From 372bb5314181e2ff22d4db160134691f1e933c78 Mon Sep 17 00:00:00 2001
From: stier2 <stier2@illinois.edu>
Date: Sat, 25 Sep 2021 15:37:46 -0500
Subject: [PATCH] Icra 2022
---
DecaRanging.coproj | 30 +++---
src/application/application_definitions.h | 2 +-
src/application/dw_main.c | 22 ++--
src/application/instance.c | 123 +++++++++++++---------
src/application/instance.h | 6 +-
src/application/instance_common.c | 9 +-
src/application/tdma_handler.c | 91 ++++++++--------
src/application/tdma_handler.h | 1 +
8 files changed, 159 insertions(+), 125 deletions(-)
diff --git a/DecaRanging.coproj b/DecaRanging.coproj
index bb7059c..098c2b1 100644
--- a/DecaRanging.coproj
+++ b/DecaRanging.coproj
@@ -104,22 +104,22 @@
<File name="src/platform/deca_spi.h" path="src/platform/deca_spi.h" type="1"/>
<File name="Libraries/STM32_USB_Device_Library/Core/src/usbd_ioreq.c" path="Libraries/STM32_USB_Device_Library/Core/src/usbd_ioreq.c" type="1"/>
<File name="Libraries/STM32_USB_Device_Library/Class/cdc/src/usbd_cdc_core.c" path="Libraries/STM32_USB_Device_Library/Class/cdc/src/usbd_cdc_core.c" type="1"/>
- <File name="Libraries/STM32_USB_Device_Library/Class/cdc/inc/usbd_cdc_core.h" path="Libraries/STM32_USB_Device_Library/Class/cdc/inc/usbd_cdc_core.h" type="1"/>
<File name="src/usb/usbd_desc.h" path="src/usb/usbd_desc.h" type="1"/>
+ <File name="Libraries/STM32_USB_Device_Library/Class/cdc/inc/usbd_cdc_core.h" path="Libraries/STM32_USB_Device_Library/Class/cdc/inc/usbd_cdc_core.h" type="1"/>
<File name="src/platform/deca_spi.c" path="src/platform/deca_spi.c" type="1"/>
<File name="src/usb" path="" type="2"/>
<File name="src/decadriver/deca_version.h" path="src/decadriver/deca_version.h" type="1"/>
<File name="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_flash.c" path="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_flash.c" type="1"/>
- <File name="src/application/instance.c" path="src/application/instance.c" type="1"/>
<File name="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_wwdg.c" path="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_wwdg.c" type="1"/>
+ <File name="src/application/instance.c" path="src/application/instance.c" type="1"/>
<File name="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dbgmcu.h" path="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dbgmcu.h" type="1"/>
- <File name="src/decadriver/deca_device_api.h" path="src/decadriver/deca_device_api.h" type="1"/>
<File name="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_sdio.c" path="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_sdio.c" type="1"/>
+ <File name="src/decadriver/deca_device_api.h" path="src/decadriver/deca_device_api.h" type="1"/>
<File name="Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x" path="" type="2"/>
- <File name="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_bkp.h" path="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_bkp.h" type="1"/>
<File name="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_iwdg.c" path="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_iwdg.c" type="1"/>
- <File name="src/compiler/compiler.h" path="src/compiler/compiler.h" type="1"/>
+ <File name="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_bkp.h" path="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_bkp.h" type="1"/>
<File name="src/application/tdma_handler.h" path="src/application/tdma_handler.h" type="1"/>
+ <File name="src/compiler/compiler.h" path="src/compiler/compiler.h" type="1"/>
<File name="Libraries/STM32_USB_OTG_Driver" path="" type="2"/>
<File name="src/platform/deca_mutex.c" path="src/platform/deca_mutex.c" type="1"/>
<File name="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_crc.c" path="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_crc.c" type="1"/>
@@ -132,23 +132,23 @@
<File name="src/application/tdma_handler.c" path="src/application/tdma_handler.c" type="1"/>
<File name="Libraries/STM32_USB_OTG_Driver/src/usb_hcd_int.c" path="Libraries/STM32_USB_OTG_Driver/src/usb_hcd_int.c" type="1"/>
<File name="src/platform/port.c" path="src/platform/port.c" type="1"/>
- <File name="Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x/system_stm32f10x.h" path="Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x/system_stm32f10x.h" type="1"/>
<File name="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_wwdg.h" path="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_wwdg.h" type="1"/>
+ <File name="Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x/system_stm32f10x.h" path="Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x/system_stm32f10x.h" type="1"/>
<File name="src/decadriver/deca_device.c" path="src/decadriver/deca_device.c" type="1"/>
<File name="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_exti.c" path="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_exti.c" type="1"/>
+ <File name="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rtc.c" path="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rtc.c" type="1"/>
<File name="Libraries/STM32_USB_Device_Library/Core/inc/usbd_req.h" path="Libraries/STM32_USB_Device_Library/Core/inc/usbd_req.h" type="1"/>
<File name="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_adc.h" path="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_adc.h" type="1"/>
- <File name="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rtc.c" path="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rtc.c" type="1"/>
<File name="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_fsmc.c" path="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_fsmc.c" type="1"/>
<File name="src/usb/usb_conf.h" path="src/usb/usb_conf.h" type="1"/>
<File name="Libraries/STM32_USB_OTG_Driver/inc/usb_otg.h" path="Libraries/STM32_USB_OTG_Driver/inc/usb_otg.h" type="1"/>
