From ecd6bbb26aecc2f749675398ce0318e8ab40959a Mon Sep 17 00:00:00 2001
From: David <stierint@hotmail.com>
Date: Mon, 26 Oct 2020 19:51:41 -0400
Subject: [PATCH] timestamp datatype fixes. complete misc TODOs
---
DecaRanging.coproj | 20 +-
src/application/application_definitions.h | 36 +-
src/application/dw_main.c | 35 +-
src/application/instance.c | 537 +---------
src/application/instance.h | 56 +-
src/application/instance_common.c | 720 ++-----------
src/application/tdma_handler.c | 1160 +--------------------
src/application/tdma_handler.h | 10 +-
src/decadriver/deca_device.c | 172 +--
src/decadriver/deca_regs.h | 7 +-
src/platform/port.c | 52 +-
src/platform/port.h | 1 -
12 files changed, 241 insertions(+), 2565 deletions(-)
diff --git a/DecaRanging.coproj b/DecaRanging.coproj
index 6c9e7cf..ad9877d 100644
--- a/DecaRanging.coproj
+++ b/DecaRanging.coproj
@@ -105,8 +105,8 @@
<File name="src/platform/deca_spi.h" path="src/platform/deca_spi.h" type="1"/>
<File name="Libraries/STM32_USB_Device_Library/Core/src/usbd_ioreq.c" path="Libraries/STM32_USB_Device_Library/Core/src/usbd_ioreq.c" type="1"/>
<File name="Libraries/STM32_USB_Device_Library/Class/cdc/src/usbd_cdc_core.c" path="Libraries/STM32_USB_Device_Library/Class/cdc/src/usbd_cdc_core.c" type="1"/>
- <File name="Libraries/STM32_USB_Device_Library/Class/cdc/inc/usbd_cdc_core.h" path="Libraries/STM32_USB_Device_Library/Class/cdc/inc/usbd_cdc_core.h" type="1"/>
<File name="src/usb/usbd_desc.h" path="src/usb/usbd_desc.h" type="1"/>
+ <File name="Libraries/STM32_USB_Device_Library/Class/cdc/inc/usbd_cdc_core.h" path="Libraries/STM32_USB_Device_Library/Class/cdc/inc/usbd_cdc_core.h" type="1"/>
<File name="src/platform/deca_spi.c" path="src/platform/deca_spi.c" type="1"/>
<File name="src/usb" path="" type="2"/>
<File name="src/decadriver/deca_version.h" path="src/decadriver/deca_version.h" type="1"/>
@@ -137,12 +137,12 @@
<File name="Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x/system_stm32f10x.h" path="Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x/system_stm32f10x.h" type="1"/>
<File name="src/decadriver/deca_device.c" path="src/decadriver/deca_device.c" type="1"/>
<File name="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_exti.c" path="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_exti.c" type="1"/>
- <File name="Libraries/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/inc/stm32f10x_adc.h" path="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_adc.h" type="1"/>
<File name="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rtc.c" path="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rtc.c" type="1"/>
<File name="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_fsmc.c" path="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_fsmc.c" type="1"/>
- <File name="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/STM32_USB_OTG_Driver/inc/usb_otg.h" path="Libraries/STM32_USB_OTG_Driver/inc/usb_otg.h" type="1"/>
<File name="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rcc.c" path="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_rcc.c" type="1"/>
<File name="Libraries/STM32_USB_Device_Library/Core/src/usbd_req.c" path="Libraries/STM32_USB_Device_Library/Core/src/usbd_req.c" type="1"/>
<File name="src/usb/usbd_conf.h" path="src/usb/usbd_conf.h" type="1"/>
@@ -163,26 +163,26 @@
<File name="Libraries/STM32_USB_Device_Library/Core/src" path="" type="2"/>
<File name="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_i2c.c" path="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_i2c.c" type="1"/>
<File name="Libraries/STM32F10x_StdPeriph_Driver/src/misc.c" path="Libraries/STM32F10x_StdPeriph_Driver/src/misc.c" type="1"/>
- <File name="Libraries/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="Libraries/STM32_USB_OTG_Driver/src/usb_hcd.c" path="Libraries/STM32_USB_OTG_Driver/src/usb_hcd.c" 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/CMSIS/CM3/CoreSupport" path="" type="2"/>
<File name="Libraries/STM32_USB_OTG_Driver/inc/usb_defines.h" path="Libraries/STM32_USB_OTG_Driver/inc/usb_defines.h" type="1"/>
- <File name="src/decadriver/deca_param_types.h" path="src/decadriver/deca_param_types.h" type="1"/>
- <File name="src/compiler" path="" type="2"/>
+ <File name="Libraries/CMSIS/CM3/CoreSupport" path="" type="2"/>
<File name="Libraries/STM32_USB_OTG_Driver/src/usb_dcd_int.c" path="Libraries/STM32_USB_OTG_Driver/src/usb_dcd_int.c" type="1"/>
+ <File name="src/compiler" path="" type="2"/>
+ <File name="src/decadriver/deca_param_types.h" path="src/decadriver/deca_param_types.h" type="1"/>
<File name="src/usb/deca_usb_bsp_evk1000.c" path="src/usb/deca_usb_bsp_evk1000.c" type="1"/>
<File name="Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/startup_stm32f10x_cl.S" path="Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/startup_stm32f10x_cl.S" type="1"/>
- <File name="src/platform/stm32f10x_conf.h" path="src/platform/stm32f10x_conf.h" type="1"/>
<File name="Libraries/STM32_USB_OTG_Driver/inc/usb_bsp.h" path="Libraries/STM32_USB_OTG_Driver/inc/usb_bsp.h" type="1"/>
+ <File name="src/platform/stm32f10x_conf.h" path="src/platform/stm32f10x_conf.h" type="1"/>
<File name="Libraries/CMSIS/CM3" path="" type="2"/>
<File name="Libraries" path="" type="2"/>
<File name="src/decadriver/deca_types.h" path="src/decadriver/deca_types.h" type="1"/>
<File name="src/usb/deca_usb.h" path="src/usb/deca_usb.h" type="1"/>
<File name="Libraries/STM32F10x_StdPeriph_Driver/inc" path="" type="2"/>
- <File name="Libraries/STM32_USB_Device_Library/Core/inc/usbd_def.h" path="Libraries/STM32_USB_Device_Library/Core/inc/usbd_def.h" type="1"/>
<File name="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_spi.h" path="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_spi.h" type="1"/>
+ <File name="Libraries/STM32_USB_Device_Library/Core/inc/usbd_def.h" path="Libraries/STM32_USB_Device_Library/Core/inc/usbd_def.h" type="1"/>
<File name="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_iwdg.h" path="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_iwdg.h" type="1"/>
<File name="src/platform/stm32f10x_it.c" path="src/platform/stm32f10x_it.c" type="1"/>
<File name="Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x/system_stm32f10x.c" path="Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x/system_stm32f10x.c" type="1"/>
@@ -216,8 +216,8 @@
<File name="Libraries/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup" path="" type="2"/>
<File name="Libraries/STM32_USB_OTG_Driver/inc/usb_core.h" path="Libraries/STM32_USB_OTG_Driver/inc/usb_core.h" type="1"/>
<File name="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_bkp.c" path="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_bkp.c" type="1"/>
- <File name="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_gpio.c" path="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_gpio.c" type="1"/>
<File name="src/application/dw_main.c" path="src/application/dw_main.c" type="1"/>
+ <File name="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_gpio.c" path="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_gpio.c" type="1"/>
<File name="src/platform" path="" type="2"/>
<File name="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_tim.c" path="Libraries/STM32F10x_StdPeriph_Driver/src/stm32f10x_tim.c" type="1"/>
<File name="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_i2c.h" path="Libraries/STM32F10x_StdPeriph_Driver/inc/stm32f10x_i2c.h" type="1"/>
diff --git a/src/application/application_definitions.h b/src/application/application_definitions.h
index cc4c2c9..426da17 100644
--- a/src/application/application_definitions.h
+++ b/src/application/application_definitions.h
@@ -24,7 +24,6 @@
#define MASK_40BIT (0x00FFFFFFFFFF) // DW1000 counter is 40 bits
#define MASK_42BIT (0x000003FFFFFFFFFF) //stm32 microsecond timestamps are 42 bits
#define MASK_TXDTS (0x00FFFFFFFE00) //The TX timestamp will snap to 8 ns resolution - mask lower 9 bits.
-#define SYS_MASK_VAL (DWT_INT_TFRS | DWT_INT_RFCG | DWT_INT_RXOVRR | DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO)
#define DELAY_CALIB (0) // when set to 1 - the LCD display will show information used for TX/RX delay calibration
#define SET_TXRX_DELAY (0) //when set to 1 - the DW1000 RX and TX delays are set to the TX_DELAY and RX_DELAY defines
@@ -78,13 +77,13 @@ enum
#define RTLS_DEMO_MSG_SYNC (0x22) // Inform other UWBs to sync their TDMA frame start times
//lengths including the Decaranging Message Function Code byte
-#define TAG_POLL_MSG_LEN 1 // FunctionCode(1),
-#define ANCH_RESPONSE_MSG_LEN 15 //TODO shorten! // FunctionCode(1), RespOption (1), OptionParam(2), Number of Tags(1), Measured_TOF_Time(6), Time Till next window reserved for catching a blink message (4)
+#define TAG_POLL_MSG_LEN 1 // FunctionCode(1)
+#define ANCH_RESPONSE_MSG_LEN 1 // FunctionCode(1)
#define TAG_FINAL_MSG_LEN 16 // FunctionCode(1), Poll_TxTime(5), Resp_RxTime(5), Final_TxTime(5)
#define RANGINGINIT_MSG_LEN 1 // FunctionCode(1)
-#define RNG_REPORT_MSG_LEN_SHORT 9 // FunctionCode(1), time of flight (6), short address (2)
-#define RNG_REPORT_MSG_LEN_LONG 15 // FunctionCode(1), time of flight (6), long address (8)
-#define SYNC_MSG_LEN 8 // FunctionCode (1), framelength (1), time since frame start (6)
+#define RNG_REPORT_MSG_LEN_SHORT 9 // FunctionCode(1), time of flight (6), short address (2)
+#define RNG_REPORT_MSG_LEN_LONG 15 // FunctionCode(1), time of flight (6), long address (8)
+#define SYNC_MSG_LEN 8 // FunctionCode(1), framelength (1), time since frame start (6)
#define MAX_MAC_MSG_DATA_LEN (TAG_FINAL_MSG_LEN) //max message len of the above
@@ -108,9 +107,6 @@ enum
#define FRAME_CRTL_AND_ADDRESS_L (FRAME_DEST_ADDRESS_L + FRAME_SOURCE_ADDRESS_L + FRAME_CTRLP) //21 bytes for 64-bit addresses)
#define FRAME_CRTL_AND_ADDRESS_S (FRAME_DEST_ADDRESS_S + FRAME_SOURCE_ADDRESS_S + FRAME_CTRLP) //9 bytes for 16-bit addresses)
#define FRAME_CRTL_AND_ADDRESS_LS (FRAME_DEST_ADDRESS_L + FRAME_SOURCE_ADDRESS_S + FRAME_CTRLP) //15 bytes for 1 16-bit address and 1 64-bit address)
-//#define MAX_USER_PAYLOAD_STRING_LL (STANDARD_FRAME_SIZE-FRAME_CRTL_AND_ADDRESS_L-TAG_FINAL_MSG_LEN-FRAME_CRC) //127 - 21 - 16 - 2 = 88
-//#define MAX_USER_PAYLOAD_STRING_SS (STANDARD_FRAME_SIZE-FRAME_CRTL_AND_ADDRESS_S-TAG_FINAL_MSG_LEN-FRAME_CRC) //127 - 9 - 16 - 2 = 100
-//#define MAX_USER_PAYLOAD_STRING_LS (STANDARD_FRAME_SIZE-FRAME_CRTL_AND_ADDRESS_LS-TAG_FINAL_MSG_LEN-FRAME_CRC) //127 - 15 - 16 - 2 = 94
#define MAX_USER_PAYLOAD_STRING_LL (STANDARD_FRAME_SIZE-FRAME_CRTL_AND_ADDRESS_L-FRAME_CRC) //127 - 21 - 2 = 104
#define MAX_USER_PAYLOAD_STRING_SS (STANDARD_FRAME_SIZE-FRAME_CRTL_AND_ADDRESS_S-FRAME_CRC) //127 - 9 - 2 = 116
#define MAX_USER_PAYLOAD_STRING_LS (STANDARD_FRAME_SIZE-FRAME_CRTL_AND_ADDRESS_LS-FRAME_CRC) //127 - 15 - 2 = 110
@@ -177,14 +173,13 @@ enum
// Function code byte offset (valid for all message types).
#define FCODE 0 // Function code is 1st byte of messageData
-//INF message byte offsets //TODO remove the +6
-#define TDMA_TSFS 1+6 // offset to put time since TDMA frame start in the INF message
-#define TDMA_TSFS_REBASE 7+6 // offset to put whether the receiving UWB needs to rebase its TDMA frame to the transmitted TSFS
-#define TDMA_NUMN 8+6 // offset to put the number of this UWB's neighbors in the INF message
-#define TDMA_NUMH 9+6 // offset to put the number of this UWB's hidden neighbors in the INF message
-#define TDMA_FRAMELENGTH 10+6 // offset to put this UWB's TDMA framelength in the INF message
-#define TDMA_NUMS 11+6 // offset to put the number of this UWB's TDMA slot assignments in the INF message
-//TODO remove the +6 from above!
+//INF message byte offsets
+#define TDMA_TSFS 1 // offset to put time since TDMA frame start in the INF message
+#define TDMA_TSFS_REBASE 7 // offset to put whether the receiving UWB needs to rebase its TDMA frame to the transmitted TSFS
+#define TDMA_NUMN 8 // offset to put the number of this UWB's neighbors in the INF message
+#define TDMA_NUMH 9 // offset to put the number of this UWB's hidden neighbors in the INF message
+#define TDMA_FRAMELENGTH 10 // offset to put this UWB's TDMA framelength in the INF message
+#define TDMA_NUMS 11 // offset to put the number of this UWB's TDMA slot assignments in the INF message
// Final message byte offsets.
#define PTXT 1
@@ -268,7 +263,7 @@ enum
#define BLINK_PERIOD_RAND_MS 200
-#define RANGE_INIT_RAND 2000 //in DW1000 device time
+#define RANGE_INIT_RAND 2000 //in DW1000 device time //TODO tune this number
#define RX_CHECK_ON_PERIOD 200 //TODO modify
@@ -317,9 +312,8 @@ typedef enum inst_states
TA_TXBLINK_WAIT_SEND, //10
TA_TXRANGINGINIT_WAIT_SEND, //11
TA_TX_SELECT, //12
- TA_MODE_SELECT, //13
- TA_TXREPORT_WAIT_SEND, //14
- TA_TXSUG_WAIT_SEND //15
+ TA_TXREPORT_WAIT_SEND, //13
+ TA_TXSUG_WAIT_SEND //14
} INST_STATES;
diff --git a/src/application/dw_main.c b/src/application/dw_main.c
index 7e5e421..4a4572a 100644
--- a/src/application/dw_main.c
+++ b/src/application/dw_main.c
@@ -27,7 +27,6 @@ extern int usb_init(void);
extern void usb_printconfig(int, uint8*, int);
extern void send_usbmessage(uint8*, int);
- // "1234567890123456" - 16 bytes long LCD
#define SOFTWARE_VER_STRING "TDMA Version 1.0" //
#define SWS1_TXSPECT_MODE 0x80 //Continuous TX spectrum mode
@@ -140,10 +139,6 @@ instanceConfig_t chConfig[8] ={
}
};
-
-//uint32 inittestapplication(uint8 s1switch);
-
-
int decarangingmode(uint8 mode_switch)
{
int mode = 0;
@@ -205,14 +200,11 @@ uint32 inittestapplication(uint8 mode_switch)
if(mode_switch & SWS1_ANC_MODE)
{
-// instance_mode = ANCHOR;
-
led_on(LED_PC6);
}
else
{
-// instance_mode = TAG;
led_on(LED_PC7);
}
@@ -310,8 +302,6 @@ int dw_main(void)
int toggle = 0;
int toggle_counter = 0;
int toggle_step = 5;
-// uint8 dataseq[LCD_BUFF_LEN];
-// bool new_range = FALSE;
uint8 command = 0x0;
led_off(LED_ALL); //turn off all the LEDs
@@ -354,7 +344,7 @@ int dw_main(void)
writetoLCD(1, 0, dataseq);
memcpy(dataseq, (const uint8 *) "GGRG UWB RANGING", LCD_BUFF_LEN);
writetoLCD(40, 1, dataseq); //send some data
- memcpy(dataseq, (const uint8 *) SOFTWARE_VER_STRING, LCD_BUFF_LEN); // Also set at line #26 (TODO Should make this from single value !!!)
+ memcpy(dataseq, (const uint8 *) SOFTWARE_VER_STRING, LCD_BUFF_LEN);
writetoLCD(16, 1, dataseq); //send some data
}
@@ -422,20 +412,6 @@ int dw_main(void)
memset(dataseq, ' ', LCD_BUFF_LEN);
}
-// if(enableLCD == TRUE)
-// {
-//
-// memcpy(&dataseq[0], (const uint8 *) " DISCOVERY MODE ", LCD_BUFF_LEN);
-// writetoLCD(LCD_BUFF_LEN, 1, dataseq); //send some data
-// sprintf((char*)&dataseq[0], "%llX", instance_get_addr());
-// writetoLCD(LCD_BUFF_LEN, 1, dataseq); //send some data
-//
-// command = 0x2 ; //return cursor home
-// writetoLCD( 1, 0, &command);
-// }
-
-
-
if(enableLCD == TRUE)
{
memset(dataseq, ' ', LCD_BUFF_LEN);
@@ -444,10 +420,6 @@ int dw_main(void)
port_EnableEXT_IRQ();
- //TODO remove
- instance_data_t* inst1 = instance_get_local_structure_ptr(0);
- inst1->testTimer = portGetTickCntMicro();
-
// main loop
while(1)
{
@@ -455,7 +427,7 @@ int dw_main(void)
//TODO reenable optimization in the compiler settings!!!
instance_data_t* inst = instance_get_local_structure_ptr(0);
canSleep = instance_run(); //run the state machine!!!
- instance_mode = inst->mode; //TODO modify how the rest of this works with DISCOVER, TAG, and ANCHOR!
+ instance_mode = inst->mode;
if(instancenewrange())
{
@@ -596,7 +568,6 @@ int dw_main(void)
dataseq[0] = 0x2 ; //return cursor home
writetoLCD( 1, 0, dataseq);
- //TODO only update the display if something has changed!
if(toggle_counter <= toggle_step)
{
if(toggle == 2)
@@ -620,8 +591,6 @@ int dw_main(void)
toggle_counter = 0;
}
-
- //TODO only update the display if something has changed!
if(updateLCD == TRUE)
{
if(toggle == 1)
diff --git a/src/application/instance.c b/src/application/instance.c
index 1311237..826254a 100644
--- a/src/application/instance.c
+++ b/src/application/instance.c
@@ -167,49 +167,15 @@ void instanceconfigframeheader(instance_data_t *inst)
//
void instanceconfigmessages(instance_data_t *inst)
{
- //initialize ranging message(s)
+ //initialize ranging message
//set source address into the message structure
-// for(int i=0; i<UWB_LIST_SIZE; i++) //TODO only have 1 msg? or one Tag msg, one Anchor msg?
-// {
-// memcpy(&inst->msg[i].sourceAddr[0], &inst->eui64[0], inst->addrByteSize);
-// }
-
memcpy(&inst->msg.sourceAddr[0], &inst->eui64[0], inst->addrByteSize);
-
//initialize RNG_INIT message
//set source address into the message structure
memcpy(&inst->rng_initmsg.sourceAddr[0], &inst->eui64[0], inst->addrByteSize);
inst->rng_initmsg.messageData[FCODE] = RTLS_DEMO_MSG_RNG_INIT;
-
-// //////////////////////////////////////////////////////////////////////////////
-// //TODO remove this
-//
-// //these bytes not used, zero them out.
-// inst->rng_initmsg.messageData[RNG_INIT_TAG_SHORT_ADDR_LO] = 0x00;
-// inst->rng_initmsg.messageData[RNG_INIT_TAG_SHORT_ADDR_HI] = 0x00;
-//
-//
-//
-// uint16 resp_dly_us, resp_dly;
-// // First response delay to send is anchor's response delay.
-// resp_dly_us = ANC_TURN_AROUND_TIME_US + inst->frameLengths_us[POLL];
-// resp_dly = ((RESP_DLY_UNIT_US << RESP_DLY_UNIT_SHIFT) & RESP_DLY_UNIT_MASK)
-// + ((resp_dly_us << RESP_DLY_VAL_SHIFT) & RESP_DLY_VAL_MASK);
-// inst->rng_initmsg.messageData[RNG_INIT_ANC_RESP_DLY_LO] = resp_dly & 0xFF; //TODO remove
-// inst->rng_initmsg.messageData[RNG_INIT_ANC_RESP_DLY_HI] = (resp_dly >> 8) & 0xFF; //TODO remove
-// // Second response delay to send is tag's response delay.
-// resp_dly_us = TAG_TURN_AROUND_TIME_US + inst->frameLengths_us[RESP];
-// resp_dly = ((RESP_DLY_UNIT_US << RESP_DLY_UNIT_SHIFT) & RESP_DLY_UNIT_MASK)
-// + ((resp_dly_us << RESP_DLY_VAL_SHIFT) & RESP_DLY_VAL_MASK);
-// inst->rng_initmsg.messageData[RNG_INIT_TAG_RESP_DLY_LO] = resp_dly & 0xFF;
-// inst->rng_initmsg.messageData[RNG_INIT_TAG_RESP_DLY_HI] = (resp_dly >> 8) & 0xFF;
-//
-// ////////////////////////////////////////////////////////////////////////////////////////
-
-
-
//configure INF message
uint16 broadcast_address = BROADCAST_ADDRESS;
memcpy(&inst->inf_msg.sourceAddr[0], &inst->eui64[0], inst->addrByteSize);
@@ -221,7 +187,6 @@ void instanceconfigmessages(instance_data_t *inst)
memcpy(&inst->report_msg.destAddr[0], &broadcast_address, 2);
inst->report_msg.messageData[FCODE] = RTLS_DEMO_MSG_RNG_REPORT; //message function code (specifies if message is a poll, response or other...)
-
//configure SYNC message
memcpy(&inst->sync_msg.sourceAddr[0], &inst->eui64[0], inst->addrByteSize);
memcpy(&inst->sync_msg.destAddr[0], &broadcast_address, 2);
@@ -229,7 +194,6 @@ void instanceconfigmessages(instance_data_t *inst)
//configure BLINK message
memcpy(&inst->blinkmsg.tagID[0], &inst->eui64[0], ADDR_BYTE_SIZE_L);
-
}
@@ -249,15 +213,8 @@ void instancerxon(instance_data_t *inst, int delayed, uint64 delayedReceiveTime)
dwt_setdelayedtrxtime(dtime) ;
}
-// inst->lateRX -= dwt_rxenable(delayed) ; //- as when fails -1 is returned // turn receiver on, immediate/delayed
-
-// uint32 time_now = portGetTickCnt();
int dwt_rx_enable_return = dwt_rxenable(delayed);
-// uint8 debug_msg[100];
-// int n = sprintf((char*)&debug_msg[0], "RX_ENABLE time_now: %lu, rx_enable: %i", time_now, dwt_rx_enable_return);
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
- inst->lateRX -= dwt_rx_enable_return;
+ inst->lateRX -= dwt_rx_enable_return;
} // end instancerxon()
@@ -300,7 +257,6 @@ const char* get_inst_states_string(enum inst_states state)
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";
- case TA_MODE_SELECT : return "TA_MODE_SELECT";
case TA_TXREPORT_WAIT_SEND : return "TA_TXREPORT_WAIT_SEND";
case TA_TXSUG_WAIT_SEND : return "TA_TXSUG_WAIT_SEND";
default: return "NONE";
@@ -313,7 +269,6 @@ const char* get_instanceModes_string(enum instanceModes mode)
switch (mode)
{
case DISCOVERY : return "DISCOVERY";
-// case CONNECTION_PENDING : return "CONNECTION_PENDING";
case TAG : return "TAG";
case ANCHOR : return "ANCHOR";
case NUM_MODES : return "NUM_MODES";
@@ -382,11 +337,10 @@ char* get_msg_fcode_string(int fcode)
}
}
-//void send_statetousb(instance_data_t *inst)
void send_statetousb(instance_data_t *inst, struct TDMAHandler *tdma_handler)
{
- 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));
+ 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));
if (memcmp(usbdebugdataprev, usbdebugdata, usbdebugdata_size) != 0 || usbdebugdata_size != usbdebugdataprev_size)
{
@@ -394,19 +348,12 @@ void send_statetousb(instance_data_t *inst, struct TDMAHandler *tdma_handler)
usb_run();
usbdebugdataprev_size = usbdebugdata_size;
memcpy(usbdebugdataprev, usbdebugdata, usbdebugdata_size);
-
-// int num_neighbors = instfindnumneighbors(inst);
-// uint8 debug_msg[150];
-// int n = sprintf((char*)&debug_msg[0], "mode: %s, num_neighbors %d, discovery_mode %s", get_instanceModes_string(inst->mode), num_neighbors, get_discovery_modes_string(tdma_handler->discovery_mode));
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-
}
}
void send_rxmsgtousb(char *data)
{
- int usbrxdebugdata_size = sprintf((char*)&usbrxdebugdata[0], "%s", data);
+ usbrxdebugdata_size = sprintf((char*)&usbrxdebugdata[0], "%s", data);
if (memcmp(usbrxdebugdataprev, usbrxdebugdata, usbrxdebugdata_size) != 0 || usbrxdebugdata_size != usbrxdebugdataprev_size)
{
@@ -419,7 +366,7 @@ void send_rxmsgtousb(char *data)
void send_txmsgtousb(char *data)
{
- int usbtxdebugdata_size = sprintf((char*)&usbtxdebugdata[0], "TX message: %s", data);
+ usbtxdebugdata_size = sprintf((char*)&usbtxdebugdata[0], "TX message: %s", data);
send_usbmessage(&usbtxdebugdata[0], usbtxdebugdata_size);
usb_run();
@@ -435,20 +382,6 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
{
int done = INST_NOT_DONE_YET;
-//// uint16 time_now_tim3 = (uint16)portGetTIM3();
-// uint64 time_now_us = portGetTickCntMicro();
-// uint64 deltaT = get_dt64(inst->testTimer, time_now_us);
-// if(deltaT >= 500000)
-// {
-// uint8 debug_msg[200];
-// int n = sprintf((char*)&debug_msg[0], "%llu, %llu, %llu", inst->testTimer, time_now_us, deltaT);
-//// int n = sprintf((char*)&debug_msg[0], "xxx, %llu, %u", inst->testTimer, time_now_tim3);
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-// inst->testTimer = time_now_us;
-// }
-
-
if(tdma_handler->slot_transition(tdma_handler))
{
message = 0;
@@ -456,15 +389,6 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
tdma_handler->check_discovery_mode_expiration(tdma_handler);
- //NOTE: temporary debug code
- if(inst->testAppState != inst->lastState){
- inst->currentStateStartTime = portGetTickCnt();
- }
- inst->lastState = inst->testAppState;
-
-// send_statetousb(inst, tdma_handler);
-
-
switch (inst->testAppState)
{
case TA_INIT :
@@ -543,17 +467,10 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
default:
break;
}
- break; // end case TA_INIT
- }
- case TA_MODE_SELECT :
- {
- //TODO maybe this will be used to transition between DISCOVERY/ANCHOR/TAG modes?
