == INST_NOT_DONE_YET){
|
||
1459 | //int state = instance_data[instance].testAppState;
|
||
1460 | done = testapprun(&instance_data[instance], message) ; // run the communications application
|
||
1461 | |||
1462 | //we've processed message
|
||
1463 | message = 0;
|
||
1464 | } |
||
1465 | |||
1466 | |||
1467 | |||
1468 | if(done == INST_DONE_WAIT_FOR_NEXT_EVENT_TO) { //we are in RX and need to timeout (Tag needs to send another poll if no Rx frame) |
||
1469 | if(instance_data[instance].mode == TAG) { //Tag (is either in RX or sleeping) |
||
1470 | int32_t nextPeriod ; |
||
1471 | |||
1472 | // next period will be a positive number because correction is -0.5 to +1.5 periods, (and tagSleepTime_ms is the period)
|
||
1473 | nextPeriod = instance_data[instance].tagSleepRnd + instance_data[instance].tagSleepTime_ms + instance_data[instance].tagSleepCorrection; |
||
1474 | |||
1475 | instance_data[instance].nextSleepPeriod = (uint32_t) nextPeriod ; //set timeout time, CAST the positive period to UINT for correct wrapping.
|
||
1476 | instance_data[instance].tagSleepCorrection2 = instance_data[instance].tagSleepCorrection; |
||
1477 | instance_data[instance].tagSleepCorrection = 0; //clear the correction |
||
1478 | instance_data[instance].instanceTimerEn = 1; //start timer |
||
1479 | } |
||
1480 | instance_data[instance].stopTimer = 0 ; //clear the flag - timer can run if instancetimer_en set (set above) |
||
1481 | instance_data[instance].done = INST_NOT_DONE_YET; |
||
1482 | } |
||
1483 | |||
1484 | //check if timer has expired
|
||
1485 | if((instance_data[instance].instanceTimerEn == 1) && (instance_data[instance].stopTimer == 0)) { |
||
1486 | if(instance_data[instance].mode == TAG) {
|
||
1487 | if((portGetTickCnt() - instance_data[instance].instanceWakeTime) > instance_data[instance].nextSleepPeriod) {
|
||
1488 | event_data_t dw_event; |
||
1489 | instance_data[instance].instanceTimerEn = 0;
|
||
1490 | dw_event.rxLength = 0;
|
||
1491 | dw_event.type = 0;
|
||
1492 | dw_event.type_save = 0x80 | DWT_SIG_RX_TIMEOUT;
|
||
1493 | //printf("PC timeout DWT_SIG_RX_TIMEOUT\n");
|
||
1494 | instance_putevent(dw_event, DWT_SIG_RX_TIMEOUT); |
||
1495 | } |
||
1496 | } |
||
1497 | #if (ANCTOANCTWR == 1) //allow anchor to anchor ranging |
||
1498 | else if(instance_data[instance].mode == ANCHOR) { |
||
1499 | uint32_t slotTime = portGetTickCnt() % instance_data[instance].sframePeriod; |
||
1500 | |||
1501 | if(instance_data[instance].gatewayAnchor) {
|
||
1502 | //if we are in the last slot - then A0 ranges to A1 and A2
|
||
1503 | if( slotTime >= instance_data[instance].a0SlotTime) {
|
||
1504 | port_DisableEXT_IRQ(); //enable ScenSor IRQ before starting
|
||
1505 | //anchor0 sends poll to anchor1
|
||
1506 | instance_data[instance].mode = ANCHOR_RNG; //change to ranging initiator
|
||
1507 | dwt_forcetrxoff(); //disable DW1000
|
||
1508 | instance_clearevents(); //clear any events
|
||
1509 | //change state to send a Poll
|
||
1510 | instance_data[instance].testAppState = TA_TXPOLL_WAIT_SEND ; |
||
1511 | instance_data[instance].msg_f.destAddr[0] = 0x1 ; |
||
1512 | instance_data[instance].msg_f.destAddr[1] = (GATEWAY_ANCHOR_ADDR >> 8); |
||
1513 | instance_data[instance].instanceTimerEn = 0;
|
||
1514 | instance_data[instance].rangeNumAnc++; |
||
1515 | port_EnableEXT_IRQ(); //enable ScenSor IRQ before starting
|
||
1516 | } |
||
1517 | } |
||
1518 | else if (instance_data[instance].instanceAddress16 == A1_ANCHOR_ADDR) { //A1 ranges to A2 in the 2nd half of last slot |
||
1519 | if(portGetTickCnt() >= instance_data[instance].a1SlotTime) {
|
||
1520 | port_DisableEXT_IRQ(); //enable ScenSor IRQ before starting
|
||
1521 | //anchor1 sends poll to anchor2
|
||
1522 | instance_data[instance].mode = ANCHOR_RNG; //change to ranging initiator
|
||
1523 | dwt_forcetrxoff(); //disable DW1000
|
||
1524 | instance_clearevents(); //clear any events
|
||
1525 | //change state to send a Poll
|
||
1526 | instance_data[instance].testAppState = TA_TXPOLL_WAIT_SEND ; |
||
1527 | instance_data[instance].msg_f.destAddr[0] = 0x2 ; |
||
1528 | instance_data[instance].msg_f.destAddr[1] = (GATEWAY_ANCHOR_ADDR >> 8); |
||
1529 | |||
1530 | instance_data[instance].instanceTimerEn = 0;
|
||
1531 | //instance_data[instance].a1SlotTime = 0;
|
||
1532 | port_EnableEXT_IRQ(); //enable ScenSor IRQ before starting
|
||
1533 | } |
||
1534 | } |
||
1535 | } |
||
1536 | #endif
|
||
