// 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++;
}
}
int instancesenddlypacket(instance_data_t *inst, int delayedTx)
{
int result = 0;
dwt_writetxfctrl(inst->psduLength, 0);
if(delayedTx == DWT_START_TX_DELAYED)
{
dwt_setdelayedtrxtime(inst->delayedReplyTime) ; //should be high 32-bits of delayed TX TS
}
//begin delayed TX of frame
if (dwt_starttx(delayedTx | inst->wait4ack)) // delayed start was too late
{
result = 1; //late/error
inst->lateTX++;
}
else
{
inst->timeofTx = portGetTickCnt();
inst->monitor = 1;
}
return result; // state changes
}
bool DWM1000_Anchor::dispatch(Msg& msg) {
PT_BEGIN()
PT_WAIT_UNTIL(msg.is(0, SIG_INIT));
init();
while (true) {
WAIT_POLL: {
dwt_setrxtimeout(0); /* Clear reception timeout to start next ranging process. */
dwt_rxenable(0); /* Activate reception immediately. */
// dwt_setinterrupt(DWT_INT_RFCG, 1); // enable RXD interrupt
while (true) { /* Poll for reception of a frame or error/timeout. See NOTE 7 below. */
timeout(1000);/* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
clearInterrupt();
PT_YIELD_UNTIL(timeout() || isInterruptDetected());
status_reg = _status_reg;
LOG<< HEX << " status reg.:" << status_reg << " ,interrupts : " << interruptCount << FLUSH;
status_reg = dwt_read32bitreg(SYS_STATUS_ID);
LOG<< HEX << " IRQ pin : " << digitalRead(D2) << " status_reg DWM1000 " << status_reg << FLUSH;// PULL LOW
if (status_reg & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))
break;
}
}
///____________________________________________________________________________
if (status_reg & SYS_STATUS_RXFCG) {
LOG<< " $ "<<FLUSH;
uint32 frame_len;
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG); /* Clear good RX frame event in the DW1000 status register. */
/* A frame has been received, read it into the local buffer. */
frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;
if (frame_len <= RX_BUFFER_LEN) {
dwt_readrxdata(rx_buffer, frame_len, 0);
}
/* Check that the frame is a poll sent by "DS TWR initiator" example.
* As the sequence number field of the frame is not relevant, it is cleared to simplify the validation of the frame. */
rx_buffer[ALL_MSG_SN_IDX] = 0;
if (memcmp(rx_buffer, rx_poll_msg, ALL_MSG_COMMON_LEN) == 0) {
LOG<< " $$ "<<FLUSH;
uint32 resp_tx_time;
poll_rx_ts = get_rx_timestamp_u64(); /* Retrieve poll reception timestamp. */
/* Set send time for response. See NOTE 8 below. */
resp_tx_time = (poll_rx_ts
+ (POLL_RX_TO_RESP_TX_DLY_UUS * UUS_TO_DWT_TIME)) >> 8;
dwt_setdelayedtrxtime(resp_tx_time);
/* Set expected delay and timeout for final message reception. */
dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS);
dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);
/* Write and send the response message. See NOTE 9 below.*/
tx_resp_msg[ALL_MSG_SN_IDX] = frame_seq_nb;
dwt_writetxdata(sizeof(tx_resp_msg), tx_resp_msg, 0);
dwt_writetxfctrl(sizeof(tx_resp_msg), 0);
dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);
/* We assume that the transmission is achieved correctly, now poll for reception of expected "final" frame or error/timeout.
* See NOTE 7 below. */
// while (true) { /* Poll for reception of a frame or error/timeout. See NOTE 7 below. */
timeout(10);
dwt_setinterrupt(DWT_INT_RFCG, 1);// enable
clearInterrupt();
// PT_YIELD_UNTIL(timeout() || isInterruptDetected());
status_reg = dwt_read32bitreg(SYS_STATUS_ID);
// status_reg = _status_reg;
LOG<< HEX << " status reg2:" << status_reg << FLUSH;
// if (status_reg & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))
// break;
// }
// while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))
// { };
/* Increment frame sequence number after transmission of the response message (modulo 256). */
frame_seq_nb++;
if (status_reg & SYS_STATUS_RXFCG) {
LOG<< " $$$ "<<FLUSH;
/* Clear good RX frame event and TX frame sent in the DW1000 status register. */
dwt_write32bitreg(SYS_STATUS_ID,
SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);
/* A frame has been received, read it into the local buffer. */
frame_len = dwt_read32bitreg(
RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;
if (frame_len <= RX_BUF_LEN) {
dwt_readrxdata(rx_buffer, frame_len, 0);
}
/* Check that the frame is a final message sent by "DS TWR initiator" example.
