diff --git a/DecaRanging.coproj b/DecaRanging.coproj
index ee9a591070d6cdb434f065921e7160367538f814..78185e5a0d9ea31e8a84e094e10ab90f6cd76173 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 5ecc7c18296f67077269b7e85139c4e32314c9b2..8757da627d63a956bc1cb1115360708c29b42373 100644
--- a/src/application/application_definitions.h
+++ b/src/application/application_definitions.h
@@ -6,31 +6,37 @@
#include "deca_device_api.h"
/******************************************************************************************************************
-********************* NOTES on Decaranging EVK1000 application features/options ***********************************************************
+********************* Definitions expected to be modified by end-user *********************************************
*******************************************************************************************************************/
-#define DEEP_SLEEP (0) //To enable deep-sleep set this to 1
-//DEEP_SLEEP mode can be used, for example, by a Tag instance to put the DW1000 into low-power deep-sleep mode
-#define CORRECT_RANGE_BIAS (1) // Compensate for small bias due to uneven accumulator growth at close up high power
+#define UWB_LIST_SIZE 10 //the maximum size of the UWB network
+ //do not use a number larger than 80 if USING_64BIT_ADDR==1
+ //do not use a number larger than 127 if USING_64BIT_ADDR==0
+ //these are the largest UWB network sizes that the firmware will support.
+ //USING_64BIT_ADDR==1: Limiting factor is the max length of the INF messages
+ //USING_64BIT_ADDR==0: Limiting factor is the max power of 2 that fits in a uint8 (TDMA framelength is stored as uint8)
+
+#define SET_TXRX_DELAY 0 //when set to 1 - the DW1000 RX and TX delays are set to the TX_DELAY and RX_DELAY defines
+#define TX_ANT_DELAY 0
+#define RX_ANT_DELAY 0 //TODO put reasonable initial value? add explanation
+#define USING_64BIT_ADDR 0//TODO //when set to 0 - the DecaRanging application will use 16-bit addresses
+
+#define SPEED_OF_LIGHT (299704644.54) //(299702547.0) // in m/s in air //TODO add explanation!
/******************************************************************************************************************
*******************************************************************************************************************
*******************************************************************************************************************/
+#define CORRECT_RANGE_BIAS (1) // Compensate for small bias due to uneven accumulator growth at close up high power
+
#define NUM_INST 1
-#define SPEED_OF_LIGHT (299704644.54) //(299702547.0) // in m/s in air
#define MASK_40BIT (0x00FFFFFFFFFF) // DW1000 counter is 40 bits
#define MASK_42BIT (0x000003FFFFFFFFFF) //stm32 microsecond timestamps are 42 bits
#define MASK_TXDTS (0x00FFFFFFFE00) //The TX timestamp will snap to 8 ns resolution - mask lower 9 bits.
#define DELAY_CALIB (0) // when set to 1 - the LCD display will show information used for TX/RX delay calibration
-#define SET_TXRX_DELAY (0) //when set to 1 - the DW1000 RX and TX delays are set to the TX_DELAY and RX_DELAY defines
-#define TX_ANT_DELAY 0
-#define RX_ANT_DELAY 0
-
-#define USING_64BIT_ADDR (0)//TODO (0) //when set to 0 - the DecaRanging application will use 16-bit addresses
//! callback events
#define DWT_SIG_RX_NOERR 0
@@ -62,6 +68,7 @@ enum
FINAL,
REPORT,
SYNC,
+ INF_MAX,
FRAME_TYPE_NB
};
@@ -79,9 +86,9 @@ enum
//lengths including the Decaranging Message Function Code byte
#define TAG_POLL_MSG_LEN 1 // FunctionCode(1)
-#define ANCH_RESPONSE_MSG_LEN 9//TODO 1 // FunctionCode(1)
+#define ANCH_RESPONSE_MSG_LEN 1 // FunctionCode(1)
#define TAG_FINAL_MSG_LEN 16 // FunctionCode(1), Poll_TxTime(5), Resp_RxTime(5), Final_TxTime(5)
-#define RNG_INIT_MSG_LEN 7//TODO 1 // FunctionCode(1)
+#define RNG_INIT_MSG_LEN 1 // FunctionCode(1)
#define RNG_REPORT_MSG_LEN_SHORT 9 // FunctionCode(1), time of flight (6), short address (2)
#define RNG_REPORT_MSG_LEN_LONG 15 // FunctionCode(1), time of flight (6), long address (8)
#define SYNC_MSG_LEN 8 // FunctionCode(1), framelength (1), time since frame start (6)
@@ -120,12 +127,13 @@ enum
// Total frame lengths.
#if (USING_64BIT_ADDR == 1)
- #define RNG_INIT_FRAME_LEN_BYTES (RANGINGINIT_MSG_LEN + FRAME_CRTL_AND_ADDRESS_L + FRAME_CRC)
+ #define RNG_INIT_FRAME_LEN_BYTES (RNG_INIT_MSG_LEN + FRAME_CRTL_AND_ADDRESS_L + FRAME_CRC)
#define POLL_FRAME_LEN_BYTES (TAG_POLL_MSG_LEN + FRAME_CRTL_AND_ADDRESS_L + FRAME_CRC)
#define RESP_FRAME_LEN_BYTES (ANCH_RESPONSE_MSG_LEN + FRAME_CRTL_AND_ADDRESS_L + FRAME_CRC)
#define FINAL_FRAME_LEN_BYTES (TAG_FINAL_MSG_LEN + FRAME_CRTL_AND_ADDRESS_L + FRAME_CRC)
- #define REPORT_FRAME_LEN_BYTES (RNG_REPORT_MSG_LEN_LONG + FRAME_CRTL_AND_ADDRESS_L + FRAME_CRC)
- #define SYNC_FRAME_LEN_BYTES (SYNC_MSG_LEN + FRAME_CRTL_AND_ADDRESS_L + FRAME_CRC)
+ #define REPORT_FRAME_LEN_BYTES (RNG_REPORT_MSG_LEN_LONG + FRAME_CRTL_AND_ADDRESS_LS + FRAME_CRC)
+ #define SYNC_FRAME_LEN_BYTES (SYNC_MSG_LEN + FRAME_CRTL_AND_ADDRESS_LS + FRAME_CRC)
+ #define INF_FRAME_LEN_BYTES_MAX (11.5 + (ADDR_BYTE_SIZE_L + 3.5)*UWB_LIST_SIZE + FRAME_CRTL_AND_ADDRESS_LS + FRAME_CRC)
#else
#define RNG_INIT_FRAME_LEN_BYTES (RNG_INIT_MSG_LEN + FRAME_CRTL_AND_ADDRESS_LS + FRAME_CRC)
#define POLL_FRAME_LEN_BYTES (TAG_POLL_MSG_LEN + FRAME_CRTL_AND_ADDRESS_S + FRAME_CRC)
@@ -133,6 +141,7 @@ enum
#define FINAL_FRAME_LEN_BYTES (TAG_FINAL_MSG_LEN + FRAME_CRTL_AND_ADDRESS_S + FRAME_CRC)
#define REPORT_FRAME_LEN_BYTES (RNG_REPORT_MSG_LEN_SHORT + FRAME_CRTL_AND_ADDRESS_S + FRAME_CRC)
#define SYNC_FRAME_LEN_BYTES (SYNC_MSG_LEN + FRAME_CRTL_AND_ADDRESS_S + FRAME_CRC)
+ #define INF_FRAME_LEN_BYTES_MAX (11.5 + (ADDR_BYTE_SIZE_S + 3.5)*UWB_LIST_SIZE + FRAME_CRTL_AND_ADDRESS_LS + FRAME_CRC)
#endif
#define BLINK_FRAME_CONTROL_BYTES (1)
@@ -143,13 +152,6 @@ enum
#define BLINK_FRAME_CRTL_AND_ADDRESS (BLINK_FRAME_SOURCE_ADDRESS + BLINK_FRAME_CTRLP) //10 bytes
#define BLINK_FRAME_LEN_BYTES (BLINK_FRAME_CRTL_AND_ADDRESS + BLINK_FRAME_CRC)
-#define UWB_LIST_SIZE 10 //the maximum size of the UWB network
- //do not use a number larger than 80 if USING_64BIT_ADDR==1 and 127 if USING_64BIT_ADDR==0
- //these are the largest UWB network sizes that the firmware will support.
- //USING_64BIT_ADDR==1: Limiting factor is the max length of the INF messages
- //USING_64BIT_ADDR==0: Limiting factor is the max power of 2 that fits in a uint8 (framelength is stored as uint8)
-#define UWB_COMM_TIMEOUT 3000 //ms //TODO make this a function of UWB_LIST_SIZE, twice the max framelengt? maybe this shouldn't be a define?
-
//UWB_LIST types
#define UWB_LIST_SELF 0 //entry for self in list
#define UWB_LIST_NEIGHBOR 1 //uwb in list that is active, in range, and are slotted to range with
@@ -170,11 +172,10 @@ enum
//INF message byte offsets
#define TDMA_TSFS 1 // offset to put time since TDMA frame start in the INF message
-#define TDMA_TSFS_REBASE 7 // offset to put whether the receiving UWB needs to rebase its TDMA frame to the transmitted TSFS
-#define TDMA_NUMN 8 // offset to put the number of this UWB's neighbors in the INF message
-#define TDMA_NUMH 9 // offset to put the number of this UWB's hidden neighbors in the INF message
-#define TDMA_FRAMELENGTH 10 // offset to put this UWB's TDMA framelength in the INF message
-#define TDMA_NUMS 11 // offset to put the number of this UWB's TDMA slot assignments in the INF message
+#define TDMA_NUMN 7 // offset to put the number of this UWB's neighbors in the INF message
+#define TDMA_NUMH 8 // offset to put the number of this UWB's hidden neighbors in the INF message
+#define TDMA_FRAMELENGTH 9 // offset to put this UWB's TDMA framelength in the INF message
+#define TDMA_NUMS 10 // offset to put the number of this UWB's TDMA slot assignments in the INF message
// Final message byte offsets.
#define PTXT 1
@@ -190,19 +191,6 @@ enum
#define SYNC_FRAMELENGTH 1 // offset to put the framelength in the sync message
#define SYNC_TSFS 2 // offset to put the time since TDMA frame start in the sync message
-// Response delay values coded in ranging init message.
-// This is a bitfield composed of:
-// - bits 0 to 14: value
-// - bit 15: unit
-//#define RESP_DLY_VAL_SHIFT 0
-//#define RESP_DLY_VAL_MASK 0x7FFF
-//#define RESP_DLY_UNIT_SHIFT 15 //TODO remove
-//#define RESP_DLY_UNIT_MASK 0x8000
-
-// Response time possible units: microseconds or milliseconds.
-//#define RESP_DLY_UNIT_US 0 //TODO remove
-//#define RESP_DLY_UNIT_MS 1
-
// Response delays types present in ranging init message.
enum
{
@@ -211,12 +199,6 @@ enum
RESP_DLY_FINAL,
RESP_DLY_NB
};
-//enum
-//{
-// RESP_DLY_ANC = 0, //TODO remove
-// RESP_DLY_TAG,
-// RESP_DLY_NB
-//};
// Convert microseconds to symbols, float version.
// param x value in microseconds
@@ -236,9 +218,15 @@ enum
#define TX_CMD_TO_TX_CB_DLY_US 90 //doesn't include preamble, sfd, phr, and data. saw 81 to 87
#define MIN_DELAYED_TX_DLY_US 90 //doesn't include preamble and sfd. //80 is the minimum delay for delayed tx. anything shorter will cause failure
-// Delay between blink reception and ranging init message. This is the same for
-// all modes.
-#define RNG_INIT_REPLY_DLY_US 10000 //TODO tune!
