From cc00bc472eb4dc4fedc2db12da8bdcdb8efffe0c Mon Sep 17 00:00:00 2001
From: David <stierint@hotmail.com>
Date: Tue, 4 Feb 2020 17:23:17 -0600
Subject: [PATCH] multi-tag multi-anchor now working
---
DecaRanging.coproj | 454 ++++++++++-----------
src/application/dw_main.c | 64 ++-
src/application/instance.c | 631 ++++++++++++++++++++++++------
src/application/instance.h | 40 +-
src/application/instance_common.c | 487 ++++++++++++++++++++---
src/decadriver/deca_device_api.h | 10 +-
6 files changed, 1276 insertions(+), 410 deletions(-)
diff --git a/DecaRanging.coproj b/DecaRanging.coproj
index c5d3ae4..93b3496 100644
--- a/DecaRanging.coproj
+++ b/DecaRanging.coproj
@@ -1,228 +1,228 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<Project version="2G - 1.7.5" name="DecaRanging">
- <Target name="EVK1000" isCurrent="1">
- <Device manufacturerId="9" manufacturerName="ST" chipId="334" chipName="STM32F105RC" boardId="" boardName=""/>
- <BuildOption>
- <Compile>
- <Option name="OptimizationLevel" value="0"/>
- <Option name="UseFPU" value="0"/>
- <Option name="UserEditCompiler" value="-ffunction-sections; -fdata-sections; -c; -fmessage-length=0;"/>
- <Includepaths>
- <Includepath path="."/>
- <Includepath path="Libraries/CMSIS/CM3/CoreSupport"/>
- <Includepath path="Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x"/>
- <Includepath path="Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup"/>
- <Includepath path="src/application"/>
- <Includepath path="src/compiler"/>
- <Includepath path="src/decadriver"/>
- <Includepath path="src/sys"/>
- <Includepath path="src/usb"/>
- <Includepath path="Libraries/STM32F10x_StdPeriph_Driver/inc"/>
- <Includepath path="Libraries/STM32F10x_StdPeriph_Driver/src"/>
- <Includepath path="Libraries/STM32_USB_Device_Library/Core/inc"/>
- <Includepath path="Libraries/STM32_USB_OTG_Driver/inc"/>
- <Includepath path="Libraries/STM32_USB_Device_Library/Class/cdc/inc"/>
- <Includepath path="Libraries/STM32_USB_Device_Library/Class/msc/inc"/>
- <Includepath path="src/platform"/>
- </Includepaths>
- <DefinedSymbols>
- <Define name="STM32F105RC"/>
- <Define name="STM32F10X_CL"/>
- <Define name="USE_STDPERIPH_DRIVER"/>
- <Define name="__ASSEMBLY__"/>
- </DefinedSymbols>
- </Compile>
- <Link useDefault="0">
- <Option name="DiscardUnusedSection" value="0"/>
- <Option name="UserEditLinkder" value=""/>
- <Option name="UseMemoryLayout" value="0"/>
- <Option name="LTO" value="0"/>
- <Option name="IsNewStartupCode" value="1"/>
- <Option name="Library" value="Use base C Library"/>
- <Option name="nostartfiles" value="0"/>
- <Option name="UserEditLinker" value=""/>
- <LinkedLibraries>
- <Libset dir="" libs="rdimon"/>
- </LinkedLibraries>
- <MemoryAreas debugInFlashNotRAM="1">
- <Memory name="IROM1" type="ReadOnly" size="0x00040000" startValue="0x08000000"/>
- <Memory name="IRAM1" type="ReadWrite" size="0x00010000" startValue="0x20000000"/>
- <Memory name="IROM2" type="ReadOnly" size="" startValue=""/>
- <Memory name="IRAM2" type="ReadWrite" size="" startValue=""/>
- </MemoryAreas>
- <LocateLinkFile path="linkers/stm32_flash_256k_ram_64k.ld" type="0"/>
- </Link>
- <Output>
- <Option name="OutputFileType" value="0"/>
- <Option name="Path" value="./"/>
- <Option name="Name" value="EVK1000"/>
- <Option name="HEX" value="1"/>
- <Option name="BIN" value="1"/>
- </Output>
- <User>
- <UserRun name="Run#1" type="Before" checked="0" value=""/>
- <UserRun name="Run#1" type="After" checked="0" value="arm-none-eabi-objdump -h -S "${project.bin}/${output.name}.elf" > "${project.bin}/${output.name}.lst""/>
- <UserRun name="Run#2" type="After" checked="0" value="arm-none-eabi-size --format=berkeley "${project.bin}/${output.name}.elf""/>
- </User>
- </BuildOption>
- <DebugOption>
- <Option name="org.coocox.codebugger.gdbjtag.core.adapter" value="ST-Link"/>
- <Option name="org.coocox.codebugger.gdbjtag.core.debugMode" value="SWD"/>
- <Option name="org.coocox.codebugger.gdbjtag.core.clockDiv" value="1M"/>
- <Option name="org.coocox.codebugger.gdbjtag.corerunToMain" value="1"/>
- <Option name="org.coocox.codebugger.gdbjtag.core.jlinkgdbserver" value=""/>
- <Option name="org.coocox.codebugger.gdbjtag.core.userDefineGDBScript" value=""/>
- <Option name="org.coocox.codebugger.gdbjtag.core.targetEndianess" value="0"/>
- <Option name="org.coocox.codebugger.gdbjtag.core.jlinkResetMode" value="Type 0: Normal"/>
- <Option name="org.coocox.codebugger.gdbjtag.core.resetMode" value="SYSRESETREQ"/>
- <Option name="org.coocox.codebugger.gdbjtag.core.ifSemihost" value="0"/>
- <Option name="org.coocox.codebugger.gdbjtag.core.ifCacheRom" value="1"/>
- <Option name="org.coocox.codebugger.gdbjtag.core.ipAddress" value="127.0.0.1"/>
- <Option name="org.coocox.codebugger.gdbjtag.core.portNumber" value="2009"/>
- <Option name="org.coocox.codebugger.gdbjtag.core.autoDownload" value="1"/>
- <Option name="org.coocox.codebugger.gdbjtag.core.verify" value="1"/>
- <Option name="org.coocox.codebugger.gdbjtag.core.downloadFuction" value="Erase Effected"/>
- <Option name="org.coocox.codebugger.gdbjtag.core.defaultAlgorithm" value="STM32F10x_CL_256.elf"/>
- </DebugOption>
- <ExcludeFile/>
- </Target>
- <Components path="./"/>
- <Files>
- <File name="Libraries/STM32_USB_Device_Library/Core/inc/usbd_ioreq.h" path="Libraries/STM32_USB_Device_Library/Core/inc/usbd_ioreq.h" type="1"/>
- <File name="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_fsmc.h" path="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_fsmc.h" type="1"/>
- <File name="Libraries/STM32_USB_Device_Library/Core/inc/usbd_usr.h" path="Libraries/STM32_USB_Device_Library/Core/inc/usbd_usr.h" type="1"/>
- <File name="Libraries/STM32_USB_Device_Library/Core" path="" type="2"/>
- <File name="src/usb/usbd_desc.c" path="src/usb/usbd_desc.c" type="1"/>
- <File name="src" path="" type="2"/>
- <File name="Libraries/STM32_USB_Device_Library/Class/cdc" path="" type="2"/>
- <File name="Libraries/CMSIS" path="" type="2"/>
- <File name="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dac.h" path="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dac.h" type="1"/>
- <File name="Libraries/STM32_USB_OTG_Driver/inc/usb_hcd_int.h" path="Libraries/STM32_USB_OTG_Driver/inc/usb_hcd_int.h" type="1"/>
- <File name="Libraries/STM32_USB_Device_Library/Class/cdc/src" path="" type="2"/>
- <File name="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_rtc.h" path="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_rtc.h" type="1"/>
- <File name="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_flash.h" path="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_flash.h" type="1"/>
- <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="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="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="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/src/stm32f10x_iwdg.c" path="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_iwdg.c" 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/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"/>
- <File name="src/platform/port.h" path="src/platform/port.h" type="1"/>
- <File name="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dma.h" path="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dma.h" type="1"/>
- <File name="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_crc.h" path="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_crc.h" type="1"/>
- <File name="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_rcc.h" path="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_rcc.h" type="1"/>
- <File name="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_can.c" path="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_can.c" type="1"/>
- <File name="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_sdio.h" path="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_sdio.h" 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="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/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_fsmc.c" path="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_fsmc.c" 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"/>
- <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="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"/>
- <File name="src/application/instance_common.c" path="src/application/instance_common.c" type="1"/>
- <File name="src/decadriver/deca_params_init.c" path="src/decadriver/deca_params_init.c" type="1"/>
- <File name="Libraries/STM32_USB_Device_Library/Core/inc" path="" type="2"/>
- <File name="src/application" path="" type="2"/>
- <File name="src/application/instance_calib.c" path="src/application/instance_calib.c" type="1"/>
- <File name="Libraries/STM32_USB_OTG_Driver/inc/usb_dcd.h" path="Libraries/STM32_USB_OTG_Driver/inc/usb_dcd.h" type="1"/>
- <File name="Libraries/STM32_USB_OTG_Driver/src/usb_core.c" path="Libraries/STM32_USB_OTG_Driver/src/usb_core.c" type="1"/>
- <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/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="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="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/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"/>
- <File name="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_usart.c" path="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_usart.c" type="1"/>
- <File name="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_adc.c" path="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_adc.c" type="1"/>
- <File name="Libraries/STM32_USB_OTG_Driver/src/usb_dcd.c" path="Libraries/STM32_USB_OTG_Driver/src/usb_dcd.c" type="1"/>
- <File name="src/platform/stm32f10x_it.h" path="src/platform/stm32f10x_it.h" type="1"/>
- <File name="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_can.h" path="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_can.h" type="1"/>
- <File name="Libraries/STM32_USB_Device_Library/Core/src/usbd_core.c" path="Libraries/STM32_USB_Device_Library/Core/src/usbd_core.c" type="1"/>
- <File name="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_exti.h" path="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_exti.h" type="1"/>
- <File name="Libraries/STM32_USB_OTG_Driver/inc/usb_regs.h" path="Libraries/STM32_USB_OTG_Driver/inc/usb_regs.h" type="1"/>
- <File name="Libraries/STM32_USB_Device_Library" path="" type="2"/>
- <File name="Libraries/STM32_USB_Device_Library/Class" path="" type="2"/>
- <File name="Libraries/CMSIS/CM3/CoreSupport/core_cm3.c" path="Libraries/CMSIS/CM3/CoreSupport/core_cm3.c" type="1"/>
- <File name="Libraries/STM32F10x_StdPeriph_Driver" path="" type="2"/>
- <File name="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_cec.c" path="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_cec.c" type="1"/>
- <File name="Libraries/STM32_USB_OTG_Driver/inc/usb_hcd.h" path="Libraries/STM32_USB_OTG_Driver/inc/usb_hcd.h" type="1"/>
- <File name="Libraries/STM32_USB_OTG_Driver/inc" path="" type="2"/>
- <File name="Libraries/STM32_USB_Device_Library/Core/inc/usbd_core.h" path="Libraries/STM32_USB_Device_Library/Core/inc/usbd_core.h" type="1"/>
- <File name="Libraries/CMSIS/CM3/DeviceSupport" path="" type="2"/>
- <File name="Libraries/STM32_USB_OTG_Driver/inc/usb_dcd_int.h" path="Libraries/STM32_USB_OTG_Driver/inc/usb_dcd_int.h" type="1"/>
- <File name="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dac.c" path="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dac.c" type="1"/>
- <File name="Libraries/CMSIS/CM3/CoreSupport/core_cm3.h" path="Libraries/CMSIS/CM3/CoreSupport/core_cm3.h" type="1"/>
- <File name="src/decadriver" path="" type="2"/>
- <File name="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_spi.c" path="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_spi.c" type="1"/>
- <File name="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_usart.h" path="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_usart.h" type="1"/>
- <File name="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_tim.h" path="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_tim.h" type="1"/>
- <File name="Libraries/STM32_USB_Device_Library/Class/cdc/inc" path="" type="2"/>
- <File name="Libraries/STM32F10x_StdPeriph_Driver/inc/misc.h" path="Libraries/STM32F10x_StdPeriph_Driver/inc/misc.h" type="1"/>
- <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="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"/>
- <File name="Libraries/STM32F10x_StdPeriph_Driver/src" path="" type="2"/>
- <File name="Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x/stm32f10x.h" path="Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x/stm32f10x.h" type="1"/>
- <File name="Libraries/CMSIS/CM3/DeviceSupport/ST" path="" type="2"/>
- <File name="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dbgmcu.c" path="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dbgmcu.c" type="1"/>
- <File name="src/decadriver/deca_regs.h" path="src/decadriver/deca_regs.h" type="1"/>
- <File name="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_pwr.h" path="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_pwr.h" type="1"/>
- <File name="src/usb/usbd_usr.c" path="src/usb/usbd_usr.c" type="1"/>
- <File name="src/application/instance.h" path="src/application/instance.h" type="1"/>
- <File name="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_gpio.h" path="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_gpio.h" type="1"/>
