Inc/deca_regs.h

@@ -98,7 +98,7 @@ extern "C" {
 **/
 #define SYS_TIME_ID             0x06            /* System Time Counter (40-bit) */
 #define SYS_TIME_LEN            (5)				/* Note 40 bit register */
-
+#define SYS_TIME_MASK			0x000000FFFFFFFFFFULL
 
 /****************************************************************************//**
  * @brief Bit definitions for register	0x07

Inc/dw1000.h

@@ -148,7 +148,6 @@ int dw1000_writeFrameIntoBuffer(uint16_t txBufferOffset, uint8_t *payload, uint1
 int dw1000_transmitFrame(uint16_t txBufferOffset, uint16_t len);
 int dw_1000_receiveFrameFromIsr(uint8_t * buffer, uint32_t length);
 void dw1000_extiCallback(void);
-void vTaskGlobalTimeIncrement(void *pvParameters);
 
 void dw1000_generateConfig(uint16_t mode, dwt_config_t *config);
 

Inc/dw1000_util.h

@@ -4,6 +4,8 @@
 #include <stdint.h>
 #include <string.h>
 #include "deca_regs.h"
+#include "task.h"
+#include "time_sync.h"
 //#define DOUBLE_BUFFER
 
 //DECA:Defines for enable_clocks function
@@ -86,16 +88,16 @@ extern const uint32_t digital_bb_config[NUM_PRF][NUM_PACS];
 extern const uint16_t lde_replicaCoeff[PCODES];
 
 
-#define DEBUG
-
 void dw1000Util_enableclocks(int clocks);
 void dw1000Util_enableRX();
 uint32_t dw1000Util_otpread(uint32_t address);
 void dw1000Util_forceTrxOff(void);
 void dw1000Util_reset(void);
 void dw1000Util_resetRxOnly(void);
-void dw1000Util_getRxTimestamp(dw1000_global_time_t *timeBuffer);
+void dw1000Util_getRxTimestamp(uint64_t *rx_time);
 void dw1000Util_printGlobalTimestamp(dw1000_global_time_t *time);
+void dw1000Util_getSysTime(uint8_t *nt);
+void lltoa(int64_t val, char *dest_buf, uint8_t base);
 
 #ifdef DEBUG
 void hexdump(uint8_t * buffer, uint8_t len);

Src/dw1000.c

@@ -385,7 +385,7 @@ int dw1000_writeFrameIntoBuffer(uint16_t txBufferOffset, uint8_t *payload, uint1
 
 int dw1000_transmitFrame(uint16_t txBufferOffset, uint16_t len){
 	//Set length and offset
-    uint32_t reg32 = dw1000local.txFCTRL | len+2 | (txBufferOffset << 22);
+    uint32_t reg32 = (dw1000local.txFCTRL) | (len + 2) | (txBufferOffset << 22);
 	dw1000Hal_writeSubRegister(TX_FCTRL_ID, 0, (uint8_t *) &reg32,  TX_FCTRL_LEN-1);
 	/* WITHOUT THE NEXT PART: SECOND TIME NO SENDING POSSIBLE, BUT CAN'T BE FOUND IN ORIGINAL DRIVER */
 	dw1000Util_forceTrxOff();
@@ -396,17 +396,6 @@ int dw1000_transmitFrame(uint16_t txBufferOffset, uint16_t len){
 	return DW1000_RET_OK;
 }
 
-void vTaskGlobalTimeIncrement(void *pvParameters) {
-
-	TickType_t xNextWakeTime;
-	xNextWakeTime = xTaskGetTickCount();
-	for(ever) {
-		// Task is delayed until radio timestamp approximately overflows
-		vTaskDelayUntil(&xNextWakeTime, GLOBAL_TIME_TICK_MS / portTICK_PERIOD_MS);
-		global_time++;
-	}
-	vTaskDelete( NULL);
-}
 void dw1000_extiCallback(void) {
 	dw1000Isr_handleInterrupt();
 }