+
+#define SLOT_START_BUFFER_US 4000 //set based on experimentally observed frame sync errors
+#define SLOT_BUFFER_EXP_TO_POLL_CMD_US 3*UWB_LIST_SIZE + 108 //found experimentally
+#define MEASURED_SLOT_DURATIONS_US 1.7814*UWB_LIST_SIZE*UWB_LIST_SIZE + 29.39*UWB_LIST_SIZE + 1848.5 //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 BLINK_RX_CB_TO_RESP_TX_CMD_DLY_US 1450 //found experimentally
+
+
#define MAX(a,b) \
({ __typeof__ (a) _a = (a); \
@@ -250,7 +238,7 @@ enum
#define BLINK_PERIOD_RAND_MS 200
-#define RANGE_INIT_RAND_US 20 //TODO tune this number
+#define RANGE_INIT_RAND_US 1000
#define RX_CHECK_ON_PERIOD_MS 200 //TODO modify
@@ -287,20 +275,19 @@ DISCOVERY_MODE;
typedef enum inst_states
{
TA_INIT, //0
- TA_TXE_WAIT, //1
- TA_TXINF_WAIT_SEND, //2
- TA_TXPOLL_WAIT_SEND, //3
- TA_TXFINAL_WAIT_SEND, //4
- TA_TXRESPONSE_WAIT_SEND, //5
- TA_TX_WAIT_CONF, //6
- TA_RXE_WAIT, //7
- TA_RX_WAIT_DATA, //8
- TA_SLEEP_DONE, //9
- TA_TXBLINK_WAIT_SEND, //10
- TA_TXRANGINGINIT_WAIT_SEND, //11
- TA_TX_SELECT, //12
- TA_TXREPORT_WAIT_SEND, //13
- TA_TXSUG_WAIT_SEND //14
+ TA_TXINF_WAIT_SEND, //1
+ TA_TXPOLL_WAIT_SEND, //2
+ TA_TXFINAL_WAIT_SEND, //3
+ TA_TXRESPONSE_WAIT_SEND,
+ TA_TX_WAIT_CONF,
+ TA_RXE_WAIT,
+ TA_RX_WAIT_DATA,
+ TA_SLEEP_DONE,
+ TA_TXBLINK_WAIT_SEND,
+ TA_TXRANGINGINIT_WAIT_SEND,
+ TA_TX_SELECT,
+ TA_TXREPORT_WAIT_SEND,
+ TA_TXSUG_WAIT_SEND
} INST_STATES;
diff --git a/src/application/dw_main.c b/src/application/dw_main.c
index 5183778a9b669657fdede05e3d0de360053ceb2d..f06c98814e575fdbed69738b69d766bc6d22ea92 100644
--- a/src/application/dw_main.c
+++ b/src/application/dw_main.c
@@ -187,7 +187,7 @@ uint32 inittestapplication(uint8 mode_switch)
result = instance_init() ;
if (0 > result) return(-1) ; // Some failure has occurred
- result = tdma_init_s();
+
port_set_dw1000_fastrate();
devID = instancereaddeviceid() ;
@@ -220,6 +220,9 @@ uint32 inittestapplication(uint8 mode_switch)
instance_init_timings();
+ instance_data_t* inst = instance_get_local_structure_ptr(0);
+ result = tdma_init_s(inst->durationSlotMax_us); //call after instance_init_timings() to get slot duration
+
return devID;
}
@@ -512,12 +515,12 @@ int dw_main(void)
if(instance_mode == TAG && inst->canPrintInfo == TRUE)
{
- uint64 aaddr = instancenewrangeancadd();
- uint64 taddr = instancenewrangetagadd();
-// int n = sprintf((char*)&dataseq[0], "RANGE_COMPLETE,%llX,%llX", taddr, aaddr);
- int n = sprintf((char*)&dataseq[0], "RANGE_COMPLETE,%04llX,%04llX", taddr, aaddr);
- send_usbmessage(&dataseq[0], n);
- usb_run();
+// uint64 aaddr = instancenewrangeancadd();
+// uint64 taddr = instancenewrangetagadd();
+//// int n = sprintf((char*)&dataseq[0], "RANGE_COMPLETE,%llX,%llX", taddr, aaddr);
+// int n = sprintf((char*)&dataseq[0], "RANGE_COMPLETE,%04llX,%04llX", taddr, aaddr);
+// send_usbmessage(&dataseq[0], n);
+// usb_run();
}
else
@@ -546,8 +549,8 @@ int dw_main(void)
}
- //TODO only write to LCD if we aren't in the middle of ranging messages
- //the random sleep messages embedded in the LCD calls makes things slow...
+ //only write to LCD if we aren't in the middle of ranging messages
+ //the random sleep messages embedded in the LCD calls messes up the timing
if(enableLCD == TRUE && inst->canPrintInfo == TRUE)
{
toggle_step = 750;
@@ -640,7 +643,7 @@ int dw_main(void)
// usb_run();
#endif
- if(canSleep)__WFI();
+// if(canSleep)__WFI();
}
diff --git a/src/application/instance.c b/src/application/instance.c
index 4a346dc8e01a6fd2c9ac4157e71548138193586c..e6de20211a62cda227aeb4938748d7463618520e 100644
--- a/src/application/instance.c
+++ b/src/application/instance.c
@@ -231,7 +231,6 @@ const char* get_inst_states_string(enum inst_states state)
switch (state)
{
case TA_INIT : return "TA_INIT";
- case TA_TXE_WAIT : return "TA_TXE_WAIT";
case TA_TXPOLL_WAIT_SEND : return "TA_TXPOLL_WAIT_SEND";
case TA_TXFINAL_WAIT_SEND : return "TA_TXFINAL_WAIT_SEND";
case TA_TXRESPONSE_WAIT_SEND : return "TA_TXRESPONSE_WAIT_SEND";
@@ -366,15 +365,16 @@ void send_txmsgtousb(char *data)
//
int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int message)
{
+
+// send_statetousb(inst, tdma_handler); //TODO remove
+
int done = INST_NOT_DONE_YET;
- if(tdma_handler->slot_transition(tdma_handler))//TODO move these types of things to the end????
+ if(tdma_handler->slot_transition(tdma_handler))
{
message = 0;
}
-// send_statetousb(inst, tdma_handler); //TODO remove
-
tdma_handler->check_discovery_mode_expiration(tdma_handler);
@@ -416,7 +416,7 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
srand(seed);
- inst->uwbShortAdd = inst->eui64[0] + (inst->eui64[1] << 8);//TODO use a hashing algorithm
+ inst->uwbShortAdd = inst->eui64[0] + (inst->eui64[1] << 8);//NOTE a hashing algorithm could be used instead
#if (USING_64BIT_ADDR==0)
dwt_setaddress16(inst->uwbShortAdd);
@@ -433,16 +433,12 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
{
mode |= DWT_LOADOPSET;
}
-#if (DEEP_SLEEP == 1)
- if (inst->sleepingEabled)
- dwt_configuresleep(mode, DWT_WAKE_WK|DWT_WAKE_CS|DWT_SLP_EN); //configure the on wake parameters (upload the IC config settings)
-#endif
instanceconfigframeheader(inst);
instanceconfigmessages(inst);
// First time listening, do not delay RX
- dwt_setrxaftertxdelay(0);
+ dwt_setrxaftertxdelay(0); //units are 1.0256us
//change to next state - wait to receive a message
tdma_handler->discoveryStartTime = portGetTickCnt();
@@ -452,15 +448,6 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
dwt_setrxtimeout(0);
inst->wait4ack = 0;
inst->canPrintInfo = TRUE;
-
- //TODO revisit
- // If we are using long response delays, disable sleep.
-// if (inst->resp_dly_us[RESP_DLY_POLL] >= LONG_RESP_DLY_LIMIT_US
-// || inst->resp_dly_us[RESP_DLY_ANCH_RESP] >= LONG_RESP_DLY_LIMIT_US)
-// {
-// inst->sleepingEabled = 0;
-// }
-
}
break;
default:
@@ -495,71 +482,11 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
}
done = INST_NOT_DONE_YET;
- inst->goToSleep = 0;
inst->testAppState = inst->nextState;
inst->nextState = TA_INIT; //clear
- inst->instanceTimerTimeSaved = inst->instanceTimerTime = portGetTickCnt(); //set timer base
-#if (DEEP_SLEEP == 1)
- if (inst->sleepingEabled)
- {
- //wake up device from low power mode
- led_on(LED_PC9);
-
- port_wakeup_dw1000_fast();
-
- led_off(LED_PC9);
-
- //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 after DEEP SLEEP
- dwt_settxantennadelay(inst->txAntennaDelay) ;
- }
- instancesetantennadelays();
-#endif
- //TODO should this be here? or only if DEEP_SLEEP is enabled (above) putting only above for now
break;
}
- case TA_TXE_WAIT : //either go to sleep or proceed to TX a message
- {
- //TODO rework sleep functionality
- //should sleep between blinks?
- //should blink when not own slot?
- //should sleep after everything is done in own slot?
- //does sleep still allow RX?
-
- //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->nextState == TA_TX_SELECT))
- if(inst->nextState == TA_TX_SELECT
- && (inst->goToSleep) //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...
- done = INST_DONE_WAIT_FOR_NEXT_EVENT_TO; //don't sleep here but kick off the TagTimeoutTimer (instancetimer)
- inst->testAppState = TA_SLEEP_DONE;
-
-// inst->canPrintInfo = 1;
-
-#if (DEEP_SLEEP == 1)
- if (inst->sleepingEabled)
- {
- //put device into low power mode
- dwt_entersleep(); //go to sleep
- }
-#endif
-
- //inst->deviceissleeping = 1; //this is to stop polling device status register (as it will wake it up)
- }
- else //proceed to configuration and transmission of a frame
- {
- inst->testAppState = inst->nextState;
- inst->nextState = TA_INIT; //clear
- }
- break ;
- }// end case TA_TXE_WAIT
case TA_TXBLINK_WAIT_SEND :
{
int psduLength = BLINK_FRAME_LEN_BYTES;
@@ -568,8 +495,8 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
inst->blinkmsg.seqNum = inst->frameSN++;
- dwt_setrxtimeout(0);
- dwt_setrxaftertxdelay(0);
+ dwt_setrxtimeout(0); //units are 1.0256us
+ dwt_setrxaftertxdelay(0); //units are 1.0256us
inst->wait4ack = DWT_RESPONSE_EXPECTED;
dwt_writetxdata(psduLength, (uint8 *) (&inst->blinkmsg), 0) ; // write the frame data
@@ -588,14 +515,12 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
send_usbmessage(&debug_msg[0], n);
usb_run();
- inst->goToSleep = 1; //go to Sleep after this blink
inst->testAppState = TA_TX_WAIT_CONF ; // wait confirmation
inst->previousState = TA_TXBLINK_WAIT_SEND ;
done = INST_DONE_WAIT_FOR_NEXT_EVENT; //will use RX FWTO to time out (set below)
- inst->blink_start = portGetTickCnt(); //TODO remove
inst->timeofTx = portGetTickCnt();
- //TODO check this duration!
+
inst->txDoneTimeoutDuration = inst->durationBlinkTxDoneTimeout_ms;
tdma_handler->last_blink_time = portGetTickCnt();
tdma_handler->blinkPeriodRand = (uint32)rand()%BLINK_PERIOD_RAND_MS;
@@ -606,22 +531,29 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
case TA_TXRANGINGINIT_WAIT_SEND :
{
int psduLength = RNG_INIT_FRAME_LEN_BYTES;
-// int psduLength = RNG_INIT_MSG_LEN; //TODO remove
-//#if (USING_64BIT_ADDR == 1)
-// psduLength += FRAME_CRTL_AND_ADDRESS_L + FRAME_CRC;
-//#else
-// psduLength += FRAME_CRTL_AND_ADDRESS_LS + FRAME_CRC;
-//#endif
inst->rng_initmsg.seqNum = inst->frameSN++;
- dwt_setrxaftertxdelay(0);
- dwt_setrxtimeout((uint16)0);
+ dwt_setrxaftertxdelay(0); //units are 1.0256us
+ dwt_setrxtimeout(0); //units are 1.0256us
inst->wait4ack = DWT_RESPONSE_EXPECTED;
+ //add a small random number to this to reduce chance of collisions
+ uint8 sys_time_arr[5] = {0, 0, 0, 0, 0};
+ dwt_readsystime(sys_time_arr);
+ uint64 dwt_time_now = 0;
+ dwt_time_now = (uint64)sys_time_arr[0] + ((uint64)sys_time_arr[1] << 8) + ((uint64)sys_time_arr[2] << 16) + ((uint64)sys_time_arr[3] << 24) + ((uint64)sys_time_arr[4] << 32);
+ inst->delayedReplyTime = (dwt_time_now + inst->rnginitReplyDelay + convertmicrosectodevicetimeu(rand()%RANGE_INIT_RAND_US)) >> 8 ; // time we should send the blink response
+
+
dwt_writetxdata(psduLength, (uint8 *) &inst->rng_initmsg, 0) ; // write the frame data
if(instancesendpacket(psduLength, DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED, inst->delayedReplyTime))
{
+ uint8 debug_msg[100];
+ int n = sprintf((char*)&debug_msg[0], "RNG_INIT late tx!");
+ send_usbmessage(&debug_msg[0], n);
+ usb_run();
+
inst->previousState = TA_INIT;
inst->nextState = TA_INIT;
inst->testAppState = TA_RXE_WAIT ; // wait to receive a new blink or poll message
@@ -636,7 +568,7 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
uint32 time_now = portGetTickCnt();
inst->timeofTx = time_now;
- //TODO check below
+
inst->txDoneTimeoutDuration = inst->durationRngInitTxDoneTimeout_ms;
tdma_handler->set_discovery_mode(tdma_handler, WAIT_INF_INIT, time_now);
}
@@ -652,7 +584,8 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
//update time since frame start!
tdma_handler->update_inf_tsfs(tdma_handler);
- dwt_setrxtimeout((uint16)0);//no timeout (keep RX on until instructed otherwise)
+ dwt_setrxaftertxdelay(0); //units are 1.0256us
+ dwt_setrxtimeout(0); //units are 1.0256us //no timeout (keep RX on until instructed otherwise)
inst->wait4ack = 0;
dwt_writetxdata(psduLength, (uint8 *) &inst->inf_msg, 0) ; // write the frame data
@@ -673,12 +606,12 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
}
else
{
- inst->testAppState = TA_TX_WAIT_CONF ; //TODO should only do this if we don't have a problem with the INF send...