- </Files>
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<Project version="2G - 1.7.5" name="DecaRanging">
+ <Target name="EVK1000" isCurrent="1">
+ <Device manufacturerId="9" manufacturerName="ST" chipId="334" chipName="STM32F105RC" boardId="" boardName=""/>
+ <BuildOption>
+ <Compile>
+ <Option name="OptimizationLevel" value="0"/>
+ <Option name="UseFPU" value="0"/>
+ <Option name="UserEditCompiler" value="-ffunction-sections; -fdata-sections; -c; -fmessage-length=0;"/>
+ <Includepaths>
+ <Includepath path="."/>
+ <Includepath path="Libraries/CMSIS/CM3/CoreSupport"/>
+ <Includepath path="Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x"/>
+ <Includepath path="Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup"/>
+ <Includepath path="src/application"/>
+ <Includepath path="src/compiler"/>
+ <Includepath path="src/decadriver"/>
+ <Includepath path="src/sys"/>
+ <Includepath path="src/usb"/>
+ <Includepath path="Libraries/STM32F10x_StdPeriph_Driver/inc"/>
+ <Includepath path="Libraries/STM32F10x_StdPeriph_Driver/src"/>
+ <Includepath path="Libraries/STM32_USB_Device_Library/Core/inc"/>
+ <Includepath path="Libraries/STM32_USB_OTG_Driver/inc"/>
+ <Includepath path="Libraries/STM32_USB_Device_Library/Class/cdc/inc"/>
+ <Includepath path="Libraries/STM32_USB_Device_Library/Class/msc/inc"/>
+ <Includepath path="src/platform"/>
+ </Includepaths>
+ <DefinedSymbols>
+ <Define name="STM32F105RC"/>
+ <Define name="STM32F10X_CL"/>
+ <Define name="USE_STDPERIPH_DRIVER"/>
+ <Define name="__ASSEMBLY__"/>
+ </DefinedSymbols>
+ </Compile>
+ <Link useDefault="0">
+ <Option name="DiscardUnusedSection" value="0"/>
+ <Option name="UserEditLinkder" value=""/>
+ <Option name="UseMemoryLayout" value="0"/>
+ <Option name="LTO" value="0"/>
+ <Option name="IsNewStartupCode" value="1"/>
+ <Option name="Library" value="Use base C Library"/>
+ <Option name="nostartfiles" value="0"/>
+ <Option name="UserEditLinker" value=""/>
+ <LinkedLibraries>
+ <Libset dir="" libs="rdimon"/>
+ </LinkedLibraries>
+ <MemoryAreas debugInFlashNotRAM="1">
+ <Memory name="IROM1" type="ReadOnly" size="0x00040000" startValue="0x08000000"/>
+ <Memory name="IRAM1" type="ReadWrite" size="0x00010000" startValue="0x20000000"/>
+ <Memory name="IROM2" type="ReadOnly" size="" startValue=""/>
+ <Memory name="IRAM2" type="ReadWrite" size="" startValue=""/>
+ </MemoryAreas>
+ <LocateLinkFile path="linkers/stm32_flash_256k_ram_64k.ld" type="0"/>
+ </Link>
+ <Output>
+ <Option name="OutputFileType" value="0"/>
+ <Option name="Path" value="./"/>
+ <Option name="Name" value="EVK1000"/>
+ <Option name="HEX" value="1"/>
+ <Option name="BIN" value="1"/>
+ </Output>
+ <User>
+ <UserRun name="Run#1" type="Before" checked="0" value=""/>
+ <UserRun name="Run#1" type="After" checked="0" value="arm-none-eabi-objdump -h -S "${project.bin}/${output.name}.elf" > "${project.bin}/${output.name}.lst""/>
+ <UserRun name="Run#2" type="After" checked="0" value="arm-none-eabi-size --format=berkeley "${project.bin}/${output.name}.elf""/>
+ </User>
+ </BuildOption>
+ <DebugOption>
+ <Option name="org.coocox.codebugger.gdbjtag.core.adapter" value="ST-Link"/>
+ <Option name="org.coocox.codebugger.gdbjtag.core.debugMode" value="SWD"/>
+ <Option name="org.coocox.codebugger.gdbjtag.core.clockDiv" value="1M"/>
+ <Option name="org.coocox.codebugger.gdbjtag.corerunToMain" value="1"/>
+ <Option name="org.coocox.codebugger.gdbjtag.core.jlinkgdbserver" value=""/>
+ <Option name="org.coocox.codebugger.gdbjtag.core.userDefineGDBScript" value=""/>
+ <Option name="org.coocox.codebugger.gdbjtag.core.targetEndianess" value="0"/>
+ <Option name="org.coocox.codebugger.gdbjtag.core.jlinkResetMode" value="Type 0: Normal"/>
+ <Option name="org.coocox.codebugger.gdbjtag.core.resetMode" value="SYSRESETREQ"/>
+ <Option name="org.coocox.codebugger.gdbjtag.core.ifSemihost" value="0"/>
+ <Option name="org.coocox.codebugger.gdbjtag.core.ifCacheRom" value="1"/>
+ <Option name="org.coocox.codebugger.gdbjtag.core.ipAddress" value="127.0.0.1"/>
+ <Option name="org.coocox.codebugger.gdbjtag.core.portNumber" value="2009"/>
+ <Option name="org.coocox.codebugger.gdbjtag.core.autoDownload" value="1"/>
+ <Option name="org.coocox.codebugger.gdbjtag.core.verify" value="1"/>
+ <Option name="org.coocox.codebugger.gdbjtag.core.downloadFuction" value="Erase Effected"/>
+ <Option name="org.coocox.codebugger.gdbjtag.core.defaultAlgorithm" value="STM32F10x_CL_256.elf"/>
+ </DebugOption>
+ <ExcludeFile/>
+ </Target>
+ <Components path="./"/>
+ <Files>
+ <File name="Libraries/STM32_USB_Device_Library/Core/inc/usbd_ioreq.h" path="Libraries/STM32_USB_Device_Library/Core/inc/usbd_ioreq.h" type="1"/>
+ <File name="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_fsmc.h" path="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_fsmc.h" type="1"/>
+ <File name="Libraries/STM32_USB_Device_Library/Core/inc/usbd_usr.h" path="Libraries/STM32_USB_Device_Library/Core/inc/usbd_usr.h" type="1"/>
+ <File name="Libraries/STM32_USB_Device_Library/Core" path="" type="2"/>
+ <File name="src/usb/usbd_desc.c" path="src/usb/usbd_desc.c" type="1"/>
+ <File name="src" path="" type="2"/>
+ <File name="Libraries/STM32_USB_Device_Library/Class/cdc" path="" type="2"/>
+ <File name="Libraries/CMSIS" path="" type="2"/>
+ <File name="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dac.h" path="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dac.h" type="1"/>
+ <File name="Libraries/STM32_USB_OTG_Driver/inc/usb_hcd_int.h" path="Libraries/STM32_USB_OTG_Driver/inc/usb_hcd_int.h" type="1"/>
+ <File name="Libraries/STM32_USB_Device_Library/Class/cdc/src" path="" type="2"/>
+ <File name="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_rtc.h" path="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_rtc.h" type="1"/>
+ <File name="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_flash.h" path="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_flash.h" type="1"/>
+ <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/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="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="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/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"/>
+ <File name="src/platform/port.h" path="src/platform/port.h" type="1"/>
+ <File name="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dma.h" path="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dma.h" type="1"/>
+ <File name="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_crc.h" path="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_crc.h" type="1"/>
+ <File name="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_rcc.h" path="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_rcc.h" type="1"/>
+ <File name="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_can.c" path="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_can.c" type="1"/>
+ <File name="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_sdio.h" path="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_sdio.h" 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/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/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/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_fsmc.c" path="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_fsmc.c" 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"/>
+ <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="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"/>
+ <File name="src/application/instance_common.c" path="src/application/instance_common.c" type="1"/>
+ <File name="src/decadriver/deca_params_init.c" path="src/decadriver/deca_params_init.c" type="1"/>
+ <File name="Libraries/STM32_USB_Device_Library/Core/inc" path="" type="2"/>
+ <File name="src/application" path="" type="2"/>
+ <File name="src/application/instance_calib.c" path="src/application/instance_calib.c" type="1"/>
+ <File name="Libraries/STM32_USB_OTG_Driver/inc/usb_dcd.h" path="Libraries/STM32_USB_OTG_Driver/inc/usb_dcd.h" type="1"/>
+ <File name="Libraries/STM32_USB_OTG_Driver/src/usb_core.c" path="Libraries/STM32_USB_OTG_Driver/src/usb_core.c" type="1"/>
+ <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/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="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="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/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"/>
+ <File name="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_usart.c" path="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_usart.c" type="1"/>
+ <File name="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_adc.c" path="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_adc.c" type="1"/>
+ <File name="Libraries/STM32_USB_OTG_Driver/src/usb_dcd.c" path="Libraries/STM32_USB_OTG_Driver/src/usb_dcd.c" type="1"/>
+ <File name="src/platform/stm32f10x_it.h" path="src/platform/stm32f10x_it.h" type="1"/>
+ <File name="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_can.h" path="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_can.h" type="1"/>
+ <File name="Libraries/STM32_USB_Device_Library/Core/src/usbd_core.c" path="Libraries/STM32_USB_Device_Library/Core/src/usbd_core.c" type="1"/>
+ <File name="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_exti.h" path="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_exti.h" type="1"/>
+ <File name="Libraries/STM32_USB_OTG_Driver/inc/usb_regs.h" path="Libraries/STM32_USB_OTG_Driver/inc/usb_regs.h" type="1"/>
+ <File name="Libraries/STM32_USB_Device_Library" path="" type="2"/>
+ <File name="Libraries/STM32_USB_Device_Library/Class" path="" type="2"/>
+ <File name="Libraries/CMSIS/CM3/CoreSupport/core_cm3.c" path="Libraries/CMSIS/CM3/CoreSupport/core_cm3.c" type="1"/>
+ <File name="Libraries/STM32F10x_StdPeriph_Driver" path="" type="2"/>
+ <File name="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_cec.c" path="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_cec.c" type="1"/>
+ <File name="Libraries/STM32_USB_OTG_Driver/inc/usb_hcd.h" path="Libraries/STM32_USB_OTG_Driver/inc/usb_hcd.h" type="1"/>
+ <File name="Libraries/STM32_USB_OTG_Driver/inc" path="" type="2"/>
+ <File name="Libraries/STM32_USB_Device_Library/Core/inc/usbd_core.h" path="Libraries/STM32_USB_Device_Library/Core/inc/usbd_core.h" type="1"/>
+ <File name="Libraries/CMSIS/CM3/DeviceSupport" path="" type="2"/>
+ <File name="Libraries/STM32_USB_OTG_Driver/inc/usb_dcd_int.h" path="Libraries/STM32_USB_OTG_Driver/inc/usb_dcd_int.h" type="1"/>
+ <File name="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dac.c" path="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dac.c" type="1"/>
+ <File name="Libraries/CMSIS/CM3/CoreSupport/core_cm3.h" path="Libraries/CMSIS/CM3/CoreSupport/core_cm3.h" type="1"/>
+ <File name="src/decadriver" path="" type="2"/>
+ <File name="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_spi.c" path="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_spi.c" type="1"/>
+ <File name="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_usart.h" path="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_usart.h" type="1"/>
+ <File name="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_tim.h" path="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_tim.h" type="1"/>
+ <File name="Libraries/STM32_USB_Device_Library/Class/cdc/inc" path="" type="2"/>
+ <File name="Libraries/STM32F10x_StdPeriph_Driver/inc/misc.h" path="Libraries/STM32F10x_StdPeriph_Driver/inc/misc.h" type="1"/>
+ <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/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"/>
+ <File name="Libraries/STM32F10x_StdPeriph_Driver/src" path="" type="2"/>
+ <File name="Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x/stm32f10x.h" path="Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x/stm32f10x.h" type="1"/>
+ <File name="Libraries/CMSIS/CM3/DeviceSupport/ST" path="" type="2"/>
+ <File name="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dbgmcu.c" path="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_dbgmcu.c" type="1"/>
+ <File name="src/decadriver/deca_regs.h" path="src/decadriver/deca_regs.h" type="1"/>
+ <File name="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_pwr.h" path="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_pwr.h" type="1"/>
+ <File name="src/usb/usbd_usr.c" path="src/usb/usbd_usr.c" type="1"/>
+ <File name="src/application/instance.h" path="src/application/instance.h" type="1"/>
+ <File name="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_gpio.h" path="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_gpio.h" type="1"/>
+ </Files>
</Project>
\ No newline at end of file
diff --git a/src/application/dw_main.c b/src/application/dw_main.c
index ef04600..e1305eb 100644
--- a/src/application/dw_main.c
+++ b/src/application/dw_main.c
@@ -361,7 +361,7 @@ int dw_main(void)
// Do nothing in foreground -- allow USB application to run, I guess on the basis of USB interrupts?
while (1) // loop forever
{
- usb_run();
+ //usb_run();
}
#endif
return 1;
@@ -458,8 +458,9 @@ int dw_main(void)
// main loop
while(1)
{
+
instance_data_t* inst = instance_get_local_structure_ptr(0);
- canSleep = instance_run();
+ canSleep = instance_run(); //run the state machine!!!
