example/twr_aloha: fixes

examples/twr_aloha/control.c

@@ -149,6 +149,7 @@ static bool _complete_cb(struct uwb_dev *inst, struct uwb_mac_interface *cbs)
         event_post(uwb_core_get_eventq(), &_rng_listen_event.super);
         return false;
     }
+
     /* get received frame */
     struct uwb_rng_instance *rng = (struct uwb_rng_instance *)cbs->inst_ptr;
 
@@ -157,6 +158,15 @@ static bool _complete_cb(struct uwb_dev *inst, struct uwb_mac_interface *cbs)
     /* parse data*/
     uwb_core_rng_data_t data;
 
+    /* with ss twr, the last frame will hold the initiator as the src address,
+       with ds twr, it will hold the responder address */
+    if (IS_ACTIVE(CONFIG_TWR_PRINTF_INITIATOR_ONLY) &&
+        ((frame->code < UWB_DATA_CODE_DS_TWR && frame->src_address != _udev->uid) ||
+         (frame->code >= UWB_DATA_CODE_DS_TWR && frame->dst_address != _udev->uid))) {
+        event_post(uwb_core_get_eventq(), &_rng_listen_event.super);
+        return true;
+    }
+
     data.src = frame->src_address;
     data.dest = frame->dst_address;
     data.time = ztimer_now(ZTIMER_MSEC);
@@ -205,7 +215,7 @@ static void _rng_listen(void *arg)
     if (!ztimer_is_set(ZTIMER_MSEC, &_rng_request_event.periodic.timer.timer)) {
         _status &= ~TWR_STATUS_INITIATOR;
     }
-    if (_status && TWR_STATUS_RESPONDER) {
+    if (_status & TWR_STATUS_RESPONDER) {
         /* wake up if needed */
         if (_udev->status.sleeping) {
             uwb_wakeup(_udev);
@@ -217,8 +227,7 @@ static void _rng_listen(void *arg)
     }
     else {
         /* go to sleep if possible */
-        if (_rng_request_event.periodic.timer.interval > CONFIG_TWR_MIN_IDLE_SLEEP_MS ||
-            !(_status && TWR_STATUS_INITIATOR)) {
+        if (_rng_request_event.periodic.timer.interval > CONFIG_TWR_MIN_IDLE_SLEEP_MS) {
             uwb_sleep_config(_udev);
             uwb_enter_sleep(_udev);
         }
@@ -254,7 +263,7 @@ static void _rng_request(void *arg)
         uwb_phy_forcetrxoff(_udev);
     }
 
-   uwb_rng_request(_rng, event->addr, (uwb_dataframe_code_t)event->proto);
+    uwb_rng_request(_rng, event->addr, (uwb_dataframe_code_t)event->proto);
 }
 
 void uwb_core_rng_start(uint16_t addr, twr_protocol_t proto, uint32_t interval,
@@ -285,7 +294,14 @@ void uwb_core_rng_init(void)
     /* set initial status */
     _status = 0;
     /* got to sleep on boot */
-    struct uwb_dev*_udev = uwb_dev_idx_lookup(0);
+    struct uwb_dev *_udev = uwb_dev_idx_lookup(0);
+
     uwb_sleep_config(_udev);
     uwb_enter_sleep(_udev);
 }
+
+uint32_t uwb_core_rng_req_remaining(void)
+{
+    /* doesn't matter if its not atomic */
+    return _rng_request_event.periodic.count;
+}

examples/twr_aloha/control.h

@@ -31,14 +31,21 @@ extern "C" {
  * @brief   Block after a request is sent
  */
 #ifndef CONFIG_TWR_SHELL_BLOCKING
-#define CONFIG_TWR_SHELL_BLOCKING       1
+#define CONFIG_TWR_SHELL_BLOCKING           1
 #endif
 