+ inst->testAppState = TA_TX_WAIT_CONF ;
inst->previousState = TA_TXINF_WAIT_SEND ;
done = INST_DONE_WAIT_FOR_NEXT_EVENT; //will use RX FWTO to time out (set below)
inst->timeofTx = portGetTickCnt();
- //TODO check below (INF message changes size, recalculate every time!)
+
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
@@ -689,29 +622,24 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
case TA_TXPOLL_WAIT_SEND :
{
int psduLength = POLL_FRAME_LEN_BYTES;
-// int psduLength = 0;//TODO remove
-//#if (USING_64BIT_ADDR==1)
-// psduLength = TAG_POLL_MSG_LEN + FRAME_CRTL_AND_ADDRESS_L + FRAME_CRC;
-//#else
-// psduLength = TAG_POLL_MSG_LEN + FRAME_CRTL_AND_ADDRESS_S + FRAME_CRC;
-//#endif
inst->msg.seqNum = inst->frameSN++;
inst->msg.messageData[FCODE] = RTLS_DEMO_MSG_TAG_POLL; //message function code (specifies if message is a poll, response or other...)
memcpy(&inst->msg.destAddr[0], &inst->uwbList[inst->uwbToRangeWith], inst->addrByteSize);
+ tdma_handler->nthOldest++;
+
//enable rx on after tx
- dwt_setrxaftertxdelay(0);
- dwt_setrxtimeout(inst->durationPollTimeout);
+ dwt_setrxaftertxdelay(0); //units are 1.0256us
+ dwt_setrxtimeout(inst->durationPollTimeout_nus); //units are 1.0256us
inst->wait4ack = DWT_RESPONSE_EXPECTED;
- inst->cmd_poll_us = portGetTickCntMicro();//TODO remove
-
dwt_writetxdata(psduLength, (uint8 *) &inst->msg, 0) ; // write the frame data
if(instancesendpacket(psduLength, DWT_START_TX_IMMEDIATE | inst->wait4ack, 0))
{
- inst->tx_poll = FALSE;
//failed
+ inst->tx_poll = FALSE;
+
inst->previousState = TA_INIT;
inst->nextState = TA_INIT;
inst->testAppState = TA_RXE_WAIT;
@@ -721,22 +649,20 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
else
{
//succeded
- uint8 debug_msg[100];
-// int n = sprintf((char *)&debug_msg, "TX_POLL,%llX,%llX", instance_get_addr(), instance_get_uwbaddr(inst->uwbToRangeWith));
- int n = sprintf((char *)&debug_msg, "TX_POLL,%04llX,%04llX", instance_get_addr(), instance_get_uwbaddr(inst->uwbToRangeWith));
- send_usbmessage(&debug_msg[0], n);
- usb_run();
+// uint8 debug_msg[100]; //TODO remove
+//// int n = sprintf((char *)&debug_msg, "TX_POLL,%llX,%llX", instance_get_addr(), instance_get_uwbaddr(inst->uwbToRangeWith));
+// int n = sprintf((char *)&debug_msg, "TX_POLL,%04llX,%04llX", instance_get_addr(), instance_get_uwbaddr(inst->uwbToRangeWith));
+// send_usbmessage(&debug_msg[0], n);
+// usb_run();
inst->tx_poll = TRUE;
inst->testAppState = TA_TX_WAIT_CONF ;
inst->previousState = TA_TXPOLL_WAIT_SEND ;
done = INST_DONE_WAIT_FOR_NEXT_EVENT; //will use RX FWTO to time out (set below)
+ inst->canPrintInfo = FALSE; //don't print to LCD or USB while ranging
- inst->range_start = portGetTickCnt(); //TODO remove
inst->timeofTx = portGetTickCnt();
- //TODO check below
inst->txDoneTimeoutDuration = inst->durationPollTxDoneTimeout_ms;
- inst->canPrintInfo = FALSE; //don't print to LCD or USB while ranging
}
break;
@@ -744,20 +670,14 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
case TA_TXREPORT_WAIT_SEND :
{
int psduLength = REPORT_FRAME_LEN_BYTES;
-// int psduLength = 0;
-//#if (USING_64BIT_ADDR==1)
-// psduLength = RNG_REPORT_MSG_LEN_LONG + FRAME_CRTL_AND_ADDRESS_LS + FRAME_CRC;
-//#else
-// psduLength = RNG_REPORT_MSG_LEN_SHORT + FRAME_CRTL_AND_ADDRESS_S + FRAME_CRC;
-//#endif
// Write calculated TOF into response message
memcpy(&inst->report_msg.messageData[REPORT_TOF], &inst->tof[inst->uwbToRangeWith], 6);
memcpy(&inst->report_msg.messageData[REPORT_ADDR], &inst->uwbList[inst->uwbToRangeWith], inst->addrByteSize);
inst->report_msg.seqNum = inst->frameSN++;
- dwt_setrxaftertxdelay(0);
- dwt_setrxtimeout(0);
+ dwt_setrxaftertxdelay(0); //units are 1.0256us
+ dwt_setrxtimeout(0); //units are 1.0256us
inst->wait4ack = 0;
dwt_writetxdata(psduLength, (uint8 *) &inst->report_msg, 0) ; // write the frame data
@@ -775,12 +695,11 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
done = INST_DONE_WAIT_FOR_NEXT_EVENT; //will use RX FWTO to time out (set below)
inst->timeofTx = portGetTickCnt();
- //TODO check below
+
inst->txDoneTimeoutDuration = inst->durationReportTxDoneTimeout_ms;
+ inst->canPrintInfo = TRUE; //ranging complete, allow print to USB and LCD
}
- inst->canPrintInfo = TRUE; //ranging exchange complete, allow print to USB and LCD
-
break;
}
case TA_TX_WAIT_CONF :
@@ -890,15 +809,10 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
if(inst->mode == DISCOVERY)
{
- //add a small random number to this to reduce chance of collisions
- inst->delayedReplyTime = (dw_event->timeStamp + inst->rnginitReplyDelay + convertmicrosectodevicetimeu(rand()%RANGE_INIT_RAND_US)) >> 8 ; // time we should send the blink response
-
//set destination address
memcpy(&inst->rng_initmsg.destAddr[0], &(dw_event->msgu.rxblinkmsg.tagID[0]), BLINK_FRAME_SOURCE_ADDRESS); //remember who to send the reply to
- inst->testAppState = TA_TXE_WAIT;
- inst->nextState = TA_TXRANGINGINIT_WAIT_SEND ;
-
+ inst->testAppState = TA_TXRANGINGINIT_WAIT_SEND;
}
else //not initiating ranging - continue to receive
{
@@ -963,9 +877,7 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
inst->testAppState = TA_TX_SELECT;
inst->mode = TAG;
- inst->goToSleep = 0; //don't go to sleep - start ranging instead and then sleep after 1 range is done or poll times out
- inst->instanceTimerTimeSaved = inst->instanceTimerTime = portGetTickCnt(); //set timer base
-
+
break;
} //RTLS_DEMO_MSG_RNG_INIT
case RTLS_DEMO_MSG_SYNC :
@@ -989,7 +901,7 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
case RTLS_DEMO_MSG_INF_SUG : //fall through
case RTLS_DEMO_MSG_INF_REG :
{
- uint32 time_now = portGetTickCnt();
+ uint32 time_now = portGetTickCnt();
uint8 srcIndex = instgetuwblistindex(inst, &srcAddr[0], inst->addrByteSize);
uint8 framelength;
@@ -1062,9 +974,25 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
}
}
+
+ inst->canPrintInfo = TRUE; //INF is last message in slot, we can print after processing
+
//wait for next RX
inst->testAppState = TA_RXE_WAIT ;
+// uint32 diff = get_dt32(time_now, portGetTickCnt());
+// uint8 debug_msg[100]; //TODO remove
+// int n = sprintf((char *)&debug_msg, "process inf duration, %lu", diff);
+// send_usbmessage(&debug_msg[0], n);
+// usb_run();
+
+// uint64 diff = get_dt64(inst->slot_start_us, portGetTickCntMicro());
+// uint8 debug_msg[100]; //TODO remove
+// int n = sprintf((char *)&debug_msg, "slot done, duration, %llu", diff);
+// send_usbmessage(&debug_msg[0], n);
+// usb_run();
+
+
break;
}
case RTLS_DEMO_MSG_INF_INIT :
@@ -1213,11 +1141,11 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
tdma_handler->uwbListTDMAInfo[inst->uwbToRangeWith].lastRange = portGetTickCnt();
- uint8 debug_msg[100];
-// int n = sprintf((char *)&debug_msg, "POLL_COMPLETE,%llX,%llX", inst->newRangeTagAddress, inst->newRangeAncAddress);
- int n = sprintf((char *)&debug_msg, "POLL_COMPLETE,%04llX,%04llX", inst->newRangeTagAddress, inst->newRangeAncAddress);
- send_usbmessage(&debug_msg[0], n);
- usb_run();
+// uint8 debug_msg[100];//TODO remove
+//// int n = sprintf((char *)&debug_msg, "POLL_COMPLETE,%llX,%llX", inst->newRangeTagAddress, inst->newRangeAncAddress);
+// int n = sprintf((char *)&debug_msg, "POLL_COMPLETE,%04llX,%04llX", inst->newRangeTagAddress, inst->newRangeAncAddress);
+// send_usbmessage(&debug_msg[0], n);
+// usb_run();
tdma_handler->firstPollComplete = TRUE;
inst->testAppState = TA_TX_SELECT;
@@ -1233,19 +1161,16 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
inst->uwbToRangeWith = 255;
}
- dwt_setrxaftertxdelay(0);
- instancesetantennadelays(); //this will update the antenna delay if it has changed, TODO remove?
