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1 fce9feec Robin Ewers
/*! ----------------------------------------------------------------------------
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 *  @file    instance.h
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 *  @brief   DecaWave header for application level instance
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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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#ifndef DECAINSTANCE_H
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#define DECAINSTANCE_H
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#include <amiro-lld.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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#ifdef __cplusplus
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extern "C" {
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#endif
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/******************************************************************************************************************
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********************* NOTES on TREK compile/build time features/options ***********************************************************
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*******************************************************************************************************************/
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#define DEEP_SLEEP (1) //To enable deep-sleep set this to 1
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//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
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//waiting for start of next ranging exchange
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#define CORRECT_RANGE_BIAS  (1)     // Compensate for small bias due to uneven accumulator growth at close up high power
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#define ANCTOANCTWR (1) //if set to 1 then anchor to anchor two-way ranging will be done in the last 2 slots, this
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//is used for TREK demo, to aid in anchor installation,
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#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
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#define READ_EVENT_COUNTERS (0) //read event counters - can be used for debug to periodically output event counters
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#define DISCOVERY (0)                //set to 1 to enable tag discovery - tags starts by sending blinks (with own ID) and then
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                            //anchor assigns a slot to it and gives it short address
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/******************************************************************************************************************
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*******************************************************************************************************************
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*******************************************************************************************************************/
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#define NUM_INST            1                                  // one instance (tag or anchor - controlling one DW1000)
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#define SPEED_OF_LIGHT      (299702547.0)     // in m/s in air
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#define MASK_40BIT                        (0x00FFFFFFFFFF)  // DW1000 counter is 40 bits
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#define MASK_TXDTS                        (0x00FFFFFFFE00)  // The TX timestamp will snap to 8 ns resolution - mask lower 9 bits.
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//! callback events
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#define DWT_SIG_RX_NOERR            0
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#define DWT_SIG_TX_DONE             1       // Frame has been sent
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#define DWT_SIG_RX_OKAY             2       // Frame Received with Good CRC
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#define DWT_SIG_RX_ERROR            3       // Frame Received but CRC is wrong
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#define DWT_SIG_RX_TIMEOUT          4       // Timeout on receive has elapsed
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#define DWT_SIG_TX_AA_DONE          6       // ACK frame has been sent (as a result of auto-ACK)
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#define DWT_SIG_RX_BLINK                        7                // Received ISO EUI 64 blink message
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#define DWT_SIG_RX_PHR_ERROR        8       // Error found in PHY Header
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#define DWT_SIG_RX_SYNCLOSS         9       // Un-recoverable error in Reed Solomon Decoder
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#define DWT_SIG_RX_SFDTIMEOUT       10      // Saw preamble but got no SFD within configured time
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#define DWT_SIG_RX_PTOTIMEOUT       11      // Got preamble detection timeout (no preamble detected)
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#define DWT_SIG_TX_PENDING          12      // TX is pending
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#define DWT_SIG_TX_ERROR            13      // TX failed
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#define DWT_SIG_RX_PENDING          14      // RX has been re-enabled
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#define DWT_SIG_DW_IDLE             15      // DW radio is in IDLE (no TX or RX pending)
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#define SIG_RX_UNKNOWN                            99                // Received an unknown frame
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//DecaRTLS frame function codes
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#define RTLS_DEMO_MSG_RNG_INIT              (0x71)          // Ranging initiation message
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#define RTLS_DEMO_MSG_TAG_POLL              (0x81)          // Tag poll message
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#define RTLS_DEMO_MSG_ANCH_RESP             (0x70)          // Anchor response to poll
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#define RTLS_DEMO_MSG_ANCH_POLL                                (0x7A)                        // Anchor to anchor poll message
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#define RTLS_DEMO_MSG_ANCH_RESP2            (0x7B)          // Anchor response to poll from anchor
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#define RTLS_DEMO_MSG_ANCH_FINAL            (0x7C)          // Anchor final massage back to Anchor
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#define RTLS_DEMO_MSG_TAG_FINAL             (0x82)          // Tag final massage back to Anchor
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//lengths including the Decaranging Message Function Code byte
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//absolute length = 17 +
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#define RANGINGINIT_MSG_LEN                                        5                                // FunctionCode(1), Sleep Correction Time (2), Tag Address (2)