* As the sequence number field of the frame is not used in this example, it can be zeroed to ease the validation of the frame. */
rx_buffer[ALL_MSG_SN_IDX] = 0;
if (memcmp(rx_buffer, rx_final_msg, ALL_MSG_COMMON_LEN)
== 0) {
uint32 poll_tx_ts, resp_rx_ts, final_tx_ts;
uint32 poll_rx_ts_32, resp_tx_ts_32, final_rx_ts_32;
double Ra, Rb, Da, Db;
int64 tof_dtu;
/* Retrieve response transmission and final reception timestamps. */
resp_tx_ts = get_tx_timestamp_u64();
final_rx_ts = get_rx_timestamp_u64();
/* Get timestamps embedded in the final message. */
final_msg_get_ts(&rx_buffer[FINAL_MSG_POLL_TX_TS_IDX],
&poll_tx_ts);
final_msg_get_ts(&rx_buffer[FINAL_MSG_RESP_RX_TS_IDX],
&resp_rx_ts);
final_msg_get_ts(&rx_buffer[FINAL_MSG_FINAL_TX_TS_IDX],
&final_tx_ts);
/* Compute time of flight. 32-bit subtractions give correct answers even if clock has wrapped. See NOTE 10 below. */
poll_rx_ts_32 = (uint32) poll_rx_ts;
resp_tx_ts_32 = (uint32) resp_tx_ts;
final_rx_ts_32 = (uint32) final_rx_ts;
Ra = (double) (resp_rx_ts - poll_tx_ts);
Rb = (double) (final_rx_ts_32 - resp_tx_ts_32);
Da = (double) (final_tx_ts - resp_rx_ts);
Db = (double) (resp_tx_ts_32 - poll_rx_ts_32);
tof_dtu = (int64) ((Ra * Rb - Da * Db)
/ (Ra + Rb + Da + Db));
tof = tof_dtu * DWT_TIME_UNITS;
distance = tof * SPEED_OF_LIGHT;
/* Display computed distance on LCD. */
// char dist_str[20];
// sprintf(dist_str,"%3.2f", distance);
// lcd_display_str(dist_str);
LOG<< " distance : " << (float)distance << "m. " << FLUSH;
}
} else {
/* Clear RX error events in the DW1000 status register. */
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}
} else {
// -------------------------------------------------------------------------------------------------------------------
//
// the main instance state machine (for Tag instance mode only!)
//
// -------------------------------------------------------------------------------------------------------------------
//
int testapprun_tf(instance_data_t *inst, int message)
{
switch (inst->testAppState)
{
case TA_INIT :
// printf("TA_INIT") ;
switch (inst->mode)
{
case TAG:
{
int mode = 0;
dwt_enableframefilter(DWT_FF_DATA_EN | DWT_FF_ACK_EN); //allow data and ack frames;
inst->frameFilteringEnabled = 1 ;
dwt_setpanid(inst->panid);
dwt_seteui(inst->eui64);
inst->msg_f.panID[0] = (inst->panid) & 0xff;
inst->msg_f.panID[1] = inst->panid >> 8;
#if (DR_DISCOVERY == 1)
inst->mode = TAG_TDOA ;
inst->testAppState = TA_TXBLINK_WAIT_SEND;
memcpy(&inst->blinkmsg.tagID[0], &inst->eui64[0], BLINK_FRAME_SOURCE_ADDRESS);
#else
inst->testAppState = TA_TXPOLL_WAIT_SEND;
#endif
//can use RX auto re-enable when not logging/plotting errored frames
inst->rxautoreenable = 1;
dwt_setautorxreenable(inst->rxautoreenable); //not necessary to auto RX re-enable as the receiver is on for a short time (Tag knows when the response is coming)
//disable double buffer for a Tag - not needed....
dwt_setdblrxbuffmode(0); //enable/disable double RX buffer
//NOTE - Auto ACK only works if frame filtering is enabled!
dwt_enableautoack(ACK_RESPONSE_TIME); //wait for ACK_RESPONSE_TIME symbols (e.g. 5) before replying with the ACK
mode = (DWT_LOADUCODE|DWT_PRESRV_SLEEP|DWT_CONFIG|DWT_TANDV);
if((dwt_getldotune() != 0)) //if we need to use LDO tune value from OTP kick it after sleep
mode |= DWT_LOADLDO;
if(inst->configData.txPreambLength == DWT_PLEN_64) //if using 64 length preamble then use the corresponding OPSet
mode |= DWT_LOADOPSET;
//NOTE: on the EVK1000 the DEEPSLEEP is not actually putting the DW1000 into full DEEPSLEEP mode as XTAL is kept on
dwt_configuresleep(mode, DWT_WAKE_CS|DWT_SLP_EN); //configure the on wake parameters (upload the IC config settings)
}
break;
default:
break;
}
break; // end case TA_INIT
case TA_SLEEP_DONE :
{
event_data_t* dw_event = instance_getevent(20); //clear the event from the queue
// waiting for timout from application to wakup IC
if (dw_event->type != DWT_SIG_RX_TIMEOUT)
{
inst->done = INST_DONE_WAIT_FOR_NEXT_EVENT; //wait here for sleep timeout
break;
}
inst->done = INST_NOT_DONE_YET;
inst->instToSleep = 0;
inst->testAppState = inst->nextState;
inst->nextState = 0; //clear
inst->canprintinfo = 0;
//wake up from DEEP SLEEP
{
//wake up device from low power mode
//NOTE - in the ARM code just drop chip select for 200us
port_SPIx_clear_chip_select(); //CS low
instance_data[0].dwIDLE = 0; //reset
setup_DW1000RSTnIRQ(1); //enable RSTn IRQ
Sleep(1); //200 us to wake up then waits 5ms for DW1000 XTAL to stabilise
port_SPIx_set_chip_select(); //CS high
#if (DW_IDLE_CHK==1) //Wait (sleep) to give DW1000 time to get to IDLE state
Sleep(5);
//this is platform dependent - only program if DW EVK/EVB
dwt_setleds(1);
//MP bug - TX antenna delay needs reprogramming as it is not preserved
dwt_settxantennadelay(inst->txantennaDelay) ;
//set EUI as it will not be preserved unless the EUI is programmed and loaded from NVM
/*if((inst->mode == TAG) || (inst->mode == TAG_TDOA))
{
dwt_setpanid(inst->panid);
dwt_seteui(inst->eui64);
}*/
#elif (DW_IDLE_CHK==2) //Use RSTn pin to notify the micro that DW1000 is in IDLE
//need to poll to check when the DW1000 is in IDLE, the CPLL interrupt is not reliable
while(instance_data[0].dwIDLE == 0); //wait for DW1000 to go to IDLE state RSTn pin to go high
if(dwt_read32bitreg(0x0) != 0xDECA0130)
{
//error?
