NanoLOC NTRX Driver Suite UG

nanoLOC nTRX Driver Suite

User Guide

Version 2.5NA-07-0240-0407-2.5

Document InformationnanoLOC nTRX Driver Suite User Guide

Page ii NA-07-0240-0407-2.5 © 2010 Nanotron Technologies GmbH.

Document Information

Document Title: nanoLOC nTRX Driver Suite User GuideDocument Version: 2.5Published (yyyy-mm-dd): 2010-03-31 Current Printing: 2010-3-30, 6:07 pmDocument ID: NA-07-0240-0407-2.5Document Status: Released

Disclaimer

Nanotron Technologies GmbH believes the information contained hereinis correct and accurate at the time of release. Nanotron TechnologiesGmbH reserves the right to make changes without further notice to theproduct to improve reliability, function or design. Nanotron TechnologiesGmbH does not assume any liability or responsibility arising out of thisproduct, as well as any application or circuits described herein, neitherdoes it convey any license under its patent rights.As far as possible, significant changes to product specifications and functionality will be provided in product specific Errata sheets, or in new versions of this document. Customers are encouraged to check the Nan-otron website for the most recent updates on products.

TrademarksAll other trademarks, registered trademarks, and product names are the sole property of their respective owners. This document and the information contained herein is the subject of copyright and intellectual property rights under international convention. All rights reserved. No part of this document may be reproduced, stored in a retrieval system, or transmitted in any form by any means, elec-tronic, mechanical or optical, in whole or in part, without the prior written permission of Nanotron Technologies GmbH.Copyright © 2010 Nanotron Technologies GmbH.

Table of ContentsnanoLOC nTRX Driver Suite User Guide

Table of Contents

1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11.1 nanoLOC nTRX Driver Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11.2 Modules. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11.3 Key Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21.4 Example Implementation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

2 nanoLOC API . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32.1 nanoLOC nTRX Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32.2 General Layer Interface – SAP, MESAP and Callback. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42.3 General Message Structure – MsgT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52.4 Hardware Adaption Layer – Microcontroller and Hardware Dependent . . . . . . . . . . . . . . . . . . . . . 5

2.4.1 SPI Bus Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62.4.2 Interrupt Service Routine Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

2.5 Chip Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62.6 PHY Layer (nTRX Driver) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

2.6.1 PHY Layer Data SAP – PDSap (). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72.6.2 PHY Layer Management Entity SAP – PLMESap () . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72.6.3 Upstream Callback Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

2.7 Application Layer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72.7.1 Using PDSap () on the PHY Layer for Data Transmission Requests. . . . . . . . . . . . . . . . . . . 72.7.2 Using PLMESap () on the PHY Layer Chip Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . 82.7.3 Upstream Callback Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

3 nanoLOC Ranging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113.1 Symmetrical Double Sided Two-Way Ranging (SDS-TWR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

3.1.1 SDS-TWR Defined . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113.1.2 Propagation and Processing Delay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113.1.3 Generating First Set of Time Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123.1.4 Granting Permission to Perform Measurements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123.1.5 Eliminating Clock Errors by a Second Symmetrical Measurement . . . . . . . . . . . . . . . . . . . 123.1.6 Collecting the Time Values with a Third Data Packet. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123.1.7 Calculating the Ranging Distance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

3.2 Ranging Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143.2.1 SDS-TWR 3W_A – Providing Ranging Results to Peer A . . . . . . . . . . . . . . . . . . . . . . . . . . 143.2.2 SDS-TWR 3W_B – Providing Ranging Results to Peer B . . . . . . . . . . . . . . . . . . . . . . . . . . 163.2.3 SDS-TWR 2W_PP – Energy Saving Ranging Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

3.3 Success and Error Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193.3.1 Success Messages. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193.3.2 Error Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

4 Driver Demo – Hardware Access/Interface Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214.1 appl.c Module – User Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

4.1.1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214.1.2 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

4.2 hwclock.c Module – Timer. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214.2.1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

4.3 usart.c – Serial Line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224.3.1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224.3.2 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

4.4 nnspi.c Module – SPI Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224.4.1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224.4.2 Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

4.5 main.c Module – Main Loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234.5.1 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234.5.2 Starting Up and Running an Application. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234.5.3 Initializing the nanoLOC TRX Transceiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234.5.4 Setting Up the User Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234.5.5 The Main Loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

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Table of ContentsnanoLOC nTRX Driver Suite User Guide

4.5.6 Transmitting Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 244.5.7 Receiving Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25Revision History . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Page iv NA-07-0240-0407-2.5 © 2010 Nanotron Technologies GmbH.

IntroductionnanoLOC nTRX Driver Suite User Guide

1

1 Introduction

This document describes the structure of the nanoLOC nTRX Driver model as well as the interfacethe driver provides for accessing the nanoLOC TRX Transceiver. Additionally, a description of thenTRX Driver Demo is provided. This software is a complete sample application for the nanoLOCDK Board that is can be compiled and downloaded to the board for evaluation purposes.

1.1 nanoLOC nTRX Driver Overview

Wireless applications that access the nanoLOC chip do so through the API of the nanoLOC nTRXDriver. Upper layers, including the application layer, communicate with lower layers by sending andreceiving messages. This API allows the application layer to access the chip’s functions includingchip-specific settings and performance criteria such as address matching, error checking, modula-tion methods, and data transmission rates. Furthermore, hardware adaption layer messages aresent to the nanoLOC chip over the SPI interface. The nanoLOC API is located within the phy.cmodule of the nanoLOC nTRX Driver source code.

1.2 Modules

The nanoLOC nTRX Driver consists of the following four modules:

+ ntrxinit.c

This module contains the initialization function for the nanoLOC chip.

+ ntrxiqpar.c

This module contains the chirp sequence values for the chirp sequencer in the nanoLOC chip.

+ phy.c

This module contains the nanoLOC nTRX Driver API and is used for transmitting and receiving messages.

+ ntrxutil.c

This module contains the utility functions needed by other nanoLOC nTRX Driver modules for calibration and general register access.

+ ntrxranging.c

This module contains the implementation of the nanoLOC nTRX Driver ranging functions.