- break;
- }
+ break;
+ }// end case TA_INIT
case TA_TX_SELECT :
{
-// send_statetousb(inst);
-
//select a TX action, return TRUE if we should move on to another state
if(tdma_handler->tx_select(tdma_handler) == TRUE)
{
@@ -565,14 +482,10 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
done = INST_DONE_WAIT_FOR_NEXT_EVENT;
}
- break; // end case TA_TX_SELECT
- }
+ 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 timeout from application to wakeup IC
if (dw_event->type != DWT_SIG_RX_TIMEOUT)
@@ -606,17 +519,17 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
instancesetantennadelays();
#endif
//TODO should this be here? or only if DEEP_SLEEP is enabled (above) putting only above for now
-// instancesetantennadelays(); //this will update the antenna delay if it has changed
break;
}
case TA_TXE_WAIT : //either go to sleep or proceed to TX a message
{
+ //TODO rework sleep functionality
+ //should sleep between blinks?
+ //should blink when not own slot?
+ //should sleep after everything is done in own slot?
+ //does sleep still allow RX?
- // if (inst->mode == ANCHOR)
- // {
- // send_statetousb(inst);
- // }
//if we are scheduled to go to sleep before next sending then sleep first.
// if(((inst->nextState == TA_TXPOLL_WAIT_SEND)
// || (inst->nextState == TA_TXBLINK_WAIT_SEND) || (inst->nextState == TA_TX_SELECT))
@@ -663,7 +576,7 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
{
int flength = (BLINK_FRAME_CRTL_AND_ADDRESS + FRAME_CRC);
-// //blink frames with IEEE EUI-64 tag ID
+ //blink frames with IEEE EUI-64 tag ID
inst->blinkmsg.seqNum = inst->frameSN++;
//using wait for response to do delayed receive
@@ -678,6 +591,7 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
dwt_writetxdata(flength, (uint8 *) (&inst->blinkmsg), 0) ; // write the frame data
dwt_writetxfctrl(flength, 0, 1);
+ //TODO standardize the transmission pass/fail handling as much as possible...
if(dwt_starttx(DWT_START_TX_IMMEDIATE | inst->wait4ack) == 0) //always using immediate TX and enable delayed RX
{
uint8 debug_msg[100];
@@ -688,12 +602,12 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
inst->blink_start = portGetTickCnt();
inst->timeofTx = portGetTickCnt();
+ inst->txDoneTimeoutDuration = BLINK_SLEEP_DELAY + 20; //NOTE timeout duration found experimentally, may need to be changed if the delays in instance.h are modified
tdma_handler->last_blink_time = portGetTickCnt();
tdma_handler->blinkPeriodRand = (uint32)rand()%BLINK_PERIOD_RAND_MS;
}
-
inst->goToSleep = 1; //go to Sleep after this blink
inst->testAppState = TA_TX_WAIT_CONF ; // wait confirmation //TODO move this into the if statement above?
inst->previousState = TA_TXBLINK_WAIT_SEND ; //TODO move this into the ...
@@ -742,45 +656,12 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
uint32 time_now = portGetTickCnt();
inst->timeofTx = time_now;
+ inst->txDoneTimeoutDuration = RNG_INIT_REPLY_DLY_MS + 20; //NOTE timeout duration found experimentally, may need to be changed if the delays in instance.h are modified
tdma_handler->set_discovery_mode(tdma_handler, WAIT_INF_INIT, time_now);
//inst->monitor = 1;
}
-
-
-
-
-// dwt_setrxtimeout((uint16)0);//no timeout (keep RX on until instructed otherwise)
-// dwt_setrxaftertxdelay((uint32)0);//immediately go to rx after tx
-
-
-// dwt_writetxdata(psduLength, (uint8 *) &inst->rng_initmsg, 0) ; // write the frame data
-// dwt_writetxfctrl(psduLength, 0, 1);
-// if(dwt_starttx(DWT_START_TX_IMMEDIATE | inst->wait4ack) == 0) //always using immediate TX and enable delayed RX
-// {
-// inst->testAppState = TA_TX_WAIT_CONF ; // wait confirmation
-// inst->previousState = TA_TXRANGINGINIT_WAIT_SEND ;
-// done = INST_DONE_WAIT_FOR_NEXT_EVENT; //no timeout
-//
-// uint32 time_now = portGetTickCnt();
-// inst->timeofTx = time_now;
-// tdma_handler->set_discovery_mode(tdma_handler, WAIT_INF_INIT, time_now);
-// }
-// else
-// {
-// inst->testAppState = TA_RXE_WAIT ; // wait to receive a new blink or poll message
-// inst->wait4ack = 0; //clear the flag as the TX has failed the TRX is off
-// uint8 debug_msg[100];
-// sprintf((char *)&debug_msg, "RTLS_DEMO_MSG_RNG_INIT -> TX ERROR");
-// send_txmsgtousb((char *)&debug_msg);
-// usb_run();
-// }
-
-
-
-
-
- break;
+ break;
}
case TA_TXINF_WAIT_SEND :
{
@@ -799,7 +680,6 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
uint8 fcode;
memcpy(&fcode, &inst->inf_msg.messageData[FCODE], sizeof(uint8));
-
dwt_writetxdata(psduLength, (uint8 *) &inst->inf_msg, 0) ; // write the frame data
dwt_writetxfctrl(psduLength, 0, 1);
if(dwt_starttx(DWT_START_TX_IMMEDIATE | inst->wait4ack) == 0)
@@ -811,28 +691,15 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
tdma_handler->set_discovery_mode(tdma_handler, EXIT, portGetTickCnt());
inst->mode = ANCHOR;
-
-// uint8 debug_msg[100];
-// int n = sprintf((char *)&debug_msg, "TX_INF_SUG,%llX,NULL", instance_get_addr());
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-
-// //turn on RX after sending INF_SUG
-// //set the delayed rx on time (the response message will be sent after this delay)
-// dwt_setrxaftertxdelay(inst->txToRxDelayTag_sy); //TODO fix this! remove *0 //TODO will this mess up TX callback??
-// dwt_setrxtimeout((uint16)inst->fwtoTime_sy); //TODO fix this! remove *2
-
//turn on RX after sending INF_SUG
dwt_setrxtimeout((uint16)0);//no timeout (keep RX on until instructed otherwise)
dwt_setrxaftertxdelay((uint32)0);//immediately go to rx after tx
}
else
{
-// inst->nextState = TA_TXPOLL_WAIT_SEND;
- inst->nextState = TA_RXE_WAIT;//TODO remember this is for testing INF as last message
+ inst->nextState = TA_RXE_WAIT;
}
-
if(fcode == RTLS_DEMO_MSG_INF_INIT ||
fcode == RTLS_DEMO_MSG_INF_SUG ||
fcode == RTLS_DEMO_MSG_INF_UPDATE)
@@ -841,12 +708,8 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
memcpy(&inst->inf_msg.messageData[FCODE], &fcode, sizeof(uint8));
}
-// if(tdma_handler->rebase_pending == TRUE)
-// {
-// tdma_handler->rebase_tx = TRUE;
-// }
-
inst->timeofTx = portGetTickCnt();
+ inst->txDoneTimeoutDuration = 200; //NOTE timeout duration found experimentally, may need to be changed if the delays in instance.h are modified
inst->testAppState = TA_TX_WAIT_CONF ; //TODO should only do this if we don't have a problem with the INF send...
inst->previousState = TA_TXINF_WAIT_SEND ;
done = INST_DONE_WAIT_FOR_NEXT_EVENT; //will use RX FWTO to time out (set below)
@@ -856,7 +719,6 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
{
if(fcode == RTLS_DEMO_MSG_INF_SUG)
{
- //TODO think of a way to keep trying to send INF_SUG
tdma_handler->set_discovery_mode(tdma_handler, WAIT_SEND_SUG, portGetTickCnt());
inst->nextState = TA_RXE_WAIT;
}
@@ -881,8 +743,6 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
psduLength = TAG_POLL_MSG_LEN + FRAME_CRTL_AND_ADDRESS_S + FRAME_CRC;
#endif
-// Sleep(2);
-
//set the delayed rx on time (the response message will be sent after this delay)
dwt_setrxaftertxdelay(inst->txToRxDelayTag_sy*0); //TODO fix this! remove *0
dwt_setrxtimeout((uint16)inst->fwtoTime_sy*2); //TODO fix this! remove *2
@@ -905,29 +765,8 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
done = INST_DONE_WAIT_FOR_NEXT_EVENT; //will use RX FWTO to time out (set below)
inst->range_start = portGetTickCnt();
-
-
-// //test between 0CD6 and 118C
-// uint16 source_addr = 0x0CD6;
-// uint16 my_addr = inst->uwbShortAdd;
-// if(memcmp(&my_addr, &source_addr, sizeof(uint16))==0)
-// {
-//
-//
-//
-// uint16 dest_addr = (uint16)instance_get_uwbaddr(inst->uwbToRangeWith);
-// uint16 test_addr = 0x118C;
-// if(memcmp(&test_addr, &dest_addr, sizeof(uint16))==0)
-// {
-// uint8 debug_msg[100];
-// int n = sprintf((char *)&debug_msg, "range_start,xxxx,xxxx");
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-// }
-// }
-
-
inst->timeofTx = portGetTickCnt();
+ inst->txDoneTimeoutDuration = 200; //NOTE timeout duration found experimentally, may need to be changed if the delays in instance.h are modified
break;
}
@@ -960,42 +799,13 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
if(instancesendpacket(psduLength, DWT_START_TX_DELAYED | inst->wait4ack, inst->delayedReplyTime))
{
-// // initiate the re-transmission
-// inst->testAppState = TA_TXE_WAIT ;
-// //inst->nextState = TA_TXPOLL_WAIT_SEND ; //TODO should this go to TX_SELECT instead?
-//// inst->testAppState = TA_TX_SELECT; //TODO reset next and previous?
-// inst->nextState = TA_TX_SELECT; //TODO reset next and previous?
+ inst->previousState = TA_INIT;
+ inst->nextState = TA_INIT;
inst->testAppState = TA_RXE_WAIT;
inst->wait4ack = 0; //clear the flag as the TX has failed the TRX is off
inst->lateTX++;
-
-// uint8 debug_msg[100];
-// sprintf((char *)&debug_msg, "RTLS_DEMO_MSG_TAG_FINAL->late tx,%04X,xxxx",inst->uwbShortAdd);
-// send_txmsgtousb((char *)&debug_msg);
-// usb_run();
-//
-// uint32 dt = 0;
-//
-// uint32 dwt_time_now = dwt_readsystimestamphi32();
-//
-// if(inst->delayedReplyTime > dwt_time_now)
-// {
-// dt = dwt_getdt(dwt_time_now, inst->delayedReplyTime);
-//
-// }
-// else
-// {
-// dt = dwt_getdt(inst->delayedReplyTime, dwt_time_now);
-// }
-//
-// double dtf = convertdevicetimetosec(dt);
-// int n = sprintf((char*)&debug_msg[0], "time_now: %lu, replytime: %lu, dts: %f", dwt_time_now, inst->delayedReplyTime, dtf);
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-
-
}
else
{
@@ -1005,38 +815,14 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
done = INST_DONE_WAIT_FOR_NEXT_EVENT; //will use RX FWTO to time out (set below)
inst->timeofTx = portGetTickCnt();
+ inst->txDoneTimeoutDuration = 200; //NOTE timeout duration found experimentally, may need to be changed if the delays in instance.h are modified
inst->monitor = 1;
-
-// uint8 debug_msg[100];
-// sprintf((char *)&debug_msg, "RTLS_DEMO_MSG_TAG_FINAL -> success!");
-// send_txmsgtousb((char *)&debug_msg);
-// usb_run();
}
break;
}
case TA_TXREPORT_WAIT_SEND :
{
- //set the delayed rx on time (the response message will be sent after this delay)
-// dwt_setrxaftertxdelay(inst->txToRxDelayTag_sy*0); //TODO fix this! remove *0
-// dwt_setrxtimeout((uint16)inst->fwtoTime_sy*2); //TODO fix this! remove *2
-// dwt_setrxaftertxdelay((uint16)0);
-// dwt_setrxtimeout((uint16)0);
-
-// dwt_writetxfctrl(psduLength, 0, 1);
-// if(dwt_starttx(DWT_START_TX_IMMEDIATE) == 0){
-// // uint8 debug_msg[100];
-// // int n = sprintf((char *)&debug_msg, "TX_INF,%llX, psdu: %d ", instance_get_addr(), psduLength);
-// // send_usbmessage(&debug_msg[0], n);
-// // usb_run();
-// }
-//
-// inst->testAppState = TA_TX_WAIT_CONF ; // wait confirmation
-// inst->previousState = TA_TXINF_WAIT_SEND ;
-// done = INST_DONE_WAIT_FOR_NEXT_EVENT; //will use RX FWTO to time out (set below)
-//
-// inst->timeofTx = portGetTickCnt();
-
int psduLength = 0;
inst->report_msg.seqNum = inst->frameSN++;
@@ -1047,12 +833,8 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
psduLength = RNG_REPORT_MSG_LEN_SHORT + FRAME_CRTL_AND_ADDRESS_S + FRAME_CRC;
#endif
- //TODO if tof not zero, set tof, else memset 0
// Write calculated TOF into response message
- //TODO #define messageData offsets
-// memcpy(&inst->msg[inst->uwbToRangeWith].messageData[1], &inst->tof[inst->uwbToRangeWith], 6); //TODO fix number of bytes...
-// dwt_writetxdata(psduLength, (uint8 *) &inst->msg[inst->uwbToRangeWith], 0) ; // write the frame data
- memcpy(&inst->report_msg.messageData[REPORT_TOF], &inst->tof[inst->uwbToRangeWith], 6); //TODO fix number of bytes...
+ memcpy(&inst->report_msg.messageData[REPORT_TOF], &inst->tof[inst->uwbToRangeWith], 6);
memcpy(&inst->report_msg.messageData[REPORT_ADDR], &inst->uwbList[inst->uwbToRangeWith], inst->addrByteSize);
dwt_writetxdata(psduLength, (uint8 *) &inst->report_msg, 0) ; // write the frame data
@@ -1064,16 +846,12 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
}
else
{
-// uint8 debug_msg[100];
-// int n = sprintf((char *)&debug_msg, "TX_RNG_REPORT,xxxx,%llX",instance_get_addr());
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-
inst->testAppState = TA_TX_WAIT_CONF; // wait confirmation
inst->previousState = TA_TXREPORT_WAIT_SEND;
done = INST_DONE_WAIT_FOR_NEXT_EVENT; //will use RX FWTO to time out (set below)
inst->timeofTx = portGetTickCnt();
+ inst->txDoneTimeoutDuration = 200; //NOTE timeout duration found experimentally, may need to be changed if the delays in instance.h are modified
inst->monitor = 1;
}
@@ -1081,8 +859,6 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
}
case TA_TX_WAIT_CONF :
{
- //TODO look at this state again. it seems to sometimes be problematic
-
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
@@ -1092,49 +868,19 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
{
if(dw_event->type == DWT_SIG_RX_TIMEOUT) //got RX timeout - i.e. did not get the response (e.g. ACK)
{
- //we need to wait for SIG_TX_DONE and then process the timeout and re-send the frame if needed
-// uint8 debug_msg[100];
-// int n = sprintf((char *)&debug_msg, "DWT_SIG_RX_TIMEOUT");
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
inst->gotTO = 1;
}
- done = INST_DONE_WAIT_FOR_NEXT_EVENT;
-
- //TODO maybe move out of this if statement???
//sometimes the DW1000 tx callback (TXFRS) fails to trigger and the the SYS_STATE register
//reads IDLE for for PMSC, RX, and TX so we need another way to timeout since RX FWTO won't be triggered.
-// uint32 dt = get_dt32(inst->timeofTx, portGetTickCnt());
+ uint32 dt = get_dt32(inst->timeofTx, portGetTickCnt());
-// if( inst->previousState == TA_TXFINAL_WAIT_SEND ||
-// inst->previousState == TA_TXPOLL_WAIT_SEND ||
-// inst->previousState == TA_TXRESPONSE_WAIT_SEND ||
-// inst->previousState == TA_TXINF_WAIT_SEND)
-// {
-// //NOTE timeout duration found experimentally, may need to be changed if the delays in instance.h are modified
-// if(dt > 200)
-// {
-// inst->gotTO = 1;
-// //inst_processtxrxtimeout(inst);
-// }
-// }
-// else if(inst->previousState == TA_TXBLINK_WAIT_SEND){ //TODO put this back above???
-// if(dt > BLINK_SLEEP_DELAY + 20)
-// {
-// inst->gotTO = 1;
-// //inst_processtxrxtimeout(inst);
-//
-// }
-// }
-// else if(inst->previousState == TA_TXRANGINGINIT_WAIT_SEND)
-// {
-// if(dt > RNG_INIT_REPLY_DLY_MS + 20)
-// {
-// //inst_processtxrxtimeout(inst);
-// inst->gotTO = 1;
-// }
-// }
+ if(dt > inst->txDoneTimeoutDuration) //duration set at time of tx
+ {
+ inst->gotTO = 1;
+ }
+
+ done = INST_DONE_WAIT_FOR_NEXT_EVENT;
if(inst->gotTO == 0)
{
@@ -1147,19 +893,6 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
if (inst->gotTO) //timeout
{
-// uint32 mask = dwt_read32bitreg(SYS_MASK_ID);
-
-
-// uint8 debug_msg[100];
-// int n = sprintf((char *)&debug_msg, "inst->gotTO, SYS_MASK: %lu", mask);
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
- // send_txmsgtousb("(2nd) got TO in TA_TX_WAIT_CONF");
-
-// uint8 debug_msg[100];
-// int n = sprintf((char *)&debug_msg, "inst_processtxrxtimeout(inst) after inst->gotTO");
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
inst_processtxrxtimeout(inst);
inst->gotTO = 0;
inst->wait4ack = 0 ; //clear this
@@ -1197,20 +930,12 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
tagCalculatedFinalTxTime = tagCalculatedFinalTxTime + inst->txAntennaDelay;
tagCalculatedFinalTxTime &= MASK_40BIT;
-// // Write Calculated TX time field of Final message
-// memcpy(&(inst->msg[inst->uwbToRangeWith].messageData[FTXT]), (uint8 *)&tagCalculatedFinalTxTime, 5);
-// // Write Poll TX time field of Final message
-// memcpy(&(inst->msg[inst->uwbToRangeWith].messageData[PTXT]), (uint8 *)&inst->txu.tagPollTxTime, 5);
// Write Calculated TX time field of Final message
memcpy(&(inst->msg.messageData[FTXT]), (uint8 *)&tagCalculatedFinalTxTime, 5);
// Write Poll TX time field of Final message
memcpy(&(inst->msg.messageData[PTXT]), (uint8 *)&inst->txu.tagPollTxTime, 5);
}
-// else if(inst->previousState == TA_TXRANGINGINIT_WAIT_SEND)
-// {
-// inst->mode = ANCHOR;
-// }
inst->testAppState = TA_RXE_WAIT ; // After sending, tag expects response/report, anchor waits to receive a final/new poll
@@ -1220,20 +945,9 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
}// end case TA_TX_WAIT_CONF
case 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
-
-// uint8 debug_msg[100];
-// int n = sprintf((char*)&debug_msg[0], "instancerxon called from case TA_RXE_WAIT :");
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-
instancerxon(inst, 0, 0) ; // turn RX on, without delay
}
else
@@ -1247,18 +961,6 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
inst->testAppState = TA_RX_WAIT_DATA; // let this state handle it
inst->rxCheckOnTime = portGetTickCnt() + RX_CHECK_ON_PERIOD;
-
-// //see if tx is actually enabled
-// //read SYS_STATE, getting second byte
-// uint8 regval = dwt_read8bitoffsetreg(SYS_STATE_ID,1);
-// //get the first 5 bytes
-// regval &= 0x1F;
-// uint8 debug_msg[200];
-// int n = sprintf((char *)&debug_msg, "RX STATUS: regval %u", regval);
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-
-
// end case TA_RXE_WAIT, don't break, but fall through into the TA_RX_WAIT_DATA state to process it immediately.
if(message == 0)
{
@@ -1274,14 +976,11 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
{
event_data_t* dw_event = instance_getevent(12); //get and clear this event
-// if(inst->mode == ANCHOR)
if(inst->mode == DISCOVERY)
{
- //inst->mode = ANCHOR; //TODO instead switch to anchor after sending out the ANCH_RESP
-
- inst->canPrintInfo = 1;
+ inst->canPrintInfo = 1;
- //TODO add a small random number to this to reduce chance of collisions
+ //add a small random number to this to reduce chance of collisions
inst->delayedReplyTime = (dw_event->timeStamp + inst->rnginitReplyDelay + (uint32)rand()%RANGE_INIT_RAND) >> 8 ; // time we should send the blink response
//set destination address
@@ -1342,66 +1041,21 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
{
//NOTE: WAIT_RNG_INIT checked in RX callback
-// send_rxmsgtousb("RX process: DWT_SIG_RX_OKAY-RTLS_DEMO_MSG_RNG_INIT");
uint8 debug_msg[100];
-// int n = sprintf((char *)&debug_msg, "BLINK_COMPLETE,%llX,%llX", instance_get_addr(), instance_get_uwbaddr(inst->uwbToRangeWith));
int n = sprintf((char *)&debug_msg, "BLINK_COMPLETE,%04llX,%04llX", instance_get_addr(), instance_get_uwbaddr(inst->uwbToRangeWith));
send_usbmessage(&debug_msg[0], n);
usb_run();
-// uint32 final_reply_delay_us;
-// uint32 resp_dly[RESP_DLY_NB];
-// int i;
-
tdma_handler->build_new_network(tdma_handler);
- //build the initial TDMA
-// tdma_handler->uwbFrameStartTimes[0] = portGetTickCnt() - tdma_handler->slotDuration;//TODO handle timer wrapping...
-// tdma_handler->lastSlotStartTime = portGetTickCnt();
-// tdma_handler->uwbListTDMAInfo[0].framelength = (uint8)MIN_FRAMELENGTH;
-//
-//
-// //todo: make this a handler function
-// //new
-// tdma_handler->assign_slot(&tdma_handler->uwbListTDMAInfo[0], 1);
-// tdma_handler->assign_slot(&tdma_handler->uwbListTDMAInfo[inst->uwbToRangeWith], 2);
-//// tdma_handler->uwblist_assign_slot(tdma_handler, 0, 2);
-// tdma_handler->assign_slot(&tdma_handler->uwbListTDMAInfo[0], 3);
-
- //TODO build slotAssignment array
-
-// bool assigned0 = tdma_handler->slot_assigned(tdma_handler, 0);
-// bool assigned1 = tdma_handler->slot_assigned(tdma_handler, 1);
-// bool assigned2 = tdma_handler->slot_assigned(tdma_handler, 2);
-// bool assigned3 = tdma_handler->slot_assigned(tdma_handler, 3);
-//
-// uint8 debug_msg[100];
-// int n = sprintf((char*)&debug_msg[0], "ass0: %u, ass1: %u, ass2: %u, ass3: %u,", assigned0, assigned1, assigned2, assigned3);
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-
-
-// tdma_handler->usb_dump_tdma(tdma_handler);
-
-// inst->inf_msg.messageData[FCODE] = RTLS_DEMO_MSG_INF_INIT;
tdma_handler->populate_inf_msg(tdma_handler, RTLS_DEMO_MSG_INF_INIT);
uint32 time_now = portGetTickCnt();
tdma_handler->set_discovery_mode(tdma_handler, EXIT, time_now);
- inst->buildFrameTime = time_now;
-// n = sprintf((char *)&debug_msg, "BUILD FRAME,time_now: %lu, framestart: %lu, slotduration: %lu", portGetTickCnt(), tdma_handler->frameStartTime, tdma_handler->slotDuration);
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-
-// inst->testAppState = TA_TXE_WAIT;
inst->testAppState = TA_TX_SELECT;
-// inst->testAppState = TA_TXINF_WAIT_SEND;
-// inst->nextState = TA_TXPOLL_WAIT_SEND ; // send next poll
-// inst->nextState = TA_TXINF_WAIT_SEND ; // send next poll
- inst->mode = TAG;
- //inst->responseTimeouts = 0; //reset timeout count
+ inst->mode = TAG;
inst->goToSleep = 0; //don't go to sleep - start ranging instead and then sleep after 1 range is done or poll times out
inst->instanceTimerTimeSaved = inst->instanceTimerTime = portGetTickCnt(); //set timer base
@@ -1461,11 +1115,11 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
if(tdma_handler->discovery_mode == WAIT_INF_REG) //treat INF_UPDATE and INF_SUG the same
{
- //synchronize the frames //TODO don't need to sync frame at this point...?