//if delayed TX scheduled but did not happen after expected time then it has failed... (has to be < slot period)
//if anchor just go into RX and wait for next message from tags/anchors
@@ -521,14 +522,40 @@ int dw_main(void)
//n = sprintf((char*)&dataseq[0], "ia%04x t%04x %04x %04x %04x %04x %04x %02x %02x a", aaddr, taddr, rng, rng_raw, l, txa, rxa, txl, rxl);
//n = sprintf((char*)&dataseq[0], "ia%04x t%04x %08x %08x %04x %04x %04x %2.2f a", aaddr, taddr, rng, rng_raw, l, txa, rxa, instance_data[0].clockOffset);
n = sprintf((char*)&dataseq[0], "ia%04x t%04x %08x %08x %04x %04x %04x a", aaddr, taddr, rng, rng_raw, l, txa, rxa);
+ //n = sprintf((char*)&dataseq[0], "TEST");
}
+
+
+// ranging = 0;
+// resetinstanceanchorwaiting();
+// dataseq[0] = 0x2 ; //return cursor home
+// writetoLCD( 1, 0, dataseq);
+//
+// memcpy(&dataseq[0], (const uint8 *) " RESET ", 16);
+// writetoLCD( 40, 1, dataseq); //send some data
+// memcpy(&dataseq[0], (const uint8 *) " RANGING ", 16);
+// writetoLCD( 16, 1, dataseq); //send some data
+
+
#ifdef USB_SUPPORT //this is set in the port.h file
send_usbmessage(&dataseq[0], n);
+ // n = sprintf((char*)&dataseq[0], "This is a test");
+ // send_usbmessage(&dataseq[0], n);
#endif
}
- if(ranging == 0)
+
+ if(ranging == 0) //discovery/initialization mode for anchor and tag
{
+
+ // dataseq[0] = 0x2 ; //return cursor home
+ // writetoLCD( 1, 0, dataseq);
+ // memcpy(&dataseq[0], (const uint8 *) " RANGING ", 16);
+ // writetoLCD( 40, 1, dataseq); //send some data
+ // memcpy(&dataseq[0], (const uint8 *) " == 0 ", 16);
+ // writetoLCD( 16, 1, dataseq); //send some data
+ //Sleep(1000);
+
if(instance_mode != ANCHOR)
{
if(instancesleeping())
@@ -567,8 +594,27 @@ int dw_main(void)
}
else //if(instance_mode == ANCHOR)
{
+ // dataseq[0] = 0x2 ; //return cursor home
+ // writetoLCD( 1, 0, dataseq);
+ // memcpy(&dataseq[0], (const uint8 *) " AM AN ", 16);
+ // writetoLCD( 40, 1, dataseq); //send some data
+ // memcpy(&dataseq[0], (const uint8 *) " ANCHOR ", 16);
+ // writetoLCD( 16, 1, dataseq); //send some data
+ //Sleep(1000);
+
if(instanceanchorwaiting())
{
+
+ // dataseq[0] = 0x2 ; //return cursor home
+ // writetoLCD( 1, 0, dataseq);
+ // memcpy(&dataseq[0], (const uint8 *) " ANCHOR WAITING ", 16);
+ // writetoLCD( 40, 1, dataseq); //send some data
+ // memcpy(&dataseq[0], (const uint8 *) " == 1 ", 16);
+ // writetoLCD( 16, 1, dataseq); //send some data
+ //Sleep(1000);
+
+
+
toggle+=2;
if(toggle > 300000)
@@ -591,21 +637,33 @@ int dw_main(void)
sprintf((char*)&dataseq[0], "%llX", instance_get_addr());
writetoLCD( 16, 1, dataseq); //send some data
}
+ // Sleep(1000);
}
}
else if(instanceanchorwaiting() == 2)
{
+ // dataseq[0] = 0x2 ; //return cursor home
+ // writetoLCD( 1, 0, dataseq);
+ // memcpy(&dataseq[0], (const uint8 *) " ANCHOR WAITING ", 16);
+ // writetoLCD( 40, 1, dataseq); //send some data
+ // memcpy(&dataseq[0], (const uint8 *) " == 2 ", 16);
+ // writetoLCD( 16, 1, dataseq); //send some data
+ //Sleep(1000);
+
dataseq[0] = 0x2 ; //return cursor home
writetoLCD( 1, 0, dataseq);
memcpy(&dataseq[0], (const uint8 *) " RANGING WITH", 16);
writetoLCD( 40, 1, dataseq); //send some data
sprintf((char*)&dataseq[0], "%llX", instance_get_tagaddr());
writetoLCD( 16, 1, dataseq); //send some data
+ //Sleep(1000);
}
}
}
#ifdef USB_SUPPORT //this is set in the port.h file
+ // int n = sprintf((char*)&dataseq[0], "Main Loop");
+ // send_usbmessage(&dataseq[0], n);
usb_run();
#endif
diff --git a/src/application/instance.c b/src/application/instance.c
index 302a291..46bafdd 100644
--- a/src/application/instance.c
+++ b/src/application/instance.c
@@ -16,10 +16,27 @@
#include "deca_spi.h"
#include "deca_regs.h"
-#include "lib.h"
+#include "lib.h"
#include "instance.h"
+// #include "deca_usb.h"
+
+//NOTE: my added USB debug values/functions
+#define USB_DEBUG_BUFF_LEN (100)
+uint8 usbdebugdata[USB_DEBUG_BUFF_LEN]; //data to be sent over usb for debug purposes
+int usbdebugdata_size = 0;
+uint8 usbdebugdataprev[USB_DEBUG_BUFF_LEN]; //previous message sent
+int usbdebugdataprev_size = 0;
+uint8 usbrxdebugdata[USB_DEBUG_BUFF_LEN];
+int usbrxdebugdata_size = 0;
+uint8 usbrxdebugdataprev[USB_DEBUG_BUFF_LEN];
+int usbrxdebugdataprev_size = 0;
+uint8 usbtxdebugdata[USB_DEBUG_BUFF_LEN];
+int usbtxdebugdata_size = 0;
+uint8 usbtxdebugdataprev[USB_DEBUG_BUFF_LEN];
+int usbtxdebugdataprev_size = 0;
+
// -------------------------------------------------------------------------------------------------------------------
// -------------------------------------------------------------------------------------------------------------------
@@ -43,16 +60,16 @@
//
void instanceconfigframeheader(instance_data_t *inst)
{
- inst->msg.panID[0] = (inst->panID) & 0xff;
- inst->msg.panID[1] = inst->panID >> 8;
+ inst->msg[inst->tagToRangeWith].panID[0] = (inst->panID) & 0xff;
+ inst->msg[inst->tagToRangeWith].panID[1] = inst->panID >> 8;
//set frame type (0-2), SEC (3), Pending (4), ACK (5), PanIDcomp(6)
- inst->msg.frameCtrl[0] = 0x1 /*frame type 0x1 == data*/ | 0x40 /*PID comp*/;
+ inst->msg[inst->tagToRangeWith].frameCtrl[0] = 0x1 /*frame type 0x1 == data*/ | 0x40 /*PID comp*/;
#if (USING_64BIT_ADDR==1)
//source/dest addressing modes and frame version
- inst->msg.frameCtrl[1] = 0xC /*dest extended address (64bits)*/ | 0xC0 /*src extended address (64bits)*/;
+ inst->msg[inst->tagToRangeWith].frameCtrl[1] = 0xC /*dest extended address (64bits)*/ | 0xC0 /*src extended address (64bits)*/;
#else
- inst->msg.frameCtrl[1] = 0x8 /*dest short address (16bits)*/ | 0x80 /*src short address (16bits)*/;
+ inst->msg[inst->tagToRangeWith].frameCtrl[1] = 0x8 /*dest short address (16bits)*/ | 0x80 /*src short address (16bits)*/;
#endif
}
@@ -95,6 +112,126 @@ int instancesendpacket(uint16 length, uint8 txmode, uint32 dtime)
}
+//debug helper function to print the testAppState
+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";
+ case TA_TX_WAIT_CONF : return "TA_TX_WAIT_CONF";
+ case TA_RXE_WAIT : return "TA_RXE_WAIT";
+ case TA_RX_WAIT_DATA : return "TA_RX_WAIT_DATA";
+ case TA_SLEEP_DONE : return "TA_SLEEP_DONE";
+ case TA_TXBLINK_WAIT_SEND : return "TA_TXBLINK_WAIT_SEND";
+ case TA_TXRANGINGINIT_WAIT_SEND : return "TA_TXRANGINGINIT_WAIT_SEND";
+ case TA_TX_SELECT : return "TA_TX_SELECT";
+ default: return "NONE";
+ }
+}
+
+//debug helper function to print the mode
+const char* get_instanceModes_string(enum instanceModes mode)
+{
+ switch (mode)
+ {
+ case LISTENER : return "LISTENER";
+ case TAG : return "TAG";
+ case ANCHOR : return "ANCHOR";
+ case TAG_TDOA : return "TAG_TDOA";
+ case NUM_MODES : return "NUM_MODES";
+ default: return "NONE";
+ }
+}
+
+char* get_msg_fcode_string(int fcode)
+{
+ if (fcode == (int)RTLS_DEMO_MSG_RNG_INIT)
+ {
+ return "RTLS_DEMO_MSG_RNG_INIT";
+ }
+ else if(fcode == (int)RTLS_DEMO_MSG_TAG_POLL)
+ {
+ return "RTLS_DEMO_MSG_TAG_POLL";
+ }
+ else if(fcode == (int)RTLS_DEMO_MSG_ANCH_RESP)
+ {
+ return "RTLS_DEMO_MSG_ANCH_RESP";
+ }
+ else if(fcode == (int)RTLS_DEMO_MSG_TAG_FINAL)
+ {
+ return "RTLS_DEMO_MSG_TAG_FINAL";
+ }
+ else
+ {
+ return "NONE";
+ }
+}
+
+void send_statetousb(instance_data_t *inst)
+{
+ // usbrxdebugdata[0] = 0x2 ; //return cursor home
+ int usbdebugdata_size = sprintf((char*)&usbdebugdata[0], "%s , %s , %s , %s", get_inst_states_string(inst->testAppState), get_inst_states_string(inst->previousState), get_inst_states_string(inst->nextState), get_instanceModes_string(inst->mode));
+
+ memcpy(usbdebugdata, usbdebugdata, usbdebugdata_size);
+ if (strncmp(usbdebugdataprev, usbdebugdata, usbdebugdata_size) != 0 || usbdebugdata_size != usbdebugdataprev_size)
+ {
+
+ // send_usbmessage("start", 5);
+ // usb_run();
+ send_usbmessage(&usbdebugdata[0], usbdebugdata_size);
+ usb_run();
+ // send_usbmessage(&usbdebugdataprev[0], usbdebugdataprev_size);
+ // usb_run();
+
+ // usbrxdebugdataprev[0] = 0x2 ; //return cursor home
+ usbdebugdataprev_size = usbdebugdata_size;
+ memcpy(usbdebugdataprev, usbdebugdata, usbdebugdata_size);
+ }
+}
+
+void send_rxmsgtousb(char *data)
+{
+ // usbrxdebugdata[0] = 0x2 ; //return cursor home
+ int usbrxdebugdata_size = sprintf((char*)&usbrxdebugdata[0], "%s", data);
+
+ memcpy(usbrxdebugdata, usbrxdebugdata, usbrxdebugdata_size);
+ if (strncmp(usbrxdebugdataprev, usbrxdebugdata, usbrxdebugdata_size) != 0 || usbrxdebugdata_size != usbrxdebugdataprev_size)
+ {
+ // n = sprintf((char*)&usbtmpmsg[0], "prev: %s curr: %s", (char*)&usbrxdebugdata, (char*)&usbrxdebugdataprev);
+ // send_usbmessage(&usbtmpmsg[0], n);
+
+ // send_usbmessage("start", 5);
+ // usb_run();
+ send_usbmessage(&usbrxdebugdata[0], usbrxdebugdata_size);
+ usb_run();
+ // send_usbmessage(&usbrxdebugdataprev[0], usbrxdebugdataprev_size);
+ // usb_run();
+
+ // usbrxdebugdataprev[0] = 0x2 ; //return cursor home
+ usbrxdebugdataprev_size = usbrxdebugdata_size;
+ memcpy(usbrxdebugdataprev, usbrxdebugdata, usbrxdebugdata_size);
+ }
+}
+
+void send_txmsgtousb(char *data)
+{
+ int usbtxdebugdata_size = sprintf((char*)&usbtxdebugdata[0], "TX message: %s", data);
+
+ // memcpy(usbtxdebugdata, usbtxdebugdata, usbtxdebugdata_size);
+ // if (strncmp(usbtxdebugdataprev, usbtxdebugdata, usbtxdebugdata_size) != 0 || usbtxdebugdata_size != usbtxdebugdataprev_size)
+ // {
+ send_usbmessage(&usbtxdebugdata[0], usbtxdebugdata_size);
+ usb_run();
+
+ // usbtxdebugdataprev_size = usbtxdebugdata_size;
+ // memcpy(usbtxdebugdataprev, usbtxdebugdata, usbtxdebugdata_size);
+ // }
+}
+
// -------------------------------------------------------------------------------------------------------------------
//
// the main instance state machine (all the instance modes Tag, Anchor or Listener use the same statemachine....)
@@ -105,14 +242,29 @@ int testapprun(instance_data_t *inst, int message)
{
int done = INST_NOT_DONE_YET;
+ // uint8 debug_msg[100];
+ // int n = sprintf((char*)&debug_msg[0], "Test app run");
+ // send_usbmessage(&debug_msg[0], n);
+ // usb_run();
+
+ // uint8 debug_msg2[100];
+ // int n = sprintf((char*)&debug_msg2[0], "TTRW %i", inst->tagToRangeWith);
+ // send_usbmessage(&debug_msg2[0], n);
+ // usb_run();
+
switch (inst->testAppState)
{
case TA_INIT :
+ // if (inst->mode == ANCHOR)
+ // {
+ send_statetousb(inst);
+ // }
// printf("TA_INIT") ;
switch (inst->mode)
{
case TAG:
{
+ Sleep(5000);
int mode = 0;
dwt_enableframefilter(DWT_FF_DATA_EN | DWT_FF_ACK_EN); //allow data, ACK frames;
@@ -123,11 +275,14 @@ int testapprun(instance_data_t *inst, int message)
//the short address is assigned by the anchor
#else
//set source address into the message structure
- memcpy(&inst->msg.sourceAddr[0], inst->eui64, ADDR_BYTE_SIZE_L);
+ for(int i=0; i<TAG_LIST_SIZE; i++)
+ {
+ memcpy(&inst->msg[i].sourceAddr[0], inst->eui64, ADDR_BYTE_SIZE_L);
+ }
#endif
//change to next state - send a Poll message to 1st anchor in the list
- inst->mode = TAG_TDOA ;
+ //inst->mode = TAG_TDOA ;
inst->testAppState = TA_TXBLINK_WAIT_SEND;
memcpy(inst->blinkmsg.tagID, inst->eui64, ADDR_BYTE_SIZE_L);
@@ -158,13 +313,19 @@ int testapprun(instance_data_t *inst, int message)
uint16 addr = inst->eui64[0] + (inst->eui64[1] << 8);
dwt_setaddress16(addr);
//set source address into the message structure
- memcpy(&inst->msg.sourceAddr[0], inst->eui64, ADDR_BYTE_SIZE_S);
+ for(int i=0; i<TAG_LIST_SIZE; i++)
+ {
+ memcpy(&inst->msg[i].sourceAddr[0], inst->eui64, ADDR_BYTE_SIZE_S);
+ }
//set source address into the message structure
memcpy(&inst->rng_initmsg.sourceAddr[0], inst->eui64, ADDR_BYTE_SIZE_S);
}
#else
//set source address into the message structure
- memcpy(&inst->msg.sourceAddr[0], inst->eui64, ADDR_BYTE_SIZE_L);
+ for(int i=0; i<TAG_LIST_SIZE; i++)
+ {
+ memcpy(&inst->msg[i].sourceAddr[0], inst->eui64, ADDR_BYTE_SIZE_L);
+ }
//set source address into the message structure
memcpy(&inst->rng_initmsg.sourceAddr[0], inst->eui64, ADDR_BYTE_SIZE_L);
#endif
@@ -196,8 +357,47 @@ int testapprun(instance_data_t *inst, int message)
}
break; // end case TA_INIT
+ case TA_TX_SELECT:
+ {
+ // uint8 debug_msg[100];
+ // int n = sprintf((char*)&debug_msg[0], "TA_TX_SELECT");
+ // send_usbmessage(&debug_msg[0], n);
+ // usb_run();
+ uint8 debug_msg[100];
+ int n = sprintf((char*)&debug_msg[0], "TA_TX_SELECT: inst->tagListLen: %i, inst->tagToRangeWith: %i", inst->tagListLen, inst->tagToRangeWith);
+ send_usbmessage(&debug_msg[0], n);
+ usb_run();
+ // select whether to blink or send out a range poll message.
