amiro-lld / source / deca_instance_tag.c @ 8c47f14b
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/*! ----------------------------------------------------------------------------
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* @file instance_tag.c
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* @brief Decawave tag application state machine for TREK demo
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*
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* @attention
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*
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* Copyright 2016 (c) Decawave Ltd, Dublin, Ireland.
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*
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* All rights reserved.
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*
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* @author Decawave
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*/
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#include <deca_instance.h> |
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#if defined(AMIROLLD_CFG_USE_DW1000) || defined(__DOXYGEN__)
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#include <alld_dw1000.h> |
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#include <alld_dw1000_regs.h> |
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#include <string.h> |
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// -------------------------------------------------------------------------------------------------------------------
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// Data Definitions
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// -------------------------------------------------------------------------------------------------------------------
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// !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
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// NOTE: the maximum RX timeout is ~ 65ms
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// !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
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// -------------------------------------------------------------------------------------------------------------------
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// Functions
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// -------------------------------------------------------------------------------------------------------------------
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/**
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* @brief this function either enables the receiver (delayed)
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*
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**/
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void tag_enable_rx(uint32_t dlyTime)
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{
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instance_data_t* inst = instance_get_local_structure_ptr(0);
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//subtract preamble duration (because when instructing delayed TX the time is the time of SFD,
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//however when doing delayed RX the time is RX on time)
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dwt_setdelayedtrxtime(dlyTime - inst->preambleDuration32h) ; |
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if(dwt_rxenable(DWT_START_RX_DELAYED|DWT_IDLE_ON_DLY_ERR)) //delayed rx |
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{
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//if the delayed RX failed - time has passed - do immediate enable
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//led_on(LED_PC9);
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dwt_setpreambledetecttimeout(0); //clear preamble timeout as RX is turned on early/late |
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dwt_setrxtimeout((uint16_t)inst->fwto4RespFrame_sy*2); //reconfigure the timeout before enable |
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//longer timeout as we cannot do delayed receive... so receiver needs to stay on for longer
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dwt_rxenable(DWT_START_RX_IMMEDIATE); |
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dwt_setpreambledetecttimeout(PTO_PACS); //configure preamble timeout
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dwt_setrxtimeout((uint16_t)inst->fwto4RespFrame_sy); //restore the timeout for next RX enable
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//inst->lateRX++;
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//led_off(LED_PC9);
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} |
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} |
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/* @fn instanceProcessRXTimeoutTag
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* @brief function to process RX timeout event
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* */
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void tag_process_rx_timeout(instance_data_t *inst)
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{
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//inst->rxTimeouts ++ ;
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#if(DISCOVERY == 1) |
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if(inst->twrMode == GREETER)
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{
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inst->instToSleep = TRUE ; |
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// initiate the re-transmission of the poll that was not responded to
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inst->testAppState = TA_TXE_WAIT ; |
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inst->nextState = TA_TXBLINK_WAIT_SEND ; |
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} |
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else
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#endif
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{
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#if (TAG_HASTO_RANGETO_A0 == 0) |
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if(inst->rxResponseMask == 0) //if any response have been received send a Final else go to SLEEP |
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{
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inst->instToSleep = TRUE ; //set sleep to TRUE so that tag will go to DEEP SLEEP before next ranging attempt
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inst->testAppState = TA_TXE_WAIT ; |
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inst->nextState = TA_TXPOLL_WAIT_SEND ; |
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} |
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#else
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//if tag times out - no response (check if we are to send a final)
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//send the final only if it has received response from anchor 0
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if((inst->previousState == TA_TXPOLL_WAIT_SEND)
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&& ((inst->rxResponseMask & 0x1) == 0) |
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) |
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{
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inst->instToSleep = TRUE ; //set sleep to TRUE so that tag will go to DEEP SLEEP before next ranging attempt
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inst->testAppState = TA_TXE_WAIT ; |
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inst->nextState = TA_TXPOLL_WAIT_SEND ; |
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} |
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#endif
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else if (inst->previousState == TA_TXFINAL_WAIT_SEND) //got here from main (error sending final - handle as timeout) |
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{
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dwt_forcetrxoff(); //this will clear all events
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inst->instToSleep = TRUE ; |
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// initiate the re-transmission of the poll that was not responded to
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inst->testAppState = TA_TXE_WAIT ; |
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inst->nextState = TA_TXPOLL_WAIT_SEND ; |
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} |
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else //send the final |
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{
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// initiate the transmission of the final
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inst->testAppState = TA_TXE_WAIT ; |
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inst->nextState = TA_TXFINAL_WAIT_SEND ; |
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} |
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} |
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} |
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/**
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* @brief function to re-enable the receiver and also adjust the timeout before sending the final message
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* if it is time so send the final message, the callback will notify the application, else the receiver is
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* automatically re-enabled
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*
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* this function is only used for tag when ranging to other anchors
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*/
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uint8_t tag_rx_reenable(uint16_t sourceAddress, uint8_t error) |
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{
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uint8_t type_pend = DWT_SIG_DW_IDLE; |
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uint8_t anc = sourceAddress & 0x3;
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instance_data_t* inst = instance_get_local_structure_ptr(0);
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switch(anc)
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{
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//if we got Response from anchor 3 - this is the last expected response - send the final
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case 3: |
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type_pend = DWT_SIG_DW_IDLE; |
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break;
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//if we got response from anchor 0, 1, or 2 - go back to wait for next anchor's response
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//if we got response from 0, then still expecting 3, so remainingRespToRx set to 3
