amiro-lld / source / deca_instance_tag.c @ fce9feec
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| 1 | fce9feec | Robin Ewers | /*! ----------------------------------------------------------------------------
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| 2 | * @file instance_tag.c
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| 3 | * @brief Decawave tag application state machine for TREK demo
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| 4 | *
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| 5 | * @attention
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| 6 | *
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| 7 | * Copyright 2016 (c) Decawave Ltd, Dublin, Ireland.
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| 8 | *
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| 9 | * All rights reserved.
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| 10 | *
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| 11 | * @author Decawave
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| 12 | */
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| 13 | |||
| 14 | #include <deca_instance.h> |
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| 15 | #if defined(AMIROLLD_CFG_USE_DW1000) || defined(__DOXYGEN__)
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| 16 | |||
| 17 | #include <alld_dw1000.h> |
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| 18 | #include <alld_dw1000_regs.h> |
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| 19 | #include <string.h> |
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| 20 | |||
| 21 | |||
| 22 | // -------------------------------------------------------------------------------------------------------------------
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| 23 | // Data Definitions
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| 24 | // -------------------------------------------------------------------------------------------------------------------
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| 25 | |||
| 26 | // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
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| 27 | // NOTE: the maximum RX timeout is ~ 65ms
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| 28 | // !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
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| 29 | |||
| 30 | |||
| 31 | // -------------------------------------------------------------------------------------------------------------------
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| 32 | // Functions
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| 33 | // -------------------------------------------------------------------------------------------------------------------
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| 34 | |||
| 35 | /**
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| 36 | * @brief this function either enables the receiver (delayed)
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| 37 | *
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| 38 | **/
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| 39 | void tag_enable_rx(uint32_t dlyTime)
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| 40 | {
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| 41 | instance_data_t* inst = instance_get_local_structure_ptr(0);
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| 42 | //subtract preamble duration (because when instructing delayed TX the time is the time of SFD,
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| 43 | //however when doing delayed RX the time is RX on time)
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| 44 | dwt_setdelayedtrxtime(dlyTime - inst->preambleDuration32h) ; |
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| 45 | if(dwt_rxenable(DWT_START_RX_DELAYED|DWT_IDLE_ON_DLY_ERR)) //delayed rx |
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| 46 | {
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| 47 | //if the delayed RX failed - time has passed - do immediate enable
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| 48 | //led_on(LED_PC9);
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| 49 | dwt_setpreambledetecttimeout(0); //clear preamble timeout as RX is turned on early/late |
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| 50 | dwt_setrxtimeout((uint16_t)inst->fwto4RespFrame_sy*2); //reconfigure the timeout before enable |
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| 51 | //longer timeout as we cannot do delayed receive... so receiver needs to stay on for longer
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| 52 | dwt_rxenable(DWT_START_RX_IMMEDIATE); |
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| 53 | dwt_setpreambledetecttimeout(PTO_PACS); //configure preamble timeout
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| 54 | dwt_setrxtimeout((uint16_t)inst->fwto4RespFrame_sy); //restore the timeout for next RX enable
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| 55 | //inst->lateRX++;
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| 56 | //led_off(LED_PC9);
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| 57 | } |
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| 58 | |||
| 59 | } |
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| 60 | |||
| 61 | /* @fn instanceProcessRXTimeoutTag
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| 62 | * @brief function to process RX timeout event
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| 63 | * */
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| 64 | void tag_process_rx_timeout(instance_data_t *inst)
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| 65 | {
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| 66 | //inst->rxTimeouts ++ ;
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| 67 | |||
| 68 | #if(DISCOVERY == 1) |
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| 69 | if(inst->twrMode == GREETER)
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| 70 | {
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| 71 | inst->instToSleep = TRUE ; |
