#include <Ronex_Protocol_0x02000001_GIO_00.h>

Public Attributes
union16	adc16 [48]
int8u	address
int16u	analogue_in [12]
int16u	clock_divider
int16u	command_data [COMMAND_DATA_MAX_SIZE]
int16u	command_data_size
int16u	command_number
int16u	command_type
	Will be a copy of the value sent in the Command structure.
int8u	data_bytes [SPI_TRANSACTION_MAX_SIZE]
int16u	digital_in
	Bit n: Status of digital pin n.
int32u	digital_out
int16u	first_sample_number
int16u	flags
int32u	flags
int16u	FPI
int32u	implemented_features
IMPULSE_SAMPLE	impulse_response [IMPULSE_RESPONSE_SIZE]
union {
CONFIG_INFO_02000008 config_info
REGISTER_FB_02000008 register_feedback
STATUS_DATA_02000008 status_data
}	info_type
union {
CONFIG_INFO_02000002 config_info
STATUS_DATA_02000002 status_data
}	info_type
int8u	inter_byte_gap
MotorPacketCommand	motor_packet_command [2]
MotorPacketStatus	motor_packet_status [2]
int8u	num_bytes
int16u	onTime
int8u	padding [sizeof(STATUS_DATA_02000008)-(sizeof(int32u)+sizeof(int16u))]
int16u	payload [PAYLOAD_MAX_SIZE]
int16u	period
int16u	pin_input_states_DIO
int16u	pin_output_states
int16u	pin_output_states_DIO
int16u	pin_output_states_post
int16u	pin_output_states_pre
int16u	pwm_clock_divider
RONEX_COMMAND_02000001_PWM	pwm_module [NUM_PWM_MODULES]
int16u	pwm_on_time_0
	On Time is pwm_on_time_0/clock_speed.
int16u	pwm_on_time_1
int16u	pwm_period
	PWM period is pwm_period/clock_speed.
int16u	quadrature
RECEIVER_DATA	receiver_data
int16u	receiver_number
int16u	reserved [NUM_RESERVED_WORDS]
int32u	rx_frame_information
int16u	sequence_number
int16u	SPI_config
SPI_PACKET_OUT	spi_out [NUM_SPI_OUTPUTS]
int16u	std_noise
int16u	timestamp_H
int32u	timestamp_L
int8u	values [3]

Detailed Description

The RECEIVER_DATA structure contains data from one receiver.

impulse_response[] is a subset of the 4064 sample array inside the DW1000 chip. We only send back 64 samples, starting at first_sample_number.

FPI is a 10.6 fixed point value. It is a non-integer index into the impulse response date which tells us where the first pulse appears.

Due to the large size of the data packet, only one receiver's data is sent in each EtherCAT packet. When a message arrives at the base station, data is collected from each in turn, and sent to the host in individual EtherCAT packets. Therefore it takes 4 EtherCAT packets to transmit all of the receiver data. The 4 packets will all have the same sequence_number, but a different receiver_number.

command_type: currently undecided function sequence_number: When this changes, it signals the arrival of a new message receiver_number: Which of the 4 receivers is this data from? receiver_data: Data from one receiver

Definition at line 86 of file Ronex_Protocol_0x02000001_GIO_00.h.

Member Data Documentation

union16 __attribute__::adc16[48]

Definition at line 133 of file Ronex_Protocol_0x02000008_ADC16_00.h.

int8u __attribute__::address

Definition at line 120 of file Ronex_Protocol_0x02000008_ADC16_00.h.

int16u __attribute__::analogue_in

Definition at line 100 of file Ronex_Protocol_0x02000001_GIO_00.h.

int16u __attribute__::clock_divider

Definition at line 175 of file Ronex_Protocol_0x02000002_SPI_00.h.

int16u __attribute__::command_data[COMMAND_DATA_MAX_SIZE]

Definition at line 179 of file Ronex_Protocol_0x02000003_TCAT_00.h.

int16u __attribute__::command_data_size

Definition at line 178 of file Ronex_Protocol_0x02000003_TCAT_00.h.

int16u __attribute__::command_number

Definition at line 177 of file Ronex_Protocol_0x02000003_TCAT_00.h.

int16u __attribute__::command_type

Will be a copy of the value sent in the Command structure.

Definition at line 99 of file Ronex_Protocol_0x02000001_GIO_00.h.

CONFIG_INFO_02000008 __attribute__::config_info

Definition at line 166 of file Ronex_Protocol_0x02000008_ADC16_00.h.

CONFIG_INFO_02000002 __attribute__::config_info

Definition at line 227 of file Ronex_Protocol_0x02000002_SPI_00.h.

int8u __attribute__::data_bytes

Definition at line 179 of file Ronex_Protocol_0x02000002_SPI_00.h.

int16u __attribute__::digital_in

Bit n: Status of digital pin n.

Definition at line 101 of file Ronex_Protocol_0x02000001_GIO_00.h.

int32u __attribute__::digital_out

Bit 0: Direction of digital pin 0, 0=Output, 1=Input Bit 1: Drive of digital pin 0, 0=Low, 1=High Bit 2: Direction of digital pin 1, 0=Output, 1=Input Bit 3: Drive of digital pin 1, 0=Low, 1=High etc ..

Definition at line 111 of file Ronex_Protocol_0x02000001_GIO_00.h.

int16u __attribute__::first_sample_number

Definition at line 161 of file Ronex_Protocol_0x02000003_TCAT_00.h.

int16u __attribute__::flags

Definition at line 102 of file Ronex_Protocol_0x02000001_GIO_00.h.

int32u __attribute__::flags

Definition at line 165 of file Ronex_Protocol_0x02000003_TCAT_00.h.

int16u __attribute__::FPI

Definition at line 166 of file Ronex_Protocol_0x02000003_TCAT_00.h.

int32u __attribute__::implemented_features

Definition at line 143 of file Ronex_Protocol_0x02000008_ADC16_00.h.

IMPULSE_SAMPLE __attribute__::impulse_response[IMPULSE_RESPONSE_SIZE]