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Commit 7d1032a3 authored by David's avatar David
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consolidated uwbList TDMA variables

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DecaRanging.coproj
+ 10
− 10
View file @ 7d1032a3
......@@ -105,8 +105,8 @@
<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="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/usb/usbd_desc.h" path="src/usb/usbd_desc.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"/>
......@@ -137,12 +137,12 @@
<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/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/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/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="src/usb/usb_conf.h" path="src/usb/usb_conf.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"/>
......@@ -163,26 +163,26 @@
<File name="Libraries/STM32_USB_Device_Library/Core/src" path="" type="2"/>
<File name="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_i2c.c" path="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_i2c.c" type="1"/>
<File name="Libraries/STM32F10x_StdPeriph_Driver/src/misc.c" path="Libraries/STM32F10x_StdPeriph_Driver/src/misc.c" type="1"/>
<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="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_cec.h" path="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_cec.h" type="1"/>
<File name="src/application/main.c" path="src/main.c" type="1"/>
<File name="src/platform/deca_sleep.c" path="src/platform/deca_sleep.c" type="1"/>
<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="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="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/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/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="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/STM32_USB_OTG_Driver/inc/usb_bsp.h" path="Libraries/STM32_USB_OTG_Driver/inc/usb_bsp.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/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_spi.h" path="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_spi.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"/>
......@@ -216,8 +216,8 @@
<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="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/application/dw_main.c" path="src/application/dw_main.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"/>
......
src/application/instance.c
+ 7
− 3
View file @ 7d1032a3
......@@ -529,7 +529,8 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
memcpy(&inst->uwbList[0][0], &inst->eui64, inst->addrByteSize);
#endif
inst->uwbListLen = 1;
inst->uwbListType[0] = UWB_LIST_SELF;
// inst->uwbListType[0] = UWB_LIST_SELF;
tdma_handler->uwbListTDMAInfo[0].connectionType = UWB_LIST_SELF;
mode = (DWT_PRESRV_SLEEP|DWT_CONFIG|DWT_TANDV);
......@@ -1783,7 +1784,9 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
}
}
inst->lastRangeTimeStamp[inst->uwbToRangeWith] = portGetTickCnt();
// inst->lastRangeTimeStamp[inst->uwbToRangeWith] = portGetTickCnt();
tdma_handler->uwbListTDMAInfo[inst->uwbToRangeWith].lastRange = portGetTickCnt();
inst->newRangeTagAddress = instance_get_uwbaddr(inst->uwbToRangeWith);
inst->newRangeAncAddress = instance_get_addr();
......@@ -1845,7 +1848,8 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
}
}
inst->lastRangeTimeStamp[inst->uwbToRangeWith] = portGetTickCnt();
// inst->lastRangeTimeStamp[inst->uwbToRangeWith] = portGetTickCnt();
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);
......
src/application/instance.h
+ 5
− 5
View file @ 7d1032a3
......@@ -151,19 +151,19 @@ typedef struct
uint8 uwbListLen ;
uint8 uwbList[UWB_LIST_SIZE][8]; //index 0 reserved for self, rest for other tracked uwbs
uint8 uwbListType[UWB_LIST_SIZE]; //UWB_LIST_SELF, UWB_LIST_NEIGHBOR, UWB_LIST_HIDDEN, UWB_LIST_INACTIVE
// uint8 uwbListType[UWB_LIST_SIZE]; //UWB_LIST_SELF, UWB_LIST_NEIGHBOR, UWB_LIST_HIDDEN, UWB_LIST_INACTIVE
uint8 uwbNumActive[UWB_LIST_SIZE]; //number of TAGs each tracked ANCHOR is actively ranging with. //TODO remove?
// uint8 uwbNumActive[UWB_LIST_SIZE]; //number of TAGs each tracked ANCHOR is actively ranging with. //TODO remove?
// keep track of when final messages so we can drop uwbs that we haven't communicated with in a while
uint32 lastCommTimeStamp[UWB_LIST_SIZE]; //TODO move into tdma_handler?
uint32 lastHiddenTimeStamp[UWB_LIST_SIZE];
uint32 lastTwiceHiddenTimeStamp[UWB_LIST_SIZE];
uint8 uwbTimeout[UWB_LIST_SIZE] ;
uint8 uwbTimeout[UWB_LIST_SIZE] ; //TODO remove and use list type instead
uint32 lastRangeTimeStamp[UWB_LIST_SIZE];
// uint32 lastRangeTimeStamp[UWB_LIST_SIZE];
uint8 time_till_next_reported[UWB_LIST_SIZE]; //used to keep track of whether we reported the RX_ACCEPT node. 0 if no, 1 if yes.