+ // select a tag from the list if sending out a range poll message
+ if(inst->tagListLen == 0) //no known anchors yet, send out blink
+ {
+ inst->testAppState = TA_TXBLINK_WAIT_SEND;
+ inst->tagToRangeWith = 255;
+ }
+ else
+ {
+ //for now, blink after attempting to poll each tag in the list
+ if((inst->tagToRangeWith >= inst->tagListLen) || (inst->tagTimeout[inst->tagToRangeWith] == 1))
+ {
+ inst->testAppState = TA_TXBLINK_WAIT_SEND;
+ inst->tagToRangeWith = 255;
+ }
+ else
+ {
+ // inst->tagToRangeWith = inst->tagToRangeWith + 1;
+ inst->testAppState = TA_TXPOLL_WAIT_SEND;
+ }
+ }
+
+ send_statetousb(inst);
+ break; // end case TA_TX_SELECT
+ }
case TA_SLEEP_DONE :
{
+ // if (inst->mode == ANCHOR)
+ // {
+ send_statetousb(inst);
+ // }
event_data_t* dw_event = instance_getevent(10); //clear the event from the queue
// waiting for timout from application to wakup IC
if (dw_event->type != DWT_SIG_RX_TIMEOUT)
@@ -235,10 +435,14 @@ int testapprun(instance_data_t *inst, int message)
break;
case TA_TXE_WAIT : //either go to sleep or proceed to TX a message
+ // if (inst->mode == ANCHOR)
+ // {
+ send_statetousb(inst);
+ // }
// printf("TA_TXE_WAIT") ;
//if we are scheduled to go to sleep before next sending then sleep first.
if(((inst->nextState == TA_TXPOLL_WAIT_SEND)
- || (inst->nextState == TA_TXBLINK_WAIT_SEND))
+ || (inst->nextState == TA_TXBLINK_WAIT_SEND) || (inst->nextState == TA_TX_SELECT)) //add TA_TX_SELECT???
&& (inst->goToSleep) //go to sleep before sending the next poll
)
{
@@ -247,10 +451,10 @@ int testapprun(instance_data_t *inst, int message)
done = INST_DONE_WAIT_FOR_NEXT_EVENT_TO; //don't sleep here but kick off the TagTimeoutTimer (instancetimer)
inst->testAppState = TA_SLEEP_DONE;
- if(inst->mode == TAG_TDOA) //once we start ranging we want to display the new range
- {
- inst->canPrintInfo = 1;
- }
+ // if(inst->mode == TAG_TDOA) //once we start ranging we want to display the new range
+ // {
+ inst->canPrintInfo = 1;
+ // }
#if (DEEP_SLEEP == 1)
if (inst->sleepingEabled)
@@ -279,6 +483,12 @@ int testapprun(instance_data_t *inst, int message)
case TA_TXBLINK_WAIT_SEND :
{
+ // if (inst->mode == ANCHOR)
+ // {
+ send_statetousb(inst);
+ // }
+ //send_txmsgtousb("BLINK");
+
int flength = (BLINK_FRAME_CRTL_AND_ADDRESS + FRAME_CRC);
//blink frames with IEEE EUI-64 tag ID
@@ -287,8 +497,7 @@ int testapprun(instance_data_t *inst, int message)
dwt_writetxdata(flength, (uint8 *) (&inst->blinkmsg), 0) ; // write the frame data
dwt_writetxfctrl(flength, 0, 1);
-
-
+
//using wait for response to do delayed receive
inst->wait4ack = DWT_RESPONSE_EXPECTED;
@@ -308,6 +517,14 @@ int testapprun(instance_data_t *inst, int message)
case TA_TXRANGINGINIT_WAIT_SEND :
{
+ if (inst->mode == ANCHOR)
+ {
+ send_statetousb(inst);
+ }
+ send_txmsgtousb("RTLS_DEMO_MSG_RNG_INIT");
+
+ // TODO should only send RTLS_DEMO_MSG_RNG_INIT if handshake not already complete
+
uint16 resp_dly_us, resp_dly;
int psduLength = RANGINGINIT_MSG_LEN;
@@ -351,6 +568,8 @@ int testapprun(instance_data_t *inst, int message)
dwt_writetxdata(psduLength, (uint8 *) &inst->rng_initmsg, 0) ; // write the frame data
+
+
//anchor - we don't use timeout, just wait for next frame
if(instancesendpacket(psduLength, DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED, inst->delayedReplyTime))
{
@@ -367,19 +586,20 @@ int testapprun(instance_data_t *inst, int message)
//CONFIGURE FIXED PARTS OF RESPONSE MESSAGE FRAME (these won't change)
//program option octet and parameters (not used currently)
- inst->msg.messageData[RES_R1] = 0x2; // "activity"
- inst->msg.messageData[RES_R2] = 0x0; //
- inst->msg.messageData[RES_R3] = 0x0;
+ inst->msg[inst->tagToRangeWith].messageData[RES_R1] = 0x2; // "activity"
+ inst->msg[inst->tagToRangeWith].messageData[RES_R2] = 0x0; //
+ inst->msg[inst->tagToRangeWith].messageData[RES_R3] = 0x0;
//set the destination address in the TWR response message
#if 0
#if (USING_64BIT_ADDR == 1)
- memcpy(&inst->msg.destAddr[0], &inst->rng_initmsg.destAddr[0], ADDR_BYTE_SIZE_L); //remember who to send the reply to (set destination address)
+ memcpy(&inst->msg[inst->tagToRangeWith].destAddr[0], &inst->rng_initmsg.destAddr[0], ADDR_BYTE_SIZE_L); //remember who to send the reply to (set destination address)
#else
- memcpy(&inst->msg.destAddr[0], &inst->tagShortAdd, ADDR_BYTE_SIZE_S); //remember who to send the reply to (set destination address)
+ memcpy(&inst->msg[inst->tagToRangeWith].destAddr[0], &inst->tagShortAdd, ADDR_BYTE_SIZE_S); //remember who to send the reply to (set destination address)
#endif
#endif
- inst->msg.messageData[FCODE] = RTLS_DEMO_MSG_ANCH_RESP; //message function code (specifies if message is a poll, response or other...)
+
+ inst->msg[inst->tagToRangeWith].messageData[FCODE] = RTLS_DEMO_MSG_ANCH_RESP; //message function code (specifies if message is a poll, response or other...)
instanceconfigframeheader(inst);
//inst->timeofTx = portGetTickCnt();
@@ -391,12 +611,14 @@ int testapprun(instance_data_t *inst, int message)
case TA_TXPOLL_WAIT_SEND :
{
+ send_statetousb(inst);
+ // send_txmsgtousb("RTLS_DEMO_MSG_TAG_POLL");
int psduLength = 0;
//NOTE the anchor address is set after receiving the ranging initialisation message
inst->goToSleep = 1; //go to Sleep after this poll
- 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...)
+ inst->msg[inst->tagToRangeWith].seqNum = inst->frameSN++;
+ inst->msg[inst->tagToRangeWith].messageData[FCODE] = RTLS_DEMO_MSG_TAG_POLL; //message function code (specifies if message is a poll, response or other...)
instanceconfigframeheader(inst);
#if (USING_64BIT_ADDR==1)
@@ -409,7 +631,7 @@ int testapprun(instance_data_t *inst, int message)
dwt_setrxaftertxdelay(inst->txToRxDelayTag_sy);
dwt_setrxtimeout((uint16)inst->fwtoTime_sy);
- dwt_writetxdata(psduLength, (uint8 *) &inst->msg, 0) ; // write the frame data
+ dwt_writetxdata(psduLength, (uint8 *) &inst->msg[inst->tagToRangeWith], 0) ; // write the frame data
//response is expected
inst->wait4ack = DWT_RESPONSE_EXPECTED;
@@ -426,6 +648,7 @@ int testapprun(instance_data_t *inst, int message)
case TA_TXRESPONSE_WAIT_SEND : //the frame is loaded and sent from the RX callback
{
+ send_statetousb(inst);
//printf("TA_TXRESPONSE\n") ;
inst->testAppState = TA_TX_WAIT_CONF; // wait confirmation
inst->previousState = TA_TXRESPONSE_WAIT_SEND ;
@@ -434,12 +657,14 @@ int testapprun(instance_data_t *inst, int message)
case TA_TXFINAL_WAIT_SEND :
{
+ send_statetousb(inst);
+ // send_txmsgtousb("RTLS_DEMO_MSG_TAG_FINAL");
int psduLength = 0;
// Embbed into Final message:40-bit respRxTime
// Write Response RX time field of Final message
- memcpy(&(inst->msg.messageData[RRXT]), (uint8 *)&inst->anchorRespRxTime, 5);
+ memcpy(&(inst->msg[inst->tagToRangeWith].messageData[RRXT]), (uint8 *)&inst->anchorRespRxTime, 5);
- inst->msg.messageData[FCODE] = RTLS_DEMO_MSG_TAG_FINAL; //message function code (specifies if message is a poll, response or other...)
+ inst->msg[inst->tagToRangeWith].messageData[FCODE] = RTLS_DEMO_MSG_TAG_FINAL; //message function code (specifies if message is a poll, response or other...)
instanceconfigframeheader(inst);
#if (USING_64BIT_ADDR==1)
@@ -448,14 +673,14 @@ int testapprun(instance_data_t *inst, int message)
psduLength = TAG_FINAL_MSG_LEN + FRAME_CRTL_AND_ADDRESS_S + FRAME_CRC;
#endif
- dwt_writetxdata(psduLength, (uint8 *) &inst->msg, 0) ; // write the frame data
+ dwt_writetxdata(psduLength, (uint8 *) &inst->msg[inst->tagToRangeWith], 0) ; // write the frame data
if(instancesendpacket(psduLength, DWT_START_TX_DELAYED, inst->delayedReplyTime))
{
// initiate the re-transmission
inst->testAppState = TA_TXE_WAIT ;
inst->nextState = TA_TXPOLL_WAIT_SEND ;
-
+
inst->wait4ack = 0; //clear the flag as the TX has failed the TRX is off
inst->lateTX++;
@@ -463,12 +688,14 @@ int testapprun(instance_data_t *inst, int message)
}
else
{
+
inst->testAppState = TA_TX_WAIT_CONF; // wait confirmation
inst->previousState = TA_TXFINAL_WAIT_SEND;
done = INST_DONE_WAIT_FOR_NEXT_EVENT; //will use RX FWTO to time out (set below)
- //inst->responseTimeouts = 0; //reset response timeout count
+ // inst->responseTimeouts = 0; //reset response timeout count
inst->timeofTx = portGetTickCnt();
inst->monitor = 1;
+ send_txmsgtousb("RTLS_DEMO_MSG_TAG_FINAL");
}
}
break;
@@ -476,7 +703,11 @@ int testapprun(instance_data_t *inst, int message)
case TA_TX_WAIT_CONF :
//printf("TA_TX_WAIT_CONF %d m%d states %08x %08x\n", inst->previousState, message, dwt_read32bitreg(0x19), dwt_read32bitreg(0x0f)) ;
- {
+ {
+ // if (inst->mode == ANCHOR)
+ // {
+ send_statetousb(inst);
+ // }
event_data_t* dw_event = instance_getevent(11); //get and clear this event
//NOTE: Can get the ACK before the TX confirm event for the frame requesting the ACK
@@ -486,37 +717,46 @@ int testapprun(instance_data_t *inst, int message)
{
if(dw_event->type == DWT_SIG_RX_TIMEOUT) //got RX timeout - i.e. did not get the response (e.g. ACK)
{
- //printf("RX timeout in TA_TX_WAIT_CONF (%d)\n", inst->previousState);
+ // printf("RX timeout in TA_TX_WAIT_CONF (%d)\n", inst->previousState);
//we need to wait for SIG_TX_DONE and then process the timeout and re-send the frame if needed
inst->gotTO = 1;
}
done = INST_DONE_WAIT_FOR_NEXT_EVENT;
- break;
+ send_rxmsgtousb("RX process: (1st) got TO in TA_TX_WAIT_CONF");
+ break;
}
done = INST_NOT_DONE_YET;
- if(inst->previousState == TA_TXFINAL_WAIT_SEND)
+
+
+ if(inst->previousState == TA_TXFINAL_WAIT_SEND) //TAG operations
{
inst->testAppState = TA_TXE_WAIT ;
- inst->nextState = TA_TXPOLL_WAIT_SEND ;
+ //inst->nextState = TA_TXPOLL_WAIT_SEND ;
+ //inst->nextState = TA_TXBLINK_WAIT_SEND ;
+ inst->nextState = TA_TX_SELECT;
+ uint8 idx = inst->tagToRangeWith + 1;
+ inst->tagToRangeWith = instfindfirstawaketaginlist(inst, idx);
+
break;
}
else if (inst->gotTO) //timeout
{
//printf("got TO in TA_TX_WAIT_CONF\n");
+ send_rxmsgtousb("RX process: (2nd) got TO in TA_TX_WAIT_CONF");
inst_processrxtimeout(inst);
inst->gotTO = 0;
inst->wait4ack = 0 ; //clear this
break;
}
- else
+ else
{
inst->txu.txTimeStamp = dw_event->timeStamp;
- if(inst->previousState == TA_TXPOLL_WAIT_SEND)
+ if(inst->previousState == TA_TXPOLL_WAIT_SEND) //TAG operations
{
uint64 tagCalculatedFinalTxTime ;
// Embed into Final message: 40-bit pollTXTime, 40-bit respRxTime, 40-bit finalTxTime
@@ -532,9 +772,9 @@ int testapprun(instance_data_t *inst, int message)
tagCalculatedFinalTxTime &= MASK_40BIT;
// Write Calculated TX time field of Final message
- memcpy(&(inst->msg.messageData[FTXT]), (uint8 *)&tagCalculatedFinalTxTime, 5);
+ memcpy(&(inst->msg[inst->tagToRangeWith].messageData[FTXT]), (uint8 *)&tagCalculatedFinalTxTime, 5);
// Write Poll TX time field of Final message
- memcpy(&(inst->msg.messageData[PTXT]), (uint8 *)&inst->txu.tagPollTxTime, 5);
+ memcpy(&(inst->msg[inst->tagToRangeWith].messageData[PTXT]), (uint8 *)&inst->txu.tagPollTxTime, 5);
}
inst->testAppState = TA_RXE_WAIT ; // After sending, tag expects response/report, anchor waits to receive a final/new poll
@@ -550,7 +790,11 @@ int testapprun(instance_data_t *inst, int message)
case TA_RXE_WAIT :
// printf("TA_RXE_WAIT") ;
{
-
+ if (inst->mode == ANCHOR)
+ {
+ send_statetousb(inst);
+ }
+
if(inst->wait4ack == 0) //if this is set the RX will turn on automatically after TX
{
//turn RX on
@@ -573,45 +817,75 @@ int testapprun(instance_data_t *inst, int message)
if(message == 0) break;
}
- case TA_RX_WAIT_DATA : // Wait RX data
+ case TA_RX_WAIT_DATA :
+ if (inst->mode == ANCHOR)
+ {
+ send_statetousb(inst);
+ }
+ // Wait RX data
//printf("TA_RX_WAIT_DATA %d", message) ;
switch (message)
{
case DWT_SIG_RX_BLINK :
{
+ send_rxmsgtousb("RX process: DWT_SIG_RX_BLINK ");
event_data_t* dw_event = instance_getevent(12); //get and clear this event
//printf("we got blink message from %08X\n", ( tagaddr& 0xFFFF));
if((inst->mode == LISTENER) || (inst->mode == ANCHOR))
{
inst->canPrintInfo = 1;
- //add this Tag to the list of Tags we know about
- instaddtagtolist(inst, &(dw_event->msgu.rxblinkmsg.tagID[0]));
-
- //initiate ranging message
- if(inst->tagToRangeWith < TAG_LIST_SIZE)
+ // if(inst->tagToRangeWith == 255)
+ // {
+ // instaddtagtolist(inst, &(dw_event->msgu.rxblinkmsg.tagID[0]));
+ // // int n = sprintf((char*)&debug_msg[0], "BLINK!!! tagToRangeWith after %i", inst->tagToRangeWith);
+ // // send_usbmessage(&debug_msg[0], n);
+ // // usb_run();
+ // //initiate ranging message this is a Blink from the Tag we would like to range to
+ // //NOTE not sure if this check is needed... but leave it for now
+ // if(memcmp(&inst->tagList[inst->tagToRangeWith][0], &(dw_event->msgu.rxblinkmsg.tagID[0]), BLINK_FRAME_SOURCE_ADDRESS) == 0)
+ // {
+ // inst->tagShortAdd = (dwt_getpartid() & 0xFF);
+ // inst->tagShortAdd = (inst->tagShortAdd << 8) + dw_event->msgu.rxblinkmsg.tagID[0] ; //TODO need to figure this out...