int x = 0;
}
setup_DW1000RSTnIRQ(0); //disable RSTn IRQ
#else
//need to poll to check when the DW1000 is in IDLE, the CPLL interrupt is not reliable
while(dwt_read32bitreg(0x0) != 0xDECA0130);
//Sleep(2);
#endif
dwt_entersleepaftertx(0);
dwt_setinterrupt(DWT_INT_TFRS, 1); //re-enable the TX/RX interrupts
}
}
break;
case TA_TXE_WAIT : //either go to sleep or proceed to TX a message
// printf("TA_TXE_WAIT") ;
//if we are scheduled to go to sleep before next sending then sleep first.
if(((inst->nextState == TA_TXPOLL_WAIT_SEND)
|| (inst->nextState == TA_TXBLINK_WAIT_SEND))
&& (inst->instToSleep) //go to sleep before sending the next poll
)
{
//the app should put chip into low power state and wake up in tagSleepTime_ms time...
//the app could go to *_IDLE state and wait for uP to wake it up...
inst->done = INST_DONE_WAIT_FOR_NEXT_EVENT_TO; //don't sleep here but kick off the TagTimeoutTimer (instancetimer)
inst->testAppState = TA_SLEEP_DONE;
if(inst->nextState == TA_TXBLINK_WAIT_SEND)
inst->canprintinfo = 1;
//put device into low power mode
dwt_entersleep(); //go to sleep
}
else //proceed to configuration and transmission of a frame
{
inst->testAppState = inst->nextState;
inst->nextState = 0; //clear
}
break ; // end case TA_TXE_WAIT
case TA_TXBLINK_WAIT_SEND :
{
//blink frames with IEEE EUI-64 tag ID
inst->blinkmsg.frameCtrl = 0xC5 ;
inst->blinkmsg.seqNum = inst->frame_sn++;
dwt_writetxdata((BLINK_FRAME_CRTL_AND_ADDRESS + FRAME_CRC), (uint8 *) (&inst->blinkmsg), 0) ; // write the frame data
dwt_writetxfctrl((BLINK_FRAME_CRTL_AND_ADDRESS + FRAME_CRC), 0);
//response will be sent after 500us (thus delay the receiver turn on by 290sym ~ 299us)
//use delayed rx on (wait4resp timer) - this value is applied when the TX frame is done/sent, so this value can be written after TX is started
dwt_setrxaftertxdelay(inst->rnginitW4Rdelay_sy); //units are ~us - wait for wait4respTIM before RX on (delay RX)
dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED); //always using immediate TX
dwt_setrxtimeout(inst->fwtoTimeB_sy); //units are us - wait for BLINKRX_FWTO_TIME after RX on before timing out
#if (DW_IDLE_CHK==2)
//this is platform dependent - only program if DW EVK/EVB
dwt_setleds(1);
//MP bug - TX antenna delay needs reprogramming as it is not preserved
dwt_settxantennadelay(inst->txantennaDelay) ;
#endif
inst->sentSN = inst->blinkmsg.seqNum;
inst->wait4ack = DWT_RESPONSE_EXPECTED; //Poll is coming soon after...
inst->instToSleep = 1;
inst->testAppState = TA_TX_WAIT_CONF ; // wait confirmation
inst->previousState = TA_TXBLINK_WAIT_SEND ;
inst->done = INST_DONE_WAIT_FOR_NEXT_EVENT; //will use RX FWTO to time out (set below)
}
break ; // end case TA_TXBLINK_WAIT_SEND
case TA_TXPOLL_WAIT_SEND :
{
#if (DR_DISCOVERY == 1)
//NOTE the anchor address is set after receiving the ranging initialisation message
inst->instToSleep = 1; //go to Sleep after this poll
#else
//set destination address
if(destaddress(inst))
{
break;
}
//copy anchor address to short message structure
inst->msg_f.destAddr[0] = inst->msg.destAddr[0];
inst->msg_f.destAddr[1] = inst->msg.destAddr[1];
#endif
inst->msg_f.messageData[FCODE] = RTLS_DEMO_MSG_TAG_POLLF;
inst->psduLength = TAG_POLL_F_MSG_LEN + FRAME_CRTL_AND_ADDRESS_S + FRAME_CRC + EXTRA_LENGTH;
//set frame type (0-2), SEC (3), Pending (4), ACK (5), PanIDcomp(6)
inst->msg_f.frameCtrl[0] = 0x41 /*PID comp*/;
//short address for both
inst->msg_f.frameCtrl[1] = 0x8 /*dest short address (16bits)*/ | 0x80 /*src short address (16bits)*/;
inst->msg_f.seqNum = inst->frame_sn++;
inst->wait4ack = DWT_RESPONSE_EXPECTED; //Response is coming after 275 us...