+ inst->canPrintInfo = TRUE; //ranging complete, allow print to USB and LCD
+ dwt_setrxaftertxdelay(0); //units are 1.0256us
done = INST_DONE_WAIT_FOR_NEXT_EVENT;
-
- inst->canPrintInfo = TRUE; //ranging exchange complete, allow print to USB and LCD
-
break;
} //RTLS_DEMO_MSG_RNG_REPORT
default:
{
inst->testAppState = TA_RXE_WAIT ; // wait for next frame
- dwt_setrxaftertxdelay(0);
+ dwt_setrxaftertxdelay(0); //units are 1.0256us
break;
}
@@ -1279,19 +1204,19 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
}
else if(inst->previousState == TA_TXFINAL_WAIT_SEND)
{
- uint8 debug_msg[100];
-// n = sprintf((char *)&debug_msg, "TX_POLL_TIMEOUT,%llX,%llX", instance_get_addr(), instance_get_uwbaddr(inst->uwbToRangeWith));
- n = sprintf((char *)&debug_msg, "TX_POLL_TIMEOUT,%04llX,%04llX", instance_get_addr(), instance_get_uwbaddr(inst->uwbToRangeWith));
- send_usbmessage(&debug_msg[0], n);
- usb_run();
+// uint8 debug_msg[100];
+//// n = sprintf((char *)&debug_msg, "TX_POLL_TIMEOUT,%llX,%llX", instance_get_addr(), instance_get_uwbaddr(inst->uwbToRangeWith));
+// n = sprintf((char *)&debug_msg, "TX_POLL_TIMEOUT,%04llX,%04llX", instance_get_addr(), instance_get_uwbaddr(inst->uwbToRangeWith));
+// send_usbmessage(&debug_msg[0], n);
+// usb_run();
}
else if(inst->previousState == TA_TXPOLL_WAIT_SEND)
{
- uint8 debug_msg[100];
-// n = sprintf((char *)&debug_msg, "TX_POLL_TIMEOUT,%llX,%llX", instance_get_addr(), instance_get_uwbaddr(inst->uwbToRangeWith));
- n = sprintf((char *)&debug_msg, "TX_POLL_TIMEOUT,%04llX,%04llX", instance_get_addr(), instance_get_uwbaddr(inst->uwbToRangeWith));
- send_usbmessage(&debug_msg[0], n);
- usb_run();
+// uint8 debug_msg[100];
+//// n = sprintf((char *)&debug_msg, "TX_POLL_TIMEOUT,%llX,%llX", instance_get_addr(), instance_get_uwbaddr(inst->uwbToRangeWith));
+// n = sprintf((char *)&debug_msg, "TX_POLL_TIMEOUT,%04llX,%04llX", instance_get_addr(), instance_get_uwbaddr(inst->uwbToRangeWith));
+// send_usbmessage(&debug_msg[0], n);
+// usb_run();
}
instance_getevent(17); //get and clear this event
@@ -1397,11 +1322,10 @@ void instance_init_timings(void)
static const int data_len_bytes[FRAME_TYPE_NB] = {
BLINK_FRAME_LEN_BYTES, RNG_INIT_FRAME_LEN_BYTES, POLL_FRAME_LEN_BYTES,
- RESP_FRAME_LEN_BYTES, FINAL_FRAME_LEN_BYTES, REPORT_FRAME_LEN_BYTES, SYNC_FRAME_LEN_BYTES};
+ RESP_FRAME_LEN_BYTES, FINAL_FRAME_LEN_BYTES, REPORT_FRAME_LEN_BYTES, SYNC_FRAME_LEN_BYTES, INF_FRAME_LEN_BYTES_MAX};
// Margin used for timeouts computation.
-// const int margin_sy = 50;
uint64 margin_us = 200;
// All internal computations are done in tens of picoseconds before
@@ -1456,76 +1380,44 @@ void instance_init_timings(void)
inst->frameLengths_us[i] = instance_getmessageduration_us(data_len_bytes[i]);
}
+ //rx timeout durations (units are 1.0256us)
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 = (uint16)convertmicrosectodevicetimeu(duration);
+ inst->durationPollTimeout_nus = (uint16)(duration/1.0256) + 1;
+
duration = 0;
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 += TX_CMD_TO_TX_CB_DLY_US + inst->frameLengths_us[FINAL] + RX_TO_CB_DLY_US; //final tx cmd to final rx cb
duration += margin_us;
- inst->durationRespTimeout = (uint16)convertmicrosectodevicetimeu(duration);
+ inst->durationRespTimeout_nus = (uint16)(duration/1.0256) + 1;
duration = 0;
duration += inst->frameLengths_us[FINAL] - inst->storedPreLen_us; //final tx ts to final tx cb
duration += RX_TO_CB_DLY_US + RX_CB_TO_TX_CMD_DLY_US; //final tx cb to report tx cmd
duration += TX_CMD_TO_TX_CB_DLY_US + inst->frameLengths_us[REPORT] + RX_TO_CB_DLY_US;//report tx cmd to report rx cb
duration += margin_us;
- inst->durationFinalTimeout = (uint16)convertmicrosectodevicetimeu(duration);
-
-// // Update delay between poll transmission and final transmission.
-// uint64 final_delay_us = 0;
-// //poll tx ts to poll tx cb
-// final_delay_us += inst->frameLengths_us[POLL] - inst->storedPreLen_us;
-// //poll tx cb to resp tx cmd
-// final_delay_us += RX_TO_CB_DLY_US + RX_CB_TO_TX_CMD_DLY_US;
-// //resp tx cmd to final rx cb
-// final_delay_us += TX_CMD_TO_TX_CB_DLY_US + inst->frameLengths_us[RESP] + RX_TO_CB_DLY_US;
-
- //TODO fix TO values below
- // Final frame wait timeout time.
-// inst->durationFwToFinal_sy = US_TO_SY_INT(inst->frameLengths_us[FINAL])
-// + RX_START_UP_SY + margin_sy;
-// // Ranging init frame wait timeout time.
-// inst->durationFwToRngInit_sy = US_TO_SY_INT(inst->frameLengths_us[RNG_INIT])
-// + RX_START_UP_SY + margin_sy;
-
- // Delay between blink transmission and ranging init reception.
-// inst->durationTxBlink2RxRngInit_sy =
-// US_TO_SY_INT((RNG_INIT_REPLY_DLY_US) - inst->frameLengths_us[BLINK])
-// - RX_START_UP_SY;
- // Delay between anchor's response transmission and final reception.
-// inst->durationTxAnchResp2RxFinal_sy = US_TO_SY_INT(TAG_TURN_AROUND_TIME_US) - RX_START_UP_SY; //TODO remove?
-
-
- // POLL response delay. //TODO remove
-// inst->resp_dly_us[RESP_DLY_POLL] = (ANC_TURN_AROUND_TIME_US + inst->frameLengths_us[POLL]) & 0xFFFF;
-//
-// // ANCH_RESP response delay.
-// inst->resp_dly_us[RESP_DLY_ANCH_RESP] = (TAG_TURN_AROUND_TIME_US + inst->frameLengths_us[RESP]) & 0xFFFF;
-
-// // FINAL response delay. //TODO different turnaround time?
-// inst->resp_dly_us[RESP_DLY_FINAL] = (ANCH_TURN_AROUND_TIME_US + inst->frameLengths_us[FINAL]) & 0xFFFF;
+ inst->durationFinalTimeout_nus = (uint16)(duration/1.0256) + 1;
-// // Update delay between poll transmission and rx enable
-// inst->txToRxDelayPoll_sy = US_TO_SY_INT((uint64)inst->resp_dly_us[RESP_DLY_POLL] - inst->frameLengths_us[POLL]) - RX_START_UP_SY;
+ //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;
inst->finalReplyDelay = convertmicrosectodevicetimeu(duration);
// Delay between blink reception and ranging init message transmission.
- inst->rnginitReplyDelay = convertmicrosectodevicetimeu(RNG_INIT_REPLY_DLY_US);
+ inst->rnginitReplyDelay = convertmicrosectodevicetimeu(MIN_DELAYED_TX_DLY_US + inst->storedPreLen_us); //rng_init tx cmd to rng_init tx ts
-
- margin_us = 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
@@ -1535,6 +1427,65 @@ void instance_init_timings(void)
inst->durationSyncTxDoneTimeout_ms = CEIL_DIV(TX_CMD_TO_TX_CB_DLY_US + inst->frameLengths_us[SYNC] + 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 += 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
+ duration += TX_CMD_TO_TX_CB_DLY_US + inst->frameLengths_us[INF_MAX] + RX_TO_CB_DLY_US + RX_CB_TO_TX_CMD_DLY_US; //cmd INF to place INF
+ //duration += D place inf to process inf
+
+ //MEASURED_SLOT_DURATIONS_US is experimentally found value found for B+C+D described above
+ duration += (uint64)MEASURED_SLOT_DURATIONS_US;
+
+ //add some time to account for possibly timing out on first poll
+ duration += SLOT_BUFFER_EXP_TO_POLL_CMD_US; //assume this is the same amount of time go get from timeout to poll command
+ duration += TX_CMD_TO_TX_CB_DLY_US + inst->frameLengths_us[POLL] - inst->storedPreLen_us + (uint64)(inst->durationPollTimeout_nus*1.0256) + 200; //add small margin of 200
+
+
+ //if LCD is on, add time to allow for Sleep calls in the LCD display logic
+ bool enableLCD = FALSE;
+ if(port_is_switch_on(TA_SW1_4) == S1_SWITCH_ON)
+ {
+ enableLCD = TRUE;
+ duration += LCD_ENABLE_BUFFER_US;
+ }
+
+ duration += SLOT_END_BUFFER_US;
+
+ inst->durationSlotMax_us = duration;
+
+ duration = 0;
+ //from set discovery to cmd tx blink, to rx blink cb to cmd resp to rx resp ts
+ duration += TX_CMD_TO_TX_CB_DLY_US + inst->frameLengths_us[BLINK] + RX_TO_CB_DLY_US + BLINK_RX_CB_TO_RESP_TX_CMD_DLY_US + (uint64)(convertdevicetimetosec(inst->rnginitReplyDelay)*1000000.0) + RANGE_INIT_RAND_US + margin_us;
+ if(enableLCD == TRUE)
+ {
+ duration += LCD_ENABLE_BUFFER_US*2;
+ }
+ 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)*CEIL_DIV(inst->durationSlotMax_us,1000)*2;
+
inst->smartPowerEn = 0;
}
@@ -1695,7 +1646,7 @@ uint64 timestamp_subtract64(uint64 timestamp, uint64 duration)
}
}
-//TODO implement a hashing function to reduce chance of collisions
+//NOTE could implement a hashing function to reduce chance of collisions among UWB addresses in network
//https://stackoverflow.com/questions/31710074/how-to-generate-smaller-unique-number-from-larger-11-bytes-unique-number-gene
//https://en.m.wikipedia.org/wiki/Pearson_hashing
uint16 address64to16(uint8 *address)
diff --git a/src/application/instance.h b/src/application/instance.h
index a09d509e2739f3a2c51c364bfc993e9c16ad4731..f8dee0dcfe2480b415cca99a7dcfec221b6dd54b 100644
--- a/src/application/instance.h
+++ b/src/application/instance.h
@@ -42,27 +42,25 @@ typedef struct
// "MAC" features
uint8 frameFilteringEnabled ; //frame filtering is enabled
- // Is sleeping between frames enabled?
- uint8 sleepingEabled; //Ranging Init message can tell tag to stay in IDLE between ranging exchanges
+ bool lcdEnabled;
bool canPrintInfo; //only print to usb and/or LCD display when TRUE
//timeouts and delays
int tagSleepTime_ms; //in milliseconds
int tagBlinkSleepTime_ms;
//this is the delay used for the delayed transmit (when sending the ranging init, response, and final messages)
- uint64 rnginitReplyDelay ;
- uint64 finalReplyDelay ;
-// int finalReplyDelay_ms ; //TODO remove
- uint64 cmd_poll_us ;//TODO remove
+ uint64 rnginitReplyDelay;
+ uint64 finalReplyDelay;
+ uint64 finalReplyDelay_us;
- // xx_sy the units are 1.0256 us
-// uint32 durationTxAnchResp2RxFinal_sy ; // this is the delay used after sending a response and turning on the receiver to receive final
- uint32 txToRxDelayPoll_sy ; // this is the delay used after sending a poll and turning on the receiver to receive response
-// int durationTxBlink2RxRngInit_sy ; // this is the delay used after sending a blink and turning on the receiver to receive the ranging init message
- uint16 durationPollTimeout; //rx timeout duration after tx poll
- uint16 durationRespTimeout; //rx timeout duration after tx resp
- uint16 durationFinalTimeout; //rx timeout duration after tx final
+ //TODO remove below
+// uint64 slot_start_us;
+
+ //Receive Frame Wait Timeout Periods, units are 1.0256us (aus stands for near microsecond)
+ uint16 durationPollTimeout_nus; //rx timeout duration after tx poll
+ uint16 durationRespTimeout_nus; //rx timeout duration after tx resp
+ uint16 durationFinalTimeout_nus; //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
@@ -72,15 +70,18 @@ typedef struct
uint32 durationReportTxDoneTimeout_ms; //tx done timeout after tx report
uint32 durationSyncTxDoneTimeout_ms; //tx done timeout after tx sync
+ uint32 durationUwbCommTimeout_ms; //how long to wait before changing UWB_LIST_TYPE if we haven't communicated with or received an information about a UWB in a while
+ uint32 durationWaitRangeInit_ms; //discovery mode WAIT_RNG_INIT duration
+ uint64 durationSlotMax_us; // longest anticipated time required for a slot based on UWB_LIST_SIZE and S1 switch settings
uint32 delayedReplyTime; // delayed reply time of delayed TX message - high 32 bits
// Pre-computed frame lengths for frames involved in the ranging process,
// in microseconds.