// uint8 time_till_next_reported[UWB_LIST_SIZE]; //used to keep track of whether we reported the RX_ACCEPT node. 0 if no, 1 if yes.
uint32 blink_start;
uint32 range_start;
......
src/application/instance_common.c
+ 17
− 10
View file @ 7d1032a3
......@@ -216,6 +216,7 @@ int instgetuwblistindex(instance_data_t *inst, uint8 *uwbAddr, uint8 addrByteSiz
char uwbChar[2];
memcpy(&uwbChar[0], &uwbAddr[0], 2);
//TODO remove the following!
bool match = FALSE;
char test_addr[2] = {0x95, 0x15};
if(memcmp(&uwbChar[0], &test_addr[0], 2) == 0)
......@@ -449,7 +450,8 @@ int instfindnumactiveneighbors(instance_data_t *inst)
for(int i=1; i<inst->uwbListLen; i++)// 0 reserved for self, cant be neighbor
{
if(inst->uwbListType[i] == UWB_LIST_NEIGHBOR)
// if(inst->uwbListType[i] == UWB_LIST_NEIGHBOR)
if(tdma_handler.uwbListTDMAInfo[i].connectionType == UWB_LIST_NEIGHBOR)
{
num++;
}
......@@ -469,8 +471,10 @@ int instfindnumactivehidden(instance_data_t *inst)
for(int i=1; i<inst->uwbListLen; i++)//0 reserved for self, cannot be hidden
{
if(inst->uwbListType[i] == UWB_LIST_HIDDEN)
// if(inst->uwbListType[i] == UWB_LIST_HIDDEN)
if(tdma_handler.uwbListTDMAInfo[i].connectionType == UWB_LIST_HIDDEN)
{
num++;
}
}
......@@ -496,12 +500,14 @@ void instclearuwbList(void)
for(int i=0; i<UWB_LIST_SIZE; i++)
{
instance_data[instance].lastCommTimeStamp[i] = 0;
instance_data[instance].lastRangeTimeStamp[i] = 0;
// instance_data[instance].lastRangeTimeStamp[i] = 0;
tdma_handler.uwbListTDMAInfo[i].lastRange = 0;
instance_data[instance].uwbTimeout[i] = 0;
instance_data[instance].time_till_next_reported[i] = 0;
// instance_data[instance].time_till_next_reported[i] = 0;
memcpy(&instance_data[instance].uwbList[i][0], &blank[0], 8);
instance_data[instance].uwbListType[i] = UWB_LIST_INACTIVE;
// instance_data[instance].uwbListType[i] = UWB_LIST_INACTIVE;
tdma_handler.uwbListTDMAInfo[i].connectionType = UWB_LIST_INACTIVE;
}
}
......@@ -1329,7 +1335,8 @@ void instance_rxgoodcallback(const dwt_cb_data_t *rxd)
uwb_index = instgetuwblistindex(&instance_data[instance], &dw_event.msgu.frame[srcAddr_index], instance_data[instance].addrByteSize);
//TODO maybe do this somewhere else...
instance_data[instance].uwbListType[uwb_index] = UWB_LIST_NEIGHBOR;
// instance_data[instance].uwbListType[uwb_index] = UWB_LIST_NEIGHBOR;
tdma_handler.uwbListTDMAInfo[uwb_index].connectionType = UWB_LIST_NEIGHBOR;
instance_data[instance].lastCommTimeStamp[uwb_index] = time_now;
instance_data[instance].uwbTimeout[uwb_index] = 0;
......@@ -1839,13 +1846,13 @@ int instance_run(void)
uint32 time_now = portGetTickCnt();
uint32 delta_t = get_dt32(instance_data[instance].lastCommTimeStamp[i], time_now);
// if(instance_data[instance].lastCommTimeStamp[i] + UWB_COMM_TIMEOUT < portGetTickCnt()) //TODO handle number wrapping
if(delta_t > UWB_COMM_TIMEOUT) //TODO handle number wrapping
{
// if(instance_data[instance].uwbTimeout[i] == 0)
if(instance_data[instance].uwbListType[i] == UWB_LIST_NEIGHBOR) //what about hidden?
// if(instance_data[instance].uwbListType[i] == UWB_LIST_NEIGHBOR) //what about hidden?
if(tdma_handler.uwbListTDMAInfo[i].connectionType == UWB_LIST_NEIGHBOR) //what about hidden?
{
instance_data[instance].uwbListType[i] = UWB_LIST_INACTIVE; //TODO release TDMA slots as well
// instance_data[instance].uwbListType[i] = UWB_LIST_INACTIVE; //TODO release TDMA slots as well
tdma_handler.uwbListTDMAInfo[i].connectionType = UWB_LIST_INACTIVE; //TODO release TDMA slots as well
instance_data[instance].uwbTimeout[i] = 1;
//NEW
......
src/application/tdma_handler.c
+ 98
− 48
View file @ 7d1032a3
......@@ -28,7 +28,8 @@ static bool slot_transition(struct TDMAHandler *this)
//we have transitioned into the next slot.