+
+ // //if using longer reply delay time (e.g. if interworking with a PC application)
+ // inst->delayedReplyTime = (dw_event->timeStamp + inst->rnginitReplyDelay) >> 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 ;
+
+ // break;
+ // }
+
+ // //else stay in RX
+ // }
+
+ uint8 debug_msg[100];
+ int n = sprintf((char*)&debug_msg[0], "memcmp tagList & tagID: %i %i", inst->tagList[inst->tagToRangeWith][0], dw_event->msgu.rxblinkmsg.tagID[0]);
+ send_usbmessage(&debug_msg[0], n);
+ usb_run();
+
+ if(memcmp(&inst->tagList[inst->tagToRangeWith][0], &(dw_event->msgu.rxblinkmsg.tagID[0]), BLINK_FRAME_SOURCE_ADDRESS) == 0)
{
- //initiate ranging message this is a Blink from the Tag we would like to range to
- if(memcmp(&inst->tagList[inst->tagToRangeWith][0], &(dw_event->msgu.rxblinkmsg.tagID[0]), BLINK_FRAME_SOURCE_ADDRESS) == 0)
- {
- inst->tagShortAdd = (dwt_getpartid() & 0xFF);
- inst->tagShortAdd = (inst->tagShortAdd << 8) + dw_event->msgu.rxblinkmsg.tagID[0] ;
+ inst->tagShortAdd = (dwt_getpartid() & 0xFF);
+ inst->tagShortAdd = (inst->tagShortAdd << 8) + dw_event->msgu.rxblinkmsg.tagID[0] ; //TODO need to figure this out...
- //if using longer reply delay time (e.g. if interworking with a PC application)
- inst->delayedReplyTime = (dw_event->timeStamp + inst->rnginitReplyDelay) >> 8 ; // time we should send the blink response
+ //if using longer reply delay time (e.g. if interworking with a PC application)
+ inst->delayedReplyTime = (dw_event->timeStamp + inst->rnginitReplyDelay) >> 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
- //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_TXE_WAIT;
- inst->nextState = TA_TXRANGINGINIT_WAIT_SEND ;
-
- break;
- }
-
- //else stay in RX
+ break;
}
+ //else stay in RX
}
//else //not initiating ranging - continue to receive
{
@@ -625,6 +899,7 @@ int testapprun(instance_data_t *inst, int message)
//if we have received a DWT_SIG_RX_OKAY event - this means that the message is IEEE data type - need to check frame control to know which addressing mode is used
case DWT_SIG_RX_OKAY :
{
+
event_data_t* dw_event = instance_getevent(15); //get and clear this event
uint8 srcAddr[8] = {0,0,0,0,0,0,0,0};
int fcode = 0;
@@ -660,6 +935,7 @@ int testapprun(instance_data_t *inst, int message)
if(inst->mode == ANCHOR)
{
#if (USING_64BIT_ADDR==1)
+
if(memcmp(&inst->tagList[inst->tagToRangeWith][0], &srcAddr[0], BLINK_FRAME_SOURCE_ADDRESS) == 0) //if the Tag's address does not match (ignore the message)
#else
//if using 16-bit addresses the ranging messages from tag are using the short address tag was given in the ranging init message
@@ -669,6 +945,23 @@ int testapprun(instance_data_t *inst, int message)
{
fcode = fn_code;
}
+// #if (USING_64BIT_ADDR==1)
+// if(instchecktaginlist(&inst, &srcAddr[0]) != 255) //if the Tag's address does not match (ignore the message)
+// #else
+// //if using 16-bit addresses the ranging messages from tag are using the short address tag was given in the ranging init message
+// if(inst->tagShortAdd == (srcAddr[0] + (srcAddr[1] << 8)))
+// #endif
+// //only process messages from an associated tag
+// {
+// fcode = fn_code;
+// }
+// else
+// {
+// uint8 debug_msg[100];
+// int n = sprintf((char*)&debug_msg[0], "Tag not in list, RX message not processed");
+// send_usbmessage(&debug_msg[0], n);
+// usb_run();
+// }
}
else // LISTENER or TAG
{
@@ -677,64 +970,128 @@ int testapprun(instance_data_t *inst, int message)
switch(fcode)
{
- case RTLS_DEMO_MSG_RNG_INIT:
+ case RTLS_DEMO_MSG_RNG_INIT: //TAG operations
{
- if(inst->mode == TAG_TDOA) //only start ranging with someone if not ranging already
+ send_rxmsgtousb("RX process: DWT_SIG_RX_OKAY-RTLS_DEMO_MSG_RNG_INIT");
+ // send_rxmsgtousb("RX message fcode: RTLS_DEMO_MSG_RNG_INIT");
+
+ //shouldn't use different tag modes. should only accept if not in list already
+ //NOTE this is the poll message sent by the tag to initiate the handshake
+
+ uint32 final_reply_delay_us;
+ uint32 resp_dly[RESP_DLY_NB];
+ int i;
+
+ inst->testAppState = TA_TXE_WAIT;
+ inst->nextState = TA_TXPOLL_WAIT_SEND ; // send next poll
+
+ inst->tagShortAdd = messageData[RNG_INIT_TAG_SHORT_ADDR_LO]
+ + (messageData[RNG_INIT_TAG_SHORT_ADDR_HI] << 8) ;
+
+ // Get response delays from message and update internal timings accordingly
+ resp_dly[RESP_DLY_ANC] = messageData[RNG_INIT_ANC_RESP_DLY_LO]
+ + (messageData[RNG_INIT_ANC_RESP_DLY_HI] << 8);
+ resp_dly[RESP_DLY_TAG] = messageData[RNG_INIT_TAG_RESP_DLY_LO]
+ + (messageData[RNG_INIT_TAG_RESP_DLY_HI] << 8);
+ for (i = 0; i < RESP_DLY_NB; i++)
{
- uint32 final_reply_delay_us;
- uint32 resp_dly[RESP_DLY_NB];
- int i;
-
- inst->testAppState = TA_TXE_WAIT;
- inst->nextState = TA_TXPOLL_WAIT_SEND ; // send next poll
-
- inst->tagShortAdd = messageData[RNG_INIT_TAG_SHORT_ADDR_LO]
- + (messageData[RNG_INIT_TAG_SHORT_ADDR_HI] << 8) ;
-
- // Get response delays from message and update internal timings accordingly
- resp_dly[RESP_DLY_ANC] = messageData[RNG_INIT_ANC_RESP_DLY_LO]
- + (messageData[RNG_INIT_ANC_RESP_DLY_HI] << 8);
- resp_dly[RESP_DLY_TAG] = messageData[RNG_INIT_TAG_RESP_DLY_LO]
- + (messageData[RNG_INIT_TAG_RESP_DLY_HI] << 8);
- for (i = 0; i < RESP_DLY_NB; i++)
+ if (((resp_dly[i] & RESP_DLY_UNIT_MASK) >> RESP_DLY_UNIT_SHIFT) == RESP_DLY_UNIT_MS)
{
- if (((resp_dly[i] & RESP_DLY_UNIT_MASK) >> RESP_DLY_UNIT_SHIFT) == RESP_DLY_UNIT_MS)
- {
- // Remove unit bit and convert to microseconds.
- resp_dly[i] &= ~RESP_DLY_UNIT_MASK;
- resp_dly[i] *= 1000;
- }
- }
- // Update delay between poll transmission and response reception.
- // Use uint64 for resp_dly here to avoid overflows if it is more than 400 ms.
- inst->txToRxDelayTag_sy = US_TO_SY_INT((uint64)resp_dly[RESP_DLY_ANC] - inst->frameLengths_us[POLL]) - RX_START_UP_SY;
- // Update delay between poll transmission and final transmission.
- final_reply_delay_us = resp_dly[RESP_DLY_ANC] + resp_dly[RESP_DLY_TAG];
- inst->finalReplyDelay = convertmicrosectodevicetimeu(final_reply_delay_us);
- inst->finalReplyDelay_ms = CEIL_DIV(final_reply_delay_us, 1000);
- // If we are using long response delays, deactivate sleep.
- if (resp_dly[RESP_DLY_ANC] >= LONG_RESP_DLY_LIMIT_US
- || resp_dly[RESP_DLY_TAG] >= LONG_RESP_DLY_LIMIT_US)
- {
- inst->sleepingEabled = 0;
+ // Remove unit bit and convert to microseconds.
+ resp_dly[i] &= ~RESP_DLY_UNIT_MASK;
+ resp_dly[i] *= 1000;
}
+ }
+ // Update delay between poll transmission and response reception.
+ // Use uint64 for resp_dly here to avoid overflows if it is more than 400 ms.
+ inst->txToRxDelayTag_sy = US_TO_SY_INT((uint64)resp_dly[RESP_DLY_ANC] - inst->frameLengths_us[POLL]) - RX_START_UP_SY;
+ // Update delay between poll transmission and final transmission.
+ final_reply_delay_us = resp_dly[RESP_DLY_ANC] + resp_dly[RESP_DLY_TAG];
+ inst->finalReplyDelay = convertmicrosectodevicetimeu(final_reply_delay_us);
+ inst->finalReplyDelay_ms = CEIL_DIV(final_reply_delay_us, 1000);
+ // If we are using long response delays, deactivate sleep.
+ if (resp_dly[RESP_DLY_ANC] >= LONG_RESP_DLY_LIMIT_US
+ || resp_dly[RESP_DLY_TAG] >= LONG_RESP_DLY_LIMIT_US)
+ {
+ inst->sleepingEabled = 0;
+ }
#if (USING_64BIT_ADDR == 1)
- memcpy(&inst->msg.destAddr[0], &srcAddr[0], ADDR_BYTE_SIZE_L); //set the anchor address for the reply (set destination address)
+ memcpy(&inst->msg[inst->tagToRangeWith].destAddr[0], &srcAddr[0], ADDR_BYTE_SIZE_L); //set the anchor address for the reply (set destination address)
#else
- memcpy(&inst->msg.destAddr[0], &srcAddr[0], ADDR_BYTE_SIZE_S); //set anchor address for the reply (set destination address)
- inst->msg.sourceAddr[0] = messageData[RES_R1]; //set tag short address
- inst->msg.sourceAddr[1] = messageData[RES_R2];
- dwt_setaddress16(inst->tagShortAdd);
+ memcpy(&inst->msg[inst->tagToRangeWith].destAddr[0], &srcAddr[0], ADDR_BYTE_SIZE_S); //set anchor address for the reply (set destination address)
+ inst->msg[inst->tagToRangeWith].sourceAddr[0] = messageData[RES_R1]; //set tag short address
+ inst->msg[inst->tagToRangeWith].sourceAddr[1] = messageData[RES_R2];
+ dwt_setaddress16(inst->tagShortAdd); //NOTE tagShortAdd might need to be reworked for TAG...