+ //synchronize the frames
tdma_handler->frame_sync(tdma_handler, dw_event, framelength, timeSinceFrameStart_us, srcIndex, FS_ADOPT);
-// //initialize collection of tdma info, clear any previously stored info
+ //initialize collection of tdma info, clear any previously stored info
tdma_handler->process_inf_msg(tdma_handler, messageData, srcIndex, CLEAR_ALL_COPY);
-// //set discovery mode to COLLECT_INF_REG
+ //set discovery mode to COLLECT_INF_REG
tdma_handler->set_discovery_mode(tdma_handler, COLLECT_INF_REG, time_now);
}
else if(tdma_handler->discovery_mode == COLLECT_INF_REG)
@@ -1484,8 +1138,6 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
}
else if(inst->mode == ANCHOR || inst->mode == TAG)
{
- //TODO in here (or in RX callback) I have to think about when to adopt the new TDMA and also what INF messages to accept or reject, if a modified TDMA exists but we havent had a chance to TX it in an INF_UPDATE yet.
-
//if we are a TAG or ANCHOR
//1.) sync our frame start time to the local network
//2.) check for and adopt any tdma changes, sending an INF_UPDATE or INF_REG accordingly
@@ -1499,7 +1151,7 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
if(tdma_modified)
{
//only repopulate the INF message if there was a modification to the TDMA configuration
- tdma_handler->populate_inf_msg(tdma_handler, RTLS_DEMO_MSG_INF_UPDATE);//TODO populate at slot start while waiting for buffer to expire
+ tdma_handler->populate_inf_msg(tdma_handler, RTLS_DEMO_MSG_INF_UPDATE);
}
}
@@ -1513,11 +1165,6 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
//NOTE: discovery mode WAIT_INF_INIT checked in RX callback
//process the INF packet
-// uint8 debug_msg[100];
-// int n = sprintf((char*)&debug_msg[0], "process RTLS_DEMO_MSG_INF :");
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-
uint32 time_now = portGetTickCnt();
uint8 srcIndex = instgetuwblistindex(inst, &srcAddr[0], inst->addrByteSize);
@@ -1638,7 +1285,7 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
if(reportTOF(inst, inst->newRangeUWBIndex)==0)
{
inst->newRange = 1;
- inst->ranging = 1;
+// inst->ranging = 1;
inst->canPrintInfo = 1;
}
}
@@ -1649,37 +1296,13 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
inst->newRangeTagAddress = instance_get_uwbaddr(inst->uwbToRangeWith);
inst->newRangeAncAddress = instance_get_addr();
-
-
-// char debug_msg[100];
-// n = sprintf((char*)&debug_msg[0], "TAG_FINAL %i", *node->index);
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
inst->testAppState = TA_TXREPORT_WAIT_SEND;
- //TODO this changes! we need to send RNG_REPORT
-// inst->testAppState = TA_RXE_WAIT ;
-// inst->previousState = TA_INIT;
-// inst->nextState = TA_INIT;
-// inst->uwbToRangeWith = 255;
-//
-// dwt_setrxaftertxdelay(0);
-// instancesetantennadelays(); //this will update the antenna delay if it has changed
-
-
- //char debug_msg[100];
-// n = sprintf((char*)&debug_msg[0], "TAG_FINAL %d", inst->uwbToRangeWith);
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-
-
break;
} //RTLS_DEMO_MSG_TAG_FINAL
case RTLS_DEMO_MSG_RNG_REPORT:
{
-// send_rxmsgtousb("RX process: DWT_SIG_RX_OKAY-RTLS_DEMO_MSG_RNG_REPORT ");
-
uint8 tag_index = instgetuwblistindex(inst, &messageData[REPORT_ADDR], inst->addrByteSize);
uint8 anchor_index = instgetuwblistindex(inst, &srcAddr[0], inst->addrByteSize);
@@ -1690,7 +1313,6 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
inst->tof[anchor_index] = 0;
//copy previously calculated ToF
- //TODO #define messageData offsets
memcpy(&inst->tof[anchor_index], &messageData[REPORT_TOF], 6);
inst->newRangeAncAddress = instance_get_uwbaddr(anchor_index);
@@ -1702,7 +1324,7 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
if(reportTOF(inst, inst->newRangeUWBIndex)==0)
{
inst->newRange = 1;
- inst->ranging = 1;
+// inst->ranging = 1;
inst->canPrintInfo = 1;
}
}
@@ -1740,10 +1362,6 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
} //RTLS_DEMO_MSG_RNG_REPORT
default:
{
-// if(inst->mode == ANCHOR)
-// {
-// send_rxmsgtousb("RX process: DWT_SIG_RX_OKAY-default ");
-// }
inst->testAppState = TA_RXE_WAIT ; // wait for next frame
dwt_setrxaftertxdelay(0);
@@ -1758,36 +1376,21 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
{
if(tdma_handler->discovery_mode == WAIT_RNG_INIT || tdma_handler->discovery_mode == WAIT_INF_INIT)
{
-// tdma_handler->discovery_mode = WAIT_INF_REG;
uint32 time_now = portGetTickCnt();
tdma_handler->set_discovery_mode(tdma_handler, WAIT_INF_REG, time_now);
}
-
-// send_txmsgtousb("RX process: DWT_SIG_RX_TIMEOUT ");
+ //TODO remove if/else chain below
int n;
if(inst->previousState == TA_TXBLINK_WAIT_SEND)
{
-// if(tdma_handler->discovery_mode == WAIT_RNG_INIT)
-// {
-// tdma_handler->discovery_mode = WAIT_INF_REG;
-// }
-// tdma_handler->waitForRngInit = FALSE;
-
-
uint8 debug_msg[100];
-// n = sprintf((char *)&debug_msg, "TX_BLINK_TIMEOUT,%llX,NULL", instance_get_addr());
n = sprintf((char *)&debug_msg, "TX_BLINK_TIMEOUT,%04llX,NULL", instance_get_addr());
send_usbmessage(&debug_msg[0], n);
usb_run();
}
else if(inst->previousState == TA_TXRANGINGINIT_WAIT_SEND)
{
-// if(tdma_handler->discovery_mode == WAIT_INF_INIT)
-// {
-// tdma_handler->discovery_mode = WAIT_INF_REG;
-// }
-// tdma_handler->waitForInf = FALSE;
}
else if(inst->previousState == TA_TXINF_WAIT_SEND)
{
@@ -1824,7 +1427,6 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
case 0:
default:
{
- //TODO maybe also check the events to see if nothing is upcoming that will handle this for us!
//check if RX is on every so often. Turn it on if it isn't.
uint32 time_now = portGetTickCnt();
if(time_now >= inst->rxCheckOnTime)
@@ -1838,10 +1440,6 @@ int testapprun(instance_data_t *inst, struct TDMAHandler *tdma_handler, int mess
if(regval == 0){//RX IDLE
dwt_forcetrxoff();
instancerxon(inst, 0, 0);
-// uint8 debug_msg[200];
-// int n = sprintf((char *)&debug_msg, "RX IDLE, RESET: regval %u", regval);
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
}
}
@@ -2028,7 +1626,7 @@ void instance_init_timings(void)
resp_dly_us = ANC_TURN_AROUND_TIME_US + inst->frameLengths_us[POLL];
resp_dly = ((RESP_DLY_UNIT_US << RESP_DLY_UNIT_SHIFT) & RESP_DLY_UNIT_MASK)
+ ((resp_dly_us << RESP_DLY_VAL_SHIFT) & RESP_DLY_VAL_MASK);
- inst->resp_dly[RESP_DLY_ANC] = resp_dly & 0xFFFF; //TODO make sure that we only want the 16 lowest bits
+ inst->resp_dly[RESP_DLY_ANC] = resp_dly & 0xFFFF;
// Second response delay to send is tag's response delay.
@@ -2036,7 +1634,7 @@ void instance_init_timings(void)
resp_dly_us = TAG_TURN_AROUND_TIME_US + inst->frameLengths_us[RESP];
resp_dly = ((RESP_DLY_UNIT_US << RESP_DLY_UNIT_SHIFT) & RESP_DLY_UNIT_MASK)
+ ((resp_dly_us << RESP_DLY_VAL_SHIFT) & RESP_DLY_VAL_MASK);
- inst->resp_dly[RESP_DLY_TAG] = resp_dly & 0xFFFF; //TODO make sure that we only want the 16 lowest bits
+ inst->resp_dly[RESP_DLY_TAG] = resp_dly & 0xFFFF;
for (int i = 0; i < RESP_DLY_NB; i++)
@@ -2112,23 +1710,7 @@ uint32 instance_getmessageduration_us(int data_length_bytes)
uint64 instance_get_addr(void) //get own address
{
-
- //TODO should this instead operate on uwbList[0]???
-
- instance_data_t* inst = instance_get_local_structure_ptr(0);
- uint64 x = 0;
- x |= (uint64) inst->eui64[0];
- x |= (uint64) inst->eui64[1] << 8;
-#if (USING_64BIT_ADDR == 1)
- x |= (uint64) inst->eui64[2] << 16;
- x |= (uint64) inst->eui64[3] << 24;
- x |= (uint64) inst->eui64[4] << 32;
- x |= (uint64) inst->eui64[5] << 40;
- x |= (uint64) inst->eui64[6] << 48;
- x |= (uint64) inst->eui64[7] << 56;
-#endif
-
- return (x);
+ return instance_get_uwbaddr(0);
}
uint64 instance_get_uwbaddr(uint8 uwb_index) //get uwb address by index
@@ -2175,7 +1757,7 @@ uint32 get_dt32(uint32 t1, uint32 t2)
{
return t2 - t1;
}
- else//TODO maybe rework this... should should instead check if one number is greater than a threshold... somehow spit out error if used incorrectly???
+ else
{
//handle timestamp roleover
return 4294967295 - t1 + t2;
@@ -2218,34 +1800,17 @@ uint64 get_dt64(uint64 t1, uint64 t2)
{
return t2 - t1;
}
- else//TODO maybe rework this... should should instead check if one number is greater than a threshold... somehow spit out error if used incorrectly???
+ else
{
- //handle timestamp roleover
+ //handle timestamp rollover
return 4294967295999 - t1 + t2;
}
}
-//TODO remove
-//get the time difference between two between two 16-bit unsigned timestamps
-//t1 is the first timestamp
-//t2 is the second timetamp that occured after t1
-//uint16 get_dt16(uint16 t1, uint16 t2)
-//{
-// if(t2 >= t1)
-// {
-// return t2 - t1;
-// }
-// else//TODO maybe rework this... should should instead check if one number is greater than a threshold... somehow spit out error if used incorrectly???
-// {
-// //handle timestamp roleover
-// return 0xFFFF - t1 + t2;
-// }
-//}
-
//add a duration to a 64 bit timestamp. This function handles number wrapping
uint64 timestamp_add64(uint64 timestamp, uint64 duration)
{
- uint32 to_wrap = (uint64)4294967295999 - timestamp;
+ uint64 to_wrap = (uint64)4294967295999 - timestamp;
if(duration > to_wrap)
{
return to_wrap + duration;
diff --git a/src/application/instance.h b/src/application/instance.h
index d827e63..49e676e 100644
--- a/src/application/instance.h
+++ b/src/application/instance.h
@@ -25,7 +25,7 @@ extern "C" {
#include "tdma_handler.h"
-typedef struct
+typedef struct //TODO go through and see what can be removed
{
INST_MODE mode; //instance mode (tag or anchor)
INST_STATES testAppState ; //state machine - current state
@@ -72,18 +72,17 @@ 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_ext_msg_dlsl msg; // simple 802.15.4 frame structure (used for tx message) - using long addresses
- srd_ext_msg_dssl inf_msg; // extended inf message containing frame lengths and slot assignments
- srd_ext_msg_dssl report_msg; // extended report message containing the calculated range
- srd_ext_msg_dssl sync_msg; // extended message indicating the need to resync TDMA frame
- //TODO make sure the dssl are correct! (ds for broadcast?)
+ srd_msg_dlsl rng_initmsg ; // ranging init message (destination long, source long)
+ srd_ext_msg_dlsl msg; // simple 802.15.4 frame structure (used for tx message) - using long addresses
+ srd_ext_msg_dssl inf_msg; // extended inf message containing frame lengths and slot assignments
+ srd_ext_msg_dssl report_msg; // extended report message containing the calculated range
+ srd_ext_msg_dssl sync_msg; // extended message indicating the need to resync TDMA frame
#else
- srd_msg_dlss rng_initmsg ; // ranging init message (destination long, source short)
- srd_ext_msg_dsss msg; // simple 802.15.4 frame structure (used for tx message) - using short addresses
- srd_ext_msg_dsss inf_msg; // extended inf message containing frame lengths and slot assignments
- srd_ext_msg_dsss report_msg; // extended report message containing the calculated range
- srd_ext_msg_dsss sync_msg; // extended message indicating the need to resync TDMA frame
+ srd_msg_dlss rng_initmsg ; // ranging init message (destination long, source short)
+ srd_ext_msg_dsss msg; // simple 802.15.4 frame structure (used for tx message) - using short addresses
+ srd_ext_msg_dsss inf_msg; // extended inf message containing frame lengths and slot assignments
+ srd_ext_msg_dsss report_msg; // extended report message containing the calculated range
+ srd_ext_msg_dsss sync_msg; // extended message indicating the need to resync TDMA frame
#endif
iso_IEEE_EUI64_blink_msg blinkmsg ; // frame structure (used for tx blink message)
@@ -127,13 +126,6 @@ typedef struct
int lateTX;
int lateRX;
-// double adist[RTD_MED_SZ] ;
-// double adist4[4] ;
-// double longTermRangeSum ;
-// int longTermRangeCount ;
-// int tofIndex ;
-// int tofCount ;
-
uint8 newRangeUWBIndex; //index for most recent ranging exchange
int newRange;
uint64 newRangeAncAddress; //anchor address for most recent ranging exchange
@@ -151,19 +143,6 @@ typedef struct
uint8 uwbListLen ;
uint8 uwbList[UWB_LIST_SIZE][8]; //index 0 reserved for self, rest for other tracked uwbs
-// uint8 uwbListType[UWB_LIST_SIZE]; //UWB_LIST_SELF, UWB_LIST_NEIGHBOR, UWB_LIST_HIDDEN, UWB_LIST_INACTIVE
-
-// uint8 uwbNumActive[UWB_LIST_SIZE]; //number of TAGs each tracked ANCHOR is actively ranging with. //TODO remove?
-
- // keep track of when final messages so we can drop uwbs that we haven't communicated with in a while
-// uint32 lastCommTimeStamp[UWB_LIST_SIZE]; //TODO move into tdma_handler?
-// uint32 lastHiddenTimeStamp[UWB_LIST_SIZE];
-// uint32 lastTwiceHiddenTimeStamp[UWB_LIST_SIZE];
-// uint8 uwbTimeout[UWB_LIST_SIZE] ; //TODO remove and use list type instead
-
-// uint32 lastRangeTimeStamp[UWB_LIST_SIZE];
-
-// uint8 time_till_next_reported[UWB_LIST_SIZE]; //used to keep track of whether we reported the RX_ACCEPT node. 0 if no, 1 if yes.
uint32 blink_start;
uint32 range_start;
@@ -178,19 +157,12 @@ typedef struct
uint8 dweventIdxIn;
uint8 dweventPeek;
uint8 monitor;
- uint32 timeofTx;
+ uint32 timeofTx; //TODO make sure this is set for every single TX
+ uint32 txDoneTimeoutDuration;
uint8 smartPowerEn;
- uint32 currentStateStartTime;
- INST_STATES lastState;
-
uint32 rxCheckOnTime;
- uint32 buildFrameTime;
-
- uint8 ranging;
-
- uint64 testTimer;
uint16 timerCounter;
@@ -207,7 +179,6 @@ int reportTOF(instance_data_t *inst, uint8 uwb_index);
// clear the status/ranging data
void instanceclearcounts(void) ;
void instclearuwblist(void);
-// void instsetuwbtorangewith(int uwbID);
int instaddactivateuwbinlist(instance_data_t *inst, uint8 *uwbAddr);
int instcheckactiveuwbinlist(instance_data_t *inst, uint8 *uwbAddr);
int instfindfirstactiveuwbinlist(instance_data_t *inst, uint8 startindex);
@@ -215,7 +186,6 @@ int instfindnumactiveuwbinlist(instance_data_t *inst);
int instfindnumneighbors(instance_data_t *inst);
int instfindnumhidden(instance_data_t *inst);
int instgetuwblistindex(instance_data_t *inst, uint8 *uwbAddr, uint8 addrByteSize);
-void instremoveuwb(instance_data_t *inst, uint8 uwb_index);
void instance_readaccumulatordata(void);
diff --git a/src/application/instance_common.c b/src/application/instance_common.c
index 3874e13..a2f1522 100644
--- a/src/application/instance_common.c
+++ b/src/application/instance_common.c
@@ -148,18 +148,9 @@ int reportTOF(instance_data_t *inst, uint8 uwb_index)
int64 tofi ;
// check for negative results and accept them making them proper negative integers
- tofi = inst->tof[uwb_index] ; // make it signed
+ tofi = inst->tof[uwb_index] ; // make it signed
-// memcpy(&instance_data[instance].msg[uwb_index].messageData[TOFR], &instance_data[instance].tof[uwb_index], sizeof(int64));
-
-// int64 mtof = 0;
-// memcpy(&mtof, &tofi, sizeof(int64));
-// uint8 debug_msg[100];
-// int n = sprintf((char*)&debug_msg[0], "reported TOF: %lld, mtof %lld", tofi, mtof);
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-
- if (tofi > 0x007FFFFFFFFF) // MP counter is 40 bits, close up TOF may be negative
+ if (tofi > 0x007FFFFFFFFF) // MP counter is 40 bits, close up TOF may be negative
{
tofi -= 0x010000000000 ; // subtract fill 40 bit range to make it negative
}
@@ -216,76 +207,6 @@ int instgetuwblistindex(instance_data_t *inst, uint8 *uwbAddr, uint8 addrByteSiz
char uwbChar[2];
memcpy(&uwbChar[0], &uwbAddr[0], 2);
- //TODO remove the following!
- bool match = FALSE;
- char test_addr[2] = {0x95, 0x15};
- if(memcmp(&uwbChar[0], &test_addr[0], 2) == 0)
- {
- match = TRUE;
- }
- test_addr[0] = 0x50;
- test_addr[1] = 0x59;
- if(memcmp(&uwbChar[0], &test_addr[0], 2) == 0)
- {
- match = TRUE;
- }
- test_addr[0] = 0x36;
- test_addr[1] = 0x18;
- if(memcmp(&uwbChar[0], &test_addr[0], 2) == 0)
- {
- match = TRUE;
- }
- test_addr[0] = 0x39;
- test_addr[1] = 0x16;
- if(memcmp(&uwbChar[0], &test_addr[0], 2) == 0)
- {
- match = TRUE;
- }
- test_addr[0] = 0x27;
- test_addr[1] = 0x59;
- if(memcmp(&uwbChar[0], &test_addr[0], 2) == 0)
- {
- match = TRUE;
- }
- test_addr[0] = 0x20;
- test_addr[1] = 0x1B;
- if(memcmp(&uwbChar[0], &test_addr[0], 2) == 0)
- {
- match = TRUE;
- }
- test_addr[0] = 0x8C;
- test_addr[1] = 0x11;
- if(memcmp(&uwbChar[0], &test_addr[0], 2) == 0)
- {
- match = TRUE;
- }
- test_addr[0] = 0x1D;
- test_addr[1] = 0x14;
- if(memcmp(&uwbChar[0], &test_addr[0], 2) == 0)
- {
- match = TRUE;
- }
- test_addr[0] = 0x8C;
- test_addr[1] = 0x19;
- if(memcmp(&uwbChar[0], &test_addr[0], 2) == 0)
- {
- match = TRUE;
- }
- test_addr[0] = 0xD6;
- test_addr[1] = 0x0C;
- if(memcmp(&uwbChar[0], &test_addr[0], 2) == 0)
- {
- match = TRUE;
- }
-
- if(match == FALSE)
- {
- uint8 debug_msg[100];
- int n = sprintf((char*)&debug_msg[0], "match not found");
- send_usbmessage(&debug_msg[0], n);
- usb_run();
- }
-
//add the new UWB to the list, if not already there and there is space
for(uint8 i=0; i<UWB_LIST_SIZE; i++)
{
@@ -307,189 +228,6 @@ int instgetuwblistindex(instance_data_t *inst, uint8 *uwbAddr, uint8 addrByteSiz
return 255;
}
-// -------------------------------------------------------------------------------------------------------------------
-//
-// function to remove the UWB at a given index from our list. Take care when calling this inside of a loop iterating over the uwbList!
-//
-// -------------------------------------------------------------------------------------------------------------------
-// return index of UWB
-void instremoveuwb(instance_data_t *inst, uint8 uwb_index)
-{
- if(uwb_index > 0 && uwb_index < inst->uwbListLen)
- {
- if(inst->uwbToRangeWith == uwb_index)
- {
- uwb_index = 255;
- }
- else if(inst->uwbToRangeWith > uwb_index && inst->uwbToRangeWith < inst->uwbListLen)
- {
- inst->uwbToRangeWith--;
- }
-
- if(inst->newRange == 1)
- {
- if(inst->newRangeUWBIndex == uwb_index)
- {
- uwb_index = 0;
- inst->newRange = 0;
- }
- else if(inst->newRangeUWBIndex > uwb_index && inst->newRangeUWBIndex < inst->uwbListLen)
- {
- inst->newRangeUWBIndex--;
- }
- }
-
-
- for(int i=uwb_index; i<inst->uwbListLen-1; i++)
- {
- memcpy(&inst->uwbList[i][0], &inst->uwbList[i+1][0], inst->addrByteSize);
- inst->tof[i] = inst->tof[i+1];
- inst->idistance[i] = inst->idistance[i+1];
- inst->idistanceraw[i] = inst->idistanceraw[i];
- }
- uint8 blank[8] = {0, 0, 0, 0, 0, 0, 0, 0};
- memcpy(&inst->uwbList[inst->uwbListLen-1][0], &blank[0], 8);
- inst->tof[inst->uwbListLen-1] = 0;
- inst->idistance[inst->uwbListLen-1] = 0;
- inst->idistanceraw[inst->uwbListLen-1] = 0;
-
- //update the tdma_handler before reducing the size of the uwbList
- tdma_handler.remove_uwbinfo(&tdma_handler, uwb_index);
-
- inst->uwbListLen--;
- }
-}
-
-
-// -------------------------------------------------------------------------------------------------------------------
-////
-//// function to add new UWBs to the uwb list or remove timeout status from UWBs already in uwb list
-////
-//// -------------------------------------------------------------------------------------------------------------------
-//// return 1 if UWB added to list or removed from timeout status
-//// return 0 if UWB not added list or removed from timeout status
-//int instaddactivateuwbinlist(instance_data_t *inst, uint8 *uwbAddr)
-//{
-// uint8 i;
-// uint8 blank[8] = {0, 0, 0, 0, 0, 0, 0, 0};
-//
-// //add the new UWB to the list, if not already there and there is space
-// for(i=1; i<UWB_LIST_SIZE; i++)//0 reserved for self. timeout status not used for self
-// {
-// if(memcmp(&inst->uwbList[i][0], &uwbAddr[0], inst->addrByteSize) != 0)
-// {
-// if(memcmp(&inst->uwbList[i][0], &blank[0], inst->addrByteSize) == 0) //blank entry
-// {
-// memcpy(&inst->uwbList[i][0], &uwbAddr[0], inst->addrByteSize) ;
-// inst->uwbListLen = i + 1 ;
-// inst->uwbToRangeWith = i;
-// inst->uwbTimeout[i] = 0;
-// return 1;
-// }
-// }
-// else
-// {
-// if(inst->uwbTimeout[i])
-// {
-// //uwb has timed out, wake it up
-// inst->uwbToRangeWith = i;
-// inst->uwbTimeout[i] = 0;
-// return 1;
-// }
-// else
-// {
-// //we already have this uwb in the list and it has not timed out
-// break;
-// }
-// }
-// }
-//
-// return 0;
-//}
-
-//// -------------------------------------------------------------------------------------------------------------------
-////
-//// function to check if a UWB is already in our list and not in a timeout status
-////
-//// -------------------------------------------------------------------------------------------------------------------
-//// return index if UWB in list and not timed out
-//// return 255 if UWB not in list or is but has timed out
-//int instcheckactiveuwbinlist(instance_data_t *inst, uint8 *uwbAddr)
-//{
-// uint8 i;
-// uint8 blank[8] = {0, 0, 0, 0, 0, 0, 0, 0};
-//
-// //add the new UWB to the list, if not already there and there is space
-// for(i=1; i<UWB_LIST_SIZE; i++)//0 reserved for self, timeout not used for self
-// {
-// if(memcmp(&inst->uwbList[i][0], &uwbAddr[0], inst->addrByteSize) == 0)
-// {
-// if(inst->uwbTimeout[i])
-// {
-// //UWB in list, but timed out
-// break;
-// }
-// else
-// {
-// return i; //we already have this UWB in the list
-// }
-// }
-// else
-// {
-// if(memcmp(&inst->uwbList[i][0], &blank[0], 8) == 0) //blank entry
-// {
-// break;
-// }
-// }
-// }
-//
-// return 255;
-//}
-
-//// -------------------------------------------------------------------------------------------------------------------
-////
-//// function to find the first UWB in our list that is not in a timeout status, starting with the given index
-////
-//// -------------------------------------------------------------------------------------------------------------------
-//// return index for first UWB in list that is not timed out
-//// return 255 if all UWBs in list (from the starting index) are timed out
-//int instfindfirstactiveuwbinlist(instance_data_t *inst, uint8 startindex)
-//{
-// uint8 i;
-//
-// for(i=startindex; i<inst->uwbListLen; i++)
-// {
-// if(!inst->uwbTimeout[i])
-// {
-// return i;
-// }
-// }
-//
-// return 255;
-//}
-
-
-
-//// -------------------------------------------------------------------------------------------------------------------
-////
-//// function to find the number of UWBs in our list that are not in a timeout status
-////
-//// -------------------------------------------------------------------------------------------------------------------
-//int instfindnumactiveuwbinlist(instance_data_t *inst)
-//{
-// uint8 num = 0;
-//
-// for(int i=1; i<inst->uwbListLen; i++) //0 reserved for self, timeout status not applicable
-// {
-// if(!inst->uwbTimeout[i])
-// {
-// num++;
-// }
-// }
-//
-// return num;
-//}
-
// -------------------------------------------------------------------------------------------------------------------
//
// function to find the number of neighbor UWBs in our list that are not in a timeout status
@@ -501,7 +239,6 @@ int instfindnumneighbors(instance_data_t *inst)
for(int i=1; i<inst->uwbListLen; i++)// 0 reserved for self, cant be neighbor
{
-// if(inst->uwbListType[i] == UWB_LIST_NEIGHBOR)
if(tdma_handler.uwbListTDMAInfo[i].connectionType == UWB_LIST_NEIGHBOR)
{
num++;
@@ -522,7 +259,6 @@ int instfindnumhidden(instance_data_t *inst)
for(int i=1; i<inst->uwbListLen; i++)//0 reserved for self, cannot be hidden
{
-// if(inst->uwbListType[i] == UWB_LIST_HIDDEN)
if(tdma_handler.uwbListTDMAInfo[i].connectionType == UWB_LIST_HIDDEN)
{
num++;
@@ -561,16 +297,6 @@ int instancegetrole(void)
return instance_data[0].mode;
}
-int instanceisranging(void)
-{
- if(instance_data[0].ranging == 1)
- {
- return 1;
- }
-
- return 0;
-}
-
int instancenewrange(void)
{
if(instance_data[0].newRange)
@@ -608,6 +334,7 @@ int instancesleeping(void)
return 0 ;
}
+
// -------------------------------------------------------------------------------------------------------------------
// function to clear counts/averages/range values
//
@@ -620,18 +347,11 @@ void instanceclearcounts(void)
dwt_configeventcounters(1); //enable and clear - NOTE: the counters are not preserved when in DEEP SLEEP
instance_data[instance].frameSN = 0;
-
-// instance_data[instance].tofCount = 0 ;
-// instance_data[instance].tofIndex = 0 ;
-
instance_data[instance].txmsgcount = 0;
instance_data[instance].rxmsgcount = 0;
instance_data[instance].lateTX = 0;
instance_data[instance].lateRX = 0;
-// instance_data[instance].longTermRangeSum = 0;
-// instance_data[instance].longTermRangeCount = 0;
-
instclearuwbList();
@@ -649,11 +369,9 @@ int instance_init(void)
int result;
instance_data[instance].mode = DISCOVERY;
- instance_data[instance].ranging = 0;
+// instance_data[instance].ranging = 0;
instance_data[instance].goToSleep = 0;
-// instance_data[instance].tofIndex = 0;
-// instance_data[instance].tofCount = 0;
for(uint8 i=0; i<UWB_LIST_SIZE; i++)
{
instance_data[instance].tof[i] = 0;
@@ -693,11 +411,9 @@ int instance_init(void)
dwt_geteui(instance_data[instance].eui64);
instance_data[instance].canPrintInfo = 0;
-
instance_data[instance].clockOffset = 0;
instance_data[instance].monitor = 0;
-// dwt_setdblrxbuffmode(1);
return 0 ;
}
@@ -705,7 +421,6 @@ int instance_init(void)
//
// Return the Device ID register value, enables higher level validation of physical device presence
//
-
uint32 instancereaddeviceid(void)
{
return dwt_readdevid() ;
@@ -844,16 +559,14 @@ void instance_config(instanceConfig_t *config)
instance_data[instance].configData.txPreambLength = config->preambleLen ;
instance_data[instance].configData.rxPAC = config->pacSize ;
instance_data[instance].configData.nsSFD = config->nsSFD ;
-// instance_data[instance].configData.phrMode = DWT_PHRMODE_STD ;
instance_data[instance].configData.phrMode = DWT_PHRMODE_EXT ;
- instance_data[instance].configData.sfdTO = config->sfdTO;
+ instance_data[instance].configData.sfdTO = config->sfdTO;
//configure the channel parameters
dwt_configure(&instance_data[instance].configData) ;
//NOTE: For EVK1000 the OTP stores calibrated antenna and TX power values for configuration modes 3 and 5,
-
//check if to use the antenna delay calibration values as read from the OTP
if(dwt_otprevision() <= 1) //in revision 0, 1 of EVB1000/EVK1000
{
@@ -985,42 +698,17 @@ int instance_get_rxl(void) //get number of late Tx frames
void inst_processtxrxtimeout(instance_data_t *inst)
{
-
-
- // send_statetousb(inst);
-
-// uint8 debug_msg[100];
-// int n = sprintf((char*)&debug_msg[0], "inst_processrxtimeout(), uwbToRangeWith: %i, uwbListlen: %i", inst->uwbToRangeWith, inst->uwbListLen);
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-
-// tdma_handler.waitForInf = FALSE;
-// tdma_handler.waitForRngInit = FALSE;
-
-
if(inst->mode == DISCOVERY)
{
inst->wait4ack = 0;
inst->uwbToRangeWith = 255;
-// uint32 maxFrameDuration = tdma_handler.maxFramelength*tdma_handler.slotDuration;
if(tdma_handler.discovery_mode == WAIT_RNG_INIT || tdma_handler.discovery_mode == WAIT_INF_INIT)
{
-// tdma_handler.discovery_mode = WAIT_INF_REG;
uint32 time_now = portGetTickCnt();
tdma_handler.set_discovery_mode(&tdma_handler, WAIT_INF_REG, time_now);
}
-// if(inst->previousState == TA_TXBLINK_WAIT_SEND)
-// {
-// tdma_handler.waitForRngInit = FALSE;
-// }
-// else if(inst->previousState == TA_TXRANGINGINIT_WAIT_SEND)
-// {
-// tdma_handler.waitForInf = FALSE;
-// }
-
- //TODO should I keep/remove this...?