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| 72 | // initiate the re-transmission of the poll that was not responded to
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| 73 | inst->testAppState = TA_TXE_WAIT ; |
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| 74 | inst->nextState = TA_TXBLINK_WAIT_SEND ; |
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| 75 | } |
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| 76 | else
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| 77 | #endif
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| 78 | {
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| 79 | |||
| 80 | #if (TAG_HASTO_RANGETO_A0 == 0) |
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| 81 | if(inst->rxResponseMask == 0) //if any response have been received send a Final else go to SLEEP |
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| 82 | {
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| 83 | inst->instToSleep = TRUE ; //set sleep to TRUE so that tag will go to DEEP SLEEP before next ranging attempt
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| 84 | inst->testAppState = TA_TXE_WAIT ; |
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| 85 | inst->nextState = TA_TXPOLL_WAIT_SEND ; |
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| 86 | } |
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| 87 | #else
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| 88 | |||
| 89 | //if tag times out - no response (check if we are to send a final)
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| 90 | //send the final only if it has received response from anchor 0
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| 91 | if((inst->previousState == TA_TXPOLL_WAIT_SEND)
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| 92 | && ((inst->rxResponseMask & 0x1) == 0) |
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| 93 | ) |
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| 94 | {
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| 95 | inst->instToSleep = TRUE ; //set sleep to TRUE so that tag will go to DEEP SLEEP before next ranging attempt
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| 96 | inst->testAppState = TA_TXE_WAIT ; |
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| 97 | inst->nextState = TA_TXPOLL_WAIT_SEND ; |
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| 98 | } |
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| 99 | #endif
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| 100 | else if (inst->previousState == TA_TXFINAL_WAIT_SEND) //got here from main (error sending final - handle as timeout) |
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| 101 | {
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| 102 | dwt_forcetrxoff(); //this will clear all events
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| 103 | inst->instToSleep = TRUE ; |
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| 104 | // initiate the re-transmission of the poll that was not responded to
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| 105 | inst->testAppState = TA_TXE_WAIT ; |
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| 106 | inst->nextState = TA_TXPOLL_WAIT_SEND ; |
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| 107 | } |
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| 108 | else //send the final |
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| 109 | {
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| 110 | // initiate the transmission of the final
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| 111 | inst->testAppState = TA_TXE_WAIT ; |
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| 112 | inst->nextState = TA_TXFINAL_WAIT_SEND ; |
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| 113 | } |
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| 114 | |||
| 115 | } |
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| 116 | } |
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| 117 | |||
| 118 | /**
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| 119 | * @brief function to re-enable the receiver and also adjust the timeout before sending the final message
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| 120 | * if it is time so send the final message, the callback will notify the application, else the receiver is
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| 121 | * automatically re-enabled
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| 122 | *
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| 123 | * this function is only used for tag when ranging to other anchors
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| 124 | */
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| 125 | uint8_t tag_rx_reenable(uint16_t sourceAddress, uint8_t error) |
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| 126 | {
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| 127 | uint8_t type_pend = DWT_SIG_DW_IDLE; |
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| 128 | uint8_t anc = sourceAddress & 0x3;
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| 129 | instance_data_t* inst = instance_get_local_structure_ptr(0);
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| 130 | |||
| 131 | switch(anc)
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| 132 | {
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| 133 | //if we got Response from anchor 3 - this is the last expected response - send the final
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| 134 | case 3: |
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| 135 | type_pend = DWT_SIG_DW_IDLE; |
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| 136 | break;
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| 137 | |||
| 138 | //if we got response from anchor 0, 1, or 2 - go back to wait for next anchor's response
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| 139 | //if we got response from 0, then still expecting 3, so remainingRespToRx set to 3
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| 140 | case 0: |
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| 141 | case 1: |
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| 142 | case 2: |