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case 0: |
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case 1: |
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case 2: |
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default:
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if(inst->remainingRespToRx > 0) //can get here as result of error frame so need to check |
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{
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//can't use anc address as this is an error frame, so just re-enable TO based on remainingRespToRx count
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if(error == 0) |
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{
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switch (anc)
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{
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case 0: |
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inst->remainingRespToRx = 3; //expecting 3 more responses |
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break;
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case 1: |
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inst->remainingRespToRx = 2; //expecting 2 more responses |
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break;
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case 2: |
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inst->remainingRespToRx = 1; //expecting 1 more response |
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break;
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} |
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} |
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//Poll sent at tagPollTxTime_32bit
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//1st response is delayTime + fixedReplyDelayAnc32h - preambleDuration_32MSBs
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//2nd is delayTime + fixedReplyDelayAnc32h - preambleDuration_32MSBs + fixedReplyDelayAnc32h
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tag_enable_rx(inst->tagPollTxTime32h + |
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(MAX_ANCHOR_LIST_SIZE-inst->remainingRespToRx+1)*(inst->fixedReplyDelayAnc32h));
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type_pend = DWT_SIG_RX_PENDING ; |
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} |
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else //finished waiting for responses - no responses left to receive... send a final |
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{
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type_pend = DWT_SIG_DW_IDLE; //report timeout - send the final if due to be sent
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} |
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break;
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} |
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return type_pend;
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} |
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/**
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* @brief this function handles frame error event, it will either signal TO or re-enable the receiver
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*/
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void tag_handle_error_unknownframe(event_data_t dw_event)
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{
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instance_data_t* inst = instance_get_local_structure_ptr(0);
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if(inst->twrMode != GREETER)
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{
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//re-enable the receiver (after error frames as we are not using auto re-enable
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//for ranging application rx error frame is same as TO - as we are not going to get the expected frame
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inst->remainingRespToRx--; //got something (need to reduce timeout (for remaining responses))
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dw_event.typePend = tag_rx_reenable(0, 1); //check if receiver will be re-enabled or it's time to send the final |
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} |
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else
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{
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dw_event.typePend = DWT_SIG_DW_IDLE; //in GREETER mode only waiting for 1 frame
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} |
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dw_event.type = 0;
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//dw_event.typeSave = 0x40 | DWT_SIG_RX_TIMEOUT;
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dw_event.rxLength = 0;
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instance_putevent(dw_event, DWT_SIG_RX_TIMEOUT); |
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} |
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/**
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* @brief this is the receive timeout event callback handler
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*/
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void rx_to_cb_tag(const dwt_cb_data_t *rxd) |
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{
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(void) rxd;
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event_data_t dw_event; |
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//microcontroller time at which we received the frame
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dw_event.uTimeStamp = portGetTickCnt(); |
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tag_handle_error_unknownframe(dw_event); |
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} |
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/**
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* @brief this is the receive error event callback handler
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*/
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void rx_err_cb_tag(const dwt_cb_data_t *rxd) |
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{
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(void) rxd;
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event_data_t dw_event; |
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//microcontroller time at which we received the frame
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dw_event.uTimeStamp = portGetTickCnt(); |
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tag_handle_error_unknownframe(dw_event); |
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} |
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/**
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* @brief this is the receive event callback handler, the received event is processed and the instance either
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* responds by sending a response frame or re-enables the receiver to await the next frame
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* once the immediate action is taken care of the event is queued up for application to process
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*/
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void rx_ok_cb_tag(const dwt_cb_data_t *rxd) |
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{
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instance_data_t* inst = instance_get_local_structure_ptr(0);
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uint8_t rxTimeStamp[5] = {0, 0, 0, 0, 0}; |
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uint8_t rxd_event = 0;
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uint8_t fcode_index = 0;
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uint8_t srcAddr_index = 0;
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event_data_t dw_event; |
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//microcontroller time at which we received the frame
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dw_event.uTimeStamp = portGetTickCnt(); |
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//if we got a frame with a good CRC - RX OK
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{
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dw_event.rxLength = rxd->datalength; |
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//need to process the frame control bytes to figure out what type of frame we have received
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if(rxd->fctrl[0] == 0x41) |
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{
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if((rxd->fctrl[1] & 0xCC) == 0x88) //short address |
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{
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fcode_index = FRAME_CRTL_AND_ADDRESS_S; //function code is in first byte after source address
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srcAddr_index = FRAME_CTRLP + ADDR_BYTE_SIZE_S; |
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rxd_event = DWT_SIG_RX_OKAY; |
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} |
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#if (DISCOVERY == 1) |
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else if((rxd->fctrl[1] & 0xCC) == 0x8c) //long/short address - ranging init message |
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{
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fcode_index = FRAME_CRTL_AND_ADDRESS_LS; //function code is in first byte after source address
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srcAddr_index = FRAME_CTRLP + ADDR_BYTE_SIZE_L; |
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rxd_event = DWT_SIG_RX_OKAY; |
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} |
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#endif
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else
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{
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rxd_event = SIG_RX_UNKNOWN; //not supported - all TREK1000 frames are short addressed
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} |
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} |
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else
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{
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rxd_event = SIG_RX_UNKNOWN; //not supported - all TREK1000 frames are short addressed
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} |
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//read RX timestamp
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dwt_readrxtimestamp(rxTimeStamp) ; |
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dwt_readrxdata((uint8_t *)&dw_event.msgu.frame[0], rxd->datalength, 0); // Read Data Frame |
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instance_seteventtime(&dw_event, rxTimeStamp); |
