AMiRo-OS

/*! ----------------------------------------------------------------------------

 *  @file    instance.h

 *  @brief   DecaWave header for application level instance

 *

 * @attention

 *

 * Copyright 2015 (c) DecaWave Ltd, Dublin, Ireland.

 *

 * All rights reserved.

 *

 * @author DecaWave

 */

#ifndef __DECAINSTANCE_V1_H_

#define DECAINSTANCE_V1_H

#ifdef __cplusplus

extern "C" {

#endif

#include <amiro-lld.h>

#if (defined(AMIROLLD_CFG_DW1000) && (AMIROLLD_CFG_DW1000 == 1)) || defined(__DOXYGEN__)

#include <alld_DW1000.h>

  /******************************************************************************************************************

   ********************* NOTES on DW (MP) features/options ***********************************************************

   *******************************************************************************************************************/

#define DEEP_SLEEP (0) //To enable deep-sleep set this to 1

  //DEEP_SLEEP mode can be used, for example, by a Tag instance to put the DW1000 into low-power deep-sleep mode:

  // when the Anchor is sending the range report back to the Tag, the Tag will enter sleep after a ranging exchange is finished

  // once it receives a report or times out, before the next poll message is sent (before next ranging exchange is started).

#define CORRECT_RANGE_BIAS  (1)     // Compensate for small bias due to uneven accumulator growth at close up high power

#define ANCTOANCTWR (1) //if set to 1 then anchor to anchor TWR will be done in the last slot

#define DISCOVERY (0)     //set to 1 to enable tag discovery - tags starts by sending blinks (with own ID) and then

                            //anchor assigns a slot to it and gives it short address

  /******************************************************************************************************************

   *******************************************************************************************************************

   *******************************************************************************************************************/

#define NUM_INST            1

#define SPEED_OF_LIGHT      (299702547.0)     // in m/s in air

#define MASK_40BIT                        (0x00FFFFFFFFFF)  // DW1000 counter is 40 bits

#define MASK_TXDTS                        (0x00FFFFFFFE00)  //The TX timestamp will snap to 8 ns resolution - mask lower 9 bits.

//!  callback events

#define DWT_SIG_RX_NOERR            0

#define DWT_SIG_TX_DONE             1       // Frame has been sent

#define DWT_SIG_RX_OKAY             2       // Frame Received with Good CRC

#define DWT_SIG_RX_ERROR            3       // Frame Received but CRC is wrong

#define DWT_SIG_RX_TIMEOUT          4       // Timeout on receive has elapsed

#define DWT_SIG_TX_AA_DONE          6       // ACK frame has been sent (as a result of auto-ACK)

#define DWT_SIG_RX_BLINK            7       // Received ISO EUI 64 blink message

#define DWT_SIG_RX_PHR_ERROR        8       // Error found in PHY Header

#define DWT_SIG_RX_SYNCLOSS         9       // Un-recoverable error in Reed Solomon Decoder

#define DWT_SIG_RX_SFDTIMEOUT       10      // Saw preamble but got no SFD within configured time

#define DWT_SIG_RX_PTOTIMEOUT       11      // Got preamble detection timeout (no preamble detected)

#define DWT_SIG_TX_PENDING          12      // TX is pending

#define DWT_SIG_TX_ERROR            13      // TX failed

#define DWT_SIG_RX_PENDING          14      // RX has been re-enabled

#define DWT_SIG_DW_IDLE             15      // DW radio is in IDLE (no TX or RX pending)

#define SIG_RX_UNKNOWN                        99                // Received an unknown frame

  //DecaRTLS frame function codes

#define RTLS_DEMO_MSG_TAG_POLL              (0x81)          // Tag poll message

#define RTLS_DEMO_MSG_ANCH_RESP             (0x70)          // Anchor response to poll

#define RTLS_DEMO_MSG_ANCH_POLL                                (0x71)                        // Anchor to anchor poll message

#define RTLS_DEMO_MSG_ANCH_RESP2            (0x72)          // Anchor response to poll from anchor

#define RTLS_DEMO_MSG_ANCH_FINAL            (0x73)          // Anchor final massage back to Anchor