The following figure shows the relationship between these four modules:

Figure 1: nanoLOC nTRX Driver modules

ntrxinit.c

nanoLOC chip Initialization

phy.c

Data I/O

ntrxiqpar.c

RF Modes functions

ntrxutil.c

Calibr. fnGeneric fn

ranging.c

Ranging functions

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IntroductionnanoLOC nTRX Driver Suite User Guide

1

1.3 Key Settings

Some of the key settings of the nanoLOC nTRX Driver include:

+ A means for the transceiver to access upper layers

+ Read and write values into transceiver registers

+ Set the Logical Network ID (which sets the SyncWord)

+ Enable/disable address matching

+ Enable/disable Broadcast (Brdcast) or Time Beacon (TimeB) packets

+ Enable/disable receiver CRC2 checking

+ Set CRC2 method to detect transmission bit errors

+ Set CSMA/CA (carrier sense method for collision avoidance)

+ Enable/disable a backoff scheme for packet collision avoidance

+ Enable/disable Automatic Repeat Request (ARQ) on the receiver

+ Set the transmission output power

+ Calibrate frequency of transmission and reception oscillators

+ Set frequency bandwidth

+ Select frequency channel (for narrowband transmission)

+ Read out range (distance) value

+ Manually start and stop packet transmission

+ Set data transmission rate

+ Enable/disable FEC

1.4 Example Implementation

Figure 2 below shows an example implementation of the nanoLOC nTRX Driver.

Figure 2: Example nanoLOC TRX Driver implementation

= Message

= InterfaceApplication Layer

TX RX

Logical Connection

TX RX

Physical Connection

Transmitted Packet

PHY Layer (nTRX Driver)Event Handler

Hardware Adaption Layer

nanoLOCChip

Application Layer

Received Packet



nanoLOCChip

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nanoLOC APInanoLOC nTRX Driver Suite User Guide

2

2 nanoLOC API

This section describes how an application accesses chip functionality through the use of the appli-cation programming interface (API) of the nanoLOC nTRX Driver. The API uses the same namingconvention as IEEE 802.15.4.

2.1 nanoLOC nTRX Driver

Applications access the nanoLOC TRX Transceiver through the API of the nanoLOC nTRX Driver.Upper layers, including the application layer, communicate with lower layers by sending andreceiving commands. With this API, the application layer has a simple means of accessing thechip’s functions, including chip-specific settings and performance criteria such as address match-ing, error checking, modulation methods, and data transmission rates. Hardware adaption layermessages are sent to the nanoLOC chip over the SPI interface. The nanoLOC API is locatedwithin the phy.c module of the nTRX Driver source code.

Figure 3: Layer structure

The nanoLOC TRX Driver API reads and writes values into the registers of the nanoLOC TRXTransceiver. Some of the key settings of the nanoLOC TRX Driver include the following:

= Message

= InterfaceApplication Layer

TX RX

Logical Connection

TX RX

Physical Connection

Transmitted Packet



nanoLOCTRX Transceiver

Application Layer

Received Packet



nanoLOCTRX Transceiver

= SAP

+ Sets the Logical Network ID (which sets the SyncWord)

+ Enables / disables address matching

+ Enables / disables Broadcast (Brdcast) orTime Beacon (TimeB) packets

+ Enables / disables receiver CRC2 checking

+ Sets CRC2 method to detect transmissionbit errors

+ Sets CSMA/CA (carrier sense method forcollision avoidance)

+ Enables / disables a backoff scheme forpacket collision avoidance

+ Enables / disables Automatic RepeatRequest (ARQ) on the receiver

+ Sets the transmission output power

+ Calibrates frequency of transmission andreception oscillators

+ Sets frequency bandwidth

+ Selects frequency channel (for narrowbandtransmission)

+ Reads out range (distance) value

+ Manual starting and stopping packet trans-mission

+ Sets the data transmission rate

+ Enables / disables Forward Error Correction(FEC)



2

2.2 General Layer Interface – SAP, MESAP and Callback

All communication between layers is done by sending and receiving messages. Each layer has thesame interface and can be easily exchanged or extended without changing the overall interface.Service Access Points (SAPs) are implemented as C functions and accepts a single pointer to a C-Struct interpreted as a message. This message contains all the necessary information requiredto execute a task from an upper layer. Figure 4 below illustrates the general layer interface (SAP,MESAP and Callback) of the nanoLOC nTRX Driver.

Figure 4: nTRX Driver API General layer interface

The PHY layer provides two Service Access Points (SAPs) for downstream messages from theApplication Layer: LayernameSAP and LayernameMESAP. The PHY layer also provides one call-back function for upstream messages from the Hardware Adaption Layer: LayernameCallback.

The general form for these SAPs are:

+ Downstream SAPs:

On the PHY layer, these SAPs are:

+ Upstream Callback Function:

On the PHY layer, this callback function is:

+ In addition to these services, every layer has variables that have to be initialized. This action isput into a separate function called LayernameInit:

On the PHY layer, this function is:

Application Layer

PHY layer (nTRX Driver)

PDSap PLMESap

PDCallback


nanoLOC Chip

SPI Interface IRQ Reset

APPCallback

µC and HW dependent

µC and HW independent

void LayernameSAP (MsgT *msg);void LayernameMESAP (MsgT *msg);

void PDSap (MsgT *msg)void PLMESap (MsgT *msg)

void LayernameCallback (MsgT *msg);

void PDCallback (void)

void LayernameInit (void);

void PHYInit (void)



2

2.3 General Message Structure – MsgT

For a layer to provide information to a lower layer, the message structure MsgT is used, which islocated in the file ntrxtypes.h. Return values are also provided with the help of this structure.

Figure 5: MsgT message structure

Table 1 below describes the variables in the message structure MsgT.

2.4 Hardware Adaption Layer – Microcontroller and Hardware Dependent

The Hardware Adaption Layer is used to access the nanoLOC TRX Transceiver and |is dependenton the microcontroller and hardware.

Figure 6: Hardware adaption layer

Note: This layer must be written for each microcontroller family. The nanoLOC Development Kit uses the Atmel ATmega128L microcontroller, which is part of the AVR family of microcon-trollers.

Table 1: Description of MsgT Message structure

Variable Description

uint8_t prim; Primitive name (1 byte)

AddrT addr; MAC address of destination station (6 bytes)

uint8_t len; Length of message (1 byte)

uint8_t *pdu; Points to the beginning of the payload in the buffer

uint8_t data[MAX_PACKET_SIZE];

Payload of message (n bytes to a maximum of 128 bytes)

uint8_t status; Status indicator used with LayerCallback function (1 byte)

uint16_t value;Value of requested parameter used for setting or getting chip config-uration requests (2 bytes)

uint8_t attribute;Selected attribute used with the value parameter for setting or get-ting chip configuration requests (1 byte)

typedef struct{

uint8_t prim;AddrT addr;uint8_t len;uint8_t *pdu;uint8_t data[CONFIG_MAX_PACKET_SIZE];uint8_t status;uint16_t value;uint8_t attribute;

} MsgT;

The primitive of the message.