uint32 frameLengths_us[FRAME_TYPE_NB];
- uint32 storedPreLen; //precomputed conversion of preamble and sfd
+ uint32 storedPreLen; //precomputed conversion of preamble and sfd in DW1000 time units
uint64 storedPreLen_us; //precomputed conversion of preamble and sfd in microseconds
//message structures used for transmitted messages
@@ -110,27 +111,15 @@ typedef struct
uint32 resp_dly_us[RESP_DLY_NB];
//64 bit timestamps
- //union of TX timestamps
-// union {
-// uint64 txTimeStamp ; // last tx timestamp
-// uint64 tagPollTxTime ; // tag's poll tx timestamp
-// uint64 anchorRespTxTime ; // anchor's reponse tx timestamp
-// }txu;
uint64 anchorRespTxTime ; // anchor's reponse tx timestamp
uint64 anchorRespRxTime ; // receive time of response message
uint64 tagPollRxTime ; // receive time of poll message
//application control parameters
- uint8 wait4ack ; // if this is set to DWT_RESPONSE_EXPECTED, then the receiver will turn on automatically after TX completion
- uint8 goToSleep; // if set the instance will go to sleep before sending the blink/poll message
- uint8 instanceTimerEnabled; // enable/start a timer
- uint32 instanceTimerTime; // e.g. this timer is used to timeout Tag when in deep sleep so it can send the next poll message
- uint32 instanceTimerTimeSaved;
- uint8 gotTO; // got timeout event
-
+ uint8 wait4ack ; // if this is set to DWT_RESPONSE_EXPECTED, then the receiver will turn on automatically after TX completion
+ uint8 gotTO; // got timeout event
//diagnostic counters/data, results and logging
-
int64 tof[UWB_LIST_SIZE] ;
double clockOffset ;
@@ -152,16 +141,11 @@ typedef struct
uint8 uwbListLen ;
uint8 uwbList[UWB_LIST_SIZE][8]; //index 0 reserved for self, rest for other tracked uwbs
- uint32 timeofTx;
- uint32 txDoneTimeoutDuration;
- bool tx_poll;
- bool tx_anch_resp;
- uint32 blink_start; //TODO remove
- uint32 range_start; //TODO remove
- uint64 timeofRX; //TODO remove
+ uint32 timeofTx; //used to calculate tx done callback timeouts
+ uint32 txDoneTimeoutDuration; //duration used for tx done callback timeouts. (set differently for each tx message)
- uint32 blink_duration; //expected duration of a blink/response exchange //TODO remove?
- uint32 range_duration; //expected duration of a range/response/final exchange //TODO remove
+ bool tx_poll; //was the last tx message a POLL message?
+ bool tx_anch_resp; //was the last tx message an ANCH_RESP message?
//event queue - used to store DW1000 events as they are processed by the dw_isr/callback functions
event_data_t dwevent[MAX_EVENT_NUMBER]; //this holds any TX/RX events and associated message data
@@ -208,7 +192,7 @@ void setupmacframedata(instance_data_t *inst, int fcode);
// initialise the instance (application) structures and DW1000 device
int instance_init(void);
int instance_init_s();
-int tdma_init_s();
+int tdma_init_s(uint64 slot_duration);
// configure the instance and DW1000 device
void instance_config(instanceConfig_t *config) ;
@@ -294,6 +278,7 @@ int instance_starttxtest(int framePeriod);
const char* get_instanceModes_string(enum instanceModes mode);
const char* get_discovery_modes_string(enum discovery_modes mode);
+const char* get_inst_states_string(enum inst_states state);
instance_data_t* instance_get_local_structure_ptr(unsigned int x);
struct TDMAHandler* tdma_get_local_structure_ptr();
diff --git a/src/application/instance_common.c b/src/application/instance_common.c
index ae20797b6f19bfb5647094683775fec7681a7993..0daf79209d395abbd56f9847359ce593bc720f9d 100644
--- a/src/application/instance_common.c
+++ b/src/application/instance_common.c
@@ -70,12 +70,12 @@ struct TDMAHandler* tdma_get_local_structure_ptr()
// function to initialise tdma structures
//
// Returns 0 on success and -1 on error
-int tdma_init_s()
+int tdma_init_s(uint64 slot_duration)
{
- tdma_handler = TDMAHandler.new();
+ tdma_handler = TDMAHandler.new(slot_duration);
- return 0 ;
+ return 0;
}
@@ -353,7 +353,7 @@ int instance_init(void)
instance_data[instance].mode = DISCOVERY;
// instance_data[instance].ranging = 0;
- instance_data[instance].goToSleep = 0;
+// instance_data[instance].goToSleep = 0;
for(uint8 i=0; i<UWB_LIST_SIZE; i++)
{
@@ -384,10 +384,8 @@ int instance_init(void)
instanceclearcounts() ;
- instance_data[instance].sleepingEabled = 1;
instance_data[instance].panID = 0xdeca ;
instance_data[instance].wait4ack = 0;
- instance_data[instance].instanceTimerEnabled = 0;
instance_clearevents();
@@ -395,6 +393,12 @@ int instance_init(void)
instance_data[instance].clockOffset = 0;
+ instance_data[instance].lcdEnabled = FALSE;
+ if(port_is_switch_on(TA_SW1_4) == S1_SWITCH_ON)
+ {
+ instance_data[instance].lcdEnabled = TRUE;
+ }
+
return 0 ;
}
@@ -698,29 +702,28 @@ void inst_processtxrxtimeout(instance_data_t *inst)
{
inst->testAppState = TA_RXE_WAIT;
}
-
- dwt_setrxtimeout(0);
}
else if(inst->mode == ANCHOR) //we did not receive the final/ACK - wait for next poll
{
inst->wait4ack = 0;
inst->uwbToRangeWith = 255;
inst->testAppState = TA_RXE_WAIT ; // wait for next frame
- dwt_setrxtimeout(0);
}
else //if(inst->mode == TAG)
{
inst->testAppState = TA_TX_SELECT ;
}
+ inst->canPrintInfo = TRUE;
inst->previousState = TA_INIT;
- inst->canPrintInfo = TRUE;
+ dwt_setrxtimeout(0); //units are 1.0256us
//timeout - disable the radio (if using SW timeout the rx will not be off)
dwt_forcetrxoff() ;
}
void instance_txcallback(const dwt_cb_data_t *txd)
{
+
uint8 txTimeStamp[5] = {0, 0, 0, 0, 0};
event_data_t dw_event;
@@ -765,12 +768,6 @@ void instance_txcallback(const dwt_cb_data_t *txd)
instance_putevent(dw_event);
-#if (DEEP_SLEEP == 1)
- int instance = 0;
- if (instance_data[instance].sleepingEabled)
- instance_data[instance].txmsgcount++;
-#endif
-
}
void instance_rxtimeoutcallback(const dwt_cb_data_t *rxd)
@@ -818,7 +815,7 @@ void instance_rxerrorcallback(const dwt_cb_data_t *rxd)
{
instance_data[instance].uwbToRangeWith = 255;
- instancerxon(&instance_data[instance], 0, 0); //immediate enable if anchor or listener
+ instancerxon(&instance_data[instance], 0, 0); //immediate enable if anchor
}
}
@@ -826,12 +823,6 @@ void instance_rxerrorcallback(const dwt_cb_data_t *rxd)
void instance_rxgoodcallback(const dwt_cb_data_t *rxd)
{
-// uint8 sys_time_arr[5] = {0, 0, 0, 0, 0};
-// dwt_readsystime(sys_time_arr);
-// uint64 rxcb_time_now = 0;
-// rxcb_time_now = (uint64)sys_time_arr[0] + ((uint64)sys_time_arr[1] << 8) + ((uint64)sys_time_arr[2] << 16) + ((uint64)sys_time_arr[3] << 24) + ((uint64)sys_time_arr[4] << 32);
-// uint64 time_now_us = portGetTickCntMicro();
-
int instance = 0;
uint8 rxTimeStamp[5] = {0, 0, 0, 0, 0};
uint8 srcAddr_index = 0;
@@ -840,7 +831,6 @@ void instance_rxgoodcallback(const dwt_cb_data_t *rxd)
event_data_t dw_event;
uint32 time_now = portGetTickCnt();
- instance_data[instance].timeofRX = portGetTickCntMicro();
//if we got a frame with a good CRC - RX OK
rxd_event = DWT_SIG_RX_OKAY;
@@ -964,7 +954,6 @@ void instance_rxgoodcallback(const dwt_cb_data_t *rxd)
#if (USING_64BIT_ADDR==0)
memcpy(&blink_address, &dw_event.msgu.rxblinkmsg.tagID[0], instance_data[instance].addrByteSize);
#else
-// uint16 blink_address_short = address64to16(&dw_event.msgu.rxblinkmsg.tagID[0]); //TODO remove
memcpy(&blink_address, &dw_event.msgu.rxblinkmsg.tagID[0], instance_data[instance].addrByteSize);
#endif
@@ -1003,26 +992,18 @@ void instance_rxgoodcallback(const dwt_cb_data_t *rxd)
// uint64 rxcb_time_now_us = portGetTickCntMicro();
- //TODO remove
+// //TODO remove
// uint8 debug_msg[100];
// uint16 my_addr = instance_data[instance].uwbShortAdd;
-// int n = sprintf((char*)&debug_msg[0], "RX CB RX: DWT_SIG_RX_OKAY-%s,%04X,uwb_index: %04d, uwb_trw: %04d", get_msg_fcode_string(dw_event.msgu.frame[fcode_index]), my_addr,uwb_index, instance_data[instance].uwbToRangeWith);
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
+//// int n = sprintf((char*)&debug_msg[0], "RX CB RX: DWT_SIG_RX_OKAY-%s,%04X,uwb_index: %04d, uwb_trw: %04d", get_msg_fcode_string(dw_event.msgu.frame[fcode_index]), my_addr,uwb_index, instance_data[instance].uwbToRangeWith);
+//// send_usbmessage(&debug_msg[0], n);
+//// usb_run();
// int n = 0;
// uint64 time = (uint64)(convertdevicetimetosec(rxcb_time_now - dw_event.timeStamp)*1000000.0) + instance_data[instance].storedPreLen_us;
// time -= inst->frameLengths_us[RNG_INIT ];
// inst->storedPreLen_us
//dwt_time_now - (rx_timestamp - (framelength - preamble_sfd))
-// inst->frameLengths_us[i]
-// BLINK = 0,
-// RNG_INIT,
-// POLL,
-// RESP,
-// FINAL,
-// SYNC,
-// FRAME_TYPE_NB
@@ -1044,7 +1025,10 @@ void instance_rxgoodcallback(const dwt_cb_data_t *rxd)
// }
// n = sprintf((char*)&debug_msg[0], "RX CB RX: DWT_SIG_RX_OKAY-%s, rx_to_cb_delay: %llu", get_msg_fcode_string(dw_event.msgu.frame[fcode_index]), time);
-// if(dw_event.msgu.frame[fcode_index] == RTLS_DEMO_MSG_RNG_INIT )
+
+
+
+// if(dw_event.msgu.frame[fcode_index] == RTLS_DEMO_MSG_RNG_INIT )
// {
// n = sprintf((char*)&debug_msg[0], "RX CB RX: DWT_SIG_RX_OKAY-%s,%04X,uwb_index: %04d, uwb_trw: %04d", get_msg_fcode_string(dw_event.msgu.frame[fcode_index]), my_addr,uwb_index, instance_data[instance].uwbToRangeWith);
// }
@@ -1084,7 +1068,7 @@ void instance_rxgoodcallback(const dwt_cb_data_t *rxd)
// {
// n = sprintf((char*)&debug_msg[0], "RX CB RX: DWT_SIG_RX_OKAY-%s,%04X,uwb_index: %04d, uwb_trw: %04d", get_msg_fcode_string(dw_event.msgu.frame[fcode_index]), my_addr,uwb_index, instance_data[instance].uwbToRangeWith);
// }
-
+//
// send_usbmessage(&debug_msg[0], n);
// usb_run();
@@ -1176,13 +1160,6 @@ void instance_rxgoodcallback(const dwt_cb_data_t *rxd)
if(dw_event.msgu.frame[fcode_index] == RTLS_DEMO_MSG_TAG_POLL)
{
int psduLength = RESP_FRAME_LEN_BYTES;
-// int psduLength = 0; //TODO remove
-//#if (USING_64BIT_ADDR == 1)
-// psduLength = ANCH_RESPONSE_MSG_LEN + FRAME_CRTL_AND_ADDRESS_L + FRAME_CRC;
-//#else
-// psduLength = ANCH_RESPONSE_MSG_LEN + FRAME_CRTL_AND_ADDRESS_S + FRAME_CRC;
-//#endif
-
instance_data[instance].tagPollRxTime = dw_event.timeStamp ; //Poll's Rx time
instance_data[instance].msg.messageData[FCODE] = RTLS_DEMO_MSG_ANCH_RESP; //message function code (specifies if message is a poll, response or other...)