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dw_event.type = 0; //type will be added as part of adding to event queue |
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//dw_event.typeSave = rxd_event;
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dw_event.typePend = DWT_SIG_DW_IDLE; |
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if(rxd_event == DWT_SIG_RX_OKAY) //Process good/known frame types |
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{
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uint16_t sourceAddress = (((uint16_t)dw_event.msgu.frame[srcAddr_index+1]) << 8) + dw_event.msgu.frame[srcAddr_index]; |
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//if tag got a good frame - this is probably a response, but could also be some other non-ranging frame
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//(although due to frame filtering this is limited as non-addressed frames are filtered out)
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//check if this is a TWR message (and also which one)
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switch(dw_event.msgu.frame[fcode_index])
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{
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//we got a response from a "responder" (anchor)
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case RTLS_DEMO_MSG_ANCH_RESP:
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{
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if(inst->twrMode == INITIATOR)
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{
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//if tag is involved in the ranging exchange expecting responses
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uint8_t index ; |
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inst->remainingRespToRx--; //got 1 more response or other RX frame - need to reduce timeout (for next response)
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dw_event.typePend = tag_rx_reenable(sourceAddress, 0); //remainingRespToRx decremented above... |
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index = RRXT0 + 5*(sourceAddress & 0x3); |
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inst->rxResponseMask |= (0x1 << (sourceAddress & 0x3)); //add anchor ID to the mask |
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// Write Response RX time field of Final message
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memcpy(&(inst->msg_f.messageData[index]), rxTimeStamp, 5);
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break;
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} else {
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__attribute__ ((fallthrough)); |
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} |
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} |
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#if (DISCOVERY == 1) |
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case RTLS_DEMO_MSG_RNG_INIT:
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{
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if(inst->twrMode == GREETER)
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{
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rxd_event = RTLS_DEMO_MSG_RNG_INIT; |
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break; //process the event in the application |
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} |
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} |
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#endif
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case RTLS_DEMO_MSG_ANCH_POLL:
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case RTLS_DEMO_MSG_TAG_POLL:
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case RTLS_DEMO_MSG_TAG_FINAL:
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case RTLS_DEMO_MSG_ANCH_FINAL:
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case RTLS_DEMO_MSG_ANCH_RESP2:
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default:
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//tag should ignore any other frames - only receive responses
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{
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tag_handle_error_unknownframe(dw_event); |
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//inst->rxMsgCount++;
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return;
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} |
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} |
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instance_putevent(dw_event, rxd_event); |
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//inst->rxMsgCount++;
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} |
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else //if (rxd_event == SIG_RX_UNKNOWN) //need to re-enable the rx (got unknown frame type) |
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{
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tag_handle_error_unknownframe(dw_event); |
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} |
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} |
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} |
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// -------------------------------------------------------------------------------------------------------------------
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//
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// the main instance state machine for tag application
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//
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// -------------------------------------------------------------------------------------------------------------------
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//
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int tag_app_run(instance_data_t *inst)
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{
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int instDone = INST_NOT_DONE_YET;
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int message = instance_peekevent(); //get any of the received events from ISR |
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switch (inst->testAppState)
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{
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case TA_INIT :
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// printf("TA_INIT") ;
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switch (inst->mode)
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{
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case TAG:
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{
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uint16_t sleep_mode = 0;
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dwt_enableframefilter(DWT_FF_DATA_EN | DWT_FF_ACK_EN); //allow data, ack frames;
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inst->eui64[0] += inst->instanceAddress16; //so switch 5,6,7 can be used to emulate more tags |
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dwt_seteui(inst->eui64); |
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dwt_setpanid(inst->panID); |
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#if (DISCOVERY == 1) |
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//Start off by sending Blinks and wait for Anchor to send Ranging Init
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inst->testAppState = TA_TXBLINK_WAIT_SEND; |
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inst->tagSleepTime_ms = BLINK_PERIOD ; |
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memcpy(inst->blinkmsg.tagID, inst->eui64, ADDR_BYTE_SIZE_L); |
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inst->newRangeTagAddress = inst->eui64[1];
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inst->newRangeTagAddress = (inst->newRangeTagAddress << 8) + inst->eui64[0]; |
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#else
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//dwt_setpanid(inst->panID);
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memcpy(inst->eui64, &inst->instanceAddress16, ADDR_BYTE_SIZE_S); |
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//set source address
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inst->newRangeTagAddress = inst->instanceAddress16 ; |
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dwt_setaddress16(inst->instanceAddress16); |
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//Start off by Sleeping 1st -> set instToSleep to TRUE
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inst->nextState = TA_TXPOLL_WAIT_SEND; |
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inst->testAppState = TA_TXE_WAIT; |
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inst->instToSleep = TRUE ; |
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inst->tagSleepTime_ms = inst->tagPeriod_ms ; |
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#endif
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inst->rangeNum = 0;
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inst->tagSleepCorrection_ms = 0;
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sleep_mode = (DWT_PRESRV_SLEEP|DWT_CONFIG|DWT_TANDV); |
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if(inst->configData.txPreambLength == DWT_PLEN_64) //if using 64 length preamble then use the corresponding OPSet |
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sleep_mode |= DWT_LOADOPSET; |
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#if (DEEP_SLEEP == 1) |
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dwt_configuresleep(sleep_mode, DWT_WAKE_WK|DWT_WAKE_CS|DWT_SLP_EN); //configure the on wake parameters (upload the IC config settings)
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#endif
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instance_config_frameheader_16bit(inst); |
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inst->instanceWakeTime_ms = portGetTickCnt(); |
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} |
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break;
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default:
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break;
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} |
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break; // end case TA_INIT |
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case TA_SLEEP_DONE :
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{
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event_data_t* dw_event = instance_getevent(10); //clear the event from the queue |
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// waiting for timout from application to wakeup IC
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if (dw_event->type != DWT_SIG_RX_TIMEOUT)
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{
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// if no pause and no wake-up timeout continu waiting for the sleep to be done.