<File name="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rcc.c" path="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rcc.c" type="1"/>
<File name="Libraries/STM32_USB_Device_Library/Core/src/usbd_req.c" path="Libraries/STM32_USB_Device_Library/Core/src/usbd_req.c" type="1"/>
<File name="src/usb/usbd_conf.h" path="src/usb/usbd_conf.h" type="1"/>
- <File name="src/usb/deca_usb.c" path="src/usb/deca_usb.c" type="1"/>
<File name="src/application/application_definitions.h" path="src/application/application_definitions.h" type="1"/>
- <File name="src/application/lib.h" path="src/application/lib.h" type="1"/>
+ <File name="src/usb/deca_usb.c" path="src/usb/deca_usb.c" type="1"/>
<File name="src/platform/deca_range_tables.c" path="src/platform/deca_range_tables.c" type="1"/>
+ <File name="src/application/lib.h" path="src/application/lib.h" type="1"/>
<File name="Libraries/STM32_USB_OTG_Driver/src" path="" type="2"/>
<File name="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dma.c" path="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dma.c" type="1"/>
<File name="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_pwr.c" path="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_pwr.c" type="1"/>
@@ -165,22 +165,22 @@
<File name="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_cec.h" path="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_cec.h" type="1"/>
<File name="Libraries/STM32_USB_OTG_Driver/src/usb_hcd.c" path="Libraries/STM32_USB_OTG_Driver/src/usb_hcd.c" type="1"/>
<File name="src/platform/deca_sleep.c" path="src/platform/deca_sleep.c" type="1"/>
- <File name="Libraries/CMSIS/CM3/CoreSupport" path="" type="2"/>
<File name="Libraries/STM32_USB_OTG_Driver/inc/usb_defines.h" path="Libraries/STM32_USB_OTG_Driver/inc/usb_defines.h" type="1"/>
- <File name="src/decadriver/deca_param_types.h" path="src/decadriver/deca_param_types.h" type="1"/>
- <File name="src/compiler" path="" type="2"/>
+ <File name="Libraries/CMSIS/CM3/CoreSupport" path="" type="2"/>
<File name="Libraries/STM32_USB_OTG_Driver/src/usb_dcd_int.c" path="Libraries/STM32_USB_OTG_Driver/src/usb_dcd_int.c" type="1"/>
+ <File name="src/compiler" path="" type="2"/>
+ <File name="src/decadriver/deca_param_types.h" path="src/decadriver/deca_param_types.h" type="1"/>
<File name="src/usb/deca_usb_bsp_evk1000.c" path="src/usb/deca_usb_bsp_evk1000.c" type="1"/>
<File name="Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/startup_stm32f10x_cl.S" path="Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/startup_stm32f10x_cl.S" type="1"/>
- <File name="src/platform/stm32f10x_conf.h" path="src/platform/stm32f10x_conf.h" type="1"/>
<File name="Libraries/STM32_USB_OTG_Driver/inc/usb_bsp.h" path="Libraries/STM32_USB_OTG_Driver/inc/usb_bsp.h" type="1"/>
+ <File name="src/platform/stm32f10x_conf.h" path="src/platform/stm32f10x_conf.h" type="1"/>
<File name="Libraries/CMSIS/CM3" path="" type="2"/>
<File name="Libraries" path="" type="2"/>
<File name="src/decadriver/deca_types.h" path="src/decadriver/deca_types.h" type="1"/>
<File name="src/usb/deca_usb.h" path="src/usb/deca_usb.h" type="1"/>
<File name="Libraries/STM32F10x_StdPeriph_Driver/inc" path="" type="2"/>
- <File name="Libraries/STM32_USB_Device_Library/Core/inc/usbd_def.h" path="Libraries/STM32_USB_Device_Library/Core/inc/usbd_def.h" type="1"/>
<File name="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_spi.h" path="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_spi.h" type="1"/>
+ <File name="Libraries/STM32_USB_Device_Library/Core/inc/usbd_def.h" path="Libraries/STM32_USB_Device_Library/Core/inc/usbd_def.h" type="1"/>
<File name="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_iwdg.h" path="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_iwdg.h" type="1"/>
<File name="src/platform/stm32f10x_it.c" path="src/platform/stm32f10x_it.c" type="1"/>
<File name="Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x/system_stm32f10x.c" path="Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x/system_stm32f10x.c" type="1"/>
@@ -214,8 +214,8 @@
<File name="Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup" path="" type="2"/>
<File name="Libraries/STM32_USB_OTG_Driver/inc/usb_core.h" path="Libraries/STM32_USB_OTG_Driver/inc/usb_core.h" type="1"/>
<File name="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_bkp.c" path="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_bkp.c" type="1"/>
- <File name="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_gpio.c" path="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_gpio.c" type="1"/>
<File name="src/application/dw_main.c" path="src/application/dw_main.c" type="1"/>
+ <File name="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_gpio.c" path="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_gpio.c" type="1"/>
<File name="src/platform" path="" type="2"/>
<File name="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_tim.c" path="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_tim.c" type="1"/>
<File name="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_i2c.h" path="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_i2c.h" type="1"/>
diff --git a/src/application/application_definitions.h b/src/application/application_definitions.h
index d7f882a..4ca8249 100644
--- a/src/application/application_definitions.h
+++ b/src/application/application_definitions.h
@@ -237,7 +237,7 @@ enum
#define SLOT_BUFFER_EXP_TO_POLL_CMD_US 3*UWB_LIST_SIZE + 108 //found experimentally
#define MEASURED_SLOT_DURATIONS_US (float)(1.7814f*(float)(UWB_LIST_SIZE)*(float)(UWB_LIST_SIZE) + 29.39f*(float)(UWB_LIST_SIZE) + 1848.5f) //found experimentally
#define LCD_ENABLE_BUFFER_US 5000
-#define SLOT_END_BUFFER_US 0 //increase if all messages do not fit into a slot
+#define SLOT_END_BUFFER_US 0 //increase if all messages do not fit into a slot //TODO set back to zero!