#define RTLS_DEMO_MSG_TAG_FINAL             (0x82)          // Tag final massage back to Anchor

  //lengths including the Decaranging Message Function Code byte

#define TAG_POLL_MSG_LEN                    2                                // FunctionCode(1), Range Num (1)

#define ANCH_RESPONSE_MSG_LEN               8               // FunctionCode(1), Sleep Correction Time (2), Measured_TOF_Time(4), Range Num (1) (previous)

#define TAG_FINAL_MSG_LEN                   33              // FunctionCode(1), Range Num (1), Poll_TxTime(5),

  // Resp0_RxTime(5), Resp1_RxTime(5), Resp2_RxTime(5), Resp3_RxTime(5), Final_TxTime(5), Valid Response Mask (1)

#define MAX_MAC_MSG_DATA_LEN                (TAG_FINAL_MSG_LEN) //max message len of the above

#define STANDARD_FRAME_SIZE         127

  //#define STANDARD_FRAME_SIZE         80

#define ADDR_BYTE_SIZE_L            (8)

#define ADDR_BYTE_SIZE_S            (2)

#define FRAME_CONTROL_BYTES         2

#define FRAME_SEQ_NUM_BYTES         1

#define FRAME_PANID                 2

#define FRAME_CRC                                        2

#define FRAME_SOURCE_ADDRESS_S        (ADDR_BYTE_SIZE_S)

#define FRAME_DEST_ADDRESS_S          (ADDR_BYTE_SIZE_S)

#define FRAME_SOURCE_ADDRESS_L        (ADDR_BYTE_SIZE_L)

#define FRAME_DEST_ADDRESS_L          (ADDR_BYTE_SIZE_L)

#define FRAME_CTRLP                                        (FRAME_CONTROL_BYTES + FRAME_SEQ_NUM_BYTES + FRAME_PANID) //5

#define FRAME_CRTL_AND_ADDRESS_L    (FRAME_DEST_ADDRESS_L + FRAME_SOURCE_ADDRESS_L + FRAME_CTRLP) //21 bytes for 64-bit addresses)

#define FRAME_CRTL_AND_ADDRESS_S    (FRAME_DEST_ADDRESS_S + FRAME_SOURCE_ADDRESS_S + FRAME_CTRLP) //9 bytes for 16-bit addresses)

#define FRAME_CRTL_AND_ADDRESS_LS        (FRAME_DEST_ADDRESS_L + FRAME_SOURCE_ADDRESS_S + FRAME_CTRLP) //15 bytes for 1 16-bit address and 1 64-bit address)

#define MAX_USER_PAYLOAD_STRING_LL     (STANDARD_FRAME_SIZE-FRAME_CRTL_AND_ADDRESS_L-TAG_FINAL_MSG_LEN-FRAME_CRC) //127 - 21 - 16 - 2 = 88

#define MAX_USER_PAYLOAD_STRING_SS     (STANDARD_FRAME_SIZE-FRAME_CRTL_AND_ADDRESS_S-TAG_FINAL_MSG_LEN-FRAME_CRC) //127 - 9 - 16 - 2 = 100

#define MAX_USER_PAYLOAD_STRING_LS     (STANDARD_FRAME_SIZE-FRAME_CRTL_AND_ADDRESS_LS-TAG_FINAL_MSG_LEN-FRAME_CRC) //127 - 15 - 16 - 2 = 94

  //NOTE: the user payload assumes that there are only 88 "free" bytes to be used for the user message (it does not scale according to the addressing modes)

#define MAX_USER_PAYLOAD_STRING        MAX_USER_PAYLOAD_STRING_LL

#define MAX_TAG_LIST_SIZE                                (8)

#define MAX_ANCHOR_LIST_SIZE                        (4) //this is limited to 4 in this application

#define NUM_EXPECTED_RESPONSES                        (3) //e.g. MAX_ANCHOR_LIST_SIZE - 1

#define NUM_EXPECTED_RESPONSES_ANC                (1) //anchors A0, A1 and A2 are involved in anchor to anchor ranging

#define NUM_EXPECTED_RESPONSES_ANC0                (2) //anchor A0 expects response from A1 and A2

#define GATEWAY_ANCHOR_ADDR                                (0x8000)