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//absolute length = 11 +
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#define TAG_POLL_MSG_LEN                    2                                // FunctionCode(1), Range Num (1)
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#define ANCH_RESPONSE_MSG_LEN               8               // FunctionCode(1), Sleep Correction Time (2), Measured_TOF_Time(4), Range Num (1) (previous)
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#define TAG_FINAL_MSG_LEN                   33              // FunctionCode(1), Range Num (1), Poll_TxTime(5),
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                                                                                                                        // Resp0_RxTime(5), Resp1_RxTime(5), Resp2_RxTime(5), Resp3_RxTime(5), Final_TxTime(5), Valid Response Mask (1)
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#define ANCH_POLL_MSG_LEN_S                                        2                                // FunctionCode(1), Range Num (1),
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#define ANCH_POLL_MSG_LEN                   4                                // FunctionCode(1), Range Num (1), Next Anchor (2)
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#define ANCH_FINAL_MSG_LEN                  33              // FunctionCode(1), Range Num (1), Poll_TxTime(5),
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                                                                                                                        // Resp0_RxTime(5), Resp1_RxTime(5), Resp2_RxTime(5), Resp3_RxTime(5), Final_TxTime(5), Valid Response Mask (1)
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#define MAX_MAC_MSG_DATA_LEN                (TAG_FINAL_MSG_LEN) //max message len of the above
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#define STANDARD_FRAME_SIZE         127
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#define ADDR_BYTE_SIZE_L            (8)
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#define ADDR_BYTE_SIZE_S            (2)
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#define FRAME_CONTROL_BYTES         2
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#define FRAME_SEQ_NUM_BYTES         1
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#define FRAME_PANID                 2
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#define FRAME_CRC                                        2
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#define FRAME_SOURCE_ADDRESS_S        (ADDR_BYTE_SIZE_S)
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#define FRAME_DEST_ADDRESS_S          (ADDR_BYTE_SIZE_S)
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#define FRAME_SOURCE_ADDRESS_L        (ADDR_BYTE_SIZE_L)
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#define FRAME_DEST_ADDRESS_L          (ADDR_BYTE_SIZE_L)
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#define FRAME_CTRLP                                        (FRAME_CONTROL_BYTES + FRAME_SEQ_NUM_BYTES + FRAME_PANID) //5
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#define FRAME_CRTL_AND_ADDRESS_L    (FRAME_DEST_ADDRESS_L + FRAME_SOURCE_ADDRESS_L + FRAME_CTRLP) //21 bytes for 64-bit addresses)
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#define FRAME_CRTL_AND_ADDRESS_S    (FRAME_DEST_ADDRESS_S + FRAME_SOURCE_ADDRESS_S + FRAME_CTRLP) //9 bytes for 16-bit addresses)
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#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)
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#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
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#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
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#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
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//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)
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#define MAX_USER_PAYLOAD_STRING        MAX_USER_PAYLOAD_STRING_LL
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#define BLINK_FRAME_CONTROL_BYTES       (1)
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#define BLINK_FRAME_SEQ_NUM_BYTES       (1)
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#define BLINK_FRAME_CRC                                        (FRAME_CRC)
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#define BLINK_FRAME_SOURCE_ADDRESS      (ADDR_BYTE_SIZE_L)
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#define BLINK_FRAME_CTRLP                                (BLINK_FRAME_CONTROL_BYTES + BLINK_FRAME_SEQ_NUM_BYTES) //2
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#define BLINK_FRAME_CRTL_AND_ADDRESS    (BLINK_FRAME_SOURCE_ADDRESS + BLINK_FRAME_CTRLP) //10 bytes
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#define BLINK_FRAME_LEN_BYTES           (BLINK_FRAME_CRTL_AND_ADDRESS + BLINK_FRAME_CRC)
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#if (DISCOVERY == 0)
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#define MAX_TAG_LIST_SIZE                                (8)
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#else
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#define MAX_TAG_LIST_SIZE                                (100)
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#endif
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#define MAX_ANCHOR_LIST_SIZE                        (4) //this is limited to 4 in this application
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#define NUM_EXPECTED_RESPONSES                        (3) //e.g. MAX_ANCHOR_LIST_SIZE - 1
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#define NUM_EXPECTED_RESPONSES_ANC0                (2) //anchor A0 expects response from A1 and A2
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#define NUM_EXPECTED_RESPONSES_ANC1                (1) //anchor A1 expects response from A2
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#define GATEWAY_ANCHOR_ADDR                                (0x8000)
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#define A1_ANCHOR_ADDR                                        (0x8001)
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#define A2_ANCHOR_ADDR                                        (0x8002)
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#define A3_ANCHOR_ADDR                                        (0x8003)
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#define WAIT4TAGFINAL                                        2
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#define WAIT4ANCFINAL                                        1
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// !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
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// NOTE: the maximum RX timeout is ~ 65ms
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// !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
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#define INST_DONE_WAIT_FOR_NEXT_EVENT           1   //this signifies that the current event has been processed and instance is ready for next one
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#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
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                                                        //which will trigger if no event coming in specified time