MAC address of the message.

pointer to beginning of payload in buffer

Payload length

Attribute for setting or getting chip configuration requests

Payload of the message

Status value for confirmationsConfiguration value of a layer setting

PDCallback


nanoLOC Chip

SPI Interface IRQ Reset



2

2.4.1 SPI Bus Functions

The implementation of the Hardware Adaption Layer for AVR microcontrollers uses four functionsto communicate with the nanoLOC chip over the SPI bus. It also uses an interrupt service routine.The functions for the SPI bus include:

where:

+ NTRXSPIRead reads multiple bytes to the nanoLOC chip

+ NTRXSPIWrite writes multiple bytes to the nanoLOC chip

+ NTRXSPIReadByte reads single bytes to the nanoLOC chip

+ NTRXSPIWriteByte writes single bytes to the nanoLOC chip

2.4.2 Interrupt Service Routine Function

The function used for interrupt service routines is:

The interrupt service routine will read the IRQ status register and raise a flag for transmission fin-ished or message reception. The actual processing of the interrupt source is done in normal con-text through the use of the function PHYPoll().

2.5 Chip Initialization

To prepare the nanoLOC chip for message sending and receiving, the following function is used:

2.6 PHY Layer (nTRX Driver)

The PHY layer provides two downstream SAPs for the Application Layer and an upstream callbackfunction for the Hardware Adapter Layer, as shown in figure 7 below.

Figure 7: PHY layer SAPS

void NTRXSPIRead(uint8_t address, uint8_t *buffer, uint8_t len);void NTRXSPIWrite(uint8_t address, uint8_t *buffer, uint8_t len);void NTRXSPIReadByte(uint8_t address, uint8_t *buffer);void NTRXSPIWriteByte(uint8_t address, uint8_t buffer);

void NTRXInterrupt (void)

bool_t NtrxInit(void)

Application Layer


PDSap PLMESap

PDCallback


APPCallback



2

2.6.1 PHY Layer Data SAP – PDSap ()

PDSap () is used by the Application Layer for downstream data transmission to the PHY layer.This SAP uses the message structure MsgT.

For details on the structure MsgT and parameters required for the SAP PDSap (), see 2.7.1. UsingPDSap () on the PHY Layer for Data Transmission Requests on page 7:

2.6.2 PHY Layer Management Entity SAP – PLMESap ()

PLMESap() is used by the Application Layer for nanoLOC chip configuration requests and que-ries.

For details on the structure MsgT and parameters required for the SAP PLMESap (), see 2.7.2.Using PLMESap () on the PHY Layer Chip Configuration on page 8:

2.6.3 Upstream Callback Function

The PHY layer provides a single upstream Callback function PDCallback.

2.7 Application Layer

The Application Layer accesses the two downstream SAPs on the PHY layer PDSap () andPLMESap ()and provides to the PHY layer an upstream callback function, as shown in figure 8below:

Figure 8: Application layer

2.7.1 Using PDSap () on the PHY Layer for Data Transmission Requests

The Application layer uses the PHY layer SAP PDSap () for data transmission.

The Application layer uses MsgT, as described in section 2.3 (unused parameters noted below).

void PDSap (MsgT *msg)

void PLMESap (MsgT *msg)

void PDCallback (void)

Application Layer


PDSap PLMESap

APPCallback

void PDSap (MsgT * msg)

typedef struct{

uint8_t prim;AddrT addr;uint8_t len;uint8_t *pdu;uint8_t data[128];uint8_t status;uint16_t value;uint8_t attribute;

} MsgT;

Not used for sending messages



2

Primitives

The parameter prim uses the following primitives (attribute parameter) to indicate the requestedservice:

+ PD_DATA_CONFIRM – Hardware acknowledgement has been received

PURPOSE: Indicates that a PD_DATA_REQUEST message was successfully executed.

Valid parameters include data payload (data), destination address (addr), payload length (len), and success or failure (status).

+ PD_DATA_INDICATION – Message has been received

PURPOSE: A message has been received from another device.

Valid parameters are data payload (data), source address (addr), and payload length (len).

+ PD_DATA_REQUEST – Transmit a message

PURPOSE: Requests a message to be transmitted to a given destination.

Valid parameters include type of request (prim), destination address (addr), data payload (data), and payload length (len).

2.7.2 Using PLMESap () on the PHY Layer Chip Configuration

The Application layer sends configuration requests and queries to the nanoLOC TRX Transceiverusing the SAP PLMESap() on the PHY Layer.

The Application layer uses MsgT, as described in section 2.3 (unused parameters noted below).

Primitives

The parameter prim uses the following primitives (attribute parameter) to indicate the requestedservice:

+ PLME_GET_REQUEST

PURPOSE: Queries a setting of the layer parameter. For example, is FEC set to on?

The attribute parameter is used to select one of the supported attributes (see below), whilethe value parameter selects the current setting of the attribute. The value field is only valid ifthe status field indicates no error.

+ PLME_SET_REQUEST

PURPOSE: Sets a parameter of the layer. For example, set FEC to on.

The attribute parameter is used to select one of the supported attributes (see below), whilethe value parameter provides the new value to set.

void PLMESap (MsgT * msg)

typedef struct{

uint8_t prim;AddrT addr;uint8_t len;uint8_t *pdu;uint8_t data[128];uint8_t status;uint16_t value;uint8_t attribute;

} MsgT;

Not used



2

Attributes

The following attributes are available to be set or queried through the function PLMESap().

+ PHY_LOG_CHANNEL

PURPOSE: Selects or requests a logical channel, which is a predefined set of transmissionmode settings. Table 2 lists the supported logical channels.

+ PHY_CHANNEL

PURPOSE: Sets the center frequency used in the NTRX_Mode. Table 3 lists the available chan-nels:

+ PHY_ARQ

PURPOSE: Turns on and off automatic retransmissions. When on, it also sets the maximumnumber of retransmissions. The range for maximum retransmissions is 0 to 14.