Src/dw1000_hal.c

@@ -192,6 +192,7 @@ int dw1000Hal_readRegister(uint8_t regID, uint8_t *dest, uint16_t len) {
 		while (hspi->State != HAL_SPI_STATE_READY) {
 		}
 		xSemaphoreGive(spiSema);
+
 	} else {
 		ret = HAL_LOCKED;
 		//trace_printf("nb");

Src/dw1000_util.c

@@ -273,18 +273,42 @@ uint32_t dw1000Util_otpread(uint32_t address)
     return (ret_data);
 }
 
-void dw1000Util_getRxTimestamp(dw1000_global_time_t *time_buffer){
-		uint8_t buf[5] = {0};
-		uint64_t radio_rx_time = 0;
+void dw1000Util_getRxTimestamp(uint64_t *radio_rx_time){
 
 		// Read rx timestamp from radio
-		dw1000Hal_readSubRegisterFromIsr(RX_TIME_ID, RX_TIME_RX_STAMP_OFFSET, buf, RX_TIME_RX_STAMP_LEN);
-		radio_rx_time = ((uint64_t) buf[4]) << 32 |
-						((uint64_t) buf[3]) << 24 |
-						((uint64_t) buf[2]) << 16 |
-						((uint64_t) buf[1]) << 8 |
-						((uint64_t) buf[0]) << 0;
+		dw1000Hal_readSubRegisterFromIsr(RX_TIME_ID, RX_TIME_RX_STAMP_OFFSET, (uint8_t *)radio_rx_time, RX_TIME_RX_STAMP_LEN);
 
+}
+
+void lltoa(int64_t val, char *dest_buf, uint8_t base) {
+	uint8_t sign = 0;
+	char buf[64] = {0};
+	uint32_t i = 0;
+
+	if(val == 0) {
+		dest_buf[0] = '0';
+		dest_buf[1] = '\0';
+		return;
+	}
+	else if(val < 0) {
+		sign = 1;
+		val = -val;
+	}
+
+	for(i = 62; val && i ; --i, val /= base) {
+		buf[i] = "0123456789abcdef"[val % base];
+	}
+
+	if(sign) {
+		buf[i--] = '-';
+	}
+
+	memcpy(dest_buf, &buf[i + 1], 64);
+}
+
+void dw1000Util_printGlobalTimestamp(dw1000_global_time_t *time) {
+
+		/*
 		// multiply by 16 to get picoseconds (actually ~15.65 is right)
 		radio_rx_time <<= 4;
 
@@ -303,20 +327,7 @@ void dw1000Util_getRxTimestamp(dw1000_global_time_t *time_buffer){
 
 		// Store new timestamp to be able to detect asynchronous overflows
 		dw1000local.last_rx_time.ms = ms_buf;
-}
-
-void lltoa(uint64_t val, char *dest_buf, uint8_t base) {
-	char buf[64] = {0};
-	uint32_t i = 62;
-
-	for(; val && i ; --i, val /= base) {
-		buf[i] = "0123456789abcdef"[val % base];
-	}
-
-	memcpy(dest_buf, &buf[i + 1], 64);
-}
-
-void dw1000Util_printGlobalTimestamp(dw1000_global_time_t *time) {
+		*/
 	char ms_buf[64] = {0};
 	char subms_buf[64] = {0};
 
@@ -404,6 +415,16 @@ void dw1000Util_resetRxOnly(void) {
 			(uint8_t*) &subreg, PMSC_CTRL0_LEN);
 }
 
+void dw1000Util_getSysTime(uint8_t *nt) {
+	uint8_t rev_buf[SYS_TIME_LEN];
+    dw1000Hal_readRegister(SYS_TIME_ID, rev_buf, SYS_TIME_LEN);
+
+    for(uint8_t i = 0; i < SYS_TIME_LEN; i++) {
+    	nt[i] = rev_buf[i];
+    	//nt[i] = rev_buf[(SYS_TIME_LEN -1) - i];
+    }
+}
+
 #ifdef DEBUG
 
 void hexdump(uint8_t * buffer, uint8_t len){