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instDone = INST_DONE_WAIT_FOR_NEXT_EVENT; //wait here for sleep timeout
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break;
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} |
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instDone = INST_NOT_DONE_YET; |
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inst->instToSleep = FALSE ; |
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inst->testAppState = inst->nextState; |
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inst->nextState = 0; //clear |
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inst->instanceWakeTime_ms = portGetTickCnt(); // Record the time count when we wake-up
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#if (DEEP_SLEEP == 1) |
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{
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//wake up device from low power mode
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//led_on(LED_PC9);
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port_wakeup_dw1000_fast(); |
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|
| 445 |
//led_off(LED_PC9);
|
| 446 |
|
| 447 |
//this is platform dependent - only program if DW EVK/EVB
|
| 448 |
dwt_setleds(1);
|
| 449 |
|
| 450 |
//MP bug - TX antenna delay needs reprogramming as it is not preserved (only RX)
|
| 451 |
dwt_settxantennadelay(inst->txAntennaDelay) ; |
| 452 |
#if(DISCOVERY == 0) |
| 453 |
//set EUI as it will not be preserved unless the EUI is programmed and loaded from NVM
|
| 454 |
dwt_seteui(inst->eui64); |
| 455 |
#endif
|
| 456 |
} |
| 457 |
#else
|
| 458 |
Sleep(3); //to approximate match the time spent in the #if above |
| 459 |
#endif
|
| 460 |
|
| 461 |
instance_set_antennadelays(); //this will update the antenna delay if it has changed
|
| 462 |
instance_set_txpower(); //configure TX power if it has changed
|
| 463 |
#if (READ_EVENT_COUNTERS == 1) |
| 464 |
dwt_configeventcounters(1);
|
| 465 |
#endif
|
| 466 |
} |
| 467 |
break;
|
| 468 |
|
| 469 |
case TA_TXE_WAIT : //either go to sleep or proceed to TX a message |
| 470 |
//if we are scheduled to go to sleep before next transmission then sleep first.
|
| 471 |
#if (DISCOVERY == 1) |
| 472 |
if(((inst->nextState == TA_TXPOLL_WAIT_SEND)
|
| 473 |
|| (inst->nextState == TA_TXBLINK_WAIT_SEND)) |
| 474 |
#else
|
| 475 |
if((inst->nextState == TA_TXPOLL_WAIT_SEND)
|
| 476 |
#endif
|
| 477 |
&& (inst->instToSleep) //go to sleep before sending the next poll/ starting new ranging exchange
|
| 478 |
) |
| 479 |
{
|
| 480 |
inst->rangeNum++; //increment the range number before going to sleep
|
| 481 |
//the app should put chip into low power state and wake up after tagSleepTime_ms time...
|
| 482 |
//the app could go to *_IDLE state and wait for uP to wake it up...
|
| 483 |
instDone = INST_DONE_WAIT_FOR_NEXT_EVENT_TO; //don't sleep here but kick off the Sleep timer countdown
|
| 484 |
inst->testAppState = TA_SLEEP_DONE; |
| 485 |
|
| 486 |
{
|
| 487 |
#if (READ_EVENT_COUNTERS == 1) |
| 488 |
dwt_readeventcounters(&inst->ecounters); |
| 489 |
#endif
|
| 490 |
#if (DEEP_SLEEP == 1) |
| 491 |
//put device into low power mode
|
| 492 |
dwt_entersleep(); //go to sleep
|
| 493 |
#endif
|
| 494 |
if(inst->rxResponseMask != 0) |
| 495 |
{
|
| 496 |
//DW1000 gone to sleep - report the received range
|
| 497 |
inst->newRange = instance_calc_ranges(&inst->tofArray[0], MAX_ANCHOR_LIST_SIZE, TOF_REPORT_T2A, &inst->rxResponseMask);
|
| 498 |
inst->rxResponseMaskReport = inst->rxResponseMask; |
| 499 |
inst->rxResponseMask = 0;
|
| 500 |
inst->newRangeTime = portGetTickCnt() ; |
| 501 |
} |
| 502 |
} |
| 503 |
|
| 504 |
} |
| 505 |
else //proceed to configuration and transmission of a frame |
| 506 |
{
|
| 507 |
inst->testAppState = inst->nextState; |
| 508 |
inst->nextState = 0; //clear |
| 509 |
} |
| 510 |
break ; // end case TA_TXE_WAIT |
| 511 |
case TA_TXBLINK_WAIT_SEND :
|
| 512 |
{
|
| 513 |
int flength = (BLINK_FRAME_CRTL_AND_ADDRESS + FRAME_CRC);
|
| 514 |
|
| 515 |
//blink frames with IEEE EUI-64 tag ID
|
| 516 |
inst->blinkmsg.frameCtrl = 0xC5 ;
|
| 517 |
inst->blinkmsg.seqNum = inst->frameSN++; |
| 518 |
|
| 519 |
dwt_writetxdata(flength, (uint8_t *) (&inst->blinkmsg), 0) ; // write the frame data |
| 520 |
dwt_writetxfctrl(flength, 0, 1); |
| 521 |
|
| 522 |
inst->twrMode = GREETER; |
| 523 |
//using wait for response to do delayed receive
|
| 524 |
inst->wait4ack = DWT_RESPONSE_EXPECTED; |
| 525 |
inst->rxResponseMask = 0;
|
| 526 |
|
| 527 |
dwt_setrxtimeout((uint16_t)inst->fwto4RespFrame_sy*2); //units are symbols (x2 as ranging init > response) |
| 528 |
//set the delayed rx on time (the ranging init will be sent after this delay)
|
| 529 |
dwt_setrxaftertxdelay((uint32_t)inst->tagRespRxDelay_sy); //units are 1.0256us - wait for wait4respTIM before RX on (delay RX)
|
| 530 |
|
| 531 |
dwt_starttx(DWT_START_TX_IMMEDIATE | inst->wait4ack); //always using immediate TX and enable delayed RX
|
| 532 |
|
| 533 |
inst->instToSleep = 1; //go to Sleep after this blink |
| 534 |
inst->testAppState = TA_RX_WAIT_DATA ; // to to RX, expecting ranging init response
|
| 535 |
inst->previousState = TA_TXBLINK_WAIT_SEND ; |
| 536 |
instDone = INST_DONE_WAIT_FOR_NEXT_EVENT; //will use RX FWTO to time out (set below)
|
| 537 |
|
| 538 |
} |
| 539 |
break ; // end case TA_TXBLINK_WAIT_SEND |
| 540 |
|
| 541 |
case TA_TXPOLL_WAIT_SEND :
|
| 542 |
{
|
| 543 |
inst->msg_f.messageData[POLL_RNUM] = inst->rangeNum; //copy new range number
|
| 544 |
inst->msg_f.messageData[FCODE] = RTLS_DEMO_MSG_TAG_POLL; //message function code (specifies if message is a poll, response or other...)