#define A1_ANCHOR_ADDR                                        (0x8001)

#define A2_ANCHOR_ADDR                                        (0x8002)

#define A3_ANCHOR_ADDR                                        (0x8003)

  // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

  // NOTE: the maximum RX timeout is ~ 65ms

  // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

#define INST_DONE_WAIT_FOR_NEXT_EVENT           1   //this signifies that the current event has been processed and instance is ready for next one

#define INST_DONE_WAIT_FOR_NEXT_EVENT_TO    2   //this signifies that the current event has been processed and that instance is waiting for next one with a timeout

  //which will trigger if no event coming in specified time

#define INST_NOT_DONE_YET                       0   //this signifies that the instance is still processing the current event

  //application data message byte offsets

#define FCODE                               0               // Function code is 1st byte of messageData

#define PTXT                                2                                // Poll TX time

#define RRXT0                               7                                // A0 Response RX time

#define RRXT1                               12                                // A1 Response RX time

#define RRXT2                               17                                // A2 Response RX time

#define RRXT3                               22                                // A3 Response RX time

#define FTXT                                27                                // Final TX time

#define VRESP                               32                                // Mask of valid response times (e.g. if bit 1 = A0's response time is valid)

#define RES_TAG_SLP0                        1               // Response tag sleep correction LSB

#define RES_TAG_SLP1                        2               // Response tag sleep correction MSB

#define TOFR                                3                                // ToF (n-1) 4 bytes

#define TOFRN                                                                7                                // range number 1 byte

#define POLL_RNUM                           1               // Poll message range number

  //this it the delay used for configuring the receiver on delay (wait for response delay)

  //NOTE: this RX_RESPONSE_TURNAROUND is dependent on the microprocessor and code optimisations

#define RX_RESPONSEX_TURNAROUND (50) //takes about 100 us for response to come back

#define RX_RESPONSE1_TURNAROUND (200) //takes about 200 us for the 1st response to come back (from A0)

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

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

  //Tag will range to 3 or 4 anchors

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

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

  //Thus the ranging exchange will take either 28 ms for 110 kbps and 5 ms for 6.81 Mbps.

  //NOTE: the above times are for 110k rate with 64 symb non-standard SFD and 1024 preamble length

  typedef enum instanceModes{LISTENER, TAG, ANCHOR, ANCHOR_RNG, NUM_MODES} INST_MODE;

  //Listener = in this mode, the instance only receives frames, does not respond

  //Tag = Exchanges DecaRanging messages (Poll-Response-Final) with Anchor and enabling Anchor to calculate the range between the two instances

  //Anchor = see above

  //Anchor_Rng = the anchor (assumes a tag function) and ranges to another anchor - used in Anchor to Anchor TWR for auto positioning function

#define TOF_REPORT_NUL 0

#define TOF_REPORT_T2A 1

#define TOF_REPORT_A2A 2

#define INVALID_TOF (0xABCDFFFF)

  typedef enum inst_states

  {

    TA_INIT, //0

    TA_TXE_WAIT,                //1 - state in which the instance will enter sleep (if ranging finished) or proceed to transmit a message

    TA_TXPOLL_WAIT_SEND,        //2 - configuration and sending of Poll message

    TA_TXFINAL_WAIT_SEND,       //3 - configuration and sending of Final message

    TA_TXRESPONSE_WAIT_SEND,    //4 - a place holder - response is sent from call back

    TA_TX_WAIT_CONF,            //6 - confirmation of TX done message

    TA_RXE_WAIT,                //7

    TA_RX_WAIT_DATA,            //8

    TA_SLEEP_DONE,               //9

    TA_TXRESPONSE_SENT_POLLRX,    //10

    TA_TXRESPONSE_SENT_RESPRX,    //11

    TA_TXRESPONSE_SENT_TORX                  //12

  } INST_STATES;

