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_H

#define DECAINSTANCE_H

#include <amiro-lld.h>

#if defined(AMIROLLD_CFG_USE_DW1000) || defined(__DOXYGEN__)

#include <alld_dw1000.h>

#ifdef __cplusplus

extern "C" {

#endif

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

********************* NOTES on TREK compile/build time features/options ***********************************************************

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

#define DEEP_SLEEP (1) //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 while it is

//waiting for start of next ranging exchange

#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 two-way ranging will be done in the last 2 slots, this

//is used for TREK demo, to aid in anchor installation,

#define TAG_HASTO_RANGETO_A0 (0) //if set to 1 then tag will only send the Final if the Response from A0 has been received

#define READ_EVENT_COUNTERS (0) //read event counters - can be used for debug to periodically output event counters

#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                                  // one instance (tag or anchor - controlling one DW1000)

#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_RNG_INIT              (0x71)          // Ranging initiation message

#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                                (0x7A)                        // Anchor to anchor poll message

#define RTLS_DEMO_MSG_ANCH_RESP2            (0x7B)          // Anchor response to poll from anchor

#define RTLS_DEMO_MSG_ANCH_FINAL            (0x7C)          // 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

//absolute length = 17 +

#define RANGINGINIT_MSG_LEN                                        5                                // FunctionCode(1), Sleep Correction Time (2), Tag Address (2)

//absolute length = 11 +

#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 ANCH_POLL_MSG_LEN_S                                        2                                // FunctionCode(1), Range Num (1),

#define ANCH_POLL_MSG_LEN                   4                                // FunctionCode(1), Range Num (1), Next Anchor (2)

#define ANCH_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 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 one 16-bit address and one 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 BLINK_FRAME_CONTROL_BYTES       (1)

#define BLINK_FRAME_SEQ_NUM_BYTES       (1)

#define BLINK_FRAME_CRC                                        (FRAME_CRC)

#define BLINK_FRAME_SOURCE_ADDRESS      (ADDR_BYTE_SIZE_L)

#define BLINK_FRAME_CTRLP                                (BLINK_FRAME_CONTROL_BYTES + BLINK_FRAME_SEQ_NUM_BYTES) //2

#define BLINK_FRAME_CRTL_AND_ADDRESS    (BLINK_FRAME_SOURCE_ADDRESS + BLINK_FRAME_CTRLP) //10 bytes

#define BLINK_FRAME_LEN_BYTES           (BLINK_FRAME_CRTL_AND_ADDRESS + BLINK_FRAME_CRC)

#if (DISCOVERY == 0)

#define MAX_TAG_LIST_SIZE                                (8)

#else

#define MAX_TAG_LIST_SIZE                                (100)

#endif

#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_ANC0                (2) //anchor A0 expects response from A1 and A2

#define NUM_EXPECTED_RESPONSES_ANC1                (1) //anchor A1 expects response from A2

#define GATEWAY_ANCHOR_ADDR                                (0x8000)

#define A1_ANCHOR_ADDR                                        (0x8001)

#define A2_ANCHOR_ADDR                                        (0x8002)

#define A3_ANCHOR_ADDR                                        (0x8003)

#define WAIT4TAGFINAL                                        2

#define WAIT4ANCFINAL                                        1

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

// 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

#define POLL_NANC                                                        2                                // Address of next anchor to send a poll message (e.g. A1)

#define RES_TAG_ADD0                        3               // Tag's short address (slot num) LSB

#define RES_TAG_ADD1                        4               // Tag's short address (slot num) MSB

#define BLINK_PERIOD                (2000) //ms (Blink at 2Hz initially)

#define DW_RX_ON_DELAY      (16) //us - the DW RX has 16 us RX on delay before it will receive any data

//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_RESPONSE_TURNAROUND (300) //this takes into account any turnaround/processing time (reporting received poll and sending the response)

#define PTO_PACS                                (3)         //tag will use PTO to reduce power consumption (if no response coming stop RX)

//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

//Anchor to Anchor Ranging

//1. A0 sends a Poll

//2. A1 responds (to A0's Poll) after RX_RESPONSE_TURNAROUND (300 us) + response frame length = fixedReplyDelayAnc1 ~= 480 us

//3. A0 turns its receiver on (after 300 us) expecting A1's response (this is done automatically in 1. by using WAIT4RESP)

//4. A2 responds (to A0's Poll) after 2*fixedReplyDelayAnc1 ~= 960 us.

