bsp.aun2402/source/instance.h

/*! ----------------------------------------------------------------------------
 *  @file    instance.h
 *  @brief   DecaWave header for application level instance
 *
 * @attention
 *
 * Copyright 2015 (c) DecaWave Ltd, Dublin, Ireland.
 *
 * All rights reserved.
 *
 * @author DecaWave
 */
#ifndef _INSTANCE_H_
#define _INSTANCE_H_

#ifdef __cplusplus
extern "C" {
#endif


#include "deca_types.h"
#include "deca_device_api.h"
#include "deca_param_types.h"
#include "port.h"
#include "config.h"
#include "stateMachine.h"
#include "message.h"
#include "event.h"

// TEST anc for peroid and sucess rate
#define ANC_RESP_TEST                       0

#define REPORT2WIFI
//#define REPORT2COM

#if !defined(REPORT2COM) && !defined(REPORT2WIFI)
#define REPORT2COM
#endif

/******************************************************************************************************************
********************* NOTES on DW (MP) features/options ***********************************************************
*******************************************************************************************************************/
//#define DEEP_SLEEP                        (1) //To enable deep-sleep set this to 1
#define DEEP_SLEEP                          (0) //To enable deep-sleep set this to 1
//DEEP_SLEEP mode can be used, for example, by a Tag instance to put the DW1000 into low-power deep-sleep mode:
// when the Anchor is sending the range report back to the Tag, the Tag will enter sleep after a ranging exchange is finished
// once it receives a report or times out, before the next poll message is sent (before next ranging exchange is started).

#define CORRECT_RANGE_BIAS                  (1)     // Compensate for small bias due to uneven accumulator growth at close up high power


#define ANCTOANCTWR                         (0) //if set to 1 then anchor to anchor TWR will be done in the last slot
/******************************************************************************************************************
*******************************************************************************************************************
*******************************************************************************************************************/

#define NUM_INST                            1
#define SPEED_OF_LIGHT                      (299702547.0)     // in m/s in air
#define MASK_40BIT			                (0x00FFFFFFFFFF)  // DW1000 counter is 40 bits
#define MASK_TXDTS			                (0x00FFFFFFFE00)  //The TX timestamp will snap to 8 ns resolution - mask lower 9 bits.

#define SIG_RX_UNKNOWN			            99		// Received an unknown frame

// !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
// NOTE: the maximum RX timeout is ~ 65ms
// !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

#define TOF_REPORT_NUL                      0
#define TOF_REPORT_T2A                      1
#define TOF_REPORT_A2A                      2

#define INVALID_TOF                         (0xABCDFFFF)

/******************************************************************************************************************
*******************************************************************************************************************
*******************************************************************************************************************/

typedef enum _rtx_stage_{
    RTX_IDLE=0,
    RTX_RX,
    RTX_TX_THEN_RX,
    RTX_TX,
}eRxTxStage;

// TX power and PG delay configuration structure
typedef struct {
    uint8_t PGdelay;

    //TX POWER
    //31:24     BOOST_0.125ms_PWR
    //23:16     BOOST_0.25ms_PWR-TX_SHR_PWR
    //15:8      BOOST_0.5ms_PWR-TX_PHR_PWR
    //7:0       DEFAULT_PWR-TX_DATA_PWR
    uint32_t txPwr[2]; //
}tx_struct;

typedef struct _tof_inform_
{
    uint16_t address;
    uint32_t value;
}stTofInformation;

typedef struct _tof_result_
{
    uint16_t address;
    double distanceRaw;
    double distanceBias;
}stFofResult;

typedef struct
{
    //diagnostic counters/data, results and logging
    //stTofInformation tofOfTags[MAX_TAG_LIST_SIZE]; //this is an array which holds last ToF from particular tag (ID 0-7)

    //this is an array which holds last ToF to each anchor it should
    stTofInformation tofArray[MAX_ANCHOR_LIST_SIZE]; //contain 4 ToF to 4 anchors all relating to same range number sequence

    //uint32_t tofAnc[MAX_ANCHOR_LIST_SIZE]; //this is an array which holds last ToFs from particular anchors (0, 0-1, 0-2, 1-2)
    //this is an array which holds last ToFs of the Anchor to Anchor ranging
    //uint32_t tofArrayAnc[MAX_ANCHOR_LIST_SIZE]; //it contains 3 ToFs relating to same range number sequence (0, 0-1, 0-2, 1-2)