+ PHY_FEC

PURPOSE: This attribute turns on and off Forward Error Correction (FEC). For more detailsabout FEC, see nanoLOC TRX (NA5TR1) Transceiver User Guide.

+ PHY_TX_POWER

PURPOSE: This attribute sets the output power of the transmitter. The programmable outputpower of the nanoLOC chip is from -33 dBm to 0 dBm.

Table 2: NTRX_LogChannel attributes

Logical Channel Bandwidth [MHz] Bitrate [ns] FEC Centerfreq ID

NLC_80_1_N_0 80 1000 No 0

NLC_22_4_N_1 22 4000 No 1

NLC_22_4_N_7 22 4000 No 7

NLC_22_4_N_13 22 4000 No 13

Table 3: NTRX_Channel attributes

Channel ID Center Frequency [GHz] Description

0 2.442.175 CSS, 80 MHz

1 2.412 802.11b, CHNL_ID 1

2 2.417 802.11b, CHNL_ID 2

3 2.422 802.11b, CHNL_ID 3

4 2.427 802.11b, CHNL_ID 4

5 2.432 802.11b, CHNL_ID 5

6 2.437 802.11b, CHNL_ID 6

7 2.442 802.11b, CHNL_ID 7

8 2.447 802.11b, CHNL_ID 8

9 2.452 802.11b, CHNL_ID 9

10 2.457 802.11b, CHNL_ID 10

11 2.462 802.11b, CHNL_ID 11

12 2.467 802.11b, CHNL_ID 12

13 2.472 802.11b, CHNL_ID 13

14 2.484 802.11b, CHNL_ID 14 (Japan)

15 2412.75 HR low band center frequency

16 2470.76 HR high band center frequency



2

+ PHY_ADDR_MATCHING

PURPOSE: This attribute turns on and off address matching. For more details about addressmatching, see nanoLOC TRX (NA5TR1) Transceiver User Guide.

+ NTRX_RTC

PURPOSE: This attribute accesses the Real Time Clock of the nanoLOC chip. For more detailsabout the Real Time Clock, see nanoLOC TRX (NA5TR1) Transceiver User Guide.

+ PHY_PWR_DOWN_MODE

PURPOSE: This attribute is used to put the nanoLOC chip into PowerDownModeFull or Power-DownModePad. For more details about power down modes, see nanoLOC TRX (NA5TR1)Transceiver User Guide.

+ PHY_RECALIBRATION

PURPOSE: This attribute is used to switch cyclic recalibration on or off. In case of on, it also setsthe calibration interval. For more details about recalibration, see nanoLOC TRX (NA5TR1)Transceiver User Guide.

+ PHY_MAC_ADDRESS1

PURPOSE: This attribute is used to set the local MAC address. This address is used for addressmatching and as sender address when transmitting messages. For more details addressmatching, see nanoLOC TRX (NA5TR1) Transceiver User Guide.

2.7.3 Upstream Callback Function

The Application Layer provides to the PHY layer the following upstream callback function:

void APPCallback (MsgT *msg)


nanoLOC RangingnanoLOC nTRX Driver Suite User Guide

3

3 nanoLOC Ranging

nanoLOC Ranging uses a methodology called Symmetrical Double-Sided Two-Way Ranging(SDS-TWR) developed by Nanotron Technologies and is part of the nanoLOC nTRX Driver. In thenanoLOC Development Kit three different ranging modes are available:

+ SDS-TWR 3W_A provides measurement results to Peer station A (the local station thatrequested the ranging)

+ SDS-TWR 3W_B provides measurement results to Peer station B (the remote station withwhich the location station is performing ranging)

+ SDS-TWR 2W_PP operates identical to 3W_A except it uses time data from the previous rang-ing request to reduce energy consumption and quicker generation of ranging results

3.1 Symmetrical Double Sided Two-Way Ranging (SDS-TWR)

3.1.1 SDS-TWR Defined

The SDS-TWR ranging methodology is:

+ Symmetrical as the first ranging measurement from Peer A to Peer B is mirrored by a secondranging measurement from Peer B to Peer A

+ Double-Sided as the ranging measurement is performed between two peer nanoLOC - enableddevices

+ Two-Way as a Data packet and an automatic hardware acknowledgement provide the time val-ues used for determining the ranging measurement

Figure 9 below shows a SDS-TWR ranging request cycle with two-way (Data and Ack packet),double-sided (Peer A and Peer B), and symmetrical (ABA and BAB) ranging.

Figure 9: SDS-TWR (simplified)

3.1.2 Propagation and Processing Delay

Key to SDS-TWR are two time delay values:

+ TX Propagation Delay, which is the time required for a speed of a signal propagating throughthe air is known (speed of light), as is the time when the packet was sent and the time when itwas received. Using the delay and speed of light, a distance value can be generated.

+ Processing Delay

The nanoLOC TRX Transceiver uses a measured time delay to receive a data packet and to generate and transmit a hardware acknowledgement packet.

Peer A Peer B

Peer A Peer B

Data packet

Ack packet

Data packet

Ack packet

A to B to A

B to A to B



3

3.1.3 Generating First Set of Time Values

The round trip of a Data packet and a hardware acknowledgement (Ack packet) is used to gener-ate the TX propagation delay value T1, while the processing delay time is the value T2. This firstset of generated time values are shown in figure 10 below.

+ Generating T1

When the application on Peer A requests ranging, a Data packet is sent to Peer B which auto-matically returns an Ack packet. Peer A generates T1 using the time when the Data packet was sent, when the Ack packet was received, and the known value of the signal propagation speed. This value T1 is stored in memory on Peer A.

+ Generating T2

T2 is the measured value of processing an Ack packet in the nanoLOC TRX Transceiver. This value T2 is stored in memory on Peer B.

Figure 10: First set of measurements

3.1.4 Granting Permission to Perform Measurements

Once a request for ranging is sent to Peer B, this station needs to grant permission to perform theranging measurements before the remaining time values are generated. This allows a station totemporarily suspend ranging measurements independent of the ranging request from the peer sta-tion. This permission is set in software and is read out by the peer station before the time values T2and T3 are provided.

3.1.5 Eliminating Clock Errors by a Second Symmetrical Measurement

To eliminate any errors caused by the clock crystals on each peer station not being synchronized,the ranging measurements are repeated symmetrically from Peer B to Peer A, as shown in figure11 below. This generates a second set of time values – T3 and T4.