#define BLINK_RX_CB_TO_RESP_TX_CMD_DLY_US 1450 //found experimentally
diff --git a/src/application/dw_main.c b/src/application/dw_main.c
index 37c2732..03b0a25 100644
--- a/src/application/dw_main.c
+++ b/src/application/dw_main.c
@@ -30,7 +30,7 @@ extern void send_usbmessage(uint8*, int);
extern double dwt_getrangebias(uint8 chan, float range, uint8 prf);
-#define SOFTWARE_VER_STRING "TDMA Version 1.0" //
+#define SOFTWARE_VER_STRING "TDMA Version 1.1" //
int instance_mode = DISCOVERY;
@@ -85,6 +85,7 @@ uint32 inittestapplication(uint8 mode_switch)
instance_init_s();
int dr_mode = decarangingmode(mode_switch);
instance_data_t* inst = instance_get_local_structure_ptr(0);
+
chan = inst->chConfig[dr_mode].channelNumber ;
prf = (inst->chConfig[dr_mode].pulseRepFreq == DWT_PRF_16M)? 16 : 64 ;
@@ -139,7 +140,7 @@ void configure_continuous_txspectrum_mode(uint8 mode_switch)
writetoLCD(1, 0, &command);
sprintf((char*)&dataseq[0], "Conti TX %s:%d:%d ", (mode_switch & SWS1_SHF_MODE) ? "S" : "L", chan, prf);
writetoLCD(LCD_BUFF_LEN, 1, dataseq); //send some data
- memcpy(dataseq, (const uint8 *) "Spectrum Test ", LCD_BUFF_LEN);
+ memcpy(dataseq, (const uint8 *) "Spectrum Test ", 17);
writetoLCD(LCD_BUFF_LEN, 1, dataseq); //send some data
}
@@ -308,9 +309,9 @@ int dw_main(void)
memset(dataseq, 0x0, sizeof(dataseq));
writetoLCD(1, 0, dataseq);
- memcpy(dataseq, (const uint8 *) "GGRG UWB RANGING", LCD_BUFF_LEN);
+ memcpy(dataseq, (const uint8 *) "GGRG UWB RANGING", 17);
writetoLCD(40, 1, dataseq); //send some data
- memcpy(dataseq, (const uint8 *) SOFTWARE_VER_STRING, LCD_BUFF_LEN);
+ memcpy(dataseq, (const uint8 *) SOFTWARE_VER_STRING, 17);
writetoLCD(16, 1, dataseq); //send some data
}
@@ -343,9 +344,9 @@ int dw_main(void)
dataseq[0] = 0x2 ; //return cursor home
writetoLCD(1, 0, &dataseq[0]);
memset(dataseq, ' ', LCD_BUFF_LEN);
- memcpy(dataseq, (const uint8 *) "ERROR ", LCD_BUFF_LEN);
+ memcpy(dataseq, (const uint8 *) "ERROR ", 17);
writetoLCD( 40, 1, dataseq); //send some data
- memcpy(dataseq, (const uint8 *) "INIT FAIL ", LCD_BUFF_LEN);
+ memcpy(dataseq, (const uint8 *) "INIT FAIL ", 17);
writetoLCD( 16, 1, dataseq); //send some data
}
return 0; //error
@@ -358,7 +359,7 @@ int dw_main(void)
dataseq[0] = 0x2 ; //return cursor home
writetoLCD( 1, 0, dataseq);
memset(dataseq, ' ', LCD_BUFF_LEN);
- memcpy(dataseq, (const uint8 *) "MAX NETWORK SIZE", LCD_BUFF_LEN);
+ memcpy(dataseq, (const uint8 *) "MAX NETWORK SIZE", 17);
writetoLCD(40, 1, dataseq); //send some data
memset(dataseq, ' ', LCD_BUFF_LEN);
sprintf((char*)&dataseq[0], "%d", UWB_LIST_SIZE);
@@ -369,7 +370,7 @@ int dw_main(void)
dataseq[0] = 0x2 ; //return cursor home
writetoLCD( 1, 0, dataseq);
memset(dataseq, ' ', LCD_BUFF_LEN);
- memcpy(dataseq, (const uint8 *) "SLOT DURATION ", LCD_BUFF_LEN);
+ memcpy(dataseq, (const uint8 *) "SLOT DURATION ", 17);
writetoLCD(40, 1, dataseq); //send some data
memset(dataseq, ' ', LCD_BUFF_LEN);
sprintf((char*)&dataseq[0], "%llu us", inst->durationSlotMax_us);
@@ -431,6 +432,8 @@ int dw_main(void)
last_toggle = portGetTickCnt();
+ //TODO remove? struct TDMAHandler* tdma_handler = tdma_get_local_structure_ptr();
+
// main loop
while(1)
{
@@ -482,6 +485,9 @@ int dw_main(void)
}
+
+
+