  // This file defines data and functions for access to Parameters in the Device

  //message structure for Poll, Response and Final message

  typedef struct

  {

    uint8_t frameCtrl[2];                                 //  frame control bytes 00-01

    uint8_t seqNum;                                       //  sequence_number 02

    uint8_t panID[2];                                     //  PAN ID 03-04

    uint8_t destAddr[ADDR_BYTE_SIZE_L];                     //  05-12 using 64 bit addresses

    uint8_t sourceAddr[ADDR_BYTE_SIZE_L];                   //  13-20 using 64 bit addresses

    uint8_t messageData[MAX_USER_PAYLOAD_STRING_LL] ; //  22-124 (application data and any user payload)

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

  } srd_msg_dlsl ;

  typedef struct

  {

    uint8_t frameCtrl[2];                                 //  frame control bytes 00-01

    uint8_t seqNum;                                       //  sequence_number 02

    uint8_t panID[2];                                     //  PAN ID 03-04

    uint8_t destAddr[ADDR_BYTE_SIZE_S];                     //  05-06

    uint8_t sourceAddr[ADDR_BYTE_SIZE_S];                   //  07-08

    uint8_t messageData[MAX_USER_PAYLOAD_STRING_SS] ; //  09-124 (application data and any user payload)

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

  } srd_msg_dsss ;

  typedef struct

  {

    uint8_t frameCtrl[2];                                 //  frame control bytes 00-01

    uint8_t seqNum;                                       //  sequence_number 02

    uint8_t panID[2];                                     //  PAN ID 03-04

    uint8_t destAddr[ADDR_BYTE_SIZE_L];                     //  05-12 using 64 bit addresses

    uint8_t sourceAddr[ADDR_BYTE_SIZE_S];                   //  13-14

    uint8_t messageData[MAX_USER_PAYLOAD_STRING_LS] ; //  15-124 (application data and any user payload)

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

  } srd_msg_dlss ;

  typedef struct

  {

    uint8_t frameCtrl[2];                                 //  frame control bytes 00-01

    uint8_t seqNum;                                       //  sequence_number 02

    uint8_t panID[2];                                     //  PAN ID 03-04

    uint8_t destAddr[ADDR_BYTE_SIZE_S];                     //  05-06

    uint8_t sourceAddr[ADDR_BYTE_SIZE_L];                   //  07-14 using 64 bit addresses

    uint8_t messageData[MAX_USER_PAYLOAD_STRING_LS] ; //  15-124 (application data and any user payload)

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

  } srd_msg_dssl ;

  typedef struct  __attribute__((packed))

  {

    uint8_t channelNumber ;       // valid range is 1 to 11

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

    uint8_t pulseRepFreq ;        // NOMINAL_4M, NOMINAL_16M, or NOMINAL_64M

    uint8_t dataRate ;            // DATA_RATE_1 (110K), DATA_RATE_2 (850K), DATA_RATE_3 (6M81)

    uint8_t preambleLen ;         // values expected are 64, (128), (256), (512), 1024, (2048), and 4096

    uint8_t pacSize ;

    uint8_t nsSFD ;

    uint16_t sfdTO;  //!< SFD timeout value (in symbols) e.g. preamble length (128) + SFD(8) - PAC + some margin ~ 135us... DWT_SFDTOC_DEF; //default value

  } instanceConfig_t ;

  typedef struct

  {

    uint16_t slotPeriod ; //slot period (time for 1 tag to range to 4 anchors)

    uint16_t numSlots ; // number of slots in one superframe (number of tags supported)

    uint16_t sfPeriod ; // superframe period in ms

    uint16_t pollSleepDly ; // the minimum SLEEP time should be FRAME PERIOD so that tags don't interfere

    uint16_t replyDly ; //response delay time (Tag or Anchor when sending Final/Response messages respectively)

  } sfConfig_t ;

  /******************************************************************************************************************

   *******************************************************************************************************************

   *******************************************************************************************************************/

  //size of the event queue, in this application there should be at most 2 unprocessed events,

  //i.e. if there is a transmission with wait for response then the TX callback followed by RX callback could be executed

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

#define MAX_EVENT_NUMBER (6)

  typedef struct  __attribute__((packed))