if(tdma_handler.check_blink(&tdma_handler) == TRUE)
{
inst->testAppState = TA_TX_SELECT;
@@ -1029,15 +717,6 @@ void inst_processtxrxtimeout(instance_data_t *inst)
{
inst->testAppState = TA_RXE_WAIT;
}
-// uint32 maxFrameDuration = tdma_handler.maxFramelength*tdma_handler.slotDuration;
-// if(portGetTickCnt() - tdma_handler.discoveryStartTime > maxFrameDuration) //TODO handle number wrapping!
-// {
-// inst->testAppState = TA_TX_SELECT ;
-// }
-// else
-// {
-// inst->testAppState = TA_RXE_WAIT;
-// }
dwt_setrxtimeout(0);
}
@@ -1050,21 +729,7 @@ void inst_processtxrxtimeout(instance_data_t *inst)
}
else //if(inst->mode == TAG)
{
- // initiate the re-transmission of the poll that was not responded to
inst->testAppState = TA_TX_SELECT ;
-// uint8 debug_msg[100];
-// int n = sprintf((char*)&debug_msg[0], "inst_processtxrxtimeout");
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-// if(inst->previousState == TA_TXBLINK_WAIT_SEND)
-// {
-// inst->uwbToRangeWith = instfindfirstactiveuwbinlist(inst, 0);
-// }
-// else if(inst->previousState == TA_TXPOLL_WAIT_SEND)
-// {
-// uint8 idx = inst->uwbToRangeWith + 1;
-// inst->uwbToRangeWith = instfindfirstactiveuwbinlist(inst, idx);
-// }
}
inst->previousState = TA_INIT;
@@ -1078,7 +743,7 @@ void instance_txcallback(const dwt_cb_data_t *txd)
uint8 txTimeStamp[5] = {0, 0, 0, 0, 0};
event_data_t dw_event;
- //NOTE - we can only get TX good (done) while here
+ //NOTE: we can only get TX good (done) while here
dwt_readtxtimestamp(txTimeStamp) ;
dw_event.timeStamp32l = (uint32)txTimeStamp[0] + ((uint32)txTimeStamp[1] << 8) + ((uint32)txTimeStamp[2] << 16) + ((uint32)txTimeStamp[3] << 24);
dw_event.timeStamp = txTimeStamp[4];
@@ -1089,12 +754,6 @@ void instance_txcallback(const dwt_cb_data_t *txd)
dw_event.rxLength = 0;
dw_event.typeSave = dw_event.type = DWT_SIG_TX_DONE ;
-// uint32 dt = portGetTickCnt() - instance_data[instance].timeofTx;
-// char debug_msg[100];
-// int n = sprintf((char*)&debug_msg[0], "TX CALLBACK: DWT_SIG_TX_DONE. dt: %lu ", dt);
-// send_usbmessage((uint8*)&debug_msg[0], n);
-// usb_run();
-
instance_putevent(dw_event);
#if (DEEP_SLEEP == 1)
@@ -1109,17 +768,6 @@ void instance_rxtimeoutcallback(const dwt_cb_data_t *rxd)
{
event_data_t dw_event;
-// int instance = 0;
-// uint32 response_time = portGetTickCnt() - instance_data[instance].range_start;
-
-// uint8 debug_msg[200];
-// int n = 0;
-// n = sprintf((char*)&debug_msg[0], "RX TIMEOUT CALLBACK");// duration: %lu", response_time);
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-
-
-
dw_event.typeSave = dw_event.type = DWT_SIG_RX_TIMEOUT;
dw_event.rxLength = 0;
dw_event.timeStamp = 0;
@@ -1131,13 +779,6 @@ void instance_rxtimeoutcallback(const dwt_cb_data_t *rxd)
void instance_rxerrorcallback(const dwt_cb_data_t *rxd)
{
-// uint8 debug_msg[200];
-// int n = 0;
-// n = sprintf((char*)&debug_msg[0], "RX ERROR CALLBACK");
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-
-
int instance = 0;
//error caused by automatic frame filtering, ignore it and immediately turn rx back on
@@ -1146,12 +787,8 @@ void instance_rxerrorcallback(const dwt_cb_data_t *rxd)
return;
}
-
-// tdma_handler.waitForInf = FALSE;
-// tdma_handler.waitForRngInit = FALSE;
if(tdma_handler.discovery_mode == WAIT_RNG_INIT || tdma_handler.discovery_mode == WAIT_INF_INIT)
{
-// tdma_handler.discovery_mode = WAIT_INF_REG;
uint32 time_now = portGetTickCnt();
tdma_handler.set_discovery_mode(&tdma_handler, WAIT_INF_REG, time_now);
}
@@ -1170,12 +807,7 @@ void instance_rxerrorcallback(const dwt_cb_data_t *rxd)
}
else
{
-// uint8 debug_msg[100];
-// int n = sprintf((char*)&debug_msg[0], "instancerxon called from case instance_rxerrorcallback :");
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-
- instance_data[instance].uwbToRangeWith = 255;
+ instance_data[instance].uwbToRangeWith = 255;
instancerxon(&instance_data[instance], 0, 0); //immediate enable if anchor or listener
}
@@ -1192,22 +824,9 @@ void instance_rxgoodcallback(const dwt_cb_data_t *rxd)
uint8 rxd_event = 0;
uint8 fcode_index = 0;
event_data_t dw_event;
-
-
-// int num_neighbors = instfindnumactiveneighbors(&instance_data[instance]);
-// uint8 debug_msg[150];
-// int n = sprintf((char*)&debug_msg[0], "RX CALLBACK, mode: %s, num_neighbors %d, discovery_mode %s", get_instanceModes_string(instance_data[instance].mode), num_neighbors, get_discovery_modes_string(tdma_handler.discovery_mode));
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-
-// uint8 debug_msg[150];
-// int n = sprintf((char*)&debug_msg[0], "RX CALLBACK");
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-
uint32 time_now = portGetTickCnt();
- uint32 time_now_us = portGetTickCntMicro();
+ uint64 time_now_us = portGetTickCntMicro();
//if we got a frame with a good CRC - RX OK
rxd_event = DWT_SIG_RX_OKAY;
@@ -1222,11 +841,6 @@ void instance_rxgoodcallback(const dwt_cb_data_t *rxd)
if(rxd->datalength == 12)
{
rxd_event = DWT_SIG_RX_BLINK;
-
-// uint8 debug_msg[150];
-// 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;
@@ -1310,10 +924,6 @@ void instance_rxgoodcallback(const dwt_cb_data_t *rxd)
if(memcmp(&instance_data[instance].uwbList[0][0], &dw_event.msgu.frame[destAddr_index], instance_data[instance].addrByteSize) != 0)
{
-// uint8 debug_msg[150];
-// int n = sprintf((char*)&debug_msg[0], "RX Message not addressed to me");
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
rxd_event = SIG_RX_UNKNOWN;
}
}
@@ -1325,21 +935,9 @@ void instance_rxgoodcallback(const dwt_cb_data_t *rxd)
dw_event.msgu.frame[fcode_index] != RTLS_DEMO_MSG_SYNC)
{
rxd_event = SIG_RX_UNKNOWN;
-// uint8 debug_msg[150];
-// int n = sprintf((char*)&debug_msg[0], "not INIT/POLL/RESP/FINAL");
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
}
}
-// if(rxd_event == SIG_RX_UNKNOWN){
-// uint8 debug_msg[150];
-// int n = sprintf((char*)&debug_msg[0], "RX CALLBACK: SIG_RX_UNKNOWN");
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-// }
-
- //ANCHOR RX
//first check if the address is already tracked.
//if not, add it.
//then get the index for that address
@@ -1363,13 +961,12 @@ void instance_rxgoodcallback(const dwt_cb_data_t *rxd)
tdma_handler.uwbListTDMAInfo[uwb_index].lastCommNeighbor = time_now;
}
-
-
-// uint8 debug_msg[100];
-//// int n = sprintf((char*)&debug_msg[0], "RX CALLBACK RECEIVED: BLINK uwb_index: %d, uwbToRangeWith: %d ", uwb_index, instance_data[instance].uwbToRangeWith);
-// int n = sprintf((char*)&debug_msg[0], "RX CALLBACK RECEIVED: BLINK,%llX,xxxx", instance_get_addr());
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
+ //TODO remove
+ uint8 debug_msg[100];
+// int n = sprintf((char*)&debug_msg[0], "RX CALLBACK RECEIVED: BLINK uwb_index: %d, uwbToRangeWith: %d ", uwb_index, instance_data[instance].uwbToRangeWith);
+ int n = sprintf((char*)&debug_msg[0], "RX CALLBACK RECEIVED: BLINK,%llX,xxxx", instance_get_addr());
+ send_usbmessage(&debug_msg[0], n);
+ usb_run();
}
else if(rxd_event == DWT_SIG_RX_OKAY)
{
@@ -1378,39 +975,64 @@ void instance_rxgoodcallback(const dwt_cb_data_t *rxd)
if(uwb_index > 0 && uwb_index < UWB_LIST_SIZE)
{
- //TODO maybe do this somewhere else...
tdma_handler.uwbListTDMAInfo[uwb_index].connectionType = UWB_LIST_NEIGHBOR;
tdma_handler.uwbListTDMAInfo[uwb_index].lastCommNeighbor = time_now;
}
-
-// uint8 debug_msg[100];
-//// int n = sprintf((char*)&debug_msg[0], "RX CB RX: DWT_SIG_RX_OKAY-%s uwb_index %d, uwbToRangeWith: %d ", get_msg_fcode_string(dw_event.msgu.frame[fcode_index]), uwb_index, instance_data[instance].uwbToRangeWith);
-// uint16 my_addr = instance_data[instance].uwbShortAdd;
-////// uint64 my_addr = (uint64)instance_data[instance].uwbShortAdd;
-//// uint16 *addr_ptr = &instance_data[instance].uwbShortAdd;
-//// int n = sprintf((char*)&debug_msg[0], "RX CB RX: DWT_SIG_RX_OKAY-%s,%u,xxxx,%p", get_msg_fcode_string(dw_event.msgu.frame[fcode_index]), my_addr, (void *) addr_ptr);
-//// int n = sprintf((char*)&debug_msg[0], "RX CB RX: DWT_SIG_RX_OKAY-%s,%u,xxxx", get_msg_fcode_string(dw_event.msgu.frame[fcode_index]), my_addr);
+ //TODO remove
+ uint8 debug_msg[100];
+ uint16 my_addr = instance_data[instance].uwbShortAdd;
// int n = sprintf((char*)&debug_msg[0], "RX CB RX: DWT_SIG_RX_OKAY-%s,%04X,uwb_index: %04d, uwb_trw: %04d", get_msg_fcode_string(dw_event.msgu.frame[fcode_index]), my_addr,uwb_index, instance_data[instance].uwbToRangeWith);
-//// int n = sprintf((char*)&debug_msg[0], "%u,%p", my_addr, (void *)addr_ptr);
// send_usbmessage(&debug_msg[0], n);
// usb_run();
+ int n = 0;
+
+ if(dw_event.msgu.frame[fcode_index] == RTLS_DEMO_MSG_RNG_INIT )
+ {
+ n = sprintf((char*)&debug_msg[0], "RX CB RX: DWT_SIG_RX_OKAY-%s,%04X,uwb_index: %04d, uwb_trw: %04d", get_msg_fcode_string(dw_event.msgu.frame[fcode_index]), my_addr,uwb_index, instance_data[instance].uwbToRangeWith);
+ }
+ else if(dw_event.msgu.frame[fcode_index] == RTLS_DEMO_MSG_TAG_POLL )
+ {
+ n = sprintf((char*)&debug_msg[0], "RX CB RX: DWT_SIG_RX_OKAY-%s,%04X,uwb_index: %04d, uwb_trw: %04d", get_msg_fcode_string(dw_event.msgu.frame[fcode_index]), my_addr,uwb_index, instance_data[instance].uwbToRangeWith);
+ }
+ else if(dw_event.msgu.frame[fcode_index] == RTLS_DEMO_MSG_ANCH_RESP)
+ {
+ n = sprintf((char*)&debug_msg[0], "RX CB RX: DWT_SIG_RX_OKAY-%s,%04X,uwb_index: %04d, uwb_trw: %04d", get_msg_fcode_string(dw_event.msgu.frame[fcode_index]), my_addr,uwb_index, instance_data[instance].uwbToRangeWith);
+ }
+ else if(dw_event.msgu.frame[fcode_index] == RTLS_DEMO_MSG_TAG_FINAL)
+ {
+ n = sprintf((char*)&debug_msg[0], "RX CB RX: DWT_SIG_RX_OKAY-%s,%04X,uwb_index: %04d, uwb_trw: %04d", get_msg_fcode_string(dw_event.msgu.frame[fcode_index]), my_addr,uwb_index, instance_data[instance].uwbToRangeWith);
+ }
+ else if(dw_event.msgu.frame[fcode_index] == RTLS_DEMO_MSG_INF_REG)
+ {
+ n = sprintf((char*)&debug_msg[0], "RX CB RX: DWT_SIG_RX_OKAY-%s,%04X,uwb_index: %04d, uwb_trw: %04d", get_msg_fcode_string(dw_event.msgu.frame[fcode_index]), my_addr,uwb_index, instance_data[instance].uwbToRangeWith);
+ }
+ else if(dw_event.msgu.frame[fcode_index] == RTLS_DEMO_MSG_INF_INIT)
+ {
+ n = sprintf((char*)&debug_msg[0], "RX CB RX: DWT_SIG_RX_OKAY-%s,%04X,uwb_index: %04d, uwb_trw: %04d", get_msg_fcode_string(dw_event.msgu.frame[fcode_index]), my_addr,uwb_index, instance_data[instance].uwbToRangeWith);
+ }
+ else if(dw_event.msgu.frame[fcode_index] == RTLS_DEMO_MSG_INF_SUG)
+ {
+ n = sprintf((char*)&debug_msg[0], "RX CB RX: DWT_SIG_RX_OKAY-%s,%04X,uwb_index: %04d, uwb_trw: %04d", get_msg_fcode_string(dw_event.msgu.frame[fcode_index]), my_addr,uwb_index, instance_data[instance].uwbToRangeWith);
+ }
+ else if(dw_event.msgu.frame[fcode_index] == RTLS_DEMO_MSG_INF_UPDATE)
+ {
+ n = sprintf((char*)&debug_msg[0], "RX CB RX: DWT_SIG_RX_OKAY-%s,%04X,uwb_index: %04d, uwb_trw: %04d", get_msg_fcode_string(dw_event.msgu.frame[fcode_index]), my_addr,uwb_index, instance_data[instance].uwbToRangeWith);
+ }
+ else if(dw_event.msgu.frame[fcode_index] == RTLS_DEMO_MSG_RNG_REPORT)
+ {
+ n = sprintf((char*)&debug_msg[0], "RX CB RX: DWT_SIG_RX_OKAY-%s,%04X,uwb_index: %04d, uwb_trw: %04d", get_msg_fcode_string(dw_event.msgu.frame[fcode_index]), my_addr,uwb_index, instance_data[instance].uwbToRangeWith);
+ }
+ else if(dw_event.msgu.frame[fcode_index] == RTLS_DEMO_MSG_SYNC)
+ {
+ n = sprintf((char*)&debug_msg[0], "RX CB RX: DWT_SIG_RX_OKAY-%s,%04X,uwb_index: %04d, uwb_trw: %04d", get_msg_fcode_string(dw_event.msgu.frame[fcode_index]), my_addr,uwb_index, instance_data[instance].uwbToRangeWith);
+ }
- }
-
-// if(uwb_index > UWB_LIST_SIZE - 1 || uwb_index <= 0)
-// {
-// instance_data_t *inst = &instance_data[instance];
+ send_usbmessage(&debug_msg[0], n);
+ usb_run();
-// uint8 debug_msg[100];
-// uint16 my_addr = instance_data[instance].uwbShortAdd;
-// int n = sprintf((char*)&debug_msg[0], "uwb_index:%u of %u",uwb_index, instance_data[instance].uwbListLen);
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
- //TODO solve this problem. other, (incorrect) addresses are making it into our UWB list for some reason...
- //think i took care of it, it was incorrect indexing in create/read INF messages
-// }
+ }
bool accept_inf = FALSE;
//check if the incoming message indicates that we should range with the source UWB or just accept and process the message
@@ -1424,7 +1046,6 @@ void instance_rxgoodcallback(const dwt_cb_data_t *rxd)
{
if(dw_event.msgu.frame[fcode_index] == RTLS_DEMO_MSG_TAG_POLL)
{
- //TODO would be good to check if the UWB sending this message was supposed to be ranging in this timeslot
instance_data[instance].uwbToRangeWith = uwb_index;
}
else if(dw_event.msgu.frame[fcode_index] == RTLS_DEMO_MSG_INF_REG || dw_event.msgu.frame[fcode_index] == RTLS_DEMO_MSG_INF_SUG || dw_event.msgu.frame[fcode_index] == RTLS_DEMO_MSG_INF_UPDATE)//only anchor if already received INF_INIT or collected regular INF messages and joined with SUG message
@@ -1434,17 +1055,11 @@ void instance_rxgoodcallback(const dwt_cb_data_t *rxd)
}
else if (instance_data[instance].mode == DISCOVERY)
{
- //TODO use switch case?
if(dw_event.msgu.frame[fcode_index] == RTLS_DEMO_MSG_RNG_INIT)
{
if(tdma_handler.discovery_mode == WAIT_RNG_INIT)
{
- //only accept RNG_INIT if no other active neighbors exist (and we are waiting for RNG_INIT)
- int num_active = instfindnumneighbors(&instance_data[instance]);
- if(num_active <= 1)
- {
- instance_data[instance].uwbToRangeWith = uwb_index;
- }
+ instance_data[instance].uwbToRangeWith = uwb_index;
}
}
else if(dw_event.msgu.frame[fcode_index] == RTLS_DEMO_MSG_INF_INIT)
@@ -1469,48 +1084,25 @@ void instance_rxgoodcallback(const dwt_cb_data_t *rxd)
}
else if(rxd_event == DWT_SIG_RX_BLINK)
{
- //only accept BLINK if in DISCOVERY mode and no other active neighbors exist
- //and not waiting for inf or rng_init
+ //only accept BLINK if in DISCOVERY mode and waiting for INF_REG
if(instance_data[instance].mode == DISCOVERY)
{
if(tdma_handler.discovery_mode == WAIT_INF_REG)
{
- int num_neighbors = instfindnumneighbors(&instance_data[instance]);
-// uint8 debug_msg[100];
-// int n = sprintf((char*)&debug_msg[0], "num_neighbors %d", num_neighbors);
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-
-// if(num_neighbors <= 1) //TODO i don't think I want this
-// {
- instance_data[instance].uwbToRangeWith = uwb_index;
-// }
+ instance_data[instance].uwbToRangeWith = uwb_index;
}
}
}
}
}
-
-// n = sprintf((char*)&debug_msg[0], "uwb_index %d, uwbToRangeWith %d", uwb_index, instance_data[instance].uwbToRangeWith);
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-
-
int place_event = 0;
-
if(rxd_event == DWT_SIG_RX_OKAY && uwb_index != 255)
{
//always accept.
if(dw_event.msgu.frame[fcode_index] == RTLS_DEMO_MSG_RNG_REPORT || dw_event.msgu.frame[fcode_index] == RTLS_DEMO_MSG_SYNC)
{
-// uint8 debug_msg[100];
-// int n = sprintf((char*)&debug_msg[0], "RX CALLBACK ACCEPTED: RNG_REPORT <- uwb_index %d", uwb_index);
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-// instance_data[instance].lastCommTimeStamp[uwb_index] = time_now;
-// instance_data[instance].uwbTimeout[uwb_index] = 0;
place_event = 1;
}
}
@@ -1518,20 +1110,9 @@ void instance_rxgoodcallback(const dwt_cb_data_t *rxd)
if(accept_inf == TRUE)
{
place_event = 1;
-
-
- if(dw_event.msgu.frame[fcode_index] == RTLS_DEMO_MSG_INF_SUG)
- {
-// uint8 debug_msg[100];
-// int n = sprintf((char*)&debug_msg[0], "RX CB: DWT_SIG_RX_OKAY-%s, %llX, xxxx", get_msg_fcode_string(dw_event.msgu.frame[fcode_index]), instance_get_addr());
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
- }
-
}
else if(uwb_index != 255 && instance_data[instance].uwbToRangeWith == uwb_index)
{
-
if(rxd_event == DWT_SIG_RX_OKAY)
{
//process RTLS_DEMO_MSG_TAG_POLL immediately.
@@ -1559,7 +1140,7 @@ void instance_rxgoodcallback(const dwt_cb_data_t *rxd)
instance_data[instance].msg.seqNum = instance_data[instance].frameSN++;
-
+ //TODO
//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)
dwt_setrxaftertxdelay(0); //units are 1.0256us - wait for wait4respTIM before RX on (delay RX)
@@ -1585,37 +1166,9 @@ 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.
instance_data[instance].timeofTx = time_now;
+ instance_data[instance].txDoneTimeoutDuration = 200; //NOTE timeout duration found experimentally, may need to be changed if the delays in instance.h are modified
}
-
- instance_data[instance].tof[uwb_index] = 0; //clear ToF .. //TODO does this need to be here?
