protocol in working condition with occasional misshaps

software/module/firmware/app_standard_common.c

@@ -364,11 +364,15 @@ uint64_t standard_get_rxdelay_from_ranging_response_channel (uint8_t channel_ind
 // TX / RX functions
 /******************************************************************************/
 
+void debug_print_tx(uint32_t length) {
+    /*debug_msg("Tx -> length ");
+    debug_msg_uint(length);
+    debug_msg("\n");*/
+}
+
 static void common_txcallback(const dwt_cb_data_t *txd) {
 
-	/*debug_msg("Tx -> length: ");
-	debug_msg_uint(txd->datalength);
-	debug_msg("\n");*/
+	//debug_msg("Tx -> done\n"); // datalength is NOT valid for Tx callbacks
 
 	// Handle GLOSSY
 	if (glossy_process_txcallback()) {

software/module/firmware/app_standard_common.h

@@ -108,6 +108,7 @@ struct pp_anc_final {
 	struct ieee154_footer footer;
 } __attribute__ ((__packed__));
 
+#define MSG_PP_ANC_FINAL_PAYLOAD_DEFAULT_LENGTH     11  // 3 * uint8_t + 1 * uint64_t
 
 /******************************************************************************/
 // State objects for the standard application
@@ -186,6 +187,7 @@ void resp_txcallback  (const dwt_cb_data_t *txd);
 void resp_rxcallback  (const dwt_cb_data_t *rxd, uint8_t * buf, uint64_t dw_rx_timestamp);
 
 // Helper functions
+void debug_print_tx(uint32_t length);
 void helper_print_EUI(uint8_t * address);
 
 #endif

software/module/firmware/app_standard_init.c

@@ -325,6 +325,7 @@ static void send_poll () {
 
 	// Tell the DW1000 about the packet
 	dwt_writetxfctrl(tx_len, 0, MSG_TYPE_RANGING);
+	debug_print_tx(tx_len);
 
 	// Setup the time the packet will go out at, and save that timestamp
 	uint32_t delay_time = dwt_readsystimestamphi32() + DW_DELAY_FROM_PKT_LEN(tx_len);

software/module/firmware/app_standard_resp.c

@@ -92,12 +92,7 @@ dw1000_err_e standard_resp_start () {
 		// Chip did not seem to wakeup. This is not good, so we have
 		// to reset the application.
 		return err;
-	} else {
-	    // Did not go to sleep
-
-	    // Clear state
-        memset(sr_scratch->resp_antenna_recv_num, 0, sizeof(sr_scratch->resp_antenna_recv_num));
-    }
+	}
 
 	// Also we start over in case the anchor was doing anything before
 	sr_scratch->state = RSTATE_IDLE;
@@ -149,6 +144,9 @@ static void ranging_broadcast_subsequence_task () {
 		// Stop iterating through timing channels
 		timer_stop(sr_scratch->resp_timer);
 
+		// Prepare for next initiators
+		sr_scratch->pp_anc_final_pkt.init_response_length++;
+
 		// Now, we either wait for the next initiator or will start responding with our packet when its our turn
 		standard_resp_start();
 
@@ -211,6 +209,7 @@ void standard_resp_send_response () {
 
 	const uint16_t frame_len = get_anc_final_packet_length(&sr_scratch->pp_anc_final_pkt);
 	dwt_writetxfctrl(frame_len, 0, MSG_TYPE_RANGING);
+    debug_print_tx(frame_len);
 
 	// Leave enough time to copy packet
 	// TODO: Verify that frames are not too long and have sufficient time to be transmitted and copied
@@ -237,6 +236,10 @@ void standard_resp_send_response () {
 	// Done with our response; Go back to IDLE
 	sr_scratch->state = RSTATE_IDLE;
 
+    // Clear state for next round
+    sr_scratch->pp_anc_final_pkt.init_response_length = 0;
+    memset(sr_scratch->resp_antenna_recv_num, 0, sizeof(sr_scratch->resp_antenna_recv_num));
+
 }
 
 
@@ -274,9 +277,9 @@ void resp_rxcallback (const dwt_cb_data_t *rxd, uint8_t * buf, uint64_t dw_rx_ti
 			/*debug_msg("Received Poll message ");
 			debug_msg_int(rx_poll_pkt->subsequence);
 			debug_msg(": ");
-			debug_msg_int((uint32_t)(dw_rx_timestamp >> 32));
+			debug_msg_uint((uint32_t)(dw_rx_timestamp >> 32));
 			debug_msg(" ");
-			debug_msg_int((uint32_t)(dw_rx_timestamp & 0xFFFFFFFF));
+			debug_msg_uint((uint32_t)(dw_rx_timestamp & 0xFFFFFFFF));
 			debug_msg("\n");*/
 
 			// Decide what to do with this packet
@@ -400,24 +403,24 @@ void resp_rxcallback (const dwt_cb_data_t *rxd, uint8_t * buf, uint64_t dw_rx_ti
 // Helper functions ----------------------------------------------------------------------------------------------------
 
 
-static void 	write_anc_final_to_buffer() {
+static void write_anc_final_to_buffer() {
 
 	uint8_t * dest = sr_scratch->pp_anc_final_pkt_buffer;
 
 	// Clear buffer
 	memset(dest, 0, sizeof(sr_scratch->pp_anc_final_pkt_buffer));
 