#endif
- memcpy(&inst->relpyAddress[0], &srcAddr[0], ADDR_BYTE_SIZE_L); //remember who to send the reply to (set destination address)
-
- inst->mode = TAG ;
- //inst->responseTimeouts = 0; //reset timeout count
- 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
- }
+ //NOTE this might be a problem...
+ memcpy(&inst->relpyAddress[0], &srcAddr[0], ADDR_BYTE_SIZE_L); //remember who to send the reply to (set destination address)
+
+ inst->mode = TAG ;
+ //inst->responseTimeouts = 0; //reset timeout count
+ 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
+
+
+
+// //NOTE this is the poll message sent by the tag to initiate the handshake
+// if(inst->mode == TAG_TDOA) //only start ranging with someone if not ranging already
+// {
+// uint32 final_reply_delay_us;
+// uint32 resp_dly[RESP_DLY_NB];
+// int i;
+
+// inst->testAppState = TA_TXE_WAIT;
+// inst->nextState = TA_TXPOLL_WAIT_SEND ; // send next poll
+
+// inst->tagShortAdd = messageData[RNG_INIT_TAG_SHORT_ADDR_LO]
+// + (messageData[RNG_INIT_TAG_SHORT_ADDR_HI] << 8) ;
+
+// // Get response delays from message and update internal timings accordingly
+// resp_dly[RESP_DLY_ANC] = messageData[RNG_INIT_ANC_RESP_DLY_LO]
+// + (messageData[RNG_INIT_ANC_RESP_DLY_HI] << 8);
+// resp_dly[RESP_DLY_TAG] = messageData[RNG_INIT_TAG_RESP_DLY_LO]
+// + (messageData[RNG_INIT_TAG_RESP_DLY_HI] << 8);
+// for (i = 0; i < RESP_DLY_NB; i++)
+// {
+// if (((resp_dly[i] & RESP_DLY_UNIT_MASK) >> RESP_DLY_UNIT_SHIFT) == RESP_DLY_UNIT_MS)
+// {
+// // Remove unit bit and convert to microseconds.
+// resp_dly[i] &= ~RESP_DLY_UNIT_MASK;
+// resp_dly[i] *= 1000;
+// }
+// }
+// // Update delay between poll transmission and response reception.
+// // Use uint64 for resp_dly here to avoid overflows if it is more than 400 ms.
+// inst->txToRxDelayTag_sy = US_TO_SY_INT((uint64)resp_dly[RESP_DLY_ANC] - inst->frameLengths_us[POLL]) - RX_START_UP_SY;
+// // Update delay between poll transmission and final transmission.
+// final_reply_delay_us = resp_dly[RESP_DLY_ANC] + resp_dly[RESP_DLY_TAG];
+// inst->finalReplyDelay = convertmicrosectodevicetimeu(final_reply_delay_us);
+// inst->finalReplyDelay_ms = CEIL_DIV(final_reply_delay_us, 1000);
+// // If we are using long response delays, deactivate sleep.
+// if (resp_dly[RESP_DLY_ANC] >= LONG_RESP_DLY_LIMIT_US
+// || resp_dly[RESP_DLY_TAG] >= LONG_RESP_DLY_LIMIT_US)
+// {
+// inst->sleepingEabled = 0;
+// }
+
+// #if (USING_64BIT_ADDR == 1)
+// memcpy(&inst->msg.destAddr[0], &srcAddr[0], ADDR_BYTE_SIZE_L); //set the anchor address for the reply (set destination address)
+// #else
+// memcpy(&inst->msg.destAddr[0], &srcAddr[0], ADDR_BYTE_SIZE_S); //set anchor address for the reply (set destination address)
+// inst->msg.sourceAddr[0] = messageData[RES_R1]; //set tag short address
+// inst->msg.sourceAddr[1] = messageData[RES_R2];
+// dwt_setaddress16(inst->tagShortAdd);
+// #endif
+
+// memcpy(&inst->relpyAddress[0], &srcAddr[0], ADDR_BYTE_SIZE_L); //remember who to send the reply to (set destination address)
+
+// inst->mode = TAG ;
+// //inst->responseTimeouts = 0; //reset timeout count
+// 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
+// }
//printf("GOT RTLS_DEMO_MSG_RNG_INIT - start ranging - \n");
//else we ignore this message if already associated... (not TAG_TDOA)
}
@@ -742,6 +1099,8 @@ int testapprun(instance_data_t *inst, int message)
case RTLS_DEMO_MSG_TAG_POLL:
{
+ // send_rxmsgtousb("RX process: DWT_SIG_RX_OKAY-RTLS_DEMO_MSG_TAG_POLL ");
+ // send_rxmsgtousb("RX message fcode: RTLS_DEMO_MSG_TAG_POLL");
if(inst->mode == LISTENER) //don't process any ranging messages when in Listener mode
{
//only enable receiver when not using double buffering
@@ -749,10 +1108,12 @@ int testapprun(instance_data_t *inst, int message)
break;
}
- if (!inst->frameFilteringEnabled)
+
+ if (!inst->frameFilteringEnabled) //NOTE this might cause problems... might need to move somewhere else
{
// if we missed the ACK to the ranging init message we may not have turned frame filtering on
dwt_enableframefilter(DWT_FF_DATA_EN | DWT_FF_ACK_EN); //we are starting ranging - enable the filter....
+
inst->frameFilteringEnabled = 1 ;
}
@@ -772,6 +1133,8 @@ int testapprun(instance_data_t *inst, int message)
case RTLS_DEMO_MSG_ANCH_RESP:
{
+ // send_rxmsgtousb("RX process: DWT_SIG_RX_OKAY-RTLS_DEMO_MSG_ANCH_RESP ");
+ // send_rxmsgtousb("RX message fcode: RTLS_DEMO_MSG_ANCH_RESP");
if(inst->mode == LISTENER) //don't process any ranging messages when in Listener mode
{
inst->testAppState = TA_RXE_WAIT ; // wait for next frame
@@ -795,6 +1158,7 @@ int testapprun(instance_data_t *inst, int message)
case RTLS_DEMO_MSG_TAG_FINAL:
{
+ send_rxmsgtousb("RX process: DWT_SIG_RX_OKAY-RTLS_DEMO_MSG_TAG_FINAL ");
int64 Rb, Da, Ra, Db ;
uint64 tagFinalTxTime = 0;
uint64 tagFinalRxTime = 0;
@@ -850,7 +1214,20 @@ int testapprun(instance_data_t *inst, int message)
inst->newRangeAncAddress = inst->eui64[0] + ((uint16) inst->eui64[1] << 8);
//inst->lastReportTime = time_ms;
- inst->testAppState = TA_RXE_WAIT ; // wait for next frame
+ // inst->testAppState = TA_RXE_WAIT ; // wait for next frame
+ // ranging complete with one of the tags, lets go back to listening for blinks/polls!
+
+ //keep track of when the tag was last ranged to
+ // inst->finalTimeStamp[inst->tagToRangeWith] = tagFinalRxTime;
+
+ inst->testAppState = TA_RXE_WAIT ;
+ inst->previousState = TA_INIT;
+ inst->nextState = TA_INIT;
+ inst->prevTagToRangeWith = inst->tagToRangeWith;
+ inst->tagToRangeWith = 255;
+ inst->frameFilteringEnabled = 0;
+ dwt_enableframefilter(DWT_FF_NOTYPE_EN);
+
dwt_setrxaftertxdelay(0);
instancesetantennadelays(); //this will update the antenna delay if it has changed
@@ -861,9 +1238,14 @@ int testapprun(instance_data_t *inst, int message)
default:
{
+ if(inst->mode == ANCHOR)
+ {
+ send_rxmsgtousb("RX process: DWT_SIG_RX_OKAY-default ");
+ }
+ //send_rxmsgtousb("RX message fcode: default");
inst->testAppState = TA_RXE_WAIT ; // wait for next frame
dwt_setrxaftertxdelay(0);
-
+
}
break;
} //end switch (fcode)
@@ -882,6 +1264,10 @@ int testapprun(instance_data_t *inst, int message)
break ; //end of DWT_SIG_RX_OKAY
case DWT_SIG_RX_TIMEOUT :
+ if(inst->mode == ANCHOR)
+ {
+ send_rxmsgtousb("RX process: DWT_SIG_RX_TIMEOUT ");
+ }
instance_getevent(17); //get and clear this event
//printf("PD_DATA_TIMEOUT %d\n", inst->previousState) ;
inst_processrxtimeout(inst);
@@ -892,14 +1278,23 @@ int testapprun(instance_data_t *inst, int message)
case 0:
default :
{
+ if(inst->mode == ANCHOR)
+ {
+ send_rxmsgtousb("RX process: default ");
+ }
//if(DWT_SIG_TX_AA_DONE == message) printf("Got SIG_TX_AA_DONE in RX wait - ignore\n");
if(done == INST_NOT_DONE_YET) done = INST_DONE_WAIT_FOR_NEXT_EVENT;
+ // inst->testAppState = TA_RXE_WAIT;
}
break;
}
break ; // end case TA_RX_WAIT_DATA
- default:
+ default:
+ if (inst->mode == ANCHOR)
+ {
+ send_statetousb(inst);
+ }
//printf("\nERROR - invalid state %d - what is going on??\n", inst->testAppState) ;
break;
} // end switch on testAppState
@@ -934,7 +1329,9 @@ int instance_init_s(int mode)
dwt_setcallbacks(instance_txcallback, instance_rxgoodcallback, instance_rxtimeoutcallback, instance_rxerrorcallback);
- inst->anchorListIndex = 0 ;
+ //inst->anchorListIndex = 0 ;
+ inst->tagToRangeWith = 255;
+ inst->prevTagToRangeWith = 255;
return 0 ;
}
diff --git a/src/application/instance.h b/src/application/instance.h
index 0574209..47c71cb 100644
--- a/src/application/instance.h
+++ b/src/application/instance.h
@@ -21,6 +21,9 @@ extern "C" {
#include "deca_types.h"
#include "deca_device_api.h"
+
+
+
/******************************************************************************************************************
********************* NOTES on Decaranging EVK1000 application features/options ***********************************************************
*******************************************************************************************************************/
@@ -131,11 +134,12 @@ 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 TAG_LIST_SIZE (1) //anchor will range with 1st Tag it gets blink from
+#define TAG_LIST_SIZE (10) //anchor will range with 1st Tag it gets blink from
+#define TAG_COMM_TIMEOUT 3000 //ms
-#define BLINK_SLEEP_DELAY 1000 //ms
-#define POLL_SLEEP_DELAY 500 //ms
-//#define POLL_SLEEP_DELAY 50 //ms //NOTE 200 gives 5 Hz range period
+#define BLINK_SLEEP_DELAY 1000 //ms
+#define POLL_SLEEP_DELAY 500 //ms
+//#define POLL_SLEEP_DELAY 50 //ms //NOTE 200 gives 5 Hz range period
#define IMMEDIATE_RESPONSE (1)
@@ -243,7 +247,7 @@ typedef enum instanceModes{LISTENER, TAG, ANCHOR, TAG_TDOA, NUM_MODES} INST_MODE
typedef enum inst_states
{
- TA_INIT, //0
+ TA_INIT, //0
TA_TXE_WAIT, //1
TA_TXPOLL_WAIT_SEND, //2
@@ -256,7 +260,8 @@ typedef enum inst_states
TA_SLEEP_DONE, //9
TA_TXBLINK_WAIT_SEND, //10
- TA_TXRANGINGINIT_WAIT_SEND //11
+ TA_TXRANGINGINIT_WAIT_SEND, //11
+ TA_TX_SELECT //12
} INST_STATES;
@@ -419,10 +424,10 @@ typedef struct
//message structures used for transmitted messages
#if (USING_64BIT_ADDR == 1)
srd_msg_dlsl rng_initmsg ; // ranging init message (destination long, source long)
- srd_msg_dlsl msg ; // simple 802.15.4 frame structure (used for tx message) - using long addresses
+ srd_msg_dlsl msg[TAG_LIST_SIZE] ; // simple 802.15.4 frame structure (used for tx message) - using long addresses
#else
srd_msg_dlss rng_initmsg ; // ranging init message (destination long, source short)
- srd_msg_dsss msg ; // simple 802.15.4 frame structure (used for tx message) - using short addresses
+ srd_msg_dsss msg[TAG_LIST_SIZE] ; // simple 802.15.4 frame structure (used for tx message) - using short addresses
#endif
iso_IEEE_EUI64_blink_msg blinkmsg ; // frame structure (used for tx blink message)
@@ -454,6 +459,8 @@ typedef struct
//diagnostic counters/data, results and logging
+
+
int32 tof32 ;
int64 tof ;
double clockOffset ;
@@ -483,8 +490,12 @@ typedef struct
uint8 tagToRangeWith; //it is the index of the tagList array which contains the address of the Tag we are ranging with
uint8 tagListLen ;
- uint8 anchorListIndex ;
+ uint8 prevTagToRangeWith ;
uint8 tagList[TAG_LIST_SIZE][8];
+
+ // keep track of when final messages so we can drop tags that we havent communicated with in a while
+ uint32 lastCommTimeStamp[TAG_LIST_SIZE] ;
+ uint8 tagTimeout[TAG_LIST_SIZE] ;
//event queue - used to store DW1000 events as they are processed by the dw_isr/callback functions
@@ -510,7 +521,9 @@ int reportTOF(instance_data_t *inst);
void instanceclearcounts(void) ;
void instcleartaglist(void);
void instsettagtorangewith(int tagID);
-int instaddtagtolist(instance_data_t *inst, uint8 *tagAddr);
+int instaddwaketagilist(instance_data_t *inst, uint8 *tagAddr);
+int instcheckawaketaginlist(instance_data_t *inst, uint8 *tagAddr);
+int instfindfirstawaketaginlist(instance_data_t *inst, uint8 startindex);
void instance_readaccumulatordata(void);
//-------------------------------------------------------------------------------------------------------------
@@ -607,6 +620,13 @@ int instance_starttxtest(int framePeriod);
instance_data_t* instance_get_local_structure_ptr(unsigned int x);
+
+void send_statetousb(instance_data_t *inst);