-
}
-// else if(dw_event.msgu.frame[fcode_index] == RTLS_DEMO_MSG_ANCH_RESP)
-// {
-//
-// }
-// else if(dw_event.msgu.frame[fcode_index] == RTLS_DEMO_MSG_RNG_INIT)
-// {
-//
-// }
-// else if(dw_event.msgu.frame[fcode_index] == RTLS_DEMO_MSG_TAG_FINAL)
-// {
-//
-// }
-// else if(dw_event.msgu.frame[fcode_index] == RTLS_DEMO_MSG_RNG_REPORT)
-// {
-// instance_data[instance].lastCommTimeStamp[uwb_index] = portGetTickCnt();
-// instance_data[instance].uwbTimeout[uwb_index] = 0;
-// uint8 debug_msg[100];
-// int n = sprintf((char*)&debug_msg[0], "RX CALLBACK ACCEPTED: RNG_REPORT <- uwb_index %d", uwb_index);
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-// }
-// else if(dw_event.msgu.frame[fcode_index] == RTLS_DEMO_MSG_SYNC)
-// {
-//
-// }
-
place_event = 1;
}
@@ -1625,24 +1178,8 @@ void instance_rxgoodcallback(const dwt_cb_data_t *rxd)
}
}
- // TODO figure out a better way to do this, I'd like to keep it where it was if possible
- // doing it here because it needs to be toggled before toggling the rx buffer pointer
- // Toggle the Host side Receive Buffer Pointer
-// dwt_write8bitoffsetreg(SYS_CTRL_ID, SYS_CTRL_HRBT_OFFSET, 1);
-
-// uint8 buff = dwt_read8bitoffsetreg(SYS_STATUS_ID, 3);
-// uint8 debug_msg[100];
-// int n = sprintf((char*)&debug_msg[0], "RX BUFFER TOGGLE: %d", buff);
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-
if(place_event)
{
-// uint8 debug_msg[100];
-// int n = sprintf((char*)&debug_msg[0], "event placed");
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-
instance_putevent(dw_event);
#if (DEEP_SLEEP == 1)
@@ -1654,21 +1191,10 @@ void instance_rxgoodcallback(const dwt_cb_data_t *rxd)
}
else
{
- // instance_rxerrorcallback(rxd);
-
-// uint8 debug_msg[100];
-// int n = sprintf((char*)&debug_msg[0], "instancerxon called from !event_placed :");
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-
instancerxon(&instance_data[instance], 0, 0); //immediately reenable RX
}
}
-
-
-
-
int instance_peekevent(void)
{
int instance = 0;
@@ -1725,7 +1251,9 @@ event_data_t* instance_getevent(int x)
instance_data[instance].dweventIdxOut++;
if(MAX_EVENT_NUMBER == instance_data[instance].dweventIdxOut) //wrap the counter
+ {
instance_data[instance].dweventIdxOut = 0;
+ }
instance_data[instance].dweventPeek = instance_data[instance].dweventIdxOut; //set the new peek value
@@ -1759,108 +1287,25 @@ int instance_run(void)
while(done == INST_NOT_DONE_YET)
{
-// uint64 time_now_us = portGetTickCntMicro();
done = testapprun(&instance_data[instance], &tdma_handler, message) ; // run the communications application
-// uint64 duration = get_dt64(time_now_us, portGetTickCntMicro());
-// uint8 debug_msg[100];
-// int n = sprintf((char *)&debug_msg, "TAR, duration, %llu", duration);
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-
- //we've processed message
message = 0;
}
uint32 time_now = portGetTickCnt();
- //check timeouts. handle case where we timeout and no longer have any neighbors
+
+ //check timeouts.
if(tdma_handler.check_timeouts(&tdma_handler, time_now))
{
- tdma_handler.tdma_free_all_slots(&tdma_handler);
-
- instance_data[instance].mode = DISCOVERY; //TODO clear the TDMA slot information!
- tdma_handler.discoveryStartTime = portGetTickCnt();
+ //handle case where we timeout and no longer have any neighbors
+ instance_data[instance].mode = DISCOVERY;
tdma_handler.enter_discovery_mode(&tdma_handler);
inst_processtxrxtimeout(&instance_data[instance]);
instance_data[instance].canPrintInfo = 0;
- instance_data[instance].ranging = 0;
}
-// //check if lastCommTimeStamp has expired for any of the uwbs in our list
-// for(int i=1; i < instance_data[instance].uwbListLen; i++)//0 reserved for self, timeout not applicable
-// {
-// //TODO could also have a timer to put into DISCOVERY if we haven't spoken to anyone in a while
-// uint32 time_now = portGetTickCnt();
-//
-//
-// uint32 delta_t = get_dt32(instance_data[instance].lastCommTimeStamp[i], time_now);
-// if(delta_t > UWB_COMM_TIMEOUT) //TODO handle number wrapping
-// {
-//// if(instance_data[instance].uwbListType[i] == UWB_LIST_NEIGHBOR) //what about hidden?
-// if(tdma_handler.uwbListTDMAInfo[i].connectionType == UWB_LIST_NEIGHBOR) //what about hidden?
-// {
-//// instance_data[instance].uwbListType[i] = UWB_LIST_INACTIVE; //TODO release TDMA slots as well
-// tdma_handler.uwbListTDMAInfo[i].connectionType = UWB_LIST_INACTIVE; //TODO release TDMA slots as well
-// instance_data[instance].uwbTimeout[i] = 1;
-//
-// //NEW
-// //if no more active neighbors exist, transition to DISCOVERY
-// uint8 numNeighbors = instfindnumactiveneighbors(&instance_data[instance]);
-// if(numNeighbors <= 0)
-// {
-// tdma_handler.tdma_free_all_slots(&tdma_handler);
-//
-//
-//
-//// uint8 debug_msg[100];
-//// int n = sprintf((char *)&debug_msg, "inst_processtxrxtimeout(inst) after free_all_slots");
-//// send_usbmessage(&debug_msg[0], n);
-//// usb_run();
-//
-// instance_data[instance].mode = DISCOVERY; //TODO clear the TDMA slot information!
-// tdma_handler.discoveryStartTime = portGetTickCnt();
-// tdma_handler.enter_discovery_mode(&tdma_handler);
-// inst_processtxrxtimeout(&instance_data[instance]);
-//
-// instance_data[instance].canPrintInfo = 0;
-// instance_data[instance].ranging = 0;
-// }
-// else
-// {
-// //TODO check if able to reconfigure tdma assignements. shrink frame size, reassign emptied slots, etc
-// tdma_handler.uwblist_free_slots(&tdma_handler, i);
-// }
-//
-//
-//// uint8 debug_msg[100];
-//// int n = sprintf((char*)&debug_msg[0], "TIMEOUT: uwb %i", i);
-//// send_usbmessage(&debug_msg[0], n);
-//// usb_run();
-// }
-//
-// if(instance_data[instance].uwbToRangeWith == i)
-// {
-// instance_data[instance].uwbToRangeWith = 255;
-// //NOTE this might need to be changed for TAG operations
-// if(instance_data[instance].mode == ANCHOR || instance_data[instance].mode == DISCOVERY) //TODO maybe send to TA_MODE_SELECT?
-// {
-// instance_data[instance].testAppState = TA_RXE_WAIT;
-// }
-// else
-// {
-//// uint8 debug_msg[100];
-//// int n = sprintf((char*)&debug_msg[0], "instance_run(void) TIMEOUT");
-//// send_usbmessage(&debug_msg[0], n);
-//// usb_run();
-// 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 == DISCOVERY)
@@ -1884,12 +1329,6 @@ int instance_run(void)
{
if(instance_data[instance].instanceTimerTime < portGetTickCnt())
{
-// uint8 debug_msg[200];
-// int n = 0;
-// n = sprintf((char*)&debug_msg[0], "instance timer expired");
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-
event_data_t dw_event;
instance_data[instance].instanceTimerEnabled = 0;
dw_event.rxLength = 0;
@@ -1933,16 +1372,3 @@ uint16 instancerxantdly(void)
}
#endif
-
-
-/* ==========================================================
-
-Notes:
-
-Previously code handled multiple instances in a single console application
-
-Now have changed it to do a single instance only. With minimal code changes...(i.e. kept [instance] index but it is always 0.
-
-Windows application should call instance_init() once and then in the "main loop" call instance_run().
-
-*/
diff --git a/src/application/tdma_handler.c b/src/application/tdma_handler.c
index 6da5ec2..b9b688c 100644
--- a/src/application/tdma_handler.c
+++ b/src/application/tdma_handler.c
@@ -14,7 +14,7 @@ static bool slot_transition(struct TDMAHandler *this)
if(inst->mode == TAG ||
inst->mode == ANCHOR ||
- (inst->mode == DISCOVERY && (this->discovery_mode == WAIT_SEND_SUG)))// || this->discovery_mode == COLLECT_INF_REG)))//TODO this may be out of date
+ (inst->mode == DISCOVERY && (this->discovery_mode == WAIT_SEND_SUG || this->discovery_mode == COLLECT_INF_REG)))//TODO this may be out of date
{
uint64 time_now_us = portGetTickCntMicro();
uint64 timeSinceSlotStart64 = get_dt64(this->lastSlotStartTime64, time_now_us);
@@ -30,7 +30,6 @@ static bool slot_transition(struct TDMAHandler *this)
//we have transitioned into the next slot.
//get the slot number and set the start time appropriately
-// uint64 timeSinceFrameStart64 = get_dt64(this->uwbFrameStartTimes64[0], time_now_us);
uint64 timeSinceFrameStart64 = get_dt64(this->uwbListTDMAInfo[0].frameStartTime, time_now_us);
//TODO this->uwbListTDMAInfo[0].frameStartTime is sometimes getting set to a time in the future... figure out!
@@ -43,25 +42,17 @@ static bool slot_transition(struct TDMAHandler *this)
// send_usbmessage(&debug_msg[0], n);
// usb_run();
- //TODO think about adopting rebase AFTER all neighbors have had a chance to TX the rebase in their INF message as well.
-// this->rebase_pending = FALSE;
-// this->rebase_tx = FALSE;
-// this->uwbFrameStartTimes64[0] = this->rebase_frameStartTime64;
-// timeSinceFrameStart64 = get_dt64(this->uwbFrameStartTimes64[0], time_now_us);
}
while(timeSinceFrameStart64 >= frameDuration64)
{
-// this->uwbFrameStartTimes64[0] = timestamp_add64(this->uwbFrameStartTimes64[0], frameDuration64);
this->uwbListTDMAInfo[0].frameStartTime = timestamp_add64(this->uwbListTDMAInfo[0].frameStartTime, frameDuration64);
timeSinceFrameStart64 -= frameDuration64;
}
-// this->lastFST = this->uwbFrameStartTimes64[0];
this->lastFST = this->uwbListTDMAInfo[0].frameStartTime;
uint8 slot = timeSinceFrameStart64/(this->slotDuration_us); //integer division rounded down
-// this->lastSlotStartTime64 = this->uwbFrameStartTimes64[0] + (uint64)(this->slotDuration_us*slot);
this->lastSlotStartTime64 = this->uwbListTDMAInfo[0].frameStartTime + (uint64)(this->slotDuration_us*slot);
@@ -70,31 +61,9 @@ static bool slot_transition(struct TDMAHandler *this)
// send_usbmessage(&debug_msg[0], n);
// usb_run();
-
-// n = sprintf((char*)&debug_msg[0], "&this->slotAssignments[slot]: %u, &inst->uwbShortAdd %u :", this->slotAssignments[slot], inst->uwbShortAdd);
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-//
-// if(this->slot_assigned(this, slot) == TRUE)
-// {
-//
-// }
-
-// struct TDMAInfo *info = &this->uwbListTDMAInfo[0];
-// bool assigned0 = this->slot_assigned(info, 0);
-// bool assigned1 = this->slot_assigned(info, 1);
-// bool assigned2 = this->slot_assigned(info, 2);
-// bool assigned3 = this->slot_assigned(info, 3);
-//
-// uint8 debug_msg[100];
-// int n = sprintf((char*)&debug_msg[0], "NEW SLOT %u, ass0: %u, ass1: %u, ass2: %u, ass3: %u,", slot, assigned0, assigned1, assigned2, assigned3);
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-
-
if(inst->mode != DISCOVERY)
{
- if(this->slot_assigned(&this->uwbListTDMAInfo[0], slot) == TRUE) //TODO left off here, for some reason it fails when I try this...
+ if(this->slot_assigned(&this->uwbListTDMAInfo[0], slot) == TRUE)
{
inst->mode = TAG;
@@ -124,17 +93,10 @@ static bool slot_transition(struct TDMAHandler *this)
return transition;
}
-//static void frame_sync(struct TDMAHandler *this, uint8 *messageData, uint16 rxLength, uint8 srcIndex, FRAME_SYNC_MODE mode)
-//static void frame_sync(struct TDMAHandler *this, event_data_t *dw_event, uint8 *messageData, uint8 srcIndex, FRAME_SYNC_MODE mode)
static void frame_sync(struct TDMAHandler *this, event_data_t *dw_event, uint8 framelength, uint64 timeSinceFrameStart_us, uint8 srcIndex, FRAME_SYNC_MODE mode)
{
instance_data_t *inst = instance_get_local_structure_ptr(0);
-// uint8 debug_msg[100];
-// int n = sprintf((char*)&debug_msg[0], "frame sync");
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-
//do not process erroneous tsfs
//can happen if frame start time is shifted ahead of time_now_us in transmitting UWB
if(timeSinceFrameStart_us > 1000000000 || timeSinceFrameStart_us == 0)
@@ -142,20 +104,12 @@ static void frame_sync(struct TDMAHandler *this, event_data_t *dw_event, uint8 f
return;
}
-
uint8 sys_time_arr[5] = {0, 0, 0, 0, 0};
dwt_readsystime(sys_time_arr);
uint64 dwt_time_now = 0;
dwt_time_now = (uint64)sys_time_arr[0] + ((uint64)sys_time_arr[1] << 8) + ((uint64)sys_time_arr[2] << 16) + ((uint64)sys_time_arr[3] << 24) + ((uint64)sys_time_arr[4] << 32);
uint64 time_now_us = portGetTickCntMicro();
-// uint8 framelength;
-// uint64 timeSinceFrameStart_us = 0;
-
-// memcpy(&framelength, &messageData[TDMA_FRAMELENGTH], sizeof(uint8));
-// //timeSinceFrameStart in message
-// memcpy(&timeSinceFrameStart_us, &messageData[TDMA_TSFS], 6);
-
//time from message to tx
//assuming zero since we use DWT_START_TX_IMMEDIATE
@@ -166,7 +120,7 @@ static void frame_sync(struct TDMAHandler *this, event_data_t *dw_event, uint8 f
//NOTE: assuming zero since difference for speed of light travel time over 10cm and 100m is negligible for frame sync purposes
//rx antenna delay
- //NOTE: we won't use this, because the antenna delay is captured by the RX timestamp
+ //NOTE: antenna delay is captured by the RX timestamp
//time from rx timestamp to now
uint64 rxfs_process_delay = dwt_getdt(dw_event->timeStamp, dwt_time_now);
@@ -174,27 +128,18 @@ static void frame_sync(struct TDMAHandler *this, event_data_t *dw_event, uint8 f
uint64 txrx_delay = (uint64)(convertdevicetimetosec(tx_antenna_delay + rxfs_process_delay)*1000000.0) + inst->storePreLen_us;
uint64 hisTimeSinceFrameStart_us = timeSinceFrameStart_us + txrx_delay;
-// this->uwbFrameStartTimes64[srcIndex] = timestamp_subtract64(time_now_us, hisTimeSinceFrameStart_us); //TODO consider applying the diff!
- this->uwbListTDMAInfo[srcIndex].frameStartTime = timestamp_subtract64(time_now_us, hisTimeSinceFrameStart_us); //TODO consider applying the diff!
+ this->uwbListTDMAInfo[srcIndex].frameStartTime = timestamp_subtract64(time_now_us, hisTimeSinceFrameStart_us);
if(mode == FS_COLLECT)
{
return;
}
- else if(mode == FS_ADOPT) //TODO this might not be right! incoming framelength not always the same as ours!
+ else if(mode == FS_ADOPT)
{
-// this->uwbFrameStartTimes64[0] = this->uwbFrameStartTimes64[srcIndex];
-// this->uwbListTDMAInfo[0].frameStartTime = this->uwbListTDMAInfo[srcIndex].frameStartTime;
-// uint8 slot = hisTimeSinceFrameStart_us/this->slotDuration_us; //integer division rounded down
-// this->lastSlotStartTime64 = this->uwbFrameStartTimes64[0] + (uint64)((this->slotDuration_us)*slot);
-// this->lastSlotStartTime64 = this->uwbListTDMAInfo[0].frameStartTime + (uint64)((this->slotDuration_us)*slot);
-
this->uwbListTDMAInfo[0].frameStartTime = this->uwbListTDMAInfo[srcIndex].frameStartTime;//NOTE gets processed further at end of function
}
- else// if(mode == FS_AVERAGE || mode == FS_EVAL) //TODO consider using a weighted average. perhaps use threshholds to determine if instead we should just use the ADOPT logic
+ else// if(mode == FS_AVERAGE || mode == FS_EVAL)
{
-// uint64 myFramelengthDuration_us = this->uwbListTDMAInfo[0].framelength*this->slotDuration_us;
-// uint64 myTimeSinceFrameStart_us = get_dt64(this->uwbFrameStartTimes64[0], time_now_us);
uint64 myTimeSinceFrameStart_us = get_dt64(this->uwbListTDMAInfo[0].frameStartTime, time_now_us);
//SELF VS INCOMING
@@ -224,7 +169,6 @@ static void frame_sync(struct TDMAHandler *this, event_data_t *dw_event, uint8 f
else
{
diff_us = min_framelengthDuration - diff_tsfs_mod;
- //subtract
}
}
else
@@ -235,7 +179,6 @@ static void frame_sync(struct TDMAHandler *this, event_data_t *dw_event, uint8 f
if(diff_tsfs_mod <= 0.5*min_framelengthDuration)
{
diff_us = diff_tsfs_mod;
- //subtract
}
else
{
@@ -261,33 +204,25 @@ static void frame_sync(struct TDMAHandler *this, event_data_t *dw_event, uint8 f
if(diff_add == TRUE)
{
-// uint8 debug_msg[100];
-// int n = sprintf((char*)&debug_msg[0], "add %llu", diff_us);
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-
-// this->uwbFrameStartTimes64[0] = timestamp_add64(this->uwbFrameStartTimes64[0], diff_us/div);
this->uwbListTDMAInfo[0].frameStartTime = timestamp_add64(this->uwbListTDMAInfo[0].frameStartTime, diff_us/div);
-// this->lastSlotStartTime64 = timestamp_add64(this->lastSlotStartTime64, diff_us/div);
}
else
{
-// uint8 debug_msg[100];
-// int n = sprintf((char*)&debug_msg[0], "subtract %llu", diff_us);
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-// this->uwbFrameStartTimes64[0] = timestamp_subtract64(this->uwbFrameStartTimes64[0], diff_us/div);
this->uwbListTDMAInfo[0].frameStartTime = timestamp_subtract64(this->uwbListTDMAInfo[0].frameStartTime, diff_us/div);
-// this->lastSlotStartTime64 = timestamp_subtract64(this->lastSlotStartTime64, diff_us/div);
}
}
uint64 myFrameDuration = this->slotDuration_us*this->uwbListTDMAInfo[0].framelength;
- uint64 myTimeSinceFrameStart_us = get_dt64(this->uwbListTDMAInfo[0].frameStartTime, time_now_us); //TODO what if added to be past time_now???
+ uint64 myTimeSinceFrameStart_us = get_dt64(this->uwbListTDMAInfo[0].frameStartTime, time_now_us);
if(myTimeSinceFrameStart_us > 100000000)
{
- //if this is a very large number, then the frame start time was likely moved head of time_now_us.
- this->lastSlotStartTime64 = this->uwbListTDMAInfo[0].frameStartTime - (uint64)(this->slotDuration_us);
+ //if this is a very large number, then the frame start time was likely moved ahead of time_now_us.
+ while(this->uwbListTDMAInfo[0].frameStartTime > time_now_us)
+ {
+ this->uwbListTDMAInfo[0].frameStartTime = timestamp_subtract64(this->uwbListTDMAInfo[0].frameStartTime, myFrameDuration);
+ }
+
+ myTimeSinceFrameStart_us = get_dt64(this->uwbListTDMAInfo[0].frameStartTime, time_now_us);
}
else
{
@@ -296,10 +231,10 @@ static void frame_sync(struct TDMAHandler *this, event_data_t *dw_event, uint8 f
this->uwbListTDMAInfo[0].frameStartTime = timestamp_add64(this->uwbListTDMAInfo[0].frameStartTime, myFrameDuration);
myTimeSinceFrameStart_us -= myFrameDuration;
}
-
- uint8 slot = hisTimeSinceFrameStart_us/this->slotDuration_us; //integer division rounded down
- this->lastSlotStartTime64 = this->uwbListTDMAInfo[0].frameStartTime + (uint64)(this->slotDuration_us*slot);
}
+
+ uint8 slot = myTimeSinceFrameStart_us/this->slotDuration_us; //integer division rounded down
+ this->lastSlotStartTime64 = timestamp_add64(this->uwbListTDMAInfo[0].frameStartTime, (uint64)(this->slotDuration_us*slot));
}
@@ -307,7 +242,6 @@ static bool tx_sync_msg(struct TDMAHandler *this)
{
instance_data_t *inst = instance_get_local_structure_ptr(0);
uint64 time_now_us = portGetTickCntMicro();
-// uint64 myTimeSinceFrameStart_us = get_dt64(this->uwbFrameStartTimes64[0], time_now_us);
uint64 myTimeSinceFrameStart_us = get_dt64(this->uwbListTDMAInfo[0].frameStartTime, time_now_us);
memcpy(&inst->sync_msg.messageData[SYNC_FRAMELENGTH], &this->uwbListTDMAInfo[0].framelength, sizeof(uint8));
memcpy(&inst->sync_msg.messageData[SYNC_TSFS], &myTimeSinceFrameStart_us, 6);
@@ -336,209 +270,18 @@ static bool tx_sync_msg(struct TDMAHandler *this)
inst->previousState = inst->testAppState;
inst->testAppState = TA_TX_WAIT_CONF; // wait confirmation
+ inst->timeofTx = portGetTickCnt();
+ inst->txDoneTimeoutDuration = 200; //NOTE timeout duration found experimentally, may need to be changed if the delays in instance.h are modified
+// inst->monitor = 1;
return TRUE;
}
}
-
-
-//
-////static void frame_sync(struct TDMAHandler *this, uint8 *messageData, uint16 rxLength, uint8 srcIndex, FRAME_SYNC_MODE mode)
-//static void frame_sync(struct TDMAHandler *this, event_data_t *dw_event, uint8 *messageData, uint8 srcIndex, FRAME_SYNC_MODE mode)
-//{
-// //ignore frame sync if we have a rebase pending
-//// if(this->rebase_pending == TRUE)
-//// {
-//// return;
-//// }
-//
-// instance_data_t *inst = instance_get_local_structure_ptr(0);
-//
-// uint8 sys_time_arr[5] = {0, 0, 0, 0, 0};
-// dwt_readsystime(sys_time_arr);
-// uint64 dwt_time_now = (uint64)sys_time_arr[0] + ((uint64)sys_time_arr[1] << 8) + ((uint64)sys_time_arr[2] << 16) + ((uint64)sys_time_arr[3] << 24) + ((uint64)sys_time_arr[4] << 32);
-// uint64 time_now_us = portGetTickCntMicro();
-//
-// uint8 framelength;
-// uint32 timeSinceFrameStart64 = 0;
-//// bool rebase = FALSE;
-//
-// memcpy(&framelength, &messageData[TDMA_FRAMELENGTH], sizeof(uint8));
-// //timeSinceFrameStart in message
-// memcpy(&timeSinceFrameStart64, &messageData[TDMA_TSFS], sizeof(uint64));
-//// memcpy(&rebase, &messageData[TDMA_TSFS_REBASE], sizeof(bool));
-//
-// //time from message to tx
-// //assuming zero since we use DWT_START_TX_IMMEDIATE
-//
-// //tx antenna delay
-// uint64 tx_antenna_delay = (uint64)inst->txAntennaDelay;
-//
-// //time for xmission (only count once, happens on both sides near simultaneously)
-// //easiest way to check would be to see if it is the same as the defines for other standard messages...
-// inst->frameLengths_us[INF] = instance_getmessageduration_us(dw_event->rxLength); //TODO should maybe make sure extended framelength cannot overflow a uint32
-//
-// //time to propagate
-// //NOTE: assuming zero since difference for speed of light travel time over 10cm and 100m is negligible for frame sync purposes
-//
-// //rx antenna delay
-// //NOTE: we won't use this, because the antenna delay is captured by the RX timestamp
-//
-// //time from rx timestamp to now
-// uint64 rxfs_process_delay = dwt_getdt(dw_event->timeStamp, dwt_time_now);
-//
-// uint64 txrx_delay = (uint64)(convertdevicetimetosec(tx_antenna_delay + rxfs_process_delay)*1000000.0) + inst->storePreLen_us;
-//
-// uint64 hisTimeSinceFrameStart_us = timeSinceFrameStart64 + txrx_delay;
-// this->uwbFrameStartTimes64[srcIndex] = timestamp_subtract64(time_now_us, hisTimeSinceFrameStart_us); //TODO consider applying the diff!
-//
-// if(mode == FS_ADOPT)
-// {
-// this->uwbFrameStartTimes64[0] = this->uwbFrameStartTimes64[srcIndex];
-// uint8 slot = hisTimeSinceFrameStart_us/this->slotDuration_us; //integer division rounded down
-// this->lastSlotStartTime64 = this->uwbFrameStartTimes64[0] + (uint64)((this->slotDuration_us)*slot);
-// }
-// else if(mode == FS_COLLECT)
-// {
-// return;
-// }
-// else if(mode == FS_AVERAGE) //TODO consider using a weighted average. perhaps use threshholds to determine if instead we should just use the ADOPT logic
-// {
-//// if(this->discovery_mode == COLLECT_INF_REG)
-//// {
-//// //TODO handle the case where we are collecting from two different UWB networks that are not synchronized
-//// //in case there are multiple subnetworks... only collect average frame start times for one of them...
-//// //send out INF_SUG in that 0th frame with rebase to the other subnetwork's frame. but what if there are two other networks?