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| 143 | default:
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| 144 | if(inst->remainingRespToRx > 0) //can get here as result of error frame so need to check |
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| 145 | {
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| 146 | //can't use anc address as this is an error frame, so just re-enable TO based on remainingRespToRx count
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| 147 | if(error == 0) |
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| 148 | {
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| 149 | switch (anc)
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| 150 | {
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| 151 | case 0: |
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| 152 | inst->remainingRespToRx = 3; //expecting 3 more responses |
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| 153 | break;
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| 154 | case 1: |
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| 155 | inst->remainingRespToRx = 2; //expecting 2 more responses |
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| 156 | break;
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| 157 | case 2: |
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| 158 | inst->remainingRespToRx = 1; //expecting 1 more response |
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| 159 | break;
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| 160 | } |
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| 161 | } |
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| 162 | //Poll sent at tagPollTxTime_32bit
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| 163 | //1st response is delayTime + fixedReplyDelayAnc32h - preambleDuration_32MSBs
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| 164 | //2nd is delayTime + fixedReplyDelayAnc32h - preambleDuration_32MSBs + fixedReplyDelayAnc32h
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| 165 | tag_enable_rx(inst->tagPollTxTime32h + |
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| 166 | (MAX_ANCHOR_LIST_SIZE-inst->remainingRespToRx+1)*(inst->fixedReplyDelayAnc32h));
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| 167 | |||
| 168 | type_pend = DWT_SIG_RX_PENDING ; |
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| 169 | } |
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| 170 | else //finished waiting for responses - no responses left to receive... send a final |
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| 171 | {
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| 172 | type_pend = DWT_SIG_DW_IDLE; //report timeout - send the final if due to be sent
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| 173 | } |
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| 174 | break;
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| 175 | |||
| 176 | } |
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| 177 | |||
| 178 | return type_pend;
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| 179 | } |
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| 180 | |||
| 181 | /**
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| 182 | * @brief this function handles frame error event, it will either signal TO or re-enable the receiver
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| 183 | */
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| 184 | void tag_handle_error_unknownframe(event_data_t dw_event)
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| 185 | {
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| 186 | instance_data_t* inst = instance_get_local_structure_ptr(0);
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| 187 | |||
| 188 | if(inst->twrMode != GREETER)
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| 189 | {
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| 190 | //re-enable the receiver (after error frames as we are not using auto re-enable
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| 191 | //for ranging application rx error frame is same as TO - as we are not going to get the expected frame
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| 192 | inst->remainingRespToRx--; //got something (need to reduce timeout (for remaining responses))
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| 193 | |||
| 194 | 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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| 195 | } |
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| 196 | else
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| 197 | {
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| 198 | dw_event.typePend = DWT_SIG_DW_IDLE; //in GREETER mode only waiting for 1 frame
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| 199 | } |
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| 200 | |||
| 201 | dw_event.type = 0;
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| 202 | //dw_event.typeSave = 0x40 | DWT_SIG_RX_TIMEOUT;
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| 203 | dw_event.rxLength = 0;
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| 204 | |||
| 205 | instance_putevent(dw_event, DWT_SIG_RX_TIMEOUT); |
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| 206 | } |
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| 207 | |||
| 208 | /**
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| 209 | * @brief this is the receive timeout event callback handler
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| 210 | */
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| 211 | void rx_to_cb_tag(const dwt_cb_data_t *rxd) |
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| 212 | {
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| 213 | (void) rxd;
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| 214 | event_data_t dw_event; |
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| 215 | |||
| 216 | //microcontroller time at which we received the frame
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| 217 | dw_event.uTimeStamp = portGetTickCnt(); |