+ Generating T3

After Peer B grants permission to continue with ranging, Peer B sends a Data packet to Peer A which automatically returns an Ack packet. Peer B generates T3 using the time when the Data packet was sent, when the Ack packet was received, and the known value of the signal propa-gation speed. This value T3 is stored in memory on Peer B.

+ Generating T4

T4 is the measured value of processing an Ack packet in the nanoLOC TRX Transceiver. This value T4 is stored in memory on Peer A.

Figure 11: Second set of measurements

3.1.6 Collecting the Time Values with a Third Data Packet

When the ranging measurements have been completed, the time values need to be collected togenerate a ranging distance. Two values T1 and T4 are on Peer A while T2 and T3 are on Peer B.nanoLOC Ranging provides several methods of collecting these values to provide flexibility fordesigning ranging products.

Peer B

TX propagation delay - A to B to A

Peer A

T2T1 Processing delay

Peer B

TX propagation delay - B to A to B

Peer A

T3T4

Peer B


Peer A

T2T1

Processing delay

Processing delay



3

+ SDS-TWR 3W_A uses Peer A to generate the ranging distance. This requires a third packet toprovide Peer B time values to Peer A, as shown in figure 12 below.

Figure 12: Third Data packet to provide Peer B time values to Peer A

+ SDS-TWR 3W_B provides Peer A time values to Peer B, as shown in figure 13 below.

Figure 13: Third Data packet to provide Peer A time values to Peer B

+ SDS-TWR 2W_PP uses time values from a previous ranging request to generate the rangingdistance.

Figure 14: Third Data packet not required

These methods are described in detail in 3.2. Ranging Modes on page 14.

3.1.7 Calculating the Ranging Distance

With all four time values available, the distance between Peer A and Peer B can be generatedusing the following formula:

Distance =

where:

T1 - T2 = measurement 1

T1 = TX Propagation delay time of a round trip between Peer A and Peer B

T2 = Processing delay in Peer B

T3 - T4 = measurement 2

T3 = TX Propagation delay time of a round trip between Peer B and Peer A

T4 = Processing delay in Peer A

Peer B


Peer A

T3T4

Peer B


Peer A

T2T1

Peer BPeer A

T2 and T3 provided to Peer A

Peer B


Peer A

T3T4

Peer B


Peer A

T2T1

Peer BPeer A

T1 and T4 provided to Peer B

Peer B


Peer A

T3T4

Peer B


Peer A

T2T1

Peer B

T2 and T4 fornext rangingranging

T1 and T4 from previous ranging request provided to Peer A

T1 T2–( ) T3 T4–( )+

4--------------------------------



3

3.2 Ranging Modes

Three ranging modes are provided to allow flexible development of ranging and location-awareapplications: 3W_A, 3W_B, and 2W_PP.

3.2.1 SDS-TWR 3W_A – Providing Ranging Results to Peer A

In this mode, Peer A generates the ranging distance. Data can be included in payload. Permissionto perform measurements can be denied.

1 Peer A requests 3W_A ranging mode. User data can also be sent to Peer B, but will not beread out after the ranging measurements have been completed.

where the message structure is:

2 After sending the ranging request, Peer A receives a ranging confirmation.


3 Peer B must grant permission for ranging to continue. User data can also be sent to Peer A atthis point.

where the parameters are:

Note: Permission code must be written as efficiently as possible to prevent Peer A station from excessive waiting for the Data packet from Peer B. Otherwise, Peer A may switch into sleep mode after a timeout.


uint8_t prim; PD_RANGING_REQUEST

AddrT addr; MAC address of destination address which is the ranging target.

uint8_t data[]; User data to be transmitted.

uint8_t len; Length of user data with a maximum of 100 bytes.

uint8_t attribute; RANGING_TYPE_3W_A


uint8_t prim; PD_RANGING_CONFIRM

uint8_t status; Status messages include PHY_SUCCESS (ranging has successfully started), PHY_NO_ACK (remote station does not exist), and so on.

Parameter Description

AddrT *macAddr Address of the requesting ranging station (Peer A)

uint8_t *data A pointer to user data with a maximum of 100 bytes grants permis-sion to ranging. To deny the ranging request, a null value must be set.

uint8_t *len Length of the user data.


void APLCallback (MsgT *msg)

bool_t Permission(uint8_t *macAddr, uint8_t *data, uint8_t *len)



3

4 If Peer B has put user data in the Data packet, a data indication is provided to Peer A.


5 Peer B transmits a second Data packet containing time values T2 and T3 to Peer A. WhenPeer A receives this packet, it performs the distance measurement calculations using the fouraccumulated time values T1, T2, T3, and T4. The resulting measurement is provides to anapplication on Peer A via a ranging Indication.


The RangingMsgT message structure is:

6 If Peer A has sent user data to Peer B during the ranging request, it is now provided to theapplication.



uint8_t prim; PD_DATA_INDICATION

AddrT addr; Source address of the Data packet.




uint8_t prim; PD_RANGING_INDICATION

AddrT addr; Address of the remote station (Peer B).

uint8_t data[]; Data includes RangingMsgT structure.



uint8_t error; Error status message1.

1. See <Emphasis Footnote>Success and Error Messages on page 19

double distance; Distance in meters between the peer stations.

AddrT addr; Address of the remote station.











3

3.2.2 SDS-TWR 3W_B – Providing Ranging Results to Peer B

In this mode, Peer B generates the ranging distance. Data can be included in payload. Permissionto perform measurements can be denied.

1 Peer A requests 3W_B ranging mode:


2 After sending the ranging request, Peer A receives a ranging confirmation.


3 Peer B must grant permission for ranging to continue. User data can be added to the Datapacket at this point.


4 If Peer A has sent user data to Peer B during the ranging request, it is now provided to theapplication.







uint8_t attribute; RANGING_TYPE_3W_B



uint8_t status; Status messages include PHY_SUCCESS (ranging has successfully started), PHY_NO_ACK (remote station does not exist), and so on.


uint8_t *macAddr Address of the requesting ranging station (Peer A)

uint8_t *data To deny the ranging request, a null value must be set; a pointer to user data with a maximum of 100 bytes grants permission to ranging.













3

5 Peer A transmits a second Data packet containing time values T1 and T4 to Peer B. WhenPeer B receives this packet, it performs the distance measurement calculations using the fouraccumulated time values T1, T2, T3, and T4. The resulting measurement is provides to anapplication on Peer B via a ranging Indication.