//get the slot number and set the start time appropriately
uint64 timeSinceFrameStart64 = get_dt64(this->uwbFrameStartTimes64[0], time_now_us);
// uint64 timeSinceFrameStart64 = get_dt64(this->uwbFrameStartTimes64[0], time_now_us);
uint64 timeSinceFrameStart64 = get_dt64(this->uwbListTDMAInfo[0].frameStartTime, time_now_us);
uint64 frameDuration64 = this->slotDuration_us*this->uwbListTDMAInfo[0].framelength;
if(timeSinceFrameStart64 >= frameDuration64)
......@@ -48,14 +49,17 @@ static bool slot_transition(struct TDMAHandler *this)
while(timeSinceFrameStart64 >= frameDuration64)
{
this->uwbFrameStartTimes64[0] = timestamp_add64(this->uwbFrameStartTimes64[0], frameDuration64);
// this->uwbFrameStartTimes64[0] = timestamp_add64(this->uwbFrameStartTimes64[0], frameDuration64);
this->uwbListTDMAInfo[0].frameStartTime = timestamp_add64(this->uwbListTDMAInfo[0].frameStartTime, frameDuration64);
timeSinceFrameStart64 -= frameDuration64;
}
this->lastFST = this->uwbFrameStartTimes64[0];
// this->lastFST = this->uwbFrameStartTimes64[0];
this->lastFST = this->uwbListTDMAInfo[0].frameStartTime;
uint8 slot = timeSinceFrameStart64/(this->slotDuration_us); //integer division rounded down
this->lastSlotStartTime64 = this->uwbFrameStartTimes64[0] + (uint64)(this->slotDuration_us*slot);
// this->lastSlotStartTime64 = this->uwbFrameStartTimes64[0] + (uint64)(this->slotDuration_us*slot);
this->lastSlotStartTime64 = this->uwbListTDMAInfo[0].frameStartTime + (uint64)(this->slotDuration_us*slot);
// uint8 debug_msg[100];
......@@ -152,13 +156,16 @@ static void frame_sync(struct TDMAHandler *this, event_data_t *dw_event, uint8 f
uint64 txrx_delay = (uint64)(convertdevicetimetosec(tx_antenna_delay + rxfs_process_delay)*1000000.0) + inst->storePreLen_us;
uint64 hisTimeSinceFrameStart_us = timeSinceFrameStart_us + txrx_delay;
this->uwbFrameStartTimes64[srcIndex] = timestamp_subtract64(time_now_us, hisTimeSinceFrameStart_us); //TODO consider applying the diff!
// this->uwbFrameStartTimes64[srcIndex] = timestamp_subtract64(time_now_us, hisTimeSinceFrameStart_us); //TODO consider applying the diff!
this->uwbListTDMAInfo[srcIndex].frameStartTime = timestamp_subtract64(time_now_us, hisTimeSinceFrameStart_us); //TODO consider applying the diff!
if(mode == FS_ADOPT) //TODO this might not be right! incoming framelength not always the same as ours!
{
this->uwbFrameStartTimes64[0] = this->uwbFrameStartTimes64[srcIndex];
// this->uwbFrameStartTimes64[0] = this->uwbFrameStartTimes64[srcIndex];
this->uwbListTDMAInfo[0].frameStartTime = this->uwbListTDMAInfo[srcIndex].frameStartTime;
uint8 slot = hisTimeSinceFrameStart_us/this->slotDuration_us; //integer division rounded down
this->lastSlotStartTime64 = this->uwbFrameStartTimes64[0] + (uint64)((this->slotDuration_us)*slot);
// this->lastSlotStartTime64 = this->uwbFrameStartTimes64[0] + (uint64)((this->slotDuration_us)*slot);
this->lastSlotStartTime64 = this->uwbListTDMAInfo[0].frameStartTime + (uint64)((this->slotDuration_us)*slot);
}
else if(mode == FS_COLLECT)
{
......@@ -167,7 +174,8 @@ static void frame_sync(struct TDMAHandler *this, event_data_t *dw_event, uint8 f
else// if(mode == FS_AVERAGE || mode == FS_EVAL) //TODO consider using a weighted average. perhaps use threshholds to determine if instead we should just use the ADOPT logic