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| 218 | tag_handle_error_unknownframe(dw_event); |
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| 219 | } |
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| 220 | |||
| 221 | /**
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| 222 | * @brief this is the receive error event callback handler
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| 223 | */
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| 224 | void rx_err_cb_tag(const dwt_cb_data_t *rxd) |
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| 225 | {
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| 226 | (void) rxd;
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| 227 | event_data_t dw_event; |
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| 228 | |||
| 229 | //microcontroller time at which we received the frame
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| 230 | dw_event.uTimeStamp = portGetTickCnt(); |
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| 231 | tag_handle_error_unknownframe(dw_event); |
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| 232 | } |
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| 233 | |||
| 234 | /**
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| 235 | * @brief this is the receive event callback handler, the received event is processed and the instance either
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| 236 | * responds by sending a response frame or re-enables the receiver to await the next frame
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| 237 | * once the immediate action is taken care of the event is queued up for application to process
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| 238 | */
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| 239 | void rx_ok_cb_tag(const dwt_cb_data_t *rxd) |
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| 240 | {
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| 241 | instance_data_t* inst = instance_get_local_structure_ptr(0);
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| 242 | uint8_t rxTimeStamp[5] = {0, 0, 0, 0, 0}; |
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| 243 | |||
| 244 | uint8_t rxd_event = 0;
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| 245 | uint8_t fcode_index = 0;
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| 246 | uint8_t srcAddr_index = 0;
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| 247 | event_data_t dw_event; |
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| 248 | |||
| 249 | //microcontroller time at which we received the frame
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| 250 | dw_event.uTimeStamp = portGetTickCnt(); |
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| 251 | |||
| 252 | //if we got a frame with a good CRC - RX OK
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| 253 | {
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| 254 | dw_event.rxLength = rxd->datalength; |
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| 255 | |||
| 256 | //need to process the frame control bytes to figure out what type of frame we have received
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| 257 | if(rxd->fctrl[0] == 0x41) |
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| 258 | {
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| 259 | if((rxd->fctrl[1] & 0xCC) == 0x88) //short address |
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| 260 | {
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| 261 | fcode_index = FRAME_CRTL_AND_ADDRESS_S; //function code is in first byte after source address
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| 262 | srcAddr_index = FRAME_CTRLP + ADDR_BYTE_SIZE_S; |
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| 263 | rxd_event = DWT_SIG_RX_OKAY; |
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| 264 | } |
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| 265 | #if (DISCOVERY == 1) |
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| 266 | else if((rxd->fctrl[1] & 0xCC) == 0x8c) //long/short address - ranging init message |
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| 267 | {
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| 268 | fcode_index = FRAME_CRTL_AND_ADDRESS_LS; //function code is in first byte after source address
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| 269 | srcAddr_index = FRAME_CTRLP + ADDR_BYTE_SIZE_L; |
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| 270 | rxd_event = DWT_SIG_RX_OKAY; |
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| 271 | } |
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| 272 | #endif
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| 273 | else
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| 274 | {
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| 275 | rxd_event = SIG_RX_UNKNOWN; //not supported - all TREK1000 frames are short addressed
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| 276 | } |
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| 277 | } |
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| 278 | else
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| 279 | {
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| 280 | rxd_event = SIG_RX_UNKNOWN; //not supported - all TREK1000 frames are short addressed
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| 281 | } |
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| 282 | |||
| 283 | //read RX timestamp
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| 284 | dwt_readrxtimestamp(rxTimeStamp) ; |
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| 285 | dwt_readrxdata((uint8_t *)&dw_event.msgu.frame[0], rxd->datalength, 0); // Read Data Frame |
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| 286 | instance_seteventtime(&dw_event, rxTimeStamp); |
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| 287 | |||
| 288 | dw_event.type = 0; //type will be added as part of adding to event queue |
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| 289 | //dw_event.typeSave = rxd_event;
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| 290 | dw_event.typePend = DWT_SIG_DW_IDLE; |
