dw-range-tag.c

/**
* \file
 * 	Decawace uwb demo application
 * \author
 *	Kim Albertsson
 */

// Tested with mulle board 145

#include "contiki.h"

#include <stdio.h> /* For printf() */
#include <stdint.h>
#include <stddef.h>

#include "udelay.h"

#include "dw1000-base.h"
#include "dwFrameTypes.h"
#include "dw-range.h"

#define DEVICE_TIME_UNITS (1.0/499.2e6/128.0)
#define ANTENNA_DELAY ((515.0 / 2.0) * 1e-9 / (1.0/499.2e6/128.0))

typedef enum
{
	UNPAIRED = 0,
	PAIRED
} tag_state_t;

extern struct process * interrupt_handler_callback;

int error;

/*---------------------------------------------------------------------------*/
PROCESS(dw_main_process           , "Main process");
PROCESS(dw_tag_process            , "Tag process (dw1000)");
AUTOSTART_PROCESSES(&dw_main_process);
/*---------------------------------------------------------------------------*/
PROCESS_THREAD(dw_main_process, ev, data)
{
	PROCESS_BEGIN();

	// Init dw1000
	process_start(&dw_interrupt_callback_proc, NULL);

	dw_init();
	dw_conf_print();
	interrupt_handler_callback = &dw_tag_process;
	process_start(&dw_tag_process, NULL);

	// Start code proper
	while(1)
	{
		PROCESS_WAIT_EVENT();
	}
 
  PROCESS_END();
}
/*---------------------------------------------------------------------------*/
PROCESS_THREAD(dw_tag_process, ev, data)
{
	PROCESS_BEGIN();

	static uint64_t dest_addr = 0ULL;
	static uint16_t responseDelay;

	static tag_state_t     tag_state     = UNPAIRED;
	static ranging_state_t ranging_state = IDLE;