// n = sprintf((char*)&dataseq[0], "%08i, %08i, %08i, %08f", rng_rng, rng_rsl, rng_raw, rsl/1000.0);
n = sprintf((char*)&dataseq[0], "%016llX %016llX %016llX %08X %08X %08X %08X", saddr, aaddr, taddr, rng_rng, rng_rsl, rng_raw, rsl);
diff --git a/src/application/instance.c b/src/application/instance.c
index db1bad9..6690238 100644
--- a/src/application/instance.c
+++ b/src/application/instance.c
@@ -534,6 +534,7 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
uint64 margin_us = 1000;
uint64 framelength_us = instance_getmessageduration_us(psduLength);
inst->txDoneTimeoutDuration = CEIL_DIV(TX_CMD_TO_TX_CB_DLY_US + framelength_us + margin_us, 1000); //tx cmd to tx cb
+
}
break;
@@ -575,6 +576,7 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
inst->canPrintLCD = FALSE;
inst->timeofTx = portGetTickCnt();
+ inst->timeofTxPoll = portGetTickCnt();
inst->txDoneTimeoutDuration = inst->durationPollTxDoneTimeout_ms;
}
@@ -1036,6 +1038,7 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
if(tag_index == 0)
{
+ tdma_handler->nthOldest = 1;
tdma_handler->uwbListTDMAInfo[inst->uwbToRangeWith].lastRange = portGetTickCnt();
tdma_handler->firstPollComplete = TRUE;
inst->testAppState = TA_TX_SELECT;
@@ -1085,6 +1088,29 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
case 0:
default:
{
+ if(inst->mode == TAG){
+ //get the message FCODE
+ uint8 fcode;
+ memcpy(&fcode, &inst->msg.messageData[FCODE], sizeof(uint8));
+
+ if(fcode == RTLS_DEMO_MSG_TAG_POLL)
+ {
+ uint32 dt = get_dt32(inst->timeofTxPoll, portGetTickCnt());
+ if(dt > inst->durationPollTimeout_ms)
+ {
+ inst_processtxrxtimeout(inst);
+ }
+ }
+ else if(fcode == RTLS_DEMO_MSG_TAG_FINAL)
+ {
+ uint32 dt = get_dt32(inst->timeofTxFinal, portGetTickCnt());
+ if(dt > inst->durationFinalTimeout_ms)
+ {
+ inst_processtxrxtimeout(inst);
+ }
+ }
+ }
+
//check if RX is on every so often. Turn it on if it isn't.
uint32 time_now = portGetTickCnt();
uint32 timeSinceRxCheck = get_dt32(inst->rxCheckOnTime, time_now);
@@ -1243,57 +1269,79 @@ void instance_init_timings(void)
inst->frameLengths_us[i] = instance_getmessageduration_us(data_len_bytes[i]);
}
- //rx timeout durations (units are 1.0256us)
+ //delayed tx durations
+ uint8 reply_margin_us = 25;
uint64 duration = 0;
- duration += inst->frameLengths_us[POLL] - inst->storedPreLen_us; //poll tx ts to poll tx cb
- duration += RX_TO_CB_DLY_US + RX_CB_TO_TX_CMD_DLY_US; //poll tx cb to resp tx cmd
- duration += TX_CMD_TO_TX_CB_DLY_US + inst->frameLengths_us[RESP] + RX_TO_CB_DLY_US; //resp tx cmd to resp rx cb
- duration += margin_us;
- inst->durationPollTimeout_nus = (uint16)(duration/1.0256) + 1;
-
- //delayed tx durations
- duration = 0;
- duration += inst->frameLengths_us[POLL] - inst->storedPreLen_us; //poll tx ts to poll tx cb
- duration += RX_TO_CB_DLY_US + RX_CB_TO_TX_CMD_DLY_US; //poll tx cb to resp tx cmd
- duration += TX_CMD_TO_TX_CB_DLY_US + inst->frameLengths_us[RESP] + RX_TO_CB_DLY_US; //resp tx cmd to resp rx cb
- duration += RX_CB_TO_TX_CMD_DLY_US + MIN_DELAYED_TX_DLY_US + inst->storedPreLen_us; //resp rx cb to final tx timestamp
- inst->finalReplyDelay_us = duration + margin_us;
- inst->finalReplyDelay = convertmicrosectodevicetimeu(duration);
- // Delay between blink reception and ranging init message transmission.