@@ -1190,53 +1167,30 @@ void instance_rxgoodcallback(const dwt_cb_data_t *rxd)
instance_data[instance].msg.seqNum = instance_data[instance].frameSN++;
- dwt_setrxaftertxdelay(0); //units are 1.0256us - wait for wait4respTIM before RX on (delay RX)
- dwt_setrxtimeout(instance_data[instance].durationRespTimeout);
+ dwt_setrxaftertxdelay(0); //units are 1.0256us
+ dwt_setrxtimeout(instance_data[instance].durationRespTimeout_nus*0);//units are 1.0256us
instance_data[instance].wait4ack = DWT_RESPONSE_EXPECTED;
- //TODO remove
-// uint64 time_now_us = portGetTickCntMicro();
-// uint64 diff = get_dt64(instance_data[instance].timeofRX, time_now_us);
-// uint8 debug_msg[100];
-// int n = sprintf((char*)&debug_msg[0], "ANCH_TURNAROUND: %llu", diff);
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-
-// uint64 tx_dly_us = instance_data[instance].storedPreLen_us + 280;
-// uint64 tx_dly = convertmicrosectodevicetimeu(tx_dly_us);
-// uint64 tx_dly = 140000000;
-
-// uint8 sys_time_arr[5] = {0, 0, 0, 0, 0};
-// dwt_readsystime(sys_time_arr);
-// uint64 dwt_time_now = 0;
-// dwt_time_now = (uint64)sys_time_arr[0] + ((uint64)sys_time_arr[1] << 8) + ((uint64)sys_time_arr[2] << 16) + ((uint64)sys_time_arr[3] << 24) + ((uint64)sys_time_arr[4] << 32);
-//
-// uint64 diff = convertdevicetimetosec( get_dt64(rxcb_time_now, dwt_time_now))*1000000;
-// instance_data[instance].delayedReplyTime = (dwt_time_now + tx_dly) >> 8;
-
-// dwt_time_now = dwt_time_now >> 8;
-// tx_dly = tx_dly >> 8;
-
dwt_writetxdata(psduLength, (uint8 *) &instance_data[instance].msg, 0) ; // write the frame data
if(instancesendpacket(psduLength, DWT_START_TX_IMMEDIATE | instance_data[instance].wait4ack, 0))
{
+ uint8 debug_msg[100];
+ int n = sprintf((char*)&debug_msg[0], "RESP late tx!");
+ send_usbmessage(&debug_msg[0], n);
+ usb_run();
+
instance_data[0].tx_anch_resp = FALSE;
- instance_data[instance].previousState = TA_INIT; //TODO should we place this event??? maybe place an error?
+ instance_data[instance].previousState = TA_INIT;
instance_data[instance].nextState = TA_INIT;
instance_data[instance].testAppState = TA_RXE_WAIT;
instance_data[instance].wait4ack = 0;
}
else
{
-// pass = TRUE;
-// uint8 debug_msg[100];
-// int n = sprintf((char*)&debug_msg[0], "RESP SENT!");
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
instance_data[0].tx_anch_resp = 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;
- //TODO check below
+
instance_data[instance].txDoneTimeoutDuration = instance_data[instance].durationRespTxDoneTimeout_ms;
instance_data[instance].canPrintInfo = FALSE; //don't print to LCD or USB while ranging
}
@@ -1246,12 +1200,6 @@ void instance_rxgoodcallback(const dwt_cb_data_t *rxd)
{
//process RTLS_DEMO_MSG_ANCH_RESP immediately.
int psduLength = FINAL_FRAME_LEN_BYTES;
-// int psduLength = 0;//TODO remove
-// #if (USING_64BIT_ADDR==1)
-// psduLength = TAG_FINAL_MSG_LEN + FRAME_CRTL_AND_ADDRESS_L + FRAME_CRC;
-// #else
-// psduLength = TAG_FINAL_MSG_LEN + FRAME_CRTL_AND_ADDRESS_S + FRAME_CRC;
-// #endif
instance_data[instance].anchorRespRxTime = dw_event.timeStamp ; //Response's Rx time
// Embbed into Final message:40-bit respRxTime
@@ -1259,62 +1207,16 @@ void instance_rxgoodcallback(const dwt_cb_data_t *rxd)
memcpy(&(instance_data[instance].msg.messageData[RRXT]), (uint8 *)&instance_data[instance].anchorRespRxTime, 5);
instance_data[instance].msg.messageData[FCODE] = RTLS_DEMO_MSG_TAG_FINAL; //message function code (specifies if message is a poll, response or other...)
- dwt_setrxaftertxdelay(0);
- dwt_setrxtimeout(instance_data[instance].durationFinalTimeout);
+ dwt_setrxaftertxdelay(0); //units are 1.0256us
+ dwt_setrxtimeout(instance_data[instance].durationFinalTimeout_nus*0); //TODO//units are 1.0256us
instance_data[instance].wait4ack = 0;//DWT_RESPONSE_EXPECTED;
- //TODO does this number get larger with more UWBS?
- //should we call this in rxgoodcallback to minimize time and time variance????
-// uint64 time_now_us = portGetTickCntMicro();
-// uint64 diff = get_dt64(instance_data[instance].timeofRX, time_now_us);
-// uint8 debug_msg[100];
-// int n = sprintf((char*)&debug_msg[0], "TAG_TURNAROUND: %llu", diff);
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-
-// //TODO remove below
-// //from RX time till now (need some amount of padding as well...)
-// uint8 sys_time_arr[5] = {0, 0, 0, 0, 0};
-// dwt_readsystime(sys_time_arr);
-// uint64 dwt_time_now = 0;
-// dwt_time_now = (uint64)sys_time_arr[0] + ((uint64)sys_time_arr[1] << 8) + ((uint64)sys_time_arr[2] << 16) + ((uint64)sys_time_arr[3] << 24) + ((uint64)sys_time_arr[4] << 32);
-// dwt_time_now = dwt_time_now >> 8;
-
-// uint64 tx_dly_us = instance_data[instance].storedPreLen_us + MIN_DELAYED_TX_DLY_US;
-// uint64 tx_dly = convertmicrosectodevicetimeu(tx_dly_us);
-//
-// uint64 opt_dly = (dwt_time_now + tx_dly) >> 8;
-// uint64 actual_dl = instance_data[instance].delayedReplyTime;
-
-// uint8 sys_time_arr[5] = {0, 0, 0, 0, 0};
-// dwt_readsystime(sys_time_arr);
-// uint64 dwt_time_now = 0;
-// dwt_time_now = (uint64)sys_time_arr[0] + ((uint64)sys_time_arr[1] << 8) + ((uint64)sys_time_arr[2] << 16) + ((uint64)sys_time_arr[3] << 24) + ((uint64)sys_time_arr[4] << 32);
-//
-// uint64 diff = convertdevicetimetosec( get_dt64(rxcb_time_now, dwt_time_now))*1000000;
-//
-// instance_data[instance].delayedReplyTime = (dwt_time_now + tx_dly) >> 8;
-//
-
-
-
-// dwt_time_now = dwt_time_now >> 8;
-// tx_dly = tx_dly >> 8;
-
-
-
dwt_writetxdata(psduLength, (uint8 *)&instance_data[instance].msg, 0) ; // write the frame data
if(instancesendpacket(psduLength, DWT_START_TX_DELAYED | instance_data[instance].wait4ack, instance_data[instance].delayedReplyTime))
{
-// //TODO remove
-// uint8 debug_msg[100];
-// int n = sprintf((char*)&debug_msg[0], "tx/dwt: %lu/%llu ", instance_data[instance].delayedReplyTime, dwt_time_now);
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-
instance_data[instance].previousState = TA_INIT;
instance_data[instance].nextState = TA_INIT;
- instance_data[instance].testAppState = TA_RXE_WAIT; //TODO should we place this event??? maybe palce an error?
+ instance_data[instance].testAppState = TA_RXE_WAIT;
instance_data[instance].wait4ack = 0; //clear the flag as the TX has failed the TRX is off
instance_data[instance].lateTX++;
@@ -1327,17 +1229,16 @@ void instance_rxgoodcallback(const dwt_cb_data_t *rxd)
}
else
{
-// uint8 debug_msg[100];//TODO remove
-// int n = sprintf((char*)&debug_msg[0], "FINAL SENT!");
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
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;
- //TODO check below
+
instance_data[instance].txDoneTimeoutDuration = instance_data[instance].durationFinalTxDoneTimeout_ms;
}
}
+ //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)
@@ -1349,13 +1250,6 @@ void instance_rxgoodcallback(const dwt_cb_data_t *rxd)
if(place_event)
{
instance_putevent(dw_event);
-
-#if (DEEP_SLEEP == 1)
- if (instance_data[instance].sleepingEabled)
- {
- instance_data[instance].rxmsgcount++;
- }
-#endif
}
else
{
@@ -1461,50 +1355,27 @@ int instance_run(void)
message = 0;
}
- uint32 time_now = portGetTickCnt();
+// uint32 time_now = portGetTickCnt();
- //check timeouts.
- if(tdma_handler.check_timeouts(&tdma_handler, time_now))
+ //only check timeouts if we aren't in the middle of ranging messages
+ //the TDMA reoptimization may mess up the timing
+ if(instance_data[instance].canPrintInfo == TRUE)
{
- //handle case where we timeout and no longer have any neighbors
- instance_data[instance].mode = DISCOVERY;
- tdma_handler.enter_discovery_mode(&tdma_handler);
- inst_processtxrxtimeout(&instance_data[instance]);
+ //check timeouts.
+ if(tdma_handler.check_timeouts(&tdma_handler))
+ {
+// uint8 debug_msg[100]; //TODO remove
+// int n = sprintf((char *)&debug_msg, "ALL TIMEOUT time_now_us: %llu", portGetTickCntMicro());
+// send_usbmessage(&debug_msg[0], n);
+// usb_run();
+
+ //handle case where we timeo7ut and no longer have any neighbors
+ instance_data[instance].mode = DISCOVERY;
+ tdma_handler.enter_discovery_mode(&tdma_handler);
+ inst_processtxrxtimeout(&instance_data[instance]);
+ }
}
-// //TODO below may not be needed or may need to be updated?
-// if(done == INST_DONE_WAIT_FOR_NEXT_EVENT_TO) //we are in RX and need to timeout (Tag needs to send another poll if no Rx frame)
-// {
-// if(instance_data[instance].mode == DISCOVERY)
-// {
-// if(instance_data[instance].previousState == TA_TXBLINK_WAIT_SEND)
-// {
-// instance_data[instance].instanceTimerTime += instance_data[instance].tagBlinkSleepTime_ms; //set timeout time
-// instance_data[instance].instanceTimerEnabled = 1; //start timer
-// }
-// }
-//
-// if(instance_data[instance].mode == TAG) //Tag (is either in RX or sleeping)
-// {
-// instance_data[instance].instanceTimerTime = instance_data[instance].instanceTimerTimeSaved + instance_data[instance].tagSleepTime_ms; //set timeout time
-// instance_data[instance].instanceTimerEnabled = 1; //start timer
-// }
-// }
-//
-// //check if timer has expired
-// if(instance_data[instance].instanceTimerEnabled == 1)
-// {
-// if(instance_data[instance].instanceTimerTime < portGetTickCnt())
-// {
-// event_data_t dw_event;
-// instance_data[instance].instanceTimerEnabled = 0;
-// dw_event.rxLength = 0;
-// dw_event.type = DWT_SIG_RX_TIMEOUT;
-// dw_event.typeSave = 0x80 | DWT_SIG_RX_TIMEOUT;
-// instance_putevent(dw_event);
-// }
-// }
-
return ((done != INST_NOT_DONE_YET) ? 1 : 0);
}
diff --git a/src/application/tdma_handler.c b/src/application/tdma_handler.c
index 3eb870b587175ea9d955b939a757ae8670861669..0d776276c3e72d885b7cee9fbf546a97c0edfd35 100644
--- a/src/application/tdma_handler.c
+++ b/src/application/tdma_handler.c
@@ -21,11 +21,19 @@ static bool slot_transition(struct TDMAHandler *this)
if(timeSinceSlotStart64 >= this->slotDuration_us)
{
+// uint8 debug_msg[100]; //TODO remove
+//// int n = sprintf((char *)&debug_msg, "new slot, time_now_us: %llu", time_now_us);
+//
+// int n = sprintf((char *)&debug_msg, "new slot, time_now_us: %llu, state: %s, mode: %s", time_now_us, get_inst_states_string(inst->testAppState), get_instanceModes_string(inst->mode));
+// send_usbmessage(&debug_msg[0], n);
+// usb_run();
+
transition = TRUE;
this->firstPollSentThisSlot = FALSE;
this->firstPollComplete = FALSE;
this->secondPollSentThisSlot = FALSE;
this->infSentThisSlot = FALSE;
+ inst->canPrintInfo = TRUE;
//we have transitioned into the next slot.