//500 -> 485, 800 -> 765
dwt_writetxfctrl(inst->psduLength, 0);
//if the response is expected there is a 1ms timeout to stop RX if no response (ACK or other frame) coming
dwt_setrxtimeout(inst->fwtoTime_sy); //units are us - wait for 215us after RX on
//use delayed rx on (wait4resp timer)
dwt_setrxaftertxdelay(inst->fixedReplyDelay_sy); //units are ~us - wait for wait4respTIM before RX on (delay RX)
dwt_writetxdata(inst->psduLength, (uint8 *) &inst->msg_f, 0) ; // write the poll frame data
//start TX of frame
dwt_starttx(DWT_START_TX_IMMEDIATE | inst->wait4ack);
#if (DW_IDLE_CHK==2)
//this is platform dependent - only program if DW EVK/EVB
dwt_setleds(1);
//MP bug - TX antenna delay needs reprogramming as it is not preserved
dwt_settxantennadelay(inst->txantennaDelay) ;
#endif
inst->sentSN = inst->msg_f.seqNum;
//write the final function code
inst->msg_f.messageData[FCODE] = RTLS_DEMO_MSG_TAG_FINALF;
//increment the sequence number for the final message
inst->msg_f.seqNum = inst->frame_sn;
inst->testAppState = TA_TX_WAIT_CONF ; // wait confirmation
inst->previousState = TA_TXPOLL_WAIT_SEND ;
inst->done = INST_DONE_WAIT_FOR_NEXT_EVENT; //will use RX FWTO to time out (set below)
inst->responseRxNum = 0;
}
break;
case TA_TX_WAIT_CONF :
//printf("TA_TX_WAIT_CONF") ;
{
//uint8 temp[5];
event_data_t* dw_event = instance_getevent(5); //get and clear this event
//NOTE: Can get the ACK before the TX confirm event for the frame requesting the ACK
//this happens because if polling the ISR the RX event will be processed 1st and then the TX event
//thus the reception of the ACK will be processed before the TX confirmation of the frame that requested it.
if(dw_event->type != DWT_SIG_TX_DONE) //wait for TX done confirmation
{
if(dw_event->type == DWT_SIG_RX_TIMEOUT) //got RX timeout - i.e. did not get the response (e.g. ACK)
{
//we need to wait for SIG_TX_DONE and then process the timeout and re-send the frame if needed
inst->gotTO = 1;
}
if(dw_event->type == SIG_RX_ACK)
{
inst->wait4ack = 0 ; //clear the flag as the ACK has been received
inst_processackmsg(inst, dw_event->msgu.rxackmsg.seqNum);
//printf("RX ACK in TA_TX_WAIT_CONF... wait for TX confirm before changing state\n");
}
inst->done = INST_DONE_WAIT_FOR_NEXT_EVENT;
break;
}
inst->done = INST_NOT_DONE_YET;
if(inst->previousState == TA_TXFINAL_WAIT_SEND) //tag will do immediate receive when waiting for report (as anchor sends it without delay)
{
#if (DR_DISCOVERY == 1)
//in Discovery mode anchor is not sending the report to tag go to sleep
inst->done = INST_DONE_WAIT_FOR_NEXT_EVENT_TO; //kick off the TagTimeoutTimer (instance timer) to initiate wakeup
inst->nextState = TA_TXPOLL_WAIT_SEND;
inst->testAppState = TA_TXE_WAIT; //we are going manually to sleep - change to TA_TXE_WAIT state
#else
//wait for report when non-Discovery mode
if(inst->wait4ack == 0)
dwt_rxenable(0) ; // turn receiver on,
#endif
break;
}
else if (inst->gotTO) //timeout
{
inst_processrxtimeout(inst);
inst->gotTO = 0;
}
else
{
if(inst->previousState == TA_TXPOLL_WAIT_SEND)
{
// write the final's frame control and address tx data (add CRC as the function will write length - 2)
dwt_writetxdata((FRAME_CRTL_AND_ADDRESS_S + 1 + FRAME_CRC), (uint8 *) &inst->msg_f, FINAL_MSG_OFFSET) ; // write the final frame data
dwt_entersleepaftertx(1);
dwt_setinterrupt(DWT_INT_TFRS, 0); //disable all the interrupts (wont be able to enter sleep if interrupts are pending)
inst->tagPollTxTime32l = dw_event->timeStamp32l;
inst->relpyAddress[0] = inst->msg_f.destAddr[0];
inst->relpyAddress[1] = inst->msg_f.destAddr[1];
inst->canprintinfo = 2;
}
if(inst->previousState == TA_TXRANGINGINIT_WAIT_SEND) //set frame control for the response message
{
dwt_writetxfctrl((ANCH_RESPONSE_F_MSG_LEN + FRAME_CRTL_AND_ADDRESS_S + FRAME_CRC + EXTRA_LENGTH), RESPONSE_MSG_OFFSET);
}
inst->testAppState = TA_RX_WAIT_DATA ; // wait for next frame
//turn RX on
if(inst->wait4ack == 0)
dwt_rxenable(0) ; // turn receiver on, immediate = 0/delayed = 1
inst->wait4ack = 0 ;
//dwt_readfromdevice(0x19, 0, 5, temp);
//sprintf((char*)&usbdata[20], "T2R%d %02x%02x%02x%02x%02x ", count, temp[4], temp[3], temp[2], temp[1], temp[0]);
//send_usbmessage(&usbdata[20], 16);
//count=0;
}
}
break ; // end case TA_TX_WAIT_CONF
case TA_RXE_WAIT :
//printf("TA_RXE_WAIT") ;
{
// - with "fast" ranging - we only get here after frame timeout...