-//// //instead send out INF fug in that 0th frame with rebase to that frame. Hopefully the other networks will get the message.
-//// //if not, the discrepency will eventually be taken care of the ANCHOR and TAG logic, regarless of how many subnetworks there are.
-//// //sync to the largest subnetwork...
-//// }
-//
-//
-//// if(rebase == TRUE)
-//// {
-//// this->rebase_pending = TRUE;
-//// this->rebase_tx = FALSE;
-//// this->rebase_frameStartTime64 = this->uwbFrameStartTimes64[srcIndex];
-//// return;
-//// }
-//
-// uint64 myFramelengthDuration_us = this->uwbListTDMAInfo[0].framelength*this->slotDuration_us;
-// uint64 myTimeSinceFrameStart_us = get_dt64(this->uwbFrameStartTimes64[0], time_now_us);
-//
-// uint64 diff_us = 0;
-// bool diff_add = FALSE;
-// uint64 threshold = this->slotStartDelay_us; //TODO make a permanent variable for this threshold
-//
-// //TODO make sure this can't/doesn't happen
-// //myTimeSinceFrameStart is longer than the FramelengthDuration!!!
-//// if(myTimeSinceFrameStart > myFramelengthDuration)
-//// {
-//// uint8 debug_msg[100];
-//// int n = sprintf((char *)&debug_msg, "myTimeSinceFrameStart > myTimeSinceFrameStart!");//,%llX, psdu: %d ", instance_get_addr(), psduLength);
-//// send_usbmessage(&debug_msg[0], n);
-//// usb_run();
-//// }
-//
-// if(this->uwbListTDMAInfo[0].framelength <= framelength)
-// {
-// uint64 hisTimeSinceFrameStartMod_us = hisTimeSinceFrameStart_us%myFramelengthDuration_us;
-//
-// if(myTimeSinceFrameStart_us > hisTimeSinceFrameStartMod_us)
-// {
-// diff_us = myTimeSinceFrameStart_us - hisTimeSinceFrameStartMod_us;
-// diff_add = TRUE;
-//
-//// uint64 diff_us = myTimeSinceFrameStart_us - hisTimeSinceFrameStartMod_us;
-//// this->uwbFrameStartTimes64[0] = timestamp_add64(this->uwbFrameStartTimes64[0], diff_us/2);
-//// this->lastSlotStartTime64 = timestamp_add64(this->lastSlotStartTime64, diff_us/2);
-// }
-// else
-// {
-// diff_us = hisTimeSinceFrameStartMod_us - myTimeSinceFrameStart_us;
-// diff_add = FALSE;
-//// uint64 diff_us = hisTimeSinceFrameStartMod_us - myTimeSinceFrameStart_us;
-//// this->uwbFrameStartTimes64[0] = timestamp_subtract64(this->uwbFrameStartTimes64[0], diff_us/2);
-//// this->lastSlotStartTime64 = timestamp_subtract64(this->lastSlotStartTime64, diff_us/2);
-// }
-// }
-// else
-// {
-// uint64 hisFramelengthDuration_us = framelength*this->slotDuration_us;
-// uint64 myTimeSinceFrameStartMod_us = myTimeSinceFrameStart_us%hisFramelengthDuration_us;
-//
-//
-//// if(timeSinceFrameStart > hisFramelengthDuration)
-//// {
-//// uint8 debug_msg[100];
-//// int n = sprintf((char *)&debug_msg, "timeSinceFrameStart > hisFramelengthDuration!");
-//// send_usbmessage(&debug_msg[0], n);
-//// usb_run();
-//// }
-//
-// if(hisTimeSinceFrameStart_us > myTimeSinceFrameStartMod_us)
-// {
-// diff_us = hisTimeSinceFrameStart_us - myTimeSinceFrameStartMod_us;
-// diff_add = FALSE;
-//
-//// uint64 diff_us = hisTimeSinceFrameStart_us - myTimeSinceFrameStartMod_us;
-//// this->uwbFrameStartTimes64[0] = timestamp_subtract64(this->uwbFrameStartTimes64[0], diff_us/2);
-//// this->lastSlotStartTime64 = timestamp_subtract64(this->lastSlotStartTime64, diff_us/2);
-// }
-// else
-// {
-// diff_us = myTimeSinceFrameStartMod_us - hisTimeSinceFrameStart_us;
-// diff_add = TRUE;
-//
-//// uint64 diff_us = myTimeSinceFrameStartMod_us - hisTimeSinceFrameStart_us;
-//// this->uwbFrameStartTimes64[0] = timestamp_add64(this->uwbFrameStartTimes64[0], diff_us/2);
-//// this->lastSlotStartTime64 = timestamp_add64(this->lastSlotStartTime64, diff_us/2);
-// }
-// }
-//
-//
-// //if the difference is too large, we need to rebase our frame start time
-//// if(diff_us > threshold)
-//// {
-//// this->rebase_pending = TRUE;
-//// this->rebase_tx = FALSE;
-//// this->rebase_frameStartTime64 = this->uwbFrameStartTimes64[srcIndex];
-//// }
-//// else
-//// {
-// if(diff_add == TRUE)
-// {
-// this->uwbFrameStartTimes64[0] = timestamp_add64(this->uwbFrameStartTimes64[0], diff_us/2);
-// this->lastSlotStartTime64 = timestamp_add64(this->lastSlotStartTime64, diff_us/2);
-// }
-// else
-// {
-// this->uwbFrameStartTimes64[0] = timestamp_subtract64(this->uwbFrameStartTimes64[0], diff_us/2);
-// this->lastSlotStartTime64 = timestamp_subtract64(this->lastSlotStartTime64, diff_us/2);
-// }
-//// }
-// }
-//
-//}
-
-
static bool tx_select(struct TDMAHandler *this)
{
-// uint8 debug_msg[100];
-// int n = sprintf((char *)&debug_msg, "tx_select,");
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-
instance_data_t *inst = instance_get_local_structure_ptr(0);
- uint32 time_now = portGetTickCnt(); //TODO come back and perhaps use only one or the other
- uint32 time_now_us = portGetTickCntMicro(); //TODO see time_now
-
- //DISCOVERY pauses for BLINK_DELAY <-added
-// if(this->waitForInf == TRUE || this->waitForRngInit == TRUE)
-// {
-// return FALSE;
-// }
+ uint64 time_now_us = portGetTickCntMicro();
int uwb_index = 255;
@@ -550,7 +293,7 @@ static bool tx_select(struct TDMAHandler *this)
{
//time to blink
uwb_index = 255;
- this->set_discovery_mode(this, WAIT_RNG_INIT, time_now);
+ this->set_discovery_mode(this, WAIT_RNG_INIT, portGetTickCnt());
}
else
{
@@ -559,61 +302,18 @@ static bool tx_select(struct TDMAHandler *this)
inst->testAppState = TA_RXE_WAIT;
return TRUE;
}
-
-// //start blinking if enough time has passed since entering DISCOVERY mode
-// uint32 timeSinceDiscoverStart = get_dt32(this->discoveryStartTime, time_now);
-//
-// if(timeSinceDiscoverStart > this->waitInfDuration)
-// {
-// //enforce blink period
-// uint32 timeSinceLastBlink = get_dt32(this->last_blink_time, time_now);
-//
-// // uint8 debug_msg[100];
-// // int n = sprintf((char *)&debug_msg, "timeSinceLastBlink %lu, BLINK_PERIOD_MS %lu ", timeSinceLastBlink, (uint32)BLINK_PERIOD_MS);
-// // send_usbmessage(&debug_msg[0], n);
-// // usb_run();
-//
-// if(timeSinceLastBlink > (uint32)BLINK_PERIOD_MS + this->blinkPeriodRand)
-// {
-// //time to blink
-// uwb_index = 255;
-// this->set_discovery_mode(this, WAIT_RNG_INIT, time_now);
-// }
-// else
-// {
-// //not time to blink yet, keep waiting for RNG_INIT
-// inst->wait4ack = 0;
-// inst->testAppState = TA_RXE_WAIT;
-// return TRUE;
-// }
-// }
-// else
-// {
-// //shouldn't be in this mode, should be listening for INF messages
-// inst->wait4ack = 0;
-// inst->testAppState = TA_RXE_WAIT;
-// return TRUE;
-// }
}
else if(this->discovery_mode == SEND_SUG)
{
-// uint8 debug_msg[100];
-// int n = sprintf((char *)&debug_msg, "discovery send sug");
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-
//get time since slot start and make sure that's greater than delay
uint64 timeSinceSlotStart = get_dt64(this->lastSlotStartTime64, time_now_us);
- //make sure that we are in slot 0
-
if(timeSinceSlotStart <= this->slotStartDelay_us)
{
uwb_index = -1;
}
else
{
- //TODO figure out how to make sure we send our SUG packet at the right time...
inst->wait4ack = 0;
inst->testAppState = TA_TXINF_WAIT_SEND;
inst->uwbToRangeWith = (uint8)255;
@@ -651,7 +351,7 @@ static bool tx_select(struct TDMAHandler *this)
{
if(this->uwbListTDMAInfo[i].connectionType == UWB_LIST_NEIGHBOR)
{
- uint32 timeSinceRange = get_dt32(this->uwbListTDMAInfo[i].lastRange, time_now);
+ uint32 timeSinceRange = get_dt32(this->uwbListTDMAInfo[i].lastRange, portGetTickCnt());
if(timeSinceOldestRange == 0)
{
@@ -699,12 +399,6 @@ static bool tx_select(struct TDMAHandler *this)
return TRUE;
}
-// debug_msg[100];
-// n = sprintf((char *)&debug_msg, "selected index %i ", uwb_index);
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-
-
if(uwb_index < 1) //set to -1 when waiting for the slotStartDelay to pass
{
//do nothing
@@ -778,7 +472,6 @@ static void populate_inf_msg(struct TDMAHandler *this, uint8 inf_msg_type)
int num_neighbors = instfindnumneighbors(inst);
int num_hidden = instfindnumhidden(inst);
-// uint32 time_now = portGetTickCnt();
//fcode
int msgDataIndex = FCODE;
@@ -786,16 +479,7 @@ static void populate_inf_msg(struct TDMAHandler *this, uint8 inf_msg_type)
//time since frame start
- //populated directly before being sent
-// msgDataIndex = TDMA_TSFS;
-// uint32 timeSinceFrameStart = get_dt32(this->uwbFrameStartTimes[0], time_now); //TODO handle number wrapping
-// memcpy(&inst->inf_msg.messageData[msgDataIndex], &timeSinceFrameStart, sizeof(uint32));
-
-
-// uint8 debug_msg[100];
-// int n = sprintf((char*)&debug_msg[0], "TX MSG_INF timeSinceFrameStart: %lu", timeSinceFrameStart);
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
+ //populated immediately before being sent
//number of neighbors
msgDataIndex = TDMA_NUMN;
@@ -805,7 +489,6 @@ static void populate_inf_msg(struct TDMAHandler *this, uint8 inf_msg_type)
msgDataIndex = TDMA_NUMH;
memcpy(&inst->inf_msg.messageData[msgDataIndex], &num_hidden, sizeof(uint8));
-
//self framelength
msgDataIndex = TDMA_FRAMELENGTH;
memcpy(&inst->inf_msg.messageData[msgDataIndex], &this->uwbListTDMAInfo[0].framelength, sizeof(uint8));
@@ -825,7 +508,6 @@ static void populate_inf_msg(struct TDMAHandler *this, uint8 inf_msg_type)
//neighbor address, framelength, number of slots, and slot assignments
for(int i = 1; i < inst->uwbListLen; i++) //slot 0 reserved for self
{
-// if(inst->uwbListType[i] == UWB_LIST_NEIGHBOR)
if(this->uwbListTDMAInfo[i].connectionType == UWB_LIST_NEIGHBOR)
{
struct TDMAInfo *info = &this->uwbListTDMAInfo[i];
@@ -854,7 +536,6 @@ static void populate_inf_msg(struct TDMAHandler *this, uint8 inf_msg_type)
//hidden address, framelength, number of slots, and slot assignments
for(int i = 1; i < inst->uwbListLen; i++) //slot 0 reserved for self
{
-// if(inst->uwbListType[i] == UWB_LIST_HIDDEN)
if(this->uwbListTDMAInfo[i].connectionType == UWB_LIST_HIDDEN)
{
struct TDMAInfo *info = &this->uwbListTDMAInfo[i];
@@ -892,11 +573,8 @@ static void populate_inf_msg(struct TDMAHandler *this, uint8 inf_msg_type)
static void update_inf_tsfs(struct TDMAHandler *this)
{
- //TODO check if tsfs is greater than frameDuration, update if so
-
instance_data_t *inst = instance_get_local_structure_ptr(0);
uint64 time_now_us = portGetTickCntMicro();
- int msgDataIndex = TDMA_TSFS;
uint64 timeSinceFrameStart64 = get_dt64(this->uwbListTDMAInfo[0].frameStartTime, time_now_us);
uint64 frameDuration = this->slotDuration_us*this->uwbListTDMAInfo[0].framelength;
@@ -915,11 +593,11 @@ static void update_inf_tsfs(struct TDMAHandler *this)
timeSinceFrameStart64 = 0;
}
- memcpy(&inst->inf_msg.messageData[msgDataIndex], &timeSinceFrameStart64, 6);
-
+ memcpy(&inst->inf_msg.messageData[TDMA_TSFS], &timeSinceFrameStart64, 6);
}
+//TODO check below for accuracy
//Procedure for processing INF SUG, INF REG, and INF UPDATE
//1. Check for differences with locally stored TDMA assignment information
// (a) exit if none exist
@@ -940,12 +618,6 @@ static bool process_inf_msg(struct TDMAHandler *this, uint8 *messageData, uint8
{
//NOTE: this function does not handle TDMA deconflict
-// uint8 debug_msg[100];
-// int n = sprintf((char*)&debug_msg[0], "process INF");
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-
-
bool tdma_modified = FALSE;
uint32 time_now = portGetTickCnt();
@@ -964,7 +636,6 @@ static bool process_inf_msg(struct TDMAHandler *this, uint8 *messageData, uint8
safeAssign = TRUE;
}
-
uint8 inf_msg_type;
memcpy(&inf_msg_type, &messageData[FCODE], sizeof(uint8));
@@ -994,7 +665,6 @@ static bool process_inf_msg(struct TDMAHandler *this, uint8 *messageData, uint8
int msgDataIndex = TDMA_NUMS + 1;
- //TODO have deconflict mode???
bool uwbListInMsg[UWB_LIST_SIZE];
for(int i = 0; i < inst->uwbListLen; i++)
{
@@ -1043,7 +713,8 @@ static bool process_inf_msg(struct TDMAHandler *this, uint8 *messageData, uint8
if(mode == CLEAR_LISTED_COPY)
{
- this->free_slots(info); //do after cheking framelength because framelength will be reset
+ //do after cheking framelength because framelength will be reset
+ this->free_slots(info);
}
info->framelength = MAX(framelength, info->framelength);
@@ -1055,14 +726,8 @@ static bool process_inf_msg(struct TDMAHandler *this, uint8 *messageData, uint8
msgDataIndex++;
this->assign_slot(info, slot, safeAssign);
-
-// if(this->assign_slot(info, slot) == TRUE)
-// {
-// tdma_modified = TRUE; //TODO this is not right, it should somehow compare before and after...
-// }
}
-
for(int i = 0; i < numNeighbors; i++)
{
uint8 address[8] = {0, 0, 0, 0, 0, 0, 0, 0};
@@ -1072,21 +737,17 @@ static bool process_inf_msg(struct TDMAHandler *this, uint8 *messageData, uint8
uint8 uwb_index = instgetuwblistindex(inst, &address[0], inst->addrByteSize);
if(uwb_index != 0)
{
-// if(inst->uwbListType[uwb_index] == UWB_LIST_INACTIVE || inst->uwbListType[uwb_index] == UWB_LIST_TWICE_HIDDEN)
if(this->uwbListTDMAInfo[uwb_index].connectionType == UWB_LIST_INACTIVE || this->uwbListTDMAInfo[uwb_index].connectionType == UWB_LIST_TWICE_HIDDEN)
{
-// inst->uwbListType[uwb_index] = UWB_LIST_HIDDEN;
this->uwbListTDMAInfo[uwb_index].connectionType = UWB_LIST_HIDDEN;
}
-// inst->lastHiddenTimeStamp[uwb_index] = time_now;
this->uwbListTDMAInfo[uwb_index].lastCommHidden = time_now;
}
info = &this->uwbListTDMAInfo[uwb_index];
uwbListInMsg[uwb_index] = TRUE;
-
memcpy(&framelength, &messageData[msgDataIndex], sizeof(uint8));
msgDataIndex++;
memcpy(&numSlots, &messageData[msgDataIndex], sizeof(uint8));
@@ -1120,7 +781,8 @@ static bool process_inf_msg(struct TDMAHandler *this, uint8 *messageData, uint8
if(mode == CLEAR_LISTED_COPY)
{
- this->free_slots(info); //do after checking framelength because framelength reset
+ //do after checking framelength because framelength reset
+ this->free_slots(info);
}
info->framelength = MAX(framelength, info->framelength);
@@ -1132,10 +794,6 @@ static bool process_inf_msg(struct TDMAHandler *this, uint8 *messageData, uint8
msgDataIndex++;
this->assign_slot(info, slot, safeAssign);
-// if(this->assign_slot(info, slot) == TRUE)
-// {
-// tdma_modified = TRUE; //TODO also not right! need to check modification
-// }
}
}
@@ -1148,14 +806,11 @@ static bool process_inf_msg(struct TDMAHandler *this, uint8 *messageData, uint8
uint8 uwb_index = instgetuwblistindex(inst, &address[0], inst->addrByteSize);
if(uwb_index != 0)//0 reserved for self
{
-// if(inst->uwbListType[uwb_index] == UWB_LIST_INACTIVE)
if(this->uwbListTDMAInfo[uwb_index].connectionType == UWB_LIST_INACTIVE)
{
-// inst->uwbListType[uwb_index] = UWB_LIST_TWICE_HIDDEN;
this->uwbListTDMAInfo[uwb_index].connectionType = UWB_LIST_TWICE_HIDDEN;
}
-// inst->lastTwiceHiddenTimeStamp[uwb_index] = time_now;
this->uwbListTDMAInfo[uwb_index].lastCommTwiceHidden = time_now;
}
@@ -1195,27 +850,21 @@ static bool process_inf_msg(struct TDMAHandler *this, uint8 *messageData, uint8
if(mode == CLEAR_LISTED_COPY)
{
- this->free_slots(info); //do after checking for difference because will reset framelength as well
+ //do after checking for difference because will reset framelength as well
+ this->free_slots(info);
}
info->framelength = MAX(framelength, info->framelength);
msgDataIndex = msgDataIndexSave;
-// int msgDataIndex = msgDataIndexSave;
for(int s = 0; s < numSlots; s++)
{
memcpy(&slot, &messageData[msgDataIndex], sizeof(uint8));
msgDataIndex++;
this->assign_slot(info, slot, safeAssign);
-// if(this->assign_slot(info, slot) == TRUE) //the only problem i see with this is that it does not give me a good way to isolate which ones were or weren't modified, this is a problem for deconflict logic...
-// {
-// tdma_modified = TRUE;
-// }
}
}
-
- //handle deconflict???
if(mode == CLEAR_LISTED_COPY)
{
//deconflict uncopied against copied. (excluding self)
@@ -1225,11 +874,6 @@ static bool process_inf_msg(struct TDMAHandler *this, uint8 *messageData, uint8
{
if((uwbListInMsg[i] == FALSE && uwbListInMsg[j] == TRUE) || (uwbListInMsg[i] == TRUE && uwbListInMsg[j] == FALSE))
{
-
-// if((inst->uwbListType[i] == UWB_LIST_NEIGHBOR && inst->uwbListType[j] == UWB_LIST_NEIGHBOR) ||
-// (inst->uwbListType[i] == UWB_LIST_NEIGHBOR && inst->uwbListType[j] == UWB_LIST_HIDDEN) ||
-// (inst->uwbListType[j] == UWB_LIST_NEIGHBOR && inst->uwbListType[i] == UWB_LIST_NEIGHBOR) ||
-// (inst->uwbListType[j] == UWB_LIST_NEIGHBOR && inst->uwbListType[i] == UWB_LIST_HIDDEN))
if((this->uwbListTDMAInfo[i].connectionType == UWB_LIST_NEIGHBOR && this->uwbListTDMAInfo[j].connectionType == UWB_LIST_NEIGHBOR) ||
(this->uwbListTDMAInfo[i].connectionType == UWB_LIST_NEIGHBOR && this->uwbListTDMAInfo[j].connectionType == UWB_LIST_HIDDEN) ||
(this->uwbListTDMAInfo[j].connectionType == UWB_LIST_NEIGHBOR && this->uwbListTDMAInfo[i].connectionType == UWB_LIST_NEIGHBOR) ||
@@ -1258,530 +902,9 @@ static bool process_inf_msg(struct TDMAHandler *this, uint8 *messageData, uint8
}
}
-// uint32 deltat = get_dt32(time_now, portGetTickCnt());
-
-// if(deltat > 1)
-// {
-// uint8 debug_msg[100];
-// int n = sprintf((char *)&debug_msg, "process_inf_time:%lu,%04X,xxxx", deltat, inst->uwbShortAdd);
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-// }
-
return tdma_modified;
}
-
-static bool check_tdma_diff(struct TDMAHandler *this, uint8 *messageData, uint8 *srcIndex)
-{
- return TRUE;
-
-// struct TDMAInfo info = &this->uwbListTDMAInfo[srcIndex];
-//
-// if(info->framelength != framelength || info->slotsLength != numSlots)
-// {
-// return TRUE;
-// }
-//
-// for(int s = 0; s < numSlots; s++)
-// {
-// memcpy(&slot, &messageData[msgDataIndex], 1);
-// msgDataIndex++;
-//
-// if(this->slot_assigned(info, slot) == FALSE)
-// {
-// return TRUE;
-// }
-// }
-//
-// for(int i = 0; i < numNeighbors; i++)
-// {
-// memcpy(&address, &messageData[msgDataIndex], inst->addrByteSize);
-// msgDataIndex += inst->addrByteSize;
-//
-// uint8 uwb_index = instgetuwblistindex(inst, &address[0], inst->addrByteSize);
-// info = &this->uwbListTDMAInfo[uwb_index];
-//
-// memcpy(&framelength, &messageData[msgDataIndex], 1);
-// msgDataIndex++;
-//
-// memcpy(&numSlots, &messageData[msgDataIndex], 1);
-// msgDataIndex++;
-//
-// if(info->framelength != framelength || info->slotsLength != numSlots)
-// {
-// return TRUE;
-// }
-//
-// for(int s = 0; s < numSlots; s++)
-// {
-// memcpy(&slot, &messageData[msgDataIndex], 1);
-// msgDataIndex++;
-//
-// if(this->slot_assigned(info, slot) == FALSE)
-// {
-// return TRUE;
-// }
-// }
-// }
-//
-// for(int i = 0; i < numHidden; i++)
-// {
-// memcpy(&address, &messageData[msgDataIndex], inst->addrByteSize);
-// msgDataIndex += inst->addrByteSize;
-//
-// uint8 uwb_index = instgetuwblistindex(inst, &address[0], inst->addrByteSize);
-//
-// info = &this->uwbListTDMAInfo[uwb_index];
-//
-// memcpy(&framelength, &messageData[msgDataIndex], 1);
-// msgDataIndex++;
-//
-// memcpy(&numSlots, &messageData[msgDataIndex], 1);
-// msgDataIndex++;
-//
-// if(info->framelength != framelength || info->slotsLength != numSlots)
-// {
-// return TRUE;
-// }
-//
-// for(int s = 0; s < numSlots; s++)
-// {
-// memcpy(&slot, &messageData[msgDataIndex], 1);
-// msgDataIndex++;
-//
-// if(this->slot_assigned(info, slot) == FALSE)
-// {
-// return TRUE;
-// }
-// }
-// }
-//
-//
-// return FALSE;
-}
-
-
-
-//TODO add conflict detection/resolution!!!
-//static void populate_sug_msg(struct TDMAHandler *this)
-//{
-// instance_data_t *inst = instance_get_local_structure_ptr(0);
-//
-// //if I'm here, i should clear my own assignment information
-// if(this->mySlots != NULL && this->mySlotsLength != 0)
-// {
-// this->mySlotsLength = 0;
-// free(this->mySlots);
-// this->mySlots = NULL;
-// }
-// uint8 unassigned = 255;
-// for(int i = 0; i < this->maxFramelength; i++)
-// {
-// memcpy(&this->slotAssignments[i], &unassigned, sizeof(uint8));
-// }
-// this->framelength = MIN_FRAMELENGTH;
-//
-//
-//
-//
-// inst->inf_msg.messageData[FCODE] = RTLS_DEMO_MSG_INF_SUG;
-// int msgDataIndex = FCODE + 1;
-//
-// int num_neighbors = instfindnumactiveneighbors(inst);
-// uint32 time_now = portGetTickCnt();
-//
-//
-// //TODO build framelength after creating slot assignments...
-//// //framelength
-//// memcpy(&inst->inf_msg.messageData[msgDataIndex], &this->framelength, 1);
-// msgDataIndex++;
-//
-// uint32 timeSinceFrameStart = get_dt32(this->frameStartTime, time_now); //TODO handle number wrapping
-// memcpy(&inst->inf_msg.messageData[msgDataIndex], &timeSinceFrameStart, sizeof(uint32));
-// msgDataIndex += sizeof(timeSinceFrameStart);
-//
-//// uint8 debug_msg[100];
-//// int n = sprintf((char*)&debug_msg[0], "TX MSG_INF timeSinceFrameStart: %lu", timeSinceFrameStart);
-//// send_usbmessage(&debug_msg[0], n);
-//// usb_run();
-//
-//
-// //number of neighbors
-// memcpy(&inst->inf_msg.messageData[msgDataIndex], &num_neighbors, 1);
-// msgDataIndex++;
-//
-// //neighbor addresses
-// for(int i = 0; i < inst->uwbListLen; i++)
-// {
-// if(inst->uwbListType[i] == UWB_LIST_NEIGHBOR)
-// {
-// memcpy(&inst->inf_msg.messageData[msgDataIndex], &inst->uwbList[i][0], inst->addrByteSize);
-// msgDataIndex += inst->addrByteSize;
-// }
-// }
-//
-// //neighbor framelength
-// for(int i = 0; i < inst->uwbListLen; i++)
-// {
-// if(inst->uwbListType[i] == UWB_LIST_NEIGHBOR)
-// {
-// memcpy(&inst->inf_msg.messageData[msgDataIndex], &this->uwbFramelengths[i], 1);
-// msgDataIndex++;
-// }
-// }
-//
-// //addresses in each TDMA slot
-//// for(int i = 0; i < this->framelength; i++)
-//// {
-//// memcpy(&inst->inf_msg.messageData[msgDataIndex], &this->slotAssignments[i], 2);
-////
-//// msgDataIndex += 2;
-//// }
-//
-// //TODO check for conflicts at some point
-//
-// //use the slotAssignements array to combine the collected information
-// //note: try to keep framelength as small as possible
-// //note: if we have to increase the framelength, start over!