|
| 545 |
inst->psduLength = (TAG_POLL_MSG_LEN + FRAME_CRTL_AND_ADDRESS_S + FRAME_CRC); |
| 546 |
inst->msg_f.seqNum = inst->frameSN++; //copy sequence number and then increment
|
| 547 |
inst->msg_f.sourceAddr[0] = inst->instanceAddress16 & 0xff; //inst->eui64[0]; //copy the address |
| 548 |
inst->msg_f.sourceAddr[1] = (inst->instanceAddress16>>8) & 0xff; //inst->eui64[1]; //copy the address |
| 549 |
inst->msg_f.destAddr[0] = 0xff; //set the destination address (broadcast == 0xffff) |
| 550 |
inst->msg_f.destAddr[1] = 0xff; //set the destination address (broadcast == 0xffff) |
| 551 |
dwt_writetxdata(inst->psduLength, (uint8_t *) &inst->msg_f, 0) ; // write the frame data |
| 552 |
|
| 553 |
//set the delayed rx on time (the response message will be sent after this delay (from A0))
|
| 554 |
dwt_setrxaftertxdelay((uint32_t)inst->tagRespRxDelay_sy); //units are 1.0256us - wait for wait4respTIM before RX on (delay RX)
|
| 555 |
|
| 556 |
inst->remainingRespToRx = MAX_ANCHOR_LIST_SIZE; //expecting 4 responses
|
| 557 |
dwt_setrxtimeout((uint16_t)inst->fwto4RespFrame_sy); //configure the RX FWTO
|
| 558 |
dwt_setpreambledetecttimeout(PTO_PACS); //configure preamble timeout
|
| 559 |
|
| 560 |
inst->rxResponseMask = 0; //reset/clear the mask of received responses when tx poll |
| 561 |
|
| 562 |
inst->wait4ack = DWT_RESPONSE_EXPECTED; //response is expected - automatically enable the receiver
|
| 563 |
|
| 564 |
dwt_writetxfctrl(inst->psduLength, 0, 1); //write frame control |
| 565 |
|
| 566 |
inst->twrMode = INITIATOR; |
| 567 |
|
| 568 |
dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED); //transmit the frame
|
| 569 |
|
| 570 |
inst->testAppState = TA_TX_WAIT_CONF ; // wait confirmation
|
| 571 |
inst->previousState = TA_TXPOLL_WAIT_SEND ; |
| 572 |
instDone = INST_DONE_WAIT_FOR_NEXT_EVENT; //will use RX FWTO to time out (set above)
|
| 573 |
|
| 574 |
} |
| 575 |
break;
|
| 576 |
|
| 577 |
case TA_TXFINAL_WAIT_SEND :
|
| 578 |
{
|
| 579 |
//the final has the same range number as the poll (part of the same ranging exchange)
|
| 580 |
inst->msg_f.messageData[POLL_RNUM] = inst->rangeNum; |
| 581 |
//the mask is sent so the anchors know whether the response RX time is valid
|
| 582 |
inst->msg_f.messageData[VRESP] = inst->rxResponseMask; |
| 583 |
inst->msg_f.messageData[FCODE] = RTLS_DEMO_MSG_TAG_FINAL; //message function code (specifies if message is a poll, response or other...)