{
// uint64 myFramelengthDuration_us = this->uwbListTDMAInfo[0].framelength*this->slotDuration_us;
uint64 myTimeSinceFrameStart_us = get_dt64(this->uwbFrameStartTimes64[0], time_now_us);
// uint64 myTimeSinceFrameStart_us = get_dt64(this->uwbFrameStartTimes64[0], time_now_us);
uint64 myTimeSinceFrameStart_us = get_dt64(this->uwbListTDMAInfo[0].frameStartTime, time_now_us);
////OLD WAY
......@@ -300,7 +308,8 @@ static void frame_sync(struct TDMAHandler *this, event_data_t *dw_event, uint8 f
// send_usbmessage(&debug_msg[0], n);
// usb_run();
this->uwbFrameStartTimes64[0] = timestamp_add64(this->uwbFrameStartTimes64[0], diff_us/div);
// this->uwbFrameStartTimes64[0] = timestamp_add64(this->uwbFrameStartTimes64[0], diff_us/div);
this->uwbListTDMAInfo[0].frameStartTime = timestamp_add64(this->uwbListTDMAInfo[0].frameStartTime, diff_us/div);
this->lastSlotStartTime64 = timestamp_add64(this->lastSlotStartTime64, diff_us/div);
}
else
......@@ -309,7 +318,8 @@ static void frame_sync(struct TDMAHandler *this, event_data_t *dw_event, uint8 f
// int n = sprintf((char*)&debug_msg[0], "subtract %llu", diff_us);
// send_usbmessage(&debug_msg[0], n);
// usb_run();
this->uwbFrameStartTimes64[0] = timestamp_subtract64(this->uwbFrameStartTimes64[0], diff_us/div);
// this->uwbFrameStartTimes64[0] = timestamp_subtract64(this->uwbFrameStartTimes64[0], diff_us/div);
this->uwbListTDMAInfo[0].frameStartTime = timestamp_subtract64(this->uwbListTDMAInfo[0].frameStartTime, diff_us/div);
this->lastSlotStartTime64 = timestamp_subtract64(this->lastSlotStartTime64, diff_us/div);
}
......@@ -323,7 +333,8 @@ static bool tx_sync_msg(struct TDMAHandler *this)
{
instance_data_t *inst = instance_get_local_structure_ptr(0);
uint64 time_now_us = portGetTickCntMicro();
uint64 myTimeSinceFrameStart_us = get_dt64(this->uwbFrameStartTimes64[0], time_now_us);
// uint64 myTimeSinceFrameStart_us = get_dt64(this->uwbFrameStartTimes64[0], time_now_us);
uint64 myTimeSinceFrameStart_us = get_dt64(this->uwbListTDMAInfo[0].frameStartTime, time_now_us);
memcpy(&inst->sync_msg.messageData[SYNC_FRAMELENGTH], &this->uwbListTDMAInfo[0].framelength, sizeof(uint8));
memcpy(&inst->sync_msg.messageData[SYNC_TSFS], &myTimeSinceFrameStart_us, 6);
int psduLength = 0;
......@@ -667,9 +678,11 @@ static bool tx_select(struct TDMAHandler *this) //TODO handle unsuccessful add
uint32 timeSinceOldestRange = 0;
for(int i = 1; i < inst->uwbListLen; i++)//0 reserved for self
{
if(inst->uwbListType[i] == UWB_LIST_NEIGHBOR)
// if(inst->uwbListType[i] == UWB_LIST_NEIGHBOR)
if(this->uwbListTDMAInfo[i].connectionType == UWB_LIST_NEIGHBOR)
{
uint32 timeSinceRange = get_dt32(inst->lastRangeTimeStamp[i], time_now);
// uint32 timeSinceRange = get_dt32(inst->lastRangeTimeStamp[i], time_now);
uint32 timeSinceRange = get_dt32(this->uwbListTDMAInfo[i].lastRange, time_now);
if(timeSinceRange > timeSinceOldestRange)
{
timeSinceOldestRange = timeSinceRange;
......@@ -842,7 +855,8 @@ static void populate_inf_msg(struct TDMAHandler *this, uint8 inf_msg_type)
//neighbor address, framelength, number of slots, and slot assignments
for(int i = 1; i < inst->uwbListLen; i++) //slot 0 reserved for self
{
if(inst->uwbListType[i] == UWB_LIST_NEIGHBOR)