//5. A0 turns its receiver on (last Rx on time + fixedReplyDelayAnc1) expecting A2's response (this is done after reception of A1's response using delayed RX)

//6. A0 sends a Final this is timed from the Poll TX time = pollTx2FinalTxDelayAnc ~= 1550 us (1250+300)

//7. A1 and A2 turn on their receivers to expect this Final frame (this is done automatically in 2. AND 4. by using WAIT4RESP)

//Tag to Anchor Ranging

//1. Tag sends a Poll

//2. A0 responds (delayed response) after fixedReplyDelayAnc1, A0 will re-enable its receiver automatically (by using WAIT4RESP)

//3. A1, A2, A3 re-enble the receiver to receive A0's response

//4. A1 responds and will re-enable its receiver automatically (by using WAIT4RESP)

//5. A2, A3 re-enble the receiver to receive A1's response

//6. A2 responds and will re-enable its receiver automatically (by using WAIT4RESP)

//7. A0, A3 re-enable the receiver to receive A2's response

//9. A3 responds and will re-enable its receiver automatically (by using WAIT4RESP)

//10. A0, A1, A2, A3 - all receive the Final from the tag

//Tag Discovery mode

//1. Tag sends a Blink

//2. A0 responds with Ranging Init giving it short address and slot time correction

//3. Tag sleeps until the next period and then starts ranging exchange

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

//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

// instance sending a poll (starting TWR) is INITIATOR

// instance which receives a poll (and will be involved in the TWR) is RESPONDER

// instance which does not receive a poll (default state) will be a LISTENER - will send no responses

typedef enum instanceTWRModes{INITIATOR, RESPONDER_A, RESPONDER_B, RESPONDER_T, LISTENER, GREETER, ATWR_MODES} ATWR_MODE;

#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_TXBLINK_WAIT_SEND,       //2 - configuration and sending of Blink 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,            //5 - confirmation of TX done message

    TA_RXE_WAIT,                //6

    TA_RX_WAIT_DATA,            //7

    TA_SLEEP_DONE,               //8

    TA_TXRESPONSE_SENT_POLLRX,   //9

    TA_TXRESPONSE_SENT_RESPRX,   //10

    TA_TXRESPONSE_SENT_TORX,     //11

    TA_TXRESPONSE_SENT_APOLLRX,  //12

    TA_TXRESPONSE_SENT_ARESPRX   //13

} 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 ;

//12 octets for Minimum IEEE ID blink

typedef struct

{

    uint8_t frameCtrl;                                         //  frame control bytes 00

    uint8_t seqNum;                                       //  sequence_number 01

    uint8_t tagID[BLINK_FRAME_SOURCE_ADDRESS];        //  02-09 64 bit address

    uint8_t fcs[2] ;                                      //  10-11  we allow space for the CRC as it is logically part of the message. However ScenSor TX calculates and adds these bytes.