The RangingMsgT message structure is:

6 If Peer B has put user data in the Data packet when it granted permission to perform ranging, adata indication is now provided to Peer A.


3.2.3 SDS-TWR 2W_PP – Energy Saving Ranging Mode

In this mode, the four time values T1, T2, T3, and T4 are provided by the immediate past rangingrequest to quickly generate a distance measurement between Peer A and Peer B. The time valuesobtained during the current SDS-TWR ranging request are stored and saved for the next rangingrequest. Data can be included in payload. Permission to perform measurements can be denied.

1 Peer A requests 2W_PP ranging mode. User data can be sent to Peer B also, but will not beread out after the ranging measurements have been completed. All time values (T1, T2, T3,and T4) are provided by the previous ranging measurements.








uint8_t error; Error status message1.

1. See <Emphasis Footnote>Success and Error Messages on page 19.











APLCallback (MsgT *msg)




3

2 After sending the ranging request, Peer A will receive a ranging confirmation.


3 Peer A now performs the ranging calculations using the accumulated time values T1, T2, T3,and T4 from the previous ranging cycle. The results, however, are not provided to an applica-tion until a later step.

4 Peer B must grant permission for ranging to continue. User data can be added to the Datapacket at this point.


5 If Peer B has put user data in the Data packet when permission was granted, a data indicationis provided to Peer A.


6 The results of the ranging calculations performed previously is now provided to an applicationon Peer B via a ranging indication. The is part of the time and energy saving feature of thismode, It is now provided to the application.

Note: As the four accumulated time values T1, T2, T3, and T4 are stored in memory for use by the next ranging request, the peer stations cannot communicate with other stations.




uint8_t attribute; RANGING_TYPE_2W_PP



uint8_t status; Status messages include PHY_SUCCESS (ranging has successfully started), PHY_NO_ACK (remote station does not exist)1.



AddrT *macAddr Address of the requesting ranging station (Peer A)

uint8_t *data To deny the ranging request, a null value must be set; a pointer to user data with a maximum of 100 bytes grants permission to ranging.













3


The RangingMsgT structure is:

3.3 Success and Error Messages

After the ranging service is requested, a message will be received from the PHY layer with either asuccess response or a failure response. In the case of success, the PHY layer will provide themeasured distance in meters. In the case of error, a status indication will provide the cause of theerror.

3.3.1 Success Messages

For normal ranging mode, the PHY layer sends to the application layer a message with the rangingresult having a message structure containing the following information:







uint8_t error; Error status message.1





Table 4: Message structure for callback


MyByte8T prim; PD_RANGING_INDICATION

MyAddrT addr; MAC address of destination address which is the ranging target.

MyByte8T len; Length of data in the data variable.

MyByte8T data[128]; Distance value (from RangingMSGT) and error status

MyByte8T status; Not required for PD_RANGING_INDICATION

MyWord16T value; Not required for PD_RANGING_INDICATION

MyByte8T attribute; RANGING_TYPE_3W_ARANGING_TYPE_3W_BRANGING_TYPE_2W_PP



3

3.3.2 Error Messages

If an error condition occurs, the PHY layer will send to the application layer a message with themessage structure containing an error status.

Error Status

+ RG_STAT_DEFAULT

Default value is 0x00 when ranging starts. No measurement have been done.

+ RG_STAT_NO_ERROR

When the value is 0x0F, then all parts of the measurements were performed successfully.

+ RG_STAT_VALUE_ERROR

Indicates ranging value not logical (value < 0)

+ RG_STAT_T1

If set, then measurement T1 measured correctly

+ RG_STAT_T2


+ RG_STAT_T3


+ RG_STAT_T4


+ RG_STAT_TIMEOUT

Measurement aborted due to non-answer from paired station. Only occurs when paired station exists. The paired station has sent a hardware acknowledgement but did not provide a ranging answer within the set time.

+ RG_STAT_VALUE_ERROR

Measurements from mirrored measurements are different and therefore rejected. For example, The difference between the measurement results calculated using times T1 and T2 as well as T3 and T4 should be no greater than 10 meters, based on the use of a 40 ppm quartz clock. If the difference is greater than 10 meters, it will be reported in this error message.

Table 5: Message structure for callback


MyByte8T prim; PD_RANGING_INDICATION

MyAddrT addr; MAC address of destination address which is the ranging target.

MyByte8T len; Length of data in the data variable.

MyByte8T data[128]; Distance value (from RangingMSGT) and error status (see below)

MyByte8T status; Not required for PD_RANGING_FAST_INDICATION

MyWord16T value; Not required for PD_RANGING_FAST_INDICATION

MyByte8T attribute; Not required for PD_RANGING_FAST_INDICATION


Driver Demo – Hardware Access/Interface ModulesnanoLOC nTRX Driver Suite User Guide

4

4 Driver Demo – Hardware Access/Interface Modules

This section describes additional modules that are required for generating a full working demoapplication. To generate this application, additional modules are required for accessing the hard-ware on the nanoLOC DK Board and for providing functions to use certain interfaces on the board.These modules are described in the following sections.

4.1 appl.c Module – User Application

4.1.1 Description

The appl.c module contains the user application. In this example it uses the serial interface tobuild a wireless link between two terminals to transmit and receive ASCII (printable) characters.

4.1.2 Functions

void ApplCallback (uint8_t *addr, uint8_t *payload, uint16_t length);

Purpose: This function receives every incoming message and sends the payload to the serialinterface.

void InitApplication (void);

Purpose: This function initializes variables used in the application, such as addresses andbuffers.

void IsAlive (void);

Purpose: This function indicates the operational state of the application through a blinkingLED.

void PollApplication (void);

Purpose: This function handles all user input and provides the configuration menu.

4.2 hwclock.c Module – Timer

4.2.1 Description

The hwclock.c module handles the timer used for the indication LEDs on the nanoLOC DKBoard.

Functions

void hwclock_init (void);

Purpose: This function initializes the clock in the microcontroller.

uint32_t hwclock (void);

Purpose: This function returns the time in milliseconds since power-on.

SIGNAL (SIG_OVERFLOW0);

Purpose: Interrupt service routine that is called every 10 ms to update the time-tick counter. Italso monitors the keys on the nanoLOC DK Board.

Note: SIGNAL is a reserved word for interrupt service routines handling interrupts generated by an ATMEL AVR microcontroller. For more information, refer to ATMEL AVR User Guide.



