// Called at the beginning of each listening window for transmitting to
// the tag.
static void ranging_listening_window_task () {
// Check if we are done transmitting to the tag.
// Ideally we never get here, as an ack from the tag will cause us to stop
// cycling through listening windows and put us back into a ready state.
if (_ranging_listening_window_num == NUM_RANGING_CHANNELS) {
// Go back to IDLE
_state = ASTATE_IDLE;
// Stop the timer for the window
timer_stop(_anchor_timer);
// Restart being an anchor
oneway_anchor_start();
} else {
// Setup the channel and antenna settings
oneway_set_ranging_listening_window_settings(ANCHOR,
_ranging_listening_window_num,
pp_anc_final_pkt.final_antenna);
// Prepare the outgoing packet to send back to the
// tag with our TOAs.
pp_anc_final_pkt.ieee154_header_unicast.seqNum++;
const uint16_t frame_len = sizeof(struct pp_anc_final);
// const uint16_t frame_len = sizeof(struct pp_anc_final) - (sizeof(uint64_t)*NUM_RANGING_BROADCASTS);
dwt_writetxfctrl(frame_len, 0);
// Pick a slot to respond in. Generate a random number and mod it
// by the number of slots
uint8_t slot_num = ranval(&_prng_state) % (_ranging_operation_config.anchor_reply_window_in_us /
_ranging_operation_config.anchor_reply_slot_time_in_us);
// Come up with the time to send this packet back to the
// tag based on the slot we picked.
uint32_t delay_time = dwt_readsystimestamphi32() +
DW_DELAY_FROM_US(ANC_FINAL_INITIAL_DELAY_HACK_VALUE +
(slot_num*_ranging_operation_config.anchor_reply_slot_time_in_us));
delay_time &= 0xFFFFFFFE;
// Record the outgoing time in the packet. Do not take calibration into
// account here, as that is done on all of the RX timestamps.
pp_anc_final_pkt.dw_time_sent = (((uint64_t) delay_time) << 8);
// Set the packet to be transmitted later.
dwt_setdelayedtrxtime(delay_time);
// Send the response packet
// TODO: handle if starttx errors. I'm not sure what to do about it,
// other than just wait for the next slot.
dwt_starttx(DWT_START_TX_DELAYED);
dwt_settxantennadelay(DW1000_ANTENNA_DELAY_TX);
dwt_writetxdata(frame_len, (uint8_t*) &pp_anc_final_pkt, 0);
_ranging_listening_window_num++;
}
}
// Called at the beginning of each listening window for transmitting to
// the tag.
static void ranging_listening_window_task () {
// Check if we are done transmitting to the tag.
// Ideally we never get here, as an ack from the tag will cause us to stop
// cycling through listening windows and put us back into a ready state.
if (_ranging_listening_window_num == NUM_RANGING_CHANNELS) {
// Go back to IDLE
_state = ASTATE_IDLE;
// Stop the timer for the window
timer_stop(_ranging_broadcast_timer);
} else {
// Setup the channel and antenna settings
dw1000_set_ranging_listening_window_settings(ANCHOR,
_ranging_listening_window_num,
pp_anc_final_pkt.final_antenna,
FALSE);
// Prepare the outgoing packet to send back to the
// tag with our TOAs.
pp_anc_final_pkt.ieee154_header_unicast.seqNum++;
const uint16_t frame_len = sizeof(struct pp_anc_final);
dwt_writetxfctrl(frame_len, 0);
// Pick a slot to respond in. Generate a random number and mod it
// by the number of slots
uint8_t slot_num = ranval(&_prng_state) % (_ranging_operation_config.anchor_reply_window_in_us /
_ranging_operation_config.anchor_reply_slot_time_in_us);
// Come up with the time to send this packet back to the
// tag based on the slot we picked.