 	// Fill buffer:
-	uint8_t offset = 0;
+	uint16_t offset = 0;
 
 	// Header + Constant part
-	uint8_t header_length = sizeof(struct ieee154_header_broadcast) + 4;
+	uint16_t header_length = sizeof(struct ieee154_header_broadcast) + MSG_PP_ANC_FINAL_PAYLOAD_DEFAULT_LENGTH;
 
 	memcpy(dest + offset, &sr_scratch->pp_anc_final_pkt, header_length);
 	offset += header_length;
 
 	// Responses
-	uint8_t responses_length = sr_scratch->pp_anc_final_pkt.init_response_length * sizeof(struct pp_anc_final_init_response);
+	uint16_t responses_length = sr_scratch->pp_anc_final_pkt.init_response_length * sizeof(struct pp_anc_final_init_response);
 
 	memcpy(dest + offset, sr_scratch->pp_anc_final_pkt.init_responses, responses_length);
 	offset += responses_length;
@@ -428,8 +431,8 @@ static void 	write_anc_final_to_buffer() {
 
 static uint16_t get_anc_final_packet_length(struct pp_anc_final * packet) {
 
-	uint16_t packet_length  = sizeof(struct ieee154_header_broadcast) + 4 + sizeof(struct ieee154_footer);
-			packet_length += packet->init_response_length * sizeof(struct pp_anc_final_init_response);
+	uint16_t packet_length  = sizeof(struct ieee154_header_broadcast) + MSG_PP_ANC_FINAL_PAYLOAD_DEFAULT_LENGTH + sizeof(struct ieee154_footer);
+			 packet_length += packet->init_response_length * sizeof(struct pp_anc_final_init_response);
 
 	/*debug_msg("Anchor response packet size: ");
 	debug_msg_uint(packet_length);

software/module/firmware/glossy.c

@@ -418,6 +418,7 @@ static void glossy_lwb_round_task() {
 
 					uint16_t frame_len = sizeof(struct pp_signal_flood);
 					dwt_writetxfctrl(frame_len, 0, MSG_TYPE_CONTROL);
+                    debug_print_tx(frame_len);
 
 					// Send out a signalling packet during this contention slot
 					// Pick a random time offset to avoid colliding with others
@@ -485,7 +486,7 @@ static void glossy_lwb_round_task() {
 
 		        if (_lwb_scheduled_resp) {
                     // Enable responders
-                    standard_set_resp_active(TRUE);
+                    standard_resp_start();
 		        } else {
 		            // Turn transceiver off (save energy) - initiators will wake up in their own slot
 		            dwt_forcetrxoff();
@@ -611,6 +612,7 @@ bool glossy_process_txcallback(){
 void lwb_send_sync(uint32_t delay_time){
 	uint16_t frame_len = get_sync_packet_length(&_sync_pkt);
 	dwt_writetxfctrl(frame_len, 0, MSG_TYPE_CONTROL);
+	debug_print_tx(frame_len);
 
 	_last_delay_time = delay_time;
 
@@ -752,6 +754,7 @@ void glossy_process_rxcallback(uint64_t dw_timestamp, uint8_t *buf){
 
                 uint16_t frame_len = sizeof(struct pp_signal_flood);
                 dwt_writetxfctrl(frame_len, 0, MSG_TYPE_CONTROL);
+				debug_print_tx(frame_len);
 
                 // Flood out as soon as possible
                 uint32_t delay_time = (dw_timestamp >> 8) + (DW_DELAY_FROM_US(GLOSSY_FLOOD_TIMESLOT_US) & 0xFFFFFFFE);
@@ -1097,7 +1100,7 @@ static void increment_sched_timeout(){
 }
 
 static uint8_t get_sync_packet_length(struct pp_sched_flood * packet) {
-	uint8_t packet_size  = sizeof(struct ieee154_header_broadcast) + 4 + sizeof(struct ieee154_footer);
+	uint8_t packet_size  = sizeof(struct ieee154_header_broadcast) + MSG_PP_SCHED_FLOOD_PAYLOAD_DEFAULT_LENGTH + sizeof(struct ieee154_footer);
 			packet_size += (packet->init_schedule_length + packet->resp_schedule_length) * PROTOCOL_EUI_LEN;
 
 	/*debug_msg("Schedule packet size: ");
@@ -1183,7 +1186,7 @@ static void write_sync_to_packet_buffer() {
 	uint8_t offset = 0;
 
 	// Header + Constant part
-	uint8_t header_length = sizeof(struct ieee154_header_broadcast) + 4;
+	uint8_t header_length = sizeof(struct ieee154_header_broadcast) + MSG_PP_SCHED_FLOOD_PAYLOAD_DEFAULT_LENGTH;
 
 	memcpy(_sync_pkt_buffer + offset, &_sync_pkt, header_length);
 	offset += header_length;

software/module/firmware/glossy.h

@@ -61,6 +61,8 @@ struct pp_sched_flood {
 	struct ieee154_footer footer;
 } __attribute__ ((__packed__));
 
+#define MSG_PP_SCHED_FLOOD_PAYLOAD_DEFAULT_LENGTH   4 // 4 * uint8_t
+
 struct pp_signal_flood {
 	struct ieee154_header_broadcast header;
 	uint8_t message_type;