//turn RX on
instancerxon(inst, 0, 0) ; // turn RX on, with/without delay
inst->testAppState = TA_RX_WAIT_DATA; // let this state handle it
// end case TA_RXE_WAIT, don't break, but fall through into the TA_RX_WAIT_DATA state to process it immediately.
if(message == 0) break;
}
case TA_RX_WAIT_DATA : // Wait RX data
//printf("TA_RX_WAIT_DATA") ;
switch (message)
{
case SIG_RX_BLINK :
{
instance_getevent(6); //get and clear this event
//else //not initiating ranging - continue to receive
{
inst->testAppState = TA_RX_WAIT_DATA ; // wait for next frame
//turn RX on
dwt_rxenable(0) ; // turn receiver on, immediate = 0/delayed = 1
inst->done = INST_NOT_DONE_YET;
}
}
break;
case SIG_RX_ACK :
{
event_data_t* dw_event = instance_getevent(7); //get and clear this event
inst_processackmsg(inst, dw_event->msgu.rxackmsg.seqNum);
//else we did not expect this ACK turn the RX on again
//only enable receiver when not using double buffering
inst->testAppState = TA_RX_WAIT_DATA ; // wait for next frame
//turn RX on
dwt_rxenable(0) ; // turn receiver on, immediate = 0/delayed = 1
inst->done = INST_NOT_DONE_YET;
}
break;
case DWT_SIG_RX_OKAY :
{
event_data_t* dw_event = instance_getevent(8); //get and clear this event
uint8 srcAddr[8] = {0,0,0,0,0,0,0,0};
int fcode = 0;
int fn_code = 0;
int srclen = 0;
int fctrladdr_len;
uint8 *messageData;
inst->stoptimer = 0; //clear the flag, as we have received a message
// 16 or 64 bit addresses
switch(dw_event->msgu.frame[1])
{
case 0xCC: //
memcpy(&srcAddr[0], &(dw_event->msgu.rxmsg_ll.sourceAddr[0]), ADDR_BYTE_SIZE_L);
fn_code = dw_event->msgu.rxmsg_ll.messageData[FCODE];
messageData = &dw_event->msgu.rxmsg_ll.messageData[0];
srclen = ADDR_BYTE_SIZE_L;
fctrladdr_len = FRAME_CRTL_AND_ADDRESS_L;
break;
case 0xC8: //
memcpy(&srcAddr[0], &(dw_event->msgu.rxmsg_sl.sourceAddr[0]), ADDR_BYTE_SIZE_L);
fn_code = dw_event->msgu.rxmsg_sl.messageData[FCODE];
messageData = &dw_event->msgu.rxmsg_sl.messageData[0];
srclen = ADDR_BYTE_SIZE_L;
fctrladdr_len = FRAME_CRTL_AND_ADDRESS_LS;
break;
case 0x8C: //
memcpy(&srcAddr[0], &(dw_event->msgu.rxmsg_ls.sourceAddr[0]), ADDR_BYTE_SIZE_S);
fn_code = dw_event->msgu.rxmsg_ls.messageData[FCODE];
messageData = &dw_event->msgu.rxmsg_ls.messageData[0];
srclen = ADDR_BYTE_SIZE_S;
fctrladdr_len = FRAME_CRTL_AND_ADDRESS_LS;
break;
case 0x88: //
memcpy(&srcAddr[0], &(dw_event->msgu.rxmsg_ss.sourceAddr[0]), ADDR_BYTE_SIZE_S);
fn_code = dw_event->msgu.rxmsg_ss.messageData[FCODE];
messageData = &dw_event->msgu.rxmsg_ss.messageData[0];
srclen = ADDR_BYTE_SIZE_S;
fctrladdr_len = FRAME_CRTL_AND_ADDRESS_S;
break;
}
if((inst->ackexpected) && (inst->ackTO)) //ACK frame was expected but we got a good frame - treat as ACK timeout
{
//printf("got good frame instead of ACK in DWT_SIG_RX_OKAY - pretend TO\n");
inst_processrxtimeout(inst);
message = 0; //clear the message as we have processed the event
}
else
{
inst->ackexpected = 0; //clear this as we got good frame (but as not using ACK TO) we prob missed the ACK - check if it has been addressed to us
fcode = fn_code; //tag has address filtering so if it received a frame it must be addressed to it
switch(fcode)
{
case RTLS_DEMO_MSG_RNG_INIT:
{
if(inst->mode == TAG_TDOA) //only start ranging with someone if not ranging already
{
//double delay = rxrngmsg->messageData[RES_T1] + (rxrngmsg->messageData[RES_T2] << 8); //in ms
inst->testAppState = TA_TXPOLL_WAIT_SEND ; // send next poll
//remember the anchor address
inst->msg_f.destAddr[0] = srcAddr[0];
inst->msg_f.destAddr[1] = srcAddr[1];
inst->msg_f.sourceAddr[0] = messageData[RES_R1];
inst->msg_f.sourceAddr[1] = messageData[RES_R1+1];
inst->tagShortAdd = (uint16)messageData[RES_R1] + ((uint16)messageData[RES_R2] << 8) ;
dwt_setaddress16(inst->tagShortAdd);
//instancesetreplydelay(delay); //
inst->mode = TAG ;
inst->rxTimeouts = 0; //reset timeout count
inst->instToSleep = 0; //don't go to sleep - start ranging instead and then sleep after 1 range is done
inst->done = INST_NOT_DONE_YET;
}
}
break; //RTLS_DEMO_MSG_RNG_INITF
case RTLS_DEMO_MSG_ANCH_RESPF:
{
#if (TWSYMRANGE == 1)
//need to write the delayed time before starting transmission
inst->delayedReplyTime32 = ((uint32)dw_event->timeStamp32h + (uint32)inst->fixedFastReplyDelay32h) ;
dwt_setdelayedtrxtime(inst->delayedReplyTime32) ;
dwt_writetxfctrl((TAG_FINAL_F_MSG_LEN + FRAME_CRTL_AND_ADDRESS_S + FRAME_CRC), FINAL_MSG_OFFSET);
if(dwt_starttx(DWT_START_TX_DELAYED))
{
//error - TX FAILED
// initiate the re-transmission
inst->testAppState = TA_TXE_WAIT ;
inst->nextState = TA_TXPOLL_WAIT_SEND;
dwt_entersleepaftertx(0);
inst->wait4ack = 0; //clear the flag as the TX has
inst->lateTX++;
break; //exit this switch case...