- inst->rnginitReplyDelay = convertmicrosectodevicetimeu(MIN_DELAYED_TX_DLY_US + inst->storedPreLen_us); //rng_init tx cmd to rng_init tx ts
-
- uint8 reply_margin_us = 25;
- duration = 0;
- duration += inst->frameLengths_us[POLL] - inst->storedPreLen_us + RX_TO_CB_DLY_US; //resp rx timestamp to resp rx cb
- duration += RX_CB_TO_TX_CMD_DLY_US + MIN_DELAYED_TX_DLY_US + inst->storedPreLen_us; //resp rx cb to final tx timestamp
- uint64 respDelay = convertmicrosectodevicetimeu(duration + reply_margin_us);
+ duration += inst->frameLengths_us[POLL] - inst->storedPreLen_us + RX_TO_CB_DLY_US; //poll rx timestamp to poll rx cb
+ duration += RX_CB_TO_TX_CMD_DLY_US + MIN_DELAYED_TX_DLY_US + inst->storedPreLen_us; //poll rx cb to resp tx timestamp
+ uint64 respDelay_us = duration + reply_margin_us;
+ uint64 respDelay = convertmicrosectodevicetimeu(respDelay_us);
duration = 0;
duration += inst->frameLengths_us[RESP] - inst->storedPreLen_us + RX_TO_CB_DLY_US; //resp rx timestamp to resp rx cb
duration += RX_CB_TO_TX_CMD_DLY_US + MIN_DELAYED_TX_DLY_US + inst->storedPreLen_us; //resp rx cb to final tx timestamp
- uint64 finalDelay = convertmicrosectodevicetimeu(duration + reply_margin_us);
+ uint64 finalDelay_us = duration + reply_margin_us;
+ uint64 finalDelay = convertmicrosectodevicetimeu(finalDelay_us);
//make reply times the same to minimize clock drift error. See Application Note APS011 for more information
inst->respReplyDelay = inst->finalReplyDelay = MAX(respDelay, finalDelay);
+ uint64 replyDelay_us = MAX(respDelay_us, finalDelay_us);
+
+
+ //POLL TX TS TO FINAL TX TS
+ duration = 0;
+ duration += respDelay_us + finalDelay_us; //poll tx ts to final tx ts
+ uint64 pollTxToFinalTx = duration;
+
+ // Delay between blink reception and ranging init message transmission.
+ inst->rnginitReplyDelay = convertmicrosectodevicetimeu(MIN_DELAYED_TX_DLY_US + inst->storedPreLen_us); //rng_init tx cmd to rng_init tx ts
+ margin_us = 1000;
+ //rx timeout durations (_nus units are 1.0256us)
+ duration = 0;
+ duration += TX_CMD_TO_TX_CB_DLY_US + replyDelay_us; //poll tx cmd to resp tx ts
+ duration += inst->frameLengths_us[RESP] - inst->storedPreLen_us; //resp tx ts to resp tx cb
+ duration += RX_TO_CB_DLY_US + RX_CB_TO_TX_CMD_DLY_US; //resp tx cb to final tx cmd
+ duration += margin_us;
+ inst->durationPollTimeout_nus = (uint16)(duration/1.0256) + 1;
+ inst->durationPollTimeout_ms = (uint16)CEIL_DIV(duration, 1000);
+
+ duration = 0;
+ duration += TX_CMD_TO_TX_CB_DLY_US + inst->frameLengths_us[FINAL]; //final tx cmd to final tx cb
+ duration += RX_TO_CB_DLY_US + RX_CB_TO_TX_CMD_DLY_US; //final tx cb to place final
+ duration += (uint64)MEASURED_SLOT_DURATIONS_US/2; //place final to report tx cmd
+ duration += TX_CMD_TO_TX_CB_DLY_US + inst->frameLengths_us[REPORT] + RX_TO_CB_DLY_US + RX_CB_TO_TX_CMD_DLY_US; //report tx cmd to place report
+ duration += margin_us;
+ inst->durationFinalTimeout_ms = (uint16)CEIL_DIV(duration, 1000);
margin_us = 1000;
//tx conf timeout durations
inst->durationBlinkTxDoneTimeout_ms = CEIL_DIV(TX_CMD_TO_TX_CB_DLY_US + inst->frameLengths_us[BLINK] + margin_us, 1000); //tx cmd to tx cb
inst->durationRngInitTxDoneTimeout_ms = CEIL_DIV(TX_CMD_TO_TX_CB_DLY_US + inst->frameLengths_us[RNG_INIT] + margin_us, 1000); //tx cmd to tx cb
inst->durationPollTxDoneTimeout_ms = CEIL_DIV(TX_CMD_TO_TX_CB_DLY_US + inst->frameLengths_us[POLL] + margin_us, 1000); //tx cmd to tx cb
- inst->durationRespTxDoneTimeout_ms = CEIL_DIV(TX_CMD_TO_TX_CB_DLY_US + inst->frameLengths_us[RESP] + margin_us, 1000); //tx cmd to tx cb
- inst->durationFinalTxDoneTimeout_ms = CEIL_DIV(TX_CMD_TO_TX_CB_DLY_US + inst->frameLengths_us[FINAL] + margin_us, 1000); //tx cmd to tx cb
inst->durationReportTxDoneTimeout_ms = CEIL_DIV(TX_CMD_TO_TX_CB_DLY_US + inst->frameLengths_us[REPORT] + margin_us, 1000); //tx cmd to tx cb
inst->durationSyncTxDoneTimeout_ms = CEIL_DIV(TX_CMD_TO_TX_CB_DLY_US + inst->frameLengths_us[SYNC] + margin_us, 1000); //tx cmd to tx cb
-
+ uint32 fl = 0;
+ if(inst->frameLengths_us[RESP] < inst->frameLengths_us[FINAL])
+ {
+ fl = inst->frameLengths_us[RESP] - inst->storedPreLen_us;
+ }
+ else
+ {
+ fl = inst->frameLengths_us[FINAL] - inst->storedPreLen_us;
+ }
+ duration = 0;
+ duration += replyDelay_us - fl;