4

4.3 usart.c – Serial Line

4.3.1 Description

The usart.c module handles the serial line on the nanoLOC DK Board.

4.3.2 Functions

void console_init (void);

Purpose: This function initializes the serial port of the microcontroller and redirects the streamfor input, output, and error messages.

SIGNAL(SIG_USART1_RECV);

Purpose: This function is the interrupt service routine to handle incoming data from the serialinterface.

int _getchar(FILE *stream);

Purpose: This function has to be provided for library I/O functions for default input.

int _putchar(char c, FILE *stream);

Purpose: This function has to be provided for library I/O functions for default output.

int kbhit (void);

Purpose: This function checks the input buffer of the serial interface for new data.

char *read_line (char buf[]);

Purpose: This function collects all incoming data from the serial line. Additionally, this functionhandles backspaces and carriage return / linefeed conversion.

4.4 nnspi.c Module – SPI Communication

4.4.1 Description

The nnspi.c module contains the hardware driver for the SPI communication between the AVRmicrocontroller and the nanoLOC chip on the nanoLOC DK Board.

4.4.2 Function

void NanoReset (void);

Purpose: This function generates a defined reset impulse for the nanoLOC chip.

void InitSPI (void);

Purpose: This function initializes the SPI interface of the microcontroller.

void SetupSPI (void);

Purpose: This function configures the SPI interface to work in the same mode as the nano-LOC chip.

void NTRXReadSPI (uint8_t address, uint8_t *buffer, uint8_t length);

Purpose: This function reads [length] bytes into [buffer] starting at [address].

void NTRXWriteSPI (uint8_t address, uint8_t *buffer, uint8_t length);

Purpose: This function writes [length] bytes from [buffer] into nanoLOC registers startingat [address].

void nanosetIRQ (bool_t value);

Purpose: This function enables or disables the interrupt for the nanoLOC chip.



4

4.5 main.c Module – Main Loop

4.5.1 Description

The main.c module contains the startup code and the main control loop for the application.

4.5.2 Starting Up and Running an Application

To start up and run an application, the main function performs the following:

1 The hardware, timer, serial interface and I/O ports are initialized.

The procedure for initializing the hardware and I/O ports are dependent on the hardware and is, therefore, not described here.

2 The SPI interface is initialized to communicate with the nanoLOC chip.

The procedure for initializing the SPI interface is depended on the user hardware and is, there-fore, not described here

3 The nanoLOC chip is initialized.

See “Initializing the nanoLOC TRX Transceiver on page 23

4 The user application is set up.

See Setting Up the User Application on page 23

5 The main loop is entered to check for user requests, receive data from the nanoLOC chip orupdate the LEDs for indicating different events.

See The Main Loop on page 23.

4.5.3 Initializing the nanoLOC TRX Transceiver

To initialize the nanoLOC chip, do the following:

1 Call the following function to correctly initialize all registers for normal 80 MHz, 1 Mbit/s opera-tion, and for starting the receiver:

void NTRXInit(void);

2 To allow an application to use the nanoLOC chip, the application must then set the MACaddress.

Note: In this example the nanoLOC chip is not interrupt driven.

4.5.4 Setting Up the User Application

To set up the user application, do the following:

1 Initialize the application using the following function:

void InitApplication (void);

2 Set the MAC address of nanoLOC chip for address matching and as sender address for trans-mitted messages.

3 Additional settings as required should be made at this point.

4.5.5 The Main Loop

The main loop periodically checks for events generated by the software (such as by applicationrequests) or by external events (such as by the nanoLOC chip). Timer events are interrupt drivenand handled by an interrupt service routine (ISR).

1 The following function is the user application and entry point for processing transmitted andreceived data:

void PollApplication (void);



4

2 The following function checks for incoming messages from the nanoLOC chip and delivers thereceived data to the application:

void NTRXUpdate (void);

3 The following function is only used to provide visual feedback to the developer:

voidIsAlive (void);

4.5.6 Transmitting Messages

To transmit a message it is necessary to do the following steps:

1 Set the MAC header in the transmitter.

2 Write the payload to the transmit buffer in the nanoLOC chip.

3 Start the transmitter.

4 Send the message using the following function.

void NTRXSendMessage (uint8_t *addr, PtrT payload, uint16_t length)

where:

+ addr is the address of the recipient of the message

+ payload is a pointer to the data buffer containing the payload

+ length is the length of the payload in bytes

NTRXSendMessage calls the following three functions in succession:

+ NTRXTxHeader (addr, length, rsvd1, rsvd2, rsvd3);

+ NTRXTxData (payload, length);

+ NTRXTxStart ();

4.5.7 Receiving Messages

When a message has been successfully received, the NTRXUpdate function is used to read outthe header data and payload from the nanoLOC chip using the following functions:

void NTRXRxMacHeader (void);

and

void NTRXRxReceive (void);

After retrieving all necessary data, the receiver is restarted in order to be ready for the next mes-sage. The received data is then delivered to the upper layer. In this case the upper layer is the userapplication itself.


Index nanoLOC nTRX Driver Suite User Guide

IndexAaddress matching ..................................................................... 1, 3API

located in phy.c ......................................................................... 1APPCallback............................................................................... 10appl.c module ............................................................................. 21ApplCallback............................................................................... 21application layer............................................................................ 7ARQ, enabling / disabling ............................................................. 2ARQ, see Automatic Repeat RequestAutomatic Repeat Request (ARQ)................................................ 3automatic retransmissions ............................................................ 9

BBrdcast packets ............................................................................ 3Broadcast

key setting of nanoLOC TRX Driver.......................................... 2

Ccallback function ........................................................................... 4center frequency ........................................................................... 9chip

initializing ................................................................................ 23clock............................................................................................ 21configuration menu ..................................................................... 21CRC2 checking............................................................................. 2CRC2 checking and nanoLOC TRX Driver................................... 3CSMA/CA ................................................................................. 2, 3

Ddata transmission rates............................................................. 1, 3driver

accessing applications through................................................. 1and embedded applications ...................................................... 1and PHY layer ........................................................................... 6API ........................................................................................ 1, 3demo described ...................................................................... 21example implementation ........................................................... 2general layer interface of .......................................................... 4hardware ................................................................................. 22key settings of ....................................................................... 2, 3located in phy.c ......................................................................... 3modules overview ..................................................................... 2overview.................................................................................... 3source code in phy.c module .................................................... 1

Driver Demo................................................................................ 21