  {

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

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

    uint8_t  type_pend;            // set if there is a pending event

    uint16_t rxLength ;                // length of RX data (does not apply to TX events)

    uint64_t timeStamp ;                // last timestamp (Tx or Rx) - 40 bit DW1000 time

    uint32_t timeStamp32l ;                   // last tx/rx timestamp - low 32 bits of the 40 bit DW1000 time

    uint32_t timeStamp32h ;                   // last tx/rx timestamp - high 32 bits of the 40 bit DW1000 time

    uint32_t uTimeStamp ;                          //32 bit system counter (ms) - STM32 tick time (at time of IRQ)

    union {

      //holds received frame (after a good RX frame event)

      uint8_t   frame[STANDARD_FRAME_SIZE];

      srd_msg_dlsl rxmsg_ll ; //64 bit addresses

      srd_msg_dssl rxmsg_sl ;

      srd_msg_dlss rxmsg_ls ;

      srd_msg_dsss rxmsg_ss ; //16 bit addresses

    }msgu;

    //uint32_t eventtime ;

    //uint32_t eventtimeclr ;

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

  }event_data_t ;

extern event_data_t dw_event_g;

  // TX power and PG delay configuration structure

  typedef struct  __attribute__((packed)) {

    uint8_t PGdelay;

    //TX POWER

    //31:24     BOOST_0.125ms_PWR

    //23:16     BOOST_0.25ms_PWR-TX_SHR_PWR

    //15:8      BOOST_0.5ms_PWR-TX_PHR_PWR

    //7:0       DEFAULT_PWR-TX_DATA_PWR

    uint32_t txPwr[2]; //

  }tx_struct;

  typedef struct __attribute__((packed))

  {

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

    INST_STATES testAppState ;                        //state machine - current state

    INST_STATES nextState ;                                //state machine - next state

    INST_STATES previousState ;                        //state machine - previous state

    int done ;                                        //done with the current event/wait for next event to arrive

    //configuration structures

    dwt_config_t    configData ;        //DW1000 channel configuration

    dwt_txconfig_t  configTX ;                //DW1000 TX power configuration

    uint16_t                        txAntennaDelay ; //DW1000 TX antenna delay

    uint16_t                        rxAntennaDelay ; //DW1000 RX antenna delay

    uint32_t                         txPower ;                 //DW1000 TX power

    uint8_t txPowerChanged ;                        //power has been changed - update the register on next TWR exchange

    uint8_t antennaDelayChanged;                //antenna delay has been changed - update the register on next TWR exchange

    uint16_t instanceAddress16; //contains tag/anchor address

    //timeouts and delays

    int32_t tagSleepTime_ms; //in milliseconds - defines the nominal Tag sleep time period

    int32_t tagSleepRnd; //add an extra slot duration to sleep time to avoid collision before getting synced by anchor 0

    //this is the delay used for the delayed transmit

    uint64_t pollTx2FinalTxDelay ; //this is delay from Poll Tx time to Final Tx time in DW1000 units (40-bit)

    uint64_t pollTx2FinalTxDelayAnc ; //this is delay from Poll Tx time to Final Tx time in DW1000 units (40-bit) for Anchor to Anchor ranging

    uint64_t fixedReplyDelayAnc ;

    uint32_t fixedReplyDelayAncP ;

    int ancRespRxDelay ;

    int fwtoTime_sy ;        //this is final message duration (longest out of ranging messages)

    int fwtoTimeAnc_sy ;

    uint32_t delayedReplyTime;                // delayed reply time of ranging-init/response/final message

    uint32_t rxTimeouts ;

    //message structure used for holding the data of the frame to transmit before it is written to the DW1000

    srd_msg_dsss msg_f ; // ranging message frame with 16-bit addresses

    //Tag function address/message configuration

    uint8_t   shortAdd_idx ;                                // device's 16-bit address low byte (used as index into arrays [0 - 3])

    uint8_t   eui64[8];                                // device's EUI 64-bit address

    uint16_t  psduLength ;                        // used for storing the TX frame length

    uint8_t   frameSN;                                // modulo 256 frame sequence number - it is incremented for each new frame transmission

    uint16_t  panID ;                                        // panid used in the frames