|
| 584 |
inst->psduLength = (TAG_FINAL_MSG_LEN + FRAME_CRTL_AND_ADDRESS_S + FRAME_CRC); |
| 585 |
inst->msg_f.seqNum = inst->frameSN++; |
| 586 |
dwt_writetxdata(inst->psduLength, (uint8_t *) &inst->msg_f, 0) ; // write the frame data |
| 587 |
|
| 588 |
inst->wait4ack = 0; //clear the flag not using wait for response as this message ends the ranging exchange |
| 589 |
|
| 590 |
if(instance_send_delayed_frame(inst, DWT_START_TX_DELAYED))
|
| 591 |
{
|
| 592 |
// initiate the re-transmission
|
| 593 |
inst->testAppState = TA_TXE_WAIT ; //go to TA_TXE_WAIT first to check if it's sleep time
|
| 594 |
inst->nextState = TA_TXPOLL_WAIT_SEND ; |
| 595 |
inst->instToSleep = TRUE ; |
| 596 |
break; //exit this switch case... |
| 597 |
} |
| 598 |
else
|
| 599 |
{
|
| 600 |
inst->testAppState = TA_TX_WAIT_CONF; // wait confirmation
|
| 601 |
} |
| 602 |
|
| 603 |
inst->previousState = TA_TXFINAL_WAIT_SEND; |
| 604 |
inst->instToSleep = TRUE ; |
| 605 |
instDone = INST_DONE_WAIT_FOR_NEXT_EVENT; //will use RX FWTO to time out (set above)
|
| 606 |
} |
| 607 |
break;
|
| 608 |
|
| 609 |
|
| 610 |
case TA_TX_WAIT_CONF :
|
| 611 |
{
|
| 612 |
event_data_t* dw_event = instance_getevent(11); //get and clear this event |
| 613 |
|
| 614 |
if(dw_event->type != DWT_SIG_TX_DONE) //wait for TX done confirmation |
| 615 |
{
|
| 616 |
instDone = INST_DONE_WAIT_FOR_NEXT_EVENT; |
| 617 |
break;
|
| 618 |
} |
| 619 |
|
| 620 |
instDone = INST_NOT_DONE_YET; |
| 621 |
|
| 622 |
if(inst->previousState == TA_TXFINAL_WAIT_SEND)
|
| 623 |
{
|
| 624 |
inst->testAppState = TA_TXE_WAIT ; |
| 625 |
inst->nextState = TA_TXPOLL_WAIT_SEND ; |
| 626 |
break;
|
| 627 |
} |
| 628 |
else
|
| 629 |
{
|
| 630 |
inst->txu.txTimeStamp = dw_event->timeStamp; |
| 631 |
inst->tagPollTxTime32h = dw_event->timeStamp32h; |
| 632 |
|
| 633 |
if(inst->previousState == TA_TXPOLL_WAIT_SEND)
|
| 634 |
{
|
| 635 |
uint64_t tagCalculatedFinalTxTime ; |
| 636 |
// Embed into Final message: 40-bit pollTXTime, 40-bit respRxTime, 40-bit finalTxTime
|
| 637 |
tagCalculatedFinalTxTime = (inst->txu.txTimeStamp + inst->pollTx2FinalTxDelay) & MASK_TXDTS; |
| 638 |
|
| 639 |
inst->delayedTRXTime32h = tagCalculatedFinalTxTime >> 8; //high 32-bits |
| 640 |
// Calculate Time Final message will be sent and write this field of Final message
|
| 641 |
// Sending time will be delayedReplyTime, snapped to ~125MHz or ~250MHz boundary by
|
| 642 |
// zeroing its low 9 bits, and then having the TX antenna delay added
|
| 643 |
// getting antenna delay from the device and add it to the Calculated TX Time
|
| 644 |
tagCalculatedFinalTxTime = tagCalculatedFinalTxTime + inst->txAntennaDelay; |
| 645 |
tagCalculatedFinalTxTime &= MASK_40BIT; |
| 646 |
|
| 647 |
// Write Calculated TX time field of Final message
|
| 648 |
memcpy(&(inst->msg_f.messageData[FTXT]), (uint8_t *)&tagCalculatedFinalTxTime, 5);
|
| 649 |
// Write Poll TX time field of Final message
|
| 650 |
memcpy(&(inst->msg_f.messageData[PTXT]), (uint8_t *)&inst->txu.tagPollTxTime, 5);
|
| 651 |
|
| 652 |
} |
| 653 |
|
| 654 |
inst->testAppState = TA_RX_WAIT_DATA ; // After sending, tag expects response/report, anchor waits to receive a final/new poll
|
| 655 |
|
| 656 |
message = 0;
|
| 657 |
//fall into the next case (turn on the RX)
|
| 658 |
__attribute__ ((fallthrough)); |
| 659 |
} |
| 660 |
|
| 661 |
} |
| 662 |
|
| 663 |
//break ; // end case TA_TX_WAIT_CONF
|
| 664 |
|
| 665 |
case TA_RX_WAIT_DATA : // Wait RX data |
| 666 |
//printf("TA_RX_WAIT_DATA %d", message) ;
|
| 667 |
|
| 668 |
switch (message)
|
| 669 |
{
|
| 670 |
|
| 671 |
//if we have received a DWT_SIG_RX_OKAY event - this means that the message is IEEE data type - need to check frame control to know which addressing mode is used
|
| 672 |
case DWT_SIG_RX_OKAY :
|
| 673 |
{
|
| 674 |
event_data_t* dw_event = instance_getevent(15); //get and clear this event |
| 675 |
uint8_t srcAddr[8] = {0,0,0,0,0,0,0,0}; |
| 676 |
uint8_t dstAddr[8] = {0,0,0,0,0,0,0,0}; |
| 677 |
int fcode = 0; |
| 678 |
uint8_t tof_idx = 0;
|
| 679 |
uint8_t *messageData; |
| 680 |
|
| 681 |
memcpy(&srcAddr[0], &(dw_event->msgu.rxmsg_ss.sourceAddr[0]), ADDR_BYTE_SIZE_S); |
| 682 |
memcpy(&dstAddr[0], &(dw_event->msgu.rxmsg_ss.destAddr[0]), ADDR_BYTE_SIZE_S); |
| 683 |
fcode = dw_event->msgu.rxmsg_ss.messageData[FCODE]; |
| 684 |
messageData = &dw_event->msgu.rxmsg_ss.messageData[0];
|
| 685 |
|
| 686 |
tof_idx = srcAddr[0] & 0x3 ; |
| 687 |
//process ranging messages
|
| 688 |
switch(fcode)
|
| 689 |
{
|
| 690 |
case RTLS_DEMO_MSG_ANCH_RESP:
|
| 691 |
{
|
| 692 |
uint8_t currentRangeNum = (messageData[TOFRN] + 1); //current = previous + 1 |
| 693 |
|
| 694 |
if(GATEWAY_ANCHOR_ADDR == (srcAddr[0] | ((uint32_t)(srcAddr[1] << 8)))) //if response from gateway then use the correction factor |
| 695 |
{
|
| 696 |
// int sleepCorrection = (int16_t) (((uint16_t) messageData[RES_TAG_SLP1] << 8) + messageData[RES_TAG_SLP0]);
|
| 697 |
// casting received bytes to int because this is a signed correction -0.5 periods to +1.5 periods
|
| 698 |
inst->tagSleepCorrection_ms = (int16_t) (((uint16_t) messageData[RES_TAG_SLP1] << 8) + messageData[RES_TAG_SLP0]);
|
| 699 |
inst->tagSleepRnd_ms = 0; // once we have initial response from Anchor #0 the slot correction acts and we don't need this anymore |
| 700 |
} |
| 701 |
|
| 702 |
if(dw_event->typePend == DWT_SIG_RX_PENDING)
|
| 703 |
{
|
| 704 |
// stay in TA_RX_WAIT_DATA - receiver is already enabled, waiting for next response.