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#define INST_NOT_DONE_YET                       0   //this signifies that the instance is still processing the current event
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//application data message byte offsets
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#define FCODE                               0               // Function code is 1st byte of messageData
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#define PTXT                                2                                // Poll TX time
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#define RRXT0                               7                                // A0 Response RX time
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#define RRXT1                               12                                // A1 Response RX time
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#define RRXT2                               17                                // A2 Response RX time
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#define RRXT3                               22                                // A3 Response RX time
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#define FTXT                                27                                // Final TX time
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#define VRESP                               32                                // Mask of valid response times (e.g. if bit 1 = A0's response time is valid)
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#define RES_TAG_SLP0                        1               // Response tag sleep correction LSB
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#define RES_TAG_SLP1                        2               // Response tag sleep correction MSB
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#define TOFR                                3                                // ToF (n-1) 4 bytes
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#define TOFRN                                                                7                                // range number 1 byte
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#define POLL_RNUM                           1               // Poll message range number
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#define POLL_NANC                                                        2                                // Address of next anchor to send a poll message (e.g. A1)
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#define RES_TAG_ADD0                        3               // Tag's short address (slot num) LSB
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#define RES_TAG_ADD1                        4               // Tag's short address (slot num) MSB
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#define BLINK_PERIOD                (2000) //ms (Blink at 2Hz initially)
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#define DW_RX_ON_DELAY      (16) //us - the DW RX has 16 us RX on delay before it will receive any data
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//this it the delay used for configuring the receiver on delay (wait for response delay)
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//NOTE: this RX_RESPONSE_TURNAROUND is dependent on the microprocessor and code optimisations
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#define RX_RESPONSE_TURNAROUND (300) //this takes into account any turnaround/processing time (reporting received poll and sending the response)
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#define PTO_PACS                                (3)         //tag will use PTO to reduce power consumption (if no response coming stop RX)
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//Tag will range to 3 or 4 anchors
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//Each ranging exchange will consist of minimum of 3 messages (Poll, Response, Final)
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//and a maximum of 6 messages (Poll, Response x 4, Final)
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//Thus the ranging exchange will take either 28 ms for 110 kbps and 5 ms for 6.81 Mbps.
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//NOTE: the above times are for 110k rate with 64 symb non-standard SFD and 1024 preamble length
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//Anchor to Anchor Ranging
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//1. A0 sends a Poll
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//2. A1 responds (to A0's Poll) after RX_RESPONSE_TURNAROUND (300 us) + response frame length = fixedReplyDelayAnc1 ~= 480 us
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//3. A0 turns its receiver on (after 300 us) expecting A1's response (this is done automatically in 1. by using WAIT4RESP)
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//4. A2 responds (to A0's Poll) after 2*fixedReplyDelayAnc1 ~= 960 us.
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//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)
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//6. A0 sends a Final this is timed from the Poll TX time = pollTx2FinalTxDelayAnc ~= 1550 us (1250+300)
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//7. A1 and A2 turn on their receivers to expect this Final frame (this is done automatically in 2. AND 4. by using WAIT4RESP)
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//Tag to Anchor Ranging
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//1. Tag sends a Poll
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//2. A0 responds (delayed response) after fixedReplyDelayAnc1, A0 will re-enable its receiver automatically (by using WAIT4RESP)
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//3. A1, A2, A3 re-enble the receiver to receive A0's response
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//4. A1 responds and will re-enable its receiver automatically (by using WAIT4RESP)
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//5. A2, A3 re-enble the receiver to receive A1's response
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//6. A2 responds and will re-enable its receiver automatically (by using WAIT4RESP)
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//7. A0, A3 re-enable the receiver to receive A2's response
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//9. A3 responds and will re-enable its receiver automatically (by using WAIT4RESP)
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//10. A0, A1, A2, A3 - all receive the Final from the tag
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//Tag Discovery mode
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//1. Tag sends a Blink
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//2. A0 responds with Ranging Init giving it short address and slot time correction
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//3. Tag sleeps until the next period and then starts ranging exchange
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typedef enum instanceModes{TAG, ANCHOR, ANCHOR_RNG, NUM_MODES} INST_MODE;
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//Tag = Exchanges DecaRanging messages (Poll-Response-Final) with Anchor and enabling Anchor to calculate the range between the two instances
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//Anchor = see above