uint32_t delay_time = dwt_readsystimestamphi32() +
DW_DELAY_FROM_US(ANC_FINAL_INITIAL_DELAY_HACK_VALUE +
(slot_num*_ranging_operation_config.anchor_reply_slot_time_in_us));
delay_time &= 0xFFFFFFFE;
pp_anc_final_pkt.dw_time_sent = delay_time;
dwt_setdelayedtrxtime(delay_time);
// Send the response packet
int err = dwt_starttx(DWT_START_TX_DELAYED);
dwt_settxantennadelay(DW1000_ANTENNA_DELAY_TX);
dwt_writetxdata(frame_len, (uint8_t*) &pp_anc_final_pkt, 0);
_ranging_listening_window_num++;
}
}
// Triggered when we receive a packet
void app_dw1000_rxcallback (const dwt_callback_data_t *rxd) {
// First grab a copy of local time when this arrived
rtimer_clock_t rt_timestamp = RTIMER_NOW();
DEBUG_B6_HIGH;
if (rxd->event == DWT_SIG_RX_OKAY) {
leds_toggle(LEDS_BLUE);
uint8_t packet_type;
uint64_t dw_timestamp;
uint8_t recv_pkt_buf[RX_PKT_BUF_LEN];
// Get the dw_timestamp first
uint8_t txTimeStamp[5] = {0, 0, 0, 0, 0};
dwt_readrxtimestamp(txTimeStamp);
dw_timestamp = ((uint64_t) (*((uint32_t*) txTimeStamp))) | (((uint64_t) txTimeStamp[4]) << 32);
// Get the packet
dwt_readrxdata(recv_pkt_buf, MIN(RX_PKT_BUF_LEN, rxd->datalength), 0);
packet_type = recv_pkt_buf[offsetof(struct pp_tag_poll, message_type)];
global_round_num = recv_pkt_buf[offsetof(struct pp_tag_poll, roundNum)];
if (packet_type == MSG_TYPE_PP_ONEWAY_TAG_POLL) {
struct pp_tag_poll* pkt = (struct pp_tag_poll*) recv_pkt_buf;
DEBUG_P("TAG_POLL rx: %u\r\n", pkt->subsequence);
if (global_subseq_num == pkt->subsequence) {
// Configurations matched, record arrival time
pp_anc_final_pkt.TOAs[global_subseq_num] = dw_timestamp;
} else {
// Tag/anchor weren't on same settings, so we
// drop this sample and catch the anchor up
global_subseq_num = pkt->subsequence;
}
if (!global_round_active) {
DEBUG_B4_LOW;
DEBUG_B5_LOW;
memset(antenna_statistics, 0, sizeof(antenna_statistics));
global_round_active = true;
start_of_new_subseq = true;
substate_timer_fired = true;
/*
subseq_start_time = rt_timestamp - US_TO_RT(TAG_SQ_START_TO_POLL_SFD_HIGH_US);
rtimer_clock_t set_to = subseq_start_time + US_TO_RT(POLL_TO_SS_US+SS_TO_SQ_US);
*/
rtimer_clock_t set_to = rt_timestamp + US_TO_RT(
POLL_TO_SS_US + SS_TO_SQ_US
- TAG_SQ_START_TO_POLL_SFD_HIGH_US
- ANC_MYSTERY_STARTUP_DELAY_US);
rtimer_set(&subsequence_timer,
set_to,
1,
(rtimer_callback_t)subsequence_task,
NULL);
}
//Keep a running total of the number of packets seen from each antenna
antenna_statistics[subseq_num_to_anchor_sel(global_subseq_num)]++;
} else if (packet_type == MSG_TYPE_PP_ONEWAY_TAG_FINAL) {
if (!global_round_active) {
// The first packet we happened to receive was
// an ANC_FINAL. We have nothing interesting to
// reply with, so don't. But we *do* need to set
// receive mode again so that a new poll will be
// caught
dwt_rxenable(0);
return;
}
//We're likely in RX mode, so we need to exit before transmission
dwt_forcetrxoff();
pp_anc_final_pkt.TOAs[NUM_MEASUREMENTS] = dw_timestamp;
pp_anc_final_pkt.header.seqNum++;
const uint16 frame_len = sizeof(struct pp_anc_final);
dwt_writetxfctrl(frame_len, 0);
//Schedule this transmission for our scheduled time slot
DEBUG_B6_LOW;
uint32_t temp = dwt_readsystimestamphi32();
uint32_t delay_time = temp +
DW_DELAY_FROM_US(
ANC_FINAL_INITIAL_DELAY_HACK_VALUE +
(ANC_FINAL_RX_TIME_ON_TAG*(ANCHOR_EUI-1))
);
/* I don't understand what exactly is going on
* here. The chip seems to want way longer for
* this preamble than others -- maybe something
* to do with the large payload? From empirical
* measurements, the 300 base delay is about the
* minimum (250 next tested as not working)
DW_DELAY_FROM_US(
REVISED_DELAY_FROM_PKT_LEN_US(frame_len) +
(2*ANC_FINAL_RX_TIME_ON_TAG*(ANCHOR_EUI-1))
);
*/
delay_time &= 0xFFFFFFFE;
pp_anc_final_pkt.dw_time_sent = delay_time;
dwt_setdelayedtrxtime(delay_time);
int err = dwt_starttx(DWT_START_TX_DELAYED);
dwt_settxantennadelay(TX_ANTENNA_DELAY);
dwt_writetxdata(frame_len, (uint8_t*) &pp_anc_final_pkt, 0);
DEBUG_B6_HIGH;
#ifdef DW_DEBUG
// No printing until after all dwt timing op's
struct pp_tag_poll* pkt = (struct pp_tag_poll*) recv_pkt_buf;
DEBUG_P("TAG_FINAL rx: %u\r\n", pkt->subsequence);
#endif
if (err) {
#ifdef DW_DEBUG
uint32_t now = dwt_readsystimestamphi32();
DEBUG_P("Could not send anchor response\r\n");
DEBUG_P(" -- sched time %lu, now %lu (diff %lu)\r\n", delay_time, now, now-delay_time);
leds_on(LEDS_RED);
#endif
} else {
DEBUG_P("Send ANC_FINAL\r\n");
leds_off(LEDS_RED);
}
} else {
DEBUG_P("*** ERR: RX Unknown packet type: 0x%X\r\n", packet_type);
}
} else {