//get the slot number and set the start time appropriately
@@ -36,19 +44,14 @@ static bool slot_transition(struct TDMAHandler *this)
if(timeSinceFrameStart64 >= frameDuration64)
{
//TODO remove
-// uint8 debug_msg[100];
-////// int n = sprintf((char*)&debug_msg[0], "NEW FRAME, %llX, this->frameStartTime: %lu, this->slotDuration*this->framelength: %lu", instance_get_addr(), this->frameStartTime, (this->slotDuration*this->framelength));
-// int n = sprintf((char*)&debug_msg[0], "%llX, %llu, %llu", instance_get_addr(), this->lastFST, time_now_us);
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
+ uint8 debug_msg[100];
+//// int n = sprintf((char*)&debug_msg[0], "NEW FRAME, %llX, this->frameStartTime: %lu, this->slotDuration*this->framelength: %lu", instance_get_addr(), this->frameStartTime, (this->slotDuration*this->framelength));
+ int n = sprintf((char*)&debug_msg[0], "%llX, %llu, %llu", instance_get_addr(), this->lastFST, time_now_us);
+ send_usbmessage(&debug_msg[0], n);
+ usb_run();
}
-// while(timeSinceFrameStart64 >= frameDuration64)
-// {
-// this->uwbListTDMAInfo[0].frameStartTime = timestamp_add64(this->uwbListTDMAInfo[0].frameStartTime, frameDuration64);
-// timeSinceFrameStart64 -= frameDuration64;
-// }//TODO check and remove
if(timeSinceFrameStart64 >= frameDuration64)
{
int div = timeSinceFrameStart64/frameDuration64;
@@ -75,6 +78,7 @@ static bool slot_transition(struct TDMAHandler *this)
{
//go to RX
inst->mode = ANCHOR;
+ inst->wait4ack = 0;
inst->testAppState = TA_RXE_WAIT;
}
}
@@ -111,8 +115,8 @@ static void frame_sync(struct TDMAHandler *this, event_data_t *dw_event, uint8 f
dwt_time_now = (uint64)sys_time_arr[0] + ((uint64)sys_time_arr[1] << 8) + ((uint64)sys_time_arr[2] << 16) + ((uint64)sys_time_arr[3] << 24) + ((uint64)sys_time_arr[4] << 32);
uint64 time_now_us = portGetTickCntMicro();
- //time from message to tx
- //assuming zero since we use DWT_START_TX_IMMEDIATE
+ //time from command tx to tx timestamp
+ uint64 infCmdToTsDelay_us = TX_CMD_TO_TX_CB_DLY_US + inst->storedPreLen_us;
//tx antenna delay
uint64 tx_antenna_delay = (uint64)inst->txAntennaDelay;
@@ -126,7 +130,7 @@ static void frame_sync(struct TDMAHandler *this, event_data_t *dw_event, uint8 f
//time from rx timestamp to now
uint64 rxfs_process_delay = dwt_getdt(dw_event->timeStamp, dwt_time_now);
- uint64 txrx_delay = (uint64)(convertdevicetimetosec(tx_antenna_delay + rxfs_process_delay)*1000000.0) + inst->storedPreLen_us;
+ uint64 txrx_delay = (uint64)(convertdevicetimetosec(tx_antenna_delay + rxfs_process_delay)*1000000.0) + infCmdToTsDelay_us;
uint64 hisTimeSinceFrameStart_us = timeSinceFrameStart_us + txrx_delay;
this->uwbListTDMAInfo[srcIndex].frameStartTime = timestamp_subtract64(time_now_us, hisTimeSinceFrameStart_us);
@@ -242,12 +246,6 @@ static void frame_sync(struct TDMAHandler *this, event_data_t *dw_event, uint8 f
static bool tx_sync_msg(struct TDMAHandler *this)
{
int psduLength = SYNC_FRAME_LEN_BYTES;
-// int psduLength = 0; //TODO remove
-//#if (USING_64BIT_ADDR==1)
-// psduLength = SYNC_MSG_LEN + FRAME_CRTL_AND_ADDRESS_LS + FRAME_CRC;
-//#else
-// psduLength = SYNC_MSG_LEN + FRAME_CRTL_AND_ADDRESS_S + FRAME_CRC;
-//#endif
instance_data_t *inst = instance_get_local_structure_ptr(0);
uint64 time_now_us = portGetTickCntMicro();
@@ -256,8 +254,8 @@ static bool tx_sync_msg(struct TDMAHandler *this)
memcpy(&inst->sync_msg.messageData[SYNC_TSFS], &myTimeSinceFrameStart_us, 6);
inst->sync_msg.seqNum = inst->frameSN++;
- dwt_setrxaftertxdelay((uint16)0);
- dwt_setrxtimeout((uint16)0);
+ dwt_setrxaftertxdelay(0); //units are 1.0256us
+ dwt_setrxtimeout(0); //units are 1.0256us
inst->wait4ack = 0;
dwt_writetxdata(psduLength, (uint8 *)&inst->sync_msg, 0) ; // write the frame data
@@ -275,8 +273,7 @@ static bool tx_sync_msg(struct TDMAHandler *this)
inst->testAppState = TA_TX_WAIT_CONF; // wait confirmation
inst->timeofTx = portGetTickCnt();
- //TODO check below
- inst->txDoneTimeoutDuration = inst->durationSyncTxDoneTimeout_ms; //NOTE timeout duration found experimentally, may need to be changed if the delays in instance.h are modified
+ inst->txDoneTimeoutDuration = inst->durationSyncTxDoneTimeout_ms; //NOTE timeout duration found experimentally
return TRUE;
}
}
@@ -341,55 +338,147 @@ static bool tx_select(struct TDMAHandler *this)
}
else
{
- if(this->firstPollSentThisSlot == TRUE && this->secondPollSentThisSlot == FALSE && this->firstPollComplete == FALSE)
+
+ uint32 timeSinceRange[UWB_LIST_SIZE] = {0}; //0th entry unused
+ uint32 numNeighbors = 0;
+ uint32 time_now = portGetTickCnt();
+
+ //get time since range for each neighbor
+ for(int i = 1; i < inst->uwbListLen; i++)//0 reserved for self
+ {
+ if(this->uwbListTDMAInfo[i].connectionType == UWB_LIST_NEIGHBOR)
+ {
+ numNeighbors++;
+ timeSinceRange[i] = get_dt32(this->uwbListTDMAInfo[i].lastRange, time_now);
+ }
+ }
+
+ if(this->nthOldest > numNeighbors)
{
- int test = 1;
- test++;
+ this->nthOldest = 1;
}
- //check which neighbor UWB hasn't been ranged with for the longest amount of time
- uint32 timeSinceOldestRange = 0;
- uint32 timeSinceSecondOldestRange = 0;
- uint8 second_oldest_uwb_index = 255;
+ //get the nth oldest
for(int i = 1; i < inst->uwbListLen; i++)//0 reserved for self
{
if(this->uwbListTDMAInfo[i].connectionType == UWB_LIST_NEIGHBOR)
{
- uint32 timeSinceRange = get_dt32(this->uwbListTDMAInfo[i].lastRange, portGetTickCnt());
-
- if(timeSinceOldestRange == 0)
+ uint8 numOlder = 0;
+ for(int j = 1; j < inst->uwbListLen; j++)//0 reserved for self
{
- timeSinceOldestRange = timeSinceRange;
- timeSinceSecondOldestRange = timeSinceRange;
-
- uwb_index = i;
- second_oldest_uwb_index = i;
+ if(i != j)
+ {
+ if(this->uwbListTDMAInfo[j].connectionType == UWB_LIST_NEIGHBOR)
+ {
+ if(timeSinceRange[i] < timeSinceRange[j])
+ {
+ numOlder++;
+ }
+ }
+ }
}
- else if(timeSinceRange > timeSinceOldestRange)
+
+ if(numOlder + 1 == this->nthOldest)
{
- timeSinceSecondOldestRange = timeSinceOldestRange;
- second_oldest_uwb_index = uwb_index;
- timeSinceOldestRange = timeSinceRange;
uwb_index = i;
- }
- else if(timeSinceRange > timeSinceSecondOldestRange)
- {
- timeSinceSecondOldestRange = timeSinceRange;
- second_oldest_uwb_index = i;
- }
- else if(timeSinceOldestRange == timeSinceSecondOldestRange)
- {
- timeSinceSecondOldestRange = timeSinceRange;
- second_oldest_uwb_index = i;
+ break;
}
}
- }
- if(this->firstPollSentThisSlot == TRUE && this->secondPollSentThisSlot == FALSE && this->firstPollComplete == FALSE)
- {
- uwb_index = second_oldest_uwb_index;
+// if(this->uwbListTDMAInfo[i].connectionType == UWB_LIST_NEIGHBOR)
+// {
+// uint8 numOlder = 0;
+// for(int j = 1; j < inst->uwbListLen; j++)//0 reserved for self
+// {
+// if(i != j)
+// {
+// if(this->uwbListTDMAInfo[j].connectionType == UWB_LIST_NEIGHBOR)
+// {
+// if(timeSinceRange[i] <= timeSinceRange[j])
+// {
+// numOlder++;
+// }
+// }
+// }
+// }
+//
+// bool range = FALSE;
+// if(this->firstPollSentThisSlot == TRUE)
+// {
+// if(this->firstPollComplete == FALSE && this->secondPollSentThisSlot == FALSE)
+// {
+// //second poll this slot
+//
+// if(numOlder + 1 == this->nthOldest)
+// {
+// range = TRUE;
+// }
+// }
+// }
+// else //first poll this slot
+// {
+// //want to range with the oldest index
+// if(numOlder + 1 == this->nthOldest)
+// {
+// range = TRUE;
+// }
+// }
+//
+// if(range == TRUE)
+// {
+// uwb_index = i;
+//// this->nthOldest++;
+// break;
+// }
+// }
}
+// //TODO make this work right when two or more drop out at the same time
+// //check which neighbor UWB hasn't been ranged with for the longest amount of time
+// uint32 timeSinceOldestRange = 0;
+// uint32 timeSinceSecondOldestRange = 0;
+// uint8 second_oldest_uwb_index = 255;
+// for(int i = 1; i < inst->uwbListLen; i++)//0 reserved for self
+// {
+// if(this->uwbListTDMAInfo[i].connectionType == UWB_LIST_NEIGHBOR)
+// {
+// uint32 timeSinceRange = get_dt32(this->uwbListTDMAInfo[i].lastRange, portGetTickCnt());
+//
+// if(timeSinceOldestRange == 0)
+// {
+// timeSinceOldestRange = timeSinceRange;
+// timeSinceSecondOldestRange = timeSinceRange;
+//
+// uwb_index = i;
+// second_oldest_uwb_index = i;
+// }
+// else if(timeSinceRange > timeSinceOldestRange)
+// {
+// timeSinceSecondOldestRange = timeSinceOldestRange;
+// second_oldest_uwb_index = uwb_index;
+// timeSinceOldestRange = timeSinceRange;
+// uwb_index = i;
+// }
+// else if(timeSinceRange > timeSinceSecondOldestRange)
+// {
+// timeSinceSecondOldestRange = timeSinceRange;
+// second_oldest_uwb_index = i;
+// }
+// else if(timeSinceOldestRange == timeSinceSecondOldestRange)
+// {
+// timeSinceSecondOldestRange = timeSinceRange;
+// second_oldest_uwb_index = i;
+// }
+// }
+// }
+//
+// if(this->firstPollSentThisSlot == TRUE && this->secondPollSentThisSlot == FALSE && this->firstPollComplete == FALSE)
+// {
+// uwb_index = second_oldest_uwb_index;
+// }
+
+
+
if(uwb_index == 255 && inst->uwbListLen > 1)
{
uwb_index = 1;
@@ -429,7 +518,7 @@ static bool tx_select(struct TDMAHandler *this)
else if(this->secondPollSentThisSlot == FALSE && this->firstPollComplete == FALSE)
{
this->secondPollSentThisSlot = TRUE;
- inst->testAppState = TA_TXPOLL_WAIT_SEND; //select new uwb index!