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//Anchor_Rng = the anchor (assumes a tag function) and ranges to another anchor - used in Anchor to Anchor TWR for auto positioning function
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// instance sending a poll (starting TWR) is INITIATOR
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// instance which receives a poll (and will be involved in the TWR) is RESPONDER
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// instance which does not receive a poll (default state) will be a LISTENER - will send no responses
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typedef enum instanceTWRModes{INITIATOR, RESPONDER_A, RESPONDER_B, RESPONDER_T, LISTENER, GREETER, ATWR_MODES} ATWR_MODE;
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#define TOF_REPORT_NUL 0
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#define TOF_REPORT_T2A 1
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#define TOF_REPORT_A2A 2
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#define INVALID_TOF (0xABCDFFFF)
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typedef enum inst_states
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{
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    TA_INIT, //0
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    TA_TXE_WAIT,                //1 - state in which the instance will enter sleep (if ranging finished) or proceed to transmit a message
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    TA_TXBLINK_WAIT_SEND,       //2 - configuration and sending of Blink message
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    TA_TXPOLL_WAIT_SEND,        //2 - configuration and sending of Poll message
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    TA_TXFINAL_WAIT_SEND,       //3 - configuration and sending of Final message
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    TA_TXRESPONSE_WAIT_SEND,    //4 - a place holder - response is sent from call back
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    TA_TX_WAIT_CONF,            //5 - confirmation of TX done message
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    TA_RXE_WAIT,                //6
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    TA_RX_WAIT_DATA,            //7
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    TA_SLEEP_DONE,               //8
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    TA_TXRESPONSE_SENT_POLLRX,   //9
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    TA_TXRESPONSE_SENT_RESPRX,   //10
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    TA_TXRESPONSE_SENT_TORX,     //11
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    TA_TXRESPONSE_SENT_APOLLRX,  //12
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    TA_TXRESPONSE_SENT_ARESPRX   //13
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} INST_STATES;
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// This file defines data and functions for access to Parameters in the Device
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//message structure for Poll, Response and Final message
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typedef struct
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{
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    uint8_t frameCtrl[2];                                 //  frame control bytes 00-01
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    uint8_t seqNum;                                       //  sequence_number 02
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    uint8_t panID[2];                                     //  PAN ID 03-04
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    uint8_t destAddr[ADDR_BYTE_SIZE_L];                     //  05-12 using 64 bit addresses
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    uint8_t sourceAddr[ADDR_BYTE_SIZE_L];                   //  13-20 using 64 bit addresses
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    uint8_t messageData[MAX_USER_PAYLOAD_STRING_LL] ; //  22-124 (application data and any user payload)
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    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.
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} srd_msg_dlsl ;
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typedef struct
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{
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    uint8_t frameCtrl[2];                                 //  frame control bytes 00-01
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    uint8_t seqNum;                                       //  sequence_number 02
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    uint8_t panID[2];                                     //  PAN ID 03-04
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    uint8_t destAddr[ADDR_BYTE_SIZE_S];                     //  05-06
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    uint8_t sourceAddr[ADDR_BYTE_SIZE_S];                   //  07-08
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    uint8_t messageData[MAX_USER_PAYLOAD_STRING_SS] ; //  09-124 (application data and any user payload)
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    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.
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} srd_msg_dsss ;
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typedef struct
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{
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    uint8_t frameCtrl[2];                                 //  frame control bytes 00-01
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    uint8_t seqNum;                                       //  sequence_number 02
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    uint8_t panID[2];                                     //  PAN ID 03-04
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    uint8_t destAddr[ADDR_BYTE_SIZE_L];                     //  05-12 using 64 bit addresses
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    uint8_t sourceAddr[ADDR_BYTE_SIZE_S];                   //  13-14
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    uint8_t messageData[MAX_USER_PAYLOAD_STRING_LS] ; //  15-124 (application data and any user payload)
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    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.
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} srd_msg_dlss ;
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typedef struct
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{
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    uint8_t frameCtrl[2];                                 //  frame control bytes 00-01
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    uint8_t seqNum;                                       //  sequence_number 02
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    uint8_t panID[2];                                     //  PAN ID 03-04
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    uint8_t destAddr[ADDR_BYTE_SIZE_S];                     //  05-06
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    uint8_t sourceAddr[ADDR_BYTE_SIZE_L];                   //  07-14 using 64 bit addresses
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    uint8_t messageData[MAX_USER_PAYLOAD_STRING_LS] ; //  15-124 (application data and any user payload)
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    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.