// if(inst->uwbListType[i] == UWB_LIST_NEIGHBOR)
if(this->uwbListTDMAInfo[i].connectionType == UWB_LIST_NEIGHBOR)
{
struct TDMAInfo *info = &this->uwbListTDMAInfo[i];
......@@ -870,7 +884,8 @@ static void populate_inf_msg(struct TDMAHandler *this, uint8 inf_msg_type)
//hidden address, framelength, number of slots, and slot assignments
for(int i = 1; i < inst->uwbListLen; i++) //slot 0 reserved for self
{
if(inst->uwbListType[i] == UWB_LIST_HIDDEN)
// if(inst->uwbListType[i] == UWB_LIST_HIDDEN)
if(this->uwbListTDMAInfo[i].connectionType == UWB_LIST_HIDDEN)
{
struct TDMAInfo *info = &this->uwbListTDMAInfo[i];
......@@ -912,11 +927,13 @@ static void update_inf_tsfs(struct TDMAHandler *this)
instance_data_t *inst = instance_get_local_structure_ptr(0);
uint64 time_now_us = portGetTickCntMicro();
int msgDataIndex = TDMA_TSFS;
uint64 timeSinceFrameStart64 = get_dt64(this->uwbFrameStartTimes64[0], time_now_us);
// uint64 timeSinceFrameStart64 = get_dt64(this->uwbFrameStartTimes64[0], time_now_us);
uint64 timeSinceFrameStart64 = get_dt64(this->uwbListTDMAInfo[0].frameStartTime, time_now_us);
uint64 frameDuration = this->slotDuration_us*this->uwbListTDMAInfo[0].framelength;
while(timeSinceFrameStart64 > frameDuration)
{
this->uwbFrameStartTimes64[0] = timestamp_add64(this->uwbFrameStartTimes64[0], frameDuration);
// this->uwbFrameStartTimes64[0] = timestamp_add64(this->uwbFrameStartTimes64[0], frameDuration);
this->uwbListTDMAInfo[0].frameStartTime = timestamp_add64(this->uwbListTDMAInfo[0].frameStartTime, frameDuration);
timeSinceFrameStart64 -= frameDuration;
}
......@@ -995,7 +1012,8 @@ static bool process_inf_msg(struct TDMAHandler *this, uint8 *messageData, uint8
}
instance_data_t *inst = instance_get_local_structure_ptr(0);
inst->uwbListType[srcIndex] = UWB_LIST_NEIGHBOR;
// inst->uwbListType[srcIndex] = UWB_LIST_NEIGHBOR;
this->uwbListTDMAInfo[srcIndex].connectionType = UWB_LIST_NEIGHBOR;
uint8 numNeighbors;
uint8 numHidden;
......@@ -1090,9 +1108,11 @@ static bool process_inf_msg(struct TDMAHandler *this, uint8 *messageData, uint8
uint8 uwb_index = instgetuwblistindex(inst, &address[0], inst->addrByteSize);
if(uwb_index != 0)
{
if(inst->uwbListType[uwb_index] == UWB_LIST_INACTIVE || inst->uwbListType[uwb_index] == UWB_LIST_TWICE_HIDDEN)
// if(inst->uwbListType[uwb_index] == UWB_LIST_INACTIVE || inst->uwbListType[uwb_index] == UWB_LIST_TWICE_HIDDEN)
if(this->uwbListTDMAInfo[uwb_index].connectionType == UWB_LIST_INACTIVE || this->uwbListTDMAInfo[uwb_index].connectionType == UWB_LIST_TWICE_HIDDEN)
{
inst->uwbListType[uwb_index] = UWB_LIST_HIDDEN;
// inst->uwbListType[uwb_index] = UWB_LIST_HIDDEN;
this->uwbListTDMAInfo[uwb_index].connectionType = UWB_LIST_HIDDEN;
}
inst->lastHiddenTimeStamp[uwb_index] = time_now;
......@@ -1165,9 +1185,11 @@ static bool process_inf_msg(struct TDMAHandler *this, uint8 *messageData, uint8
uint8 uwb_index = instgetuwblistindex(inst, &address[0], inst->addrByteSize);
if(uwb_index != 0)//0 reserved for self
{
if(inst->uwbListType[uwb_index] == UWB_LIST_INACTIVE)
// if(inst->uwbListType[uwb_index] == UWB_LIST_INACTIVE)
if(this->uwbListTDMAInfo[uwb_index].connectionType == UWB_LIST_INACTIVE)
{
inst->uwbListType[uwb_index] = UWB_LIST_TWICE_HIDDEN;
// inst->uwbListType[uwb_index] = UWB_LIST_TWICE_HIDDEN;