 /**
  * @brief   Minimum idle time to enable putting the radio to sleep
  */
 #ifndef CONFIG_TWR_MIN_IDLE_SLEEP_MS
-#define CONFIG_TWR_MIN_IDLE_SLEEP_MS    20
+#define CONFIG_TWR_MIN_IDLE_SLEEP_MS        20
+#endif
+
+/*
+ * @brief   Block after a request is sent
+ */
+#ifndef CONFIG_TWR_PRINTF_INITIATOR_ONLY
+#define CONFIG_TWR_PRINTF_INITIATOR_ONLY    1
 #endif
 
 /**
@@ -100,6 +107,11 @@ void uwb_core_rng_listen_disable(void);
 void uwb_core_rng_start(uint16_t addr, twr_protocol_t proto, uint32_t interval,
                         uint32_t count);
 
+/**
+ * @brief   Returns remaining rng requests
+ */
+uint32_t uwb_core_rng_req_remaining(void);
+
 #ifdef __cplusplus
 }
 #endif

examples/twr_aloha/tests-with-config/01-run.py

@@ -23,6 +23,7 @@ class TwrShell(Reboot, TwrCmd):
         "hwaddr": None,
         "hwaddr64": None,
         "panid": None,
+        "channel": None,
     }
 
     def parse_netif(self):
@@ -41,6 +42,9 @@ def hwaddr64(self):
     def panid(self):
         return self._netif["panid"]
 
+    def channel(self):
+        return self._netif["channel"]
+
 
 class TestTWRBase(unittest.TestCase):
     DEBUG = False
@@ -68,7 +72,7 @@ def test_ifconfig(self):
         assert self.shell.panid() == "DE:CA"
         assert self.shell.hwaddr() is not None
         assert self.shell.hwaddr64() is not None
-        assert self.shell.panid() is not None
+        assert self.shell.channel() == "5"  # default channel is 5
 
     def test_listen(self):
         assert "[twr]: start listening" in self.shell.twr_listen(on=True)

examples/twr_aloha/twr_shell.c

@@ -35,6 +35,14 @@
 #define IEEE802154_SHORT_ADDRESS_LEN_STR_MAX \
     (sizeof("00:00"))
 
+/* See 7.2.31.1 Units of TX Power Control */
+#define DW1000_TX_POWER_COARSE_SHIFT        (5)
+#define DW1000_TX_POWER_COARSE_MASK         (0xE0)
+#define DW1000_TX_POWER_FINE_MASK           (0x1F)
+#define DW1000_TX_POWER_MULTI               (10)
+#define DW1000_TX_POWER_COARSE_STEP         (30)        /* 3dbM * 10 */
+#define DW1000_TX_POWER_FINE_STEP           (5)         /* 0.5dbM * 10 */
+
 int _twr_ifconfig(int argc, char **argv)
 {
     (void)argc;
@@ -49,11 +57,24 @@ int _twr_ifconfig(int argc, char **argv)
     printf("\tHWaddr: %s  ",
            l2util_addr_to_str(buffer, IEEE802154_SHORT_ADDRESS_LEN, addr_str));
     byteorder_htobebufs(buffer, udev->pan_id);
+    printf("Channel: %d  ", udev->config.channel);
     printf("NID: %s\n\n",
            l2util_addr_to_str(buffer, IEEE802154_SHORT_ADDRESS_LEN, addr_str));
     byteorder_htobebufll(buffer, udev->euid);
     printf("\t\tLong HWaddr: %s\n",
            l2util_addr_to_str(buffer, IEEE802154_LONG_ADDRESS_LEN, addr_str));
+    /* 000 -> 18dBM gain, 110 -> 0dBm gain */
+    int tx_power =
+        DW1000_TX_POWER_COARSE_STEP  *
+        (6 -
+         ((udev->config.txrf.BOOSTNORM & DW1000_TX_POWER_COARSE_MASK) >>
+          DW1000_TX_POWER_COARSE_SHIFT)) +
+        (udev->config.txrf.BOOSTNORM & DW1000_TX_POWER_FINE_MASK) *
+        DW1000_TX_POWER_FINE_STEP;
+
+    printf("\t\tTX-Power: %d.%ddBm  ", tx_power / DW1000_TX_POWER_MULTI,
+           tx_power > (tx_power / DW1000_TX_POWER_MULTI) * DW1000_TX_POWER_MULTI ? 5 : 0);
+    printf("TC-PGdelay: 0x%02x\n", udev->config.txrf.PGdly);
 