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} srd_msg_dssl ;
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//12 octets for Minimum IEEE ID blink
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typedef struct
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{
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    uint8_t frameCtrl;                                         //  frame control bytes 00
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    uint8_t seqNum;                                       //  sequence_number 01
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    uint8_t tagID[BLINK_FRAME_SOURCE_ADDRESS];        //  02-09 64 bit address
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    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.
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} iso_IEEE_EUI64_blink_msg ;
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typedef struct
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{
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    uint8_t channelNumber ;       // valid range is 1 to 11
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    uint8_t preambleCode ;        // 00 = use NS code, 1 to 24 selects code
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    uint8_t pulseRepFreq ;        // NOMINAL_4M, NOMINAL_16M, or NOMINAL_64M
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    uint8_t dataRate ;            // DATA_RATE_1 (110K), DATA_RATE_2 (850K), DATA_RATE_3 (6M81)
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    uint8_t preambleLen ;         // values expected are 64, (128), (256), (512), 1024, (2048), and 4096
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    uint8_t pacSize ;
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    uint8_t nsSFD ;
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    uint16_t sfdTO;  //!< SFD timeout value (in symbols) e.g. preamble length (128) + SFD(8) - PAC + some margin ~ 135us... DWT_SFDTOC_DEF; //default value
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} instanceConfig_t ;
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typedef struct
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{
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    uint16_t slotDuration_ms ; //slot duration (time for 1 tag to range to 4 anchors)
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    uint16_t numSlots ;                  // number of slots in one superframe (number of tags supported)
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    uint16_t sfPeriod_ms ;         // superframe period in ms
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    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
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    uint16_t pollTxToFinalTxDly_us ; //response delay time (Poll to Final delay)
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} sfConfig_t ;
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/******************************************************************************************************************
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*******************************************************************************************************************
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*******************************************************************************************************************/
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//size of the event queue, in this application there should be at most 2 unprocessed events,
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//i.e. if there is a transmission with wait for response then the TX callback followed by RX callback could be executed
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//in turn and the event queued up before the instance processed the TX event.
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#define MAX_EVENT_NUMBER (4)
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typedef struct
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{
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    uint8_t  type;                        // event type - if 0 there is no event in the queue
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    //uint8_t  typeSave;                // holds the event type - does not clear (used to show what event has been processed)
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    uint8_t  typePend;            // set if there is a pending event (i.e. DW is not in IDLE (TX/RX pending)
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    uint16_t rxLength ;                // length of RX data (does not apply to TX events)
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    uint64_t timeStamp ;                // last timestamp (Tx or Rx) - 40 bit DW1000 time
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    uint32_t timeStamp32l ;                   // last tx/rx timestamp - low 32 bits of the 40 bit DW1000 time
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    uint32_t timeStamp32h ;                   // last tx/rx timestamp - high 32 bits of the 40 bit DW1000 time
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    uint32_t uTimeStamp ;                          //32 bit system counter (ms) - STM32 tick time (at time of IRQ)
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        union {
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                        //holds received frame (after a good RX frame event)
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            uint8_t   frame[STANDARD_FRAME_SIZE];
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                    srd_msg_dlsl rxmsg_ll ; //64 bit addresses
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                        srd_msg_dssl rxmsg_sl ;
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                        srd_msg_dlss rxmsg_ls ;
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                        srd_msg_dsss rxmsg_ss ; //16 bit addresses
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                        iso_IEEE_EUI64_blink_msg rxblinkmsg;
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        }msgu;
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    //uint8_t gotit;                        //stores the instance function which processed the event (used for debug)
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}event_data_t ;
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// TX power and PG delay configuration structure
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typedef struct {
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                uint8_t pgDelay;
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                //TX POWER
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                //31:24     BOOST_0.125ms_PWR
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                //23:16     BOOST_0.25ms_PWR-TX_SHR_PWR
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                //15:8      BOOST_0.5ms_PWR-TX_PHR_PWR
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                //7:0       DEFAULT_PWR-TX_DATA_PWR
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                uint32_t txPwr[2]; //
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}tx_struct;
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typedef struct
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{
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    INST_MODE mode;                                //instance mode (tag or anchor)
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    ATWR_MODE twrMode;
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    INST_STATES testAppState ;                        //state machine - current state