+void send_rxmsgtousb(char *data);
+void send_txmsgtousb(char *data);
+char* get_msg_fcode_string(int fcode);
+
+
#ifdef __cplusplus
}
#endif
diff --git a/src/application/instance_common.c b/src/application/instance_common.c
index 3bf6bac..70daa09 100644
--- a/src/application/instance_common.c
+++ b/src/application/instance_common.c
@@ -194,8 +194,9 @@ int reportTOF(instance_data_t *inst)
// function to select the destination address (e.g. the address of the next anchor to poll)
//
// -------------------------------------------------------------------------------------------------------------------
-//
-int instaddtagtolist(instance_data_t *inst, uint8 *tagAddr)
+// return 1 if tag added to list or already in list but woke up from timeout status
+// return 0 if tag not added list or woke up from timeout status
+int instaddwaketagilist(instance_data_t *inst, uint8 *tagAddr)
{
uint8 i;
uint8 blank[8] = {0, 0, 0, 0, 0, 0, 0, 0};
@@ -209,18 +210,93 @@ int instaddtagtolist(instance_data_t *inst, uint8 *tagAddr)
{
memcpy(&inst->tagList[i][0], &tagAddr[0], 8) ;
inst->tagListLen = i + 1 ;
- break;
+ inst->tagToRangeWith = i;
+ inst->tagTimeout[i] = 0;
+ return 1;
+ // break;
}
}
else
{
- break; //we already have this Tag in the list
+ if(inst->tagTimeout[i])
+ {
+ //tag has timed out, wake it up
+ inst->tagToRangeWith = i;
+ inst->tagTimeout[i] = 0;
+ return 1;
+ }
+ else
+ {
+ //we already have this Tag in the list and it has not timed out
+ break;
+ }
}
}
return 0;
}
+// -------------------------------------------------------------------------------------------------------------------
+//
+// function to check if a tag is already in our list and not in a timeout status
+//
+// -------------------------------------------------------------------------------------------------------------------
+// return index if tag in list and not timed out
+// return 255 if tag not in list or is but has timed out
+int instcheckawaketaginlist(instance_data_t *inst, uint8 *tagAddr)
+{
+ uint8 i;
+ uint8 blank[8] = {0, 0, 0, 0, 0, 0, 0, 0};
+
+ //add the new Tag to the list, if not already there and there is space
+ for(i=0; i<TAG_LIST_SIZE; i++)
+ {
+ if(memcmp(&inst->tagList[i][0], &tagAddr[0], 8) == 0)
+ {
+ if(inst->tagTimeout[i])
+ {
+ //tag in list, but timed out
+ break;
+ }
+ else
+ {
+ return i; //we already have this Tag in the list
+ }
+ }
+ else
+ {
+ if(memcmp(&inst->tagList[i][0], &blank[0], 8) == 0) //blank entry
+ {
+ break;
+ }
+ }
+ }
+
+ return 255;
+}
+
+// -------------------------------------------------------------------------------------------------------------------
+//
+// function to find the first tag in our list that is not in a timeout status, starting with the given index
+//
+// -------------------------------------------------------------------------------------------------------------------
+// return index for first tag in list that is not timed out
+// return 255 if all tags in list (from the starting index) are timed out
+int instfindfirstawaketaginlist(instance_data_t *inst, uint8 startindex)
+{
+ uint8 i;
+
+ for(i=startindex; i<inst->tagListLen; i++)
+ {
+ if(!inst->tagTimeout[i])
+ {
+ return i;
+ }
+ }
+
+ return 255;
+}
+
// -------------------------------------------------------------------------------------------------------------------
#if (NUM_INST != 1)
@@ -233,7 +309,14 @@ void instcleartaglist(void)
uint8 blank[8] = {0, 0, 0, 0, 0, 0, 0, 0};
instance_data[instance].tagListLen = 0 ;
- instance_data[instance].tagToRangeWith = 0;
+ instance_data[instance].tagToRangeWith = 255;
+ instance_data[instance].prevTagToRangeWith = 255;
+ for(int i=0; i<TAG_LIST_SIZE; i++)
+ {
+ instance_data[instance].lastCommTimeStamp[i] = 0;
+ instance_data[instance].tagTimeout[i] = 0;
+ }
+
memcpy(&instance_data[instance].tagList[0][0], &blank[0], 8);
}
@@ -272,6 +355,12 @@ int instanceanchorwaiting(void)
return instance_data[0].canPrintInfo;
}
+//NOTE quick hack by me
+void resetinstanceanchorwaiting(void)
+{
+ return instance_data[0].canPrintInfo;
+}
+
int instancesleeping(void)
{
if(instance_data[0].canPrintInfo == 1)
@@ -663,6 +752,12 @@ double instance_get_adist(void) //get average range
void inst_processrxtimeout(instance_data_t *inst)
{
+ send_statetousb(inst);
+ uint8 debug_msg[100];
+ int n = sprintf((char*)&debug_msg[0], "inst_processrxtimeout(), tagToRangeWith: %i, taglistlen: %i", inst->tagToRangeWith, inst->tagListLen);
+ send_usbmessage(&debug_msg[0], n);
+ usb_run();
+
if(inst->mode == ANCHOR) //we did not receive the final/ACK - wait for next poll
{
//only enable receiver when not using double buffering
@@ -672,17 +767,39 @@ void inst_processrxtimeout(instance_data_t *inst)
else //if(inst->mode == TAG)
{
// initiate the re-transmission of the poll that was not responded to
- inst->testAppState = TA_TXE_WAIT ;
-
- if(inst->mode == TAG)
+ inst->testAppState = TA_TX_SELECT ;
+ if(inst->previousState == TA_TXBLINK_WAIT_SEND)
{
- inst->nextState = TA_TXPOLL_WAIT_SEND ;
+ inst->tagToRangeWith = instfindfirstawaketaginlist(inst, 0);
+ // inst->tagToRangeWith = 0;
}
- else //TAG_TDOA
+ else if(inst->previousState == TA_TXPOLL_WAIT_SEND)
{
- inst->nextState = TA_TXBLINK_WAIT_SEND ;
+ uint8 idx = inst->tagToRangeWith + 1;
+ inst->tagToRangeWith = instfindfirstawaketaginlist(inst, idx);
+ // inst->tagToRangeWith = inst->tagToRangeWith + 1;
}
+
+ // inst->testAppState = TA_TXE_WAIT ;
+
+ // if(inst->previousState == TA_TXBLINK_WAIT_SEND)
+ // {
+ // inst->nextState = TA_TXBLINK_WAIT_SEND ;
+ // }
+ // else
+ // {
+ // inst->nextState = TA_TXPOLL_WAIT_SEND ;
+ // }
+ // if(inst->mode == TAG)
+ // {
+ // inst->nextState = TA_TXPOLL_WAIT_SEND ;
+ // }
+ // else //TAG_TDOA
+ // {
+ // inst->nextState = TA_TXBLINK_WAIT_SEND ;
+ // }
+
}
//timeout - disable the radio (if using SW timeout the rx will not be off)
@@ -735,7 +852,8 @@ void instance_rxerrorcallback(const dwt_cb_data_t *rxd)
event_data_t dw_event;
//re-enable the receiver
//for ranging application rx error frame is same as TO - as we are not going to get the expected frame
- if((instance_data[instance].mode == TAG) || (instance_data[instance].mode == TAG_TDOA))
+ // if((instance_data[instance].mode == TAG) || (instance_data[instance].mode == TAG_TDOA))
+ if(instance_data[instance].mode == TAG)
{
dw_event.type = DWT_SIG_RX_TIMEOUT;
dw_event.typeSave = 0x40 | DWT_SIG_RX_TIMEOUT;
@@ -752,6 +870,11 @@ void instance_rxerrorcallback(const dwt_cb_data_t *rxd)
void instance_rxgoodcallback(const dwt_cb_data_t *rxd)
{
+ uint8 debug_msg[100];
+ // int n = sprintf((char*)&debug_msg[0], "RX CALLBACK");
+ // send_usbmessage(&debug_msg[0], n);
+ // usb_run();
+
int instance = 0;
uint8 rxTimeStamp[5] = {0, 0, 0, 0, 0};
uint8 srcAddr_index = 0;
@@ -773,6 +896,9 @@ void instance_rxgoodcallback(const dwt_cb_data_t *rxd)
if(rxd->datalength == 12)
{
rxd_event = DWT_SIG_RX_BLINK;
+ int n = sprintf((char*)&debug_msg[0], "RX CALLBACK: DWT_SIG_RX_BLINK");
+ send_usbmessage(&debug_msg[0], n);
+ usb_run();
}
else
rxd_event = SIG_RX_UNKNOWN;
@@ -842,16 +968,123 @@ void instance_rxgoodcallback(const dwt_cb_data_t *rxd)
//TWR - here we check if we need to respond to a TWR Poll or Response Messages
//----------------------------------------------------------------------------------------------
- //Process good frames
- if(rxd_event == DWT_SIG_RX_OKAY)
+
+ //TODO need some way to drop tags from list after a certain period of time
+
+ int tag_index = 255;
+ if(rxd_event == DWT_SIG_RX_BLINK)
+ {
+ int n = sprintf((char*)&debug_msg[0], "RX CALLBACK RECEIVED: BLINK");
+ send_usbmessage(&debug_msg[0], n);
+ usb_run();
+
+ tag_index = instcheckawaketaginlist(&instance_data[instance], &dw_event.msgu.rxblinkmsg.tagID[0]);
+ }
+ else
{
- //check if this is a TWR message (and also which one)
- if(instance_data[instance].tagListLen > 0)
+ int n = sprintf((char*)&debug_msg[0], "RX CALLBACK RECEIVED: DWT_SIG_RX_OKAY-%s", get_msg_fcode_string(dw_event.msgu.frame[fcode_index]));
+ send_usbmessage(&debug_msg[0], n);
+ usb_run();
+
+ tag_index = instcheckawaketaginlist(&instance_data[instance], &dw_event.msgu.frame[srcAddr_index]);
+ }
+ // instcheckawaketaginlist(&instance_data[instance], &dw_event.msgu.frame[srcAddr_index]);
+ // int n = sprintf((char*)&debug_msg[0], "RX callback: tag_index: %i, tagToRangeWith: %i", tag_index, instance_data[instance].tagToRangeWith);
+ // send_usbmessage(&debug_msg[0], n);
+ // usb_run();
+
+ // select a tag to range with if certain messages are received when not currently ranging with another tag
+ if (instance_data[instance].tagToRangeWith == 255)
+ {
+ // if(instance_data[instance].mode == ANCHOR)
+ // {
+ // if(rxd_event == DWT_SIG_RX_BLINK)
+ // {
+
+ // }
+ // else if(dw_event.msgu.frame[fcode_index] == RTLS_DEMO_MSG_TAG_POLL)
+ // {
+
+ // }
+ // }
+ // else if(instance_data[instance].mode == TAG)
+ // {
+ // if(dw_event.msgu.frame[fcode_index] == RTLS_DEMO_MSG_RNG_INIT)
+ // {
+ // if(instaddwaketagilist(&instance_data[instance], &dw_event.msgu.frame[srcAddr_index]))
+ // {
+ // tag_index = instance_data[instance].tagToRangeWith;
+ // }
+ // else
+ // {
+ // tag_index = 255;
+ // instance_data[instance].tagToRangeWith == 255;
+ // }
+ // }
+ // }
+
+
+ if(tag_index == 255) //tag not yet in list, or timed out
+ {
+ if(dw_event.msgu.frame[fcode_index] == RTLS_DEMO_MSG_RNG_INIT && instance_data[instance].mode == TAG)
+ {
+ //only process range init from anchors not already in our list, or those that have timed out
+ if(instaddwaketagilist(&instance_data[instance], &dw_event.msgu.frame[srcAddr_index]))
+ {
+ tag_index = instance_data[instance].tagToRangeWith;
+ }
+ else
+ {
+ tag_index = 255;
+ instance_data[instance].tagToRangeWith == 255;
+ }
+ }
+ else if(rxd_event == DWT_SIG_RX_BLINK && instance_data[instance].mode == ANCHOR)
+ {
+ //only process blinks from tags not already in our list, or those that have timed out
+ if(instaddwaketagilist(&instance_data[instance], &dw_event.msgu.rxblinkmsg.tagID[0]))
+ {
+ tag_index = instance_data[instance].tagToRangeWith;
+ }
+ else
+ {
+ tag_index = 255;
+ instance_data[instance].tagToRangeWith == 255;
+ }
+ }
+ }
+ else //tag_index != 255 tag already in list and not timed out
{
- switch(dw_event.msgu.frame[fcode_index])
+ if (dw_event.msgu.frame[fcode_index] == RTLS_DEMO_MSG_TAG_POLL && instance_data[instance].mode == ANCHOR)
{
+ instance_data[instance].tagToRangeWith = tag_index;
+ }
+ }
+ }
+
+ int n = sprintf((char*)&debug_msg[0], "RX callback: tag_index: %i, tagToRangeWith: %i", tag_index, instance_data[instance].tagToRangeWith);
+ send_usbmessage(&debug_msg[0], n);
+ usb_run();
+
+
+
- case RTLS_DEMO_MSG_TAG_POLL:
+ int event_placed = 0;
+ if(tag_index != 255 && instance_data[instance].tagToRangeWith == tag_index)
+ {
+ //update the timestamp for the most recent communication
+ instance_data[instance].lastCommTimeStamp[tag_index] = portGetTickCnt();
+
+ if(rxd_event == DWT_SIG_RX_OKAY)
+ {
+ // int n = sprintf((char*)&debug_msg[0], "RX CALLBACK ACCEPTED: DWT_SIG_RX_OKAY-%s", get_msg_fcode_string(dw_event.msgu.frame[fcode_index]));
+ // send_usbmessage(&debug_msg[0], n);
+ // usb_run();
+
+ if(instance_data[instance].tagListLen > 0) //NOTE shouldn't need this check if here.