1537 | } |
||
1538 | |||
1539 | #if (ANCTOANCTWR == 1) //allow anchor to anchor ranging |
||
1540 | else if (instance_data[instance].instanceTimerEn == 0){ |
||
1541 | if((instance_data[instance].mode == ANCHOR) && (instance_data[instance].gatewayAnchor)){
|
||
1542 | uint32_t slotTime = portGetTickCnt() % instance_data[instance].sframePeriod; |
||
1543 | //enable the timer in 1st slot
|
||
1544 | if(slotTime < instance_data[instance].slotPeriod){
|
||
1545 | instance_data[instance].instanceTimerEn = 1;
|
||
1546 | } |
||
1547 | } |
||
1548 | } |
||
1549 | #endif
|
||
1550 | return 0 ; |
||
1551 | } |
||
1552 | |||
1553 | |||
1554 | void instance_close(void){ |
||
1555 | //wake up device from low power mode
|
||
1556 | //NOTE - in the ARM code just drop chip select for 200us
|
||
1557 | port_SPIx_clear_chip_select(); //CS low
|
||
1558 | Sleep(1); //200 us to wake up then waits 5ms for DW1000 XTAL to stabilise |
||
1559 | port_SPIx_set_chip_select(); //CS high
|
||
1560 | Sleep(5);
|
||
1561 | dwt_entersleepaftertx(0); // clear the "enter deep sleep after tx" bit |
||
1562 | dwt_setinterrupt(0xFFFFFFFF, 0); //don't allow any interrupts |
||
1563 | |||
1564 | } |
||
1565 | |||
1566 | |||
1567 | void instance_notify_DW1000_inIDLE(int idle){ |
||
1568 | instance_data[0].dwIDLE = idle;
|
||
1569 | } |
||
1570 | |||
1571 | void instanceconfigtxpower(uint32_t txpower){
|
||
1572 | instance_data[0].txPower = txpower ;
|
||
1573 | |||
1574 | instance_data[0].txPowerChanged = 1; |
||
1575 | |||
1576 | } |
||
1577 | |||
1578 | void instancesettxpower(void){ |
||
1579 | if(instance_data[0].txPowerChanged == 1){ |
||
1580 | //Configure TX power
|
||
1581 | dwt_write32bitreg(0x1E, instance_data[0].txPower); |
||
1582 | |||
1583 | instance_data[0].txPowerChanged = 0; |
||
1584 | } |
||
1585 | } |
||
1586 | |||
1587 | void instanceconfigantennadelays(uint16_t tx, uint16_t rx){
|
||
1588 | instance_data[0].txAntennaDelay = tx ;
|
||
1589 | instance_data[0].rxAntennaDelay = rx ;
|
||
1590 | |||
1591 | instance_data[0].antennaDelayChanged = 1; |
||
1592 | } |
||
1593 | |||
1594 | void instancesetantennadelays(void){ |
||
1595 | if(instance_data[0].antennaDelayChanged == 1){ |
||
1596 | dwt_setrxantennadelay(instance_data[0].rxAntennaDelay);
|
||
1597 | dwt_settxantennadelay(instance_data[0].txAntennaDelay);
|
||
1598 | |||
1599 | instance_data[0].antennaDelayChanged = 0; |
||
1600 | } |
||
1601 | } |
||
1602 | |||
1603 | |||
1604 | uint16_t instancetxantdly(void){
|
||
1605 | return instance_data[0].txAntennaDelay; |
||
1606 | } |
||
1607 | |||
1608 | uint16_t instancerxantdly(void){
|
||
1609 | return instance_data[0].rxAntennaDelay; |
||
1610 | } |
||
1611 | |||
1612 | uint8_t instancevalidranges(void){
|
||
1613 | uint8_t x = instance_data[0].rxResponseMaskReport;
|
||
1614 | instance_data[0].rxResponseMaskReport = 0; //reset mask as we have printed out the ToFs |
||
1615 | return x;
|
||
1616 | } |
||
1617 | #endif
|
||
1618 | |||
1619 | |||
1620 | /*! TODO: the following Functions are added for user application (previously on the API )*/
|
||
1621 | |||
1622 | /*! ------------------------------------------------------------------------------------------------------------------
|
||
1623 | * @fn dwt_getotptxpower()
|
||
1624 | *
|
||
1625 | * @brief This API function returns the tx power value read from OTP memory as part of initialisation
|
||
1626 | *
|
||
1627 | * input parameters
|
||
1628 | * @param prf - this is the PRF e.g. DWT_PRF_16M or DWT_PRF_64M
|
||
1629 | * @param chan - this is the channel e.g. 1 to 7
|
||
1630 | *
|
||
1631 | * output parameters
|
||
1632 | *
|
||
1633 | * returns tx power value for a given PRF and channel
|
||
1634 | */
|
||
1635 | uint32_t dwt_getotptxpower(uint8_t prf, uint8_t chan){ |
||
1636 | return platformLocalData.txPowCfg[(prf - DWT_PRF_16M) + (chan_idx[chan] * 2)]; |
||
1637 | } |
||
1638 | |||
1639 | /*! ------------------------------------------------------------------------------------------------------------------
|
||
1640 | * @fn dwt_getTREKOTPantennadelay()
|
||
1641 | *
|
||
1642 | * @brief This API function returns the antenna delay read from the OTP memory as part of device initialisation
|
||
1643 | * Note: the antenna delay will only be read if dwt_initialise is called with DWT_LOADANTDLY bit set in the config parameter
|
||
1644 | * The values of antenna delay are only valid for TREK use case modes.