    //stFofResult tagdistance[MAX_ANCHOR_LIST_SIZE];
    stFofResult distance[MAX_ANCHOR_LIST_SIZE];
}twr_result;

typedef struct {
    //timeouts and delays
    int32_t   tagSleepTime_ms; //in milliseconds - defines the nominal Tag sleep time period
    int32_t   tagSleepRnd; //add an extra slot duration to sleep time to avoid collision before getting synced by anchor 0

    uint32_t  delayedReplyTime;		// delayed reply time of ranging-init/response/final message


    int32_t   tagSleepCorrection;
    int32_t   tagSleepCorrection2;
    uint32_t  longTermRangeCount ; //total number of ranges

    //64 bit timestamps
    //union of TX timestamps
    uint64_t tagPollRxTime ;           // receive time of poll message
    union {
        uint64_t txTimeStamp ;		   // last tx timestamp
        uint64_t tagPollTxTime ;		   // tag's poll tx timestamp
        uint64_t anchorRespTxTime ;	   // anchor's reponse tx timestamp
    }txu;
    uint64_t tagFinalRxTime ;          // receive time of poll message
}tm_and_delays;


//Application data
#pragma   pack(1)
typedef struct _tag_cmd_ {
    uint8_t control;
    uint8_t command;
    uint8_t reservered1;
    uint8_t reservered2;
    uint8_t reservered3;
    uint8_t reservered4;
}stTagControlCommand;

typedef struct _tag_status_ {

    uint8_t status;
    uint8_t power;
    uint8_t heartRate;
    uint8_t reserved1;
    uint8_t reserved2;
    float   txRssi;
    float   txRssiFinal;
}stTagStatus;
#pragma   pack()

typedef struct _tag_range_inform_
{
    uint16_t address;
    uint8_t	flag;
    uint8_t	rangeNumA;
    int16_t	slot;
    uint16_t rxRespsIdx; //index into the array below (current tag (4bits)/seq number(4bits))
    int8_t rxResps[RESP_RECORD_COUNT];

    uint32_t tickUpdate;
    uint32_t tofOfTags;

    stTagStatus tagStatus;
    stTagControlCommand tagCommand;
}stTagRangeInformation;

typedef struct
{
    inst_setting    setting;            //setting
    event_queue     evtQueue;           //event queue - used to store DW1000 events as they are processed by the dw_isr/callback functions
    twr_result      twrResult;          //twr result record
    state_machine   stateMachine;       //state machine
    tm_and_delays   tmAndDelays;        //time and delays params
    message_frame   msgFrame;           //message frame

    stTagRangeInformation rangeInform[MAX_TAG_LIST_SIZE];
} instance_data_t ;

typedef struct _inst_debug
{
    uint32_t errFrameCount;
    uint8_t toBeHandled;
    uint32_t type;

    uint32_t ancPollCount;
    uint32_t ancRespCounts[MAX_ANCHOR_LIST_SIZE];
    uint32_t andRespSentCount;
    uint32_t ancFinalCount;

    uint32_t ancRespFailsCounts[MAX_ANCHOR_LIST_SIZE];
    uint32_t ancRespLateCount;

    uint32_t tofSuccess;

    uint32_t calculateFails;
    uint32_t rxTimeoutCount;
}stInstDebug;
extern volatile eRxTxStage trxStage;

extern volatile stExtandCommand g_stExtandCommand;
//-------------------------------------------------------------------------------------------------------------
//
//	Functions used in logging/displaying range and status data
//
//-------------------------------------------------------------------------------------------------------------

// function to calculate and report the Time of Flight to the GUI/display

int reportTOF(int idx, stTofInformation* tofx);
void clearDistTable(int idx);
void setTagDist(int tidx, int aidx);
double getTagDist(int idx);

// clear the status/ranging data
void instClearCounts(void) ;

//-------------------------------------------------------------------------------------------------------------
//
//	Functions used in driving/controlling the ranging application
//
//-------------------------------------------------------------------------------------------------------------

void instClose(void);
// Call init, then call config, then call run. call close when finished
// initialise the instance (application) structures and DW1000 device
int instance_init(void);
// configure the instance and DW1000 device
void instance_config(const instanceConfig_t *config, const sfConfig_t *sfconfig);

void instUpdateFramePeroid(uint16_t period);