+ inst->testAppState = TA_TXPOLL_WAIT_SEND;
}
else if(this->infSentThisSlot == FALSE)
{
@@ -1019,7 +1108,8 @@ static void find_assign_slot(struct TDMAHandler *this)
while(TRUE)
{
//GU
- for(uint8 i = 1; i < info->framelength; i++) //TODO make sure we don't accidentally assign to slot 0
+ uint8 slotsAssigned = 0;
+ for(uint8 i = 1; i < info->framelength; i++)//do not assign to 0th slot
{
bool assigned = FALSE;
@@ -1076,7 +1166,13 @@ static void find_assign_slot(struct TDMAHandler *this)
if(assigned == FALSE)
{
this->assign_slot(info, i, FALSE);
- assignment_made = TRUE; //TODO just stop here? or get all unassigned slots?
+ assignment_made = TRUE;
+
+ slotsAssigned++;
+ if(slotsAssigned > 1) //assign self up to two empty slots
+ {
+ break;
+ }
}
}
@@ -1531,6 +1627,9 @@ static void enter_discovery_mode(struct TDMAHandler *this)
this->set_discovery_mode(this, WAIT_INF_REG, time_now);
this->collectInfStartTime = time_now;
+ instance_data_t *inst = instance_get_local_structure_ptr(0);
+ inst->canPrintInfo = TRUE;
+
this->tdma_free_all_slots(this);
}
@@ -1556,13 +1655,14 @@ static void set_discovery_mode(struct TDMAHandler *this, DISCOVERY_MODE discover
}
case WAIT_INF_INIT:
{
- this->discovery_mode_duration = 400;//TODO use a smart timeout value
+ this->discovery_mode_duration = this->slotDuration_ms;
this->discovery_mode_expires = TRUE;
break;
}
case WAIT_RNG_INIT:
{
- this->discovery_mode_duration = 400;//TODO use a smart timeout value
+ instance_data_t *inst = instance_get_local_structure_ptr(0);
+ this->discovery_mode_duration = inst->durationWaitRangeInit_ms;
this->discovery_mode_expires = TRUE;
break;
}
@@ -1816,7 +1916,7 @@ static void check_discovery_mode_expiration(struct TDMAHandler *this)
}
-static bool check_timeouts(struct TDMAHandler *this, uint32 time_now)
+static bool check_timeouts(struct TDMAHandler *this)
{
instance_data_t *inst = instance_get_local_structure_ptr(0);
uint32 delta_t = 0;
@@ -1833,9 +1933,9 @@ static bool check_timeouts(struct TDMAHandler *this, uint32 time_now)
{
case UWB_LIST_NEIGHBOR:
{
- delta_t = get_dt32(info->lastCommNeighbor, time_now);
+ delta_t = get_dt32(info->lastCommNeighbor, portGetTickCnt()); //get time now here in case rx interrupt occurs before get_dt call
- if(delta_t > UWB_COMM_TIMEOUT)
+ if(delta_t > inst->durationUwbCommTimeout_ms)
{
if(info->lastCommHidden != 0)
{
@@ -1870,9 +1970,9 @@ static bool check_timeouts(struct TDMAHandler *this, uint32 time_now)
}
case UWB_LIST_HIDDEN:
{
- delta_t = get_dt32(info->lastCommHidden, time_now);
+ delta_t = get_dt32(info->lastCommHidden, portGetTickCnt()); //get time now here in case rx interrupt occurs before get_dt call
- if(delta_t > UWB_COMM_TIMEOUT)
+ if(delta_t > inst->durationUwbCommTimeout_ms)
{
if(info->lastCommTwiceHidden != 0)
{
@@ -1892,9 +1992,9 @@ static bool check_timeouts(struct TDMAHandler *this, uint32 time_now)
}
case UWB_LIST_TWICE_HIDDEN:
{
- delta_t = get_dt32(info->lastCommTwiceHidden, time_now);
+ delta_t = get_dt32(info->lastCommTwiceHidden, portGetTickCnt()); //get time now here in case rx interrupt occurs before get_dt call
- if(delta_t > UWB_COMM_TIMEOUT)
+ if(delta_t > inst->durationUwbCommTimeout_ms)
{
info->connectionType = UWB_LIST_INACTIVE;
this->free_slots(info);
@@ -1948,47 +2048,6 @@ static bool check_timeouts(struct TDMAHandler *this, uint32 time_now)
}
-static void remove_uwbinfo(struct TDMAHandler *this, uint8 uwb_index)
-{
- instance_data_t *inst = instance_get_local_structure_ptr(0);
-
- if(uwb_index > 0 && uwb_index < inst->uwbListLen)
- {
- this->free_slots(&this->uwbListTDMAInfo[uwb_index]);
-
- for(int i=uwb_index; i<inst->uwbListLen-1; i++)
- {
- struct TDMAInfo *info_a = &this->uwbListTDMAInfo[i];
- struct TDMAInfo *info_b = &this->uwbListTDMAInfo[i+1];
-
- info_a->connectionType = info_b->connectionType;
- info_a->lastCommNeighbor = info_b->lastCommNeighbor;
- info_a->lastCommHidden = info_b->lastCommHidden;
- info_a->lastCommTwiceHidden = info_b->lastCommTwiceHidden;
- info_a->lastRange = info_b->lastRange;
- info_a->frameStartTime = info_b->frameStartTime;
- info_a->framelength = info_b->framelength;
- info_a->slotsLength = info_b->slotsLength;
- info_a->slots = info_b->slots;
- }
-
-
- struct TDMAInfo *info_end = &this->uwbListTDMAInfo[inst->uwbListLen-1]; //maybe this!
- info_end->connectionType = UWB_LIST_INACTIVE;
- info_end->lastCommNeighbor = 0;
- info_end->lastCommHidden = 0;
- info_end->lastCommTwiceHidden = 0;
- info_end->lastRange = 0;
- info_end->frameStartTime = 0;
- info_end->framelength = MIN_FRAMELENGTH;
- this->free_slots(info_end);
- }
-}
-
-
-
-
-
static void usb_dump_tdma(struct TDMAHandler *this)
{
instance_data_t *inst = instance_get_local_structure_ptr(0);
@@ -2050,33 +2109,8 @@ static void usb_dump_tdma(struct TDMAHandler *this)
}
-//uint8 get_largest_framelength(struct TDMAHandler *this)
-//{
-// instance_data_t *inst = instance_get_local_structure_ptr(0);
-//
-// uint8 max_framelength = MIN_FRAMELENGTH;
-// if(this->myTDMAInfo.framelength > max_framelength)
-// {
-// max_framelength = this->myTDMAInfo.framelength;
-// }
-//
-// for(int i = 0; i < inst->uwbListLen; i++)
-// {
-// if(inst->uwbListType[i] == UWB_LIST_NEIGHBOR)
-// {
-// if(this->uwbFramelengths[i] > max_framelength)
-// {
-// max_framelength = this->uwbFramelengths[i];
-// }
-// }
-//
-// }
-//
-// return max_framelength;
-//}
-
-static struct TDMAHandler new(){
+static struct TDMAHandler new(uint64 slot_duration){
struct TDMAHandler ret = {};
ret.slot_transition = &slot_transition;
@@ -2103,7 +2137,6 @@ static struct TDMAHandler new(){
ret.set_discovery_mode = &set_discovery_mode;
ret.check_discovery_mode_expiration = &check_discovery_mode_expiration;
ret.check_timeouts = &check_timeouts;
- ret.remove_uwbinfo = &remove_uwbinfo;
ret.usb_dump_tdma = &usb_dump_tdma;
@@ -2112,11 +2145,11 @@ static struct TDMAHandler new(){
ret.deconflict_slot_pair = &deconflict_slot_pair;
ret.self_conflict = &self_conflict;
-
- ret.slotDuration_ms = 50; //TODO should be a function of the data rate and the max number of UWBs
- ret.slotDuration_us = ret.slotDuration_ms*1000;
+ ret.slotDuration_us = slot_duration;
+ ret.slotDuration_ms = slot_duration/1000 + (slot_duration%1000 == 0 ? 0 : 1);
uint64 time_now_us = portGetTickCntMicro();
+ uint32 time_now = portGetTickCnt();
ret.maxFramelength = (uint8)MIN_FRAMELENGTH;
while(ret.maxFramelength < (int)UWB_LIST_SIZE + 1)
@@ -2134,7 +2167,7 @@ static struct TDMAHandler new(){
ret.uwbListTDMAInfo[i].lastCommNeighbor = 0;
ret.uwbListTDMAInfo[i].lastCommHidden = 0;
ret.uwbListTDMAInfo[i].lastCommTwiceHidden = 0;
- ret.uwbListTDMAInfo[i].lastRange = 0;
+ ret.uwbListTDMAInfo[i].lastRange = time_now;
}
ret.uwbListTDMAInfo[0].connectionType = UWB_LIST_SELF;
@@ -2144,13 +2177,14 @@ static struct TDMAHandler new(){
ret.firstPollSentThisSlot = FALSE;
ret.firstPollComplete = FALSE;
ret.secondPollSentThisSlot = FALSE;
- ret.slotStartDelay_us = 4000;
- ret.frameSyncThreshold_us = 2*ret.slotStartDelay_us;
+ ret.nthOldest = 1;
+ ret.nthOldestPlus = 2;
+ ret.slotStartDelay_us = SLOT_START_BUFFER_US;
+ ret.frameSyncThreshold_us = ret.slotStartDelay_us;
ret.infMessageLength = 0;
ret.enter_discovery_mode(&ret);
-// ret.collectInfDuration = ret.maxFramelength*ret.slotDuration;
- ret.collectInfDuration = 10000; //TODO change this back
+ 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 29aa932159f9040d513f7ff34635d34d3d7116e2..19fa087d9bef7942ceacd94ff7f61ca49ca8c4ec 100644
--- a/src/application/tdma_handler.h
+++ b/src/application/tdma_handler.h
@@ -46,12 +46,14 @@ struct TDMAHandler
uint64 lastFST;
uint64 lastSlotStartTime64;
- uint32 slotDuration_ms; //TODO make variable in duration based on UWB_LIST_SIZE
- uint32 slotDuration_us; //TODO make variable in duration based on UWB_LIST_SIZE
+ uint32 slotDuration_ms;
+ uint32 slotDuration_us;
bool infSentThisSlot;
bool firstPollSentThisSlot;
bool firstPollComplete;
bool secondPollSentThisSlot;
+ uint8 nthOldest;
+ uint8 nthOldestPlus;
uint64 slotStartDelay_us; //time between slot start and transmission within that slot
uint64 frameSyncThreshold_us;
@@ -83,7 +85,7 @@ struct TDMAHandler
void (*enter_discovery_mode)(struct TDMAHandler *this);
void (*set_discovery_mode)(struct TDMAHandler *this, DISCOVERY_MODE mode, uint32 time_now);
void (*check_discovery_mode_expiration)(struct TDMAHandler *this);
- bool (*check_timeouts)(struct TDMAHandler *this, uint32 time_now);
+ bool (*check_timeouts)(struct TDMAHandler *this);
void (*remove_uwbinfo)(struct TDMAHandler *this, uint8 uwb_index);
void (*usb_dump_tdma)(struct TDMAHandler *this);
bool (*slot_assigned)(struct TDMAInfo *info, uint8 slot);
@@ -108,7 +110,7 @@ struct TDMAHandler
extern const struct TDMAHandlerClass
{
- struct TDMAHandler (*new)();
+ struct TDMAHandler (*new)(uint64 slot_duration);
} TDMAHandler;