+ duration -= RX_TO_CB_DLY_US + RX_CB_TO_TX_CMD_DLY_US;
+ inst->durationRespTxDoneTimeout_ms = CEIL_DIV(duration + inst->frameLengths_us[RESP] - inst->storedPreLen_us + margin_us, 1000); //tx cmd to tx cb
+ inst->durationFinalTxDoneTimeout_ms = CEIL_DIV(duration + inst->frameLengths_us[FINAL] - inst->storedPreLen_us + margin_us, 1000); //tx cmd to tx cb
//figure maximum duration of a TDMA slot in microseconds
duration = 0;
duration += SLOT_START_BUFFER_US; //frame start buffer
duration += SLOT_BUFFER_EXP_TO_POLL_CMD_US; //buffer expiration to cmd poll
- duration += TX_CMD_TO_TX_CB_DLY_US + inst->finalReplyDelay_us + inst->frameLengths_us[FINAL] + RX_TO_CB_DLY_US + RX_CB_TO_TX_CMD_DLY_US;//poll cmd to place final
+ duration += TX_CMD_TO_TX_CB_DLY_US + pollTxToFinalTx + inst->frameLengths_us[FINAL] + RX_TO_CB_DLY_US + RX_CB_TO_TX_CMD_DLY_US;//poll cmd to place final
//duration += B //place final to cmd report
duration += TX_CMD_TO_TX_CB_DLY_US + inst->frameLengths_us[REPORT] + RX_TO_CB_DLY_US + RX_CB_TO_TX_CMD_DLY_US; //cmd report to place report
//duration += C //place report to cmd inf
@@ -1330,25 +1378,6 @@ void instance_init_timings(void)
inst->durationWaitRangeInit_ms = CEIL_DIV(duration, 1000);
- duration = 0;
- //get max FL
- uint8 maxFramelength = (uint8)MIN_FRAMELENGTH;
- while(maxFramelength < (int)UWB_LIST_SIZE + 1)
- {
- maxFramelength *= 2;
- }
-
- uint8 numExchanges = 0;
- for(int i = 1; i < UWB_LIST_SIZE; i++)
- {
- numExchanges += i;
- }
-
- uint8 numZero = numExchanges/(maxFramelength-1);
-
- inst->durationUwbCommTimeout_ms = (numExchanges + numZero + 1)*CEIL_DIV(inst->durationSlotMax_us,1000)*2;
-
-
// Smart Power is automatically applied by DW chip for frame of which length
// is < 1 ms. Let the application know if it will be used depending on the
// length of the longest frame.
diff --git a/src/application/instance.h b/src/application/instance.h
index 3a10da4..5933389 100644
--- a/src/application/instance.h
+++ b/src/application/instance.h
@@ -57,8 +57,10 @@ typedef struct
uint64 finalReplyDelay_us;
uint64 respReplyDelay;
- //Receive Frame Wait Timeout Periods, units are 1.0256us (aus stands for near microsecond)
+ //Receive Frame Wait Timeout Periods, units are 1.0256us (nus stands for near microsecond)
uint16 durationPollTimeout_nus; //rx timeout duration after tx poll
+ uint16 durationPollTimeout_ms; //rx timeout duration after tx poll
+ uint16 durationFinalTimeout_ms; //rx timeout duration after tx final
uint32 durationBlinkTxDoneTimeout_ms; //tx done timeout after tx blink
uint32 durationRngInitTxDoneTimeout_ms; //tx done timeout after tx rng_init
@@ -150,6 +152,8 @@ typedef struct
uint8 uwbList[UWB_LIST_SIZE][8]; //index 0 reserved for self, rest for other tracked uwbs
uint32 timeofTx; //used to calculate tx done callback timeouts
+ uint32 timeofTxPoll; //used to calculate rx timeout after poll
+ uint32 timeofTxFinal; //used to calculate rx timeout after final
uint32 txDoneTimeoutDuration; //duration used for tx done callback timeouts. (set differently for each tx message)
bool tx_poll; //was the last tx message a POLL message?
diff --git a/src/application/instance_common.c b/src/application/instance_common.c
index 9005a6f..58303fd 100644
--- a/src/application/instance_common.c
+++ b/src/application/instance_common.c
@@ -1329,6 +1329,11 @@ void instance_rxgoodcallback(const dwt_cb_data_t *rxd)
}
else if(dw_event.msgu.frame[fcode_index] == RTLS_DEMO_MSG_ANCH_RESP)
{
+ //if we have received a response, it's too late in the slot to try and poll with someone else in case we dont finish the exchange
+ //however, if the full exchange doesn't complete, we still want to broadcast an INF message
+ //set a flag here to indicate that we are past the point of no return
+ tdma_handler.firstPollResponse = TRUE;
+
// Embed into Final message: 40-bit pollTXTime, 40-bit respRxTime, 40-bit finalTxTime
uint64 tagCalculatedFinalTxTime; // time we should send the response
uint64 finalReplyDelay = instance_data[0].respReplyDelay;
@@ -1374,6 +1379,7 @@ void instance_rxgoodcallback(const dwt_cb_data_t *rxd)
instance_data[0].tx_final = TRUE;
dw_event.typePend = DWT_SIG_TX_PENDING ; // exit this interrupt and notify the application/instance that TX is in progress.