|
||
1645 | *
|
||
1646 | * input parameters:
|
||
1647 | * @param anchor - this is the mode (Tag or Anchor) if Tag set to 0, if Anchor set to 1
|
||
1648 | * @param chan - this is the channel (1, 2, 3, 4, 5, 7)
|
||
1649 | * @param datarate - this is the datarate DWT_BR_6M8, DWT_BR_110K or DWT_BR_850K
|
||
1650 | *
|
||
1651 | */
|
||
1652 | uint16_t dwt_getTREKOTPantennadelay(uint8_t anchor, uint8_t chan, uint8_t datarate){ |
||
1653 | uint32_t dly = 0;
|
||
1654 | |||
1655 | // 32-bit antenna delay value previously read from OTP, high 16 bits is value for Anchor mode, low 16-bits for Tag mode
|
||
1656 | switch(chan){
|
||
1657 | case 2: |
||
1658 | if(datarate == DWT_BR_6M8)
|
||
1659 | dly = platformLocalData.antennaCals[0];
|
||
1660 | else if(datarate == DWT_BR_110K) |
||
1661 | dly = platformLocalData.antennaCals[1];
|
||
1662 | break;
|
||
1663 | case 5: |
||
1664 | if(datarate == DWT_BR_6M8)
|
||
1665 | dly = platformLocalData.antennaCals[2];
|
||
1666 | else if(datarate == DWT_BR_110K) |
||
1667 | dly = platformLocalData.antennaCals[3];
|
||
1668 | break;
|
||
1669 | default:
|
||
1670 | dly = 0;
|
||
1671 | break;
|
||
1672 | } |
||
1673 | |||
1674 | return (dly >> (16*(anchor & 0x1))) & 0xFFFF; |
||
1675 | } |
||
1676 | |||
1677 | /*! ------------------------------------------------------------------------------------------------------------------
|
||
1678 | * @fn dwt_readantennadelay()
|
||
1679 | *
|
||
1680 | * @brief This API function returns the antenna delay read from the OTP memory as part of device initialisation
|
||
1681 | * Note: the antenna delay will only be read if dwt_initialise is called with DWT_LOADANTDLY bit set in the config parameter
|
||
1682 | *
|
||
1683 | * input parameters:
|
||
1684 | * @param prf - this is the PRF e.g. DWT_PRF_16M or DWT_PRF_64M
|
||
1685 | *
|
||
1686 | */
|
||
1687 | uint16_t dwt_readantennadelay(uint8_t prf){ |
||
1688 | // 32-bit antenna delay value previously read from OTP, high 16 bits is value for 64 MHz PRF, low 16-bits for 16 MHz PRF
|
||
1689 | return (platformLocalData.antennaDly >> (16*(prf-DWT_PRF_16M))) & 0xFFFF; |
||
1690 | } |
||
1691 | |||
1692 | |||
1693 | /* ==========================================================
|
||
1694 | |||
1695 | Notes:
|
||
1696 | |||
1697 | Previously code handled multiple instances in a single console application
|
||
1698 | |||
1699 | Now have changed it to do a single instance only. With minimal code changes...(i.e. kept [instance] index but it is always 0.
|
||
1700 | |||
1701 | Windows application should call instance_init() once and then in the "main loop" call instance_run().
|
||
1702 | |||
1703 | */
|
||
1704 | |||
1705 | #endif /* defined(AMIROLLD_CFG_DW1000) && (AMIROLLD_CFG_DW1000 == 1) */ |