|
| 705 |
} |
| 706 |
//DW1000 idle - send the final
|
| 707 |
else //if(dw_event->type_pend == DWT_SIG_DW_IDLE) |
| 708 |
{
|
| 709 |
#if (TAG_HASTO_RANGETO_A0 == 1) |
| 710 |
if(inst->rxResponseMask & 0x1)//if this is tag and A0's response received send the final |
| 711 |
#endif
|
| 712 |
{
|
| 713 |
inst->testAppState = TA_TXFINAL_WAIT_SEND ; // send our response / the final
|
| 714 |
} |
| 715 |
#if (TAG_HASTO_RANGETO_A0 == 1) |
| 716 |
else //go to sleep |
| 717 |
{
|
| 718 |
inst->testAppState = TA_TXE_WAIT ; //go to TA_TXE_WAIT first to check if it's sleep time
|
| 719 |
inst->nextState = TA_TXPOLL_WAIT_SEND ; |
| 720 |
inst->instToSleep = TRUE; |
| 721 |
} |
| 722 |
#endif
|
| 723 |
} |
| 724 |
|
| 725 |
if(currentRangeNum == inst->rangeNum) //these are the previous ranges... |
| 726 |
{
|
| 727 |
//copy the ToF and put into array (array holds last 4 ToFs)
|
| 728 |
memcpy(&inst->tofArray[tof_idx], &(messageData[TOFR]), 4);
|
| 729 |
|
| 730 |
//check if the ToF is valid, this makes sure we only report valid ToFs
|
| 731 |
//e.g. consider the case of reception of response from anchor a1 (we are anchor a2)
|
| 732 |
//if a1 got a Poll with previous Range number but got no Final, then the response will have
|
| 733 |
//the correct range number but the range will be INVALID_TOF
|
| 734 |
if(inst->tofArray[tof_idx] != INVALID_TOF)
|
| 735 |
{
|
| 736 |
inst->rxResponseMask |= (0x1 << tof_idx);
|
| 737 |
} |
| 738 |
|
| 739 |
} |
| 740 |
else
|
| 741 |
{
|
| 742 |
if(inst->tofArray[tof_idx] != INVALID_TOF)
|
| 743 |
{
|
| 744 |
inst->tofArray[tof_idx] = INVALID_TOF; |
| 745 |
} |
| 746 |
} |
| 747 |
|
| 748 |
|
| 749 |
} |
| 750 |
break; //RTLS_DEMO_MSG_ANCH_RESP |
| 751 |
|
| 752 |
default:
|
| 753 |
{
|
| 754 |
tag_process_rx_timeout(inst); //if unknown message process as timeout
|
| 755 |
} |
| 756 |
break;
|
| 757 |
} //end switch (fcode)
|
| 758 |
|
| 759 |
} |
| 760 |
break ; //end of DWT_SIG_RX_OKAY |
| 761 |
|
| 762 |
case RTLS_DEMO_MSG_RNG_INIT :
|
| 763 |
{
|
| 764 |
event_data_t* dw_event = instance_getevent(16); //get and clear this event |
| 765 |
uint8_t srcAddr[8] = {0,0,0,0,0,0,0,0}; |
| 766 |
|
| 767 |
uint8_t* messageData = &dw_event->msgu.rxmsg_ls.messageData[0];
|
| 768 |
memcpy(&srcAddr[0], &(dw_event->msgu.rxmsg_ls.sourceAddr[0]), ADDR_BYTE_SIZE_S); |
| 769 |
|
| 770 |
if(GATEWAY_ANCHOR_ADDR == (srcAddr[0] | ((uint32_t)(srcAddr[1] << 8)))) //if response from gateway then use the correction factor |
| 771 |
{
|
| 772 |
// casting received bytes to int because this is a signed correction -0.5 periods to +1.5 periods
|
| 773 |
inst->tagSleepCorrection_ms = (int16_t) (((uint16_t) messageData[RES_TAG_SLP1] << 8) + messageData[RES_TAG_SLP0]);
|
| 774 |
inst->tagSleepRnd_ms = 0; // once we have initial response from Anchor #0 the slot correction acts and we don't need this anymore |
| 775 |
} |
| 776 |
|
| 777 |
//get short address from anchor
|
| 778 |
inst->instanceAddress16 = (int16_t) (((uint16_t) messageData[RES_TAG_ADD1] << 8) + messageData[RES_TAG_ADD0]);
|
| 779 |
|
| 780 |
//set source address
|
| 781 |
inst->newRangeTagAddress = inst->instanceAddress16 ; |
| 782 |
dwt_setaddress16(inst->instanceAddress16); |
| 783 |
|
| 784 |
inst->nextState = TA_TXPOLL_WAIT_SEND; |
| 785 |
inst->testAppState = TA_TXE_WAIT; |
| 786 |
inst->instToSleep = TRUE ; |
| 787 |
|
| 788 |
inst->tagSleepTime_ms = inst->tagPeriod_ms ; |
| 789 |
|
| 790 |
//inst->twrMode = INITIATOR;
|
| 791 |
|
| 792 |
break; //RTLS_DEMO_MSG_RNG_INIT |
| 793 |
} |
| 794 |
|
| 795 |
case DWT_SIG_RX_TIMEOUT :
|
| 796 |
{
|
| 797 |
event_data_t* dw_event = instance_getevent(17); //get and clear this event |