}
else
{
rtd_t rtd;
//calculate the difference between response rx and final tx
//here we just need to subtract the low 32 bits as the response delay is < 32bits (actually it is < 26 bits)
rtd.diffRmP = (uint32)dw_event->timeStamp32l - (uint32)inst->tagPollTxTime32l ;
//calculate difference between final tx and response rx
rtd.diffFmR = (uint32)inst->txantennaDelay + ((uint32)inst->fixedFastReplyDelay32h << 8) - ((uint32)dw_event->timeStamp32l & 0x1FF);
//write the rest of the message (the two response time differences (low 32 bits)
dwt_writetxdata((TAG_FINAL_F_MSG_LEN - 1 + FRAME_CRC), (uint8 *) &rtd, (FINAL_MSG_OFFSET+FRAME_CRTL_AND_ADDRESS_S+1)) ; // write the frame data
inst->sentSN = inst->msg_f.seqNum;
inst->previousState = TA_TXFINAL_WAIT_SEND;
//if Tag is not waiting for report - it will go to sleep automatically after the final is sent
inst->done = INST_DONE_WAIT_FOR_NEXT_EVENT_TO; //kick off the TagTimeoutTimer (instancetimer) to initiate wakeup
inst->testAppState = TA_SLEEP_DONE; //we are going automatically to sleep so no TX confirm interrupt (next state will be TA_SLEEP_DONE)
inst->canprintinfo = 1;
inst->txmsgcount ++;
inst->frame_sn++ ; //increment as final is sent
}
inst->respPSC = (dwt_read16bitoffsetreg(0x10, 2) >> 4);
inst->wait4ack = 0; //no response
inst->ackexpected = !ACK_REQUESTED ; //used to ignore unexpected ACK frames
//inst->rxu.anchorRespRxTime = inst->rxu.rxTimeStamp ; //Response's Rx time
inst->nextState = TA_TXPOLL_WAIT_SEND;
#else
if(inst->responseRxNum == 0) // this is first response
{
dwt_setrxtimeout(5000); //~5ms
//turn RX on
dwt_rxenable(0) ; // turn receiver on, immediate = 0/delayed = 1
inst->anchResp1RxTime32l = dw_event->timeStamp32l;
inst->responseRxNum++;
}
else // we have two responses and can calculate ToF
{
//the first response will be sent time X after reception of the poll, but as the tx time is snapped to 8ns
//we need to account for the low 9 bits of poll rx time in the RTD calculation
uint32 pollrxlowbits = (uint32)messageData[1] + (uint32)(messageData[2] << 8);
//RTD = (RxResp1 - TxPoll) - (RxResp2 - RxResp1)
//ToF = RTD/2 = RxResp1 - 0.5 * (TxPoll + RxResp2)
inst->tof32 = ((uint32)inst->anchResp1RxTime32l - (uint32)inst->tagPollTxTime32l + pollrxlowbits) - ((uint32)dw_event->timeStamp32l - (uint32)inst->anchResp1RxTime32l);
inst->tof32 <<= 1; //to make it compatible with reportTOF() which expects ToF*4
reportTOF_f(inst);
inst->newrange = 1;
inst->testAppState = TA_TXE_WAIT ;
inst->nextState = TA_TXPOLL_WAIT_SEND;
}
#endif
}
break; //RTLS_DEMO_MSG_ANCH_RESPF
case RTLS_DEMO_MSG_ANCH_TOFRF:
{
inst->tof32 = messageData[TOFR];
inst->tof32 += (uint32)messageData[TOFR+1] << 8;
inst->tof32 += (uint32)messageData[TOFR+2] << 16;
inst->tof32 += (uint32)messageData[TOFR+3] << 24;
if(dw_event->msgu.rxmsg_ss.seqNum != inst->lastReportSN)
{
reportTOF_f(inst);
inst->newrange = 1;
inst->lastReportSN = dw_event->msgu.rxmsg_ss.seqNum;
inst->newrangetagaddress = srcAddr[0] + ((uint16) srcAddr[1] << 8);
inst->newrangeancaddress = inst->eui64[0] + ((uint16) inst->eui64[1] << 8);
}
inst->testAppState = TA_TXE_WAIT;
inst->nextState = TA_TXPOLL_WAIT_SEND ; // send next poll
}
break; //RTLS_DEMO_MSG_ANCH_TOFRF
default:
{
//only enable receiver when not using double buffering
inst->testAppState = TA_RX_WAIT_DATA ; // wait for next frame
//turn RX on
dwt_rxenable(0) ; // turn receiver on, immediate = 0/delayed = 1
}
break;
} //end switch (rxmsg->functionCode)
if(dw_event->msgu.frame[0] & 0x20)
{
//as we only pass the received frame with the ACK request bit set after the ACK has been sent
instance_getevent(9); //get and clear the ACK sent event
}
}
}
break ;
case DWT_SIG_RX_TIMEOUT :
//printf("PD_DATA_TIMEOUT") ;
instance_getevent(26); //get and clear this event
inst_processrxtimeout(inst);
message = 0; //clear the message as we have processed the event
break ;
case DWT_SIG_TX_AA_DONE: //ignore this event - just process the rx frame that was received before the ACK response
case 0: //no event - wait in receive...
