fixed reception issue with different EUIs

software/module/firmware/app_standard_common.c

@@ -54,7 +54,7 @@ void standard_configure (module_config_t* config) {
     // Set EUI
     dw1000_read_eui(_config.my_EUI);
     // FIXME: Load actual EUI to FLASH
-    _config.my_EUI[0] = 0xF0;
+    _config.my_EUI[0] = APP_EUI_FIRST_BYTE;
 
 	// Now init based on role
 	_config.init_active = FALSE;
@@ -123,7 +123,7 @@ void standard_start () {
 	// Make sure the SPI speed is slow for this function
 	dw1000_spi_slow();
 
-	// Setup callbacks to this ANCHOR
+	// Setup general callbacks
 	dwt_setcallbacks(common_txcallback, common_rxcallback, common_rxcallback, common_rxcallback);
 
 	// Make sure the radio starts off
@@ -133,6 +133,7 @@ void standard_start () {
 	dwt_enableframefilter(DWT_FF_DATA_EN | DWT_FF_ACK_EN);
 
 	// Don't use these
+	dwt_setdblrxbuffmode(FALSE);
 	dwt_setrxtimeout(FALSE);
 
 	// Make SPI fast now that everything has been setup

software/module/firmware/app_standard_init.c

@@ -37,7 +37,7 @@ void standard_initiator_init (standard_init_scratchspace_struct *app_scratchspac
 
 	// Initialize important variables inside scratchspace
 	si_scratch->pp_tag_poll_pkt = (struct pp_tag_poll) {
-		{ // 802.15.4 HEADER
+		.header = { // 802.15.4 HEADER
 			{
 				0x41, // FCF[0]: data frame, panid compression
 				0xC8  // FCF[1]: ext source address, compressed destination
@@ -54,18 +54,21 @@ void standard_initiator_init (standard_init_scratchspace_struct *app_scratchspac
 			{ 0 }     // Source (blank for now)
 		},
 		// PACKET BODY
-		MSG_TYPE_PP_NOSLOTS_TAG_POLL,  // Message type
-		0,                             // Sub Sequence number
-		NUM_RANGING_BROADCASTS-1,
-		RANGING_LISTENING_WINDOW_US,
-		RANGING_LISTENING_SLOT_US,
-		{ { 0 } }
+		.message_type = MSG_TYPE_PP_NOSLOTS_TAG_POLL,  // Message type
+		.subsequence  = 0,                             // Sub Sequence number
+		.reply_after_subsequence      = NUM_RANGING_BROADCASTS-1,
+		.anchor_reply_window_in_us    = RANGING_LISTENING_WINDOW_US,
+		.anchor_reply_slot_time_in_us = RANGING_LISTENING_SLOT_US,
+		.footer = {
+            { 0 }
+		}
 	};
 
 	// Make sure the SPI speed is slow for this function
 	dw1000_spi_slow();
 
-	dwt_setdblrxbuffmode(TRUE);//FALSE);
+	// FIXME: Is the double receiver buffer necessary / useful?
+	//dwt_setdblrxbuffmode(TRUE);//FALSE);
 	dwt_enableautoack(DW1000_ACK_RESPONSE_TIME);
 
 	// Make SPI fast now that everything has been setup

software/module/firmware/app_standard_resp.c

@@ -328,19 +328,20 @@ void resp_rxcallback (const dwt_cb_data_t *rxd, uint8_t * buf, uint64_t dw_rx_ti
 
 						// Record the EUI of the tag so that we don't get mixed up
 						memcpy(sr_scratch->pp_anc_final_pkt.ieee154_header_unicast.destAddr, rx_poll_pkt->header.sourceAddr, 8);
+
 						// Record which ranging subsequence the tag is on
 						sr_scratch->ranging_broadcast_ss_num = rx_poll_pkt->subsequence;
-						// Record the timestamp. Need to subtract off the TX+RX delay from each recorded
-						// timestamp.
+
+						// Record the timestamp. Need to subtract off the TX+RX delay from each recorded timestamp.
 						sr_scratch->pp_anc_final_pkt.first_rxd_toa = dw_rx_timestamp - standard_get_rxdelay_from_subsequence(sr_scratch->ranging_broadcast_ss_num);
 						sr_scratch->pp_anc_final_pkt.first_rxd_idx = sr_scratch->ranging_broadcast_ss_num;
-						sr_scratch->pp_anc_final_pkt.TOAs[sr_scratch->ranging_broadcast_ss_num] =
-							(dw_rx_timestamp - standard_get_rxdelay_from_subsequence(sr_scratch->ranging_broadcast_ss_num)) & 0xFFFF;
-						// Also record parameters the tag has sent us about how to respond
-						// (or other operational parameters).
-						sr_scratch->ranging_operation_config.reply_after_subsequence = rx_poll_pkt->reply_after_subsequence;
-						sr_scratch->ranging_operation_config.resp_reply_window_in_us = rx_poll_pkt->anchor_reply_window_in_us;
-						sr_scratch->ranging_operation_config.resp_reply_slot_time_in_us = rx_poll_pkt->anchor_reply_slot_time_in_us;
+
+						sr_scratch->pp_anc_final_pkt.TOAs[sr_scratch->ranging_broadcast_ss_num] = (dw_rx_timestamp - standard_get_rxdelay_from_subsequence(sr_scratch->ranging_broadcast_ss_num)) & 0xFFFF;
+
+						// Also record parameters the tag has sent us about how to respond (or other operational parameters).
+						sr_scratch->ranging_operation_config.reply_after_subsequence    = NUM_RANGING_BROADCASTS - 1;  //rx_poll_pkt->reply_after_subsequence;
+						sr_scratch->ranging_operation_config.resp_reply_window_in_us    = RANGING_LISTENING_WINDOW_US; //rx_poll_pkt->anchor_reply_window_in_us;
+						sr_scratch->ranging_operation_config.resp_reply_slot_time_in_us = RANGING_LISTENING_SLOT_US;   //rx_poll_pkt->anchor_reply_slot_time_in_us;
 
 						// Update the statistics we keep about which antenna
 						// receives the most packets from the tag

software/module/firmware/dw1000.c

@@ -861,6 +861,10 @@ dw1000_err_e dw1000_configure_settings () {
 	// Set this node's ID and the PAN ID for our DW1000 ranging system
 	uint8_t eui_array[8];
 	dw1000_read_eui(eui_array);
+
+	// FIXME: Set EUI in Flash directly
+	eui_array[0] = APP_EUI_FIRST_BYTE;
+
 	dwt_seteui(eui_array);
 	dwt_setpanid(MODULE_PANID);
 

software/module/firmware/firmware.h

@@ -35,6 +35,9 @@ typedef enum {
 /******************************************************************************/
 #define MODULE_PANID 0x6611
 
+// FIXME: Put correct EUI in Flash
+#define APP_EUI_FIRST_BYTE 0x01
+
 /******************************************************************************/
 // I2C for the application
 /******************************************************************************/

software/module/firmware/module_conf.h

@@ -31,7 +31,7 @@
 	#define DW1000_SFD_TO                (64 + 1 + 8 - 8) /* (Preamble length + 1 + SFD length - PAC size) */
 	#define RANGING_BROADCASTS_PERIOD_US 1000
 	#define RANGING_LISTENING_WINDOW_US  8000
-	#define RANGING_LISTENING_WINDOW_PADDING_US 2000 // This must be large enough so that setup can always occur, even for small EUIs (which influence the random state of the app)
+	#define RANGING_LISTENING_WINDOW_PADDING_US 1100
 #endif
 
 // Protocol adaptation -------------------------------------------------------------------------------------------------