| 798 |
|
| 799 |
//printf("PD_DATA_TIMEOUT %d\n", inst->previousState) ;
|
| 800 |
|
| 801 |
//Anchor can time out and then need to send response - so will be in TX pending
|
| 802 |
if(dw_event->typePend == DWT_SIG_TX_PENDING)
|
| 803 |
{
|
| 804 |
inst->testAppState = TA_TX_WAIT_CONF; // wait confirmation
|
| 805 |
inst->previousState = TA_TXRESPONSE_SENT_TORX ; //wait for TX confirmation of sent response
|
| 806 |
} |
| 807 |
else if(dw_event->typePend == DWT_SIG_DW_IDLE) //if timed out and back in receive then don't process as timeout |
| 808 |
{
|
| 809 |
tag_process_rx_timeout(inst); |
| 810 |
} |
| 811 |
//else if RX_PENDING then wait for next RX event...
|
| 812 |
message = 0; //clear the message as we have processed the event |
| 813 |
} |
| 814 |
break ;
|
| 815 |
|
| 816 |
default :
|
| 817 |
{
|
| 818 |
if(message) // == DWT_SIG_TX_DONE) |
| 819 |
{
|
| 820 |
instDone = INST_DONE_WAIT_FOR_NEXT_EVENT; |
| 821 |
} |
| 822 |
|
| 823 |
if(instDone == INST_NOT_DONE_YET) instDone = INST_DONE_WAIT_FOR_NEXT_EVENT;
|
| 824 |
} |
| 825 |
break;
|
| 826 |
|
| 827 |
} |
| 828 |
break ; // end case TA_RX_WAIT_DATA |
| 829 |
default:
|
| 830 |
//printf("\nERROR - invalid state %d - what is going on??\n", inst->testAppState) ;
|
| 831 |
break;
|
| 832 |
} // end switch on testAppState
|
| 833 |
|
| 834 |
return instDone;
|
| 835 |
} // end testapprun_tag()
|
| 836 |
|
| 837 |
// -------------------------------------------------------------------------------------------------------------------
|
| 838 |
int tag_run(void) |
| 839 |
{
|
| 840 |
instance_data_t* inst = instance_get_local_structure_ptr(0);
|
| 841 |
int done = INST_NOT_DONE_YET;
|
| 842 |
|
| 843 |
while(done == INST_NOT_DONE_YET)
|
| 844 |
{
|
| 845 |
done = tag_app_run(inst) ; // run the communications application
|
| 846 |
} |
| 847 |
|
| 848 |
if(done == INST_DONE_WAIT_FOR_NEXT_EVENT_TO) //tag has finished the ranging exchange and needs to configure sleep time |
| 849 |
{
|
| 850 |
int32_t nextPeriod ; |
| 851 |
|
| 852 |
// next period will be a positive number because correction is -0.5 to +1.5 periods, (and tagSleepTime_ms is the period)
|
| 853 |
nextPeriod = inst->tagSleepRnd_ms + inst->tagSleepTime_ms + inst->tagSleepCorrection_ms; |
| 854 |
|
| 855 |
inst->nextWakeUpTime_ms = (uint32_t) nextPeriod ; //set timeout time, CAST the positive period to UINT for correct wrapping.
|
| 856 |
inst->tagSleepCorrection_ms = 0; //clear the correction |
| 857 |
inst->instanceTimerEn = 1; //start timer |
| 858 |
} |
| 859 |
|
| 860 |
//check if timer has expired
|
| 861 |
if(inst->instanceTimerEn == 1) |
| 862 |
{
|
| 863 |
if((portGetTickCnt() - inst->instanceWakeTime_ms) > inst->nextWakeUpTime_ms)
|
| 864 |
{
|
| 865 |
event_data_t dw_event; |
| 866 |
inst->instanceTimerEn = 0;
|
| 867 |
dw_event.rxLength = 0;
|
| 868 |
dw_event.type = 0;
|
| 869 |
//dw_event.typeSave = 0x80 | DWT_SIG_RX_TIMEOUT;
|
| 870 |
instance_putevent(dw_event, DWT_SIG_RX_TIMEOUT); |
| 871 |
} |
| 872 |
} |
| 873 |
return 0 ; |
| 874 |
} |
| 875 |
|
| 876 |
/* ==========================================================
|
| 877 |
|
| 878 |
Notes:
|
| 879 |
|
| 880 |
Previously code handled multiple instances in a single console application
|
| 881 |
|
| 882 |
Now have changed it to do a single instance only. With minimal code changes...(i.e. kept [instance] index but it is always 0.
|
| 883 |
|
| 884 |
Windows application should call instance_init() once and then in the "main loop" call instance_run().
|
| 885 |
|
| 886 |
*/
|
| 887 |
|
| 888 |
|
| 889 |
#endif /* defined(AMIROLLD_CFG_USE_DW1000) */ |