} iso_IEEE_EUI64_blink_msg ;

typedef struct

{

    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 slotDuration_ms ; //slot duration (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_ms ;         // superframe period in ms

    uint16_t tagPeriod_ms ;         // the time during which tag ranges to anchors and then sleeps, should be same as FRAME PERIOD so that tags don't interfere

    uint16_t pollTxToFinalTxDly_us ; //response delay time (Poll to Final delay)

} 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 (4)

typedef struct

{

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

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

    uint8_t  typePend;            // set if there is a pending event (i.e. DW is not in IDLE (TX/RX pending)

    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

                        iso_IEEE_EUI64_blink_msg rxblinkmsg;

        }msgu;

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

}event_data_t ;

// TX power and PG delay configuration structure

typedef struct {

                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

{

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

    ATWR_MODE twrMode;

    INST_STATES testAppState ;                        //state machine - current state

    INST_STATES nextState ;                                //state machine - next state

    INST_STATES previousState ;                        //state machine - previous state

        //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 16 bit address

        //timeouts and delays

    int32_t tagPeriod_ms; // in ms, tag ranging + sleeping period

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

    int32_t tagSleepRnd_ms; //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

    uint32_t fixedReplyDelayAnc32h ; //this is a delay used for calculating delayed TX/delayed RX on time (units: 32bit of 40bit DW time)

    uint16_t anc1RespTx2FinalRxDelay_sy ; //This is delay for RX on when A1 expecting Final form A0 or A2 expecting Final from A1

    uint16_t anc2RespTx2FinalRxDelay_sy ; //This is delay for RX on when A2 waiting for A0's final (anc to anc ranging)

    uint32_t preambleDuration32h ; //preamble duration in device time (32 MSBs of the 40 bit time)

    uint32_t tagRespRxDelay_sy ; //TX to RX delay time when tag is awaiting response message an another anchor

    uint32_t ancRespRxDelay_sy ; //TX to RX delay time when anchor is awaiting response message an another anchor

        int fwtoTime_sy ;        //this is FWTO for response message (used by initiating anchor in anchor to anchor ranging)

        int fwto4RespFrame_sy ; //this is a frame wait timeout used when awaiting reception of Response frames (used by both tag/anchor)

        int fwto4FinalFrame_sy ; //this is a frame wait timeout used when awaiting reception of Final frames

    uint32_t delayedTRXTime32h;                // time at which to do delayed TX or delayed RX (note TX time is time of SFD, RX time is RX on time)

    //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

        iso_IEEE_EUI64_blink_msg blinkmsg ; // frame structure (used for tx blink message)

        srd_msg_dlss rng_initmsg ;        // ranging init message (destination long, source short)

        //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;

    uint32_t tagPollTxTime32h ;

    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

    uint8_t   wait4final ;

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

    uint8_t         instanceTimerEn;                // enable/start a timer

    uint32_t instanceWakeTime_ms;    // micro time at which the tag was waken up

    uint32_t nextWakeUpTime_ms;                // micro time at which to wake up tag

    uint8_t   rxResponseMaskAnc;                // bit mask - bit 0 not used;

                                                                        // bit 1 = received response from anchor ID = 1;

                                                                        // bit 2 from anchor ID = 2,

                                                                        // bit 3 set if two responses (from Anchor 1 and Anchor 2) received and A0 got third response (from A2)

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

    uint8_t   rxResponseMaskReport;   // this will be set before outputting range reports to signify which are valid

    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

    int8_t   rxResps;                                // how many responses were received to a poll (in current ranging exchange)

    int8_t   remainingRespToRx ;                // how many responses remain to be received (in current ranging exchange)

    uint16_t  sframePeriod_ms;                // superframe period in ms

    uint16_t  slotDuration_ms;                // slot duration in ms

    uint16_t  numSlots;

    uint32_t  a0SlotTime_ms;                        // relative time in superframe at which A0 starts ranging (this is start of 2nd last slot)

    uint32_t  a1SlotTime_ms;                        // absolute time in superframe at which A1 starts ranging

    uint32_t  a2aStartTime_ms;                // absolute time in superframe at which A0 starts ranging

    int32_t   tagSleepCorrection_ms;  // tag's sleep correction to keep it in it's assigned slot

    //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-(MAX_TAG_LIST_SIZE-1))

    //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)