this->uwbListTDMAInfo[uwb_index].connectionType = UWB_LIST_TWICE_HIDDEN;
}
inst->lastTwiceHiddenTimeStamp[uwb_index] = time_now;
......@@ -1240,10 +1262,14 @@ static bool process_inf_msg(struct TDMAHandler *this, uint8 *messageData, uint8
if((uwbListInMsg[i] == FALSE && uwbListInMsg[j] == TRUE) || (uwbListInMsg[i] == TRUE && uwbListInMsg[j] == FALSE))
{
if((inst->uwbListType[i] == UWB_LIST_NEIGHBOR && inst->uwbListType[j] == UWB_LIST_NEIGHBOR) ||
(inst->uwbListType[i] == UWB_LIST_NEIGHBOR && inst->uwbListType[j] == UWB_LIST_HIDDEN) ||
(inst->uwbListType[j] == UWB_LIST_NEIGHBOR && inst->uwbListType[i] == UWB_LIST_NEIGHBOR) ||
(inst->uwbListType[j] == UWB_LIST_NEIGHBOR && inst->uwbListType[i] == UWB_LIST_HIDDEN))
// if((inst->uwbListType[i] == UWB_LIST_NEIGHBOR && inst->uwbListType[j] == UWB_LIST_NEIGHBOR) ||
// (inst->uwbListType[i] == UWB_LIST_NEIGHBOR && inst->uwbListType[j] == UWB_LIST_HIDDEN) ||
// (inst->uwbListType[j] == UWB_LIST_NEIGHBOR && inst->uwbListType[i] == UWB_LIST_NEIGHBOR) ||
// (inst->uwbListType[j] == UWB_LIST_NEIGHBOR && inst->uwbListType[i] == UWB_LIST_HIDDEN))
if((this->uwbListTDMAInfo[i].connectionType == UWB_LIST_NEIGHBOR && this->uwbListTDMAInfo[j].connectionType == UWB_LIST_NEIGHBOR) ||
(this->uwbListTDMAInfo[i].connectionType == UWB_LIST_NEIGHBOR && this->uwbListTDMAInfo[j].connectionType == UWB_LIST_HIDDEN) ||
(this->uwbListTDMAInfo[j].connectionType == UWB_LIST_NEIGHBOR && this->uwbListTDMAInfo[i].connectionType == UWB_LIST_NEIGHBOR) ||
(this->uwbListTDMAInfo[j].connectionType == UWB_LIST_NEIGHBOR && this->uwbListTDMAInfo[i].connectionType == UWB_LIST_HIDDEN))
{
//TODO make sure this is okay. will i need to ensure the assignments from the message are maintained?
if(this->deconflict_uwb_pair(this, &this->uwbListTDMAInfo[i], &this->uwbListTDMAInfo[j]) == TRUE)
......@@ -2082,7 +2108,8 @@ static void build_new_network(struct TDMAHandler *this)
// this->lastSlotStartTime_stm32 = time_now;
//build the initial TDMA
this->uwbFrameStartTimes64[0] = timestamp_subtract64(time_now_us, this->slotDuration_us);
// this->uwbFrameStartTimes64[0] = timestamp_subtract64(time_now_us, this->slotDuration_us);
this->uwbListTDMAInfo[0].frameStartTime = timestamp_subtract64(time_now_us, this->slotDuration_us);
this->lastSlotStartTime64 = time_now_us;
......@@ -2106,17 +2133,23 @@ static bool deconflict_slot_assignments(struct TDMAHandler *this)
//first deconflict slots in neighbor, hidden, and twice hidden
for(int i = 1; i < inst->uwbListLen; i++)//0 reserved for self
{
if(inst->uwbListType[i] != UWB_LIST_INACTIVE)
// if(inst->uwbListType[i] != UWB_LIST_INACTIVE)
if(this->uwbListTDMAInfo[i].connectionType != UWB_LIST_INACTIVE)
{
for(int j = i+1; j < inst->uwbListLen; j++)
{
if(inst->uwbListType[j] != UWB_LIST_INACTIVE && j != i)
// if(inst->uwbListType[j] != UWB_LIST_INACTIVE && j != i)
if(this->uwbListTDMAInfo[j].connectionType != UWB_LIST_INACTIVE && j != i)
{
//first check if their list type requires deconflicting
if((inst->uwbListType[i] == UWB_LIST_NEIGHBOR && inst->uwbListType[j] == UWB_LIST_TWICE_HIDDEN) ||
(inst->uwbListType[j] == UWB_LIST_NEIGHBOR && inst->uwbListType[i] == UWB_LIST_TWICE_HIDDEN) ||
(inst->uwbListType[i] == UWB_LIST_TWICE_HIDDEN && inst->uwbListType[j] == UWB_LIST_TWICE_HIDDEN) ||