{
//stay in Rx (fall-through from above state)
//if(DWT_SIG_TX_AA_DONE == message) printf("Got SIG_TX_AA_DONE in RX wait - ignore\n");
if(inst->done == INST_NOT_DONE_YET) inst->done = INST_DONE_WAIT_FOR_NEXT_EVENT;
}
break;
default :
{
//printf("\nERROR - Unexpected message %d ??\n", message) ;
//assert(0) ; // Unexpected Primitive what is going on ?
}
break ;
}
break ; // end case TA_RX_WAIT_DATA
default:
//printf("\nERROR - invalid state %d - what is going on??\n", inst->testAppState) ;
break;
} // end switch on testAppState
return inst->done;
} // end testapprun()
// 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 {
bool DWM1000_Tag::dispatch(Msg& msg) {
PT_BEGIN()
PT_WAIT_UNTIL(msg.is(0, SIG_INIT));
init();
POLL_SEND: {
while (true) {
timeout(1000); // delay between POLL
PT_YIELD_UNTIL(timeout());
/* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
tx_poll_msg[ALL_MSG_SN_IDX] = frame_seq_nb;
dwt_writetxdata(sizeof(tx_poll_msg), tx_poll_msg, 0);
dwt_writetxfctrl(sizeof(tx_poll_msg), 0);
/* Start transmission, indicating that a response is expected so that reception is enabled automatically after the frame is sent and the delay
* set by dwt_setrxaftertxdelay() has elapsed. */
LOG<< " Start TXF " << FLUSH;
dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);// SEND POLL MSG
dwt_setinterrupt(DWT_INT_TFRS, 0);
dwt_setinterrupt(DWT_INT_RFCG, 1); // enable
clearInterrupt();
_timeoutCounter = 0;
/* We assume that the transmission is achieved correctly, poll for reception of a frame or error/timeout. See NOTE 8 below. */
timeout(10);
PT_YIELD_UNTIL(timeout() || isInterruptDetected()); // WAIT RESP MSG
if (isInterruptDetected())
LOG<< " INTERRUPT DETECTED " << FLUSH;
status_reg = dwt_read32bitreg(SYS_STATUS_ID);
LOG<< HEX <<" SYS_STATUS " << status_reg << FLUSH;
if (status_reg == 0xDEADDEAD) {
init();
} else if (status_reg & SYS_STATUS_RXFCG)
goto RESP_RECEIVED;
else if (status_reg & SYS_STATUS_ALL_RX_ERR) {
if (status_reg & SYS_STATUS_RXRFTO)
INFO(" RX Timeout");
else
INFO(" RX error ");
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR); /* Clear RX error events in the DW1000 status register. */
}
}
}
RESP_RECEIVED: {
LOG<< " Received " <<FLUSH;
frame_seq_nb++; /* Increment frame sequence number after transmission of the poll message (modulo 256). */
uint32 frame_len;
/* Clear good RX frame event and TX frame sent in the DW1000 status register. */
dwt_write32bitreg(SYS_STATUS_ID,
SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);
/* A frame has been received, read iCHANGEt into the local buffer. */
frame_len =
dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;
if (frame_len <= RX_BUF_LEN) {
dwt_readrxdata(rx_buffer, frame_len, 0);
}
/* Check that the frame is the expected response from the companion "DS TWR responder" example.
* As the sequence number field of the frame is not relevant, it is cleared to simplify the validation of the frame. */
rx_buffer[ALL_MSG_SN_IDX] = 0;
if (memcmp(rx_buffer, rx_resp_msg, ALL_MSG_COMMON_LEN) == 0) { // CHECK RESP MSG
uint32 final_tx_time;
/* Retrieve poll transmission and response reception timestamp. */
poll_tx_ts = get_tx_timestamp_u64();
resp_rx_ts = get_rx_timestamp_u64();
/* Compute final message transmission time. See NOTE 9 below. */
final_tx_time = (resp_rx_ts
+ (RESP_RX_TO_FINAL_TX_DLY_UUS * UUS_TO_DWT_TIME))
>> 8;
dwt_setdelayedtrxtime(final_tx_time);
/* Final TX timestamp is the transmission time we programmed plus the TX antenna delay. */
final_tx_ts = (((uint64) (final_tx_time & 0xFFFFFFFE)) << 8)
+ TX_ANT_DLY;
/* Write all timestamps in the final message. See NOTE 10 below. */
final_msg_set_ts(&tx_final_msg[FINAL_MSG_POLL_TX_TS_IDX],
poll_tx_ts);
final_msg_set_ts(&tx_final_msg[FINAL_MSG_RESP_RX_TS_IDX],
resp_rx_ts);
final_msg_set_ts(&tx_final_msg[FINAL_MSG_FINAL_TX_TS_IDX],
final_tx_ts);
/* Write and send final message. See NOTE 7 below. */
tx_final_msg[ALL_MSG_SN_IDX] = frame_seq_nb;
dwt_writetxdata(sizeof(tx_final_msg), tx_final_msg, 0);
dwt_writetxfctrl(sizeof(tx_final_msg), 0);
dwt_starttx(DWT_START_TX_DELAYED); // SEND FINAL MSG
/* Poll DW1000 until TX frame sent event set. See NOTE 8 below. */
timeout(10);
PT_YIELD_UNTIL((dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS) || timeout());;
/* Clear TXFRS event. */
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);
/* Increment frame sequence number after transmission of the final message (modulo 256). */
frame_seq_nb++;
} else {
/*! ------------------------------------------------------------------------------------------------------------------
* @fn main()
*
* @brief Application entry point.