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| 291 | |||
| 292 | if(rxd_event == DWT_SIG_RX_OKAY) //Process good/known frame types |
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| 293 | {
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| 294 | uint16_t sourceAddress = (((uint16_t)dw_event.msgu.frame[srcAddr_index+1]) << 8) + dw_event.msgu.frame[srcAddr_index]; |
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| 295 | |||
| 296 | //if tag got a good frame - this is probably a response, but could also be some other non-ranging frame
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| 297 | //(although due to frame filtering this is limited as non-addressed frames are filtered out)
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| 298 | |||
| 299 | //check if this is a TWR message (and also which one)
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| 300 | switch(dw_event.msgu.frame[fcode_index])
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| 301 | {
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| 302 | //we got a response from a "responder" (anchor)
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| 303 | case RTLS_DEMO_MSG_ANCH_RESP:
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| 304 | {
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| 305 | if(inst->twrMode == INITIATOR)
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| 306 | {
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| 307 | //if tag is involved in the ranging exchange expecting responses
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| 308 | uint8_t index ; |
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| 309 | inst->remainingRespToRx--; //got 1 more response or other RX frame - need to reduce timeout (for next response)
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| 310 | dw_event.typePend = tag_rx_reenable(sourceAddress, 0); //remainingRespToRx decremented above... |
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| 311 | index = RRXT0 + 5*(sourceAddress & 0x3); |
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| 312 | |||
| 313 | inst->rxResponseMask |= (0x1 << (sourceAddress & 0x3)); //add anchor ID to the mask |
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| 314 | // Write Response RX time field of Final message
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| 315 | memcpy(&(inst->msg_f.messageData[index]), rxTimeStamp, 5);
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| 316 | break;
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| 317 | } else {
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| 318 | __attribute__ ((fallthrough)); |
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| 319 | } |
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| 320 | } |
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| 321 | #if (DISCOVERY == 1) |
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| 322 | case RTLS_DEMO_MSG_RNG_INIT:
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| 323 | {
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| 324 | if(inst->twrMode == GREETER)
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| 325 | {
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| 326 | rxd_event = RTLS_DEMO_MSG_RNG_INIT; |
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| 327 | break; //process the event in the application |
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| 328 | } |
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| 329 | } |
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| 330 | #endif
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| 331 | case RTLS_DEMO_MSG_ANCH_POLL:
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| 332 | case RTLS_DEMO_MSG_TAG_POLL:
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| 333 | case RTLS_DEMO_MSG_TAG_FINAL:
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| 334 | case RTLS_DEMO_MSG_ANCH_FINAL:
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| 335 | case RTLS_DEMO_MSG_ANCH_RESP2:
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| 336 | default:
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| 337 | //tag should ignore any other frames - only receive responses
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| 338 | {
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| 339 | tag_handle_error_unknownframe(dw_event); |
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| 340 | //inst->rxMsgCount++;
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| 341 | return;
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| 342 | } |
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| 343 | } |
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| 344 | instance_putevent(dw_event, rxd_event); |
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| 345 | |||
| 346 | //inst->rxMsgCount++;
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| 347 | } |
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| 348 | else //if (rxd_event == SIG_RX_UNKNOWN) //need to re-enable the rx (got unknown frame type) |
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| 349 | {
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| 350 | tag_handle_error_unknownframe(dw_event); |
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| 351 | } |
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| 352 | } |
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| 353 | } |
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| 354 | // -------------------------------------------------------------------------------------------------------------------
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| 355 | //
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| 356 | // the main instance state machine for tag application
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| 357 | //
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| 358 | // -------------------------------------------------------------------------------------------------------------------
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| 359 | //
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| 360 | int tag_app_run(instance_data_t *inst)
