amiro-lld / drivers / DW1000 / v1 / deca_instance_common.c @ 9466e34d
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/*! ----------------------------------------------------------------------------
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* @file instance_common.c
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* @brief DecaWave application level common instance functions
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*
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* @attention
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*
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* Copyright 2015 (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 <alld_DW1000.h> |
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#include <module.h> |
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#include <string.h> |
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#include <math.h> |
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#include <deca_instance.h> |
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/*! @brief Software defined configuration settings for RTLS applications */
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/*! Configuration for DecaRangeRTLS TREK Modes (4 default use cases selected by the switch S1 [2,3] on EVB1000, indexed 0 to 3 )*/
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instanceConfig_t chConfig[4] ={
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//mode 1 - S1: 2 off, 3 off
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{
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.channelNumber = 2, // channel |
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.preambleCode = 4, // preambleCode |
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.pulseRepFreq = DWT_PRF_16M, // prf
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.dataRate = DWT_BR_110K, // datarate
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.preambleLen = DWT_PLEN_1024, // preambleLength
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.pacSize = DWT_PAC32, // pacSize
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.nsSFD = 1, // non-standard SFD |
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.sfdTO = (1025 + 64 - 32) // SFD timeout |
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}, |
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//mode 2 - S1: 2 on, 3 off
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{
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.channelNumber = 2, // channel |
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.preambleCode = 4, // preambleCode |
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.pulseRepFreq = DWT_PRF_16M, // prf
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.dataRate = DWT_BR_6M8, // datarate
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.preambleLen = DWT_PLEN_128, // preambleLength
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.pacSize = DWT_PAC8, // pacSize
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.nsSFD = 0, // non-standard SFD |
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.sfdTO = (129 + 8 - 8) // SFD timeout |
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}, |
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//mode 3 - S1: 2 off, 3 on
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{
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.channelNumber = 5, // channel |
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.preambleCode = 3, // preambleCode |
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.pulseRepFreq = DWT_PRF_16M, // prf
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.dataRate = DWT_BR_110K, // datarate
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.preambleLen = DWT_PLEN_1024, // preambleLength
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.pacSize = DWT_PAC32, // pacSize
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.nsSFD = 1, // non-standard SFD |
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.sfdTO = (1025 + 64 - 32) // SFD timeout |
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}, |
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//mode 4 - S1: 2 on, 3 on
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{
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.channelNumber = 5, // channel |
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.preambleCode = 3, // preambleCode |
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.pulseRepFreq = DWT_PRF_16M, // prf
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.dataRate = DWT_BR_6M8, // datarate
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.preambleLen = DWT_PLEN_128, // preambleLength
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.pacSize = DWT_PAC8, // pacSize
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.nsSFD = 0, // non-standard SFD |
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.sfdTO = (129 + 8 - 8) // SFD timeout |
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} |
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}; |
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/*! Slot and Superframe Configuration for DecaRangeRTLS TREK Modes (4 default use cases selected by the switch S1 [2,3] on EVB1000, indexed 0 to 3 )*/
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sfConfig_t sfConfig[4] ={
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//mode 1 - S1: 2 off, 3 off
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{
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.slotPeriod = (28), //slot duration in milliseconds (NOTE: the ranging exchange must be able to complete in this time |
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//e.g. tag sends a poll, 4 anchors send responses and tag sends the final + processing time
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.numSlots = (10), //number of slots in the superframe (8 tag slots and 2 used for anchor to anchor ranging), |
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.sfPeriod = (10*28), //in ms => 280ms frame means 3.57 Hz location rate |
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.pollSleepDly = (10*28), //tag period in ms (sleep time + ranging time) |
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.replyDly = (25000) //poll to final delay in microseconds (needs to be adjusted according to lengths of ranging frames) |
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}, |
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#if (DISCOVERY == 1) |
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//mode 2 - S1: 2 on, 3 off
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{
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.slotPeriod = (10), //slot duration in milliseconds (NOTE: the ranging exchange must be able to complete in this time |
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//e.g. tag sends a poll, 4 anchors send responses and tag sends the final + processing time
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.numSlots = (100), //number of slots in the superframe (98 tag slots and 2 used for anchor to anchor ranging), |
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.sfPeriod = (10*100), //in ms => 1000 ms frame means 1 Hz location rate |
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.pollSleepDly = (10*100), //tag period in ms (sleep time + ranging time) |
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.replyDly = (2500) //poll to final delay in microseconds (needs to be adjusted according to lengths of ranging frames) |
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}, |
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#else
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//mode 2 - S1: 2 on, 3 off
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{
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.slotPeriod = (10), //slot duration in milliseconds (NOTE: the ranging exchange must be able to complete in this time |
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//e.g. tag sends a poll, 4 anchors send responses and tag sends the final + processing time
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.numSlots = (10), //number of slots in the superframe (8 tag slots and 2 used for anchor to anchor ranging), |
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.sfPeriod = (10*10), //in ms => 100 ms frame means 10 Hz location rate |
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.pollSleepDly = (10*10), //tag period in ms (sleep time + ranging time) |
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.replyDly = (2500) //poll to final delay in microseconds (needs to be adjusted according to lengths of ranging frames) |
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}, |