*
* @param none
*
* @return none
*/
int ssTwrResp(void)
{
/* Reset and initialise DW1000.
* For initialisation, DW1000 clocks must be temporarily set to crystal speed. After initialisation SPI rate can be increased for optimum
* performance. */
int i;
int status;
reset_DW1000(); /* Target specific drive of RSTn line into DW1000 low for a period. */
//spi_set_rate_low();
dwt_initialise(DWT_LOADUCODE);
//spi_set_rate_high();
/* Configure DW1000. See NOTE 5 below. */
dwt_configure(&config);
uint32_t otpVal[0x20];
dwt_otpread(0,otpVal,0x20);
printf("OTP 6: 0x%x\r\n",otpVal[6]);
printf("OTP 7: 0x%x\r\n",otpVal[7]);
printf("OTP x16: 0x%x\r\n",otpVal[0x16]);
printf("OTP x17: 0x%x\r\n",otpVal[0x17]);
/* Apply default antenna delay value. See NOTE 2 below. */
printf("antenna delays: default TX: %d, default RX: %d, evk 16m: %d, evk 64m: %d\r\n",TX_ANT_DLY,RX_ANT_DLY,DWT_RF_DELAY_16M,DWT_RF_DELAY_64M);
tx_delay = TX_ANT_DLY;
rx_delay = RX_ANT_DLY;
dwt_setrxantennadelay(rx_delay);
dwt_settxantennadelay(tx_delay);
btn = buttons();
printf("%s entering main loop\r\n",__FUNCTION__);
/* Loop forever responding to ranging requests. */
while (1)
{
/* Activate reception immediately. */
dwt_rxenable(0);
/* Poll for reception of a frame or error/timeout. See NOTE 6 below. */
while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))
{ } ; //printf("Waiting. status reg 0x%x\r\n",status_reg); };
//printf("Status reg now 0x%x\r\n",status_reg);
if (status_reg & SYS_STATUS_RXFCG)
{
uint32 frame_len;
//printf("Check RX\r\n");
/* Clear good RX frame event in the DW1000 status register. */
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);
/* A frame has been received, read it into the local buffer. */
frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;
//printf("Frame length %d\r\n",frame_len);
if (frame_len <= RX_BUFFER_LEN)
{
dwt_readrxdata(rx_buffer, frame_len, 0);
}
/*
for (i=0;i<frame_len;i++) {
printf("%x ",rx_buffer[i]);
}
printf("\r\n");
*/
/* Check that the frame is a poll sent by "SS TWR initiator" example.
* As the sequence number field of the frame is not relevant, it is cleared to simplify the validation of the frame. */
rx_buffer[ALL_MSG_SN_IDX] = 0;
if (memcmp(rx_buffer, rx_poll_msg, ALL_MSG_COMMON_LEN) == 0)
{
uint32 resp_tx_time;
//printf("Poll MSG\r\n");
/* Retrieve poll reception timestamp. */
poll_rx_ts = get_rx_timestamp_u64();
//printf("RX timestamp: %lld\r\n",poll_rx_ts);
/* Compute final message transmission time. See NOTE 7 below. */
resp_tx_time = (poll_rx_ts + (POLL_RX_TO_RESP_TX_DLY_UUS * UUS_TO_DWT_TIME)) >> 8;
dwt_setdelayedtrxtime(resp_tx_time);
//printf("TX time: %d\r\n",resp_tx_time);
/* Response TX timestamp is the transmission time we programmed plus the antenna delay. */
resp_tx_ts = (((uint64)(resp_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;
//printf("TX timestamp: %lld\r\n",resp_tx_ts);
/* Write all timestamps in the final message. See NOTE 8 below. */
resp_msg_set_ts(&tx_resp_msg[RESP_MSG_POLL_RX_TS_IDX], poll_rx_ts);
resp_msg_set_ts(&tx_resp_msg[RESP_MSG_RESP_TX_TS_IDX], resp_tx_ts);
/* Write and send the response message. See NOTE 9 below. */
tx_resp_msg[ALL_MSG_SN_IDX] = frame_seq_nb;
status = dwt_writetxdata(sizeof(tx_resp_msg), tx_resp_msg, 0);
if (DWT_SUCCESS != status) printf("API error line %d\r\n",__LINE__);
status = dwt_writetxfctrl(sizeof(tx_resp_msg), 0);
if (DWT_SUCCESS != status) printf("API error line %d\r\n",__LINE__);
status = dwt_starttx(DWT_START_TX_DELAYED);
if (DWT_SUCCESS != status) {
printf("API error line %d\r\n",__LINE__);
printf("RX timestamp: %llu\r\n",poll_rx_ts);
printf("TX time: %llu\r\n",((uint64)resp_tx_time) << 8);
printf("TX timestamp: %llu\r\n",resp_tx_ts);
}
// poll only if starttx was OK
if (DWT_SUCCESS == status) {
/* Poll DW1000 until TX frame sent event set. See NOTE 6 below. */
u32 tx_stat;
while (!(tx_stat = dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))
{ }; //printf("Waiting. status reg 0x%x\r\n",tx_stat); }
//printf("After Poll: status reg now 0x%x\r\n",tx_stat);
}
/* Clear TXFRS event. */
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);
/* Increment frame sequence number after transmission of the poll message (modulo 256). */
frame_seq_nb++;
}
}