// configure the MAC address
void instSetAddress(uint16_t address) ;
void instSetPanID(uint16_t id);

void instProcessRXtimeout(instance_data_t *inst);

int appState_TA_INIT(instance_data_t *inst, uint32_t *status, int message);
int appState_TA_TX_WAIT_CONF(instance_data_t *inst, uint32_t *status, int message);
int appState_TA_RXE_WAIT(instance_data_t *inst, uint32_t *status, int message);
int appState_TA_RX_WAIT_DATA(instance_data_t *inst, uint32_t *status, int message);

// called (periodically or from and interrupt) to process any outstanding TX/RX events and to drive the ranging application
int instance_run(void) ;       // returns indication of status report change
int testAppRun(instance_data_t *inst, int message);

// calls the DW1000 interrupt handler
#define instance_process_irq(x) 	dwt_isr()  //call device interrupt handler
// configure TX/RX callback functions that are called from DW1000 ISR
void instRXcallback(const dwt_callback_data_t *rxd);
void instTXcallback(const dwt_callback_data_t *txd);

// sets the Tag sleep delay time (the time Tag "sleeps" between each ranging attempt)
void instSetTagSleepDelay(int rangingsleep);
void instSetReplyDelay(int delayms);

// get the DW1000 device ID (e.g. 0xDECA0130 for DW1000)
uint32_t instReadDeviceID(void) ;                                 // Return Device ID reg, enables validation of physical device presence

double instGetIdist(int idx);
double instGetIdistRaw(int idx);
uint16_t instGetIdistAddress(int idx);
int instGetIdist_mm(int idx);
int instGetIdistRaw_mm(int idx);
uint8_t instValidRanges(void);
void instClearDistTableAll();

void instBack2Anchor(instance_data_t *inst);
int instSendDlyPacket(instance_data_t *inst, int delayedTx);

int instGetRNum(void);
uint32_t instGetTagRangeNum(uint32_t address);
int instGetLCount(void);

int instNewRangeAncAdd(void);
int instNewRangeTagAdd(void);
int instWRangePollTim(void);
int instNewRange(void);
uint32_t instNewRangeTim(void);

uint64_t convertMicroSec2DeviceTime (double microSec);
double convertDeviceTime2Sec(int32_t dt);

#define DWT_PRF_64M_RFDLY   (514.462f)
#define DWT_PRF_16M_RFDLY   (513.9067f)
extern const uint16_t rfDelays[2];
extern const uint16_t rfDelaysTREK[2];
extern const tx_struct txSpectrumConfig[8];
extern const tx_struct txManualSpectrumConfig[8];
extern const tx_struct maxSpectrumConfig[8];

extern volatile instance_data_t      instance_data[NUM_INST] ;
extern volatile instance_data_t*     gInst;


int instPeekEvent(void);
void instSaveEvent(event_data_t newEvent, uint8_t eType);
event_data_t instGetSavedEvent(void);
void instPutEvent(event_data_t newEvent, uint8_t eType);
event_data_t* instGetEvent(int x);
void instClearEvents(void);

// configure TX power
void instConfigTXPower(uint32_t txpower);
void instSetTXPower(void);

// configure the antenna delays
void instConfigAntennaDelays(uint16_t tx, uint16_t rx);
void instSetAntennaDelays(void);
uint16_t instTXAntennaDly(void);
uint16_t instRXAntennaDly(void);

int instStartTXtest(int framePeriod);

uint32_t GetTofResult(uint32_t address);
void SetTofResult(uint32_t addr, uint32_t value);
void ClearTagTofResult(uint32_t address);

uint32_t GetTagTofResult(uint32_t address);
void SetTagTofResult(uint32_t addr, uint32_t value);
void ClearTofResult(uint32_t address);


void SaveTagCommand(uint8_t* buf, uint32_t len);
int GetTagCommand(uint16_t sourceAddress, stTagControlCommand* cmd);
int GetTagStatus(uint32_t address, stTagStatus* status);
void SaveTagStatus(uint16_t address, uint8_t* messageData);

int instRangeSlotUpdate();

#ifdef __cplusplus
}
#endif

#endif