Eembedded application, nanoLOC driver for .................................. 1embedded applications

and nanoLOC driver.................................................................. 3error checking ............................................................................... 1error checking, function of nanoLOC TRX Driver ......................... 3error messages, ranging............................................................. 20

FFEC............................................................................................... 9

enabling by nanoLOC TRX Driver............................................. 3Forward Error Correction, See FEC

Ggenerating full working demo...................................................... 21

HHardware Adaption Layer ............................................................. 5hwclock ....................................................................................... 21hwclock_init ................................................................................ 21hwclock.c .................................................................................... 21

Iindication LEDs........................................................................... 21InitApplication ....................................................................... 21, 23initialization

microcontroller clock ............................................................... 21of variables used in application ............................................... 21

initializingchip ......................................................................................... 23driver function for ...................................................................... 6

interrupt service routine ........................................................ 21, 23IsAlive ......................................................................................... 21

LLayernameCallback...................................................................... 4LayernameMESAP ....................................................................... 4LayernameSAP ............................................................................ 4length of payload parameter ....................................................... 24logical channel

attributes described................................................................... 9Logical Network ID ................................................................... 2, 3

MMAC header ............................................................................... 24main loop .................................................................................... 23main.c ......................................................................................... 23message

used in nanoLOC TRX Driver ................................................... 2modulation methods ................................................................. 1, 3module

appl.c ...................................................................................... 21hwclock.c ................................................................................ 21main.c ..................................................................................... 23nnspi.c..................................................................................... 22overview.................................................................................... 1phy.c ......................................................................................... 1relationships between ............................................................... 1usart.c ..................................................................................... 22

MyMsgT........................................................................................ 5

NnanoLOC API ............................................................................... 3nanoLOC chip

initializing ................................................................................ 23nanoLOC nTRX Driver

and embedded applications ...................................................... 3described .................................................................................. 3

NTRX_RTC ................................................................................ 10NTRXInit ..................................................................................... 23ntrxinit.c ........................................................................................ 1NTRXInterrupt .............................................................................. 6ntrxiqpar.c..................................................................................... 1NTRXRxMacHeader................................................................... 24NTRXRxReceive ........................................................................ 24NTRXSendMessage................................................................... 24NTRXTxData .............................................................................. 24NTRXTxHeader .......................................................................... 24NTRXTxStart .............................................................................. 24ntrxtypes.h .................................................................................... 5NTRXUpdate .............................................................................. 24ntrxutil.c ........................................................................................ 1

Ooutput power

driver sets transmission output power ...................................... 2

Pparameter

length ...................................................................................... 24payload ................................................................................... 24

payload ....................................................................................... 24payload parameter...................................................................... 24PD_DATA_CONFIRM .................................................................. 8PD_DATA_INDICATION .............................................................. 8PD_DATA_REQUEST.................................................................. 8PHY Layer .................................................................................... 6PHY_ADDR_MATCHING........................................................... 10PHY_ARQ .................................................................................... 9PHY_CHANNEL ........................................................................... 9PHY_FEC ..................................................................................... 9PHY_LOG_CHANNEL ................................................................. 9PHY_MAC_ADDRESS1............................................................. 10PHY_PWR_DOWN_MODE........................................................ 10PHY_RECALIBRATION ............................................................. 10PHY_TX_POWER ........................................................................ 9phy.c ............................................................................................. 1PLME_GET_REQUEST ............................................................... 8PLME_SET_REQUEST ............................................................... 8PollApplication ...................................................................... 21, 23Processing Delay........................................................................ 11

Rreceiving messages.................................................................... 24register

module for general access of.................................................... 1


IndexnanoLOC nTRX Driver Suite User Guide

return time................................................................................... 21

S

SAPs............................................................................................. 4SDS-TWR................................................................................... 11serial interface ............................................................................ 21Service Access Points, see SAPsSIGNAL....................................................................................... 21SIGNAL (SIG_OVERFLOW0) .................................................... 21SPI interface ............................................................................... 23starting up and running application............................................. 23success messages, ranging ....................................................... 19

TTimeB packets.......................................................................... 2, 3timer, handled by hwclock.c ....................................................... 21transceiver registers ................................................................. 2, 3transmit buffer............................................................................. 24transmit message ....................................................................... 24TX Propagation Delay ................................................................ 11

Uuser application .......................................................................... 21user input.................................................................................... 21

VvoidIsAlive .................................................................................. 24


Revision HistorynanoLOC nTRX Driver Suite User Guide

Revision History

Version Date Description/Changes

1.00 2007-03-15 Initial version.

1.1 2007-11-09

minor textual edits; NTRXSetTxDestAddress function no longer included; new parame-ter added to NTRXSendMessage; NTRXPowerdownMode function added; addr param-eter added to ApplCallback function; iohigh and iolow modules replaced by usart.c module which handles the serial line on the nanoLOC DK Board; in section 3.5.6 desti-nation address now set by a parameter in NTRXSendMessage function; description of ranging functions added.

2.0 2007-12-12 nanoLOC API section updated; nanoLOC Ranging section updated; minor text edits throughout.

2.1 2008-04-07 Updated template, minor text changes.

2.2 2008-08-08 Index added; chip configuration details and code example added; general edit through-out.

2.3 2009-04-28

The following data type names where modified:MyByte8T -> uint8_tMyAddrT -> AddrTMyWord16T -> uint16_tMyBoolT -> bool_tMyMsgT -> MsgTMyDword32T ->uint32_t

2.5 2010-03-31 Updated API, Ranging, and introduction.

© 2010 Nanotron Technologies GmbH. Page 27 NA-07-0240-0407-2.5

Revision HistorynanoLOC nTRX Driver Suite User Guide

About Nanotron Technologies GmbHNanotron provides reliable loss protection technology and solutions that areused to protect people and animals. Energy efficient, battery- powered wire-less nodes are the key building blocks. These small devices create a VirtualSafety Zone which protects tagged people and animals. Robust wirelessChirp technology underpins nanotron's offering of chips, modules and loss

Further Information: For more information about this product and other products from NanotronTechnologies, contact a sales representative at the following address:Nanotron Technologies GmbHAlt-Moabit 60, 10555 Berlin, Germany

protection software for indoor and outdoor environments world wide. Phone: +49 30 399 954 - 0 | Fax: +49 30 399 954 - 188Email: [email protected] | Internet: www.nanotron.com

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NanoLOC NTRX Driver Suite UG