#if (DISCOVERY ==1)

    uint8_t tagListLen ;

    uint8_t tagList[MAX_TAG_LIST_SIZE][8];

#endif

    //debug counters

    //int txMsgCount; //number of transmitted messages

        //int rxMsgCount; //number of received messages

    //int rxTimeouts ; //number of received timeout events

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

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

        //ranging counters

    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

    int 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

    uint8_t dweventIdxOut;

    uint8_t dweventIdxIn;

    uint8_t dweventPeek;

    uint8_t monitor;

    uint32_t timeofTx ;

    uint8_t smartPowerEn;

#if (READ_EVENT_COUNTERS == 1)

        dwt_deviceentcnts_t ecounters;

#endif

} instance_data_t ;

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

//

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

//

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

// function to calculate and the range from given Time of Flight

int instance_calculate_rangefromTOF(int idx, uint32_t tofx);

void instance_cleardisttable(int idx);

void instance_set_tagdist(int tidx, int aidx);

double instance_get_tagdist(int idx);

double instance_get_idist(int idx);

double instance_get_idistraw(int idx);

int instance_get_idist_mm(int idx);

int instance_get_idistraw_mm(int idx);

uint8_t instance_validranges(void);

int instance_get_rnum(void);

int instance_get_rnuma(int idx);

int instance_get_rnumanc(int idx);

int instance_get_lcount(void);

int instance_newrangeancadd(void);

int instance_newrangetagadd(void);

int instance_newrangepolltim(void);

int instance_newrange(void);

int instance_newrangetim(void);

int instance_calc_ranges(uint32_t *array, uint16_t size, int reportRange, uint8_t* mask);

// clear the status/ranging data

void instance_clearcounts(void) ;

void instance_cleardisttableall(void);

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

//

//        Functions used in driving/controlling the ranging application

//

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

// Call init, then call config, then call run.

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

int instance_init(int role, DW1000Driver* drv);

// configure the instance and DW1000 device

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

// configure the MAC address

void instance_set_16bit_address(uint16_t address) ;

void instance_config_frameheader_16bit(instance_data_t *inst);

void tag_process_rx_timeout(instance_data_t *inst);

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

int tag_run(void) ;

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

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

void rx_ok_cb_tag(const dwt_cb_data_t *cb_data);

void rx_to_cb_tag(const dwt_cb_data_t *cb_data);

void rx_err_cb_tag(const dwt_cb_data_t *cb_data);

//void tx_conf_cb_tag(const dwt_cb_data_t *cb_data);

void rx_ok_cb_anch(const dwt_cb_data_t *cb_data);

void rx_to_cb_anch(const dwt_cb_data_t *cb_data);

void rx_err_cb_anch(const dwt_cb_data_t *cb_data);

void tx_conf_cb(const dwt_cb_data_t *cb_data);

void instance_set_replydelay(int delayms);

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

// done though instance_init void instance_set_role(int mode) ;                //

int instance_get_role(void) ;

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

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

void rnganch_change_back_to_anchor(instance_data_t *inst);

int instance_send_delayed_frame(instance_data_t *inst, int delayedTx);

uint64_t instance_convert_usec_to_devtimeu (double microsecu);

void instance_seteventtime(event_data_t *dw_event, uint8_t* timeStamp);

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);

// configure the antenna delays

void instance_config_antennadelays(uint16_t tx, uint16_t rx);

void instance_set_antennadelays(void);

uint16_t instance_get_txantdly(void);

uint16_t instance_get_rxantdly(void);

// configure the TX power

void instance_config_txpower(uint32_t txpower);

void instance_set_txpower(void);

int instance_starttxtest(int framePeriod);

instance_data_t* instance_get_local_structure_ptr(unsigned int x);

#ifdef __cplusplus

}

#endif

#endif /* defined(AMIROLLD_CFG_USE_DW1000) */

#endif /* DECAINSTANCE_H */