(inst->uwbListType[i] == UWB_LIST_HIDDEN && inst->uwbListType[j] == UWB_LIST_HIDDEN))
// if((inst->uwbListType[i] == UWB_LIST_NEIGHBOR && inst->uwbListType[j] == UWB_LIST_TWICE_HIDDEN) ||
// (inst->uwbListType[j] == UWB_LIST_NEIGHBOR && inst->uwbListType[i] == UWB_LIST_TWICE_HIDDEN) ||
// (inst->uwbListType[i] == UWB_LIST_TWICE_HIDDEN && inst->uwbListType[j] == UWB_LIST_TWICE_HIDDEN) ||
// (inst->uwbListType[i] == UWB_LIST_HIDDEN && inst->uwbListType[j] == UWB_LIST_HIDDEN))
if((this->uwbListTDMAInfo[i].connectionType == UWB_LIST_NEIGHBOR && this->uwbListTDMAInfo[j].connectionType == UWB_LIST_TWICE_HIDDEN) ||
(this->uwbListTDMAInfo[j].connectionType == UWB_LIST_NEIGHBOR && this->uwbListTDMAInfo[i].connectionType == UWB_LIST_TWICE_HIDDEN) ||
(this->uwbListTDMAInfo[i].connectionType == UWB_LIST_TWICE_HIDDEN && this->uwbListTDMAInfo[j].connectionType == UWB_LIST_TWICE_HIDDEN) ||
(this->uwbListTDMAInfo[i].connectionType == UWB_LIST_HIDDEN && this->uwbListTDMAInfo[j].connectionType == UWB_LIST_HIDDEN))
{
continue;
}
......@@ -2146,7 +2179,8 @@ static bool deconflict_slot_assignments(struct TDMAHandler *this)
//next deconflict slots between self and neighbor, hidden, and twice hidden
for(int i = 1; i < inst->uwbListLen; i++)//0 reserved for self
{
if(inst->uwbListType[i] != UWB_LIST_INACTIVE)
// if(inst->uwbListType[i] != UWB_LIST_INACTIVE)
if(this->uwbListTDMAInfo[i].connectionType != UWB_LIST_INACTIVE)
{
if(this->deconflict_uwb_pair(this, &this->uwbListTDMAInfo[0], &this->uwbListTDMAInfo[i]))
{
......@@ -2420,9 +2454,12 @@ static bool self_conflict(struct TDMAHandler *this)
for(int b = 1; b < inst->uwbListLen; b++)
{
if(inst->uwbListType[b] == UWB_LIST_NEIGHBOR ||
inst->uwbListType[b] == UWB_LIST_HIDDEN ||
inst->uwbListType[b] == UWB_LIST_TWICE_HIDDEN)
// if(inst->uwbListType[b] == UWB_LIST_NEIGHBOR ||
// inst->uwbListType[b] == UWB_LIST_HIDDEN ||
// inst->uwbListType[b] == UWB_LIST_TWICE_HIDDEN)
if(this->uwbListTDMAInfo[b].connectionType == UWB_LIST_NEIGHBOR ||
this->uwbListTDMAInfo[b].connectionType == UWB_LIST_HIDDEN ||
this->uwbListTDMAInfo[b].connectionType == UWB_LIST_TWICE_HIDDEN)
{
struct TDMAInfo *info_b = &this->uwbListTDMAInfo[b];
......@@ -2646,14 +2683,16 @@ static void set_discovery_mode(struct TDMAHandler *this, DISCOVERY_MODE discover
for(int i=1; i < inst->uwbListLen; i++) //zero reserved for self
{
if(inst->uwbListType[i] != UWB_LIST_NEIGHBOR)
// if(inst->uwbListType[i] != UWB_LIST_NEIGHBOR)
if(this->uwbListTDMAInfo[i].connectionType != UWB_LIST_NEIGHBOR)
{
continue; //TODO consider a way to accoutn for hidden and twice hidden to determine which netowrk is larger
}
struct TDMAInfo *info_i = &this->uwbListTDMAInfo[i];
// uint64 framelengthDuration_us = info_i->framelength*this->slotDuration_us;
uint64 timeSinceFrameStart_us = get_dt64(this->uwbFrameStartTimes64[i], time_now_us);
// uint64 timeSinceFrameStart_us = get_dt64(this->uwbFrameStartTimes64[i], time_now_us);
uint64 timeSinceFrameStart_us = get_dt64(this->uwbListTDMAInfo[i].frameStartTime, time_now_us);
//if tsfs > framelengthDuration_us, reduce it by framelengthDuration_us
......@@ -2738,7 +2777,8 @@ static void set_discovery_mode(struct TDMAHandler *this, DISCOVERY_MODE discover
//reached the last listed sub_netowrk, list a new subnetwork.