    //64 bit timestamps

    //union of TX timestamps

    union {

      uint64_t txTimeStamp ;                   // last tx timestamp

      uint64_t tagPollTxTime ;                   // tag's poll tx timestamp

      uint64_t anchorRespTxTime ;           // anchor's reponse tx timestamp

    }txu;

    uint64_t tagPollRxTime ;          // receive time of poll message

    //application control parameters

    uint8_t        wait4ack ;                                // if this is set to DWT_RESPONSE_EXPECTED, then the receiver will turn on automatically after TX completion

    int8_t   responseTO ;

    uint8_t   instToSleep;                        // if set the instance will go to sleep before sending the blink/poll message

    uint8_t        stopTimer;                                // stop/disable an active timer

    uint8_t        instanceTimerEn;                // enable/start a timer

    uint32_t        instanceWakeTime;                        //

    uint32_t  nextSleepPeriod;

    uint8_t        gotTO;                                        // got timeout event

    uint8_t   rxResponseMaskAnc;

    uint8_t   rxResponseMask;                        // bit mask - bit 0 = received response from anchor ID = 0, bit 1 from anchor ID = 1 etc...

    uint8_t   rxResponseMaskReport;

    uint8_t        rangeNum;                                // incremented for each sequence of ranges (each slot)

    uint8_t        rangeNumA[MAX_TAG_LIST_SIZE];                                // array which holds last range number from each tag

    uint8_t        rangeNumAnc;                        // incremented for each sequence of ranges (each slot) - anchor to anchor ranging

    uint8_t        rangeNumAAnc[MAX_ANCHOR_LIST_SIZE]; //array which holds last range number for each anchor

    uint16_t  sframePeriod;

    uint16_t  slotPeriod;

    uint16_t  numSlots;

    uint32_t  a0SlotTime;

    uint32_t  a1SlotTime;

    int32_t   tagSleepCorrection;

    int32_t   tagSleepCorrection2;

    //diagnostic counters/data, results and logging

    uint32_t tof[MAX_TAG_LIST_SIZE]; //this is an array which holds last ToF from particular tag (ID 0-7)

    //this is an array which holds last ToF to each anchor it should

    uint32_t tofArray[MAX_ANCHOR_LIST_SIZE]; //contain 4 ToF to 4 anchors all relating to same range number sequence

    uint32_t tofAnc[MAX_ANCHOR_LIST_SIZE]; //this is an array which holds last ToFs from particular anchors (0, 0-1, 0-2, 1-2)

    //this is an array which holds last ToFs of the Anchor to Anchor ranging

    uint32_t tofArrayAnc[MAX_ANCHOR_LIST_SIZE]; //it contains 3 ToFs relating to same range number sequence (0, 0-1, 0-2, 1-2)

    int txMsgCount; //number of transmitted messages

    int        rxMsgCount; //number of received messages

    int lateTX; //number of "LATE" TX events

    int lateRX; //number of "LATE" RX events

    int longTermRangeCount ; //total number of ranges

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

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

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

    uint32_t newRangeTime;

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

    //event queue - used to store DW1000 events as they are processed by the dw_isr/callback functions

    event_data_t dwevent[MAX_EVENT_NUMBER]; //this holds any TX/RX events and associated message data

    event_data_t saved_dwevent; //holds an RX event while the ACK is being sent

    uint8_t dweventIdxOut;

    uint8_t dweventIdxIn;

    uint8_t dweventPeek;

    uint8_t monitor;

    uint32_t timeofTx ;

    uint8_t rxRespsIdx; //index into the array below (current tag (4bits)/seq number(4bits))

    int8_t rxResps[256];

    int dwIDLE; //set to 1 when the RST goes high after wake up (it is set in process_dwRSTn_irq)

  } instance_data_t ;

  //-------------------------------------------------------------------------------------------------------------

  //

  //        Functions used in logging/displaying range and status data

  //

  //-------------------------------------------------------------------------------------------------------------

  // function to calculate and report the Time of Flight to the GUI/display

  int reportTOF(int idx, uint32_t tofx);

  void clearDistTable(int idx);

  void setTagDist(int tidx, int aidx);

  double getTagDist(int idx);

  // clear the status/ranging data

  void instanceclearcounts(void) ;

  //-------------------------------------------------------------------------------------------------------------

  //

  //        Functions used in driving/controlling the ranging application

  //

  //-------------------------------------------------------------------------------------------------------------

  void instance_close(void);