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| 361 | {
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| 362 | int instDone = INST_NOT_DONE_YET;
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| 363 | int message = instance_peekevent(); //get any of the received events from ISR |
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| 364 | |||
| 365 | switch (inst->testAppState)
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| 366 | {
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| 367 | case TA_INIT :
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| 368 | // printf("TA_INIT") ;
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| 369 | switch (inst->mode)
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| 370 | {
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| 371 | case TAG:
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| 372 | {
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| 373 | uint16_t sleep_mode = 0;
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| 374 | |||
| 375 | dwt_enableframefilter(DWT_FF_DATA_EN | DWT_FF_ACK_EN); //allow data, ack frames;
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| 376 | |||
| 377 | inst->eui64[0] += inst->instanceAddress16; //so switch 5,6,7 can be used to emulate more tags |
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| 378 | dwt_seteui(inst->eui64); |
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| 379 | |||
| 380 | dwt_setpanid(inst->panID); |
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| 381 | #if (DISCOVERY == 1) |
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| 382 | //Start off by sending Blinks and wait for Anchor to send Ranging Init
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| 383 | inst->testAppState = TA_TXBLINK_WAIT_SEND; |
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| 384 | inst->tagSleepTime_ms = BLINK_PERIOD ; |
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| 385 | memcpy(inst->blinkmsg.tagID, inst->eui64, ADDR_BYTE_SIZE_L); |
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| 386 | inst->newRangeTagAddress = inst->eui64[1];
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| 387 | inst->newRangeTagAddress = (inst->newRangeTagAddress << 8) + inst->eui64[0]; |
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| 388 | |||
| 389 | #else
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| 390 | //dwt_setpanid(inst->panID);
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| 391 | memcpy(inst->eui64, &inst->instanceAddress16, ADDR_BYTE_SIZE_S); |
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| 392 | //set source address
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| 393 | inst->newRangeTagAddress = inst->instanceAddress16 ; |
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| 394 | dwt_setaddress16(inst->instanceAddress16); |
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| 395 | |||
| 396 | //Start off by Sleeping 1st -> set instToSleep to TRUE
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| 397 | inst->nextState = TA_TXPOLL_WAIT_SEND; |
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| 398 | inst->testAppState = TA_TXE_WAIT; |
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| 399 | inst->instToSleep = TRUE ; |
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| 400 | inst->tagSleepTime_ms = inst->tagPeriod_ms ; |
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| 401 | #endif
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| 402 | inst->rangeNum = 0;
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| 403 | inst->tagSleepCorrection_ms = 0;
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| 404 | |||
| 405 | sleep_mode = (DWT_PRESRV_SLEEP|DWT_CONFIG|DWT_TANDV); |
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| 406 | |||
| 407 | if(inst->configData.txPreambLength == DWT_PLEN_64) //if using 64 length preamble then use the corresponding OPSet |
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| 408 | sleep_mode |= DWT_LOADOPSET; |
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| 409 | |||
| 410 | #if (DEEP_SLEEP == 1) |
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| 411 | 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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| 412 | #endif
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| 413 | instance_config_frameheader_16bit(inst); |
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| 414 | inst->instanceWakeTime_ms = portGetTickCnt(); |
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| 415 | } |
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| 416 | break;
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| 417 | default:
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| 418 | break;
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| 419 | } |
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| 420 | break; // end case TA_INIT |
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| 421 | |||
| 422 | case TA_SLEEP_DONE :
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| 423 | {
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| 424 | event_data_t* dw_event = instance_getevent(10); //clear the event from the queue |
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| 425 | // waiting for timout from application to wakeup IC
|
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| 426 | if (dw_event->type != DWT_SIG_RX_TIMEOUT)
|
||
| 427 | {
|
||
| 428 | // if no pause and no wake-up timeout continu waiting for the sleep to be done.
|
||
| 429 | instDone = INST_DONE_WAIT_FOR_NEXT_EVENT; //wait here for sleep timeout
|
||
| 430 | break;
|
||
| 431 | } |
||
| 432 | |||
| 433 | instDone = INST_NOT_DONE_YET; |
||
| 434 | inst->instToSleep = FALSE ; |
||
| 435 | inst->testAppState = inst->nextState; |
||
| 436 | inst->nextState = 0; //clear |
||
| 437 | inst->instanceWakeTime_ms = portGetTickCnt(); // Record the time count when we wake-up
|
||
| 438 | #if (DEEP_SLEEP == 1) |
||
| 439 | {
|
||
| 440 | //wake up device from low power mode
|
||
| 441 | //led_on(LED_PC9);
|
||
| 442 | |||
| 443 | port_wakeup_dw1000_fast(); |
||
| 444 | |||
| 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) */ |