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#endif
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//mode 3 - S1: 2 off, 3 on
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{
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.slotPeriod = (28), //slot duration in milliseconds (NOTE: the ranging exchange must be able to complete in this time |
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//e.g. tag sends a poll, 4 anchors send responses and tag sends the final + processing time
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.numSlots = (10), //number of slots in the superframe (8 tag slots and 2 used for anchor to anchor ranging), |
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.sfPeriod = (10*28), //in ms => 280ms frame means 3.57 Hz location rate |
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.pollSleepDly = (10*28), //tag period in ms (sleep time + ranging time) |
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.replyDly = (20000) //poll to final delay in microseconds (needs to be adjusted according to lengths of ranging frames) |
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}, |
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//mode 4 - S1: 2 on, 3 on
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{
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.slotPeriod = (10), //slot duration in milliseconds (NOTE: the ranging exchange must be able to complete in this time |
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//e.g. tag sends a poll, 4 anchors send responses and tag sends the final + processing time
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.numSlots = (10), //number of slots in the superframe (8 tag slots and 2 used for anchor to anchor ranging), |
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.sfPeriod = (10*10), //in ms => 100 ms frame means 10 Hz location rate |
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.pollSleepDly = (10*10), //tag period in ms (sleep time + ranging time) |
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.replyDly = (2500) //poll to final delay in microseconds (needs to be adjusted according to lengths of ranging frames) |
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} |
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}; |
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// -------------------------------------------------------------------------------------------------------------------
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//The table below specifies the default TX spectrum configuration parameters... this has been tuned for DW EVK hardware units
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//the table is set for smart power - see below in the instance_config function how this is used when not using smart power
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const tx_struct txSpectrumConfig[8] = |
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{
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//Channel 0 ----- this is just a place holder so the next array element is channel 1
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{
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0x0, //0 |
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{
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0x0, //0 |
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0x0 //0 |
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} |
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}, |
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//Channel 1
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{
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0xc9, //PG_DELAY |
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{
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0x15355575, //16M prf power |
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0x07274767 //64M prf power |
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} |
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}, |
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//Channel 2
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{
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0xc2, //PG_DELAY |
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{
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0x15355575, //16M prf power |
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0x07274767 //64M prf power |
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} |
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}, |
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//Channel 3
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{
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0xc5, //PG_DELAY |
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{
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0x0f2f4f6f, //16M prf power |
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0x2b4b6b8b //64M prf power |
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} |
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}, |
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//Channel 4
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{
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0x95, //PG_DELAY |
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{
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0x1f1f3f5f, //16M prf power |
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0x3a5a7a9a //64M prf power |
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} |
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}, |
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//Channel 5
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{
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0xc0, //PG_DELAY |
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{
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0x0E082848, //16M prf power |
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0x25456585 //64M prf power |
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} |
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}, |
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//Channel 6 ----- this is just a place holder so the next array element is channel 7
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{
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0x0, //0 |
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{
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0x0, //0 |
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0x0 //0 |
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} |
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}, |
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//Channel 7
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{
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0x93, //PG_DELAY |
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{
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0x32527292, //16M prf power |
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0x5171B1d1 //64M prf power |
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} |
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} |
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}; |
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//these are default antenna delays for EVB1000, these can be used if there is no calibration data in the DW1000,
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//or instead of the calibration data
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const uint16_t rfDelays[2] = { |
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(uint16_t) (((double)DWT_PRF_16M_RFDLY/ 2.0) * 1e-9 / DWT_TIME_UNITS),//PRF 16 |
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(uint16_t) (((double)DWT_PRF_64M_RFDLY/ 2.0) * 1e-9 / DWT_TIME_UNITS) |
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}; |
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//these are default TREK Tag/Anchor antenna delays
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const uint16_t rfDelaysTREK[2] = { |
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(uint16_t) (((double)514.83f/ 2.0) * 1e-9 / DWT_TIME_UNITS),//channel 2 |
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(uint16_t) (((double)514.65f/ 2.0) * 1e-9 / DWT_TIME_UNITS) //channel 5 |
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}; |
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// -------------------------------------------------------------------------------------------------------------------
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// Data Definitions