sub_network_members[num_sub_networks] = 1;
sub_network_base_framelength[num_sub_networks] = this->uwbListTDMAInfo[i].framelength;
sub_network_tsfs[num_sub_networks] = get_dt64(this->uwbFrameStartTimes64[i], time_now_us);
// sub_network_tsfs[num_sub_networks] = get_dt64(this->uwbFrameStartTimes64[i], time_now_us);
sub_network_tsfs[num_sub_networks] = get_dt64(this->uwbListTDMAInfo[i].frameStartTime, time_now_us);
sub_network_membership[num_sub_networks] = num_sub_networks;
num_sub_networks++;
break;
......@@ -2780,10 +2820,12 @@ static void set_discovery_mode(struct TDMAHandler *this, DISCOVERY_MODE discover
for(int i = 1; i < inst->uwbListLen; i++)//0 reserved for self
{
if(inst->uwbListType[i] == UWB_LIST_NEIGHBOR && sub_network_membership[i] == sub_network_selected)
// if(inst->uwbListType[i] == UWB_LIST_NEIGHBOR && sub_network_membership[i] == sub_network_selected)
if(this->uwbListTDMAInfo[i].connectionType == UWB_LIST_NEIGHBOR && sub_network_membership[i] == sub_network_selected)
{
neighborIndices[nidx] = i;
tnext[nidx] = this->uwbFrameStartTimes64[i];
// tnext[nidx] = this->uwbFrameStartTimes64[i];
tnext[nidx] = this->uwbListTDMAInfo[i].frameStartTime;
while(time_now_us > tnext[nidx]) //TODO handle number wrapping...
{
tnext[nidx] += this->uwbListTDMAInfo[i].framelength*slotDuration_us;
......@@ -2853,15 +2895,20 @@ static void set_discovery_mode(struct TDMAHandler *this, DISCOVERY_MODE discover
//back-track the frame start time so we can inform the need to rebase
//and keep in sync with the subnetwork we initially chose to sync with
this->uwbFrameStartTimes64[0] = latest_tnext;
// this->uwbFrameStartTimes64[0] = latest_tnext;
this->uwbListTDMAInfo[0].frameStartTime = latest_tnext;
//TODO handle number wrapping
uint64 myFrameDuration = this->uwbListTDMAInfo[0].framelength*this->slotDuration_us;
while(this->uwbFrameStartTimes64[0] > time_now_us)
// while(this->uwbFrameStartTimes64[0] > time_now_us)
while(this->uwbListTDMAInfo[0].frameStartTime > time_now_us)
{
this->uwbFrameStartTimes64[0] -= myFrameDuration;
// this->uwbFrameStartTimes64[0] -= myFrameDuration;
this->uwbListTDMAInfo[0].frameStartTime -= myFrameDuration;
}
uint8 slot = this->uwbFrameStartTimes64[0]/this->slotDuration_us; //integer division rounded down
this->lastSlotStartTime64 = this->uwbFrameStartTimes64[0] + (uint64)(this->slotDuration_us*slot);
// uint8 slot = this->uwbFrameStartTimes64[0]/this->slotDuration_us; //integer division rounded down
uint8 slot = this->uwbListTDMAInfo[0].frameStartTime/this->slotDuration_us; //integer division rounded down
// this->lastSlotStartTime64 = this->uwbFrameStartTimes64[0] + (uint64)(this->slotDuration_us*slot);
this->lastSlotStartTime64 = this->uwbListTDMAInfo[0].frameStartTime + (uint64)(this->slotDuration_us*slot);
// this->lastSlotStartTime64 = this->uwbFrameStartTimes64[0];
......@@ -3078,9 +3125,12 @@ static struct TDMAHandler new(){
ret.uwbListTDMAInfo[i].framelength = (uint8)MIN_FRAMELENGTH;
ret.uwbListTDMAInfo[i].slots = NULL;
ret.uwbListTDMAInfo[i].slotsLength = 0;
ret.uwbListTDMAInfo[i].frameStartTime = time_now_us;
ret.uwbListTDMAInfo[i].connectionType = UWB_LIST_INACTIVE;
}
ret.uwbListTDMAInfo[0].connectionType = UWB_LIST_SELF;
ret.uwbFrameStartTimes64[0] = time_now_us;
// ret.uwbFrameStartTimes64[0] = time_now_us;
ret.lastFST = time_now_us;
ret.lastSlotStartTime64 = time_now_us;
ret.infSentThisSlot = FALSE;
......
src/application/tdma_handler.h
+ 7
− 1
View file @ 7d1032a3
......@@ -7,6 +7,12 @@
struct TDMAInfo
{
//lastCommNeighbor
//lastCommHidden
//lastComm2Hidden
uint64 frameStartTime;
uint32 lastRange;
uint8 connectionType; //UWB_LIST_SELF, UWB_LIST_NEIGHBOR, UWB_LIST_HIDDEN, UWB_LIST_INACTIVE
uint8 uwbIndex; //TODO remove if unused
uint8 framelength;
uint8 slotsLength;
......@@ -45,7 +51,7 @@ struct TDMAHandler
uint64 lastINFrx;
uint64 uwbFrameStartTimes64[UWB_LIST_SIZE];
// uint64 uwbFrameStartTimes64[UWB_LIST_SIZE];
uint64 lastFST;
uint64 lastSlotStartTime64;
uint32 slotDuration_ms; //TODO make variable in duration based on UWB_LIST_SIZE
......
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