instance_data[instance].timeofTx = time_now;
+ instance_data[instance].timeofTxFinal = portGetTickCnt();
instance_data[instance].txDoneTimeoutDuration = instance_data[instance].durationFinalTxDoneTimeout_ms;
}
}
@@ -1458,9 +1464,6 @@ void instance_rxgoodcallback(const dwt_cb_data_t *rxd)
instance_data[instance].dwt_final_rx = dw_event.timeStamp;
}
- //we received response to our POLL, select oldest range UWB next poll
- tdma_handler.nthOldest = 1;
-
place_event = 1;
}
else if (rxd_event == DWT_SIG_RX_BLINK)
diff --git a/src/application/tdma_handler.c b/src/application/tdma_handler.c
index 430a95e..f4acbf8 100644
--- a/src/application/tdma_handler.c
+++ b/src/application/tdma_handler.c
@@ -1,7 +1,7 @@
#include "tdma_handler.h"
#include "port.h"
#include "instance.h"
-//#include "lib.h"
+#include "lib.h"
extern void usb_run(void);
@@ -24,6 +24,7 @@ static bool slot_transition(struct TDMAHandler *this)
{
transition = TRUE;
this->firstPollSentThisSlot = FALSE;
+ this->firstPollResponse = FALSE;
this->firstPollComplete = FALSE;
this->secondPollSentThisSlot = FALSE;
this->infSentThisSlot = FALSE;
@@ -70,6 +71,7 @@ static bool slot_transition(struct TDMAHandler *this)
{
this->infSentThisSlot = FALSE;
this->firstPollSentThisSlot = FALSE;
+ this->firstPollResponse = FALSE;
this->firstPollComplete = FALSE;
this->secondPollSentThisSlot = FALSE;
}
@@ -431,7 +433,7 @@ static bool tx_select(struct TDMAHandler *this)
this->firstPollSentThisSlot = TRUE;
inst->testAppState = TA_TXPOLL_WAIT_SEND;
}
- else if(this->secondPollSentThisSlot == FALSE && this->firstPollComplete == FALSE)
+ else if(this->secondPollSentThisSlot == FALSE && this->firstPollComplete == FALSE && this->firstPollResponse == FALSE)
{
this->secondPollSentThisSlot = TRUE;
inst->testAppState = TA_TXPOLL_WAIT_SEND;
@@ -596,19 +598,15 @@ static void update_inf_tsfs(struct TDMAHandler *this)
//General procedure for processing INF SUG, INF REG, and INF UPDATE (NOTE: slightly different for each INF_PROCESS_MODE)
-//1. Check for differences with locally stored TDMA assignment information
+//1. Check for differences with stored assignments
// (a) exit if none exist
-//2. Drop all slot assignments for self, neighbor, hidden, and twice hidden nodes that appear
+//2. Drop stored assignments for self, neighbor, hidden, and twice hidden nodes that appear
// in the INF message
//3. Copy all assignments for self, neighbors, hidden, and twice hidden nodes that appear
// in the INF message
-//4. Check for conflicts with slot assignments for nodes not contained in the INF message.
-// (a) if conflicts exist and self node is one of the conflicts, release all slot assignments
-// from self and follow the procedure for a new node (Section 1.1), skipping the
-// collect INF REG step.
-// (b) if conflicts exist and node is not one of the conflicts, deconflict according to 1.2
-//5. Send INF UPDATE message at beginning of allocated slot (handled elsewhere)
-//process types... 1.) clear all and copy 2.) clear mentioned, copy 3.) copy
+//4. Check for conflicts between nodes in the INF message and nodes not in the INF message (excluding self) and deconflict using PDS
+//5. Release self slot assignments and follow PSA
+//6. Send INF message at beginning of allocated slot (handled elsewhere)
//returns TRUE if a change was made to the TDMA assingments, FALSE if invalid message FCODE or process mode or if no TDMA changes made
static bool process_inf_msg(struct TDMAHandler *this, uint8 *messageData, uint8 srcIndex, INF_PROCESS_MODE mode)
{
@@ -884,16 +882,14 @@ static bool process_inf_msg(struct TDMAHandler *this, uint8 *messageData, uint8
}
}
- //check if self has any conflicts
- if(this->self_conflict(this))
+ if(tdma_modified == TRUE)
{
+
//if so, release all assignments from self
this->free_slots(&this->uwbListTDMAInfo[0]);
//find self a new slot assignment
this->find_assign_slot(this);
-
- tdma_modified = TRUE;
}
}
@@ -985,10 +981,6 @@ static bool assign_slot(struct TDMAInfo *info, uint8 slot, bool safeAssign)
//4.) Double the Frame (DF)
// applicable if 2.) and 3.) not applicable
// double own framelength and go back to 2.)
-
-//procedure above doesn't seem to alwasy work, even for 3 UWBs... each assigned a slot out of four
-//1,2,3 find no slots to assign and 4 wont change that... will just double the frame forever...