     return 0;
 }
@@ -100,7 +121,8 @@ int _twr_handler(int argc, char **argv)
         uint32_t count = 1;
         uint32_t interval_ms = 1000;
         int proto = UWB_DATA_CODE_SS_TWR;
-        uint8_t addr[IEEE802154_SHORT_ADDRESS_LEN_STR_MAX];
+        uint8_t addr[IEEE802154_SHORT_ADDRESS_LEN];
+        uint16_t short_addr = 0x0000;
         int res = 0;
         if (argc < 3) {
             _print_usage();
@@ -117,6 +139,11 @@ int _twr_handler(int argc, char **argv)
                          "(hex pairs delimited by colons)");
                     res = 1;
                 }
+                short_addr = addr[1] + (addr[0] << 8);
+                if (short_addr == 0x0000) {
+                    printf("[ERROR]: invalid addr %s\n", arg);
+                    res = 1;
+                }
             }
             else {
                 switch (arg[1]) {
@@ -173,15 +200,18 @@ int _twr_handler(int argc, char **argv)
                 }
             }
         }
-        if (res != 0) {
+        if (res != 0 || (short_addr == 0x0000)) {
             _print_usage();
             return 1;
         }
-        uint16_t short_addr = addr[1] + (addr[0] << 8);
         puts("[twr]: start ranging");
         uwb_core_rng_start(short_addr, proto, interval_ms, count);
         if (IS_ACTIVE(CONFIG_TWR_SHELL_BLOCKING)) {
-            ztimer_sleep(ZTIMER_MSEC, interval_ms * (count + 1));
+            while (uwb_core_rng_req_remaining()) {
+                ztimer_sleep(ZTIMER_MSEC, interval_ms);
+            }
+            /* some time to finish up */
+            ztimer_sleep(ZTIMER_MSEC, 100 + interval_ms);
         }
         return 0;
     }

examples/twr_aloha/twr_shell.py

@@ -18,13 +18,15 @@ class TwrIfconfigParser(ShellInteractionParser):
     hwaddr_c = re.compile(r"HWaddr:\s+(?P<name>[0-9a-fA-F:]+)\s")
     hwaddr64_c = re.compile(r"Long HWaddr:\s+(?P<name>[0-9a-fA-F:]+)")
     panid_c = re.compile(r"NID:\s+(?P<name>[0-9a-fA-F:]+)")
+    channel_c = re.compile(r"Channel:\s+(?P<name>[0-9]+)")
 
     def parse(self, cmd_output):
         netif = {
             "netif": None,
             "hwaddr": None,
             "hwaddr64": None,
             "panid": None,
+            "channel": None,
         }
         for line in cmd_output.splitlines():
             m = self.iface_c.search(line)
@@ -39,6 +41,9 @@ def parse(self, cmd_output):
             m = self.panid_c.search(line)
             if m is not None:
                 netif["panid"] = m.group("name")
+            m = self.channel_c.search(line)
+            if m is not None:
+                netif["channel"] = m.group("name")
         return netif
 
 
@@ -55,9 +60,9 @@ def twr_listen(self, on=True, timeout=-1, async_=False):
             args=("lst", "on" if on else "off"), timeout=timeout, async_=async_
         )
 
-    def twr_req(self, count=1, interval=1000, proto="ss", timeout=-1, async_=False):
+    def twr_req(self, addr="ff:ff", count=1, interval=1000, proto="ss", timeout=-1, async_=False):
         return self.twr_cmd(
-            args=("req", f"-c {count}", f"-p {proto}", f"-i {interval}"),
+            args=("req", f"{addr}", f"-c {count}", f"-p {proto}", f"-i {interval}"),
             timeout=timeout,
             async_=async_,
         )