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

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

  int instance_init(DW1000Driver* drv);

  // configure the instance and DW1000 device

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

  // configure the MAC address

  void instancesetaddresses(uint16_t address) ;

  void inst_processrxtimeout(instance_data_t *inst);

  // called (periodically or from and interrupt) to process any outstanding TX/RX events and to drive the ranging application

  int instance_run(void) ;       // returns indication of status report change

  int testapprun(instance_data_t *inst, int message);

  // calls the DW1000 interrupt handler

#define instance_process_irq(x)         dwt_isr()  //call device interrupt handler

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

  void instance_rxcallback(const dwt_cb_data_t *rxd);

  void instance_txcallback(const dwt_cb_data_t *txd);

  void instance_rxtimeoutcallback(const dwt_cb_data_t *rxd);

  void instance_rxerrorcallback(const dwt_cb_data_t *rxd);

  // sets the Tag sleep delay time (the time Tag "sleeps" between each ranging attempt)

  void instancesettagsleepdelay(int rangingsleep);

  void instancesetreplydelay(int delayms);

  // set/get the instance roles e.g. Tag/Anchor/Listener

  void instancesetrole(int mode) ;                //

  int instancegetrole(void) ;

  // get the DW1000 device ID (e.g. 0xDECA0130 for DW1000)

  uint32_t instancereaddeviceid(void) ;                                 // Return Device ID reg, enables validation of physical device presence

  double instancegetidist(int idx);

  double instancegetidistraw(int idx);

  int instancegetidist_mm(int idx);

  int instancegetidistraw_mm(int idx);

  uint8_t instancevalidranges(void);

  void instancecleardisttableall(void);

  void instance_backtoanchor(instance_data_t *inst);

  int instancesenddlypacket(instance_data_t *inst, int delayedTx);

  int instancegetrnum(void);

  int instancegetrnuma(int idx);

  int instancegetrnumanc(int idx);

  int instancegetlcount(void);

  int instancenewrangeancadd(void);

  int instancenewrangetagadd(void);

  int instancenewrangepolltim(void);

  int instancenewrange(void);

  uint32_t instancenewrangetim(void);

  uint64_t convertmicrosectodevicetimeu (double microsecu);

  double convertdevicetimetosec(int32_t dt);

  // -------------------------------------------------------------------------------------------------------------------

  // Deca Calibration Values

  // -------------------------------------------------------------------------------------------------------------------

  #define DWT_PRF_64M_RFDLY   (514.462f)

  #define DWT_PRF_16M_RFDLY   (513.9067f)

  /* Extern declaration while defining them in .c file */

  extern const uint16_t rfDelays[2];

  extern const uint16_t rfDelaysTREK[2];

  extern const tx_struct txSpectrumConfig[8];

  extern instance_data_t instance_data[NUM_INST] ;

  extern sfConfig_t sfConfig[4];

  extern instanceConfig_t chConfig[4];

  int instance_peekevent(void);

  void instance_saveevent(event_data_t newevent, uint8_t etype);

  event_data_t instance_getsavedevent(void);

  void instance_putevent(event_data_t newevent, uint8_t etype);

  event_data_t* instance_getevent(int x);

  void instance_clearevents(void);

  void instance_notify_DW1000_inIDLE(int idle);

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

  uint32_t dwt_getotptxpower(uint8_t prf, uint8_t chan);

  uint16_t dwt_getTREKOTPantennadelay(uint8_t anchor, uint8_t chan, uint8_t datarate);

  uint16_t dwt_readantennadelay(uint8_t prf);

  // configure TX power

  void instanceconfigtxpower(uint32_t txpower);

  void instancesettxpower(void);

  // configure the antenna delays

  void instanceconfigantennadelays(uint16_t tx, uint16_t rx);

  void instancesetantennadelays(void);

  uint16_t instancetxantdly(void);

  uint16_t instancerxantdly(void);

  int instance_starttxtest(int framePeriod);

#endif /* defined(AMIROLLD_CFG_DW1000) && (AMIROLLD_CFG_DW1000 == 1) */

#ifdef __cplusplus

}

#endif

#endif   /* DECAINSTANCE_V1_H */