-//actually it should work, because when we have double the framelength, the other uwbs virtually have two slots...
static void find_assign_slot(struct TDMAHandler *this)
{
@@ -1743,6 +1735,7 @@ static void set_discovery_mode(struct TDMAHandler *this, DISCOVERY_MODE discover
this->discovery_mode_duration = (uint32)(get_dt64(time_now_us, latest_tnext)/1000);
this->discovery_mode_expires = TRUE;
+ this->free_slots(&this->uwbListTDMAInfo[0]);
this->deconflict_slot_assignments(this);
//assign self slot
this->find_assign_slot(this);
@@ -1828,37 +1821,42 @@ static bool check_timeouts(struct TDMAHandler *this)
bool updateINF = FALSE;
bool noNeighbors = FALSE;
+ uint8 max_framelength = 4;
+ for(int i=0; i < inst->uwbListLen; i++)
+ {
+ struct TDMAInfo *info = &this->uwbListTDMAInfo[i];
+ if (info->connectionType != UWB_LIST_SELF && info->connectionType != UWB_LIST_INACTIVE)
+ {
+ if(info->framelength > max_framelength)
+ {
+ max_framelength = info->framelength;
+ }
+ }
+ }
+ inst->durationUwbCommTimeout_ms = 2*max_framelength*CEIL_DIV(inst->durationSlotMax_us,1000);
for(int i=1; i < inst->uwbListLen; i++)//0 reserved for self, timeout not applicable
{
struct TDMAInfo *info = &this->uwbListTDMAInfo[i];
+ if(info->connectionType == UWB_LIST_INACTIVE)
+ {
+ continue;
+ }
switch (info->connectionType)
{
case UWB_LIST_NEIGHBOR:
{
+
+
+
delta_t = get_dt32(info->lastCommNeighbor, portGetTickCnt()); //get time now here in case rx interrupt occurs before get_dt call
if(delta_t > inst->durationUwbCommTimeout_ms)
{
- if(info->lastCommHidden != 0)
- {
- info->connectionType = UWB_LIST_HIDDEN;
- updateINF = TRUE;
- }
- else if(info->lastCommTwiceHidden != 0)
- {
- info->connectionType = UWB_LIST_TWICE_HIDDEN;
- updateINF = TRUE;
- }
- else
- {
- info->connectionType = UWB_LIST_INACTIVE;
- updateINF = TRUE;
- setInactive = TRUE;
- this->free_slots(info);
- }
+ info->connectionType = UWB_LIST_HIDDEN;
+ updateINF = TRUE;
if(instfindnumneighbors(inst) <= 0)
{
@@ -1879,18 +1877,8 @@ static bool check_timeouts(struct TDMAHandler *this)
if(delta_t > inst->durationUwbCommTimeout_ms)
{
- if(info->lastCommTwiceHidden != 0)
- {
- info->connectionType = UWB_LIST_TWICE_HIDDEN;
- updateINF = TRUE;
- }
- else
- {
- info->connectionType = UWB_LIST_INACTIVE;
- this->free_slots(info);
- setInactive = TRUE;
- updateINF = TRUE;
- }
+ info->connectionType = UWB_LIST_TWICE_HIDDEN;
+ updateINF = TRUE;
}
break;
@@ -1905,6 +1893,9 @@ static bool check_timeouts(struct TDMAHandler *this)
this->free_slots(info);
setInactive = TRUE;
updateINF = TRUE;
+ info->lastCommNeighbor = 0;
+ info->lastCommHidden = 0;
+ info->lastCommTwiceHidden = 0;
}
break;
@@ -1935,7 +1926,6 @@ static bool check_timeouts(struct TDMAHandler *this)
this->populate_inf_msg(this, RTLS_DEMO_MSG_INF_UPDATE);
}
-
if(rangingUWBTimeout == TRUE)
{
inst->uwbToRangeWith = 255;
@@ -2017,6 +2007,7 @@ static struct TDMAHandler new(uint64 slot_duration){
ret.lastSlotStartTime64 = time_now_us;
ret.infSentThisSlot = FALSE;
ret.firstPollSentThisSlot = FALSE;
+ ret.firstPollResponse = FALSE;
ret.firstPollComplete = FALSE;
ret.secondPollSentThisSlot = FALSE;
ret.nthOldest = 1;
@@ -2026,7 +2017,7 @@ static struct TDMAHandler new(uint64 slot_duration){
ret.infMessageLength = 0;
ret.enter_discovery_mode(&ret);
- ret.collectInfDuration = ret.maxFramelength*ret.slotDuration_ms*2;
+ ret.collectInfDuration = ret.maxFramelength*ret.slotDuration_ms;
ret.waitInfDuration = ret.collectInfDuration;
ret.blinkPeriodRand = (uint32)rand()%BLINK_PERIOD_RAND_MS;
diff --git a/src/application/tdma_handler.h b/src/application/tdma_handler.h
index 51b2333..bda68eb 100644
--- a/src/application/tdma_handler.h
+++ b/src/application/tdma_handler.h
@@ -48,6 +48,7 @@ struct TDMAHandler
uint32 slotDuration_us;
bool infSentThisSlot;
bool firstPollSentThisSlot;
+ bool firstPollResponse;
bool firstPollComplete;
bool secondPollSentThisSlot;
uint8 nthOldest;
--
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