+ {
+ //process RTLS_DEMO_MSG_TAG_POLL immediately.
+ if(dw_event.msgu.frame[fcode_index] == RTLS_DEMO_MSG_TAG_POLL)
{
uint16 frameLength = 0;
@@ -865,17 +1098,18 @@ void instance_rxgoodcallback(const dwt_cb_data_t *rxd)
#if (USING_64BIT_ADDR == 1)
frameLength = ANCH_RESPONSE_MSG_LEN + FRAME_CRTL_AND_ADDRESS_L + FRAME_CRC;
- memcpy(&instance_data[instance].msg.destAddr[0], &dw_event.msgu.frame[srcAddr_index], ADDR_BYTE_SIZE_L); //remember who to send the reply to (set destination address)
+ memcpy(&instance_data[instance].msg[tag_index].destAddr[0], &dw_event.msgu.frame[srcAddr_index], ADDR_BYTE_SIZE_L); //remember who to send the reply to (set destination address)
#else
frameLength = ANCH_RESPONSE_MSG_LEN + FRAME_CRTL_AND_ADDRESS_S + FRAME_CRC;
- memcpy(&instance_data[instance].msg.destAddr[0], &dw_event.msgu.frame[srcAddr_index], ADDR_BYTE_SIZE_S); //remember who to send the reply to (set destination address)
+ memcpy(&instance_data[instance].msg[tag_index].destAddr[0], &dw_event.msgu.frame[srcAddr_index], ADDR_BYTE_SIZE_S); //remember who to send the reply to (set destination address)
#endif
// Write calculated TOF into response message
- memcpy(&(instance_data[instance].msg.messageData[TOFR]), &instance_data[instance].tof, 5);
+ memcpy(&(instance_data[instance].msg[tag_index].messageData[TOFR]), &instance_data[instance].tof, 5);
instance_data[instance].tof = 0; //clear ToF ..
- instance_data[instance].msg.seqNum = instance_data[instance].frameSN++;
+
+ instance_data[instance].msg[tag_index].seqNum = instance_data[instance].frameSN++;
//set the delayed rx on time (the final message will be sent after this delay)
dwt_setrxaftertxdelay((uint32)instance_data[instance].txToRxDelayAnc_sy); //units are 1.0256us - wait for wait4respTIM before RX on (delay RX)
@@ -884,7 +1118,12 @@ void instance_rxgoodcallback(const dwt_cb_data_t *rxd)
instance_data[instance].wait4ack = DWT_RESPONSE_EXPECTED;
dwt_writetxfctrl(frameLength, 0, 1);
- dwt_writetxdata(frameLength, (uint8 *) &instance_data[instance].msg, 0) ; // write the frame data
+ dwt_writetxdata(frameLength, (uint8 *) &instance_data[instance].msg[tag_index], 0) ; // write the frame data
+
+ //report out which message is being sent!
+ // send_rxmsgtousb("RX message: DWT_SIG_RX_OKAY-RTLS_DEMO_MSG_TAG_POLL ");
+ send_txmsgtousb(get_msg_fcode_string((int)instance_data[instance].msg[tag_index].messageData[FCODE]));
+
#if (IMMEDIATE_RESPONSE == 1)
dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);
@@ -903,36 +1142,149 @@ void instance_rxgoodcallback(const dwt_cb_data_t *rxd)
dw_event.typePend = DWT_SIG_TX_PENDING ; // exit this interrupt and notify the application/instance that TX is in progress.
}
}
- break;
-
- case RTLS_DEMO_MSG_ANCH_RESP:
- default: //process rx frame in the application state machine
- break;
}
- }
- instance_putevent(dw_event);
+ instance_putevent(dw_event);
+ event_placed = 1;
#if (DEEP_SLEEP == 1)
- if (instance_data[instance].sleepingEabled)
- instance_data[instance].rxmsgcount++;
+ if (instance_data[instance].sleepingEabled)
+ instance_data[instance].rxmsgcount++;
#endif
- }
- else if (rxd_event == DWT_SIG_RX_BLINK)
- {
- instance_putevent(dw_event);
+ }
+ else if (rxd_event == DWT_SIG_RX_BLINK)
+ {
+ int n = sprintf((char*)&debug_msg[0], "RX CALLBACK ACCEPTED: BLINK");
+ send_usbmessage(&debug_msg[0], n);
+ usb_run();
+ instance_putevent(dw_event);
+ event_placed = 1;
#if (DEEP_SLEEP == 1)
- if (instance_data[instance].sleepingEabled)
- instance_data[instance].rxmsgcount++;
+ if (instance_data[instance].sleepingEabled)
+ instance_data[instance].rxmsgcount++;
#endif
+ }
}
- else
- //if (rxd_event == SIG_RX_UNKNOWN) //need to re-enable the rx
+
+ //NOTE maybe don't want to do this. maybe just process actual error signals... or dont process errors at all.
+ //treat as error
+ if(!event_placed)
{
- instance_rxerrorcallback(rxd);
+ // instance_rxerrorcallback(rxd);
+ instancerxon(&instance_data[instance], 0, 0); //immediate enable
}
+
+// //Process good frames
+// // only process DWT_SIG_RX_OKAY events for the selected tag in our list
+// if(rxd_event == DWT_SIG_RX_OKAY & tag_index != 255 & instance_data[instance].tagToRangeWith == tag_index)
+// // if(rxd_event == DWT_SIG_RX_OKAY)
+// {
+// int n = sprintf((char*)&debug_msg[0], "RX CALLBACK: DWT_SIG_RX_OKAY-%s", get_msg_fcode_string(dw_event.msgu.frame[fcode_index]));
+// send_usbmessage(&debug_msg[0], n);
+// usb_run();
+
+// //check if this is a TWR message (and also which one)
+// if(instance_data[instance].tagListLen > 0)
+// {
+// switch(dw_event.msgu.frame[fcode_index])
+// {
+
+// case RTLS_DEMO_MSG_TAG_POLL:
+// {
+// // if(tag_index != 255 & tag_index == instance_data[instance].tagToRangeWith)
+// // {
+// uint16 frameLength = 0;
+
+// instance_data[instance].tagPollRxTime = dw_event.timeStamp ; //Poll's Rx time
+
+// #if (IMMEDIATE_RESPONSE == 0)
+// instance_data[instance].delayedReplyTime = (instance_data[instance].tagPollRxTime + instance_data[instance].responseReplyDelay) >> 8 ; // time we should send the response
+// #else
+// instance_data[instance].delayedReplyTime = 0;
+// #endif
+
+// #if (USING_64BIT_ADDR == 1)
+// frameLength = ANCH_RESPONSE_MSG_LEN + FRAME_CRTL_AND_ADDRESS_L + FRAME_CRC;
+// memcpy(&instance_data[instance].msg.destAddr[0], &dw_event.msgu.frame[srcAddr_index], ADDR_BYTE_SIZE_L); //remember who to send the reply to (set destination address)
+// #else
+// frameLength = ANCH_RESPONSE_MSG_LEN + FRAME_CRTL_AND_ADDRESS_S + FRAME_CRC;
+// memcpy(&instance_data[instance].msg.destAddr[0], &dw_event.msgu.frame[srcAddr_index], ADDR_BYTE_SIZE_S); //remember who to send the reply to (set destination address)
+// #endif
+// // Write calculated TOF into response message
+// memcpy(&(instance_data[instance].msg.messageData[TOFR]), &instance_data[instance].tof, 5);
+
+// instance_data[instance].tof = 0; //clear ToF ..
+
+// instance_data[instance].msg.seqNum = instance_data[instance].frameSN++;
+
+// //set the delayed rx on time (the final message will be sent after this delay)
+// dwt_setrxaftertxdelay((uint32)instance_data[instance].txToRxDelayAnc_sy); //units are 1.0256us - wait for wait4respTIM before RX on (delay RX)
+
+// //response is expected
+// instance_data[instance].wait4ack = DWT_RESPONSE_EXPECTED;
+
+// dwt_writetxfctrl(frameLength, 0, 1);
+// dwt_writetxdata(frameLength, (uint8 *) &instance_data[instance].msg, 0) ; // write the frame data
+
+// //report out which message is being sent!
+// send_rxmsgtousb("RX message: DWT_SIG_RX_OKAY-RTLS_DEMO_MSG_TAG_POLL ");
+// send_txmsgtousb(get_msg_fcode_string((int)instance_data[instance].msg.messageData[FCODE]));
+
+
+
+// #if (IMMEDIATE_RESPONSE == 1)
+// dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);
+// #else
+// if(instancesendpacket(frameLength, DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED, instance_data[instance].delayedReplyTime))
+// {
+// dw_event.typePend = DWT_SIG_TX_ERROR ;
+// dwt_setrxaftertxdelay(0);
+// instance_data[instance].wait4ack = 0; //clear the flag as the TX has failed the TRX is off
+// instance_data[instance].lateTX++;
+
+// }
+// else
+// #endif
+// {
+// dw_event.typePend = DWT_SIG_TX_PENDING ; // exit this interrupt and notify the application/instance that TX is in progress.
+// }
+// // }
+// }
+// break;
+
+// case RTLS_DEMO_MSG_ANCH_RESP:
+// default: //process rx frame in the application state machine
+// break;
+// }
+// }
+
+// instance_putevent(dw_event);
+
+// #if (DEEP_SLEEP == 1)
+// if (instance_data[instance].sleepingEabled)
+// instance_data[instance].rxmsgcount++;
+// #endif
+// }
+// else if (rxd_event == DWT_SIG_RX_BLINK)// & tag_index == 255) //only accept blinks from tags that aren't already in our taglist
+// {
+
+// instance_putevent(dw_event);
+
+// #if (DEEP_SLEEP == 1)
+// if (instance_data[instance].sleepingEabled)
+// instance_data[instance].rxmsgcount++;
+// #endif
+// }
+// else
+// //if (rxd_event == SIG_RX_UNKNOWN) //need to re-enable the rx
+// {
+// instance_rxerrorcallback(rxd);
+// }
+
+
+
}
@@ -1034,17 +1386,56 @@ int instance_run(void)
message = 0;
}
+ //check if lastCommTimeStamp has expired for any of the tags in our list
+ for(int i=0; i < instance_data[instance].tagListLen; i++)
+ {
+ if(instance_data[instance].lastCommTimeStamp[i] + TAG_COMM_TIMEOUT < portGetTickCnt())
+ {
+ if(instance_data[instance].tagTimeout[i] == 0)
+ {
+ instance_data[instance].tagTimeout[i] = 1;
+
+ uint8 debug_msg[100];
+ int n = sprintf((char*)&debug_msg[0], "TIMEOUT: tag %i", i);
+ send_usbmessage(&debug_msg[0], n);
+ usb_run();
+ }
+ if(instance_data[instance].tagToRangeWith == i)
+ {
+ instance_data[instance].tagToRangeWith = 255;
+ //NOTE this might need to be changed for TAG operations
+ if(instance_data[instance].mode == ANCHOR)
+ {
+ instance_data[instance].testAppState = TA_RXE_WAIT;
+ instance_data[instance].frameFilteringEnabled = 0;
+ dwt_enableframefilter(DWT_FF_NOTYPE_EN);
+ }
+ else
+ {
+ instance_data[instance].testAppState = TA_TX_SELECT;
+ }
+ }
+ }
+
+ }
+
+
+
+
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 == 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
- }
- if(instance_data[instance].mode == TAG_TDOA)
- {
- instance_data[instance].instanceTimerTime += instance_data[instance].tagBlinkSleepTime_ms; //set timeout time
- instance_data[instance].instanceTimerEnabled = 1; //start timer
+ 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
+ }
+ else
+ {
+ instance_data[instance].instanceTimerTime = instance_data[instance].instanceTimerTimeSaved + instance_data[instance].tagSleepTime_ms; //set timeout time
+ instance_data[instance].instanceTimerEnabled = 1; //start timer
+ }
}
}
diff --git a/src/decadriver/deca_device_api.h b/src/decadriver/deca_device_api.h
index 6d79f6a..d4de677 100644
--- a/src/decadriver/deca_device_api.h
+++ b/src/decadriver/deca_device_api.h
@@ -512,8 +512,8 @@ void dwt_setsmarttxpower(int enable);
* standard PHR mode allows up to 127 bytes
* if > 127 is programmed, DWT_PHRMODE_EXT needs to be set in the phrMode configuration
* see dwt_configure function
- * @param txFrameBytes - Pointer to the user’s buffer containing the data to send.
- * @param txBufferOffset - This specifies an offset in the DW1000’s TX Buffer at which to start writing data.
+ * @param txFrameBytes - Pointer to the user�s buffer containing the data to send.
+ * @param txBufferOffset - This specifies an offset in the DW1000�s TX Buffer at which to start writing data.
*
* output parameters
*
@@ -741,7 +741,7 @@ int dwt_rxenable(int mode);
* @param enable - 1 to enable SNIFF mode, 0 to disable. When 0, all other parameters are not taken into account.
* @param timeOn - duration of receiver ON phase, expressed in multiples of PAC size. The counter automatically adds 1 PAC
* size to the value set. Min value that can be set is 1 (i.e. an ON time of 2 PAC size), max value is 15.
- * @param timeOff - duration of receiver OFF phase, expressed in multiples of 128/125 µs (~1 µs). Max value is 255.
+ * @param timeOff - duration of receiver OFF phase, expressed in multiples of 128/125 �s (~1 �s). Max value is 255.
*
* output parameters
*
@@ -787,9 +787,9 @@ void dwt_setlowpowerlistening(int enable);
* @brief Set duration of "short sleep" phase when in low-power listening mode.
*
* input parameters:
- * @param snooze_time - "short sleep" phase duration, expressed in multiples of 512/19.2 µs (~26.7 µs). The counter
+ * @param snooze_time - "short sleep" phase duration, expressed in multiples of 512/19.2 �s (~26.7 �s). The counter
* automatically adds 1 to the value set. The smallest working value that should be set is 1,
- * i.e. giving a snooze time of 2 units (or ~53 µs).
+ * i.e. giving a snooze time of 2 units (or ~53 �s).
*
* output parameters
*
--
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