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    INST_STATES nextState ;                                //state machine - next state
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    INST_STATES previousState ;                        //state machine - previous state
402
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        //configuration structures
404
        dwt_config_t    configData ;        //DW1000 channel configuration
405
    dwt_txconfig_t  configTX ;                 //DW1000 TX power configuration
406
    uint16_t                txAntennaDelay ; //DW1000 TX antenna delay
407
    uint16_t                rxAntennaDelay ; //DW1000 RX antenna delay
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    uint32_t                txPower ;                 //DW1000 TX power
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    uint8_t         txPowerChanged;  //power has been changed - update the register on next TWR exchange
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    uint8_t         antennaDelayChanged;                //antenna delay has been changed - update the register on next TWR exchange
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    uint16_t instanceAddress16; //contains tag/anchor 16 bit address
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        //timeouts and delays
415
    int32_t tagPeriod_ms; // in ms, tag ranging + sleeping period
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    int32_t tagSleepTime_ms; //in milliseconds - defines the nominal Tag sleep time period
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    int32_t tagSleepRnd_ms; //add an extra slot duration to sleep time to avoid collision before getting synced by anchor 0
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        //this is the delay used for the delayed transmit
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    uint64_t pollTx2FinalTxDelay ; //this is delay from Poll Tx time to Final Tx time in DW1000 units (40-bit)
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    uint64_t pollTx2FinalTxDelayAnc ; //this is delay from Poll Tx time to Final Tx time in DW1000 units (40-bit) for Anchor to Anchor ranging
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    uint32_t fixedReplyDelayAnc32h ; //this is a delay used for calculating delayed TX/delayed RX on time (units: 32bit of 40bit DW time)
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    uint16_t anc1RespTx2FinalRxDelay_sy ; //This is delay for RX on when A1 expecting Final form A0 or A2 expecting Final from A1
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    uint16_t anc2RespTx2FinalRxDelay_sy ; //This is delay for RX on when A2 waiting for A0's final (anc to anc ranging)
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    uint32_t preambleDuration32h ; //preamble duration in device time (32 MSBs of the 40 bit time)
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    uint32_t tagRespRxDelay_sy ; //TX to RX delay time when tag is awaiting response message an another anchor
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    uint32_t ancRespRxDelay_sy ; //TX to RX delay time when anchor is awaiting response message an another anchor
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        int fwtoTime_sy ;        //this is FWTO for response message (used by initiating anchor in anchor to anchor ranging)
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        int fwto4RespFrame_sy ; //this is a frame wait timeout used when awaiting reception of Response frames (used by both tag/anchor)
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        int fwto4FinalFrame_sy ; //this is a frame wait timeout used when awaiting reception of Final frames
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    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)
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    //message structure used for holding the data of the frame to transmit before it is written to the DW1000
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        srd_msg_dsss msg_f ; // ranging message frame with 16-bit addresses
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        iso_IEEE_EUI64_blink_msg blinkmsg ; // frame structure (used for tx blink message)
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        srd_msg_dlss rng_initmsg ;        // ranging init message (destination long, source short)
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        //Tag function address/message configuration
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    uint8_t   shortAdd_idx ;                                // device's 16-bit address low byte (used as index into arrays [0 - 3])
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    uint8_t   eui64[8];                                // device's EUI 64-bit address
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    uint16_t  psduLength ;                        // used for storing the TX frame length
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    uint8_t   frameSN;                                // modulo 256 frame sequence number - it is incremented for each new frame transmission
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    uint16_t  panID ;                                        // panid used in the frames
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        //64 bit timestamps
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        //union of TX timestamps
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        union {
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        uint64_t txTimeStamp ;                   // last tx timestamp
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        uint64_t tagPollTxTime ;                   // tag's poll tx timestamp
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        uint64_t anchorRespTxTime ;           // anchor's reponse tx timestamp
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        }txu;
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    uint32_t tagPollTxTime32h ;
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    uint64_t tagPollRxTime ;          // receive time of poll message
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        //application control parameters
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    uint8_t        wait4ack ;                                // if this is set to DWT_RESPONSE_EXPECTED, then the receiver will turn on automatically after TX completion
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    uint8_t   wait4final ;
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    uint8_t  instToSleep;                        // if set the instance will go to sleep before sending the blink/poll message
462
    uint8_t         instanceTimerEn;                // enable/start a timer
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    uint32_t instanceWakeTime_ms;    // micro time at which the tag was waken up
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    uint32_t nextWakeUpTime_ms;                // micro time at which to wake up tag
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    uint8_t   rxResponseMaskAnc;                // bit mask - bit 0 not used;
467
                                                                        // bit 1 = received response from anchor ID = 1;
468
                                                                        // bit 2 from anchor ID = 2,
469
                                                                        // bit 3 set if two responses (from Anchor 1 and Anchor 2) received and A0 got third response (from A2)
470
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    uint8_t   rxResponseMask;                        // bit mask - bit 0 = received response from anchor ID = 0, bit 1 from anchor ID = 1 etc...