-//
-//// uint8 mfl = this->framelength;
-////
-//// uint8 debug_msg[100];
-//// int n = sprintf((char*)&debug_msg[0], "this->framelength: %u", this->framelength);
-//// send_usbmessage(&debug_msg[0], n);
-//// usb_run();
-//
-// //getting stuck in here... somehow this->framelength is getting set to 0
-// for(int i = 0; i < inst->uwbListLen; i++)
-// {
-// if(inst->uwbListType[i] != UWB_LIST_INACTIVE)
-// {
-// uint8 framelength_i = this->uwbFramelengths[i];
-// for(int j = 0; j < this->uwbListSlotsLengths[i]; j++)
-// {
-// //get slot
-// uint8 slot_j;
-// bool double_frame = FALSE;
-// memcpy(&slot_j, &this->uwbListSlots[i][j], 1);
-//
-//
-// //check if slot is taken
-// if(slot_j >= this->framelength)
-// {
-// uint8 mod_slot = slot_j%this->framelength;
-// if(mod_slot == 0)
-// {
-// //slots not allowed to be assigned to the zeroth slot
-// double_frame = TRUE;
-// }
-// else
-// {
-//// if(memcmp(&this->slotAssignments[mod_slot], &zero, sizeof(uint8)) == 0)
-// if(memcmp(&this->slotAssignments[mod_slot], &unassigned, sizeof(uint8)) == 0)
-// {
-// //slot not assigned
-// memcpy(&this->slotAssignments[mod_slot], &i, sizeof(uint8));
-// }
-// else if(memcmp(&this->slotAssignments[mod_slot], &i, sizeof(uint8)) != 0)
-// {
-// //already assigned to another UWB,
-// //double the frame and start over!(?) should I instead consider framelengths and such?
-// double_frame = TRUE;
-// }
-// }
-//
-// }
-// else if(slot_j < this->framelength)
-// {
-// while(slot_j < this->framelength)
-// {
-// if(memcmp(&this->slotAssignments[slot_j], &unassigned, sizeof(uint8)) == 0)
-// {
-// //slot not assigned
-// memcpy(&this->slotAssignments[slot_j], &i, sizeof(uint8));
-// }
-// else if(memcmp(&this->slotAssignments[slot_j], &i, sizeof(uint8)) != 0)
-// {
-// //already assigned to another UWB,
-// //double the frame and start over!(?) should I instead consider framelengths and such?
-// double_frame = TRUE;
-// break;
-// }
-// slot_j += framelength_i;
-// }
-// }
-//
-// if(double_frame == TRUE)
-// {
-// this->framelength *= 2;
-// i = 0;
-// j = 0;
-// }
-//
-// // uint16 uwbShortAdd = address64to16(&inst->uwbList[i][0]);
-// // uint8 index = msgDataIndex + 2*this->uwbListSlots[i][j];
-// // memcpy(&inst->inf_msg.messageData[msgDataIndex + (int)(inst->addrByteSize*this->uwbListSlots[i][j])], &uwbShortAdd, 2);
-// }
-// }
-//
-// }
-//
-// //if we are here, then we should've successfully combined the INF message information
-//
-//
-//
-// bool assigned = FALSE;
-// while(assigned == FALSE)
-// {
-// //first try GU (Get Unassigned) slot
-// for(int i = 1; i < this->framelength; i++)//start at i = 1 because 0 is a reserved slot
-// {
-//// if(memcmp(&this->slotAssignments[i], &zero, sizeof(uint8)) == 0)
-// if(memcmp(&this->slotAssignments[i], &unassigned, sizeof(uint8)) == 0)
-// {
-// //empty slot, assign
-// this->assign_slot(&this->myTDMAInfo, i);
-// assigned = TRUE;
-// }
-// }
-//
-// //no open slots for GU
-// //next try RMA (Release Multiple Assigned) slot
-// if(assigned == FALSE)
-// {
-// uint8 most_slots = 1;
-// uint8 most_slots_index = 255;
-// uint8 release_slot = 255;
-// uint8 assign_slot = 255;
-// for(int i = 0; i < inst->uwbListLen; i++)
-// {
-// //TODO do I only need to consider neighbors or also hidden?
-// if(inst->uwbListType[i] != UWB_LIST_INACTIVE)
-// {
-// uint8 uwbSlotsLen;
-// memcpy(&uwbSlotsLen, &this->uwbListSlotsLengths[i], sizeof(uint8));
-// if(uwbSlotsLen > most_slots)
-// {
-// bool slot_found = FALSE;
-// //check if the slot to be released can be assigned within our framelength
-// for(int j = 0; j < uwbSlotsLen; j++)
-// {
-// uint8 slot;
-// memcpy(&slot, &this->uwbListSlots[i][j], sizeof(uint8));
-// uint8 mod_slot = slot%this->framelength;
-//
-// if(mod_slot != 0 && memcmp(&this->slotAssignments[mod_slot], &i, sizeof(uint8)) == 0)
-// {
-// release_slot = slot;
-// assign_slot = mod_slot;
-// slot_found = TRUE;
-// break;
-// }
-// }
-//
-// if(slot_found == TRUE)
-// {
-// most_slots = uwbSlotsLen;
-// most_slots_index = i;
-// }
-// }
-// }
-// }
-//
-// if(most_slots_index != 255) //what about self? 254?
-// {
-// this->assign_slot(&this->myTDMAInfo, assign_slot);
-// this->uwblist_free_slot(this, most_slots_index, release_slot);
-// memcpy(&this->slotAssignments[assign_slot], &this->slotAssingmentSelfIndex, sizeof(uint8));
-//
-// assigned = TRUE;
-// }
-// }
-//
-// //no slots released via RMA
-// //DF (Double Frame), and assign via GU
-// if(assigned == FALSE)
-// {
-// memcpy(&this->slotAssignments[(int)this->framelength], &this->slotAssingmentSelfIndex, sizeof(uint8));
-//
-// for(int i = 1; i < this->framelength; i++)
-// {
-// memcpy(&this->slotAssignments[i + (int)this->framelength], &this->slotAssignments[i], sizeof(uint8));
-// }
-// this->framelength *= 2;
-//
-// assigned = TRUE;
-// }
-// }
-//
-// for(int i = 0; i < this->framelength; i++)
-// {
-// //TODO handle the case where we are assigned to the slot
-// uint8 slot_index;
-// memcpy(&slot_index, &this->slotAssignments[i], sizeof(uint8));
-// memcpy(&inst->inf_msg.messageData[msgDataIndex], &inst->uwbList[slot_index], sizeof(inst->addrByteSize));
-// msgDataIndex += sizeof(inst->addrByteSize);
-// }
-//
-// memcpy(&inst->inf_msg.messageData[FCODE + 1], &this->framelength, 1);
-//
-// dwt_setrxtimeout((uint16)0);
-//// this->usb_dump_tdma(this);
-//
-//
-//}
-
-
-//void process_sug_msg(struct TDMAHandler *this, uint8 *messageData, uint8 *srcAddr)
-//{
-// //how to compare and integrate changes???
-// //first add any addresses to my list
-// instance_data_t *inst = instance_get_local_structure_ptr(0);
-//
-// uint8 srcIndex = instgetuwblistindex(inst, &srcAddr[0], inst->addrByteSize);
-// inst->uwbListType[srcIndex] = UWB_LIST_NEIGHBOR;
-// uint8 neighborAddressN[8] = {0, 0, 0, 0, 0, 0, 0, 0};
-// uint8 neighborFramelengthN;
-// uint8 slotAddress[8] = {0, 0, 0, 0, 0, 0, 0, 0};
-// uint8 blankAddress[8] = {0, 0, 0, 0, 0, 0, 0, 0};
-// uint32 timeSinceFrameStart;
-//
-//// if(tdma_handler->discovery_mode == WAIT_INF_REG)
-//// {
-//// tdma_handler->tdma_free_all_slots(tdma_handler);
-//// }
-//
-// int msgDataIndex = FCODE + 1;
-// memcpy(&tdma_handler->uwbFramelengths[srcIndex], &messageData[msgDataIndex], 1);
-// msgDataIndex++;
-//
-// //TODO use range to help sync frame start time
-// memcpy(&timeSinceFrameStart, &messageData[msgDataIndex], sizeof(timeSinceFrameStart));
-// msgDataIndex += sizeof(timeSinceFrameStart);
-//
-//
-// memcpy(&srcNumNeighbors, &messageData[msgDataIndex], 1);
-// msgDataIndex++;
-//
-// int fl_index_offset = (int)(inst->addrByteSize*srcNumNeighbors);
-// for(int n = 0; n < srcNumNeighbors; n++)
-// {
-// int framelength_index = msgDataIndex + fl_index_offset;
-// memcpy(&neighborAddressN, &messageData[msgDataIndex], inst->addrByteSize);
-// memcpy(&neighborFramelengthN, &messageData[framelength_index], sizeof(neighborFramelengthN));
-//
-// msgDataIndex += (int)inst->addrByteSize;
-//
-// uint8 uwb_index = instgetuwblistindex(inst, &neighborAddressN[0], inst->addrByteSize);
-// if(inst->uwbListType[uwb_index] != UWB_LIST_NEIGHBOR)
-// {
-// inst->uwbListType[uwb_index] = UWB_LIST_HIDDEN;
-// }
-//
-// tdma_handler->uwbFramelengths[uwb_index] = neighborFramelengthN;
-// }
-// msgDataIndex += sizeof(uint8)*srcNumNeighbors;
-//
-//
-// //now process the slot assignments
-// for(int i = 0; i < tdma_handler->uwbFramelengths[srcIndex]-1; i++)//zeroth slot not included in INF
-// {
-// uint8 slot = i + 1;
-// memcpy(&slotAddress, &messageData[msgDataIndex], inst->addrByteSize);
-// //see who the address belongs to
-//#if (USING_64BIT_ADDR==0)
-// if(memcmp(&inst->uwbShortAdd, &slotAddress, inst->addrByteSize) == 0)
-//#else
-// if(memcmp(&inst->eui64[0], &slotAddress, inst->addrByteSize) == 0)
-//#endif
-// {
-// //assignment is self
-// }
-// else
-// {
-// //assignment in UWB list if not unassigned
-// if(memcmp(&inst->eui64[0], &blankAddress, inst->addrByteSize) != 0)
-// {
-// //find in our list (or add as hidden)
-// uint8 uwb_index = instgetuwblistindex(inst, &slotAddress[0], inst->addrByteSize);
-// if(inst->uwbListType[uwb_index] != UWB_LIST_NEIGHBOR)
-// {
-// inst->uwbListType[uwb_index] = UWB_LIST_HIDDEN;
-// }
-//
-// //what to do with the information???
-// //TODO left off here!!!
-//// tdma_handler->uwblist_assign_slot(tdma_handler, uwb_index, slot);
-// }
-//
-//
-//
-//
-// }
-//
-// msgDataIndex += (int)inst->addrByteSize;
-// }
-//
-//
-// //account for the delay between transmission and reception of the INF message
-// //TODO make this a function of the data rate as well!
-// //TODO experimentally found this number to be +- 1 millisecond for some reason. figure out why
-// //experimentally found formula is 0.079667x + 0.85611
-// uint32 txrx_delay = (uint32)(0.079667*(float)(dw_event->rxLength) + 0.85611); //TODO make this function of message length!
-//
-//
-// tdma_handler->uwbFrameStartTimes[srcIndex] = time_now - (timeSinceFrameStart + txrx_delay);
-//
-//
-// uint32 myFramelengthDuration = tdma_handler->framelength*tdma_handler->slotDuration;
-// uint32 myTimeSinceFrameStart = get_dt32(tdma_handler->frameStartTime, time_now);
-//
-// //NEW
-// if(tdma_handler->framelength <= tdma_handler->uwbFramelengths[srcIndex])
-// {
-// uint32 timeSinceFrameStartMod = (timeSinceFrameStart + txrx_delay)%myFramelengthDuration;
-//
-// if(myTimeSinceFrameStart > timeSinceFrameStartMod)
-// {
-// uint32 diff = myTimeSinceFrameStart - timeSinceFrameStartMod;
-// tdma_handler->frameStartTime += diff/2;
-// tdma_handler->lastSlotStartTime += diff/2;
-// }
-// else
-// {
-// uint32 diff = timeSinceFrameStartMod - myTimeSinceFrameStart;
-// tdma_handler->frameStartTime -= diff/2;
-// tdma_handler->lastSlotStartTime -= diff/2;
-//
-// }
-// }
-// else
-// {
-// uint32 hisFramelengthDuration = tdma_handler->uwbFramelengths[srcIndex]*tdma_handler->slotDuration;
-// uint32 myTimeSinceFrameStartMod = (myTimeSinceFrameStart - txrx_delay)%hisFramelengthDuration;
-//
-// if(timeSinceFrameStart > myTimeSinceFrameStartMod)
-// {
-// uint32 diff = timeSinceFrameStart - myTimeSinceFrameStartMod;
-// tdma_handler->frameStartTime -= diff/2;
-// tdma_handler->lastSlotStartTime -= diff/2;
-// }
-// else
-// {
-// uint32 diff = myTimeSinceFrameStartMod - timeSinceFrameStart;
-// tdma_handler->frameStartTime += diff/2;
-// tdma_handler->lastSlotStartTime += diff/2;
-// }
-// }
-//
-//
-//
-//
-//}
-
-
-
static bool poll_delay(struct TDMAHandler *this, uint32 time_now_offset, uint32 offset)
{
bool delay = FALSE;
@@ -1854,6 +977,7 @@ static bool assign_slot(struct TDMAInfo *info, uint8 slot, bool safeAssign)
return retval;
}
+//TODO check below and clean up description
//finding and assigning a slot works according to the following:
//1.) Set framelength to 4
//2.) Get Unassigned Slots (GU)
@@ -1960,11 +1084,11 @@ static void find_assign_slot(struct TDMAHandler *this)
//RMA
//find UWB with greatest number of slot assignments
- uint8 max_assignments = 0; //TODO may need uint16?
+ uint8 max_assignments = 0;
uint8 max_uwb_index = 255;
for(uint8 u = 1; u < inst->uwbListLen; u++)//0 reserved for self
{
- uint8 slotsLength = this->uwbListTDMAInfo[u].slotsLength; //TODO may need uint16?
+ uint8 slotsLength = this->uwbListTDMAInfo[u].slotsLength;
if(info->framelength > this->uwbListTDMAInfo[u].framelength && this->uwbListTDMAInfo[u].slotsLength != 0)
{
slotsLength *= info->framelength/this->uwbListTDMAInfo[u].framelength;
@@ -1984,7 +1108,7 @@ static void find_assign_slot(struct TDMAHandler *this)
uint8 mod_slot = slot % info->framelength;
this->assign_slot(info, mod_slot, TRUE);
- this->deconflict_uwb_pair(this, info, &this->uwbListTDMAInfo[max_uwb_index]); //TODO consider handling differently (could maybe be more efficient?)
+ this->deconflict_uwb_pair(this, info, &this->uwbListTDMAInfo[max_uwb_index]);
assignment_made = TRUE;
}
@@ -2001,23 +1125,16 @@ static void find_assign_slot(struct TDMAHandler *this)
static void build_new_network(struct TDMAHandler *this)
{
instance_data_t *inst = instance_get_local_structure_ptr(0);
-// uint32 time_now = portGetTickCnt();
- uint32 time_now_us = portGetTickCntMicro();
+ uint64 time_now_us = portGetTickCntMicro();
bool safeAssign = FALSE;
//clear all tdma information
this->tdma_free_all_slots(this);
//build the initial TDMA
-// this->uwbFrameStartTimes_stm32[0] = time_now - this->slotDuration_ms;//TODO handle timer wrapping...
-// this->lastSlotStartTime_stm32 = time_now;
-
- //build the initial TDMA
-// this->uwbFrameStartTimes64[0] = timestamp_subtract64(time_now_us, this->slotDuration_us);
this->uwbListTDMAInfo[0].frameStartTime = timestamp_subtract64(time_now_us, this->slotDuration_us);
this->lastSlotStartTime64 = time_now_us;
-
this->uwbListTDMAInfo[0].framelength = (uint8)MIN_FRAMELENGTH;
this->uwbListTDMAInfo[inst->uwbToRangeWith].framelength = (uint8)MIN_FRAMELENGTH;
@@ -2038,19 +1155,13 @@ static bool deconflict_slot_assignments(struct TDMAHandler *this)
//first deconflict slots in neighbor, hidden, and twice hidden
for(int i = 1; i < inst->uwbListLen; i++)//0 reserved for self
{
-// if(inst->uwbListType[i] != UWB_LIST_INACTIVE)
if(this->uwbListTDMAInfo[i].connectionType != UWB_LIST_INACTIVE)
{
for(int j = i+1; j < inst->uwbListLen; j++)
{
-// if(inst->uwbListType[j] != UWB_LIST_INACTIVE && j != i)
if(this->uwbListTDMAInfo[j].connectionType != UWB_LIST_INACTIVE && j != i)
{
//first check if their list type requires deconflicting
-// if((inst->uwbListType[i] == UWB_LIST_NEIGHBOR && inst->uwbListType[j] == UWB_LIST_TWICE_HIDDEN) ||
-// (inst->uwbListType[j] == UWB_LIST_NEIGHBOR && inst->uwbListType[i] == UWB_LIST_TWICE_HIDDEN) ||
-// (inst->uwbListType[i] == UWB_LIST_TWICE_HIDDEN && inst->uwbListType[j] == UWB_LIST_TWICE_HIDDEN) ||
-// (inst->uwbListType[i] == UWB_LIST_HIDDEN && inst->uwbListType[j] == UWB_LIST_HIDDEN))
if((this->uwbListTDMAInfo[i].connectionType == UWB_LIST_NEIGHBOR && this->uwbListTDMAInfo[j].connectionType == UWB_LIST_TWICE_HIDDEN) ||
(this->uwbListTDMAInfo[j].connectionType == UWB_LIST_NEIGHBOR && this->uwbListTDMAInfo[i].connectionType == UWB_LIST_TWICE_HIDDEN) ||
(this->uwbListTDMAInfo[i].connectionType == UWB_LIST_TWICE_HIDDEN && this->uwbListTDMAInfo[j].connectionType == UWB_LIST_TWICE_HIDDEN) ||
@@ -2080,11 +1191,9 @@ static bool deconflict_slot_assignments(struct TDMAHandler *this)
continue;
}
-
//next deconflict slots between self and neighbor, hidden, and twice hidden
for(int i = 1; i < inst->uwbListLen; i++)//0 reserved for self
{
-// if(inst->uwbListType[i] != UWB_LIST_INACTIVE)
if(this->uwbListTDMAInfo[i].connectionType != UWB_LIST_INACTIVE)
{
if(this->deconflict_uwb_pair(this, &this->uwbListTDMAInfo[0], &this->uwbListTDMAInfo[i]))
@@ -2110,84 +1219,6 @@ static bool deconflict_slot_assignments(struct TDMAHandler *this)
return conflict;
}
-
-//bool indexed_deconflict_slot_assignments(struct TDMAHandler *this, bool selfDeconflict, bool *uwbListDeconflict)
-//{
-// instance_data_t *inst = instance_get_local_structure_ptr(0);
-// bool conflict = FALSE;
-//
-// while(TRUE)
-// {
-// bool conflict_this_iter = FALSE;
-// //first deconflict slots in neighbor, hidden, and twice hidden
-// for(int i = 0; i < inst->uwbListLen; i++)
-// {
-// if(inst->uwbListType[i] != UWB_LIST_INACTIVE)
-// {
-// for(int j = i+1; j < inst->uwbListLen; j++)
-// {
-// if(inst->uwbListType[j] != UWB_LIST_INACTIVE && j != i)
-// {
-// //first check if their list type requires deconflicting
-// if((inst->uwbListType[i] == UWB_LIST_NEIGHBOR && inst->uwbListType[j] == UWB_LIST_TWICE_HIDDEN) ||
-// (inst->uwbListType[j] == UWB_LIST_NEIGHBOR && inst->uwbListType[i] == UWB_LIST_TWICE_HIDDEN) ||
-// (inst->uwbListType[i] == UWB_LIST_TWICE_HIDDEN && inst->uwbListType[j] == UWB_LIST_TWICE_HIDDEN) ||
-// (inst->uwbListType[i] == UWB_LIST_HIDDEN && inst->uwbListType[j] == UWB_LIST_HIDDEN))
-// {
-// continue;
-// }
-//
-// if(this->deconflict_uwb_pair(this, &this->uwbListTDMAInfo[i], &this->uwbListTDMAInfo[j]))
-// {
-// conflict = TRUE;
-// conflict_this_iter = TRUE;
-// break;
-// }
-// }
-// }
-// }
-//
-// if(conflict_this_iter)
-// {
-// break;
-// }
-// }
-//
-// if(conflict_this_iter)
-// {
-// continue;
-// }
-//
-//
-// //next deconflict slots between self and neighbor, hidden, and twice hidden
-// for(int i = 0; i < inst->uwbListLen; i++)
-// {
-// if(inst->uwbListType[i] != UWB_LIST_INACTIVE)
-// {
-// if(this->deconflict_uwb_pair(this, &this->myTDMAInfo, &this->uwbListTDMAInfo[i]))
-// {
-// conflict = TRUE;
-// conflict_this_iter = TRUE;
-// }
-// }
-// if(conflict_this_iter)
-// {
-// break;
-// }
-// }
-//
-// if(conflict_this_iter)
-// {
-// continue;
-// }
-//
-// break; //no conflicts found this iteration, break out of while loop
-// }
-//
-// return conflict;
-//}
-
-
//return true if a conflict was found
static bool deconflict_uwb_pair(struct TDMAHandler *this, struct TDMAInfo *info_a, struct TDMAInfo *info_b)
{
@@ -2207,7 +1238,6 @@ static bool deconflict_uwb_pair(struct TDMAHandler *this, struct TDMAInfo *info_
uint8 slot_sb;
memcpy(&slot_sb, &info_b->slots[sb], 1);
-
//check if slot is taken
if(slot_sa >= info_b->framelength)
{
@@ -2264,10 +1294,9 @@ static bool deconflict_uwb_pair(struct TDMAHandler *this, struct TDMAInfo *info_
return conflict;
}
-
-//TODO assign reference in class struct!!! same with others written today
static void deconflict_slot_pair(struct TDMAHandler *this, struct TDMAInfo *info_a, struct TDMAInfo *info_b, uint8 slot_idx_a, uint8 slot_idx_b)
{
+ //TODO double check for accruacy!
//procedure for deconflicting slots (PDS)
//1.) delete a conflicting slot
// applicable if all but node with fewest slots has more than one slot assignment
@@ -2359,9 +1388,6 @@ static bool self_conflict(struct TDMAHandler *this)
for(int b = 1; b < inst->uwbListLen; b++)
{
-// if(inst->uwbListType[b] == UWB_LIST_NEIGHBOR ||
-// inst->uwbListType[b] == UWB_LIST_HIDDEN ||
-// inst->uwbListType[b] == UWB_LIST_TWICE_HIDDEN)
if(this->uwbListTDMAInfo[b].connectionType == UWB_LIST_NEIGHBOR ||
this->uwbListTDMAInfo[b].connectionType == UWB_LIST_HIDDEN ||
this->uwbListTDMAInfo[b].connectionType == UWB_LIST_TWICE_HIDDEN)
@@ -2447,7 +1473,6 @@ static void free_slot(struct TDMAInfo *info, uint8 slot)
}
}
-
return;
}
@@ -2469,10 +1494,6 @@ static void uwblist_free_slots(struct TDMAHandler *this, uint8 uwb_index)
if(uwb_index >= inst->uwbListLen)
{
//out of bounds!
-// uint8 debug_msg[100];
-// int n = sprintf((char*)&debug_msg[0], "uwblist_free_slots: uwb_index %u out of bounds", uwb_index);
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
return;
}
@@ -2499,12 +1520,8 @@ static void tdma_free_all_slots(struct TDMAHandler *this)
}
-//TODO
static void enter_discovery_mode(struct TDMAHandler *this)
{
-// instance_data_t *inst = instance_get_local_structure_ptr(0);
-// inst->inf_msg.messageData[FCODE] = RTLS_DEMO_MSG_INF_INIT;
-
uint32 time_now = portGetTickCnt();
this->discoveryStartTime = time_now;
this->last_blink_time = time_now;
@@ -2519,12 +1536,6 @@ static void set_discovery_mode(struct TDMAHandler *this, DISCOVERY_MODE discover
this->discovery_mode_start_time = time_now;
this->discovery_mode = discovery_mode;
-
-// uint8 debug_msg[100];
-// int n = sprintf((char*)&debug_msg[0], "set_discovery_mode: %s", get_discovery_modes_string(discovery_mode));
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-
switch (discovery_mode)//TODO make sure all modes are captured here...
{
case WAIT_INF_REG:
@@ -2554,20 +1565,12 @@ static void set_discovery_mode(struct TDMAHandler *this, DISCOVERY_MODE discover
}
case WAIT_SEND_SUG:
{
-// uint8 debug_msg[200];
-// int n = sprintf((char*)&debug_msg[0], "SET WAIT_SEND_SUG start");
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-
//find common frame start time among neighbors
instance_data_t *inst = instance_get_local_structure_ptr(0);
- //TODO need to modify this.
- //need to discriminate between different subnetworks.