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// -------------------------------------------------------------------------------------------------------------------
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instance_data_t instance_data[NUM_INST] ; |
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static double inst_tdist[MAX_TAG_LIST_SIZE] ; |
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static double inst_idist[MAX_ANCHOR_LIST_SIZE] ; |
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static double inst_idistraw[MAX_ANCHOR_LIST_SIZE] ; |
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instance_data_t instance_data[NUM_INST] ; |
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typedef struct __attribute__((packed)) |
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{
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uint32_t deviceID ; |
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uint8_t chan; // added chan here - used in the reading of acc
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uint16_t rfrxDly; // rf delay (delay though the RF blocks before the signal comes out of the antenna i.e. "antenna delay")
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uint16_t rftxDly; // rf delay (delay though the RF blocks before the signal comes out of the antenna i.e. "antenna delay")
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uint32_t antennaDly; // antenna delay read from OTP 64 PRF value is in high 16 bits and 16M PRF in low 16 bits
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uint32_t antennaCals[4]; // antenna delays for the TREKs (Anchor high 16-bits, Tag low 16-bits) |
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uint32_t txPowCfg[12]; // stores the Tx power configuration read from OTP (6 channels consecutively with PRF16 then 64, e.g. Ch 1 PRF16 is index 0 and 64 index 1) |
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uint32_t states[3] ; //MP workaround debug states register |
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uint8_t statescount ; |
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int prfIndex ;
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uint32_t ldoTune ; //low 32 bits of LDO tune value
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} platform_local_data_t ; |
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static platform_local_data_t platformLocalData ; // Static local device data |
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// -------------------------------------------------------------------------------------------------------------------
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// Functions
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// -------------------------------------------------------------------------------------------------------------------
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// -------------------------------------------------------------------------------------------------------------------
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// convert microseconds to device time
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uint64_t convertmicrosectodevicetimeu (double microsecu){
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uint64_t dt; |
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long double dtime; |
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dtime = (long double)((microsecu / (double) DWT_TIME_UNITS) / 1e6); |
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dt = (uint64_t) (dtime) ; |
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return dt;
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} |
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double convertdevicetimetosec(int32_t dt){
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double f = 0; |
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f = dt * DWT_TIME_UNITS ; // seconds #define TIME_UNITS (1.0/499.2e6/128.0) = 15.65e-12
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return f ;
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} |
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#pragma GCC optimize ("O3") |
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int reportTOF(int idx, uint32_t tofx){ |
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double distance ;
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double distance_to_correct;
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double tof ;
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int64_t tofi ; |
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// check for negative results and accept them making them proper negative integers
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tofi = (int32_t) tofx ; // make it signed
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if (tofi > 0x7FFFFFFF){ // close up TOF may be negative |
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tofi -= 0x80000000 ; // |
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} |
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// convert to seconds (as floating point)
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tof = convertdevicetimetosec((int32_t)tofi) ; //this is divided by 4 to get single time of flight
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inst_idistraw[idx] = distance = tof * SPEED_OF_LIGHT; |
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#if (CORRECT_RANGE_BIAS == 1) |
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//for the 6.81Mb data rate we assume gating gain of 6dB is used,
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//thus a different range bias needs to be applied
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//if(inst->configData.dataRate == DWT_BR_6M8)
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if(instance_data[0].configData.smartPowerEn){ |
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//1.31 for channel 2 and 1.51 for channel 5
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if(instance_data[0].configData.chan == 5){ |
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distance_to_correct = distance/1.51; |
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} |
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else{ //channel 2 |
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distance_to_correct = distance/1.31; |
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} |
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} |
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else{
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distance_to_correct = distance; |
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} |
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distance = distance - dwt_getrangebias(instance_data[0].configData.chan, (float) distance_to_correct, instance_data[0].configData.prf); |
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#endif
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if ((distance < 0) || (distance > 20000.000)) // discard any results less than <0 cm or >20 km |
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return 0; |
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inst_idist[idx] = distance; |
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instance_data[0].longTermRangeCount++ ; // for computing a long term average |
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return 1; |
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}// end of reportTOF
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void setTagDist(int tidx, int aidx){ |
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inst_tdist[tidx] = inst_idist[aidx]; |
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} |
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double getTagDist(int idx){ |
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return inst_tdist[idx];
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} |
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void clearDistTable(int idx){ |
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inst_idistraw[idx] = 0;
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inst_idist[idx] = 0;
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} |
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void instancecleardisttableall(void){ |
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int i;
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for(i=0; i<MAX_ANCHOR_LIST_SIZE; i++) { |
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inst_idistraw[i] = 0xffff;
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inst_idist[i] = 0xffff;
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} |
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} |
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