472
    uint8_t   rxResponseMaskReport;   // this will be set before outputting range reports to signify which are valid
473
    uint8_t        rangeNum;                                // incremented for each sequence of ranges (each slot)
474
    uint8_t        rangeNumA[MAX_TAG_LIST_SIZE];                                // array which holds last range number from each tag
475
    uint8_t        rangeNumAnc;                        // incremented for each sequence of ranges (each slot) - anchor to anchor ranging
476
    uint8_t        rangeNumAAnc[MAX_ANCHOR_LIST_SIZE]; //array which holds last range number for each anchor
477
478
    int8_t   rxResps;                                // how many responses were received to a poll (in current ranging exchange)
479
    int8_t   remainingRespToRx ;                // how many responses remain to be received (in current ranging exchange)
480
481
    uint16_t  sframePeriod_ms;                // superframe period in ms
482
    uint16_t  slotDuration_ms;                // slot duration in ms
483
    uint16_t  numSlots;
484
    uint32_t  a0SlotTime_ms;                        // relative time in superframe at which A0 starts ranging (this is start of 2nd last slot)
485
    uint32_t  a1SlotTime_ms;                        // absolute time in superframe at which A1 starts ranging
486
    uint32_t  a2aStartTime_ms;                // absolute time in superframe at which A0 starts ranging
487
    int32_t   tagSleepCorrection_ms;  // tag's sleep correction to keep it in it's assigned slot
488
489
    //diagnostic counters/data, results and logging
490
    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))
491
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    //this is an array which holds last ToF to each anchor it should
493
    uint32_t tofArray[MAX_ANCHOR_LIST_SIZE]; //contain 4 ToF to 4 anchors all relating to same range number sequence
494
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    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)
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    //this is an array which holds last ToFs of the Anchor to Anchor ranging
498
    uint32_t tofArrayAnc[MAX_ANCHOR_LIST_SIZE]; //it contains 3 ToFs relating to same range number sequence (0, 0-1, 0-2, 1-2)
499
500
#if (DISCOVERY ==1)
501
    uint8_t tagListLen ;
502
    uint8_t tagList[MAX_TAG_LIST_SIZE][8];
503
#endif
504
505
    //debug counters
506
    //int txMsgCount; //number of transmitted messages
507
        //int rxMsgCount; //number of received messages
508
    //int rxTimeouts ; //number of received timeout events
509
        //int lateTX; //number of "LATE" TX events
510
        //int lateRX; //number of "LATE" RX events
511
512
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        //ranging counters
514
    int longTermRangeCount ; //total number of ranges
515
516
    int newRange;                        //flag set when there is a new range to report TOF_REPORT_A2A or TOF_REPORT_T2A
517
    int newRangeAncAddress; //last 4 bytes of anchor address - used for printing/range output display
518
    int newRangeTagAddress; //last 4 bytes of tag address - used for printing/range output display
519
    int newRangeTime;
520
521
    uint8_t gatewayAnchor ; //set to TRUE = 1 if anchor address == GATEWAY_ANCHOR_ADDR
522
523
        //event queue - used to store DW1000 events as they are processed by the dw_isr/callback functions
524
    event_data_t dwevent[MAX_EVENT_NUMBER]; //this holds any TX/RX events and associated message data
525
    uint8_t dweventIdxOut;
526
    uint8_t dweventIdxIn;
527
    uint8_t dweventPeek;
528
    uint8_t monitor;
529
    uint32_t timeofTx ;
530
531
    uint8_t smartPowerEn;
532
533
#if (READ_EVENT_COUNTERS == 1)
534
        dwt_deviceentcnts_t ecounters;
535
#endif
536
537
} instance_data_t ;
538
539
//-------------------------------------------------------------------------------------------------------------
540
//
541
//        Functions used in logging/displaying range and status data
542
//
543
//-------------------------------------------------------------------------------------------------------------
544
545
// function to calculate and the range from given Time of Flight
546
int instance_calculate_rangefromTOF(int idx, uint32_t tofx);
547
548
void instance_cleardisttable(int idx);
549
void instance_set_tagdist(int tidx, int aidx);
550
double instance_get_tagdist(int idx);
551
552
double instance_get_idist(int idx);
553
double instance_get_idistraw(int idx);
554
int instance_get_idist_mm(int idx);
555
int instance_get_idistraw_mm(int idx);
556
uint8_t instance_validranges(void);
557
558
int instance_get_rnum(void);
559
int instance_get_rnuma(int idx);
560
int instance_get_rnumanc(int idx);
561
int instance_get_lcount(void);
562
563
int instance_newrangeancadd(void);
564
int instance_newrangetagadd(void);
565
int instance_newrangepolltim(void);
566
int instance_newrange(void);
567
int instance_newrangetim(void);
568
569
int instance_calc_ranges(uint32_t *array, uint16_t size, int reportRange, uint8_t* mask);
570
571
// clear the status/ranging data
572
void instance_clearcounts(void) ;
573
574
void instance_cleardisttableall(void);
575
//-------------------------------------------------------------------------------------------------------------
576
//
577
//        Functions used in driving/controlling the ranging application
578
//
579
//-------------------------------------------------------------------------------------------------------------
580
581
// Call init, then call config, then call run.