//count the number of UWBs that belong to each subnetwork
//select the subnetwork with the largest number of UWBs
//find the common frame start time among the UWBs in that network
- //if subnetworks do indeed exist, set the appropriate rebase variables here and in our inf_message
//keep track of which number each UWB belongs to
//then keep track of which was selected so we can iterate over it later in this function
@@ -2577,24 +1580,19 @@ static void set_discovery_mode(struct TDMAHandler *this, DISCOVERY_MODE discover
uint8 sub_network_members[UWB_LIST_SIZE-1] = {0}; //cannot be more subnetworks than other UWBs
uint64 sub_network_tsfs[UWB_LIST_SIZE-1] = {0};
uint8 sub_network_base_framelength[UWB_LIST_SIZE-1] = {0};
- //TODO handle number wrapping
uint64 time_now_us = portGetTickCntMicro();
- uint64 tcommon;
+ uint64 tcommon = 0;
uint64 shortestFrameDuration = this->maxFramelength*this->slotDuration_us;
-
for(int i=1; i < inst->uwbListLen; i++) //zero reserved for self
{
-// if(inst->uwbListType[i] != UWB_LIST_NEIGHBOR)
if(this->uwbListTDMAInfo[i].connectionType != UWB_LIST_NEIGHBOR)
{
- continue; //TODO consider a way to account for hidden and twice hidden to determine which network is larger
+ continue;
}
struct TDMAInfo *info_i = &this->uwbListTDMAInfo[i];
-// uint64 framelengthDuration_us = info_i->framelength*this->slotDuration_us;
-// uint64 timeSinceFrameStart_us = get_dt64(this->uwbFrameStartTimes64[i], time_now_us);
uint64 timeSinceFrameStart_us = get_dt64(this->uwbListTDMAInfo[i].frameStartTime, time_now_us);
if(timeSinceFrameStart_us > 100000000)
@@ -2603,8 +1601,6 @@ static void set_discovery_mode(struct TDMAHandler *this, DISCOVERY_MODE discover
continue;
}
- //if tsfs > framelengthDuration_us, reduce it by framelengthDuration_us
-
//test the ith UWB against the jth subnetwork
for(int j=0; j < num_sub_networks; j++)
{
@@ -2672,11 +1668,6 @@ static void set_discovery_mode(struct TDMAHandler *this, DISCOVERY_MODE discover
}
}
-// debug_msg[200];
-// n = sprintf((char*)&debug_msg[0], "checkpoint 1");
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-
//now select the subnetwork with the greatest number of uwbs
uint8 max_num = 0;
for(int i=0; i < num_sub_networks; i++)
@@ -2688,19 +1679,17 @@ static void set_discovery_mode(struct TDMAHandler *this, DISCOVERY_MODE discover
}
}
- uint64 tnext[max_num]; //TODO zero?
- uint8 neighborIndices[max_num]; //TODO zero?
- uint64 latest_tnext;
+ uint64 tnext[max_num];
+ uint8 neighborIndices[max_num];
+ uint64 latest_tnext = 0;
uint8 nidx = 0;
uint64 slotDuration_us = this->slotDuration_us;
for(int i = 1; i < inst->uwbListLen; i++)//0 reserved for self
{
-// if(inst->uwbListType[i] == UWB_LIST_NEIGHBOR && sub_network_membership[i] == sub_network_selected)
if(this->uwbListTDMAInfo[i].connectionType == UWB_LIST_NEIGHBOR && sub_network_membership[i] == sub_network_selected)
{
neighborIndices[nidx] = i;
-// tnext[nidx] = this->uwbFrameStartTimes64[i];
tnext[nidx] = this->uwbListTDMAInfo[i].frameStartTime;
while(time_now_us > tnext[nidx]) //TODO handle number wrapping...
{
@@ -2715,11 +1704,6 @@ static void set_discovery_mode(struct TDMAHandler *this, DISCOVERY_MODE discover
}
}
-// debug_msg[200];
-// n = sprintf((char*)&debug_msg[0], "checkpoint 2");
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-
tcommon = tnext[0];
latest_tnext = tcommon;
bool converged = FALSE;
@@ -2748,18 +1732,8 @@ static void set_discovery_mode(struct TDMAHandler *this, DISCOVERY_MODE discover
}
}
-
-// if(num_sub_networks > 1)
-// {
-// //need indicate rebase in inf message so other networks will have a chance to rebase to the network selected by this UWB
-// this->rebase_pending = TRUE;
-// this->rebase_tx = FALSE;
-// this->rebase_frameStartTime64 = latest_tnext;
-// }
-
-
//expire as the beginning of the common frame start time
- this->discovery_mode_duration = (uint32)(get_dt64(time_now_us, latest_tnext)/1000); //TODO make duration in us?
+ this->discovery_mode_duration = (uint32)(get_dt64(time_now_us, latest_tnext)/1000);
this->discovery_mode_expires = TRUE;
this->deconflict_slot_assignments(this);
@@ -2771,14 +1745,11 @@ static void set_discovery_mode(struct TDMAHandler *this, DISCOVERY_MODE discover
//back-track the frame start time so we can inform the need to rebase
//and keep in sync with the subnetwork we initially chose to sync with
-// this->uwbFrameStartTimes64[0] = latest_tnext;
this->uwbListTDMAInfo[0].frameStartTime = latest_tnext;
//TODO handle number wrapping
uint64 myFrameDuration = this->uwbListTDMAInfo[0].framelength*this->slotDuration_us;
-// while(this->uwbFrameStartTimes64[0] > time_now_us)
while(this->uwbListTDMAInfo[0].frameStartTime > time_now_us)
{
-// this->uwbFrameStartTimes64[0] -= myFrameDuration;
this->uwbListTDMAInfo[0].frameStartTime -= myFrameDuration;
}
@@ -2786,13 +1757,12 @@ static void set_discovery_mode(struct TDMAHandler *this, DISCOVERY_MODE discover
uint8 slot = myTimeSinceFrameStart/this->slotDuration_us; //integer division rounded down
this->lastSlotStartTime64 = this->uwbListTDMAInfo[0].frameStartTime + (uint64)(this->slotDuration_us*slot);
-// this->lastSlotStartTime64 = this->uwbFrameStartTimes64[0];
-
-// debug_msg[200];
-// n = sprintf((char*)&debug_msg[0], "SET WAIT_SEND_SUG end");
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-
+ break;
+ }
+ case SEND_SUG:
+ {
+ this->discovery_mode_duration = this->slotStartDelay_us*2;//TODO make sure this works as intended
+ this->discovery_mode_expires = TRUE;
break;
}
case EXIT:
@@ -2828,26 +1798,10 @@ static void check_discovery_mode_expiration(struct TDMAHandler *this)
if(this->discovery_mode == COLLECT_INF_REG)
{
new_mode = WAIT_SEND_SUG;
-// inst->testAppState = TA_TX_SELECT;
inst->testAppState = TA_RXE_WAIT; //still collect RNG_REPORT messages while we wait to send our SUG message
-
- //NOTE moved to set_discovery_mode for WAIT_SEND_SUG
- //TODO remove below
- //deconflict gathered tdma info
-// this->deconflict_slot_assignments(this);
-// //assign self slot
-// this->find_assign_slot(this);
-// //construct SUG packet
-// this->populate_inf_msg(this, RTLS_DEMO_MSG_INF_SUG);
-
- //TODO how to actually send SUG message? TA_TX_SELECT?
- //could go directly to TA_TXSUG_WAIT_SEND and delay until start of next frame...
- //that could remove the need for extra logic in TA_TX_SELECT...
}
else if(this->discovery_mode == WAIT_SEND_SUG)
{
-// this->uwbFrameStartTimes64[0] = portGetTickCntMicro();
-// this->lastSlotStartTime64 = this->uwbFrameStartTimes64[0];
inst->testAppState = TA_TX_SELECT;
new_mode = SEND_SUG;
}
@@ -3168,9 +2122,6 @@ static void usb_dump_tdma(struct TDMAHandler *this)
static struct TDMAHandler new(){
struct TDMAHandler ret = {};
- ret.slotDuration_ms = 50; //TODO should be a function of the data rate and the max number of UWBs
- ret.slotDuration_us = ret.slotDuration_ms*1000;
-
ret.slot_transition = &slot_transition;
ret.frame_sync = &frame_sync;
ret.tx_sync_msg = &tx_sync_msg;
@@ -3180,7 +2131,6 @@ static struct TDMAHandler new(){
ret.populate_inf_msg = &populate_inf_msg;
ret.update_inf_tsfs = &update_inf_tsfs;
ret.process_inf_msg = &process_inf_msg;
- ret.check_tdma_diff = &check_tdma_diff;
ret.poll_delay = &poll_delay;
ret.slot_assigned = &slot_assigned;
@@ -3205,11 +2155,11 @@ static struct TDMAHandler new(){
ret.deconflict_slot_pair = &deconflict_slot_pair;
ret.self_conflict = &self_conflict;
- uint32 time_now_us = portGetTickCntMicro();
- //TODO create a function to clear the frame information!
- //and have it called in enter_discovery function!
+ ret.slotDuration_ms = 50; //TODO should be a function of the data rate and the max number of UWBs
+ ret.slotDuration_us = ret.slotDuration_ms*1000;
+ uint64 time_now_us = portGetTickCntMicro();
ret.maxFramelength = (uint8)MIN_FRAMELENGTH;
while(ret.maxFramelength < (int)UWB_LIST_SIZE + 1)
@@ -3219,7 +2169,6 @@ static struct TDMAHandler new(){
for(int i = 0; i < UWB_LIST_SIZE; i++)
{
-// ret.uwbListTDMAInfo[i].uwbIndex = i;
ret.uwbListTDMAInfo[i].framelength = (uint8)MIN_FRAMELENGTH;
ret.uwbListTDMAInfo[i].slots = NULL;
ret.uwbListTDMAInfo[i].slotsLength = 0;
@@ -3241,9 +2190,6 @@ static struct TDMAHandler new(){
ret.slotStartDelay_us = 4000;
ret.frameSyncThreshold_us = 2*ret.slotStartDelay_us;
ret.infMessageLength = 0;
- ret.rebase_pending = FALSE;
- ret.rebase_tx = FALSE;
- ret.rebase_frameStartTime64 = time_now_us;
ret.enter_discovery_mode(&ret);
// ret.collectInfDuration = ret.maxFramelength*ret.slotDuration;
diff --git a/src/application/tdma_handler.h b/src/application/tdma_handler.h
index 0f2bfad..29aa932 100644
--- a/src/application/tdma_handler.h
+++ b/src/application/tdma_handler.h
@@ -7,7 +7,6 @@
struct TDMAInfo
{
-// uint8 uwbIndex; //TODO remove if unused
uint8 connectionType; //UWB_LIST_SELF, UWB_LIST_NEIGHBOR, UWB_LIST_HIDDEN, UWB_LIST_INACTIVE
uint32 lastCommNeighbor; //milliseconds
uint32 lastCommHidden; //milliseconds
@@ -45,8 +44,6 @@ struct TDMAHandler
struct TDMAInfo uwbListTDMAInfo[UWB_LIST_SIZE];
- //TODO use smaller data types where possible
-
uint64 lastFST;
uint64 lastSlotStartTime64;
uint32 slotDuration_ms; //TODO make variable in duration based on UWB_LIST_SIZE
@@ -55,11 +52,7 @@ struct TDMAHandler
bool firstPollSentThisSlot;
bool firstPollComplete;
bool secondPollSentThisSlot;
- bool rebase_pending;
- bool rebase_tx;
- uint64 rebase_frameStartTime64; //TODO rename 64 to us!
- //TODO can probably use a smaller data type...
uint64 slotStartDelay_us; //time between slot start and transmission within that slot
uint64 frameSyncThreshold_us;
@@ -86,7 +79,6 @@ struct TDMAHandler
bool (*check_blink)(struct TDMAHandler *this);
void (*populate_inf_msg)(struct TDMAHandler *this, uint8 inf_msg_type);
bool (*process_inf_msg)(struct TDMAHandler *this, uint8 *messageData, uint8 srcIndex, INF_PROCESS_MODE mode);
- bool (*check_tdma_diff)(struct TDMAHandler *this, uint8 *messageData, uint8 *srcAddr);
bool (*poll_delay)(struct TDMAHandler *this, uint32 time_now_offset, uint32 offset);
void (*enter_discovery_mode)(struct TDMAHandler *this);
void (*set_discovery_mode)(struct TDMAHandler *this, DISCOVERY_MODE mode, uint32 time_now);
@@ -105,7 +97,7 @@ struct TDMAHandler
//run through all uwb pairs
- bool (*deconflict_slot_assignments)(struct TDMAHandler *this); //TODO implement
+ bool (*deconflict_slot_assignments)(struct TDMAHandler *this);
//run through each slot of two uwbs
bool (*deconflict_uwb_pair)(struct TDMAHandler *this, struct TDMAInfo *info_a, struct TDMAInfo *info_b);
//deconflict two specific slots
diff --git a/src/decadriver/deca_device.c b/src/decadriver/deca_device.c
index d8cf0f9..a398c88 100644
--- a/src/decadriver/deca_device.c
+++ b/src/decadriver/deca_device.c
@@ -2213,17 +2213,7 @@ uint8 dwt_checkirq(void)
*/
void dwt_isr(void)
{
-
-
uint32 status = dw1000local.cbData.status = dwt_read32bitreg(SYS_STATUS_ID); // Read status register low 32bits
-// uint8 status_high = dwt_read8bitoffsetreg(SYS_STATUS_ID, 4);
-// uint32 mask = dwt_read32bitreg(SYS_MASK_ID);
-
-// uint8 debug_msg[50];
-// int n = sprintf((char*)&debug_msg[0], "dwt_isr SYS_STATUS: %lu", status);
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-
uint8 callback_triggered = 0;
@@ -2313,22 +2303,6 @@ void dwt_isr(void)
{
callback_triggered = 1;
-// uint32 and_status = status & SYS_STATUS_ALL_RX_TO;
-// uint8 debug_msg[100];
-// int n = 0;
-// n = sprintf((char*)&debug_msg[0], "rx_timeout!!! and_status: %lu", and_status);
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-
-// if(and_status & SYS_STATUS_AFFREJ){
-// uint32 sys_cfg_reg = dwt_read32bitreg(SYS_CFG_ID);
-// n = sprintf((char*)&debug_msg[0], "rx_timeout!!! sys_cfg_reg: %lu", sys_cfg_reg);
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-// }
-
-
-
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXRFTO); // Clear RX timeout event bits
dw1000local.wait4resp = 0;
@@ -2351,24 +2325,6 @@ void dwt_isr(void)
{
callback_triggered = 1;
-// uint32 and_status = status & SYS_STATUS_ALL_RX_ERR;
-// uint8 debug_msg[100];
-// int n = 0;
-// n = sprintf((char*)&debug_msg[0], "rx_error!!! and_status: %lu", and_status);
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-//
-// n = sprintf((char*)&debug_msg[0], "rx_error!!! sys_status: %lu", status);
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-//
-// if(and_status & SYS_STATUS_AFFREJ){
-// uint32 sys_cfg_reg = dwt_read32bitreg(SYS_CFG_ID);
-// n = sprintf((char*)&debug_msg[0], "rx_error!!! sys_cfg_reg: %lu", sys_cfg_reg);
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-// }
-
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR); // Clear RX error event bits
dw1000local.wait4resp = 0;
@@ -2386,18 +2342,15 @@ void dwt_isr(void)
}
}
- //
+ //IRQ line high but no callbacks triggered.
if(callback_triggered == 0)
{
- //clear status register
- uint32 SYS_STATUS_ALL_INT = 1073217534; //TODO cleanup
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_INT);
-
-// uint8 debug_msg[50];
-// int n = sprintf((char*)&debug_msg[0], "unsubscribed callback");
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
+ //clear and reset SYS_MASK register
+ dwt_setinterrupt(SYS_MASK_MASK_32, 0); //disable all
+ dwt_setinterrupt(SYS_MASK_VAL, 1);
+ //clear SYS_STATUS register
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_MASK_32);
}
}
@@ -2687,11 +2640,6 @@ int dwt_starttx(uint8 mode)
}
else
{
-// uint8 debug_msg[150];
-// int n = sprintf((char*)&debug_msg[0], "SYS_STATUS: %u", checkTxOK);
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-
// I am taking DSHP set to Indicate that the TXDLYS was set too late for the specified DX_TIME.
// Remedial Action - (a) cancel delayed send
temp = (uint8)SYS_CTRL_TRXOFF; // This assumes the bit is in the lowest byte
@@ -2726,113 +2674,21 @@ int dwt_starttx(uint8 mode)
*/
void dwt_forcetrxoff(void)
{
- uint32 SYS_MASK_VAL = 605278336;
- uint32 SYS_MASK_RESERVED = 0xC0080001;
- uint32 SYS_STATUS_ALL_INT= 1073217534;
-
decaIrqStatus_t stat ;
- uint32 mask;
-
- mask = dwt_read32bitreg(SYS_MASK_ID) ; // Read set interrupt mask
-// if(mask != SYS_MASK_VAL){
-// uint8 mismatch = 1;
-// }
+ dwt_setinterrupt(SYS_MASK_MASK_32, 0); // Clear interrupt mask - so we don't get any unwanted events
// Need to beware of interrupts occurring in the middle of following read modify write cycle
// We can disable the radio, but before the status is cleared an interrupt can be set (e.g. the
// event has just happened before the radio was disabled)
// thus we need to disable interrupt during this operation
stat = decamutexon() ;
-
-
- mask &= SYS_MASK_RESERVED;
- //this is writing to the reserved bits!!!
- //dwt_write32bitreg(SYS_MASK_ID, 0) ; // Clear interrupt mask - so we don't get any unwanted events
-
- dwt_write32bitreg(SYS_MASK_ID, mask) ; // Clear interrupt mask - so we don't get any unwanted events
-
dwt_write8bitoffsetreg(SYS_CTRL_ID, SYS_CTRL_OFFSET, (uint8)SYS_CTRL_TRXOFF) ; // Disable the radio
+ decamutexoff(stat) ;
- // Forcing Transceiver off - so we do not want to see any new events that may have happened
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_INT);
- dwt_syncrxbufptrs();
-
- mask |= SYS_MASK_VAL; //set out desired sys_mask values
- dwt_write32bitreg(SYS_MASK_ID, mask);
-
-
-// // Reset the IC (might be needed if not getting here from POWER ON)
-// dwt_softreset();
-//
-// //we can enable any configuration loading from OTP/ROM on initialization
-// result = dwt_initialise(DWT_LOADUCODE) ;
-//
-// //this is platform dependent - only program if DW EVK/EVB
-// dwt_setleds(3) ; //configure the GPIOs which control the leds on EVBs
-//
-// if (DWT_SUCCESS != result)
-// {
-// return (-1) ; // device initialize has failed
-// }
-//
-// //enable TX, RX states on GPIOs 6 and 5
-// dwt_setlnapamode(1,1);
-//
-// instanceclearcounts() ;
-//
-// instance_data[instance].sleepingEabled = 1;
-// instance_data[instance].panID = 0xdeca ;
-// instance_data[instance].wait4ack = 0;
-// instance_data[instance].instanceTimerEnabled = 0;
-//
-// instance_clearevents();
-//
-// dwt_geteui(instance_data[instance].eui64);
-//
-// instance_data[instance].canPrintInfo = 0;
-//
-// instance_data[instance].clockOffset = 0;
-// instance_data[instance].monitor = 0;
-//
-// dwt_setdblrxbuffmode(1);
-
-
-
-
-
- uint32 new_mask = dwt_read32bitreg(SYS_MASK_ID);
- new_mask &= SYS_MASK_VAL;
-
-// uint8 mismatch = 0;
-
-// while(new_mask != SYS_MASK_VAL){
-// if(new_mask != SYS_MASK_VAL){
-//// dwt_write32bitreg(SYS_MASK_ID, mask);
-//// new_mask = dwt_read32bitreg(SYS_MASK_ID);
-//// new_mask &= SYS_MASK_VAL;
-//
-// mismatch = 1;
-// }
-
-// if(mismatch == 1){
-// uint8 debug_msg[100];
-// int n = sprintf((char*)&debug_msg[0], "mismatch occurred!");
-// send_usbmessage(&debug_msg[0], n);
-// usb_run();
-// }
-
-// if(new_mask != mask){
-// uint8 mismatch = 1;
-// }
-// if(new_mask != mask){
-// uint8 mismatch = 1;
-// }
-
-
- // Enable/restore interrupts again...
- decamutexoff(stat) ;
- dw1000local.wait4resp = 0;
+ // Enable/restore interrupts again...
+ dwt_setinterrupt(SYS_MASK_VAL, 1);
+ dw1000local.wait4resp = 0;
} // end deviceforcetrxoff()
@@ -3115,12 +2971,6 @@ void dwt_setinterrupt(uint32 bitmask, uint8 enable)
// Need to beware of interrupts occurring in the middle of following read modify write cycle
stat = decamutexon() ;
-// C0080001
-// uint32 reserved_mask = 0xC0080001;
-// mask &= reserved_mask; //preserve reserved bits
-// mask |= SYS_MASK_VAL; //set out desired sys_mask values
-// dwt_write32bitreg(SYS_MASK_ID, mask);
-
mask = dwt_read32bitreg(SYS_MASK_ID) ; // Read register
if(enable)
diff --git a/src/decadriver/deca_regs.h b/src/decadriver/deca_regs.h
index fc0791d..5e6e819 100644
--- a/src/decadriver/deca_regs.h
+++ b/src/decadriver/deca_regs.h
@@ -242,6 +242,10 @@ extern "C" {
#define SYS_MASK_MTXBERR 0x10000000UL /* Mask Transmit Buffer Error event */
#define SYS_MASK_MAFFREJ 0x20000000UL /* Mask Automatic Frame Filtering rejection event */
+/* default SYS_MASK settings that will be used in the application */
+#define SYS_MASK_VAL (DWT_INT_TFRS | DWT_INT_RFCG | DWT_INT_RXOVRR | DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO)
+
+
/****************************************************************************//**
* @brief Bit definitions for register SYS_STATUS
**/
@@ -249,7 +253,8 @@ extern "C" {
#define SYS_STATUS_OFFSET 0x00
#define SYS_STATUS_LEN (5) /* Note 40 bit register */
/*masks */
-#define SYS_STATUS_MASK_32 0xFFF7FFFFUL /* System event Status Register access mask (all unused fields should always be writen as zero) */
+//#define SYS_STATUS_MASK_32 0xFFF7FFFFUL /* System event Status Register access mask (all unused fields should always be writen as zero) */
+#define SYS_STATUS_MASK_32 0x3FF7FFFF /* System event Status Register access mask (all unused fields should always be writen as zero) */
/*offset 0 */
#define SYS_STATUS_IRQS 0x00000001UL /* Interrupt Request Status READ ONLY */
#define SYS_STATUS_CPLOCK 0x00000002UL /* Clock PLL Lock */
diff --git a/src/platform/port.c b/src/platform/port.c
index cd81730..c8df270 100644
--- a/src/platform/port.c
+++ b/src/platform/port.c
@@ -67,29 +67,19 @@ unsigned long long portGetTickCntMicro(void)
uint64_t major_incr2 = (uint64_t)time32_incr;
uint32_t minor_incr2 = SysTick->VAL;
+ unsigned long long microsec;
+
+ //72 comes from SystemCoreClock / CLOCKS_PER_SEC * 1000
if(major_incr1 == major_incr2)
{
- //72 comes from SystemCoreClock / CLOCKS_PER_SEC * 1000
- return major_incr1*1000 + 1000 - (uint64_t)(minor_incr1/72);
+ microsec = major_incr1*1000 + 1000 - (uint64_t)(minor_incr1/72);
}
else
{
- //72 comes from SystemCoreClock / CLOCKS_PER_SEC * 1000
- return major_incr2*1000 + 1000 - (uint64_t)(minor_incr2/72);
+ microsec = major_incr2*1000 + 1000 - (uint64_t)(minor_incr2/72);
}
-// __asm__ volatile("dmb");
-// //72 comes from SystemCoreClock / CLOCKS_PER_SEC * 1000
-// return time64_incr*1000 + 1000 - (uint64_t)(SysTick->VAL/72);
-//
-//// major = SysTickMajor;
-//// minor = SysTick->VAL;
-//// __asm__ volatile("dmb");
-//// if (major != SysTickMajor)
-//// return SysTickMajor - SysTick->Val;
-//// return major - minor;
-//
-
+ return microsec;
}
uint16_t portGetTIM3()
@@ -171,32 +161,6 @@ int peripherals_init (void)
SysTick_Configuration();
NVIC_Configuration();
-
- //TODO remove
-
-// /* make sure the peripheral is clocked */
-//// RCC_APB1PeriphClockCmd (RCC_APB1Periph_TIM3, ENABLE);
-// RCC_ClocksTypeDef RCC_Clocks;
-// RCC_GetClocksFreq (&RCC_Clocks);
-// uint32_t multiplier;
-// if (RCC_Clocks.PCLK1_Frequency == RCC_Clocks.SYSCLK_Frequency) {
-// multiplier = 1;
-// } else {
-// multiplier = 2;
-// }
-// uint32_t TIM3CLK_Frequency = multiplier * RCC_Clocks.PCLK1_Frequency;
-// uint32_t TIM3COUNTER_Frequency = 1000;//1000000;
-// uint16_t prescaler = (TIM3CLK_Frequency / TIM3COUNTER_Frequency) - 1;
-// uint16_t reload = 0xFFFF;//(25) - 1; // Tevt = 25 us
-// TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
-// /* set everything back to default values */
-// TIM_TimeBaseStructInit (&TIM_TimeBaseStructure);
-// /* only changes from the defaults are needed */
-// TIM_TimeBaseStructure.TIM_Period = reload;
-// TIM_TimeBaseStructure.TIM_Prescaler = prescaler;
-// TIM_TimeBaseInit (TIM3, &TIM_TimeBaseStructure);
-//
-// TIM_Cmd(TIM3, ENABLE);
return 0;
}
@@ -351,10 +315,6 @@ int RCC_Configuration(void)
RCC_APB2Periph_GPIOE | RCC_APB2Periph_AFIO,
ENABLE);
- /* Enable TIM3 clock */ //TODO remove
-// RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
-
-
return 0;
}
diff --git a/src/platform/port.h b/src/platform/port.h
index 44e7c8c..aff6f3f 100644
--- a/src/platform/port.h
+++ b/src/platform/port.h
@@ -150,7 +150,6 @@ typedef enum
void Sleep(uint32_t Delay);
unsigned long portGetTickCnt(void);
unsigned long long portGetTickCntMicro(void);
-//uint16_t portGetTIM3(); //TODO remove
#define S1_SWITCH_ON (1)
#define S1_SWITCH_OFF (0)
--
GitLab