582
// initialise the instance (application) structures and DW1000 device
583
int instance_init(int role, DW1000Driver* drv);
584
// configure the instance and DW1000 device
585
void instance_config(instanceConfig_t *config, sfConfig_t *sfconfig) ;
586
587
// configure the MAC address
588
void instance_set_16bit_address(uint16_t address) ;
589
void instance_config_frameheader_16bit(instance_data_t *inst);
590
591
void tag_process_rx_timeout(instance_data_t *inst);
592
593
// called (periodically or from and interrupt) to process any outstanding TX/RX events and to drive the ranging application
594
int tag_run(void) ;
595
int anch_run(void) ;       // returns indication of status report change
596
597
// configure TX/RX callback functions that are called from DW1000 ISR
598
void rx_ok_cb_tag(const dwt_cb_data_t *cb_data);
599
void rx_to_cb_tag(const dwt_cb_data_t *cb_data);
600
void rx_err_cb_tag(const dwt_cb_data_t *cb_data);
601
//void tx_conf_cb_tag(const dwt_cb_data_t *cb_data);
602
603
void rx_ok_cb_anch(const dwt_cb_data_t *cb_data);
604
void rx_to_cb_anch(const dwt_cb_data_t *cb_data);
605
void rx_err_cb_anch(const dwt_cb_data_t *cb_data);
606
void tx_conf_cb(const dwt_cb_data_t *cb_data);
607
608
void instance_set_replydelay(int delayms);
609
610
// set/get the instance roles e.g. Tag/Anchor
611
// done though instance_init void instance_set_role(int mode) ;                //
612
int instance_get_role(void) ;
613
// get the DW1000 device ID (e.g. 0xDECA0130 for DW1000)
614
uint32_t instance_readdeviceid(void) ;                                 // Return Device ID reg, enables validation of physical device presence
615
616
void rnganch_change_back_to_anchor(instance_data_t *inst);
617
int instance_send_delayed_frame(instance_data_t *inst, int delayedTx);
618
619
uint64_t instance_convert_usec_to_devtimeu (double microsecu);
620
621
622
void instance_seteventtime(event_data_t *dw_event, uint8_t* timeStamp);
623
624
int instance_peekevent(void);
625
626
void instance_saveevent(event_data_t newevent, uint8_t etype);
627
628
event_data_t instance_getsavedevent(void);
629
630
void instance_putevent(event_data_t newevent, uint8_t etype);
631
632
event_data_t* instance_getevent(int x);
633
634
void instance_clearevents(void);
635
636
void instance_notify_DW1000_inIDLE(int idle);
637
638
// configure the antenna delays
639
void instance_config_antennadelays(uint16_t tx, uint16_t rx);
640
void instance_set_antennadelays(void);
641
uint16_t instance_get_txantdly(void);
642
uint16_t instance_get_rxantdly(void);
643
644
// configure the TX power
645
void instance_config_txpower(uint32_t txpower);
646
void instance_set_txpower(void);
647
int instance_starttxtest(int framePeriod);
648
649
650
instance_data_t* instance_get_local_structure_ptr(unsigned int x);
651
652
#ifdef __cplusplus
653
}
654
#endif
655 8c47f14b Thomas Schöpping
656 fce9feec Robin Ewers
#endif /* defined(AMIROLLD_CFG_USE_DW1000) */
657 8c47f14b Thomas Schöpping
658
#endif /* DECAINSTANCE_H */