Add tx continuations and auto acks

dw1000/CHANGELOG.md

@@ -1,3 +1,9 @@
+### Unreleased
+
+- Add TX continuation (into RX state) for fast tx-rx turnaround time
+- Add auto ack functionality
+- Add support for 'raw' messages (aka it's up to the user to encode them as valid ieee 802.15.4 frames)
+
 ### v0.6.0 (2021-12-14)
 
 - Add support for double-buffering RX ([#134])

dw1000/src/configs.rs

@@ -26,6 +26,8 @@ pub struct TxConfig {
     pub sfd_sequence: SfdSequence,
     /// When true, a CRC will be appended to the message
     pub append_crc: bool,
+    /// Setting for how the transmission should be continued
+    pub continuation: TxContinuation,
 }
 
 impl Default for TxConfig {
@@ -38,10 +40,33 @@ impl Default for TxConfig {
             channel: Default::default(),
             sfd_sequence: Default::default(),
             append_crc: true,
+            continuation: TxContinuation::Ready,
         }
     }
 }
 
+/// Setting for how the transmission should be continued
+#[derive(Copy, Clone, Debug, Eq, PartialEq, Serialize, Deserialize, Default)]
+pub enum TxContinuation {
+    #[default]
+    /// After the transmission the radio should go back to ready
+    Ready,
+    /// After the transmission the radio should go to the receiving state
+    Rx {
+        /// Enable frame filtering. See [RxConfig::frame_filtering]
+        frame_filtering: bool,
+        /// Used as the [RxConfig::auto_ack] value
+        auto_ack: AutoAck,
+    },
+    /// After the transmission the radio should go to the double buffered receiving state
+    RxDoubleBuffered {
+        /// Enable frame filtering. See [RxConfig::frame_filtering]
+        frame_filtering: bool,
+        /// Used as the [RxConfig::auto_ack] value
+        auto_ack: AutoAck,
+    },
+}
+
 #[derive(Copy, Clone, Debug, Eq, PartialEq, Serialize, Deserialize)]
 /// Receive configuration
 pub struct RxConfig {
@@ -68,6 +93,35 @@ pub struct RxConfig {
     pub sfd_sequence: SfdSequence,
     /// When true, a CRC will be expected to be appended to the message
     pub append_crc: bool,
+    /// When enabled, the radio itself will send acks to messages with the ack bit enabled.
+    pub auto_ack: AutoAck,
+}
+
+impl RxConfig {
+    /// Create an [RxConfig] by copying the properties from a [TxConfig] and adding missing properties
+    pub const fn from_tx_config(tx_config: TxConfig, frame_filtering: bool, auto_ack: AutoAck) -> Self {
+        let TxConfig {
+            bitrate,
+            ranging_enable: _,
+            pulse_repetition_frequency,
+            preamble_length,
+            channel,
+            sfd_sequence,
+            append_crc,
+            continuation: _,
+        } = tx_config;
+
+        RxConfig {
+            bitrate,
+            frame_filtering,
+            pulse_repetition_frequency,
+            expected_preamble_length: preamble_length,
+            channel,
+            sfd_sequence,
+            append_crc,
+            auto_ack,
+        }
+    }
 }
 
 impl Default for RxConfig {
@@ -80,10 +134,32 @@ impl Default for RxConfig {
             channel: Default::default(),
             sfd_sequence: Default::default(),
             append_crc: true,
+            auto_ack: Default::default(),
         }
     }
 }
 
+/// The auto acknowledge behavior
+#[derive(Copy, Clone, Debug, Eq, PartialEq, Serialize, Deserialize, Default)]
+pub enum AutoAck {
+    #[default]
+    /// No automatic acks are sent
+    Disabled,
+    /// An automatic Ack will be sent if:
+    /// - Frame filtering is on
+    /// - The received frame passes through the filter
+    /// - The frame has the ack bit set
+    Enabled {
+        /// The turnaround time in number of symbols.
+        ///
+        /// Recommended minimal value:
+        /// - 110 kbps: 0
+        /// - 850 kbps: 2
+        /// - 6.8 Mbps: 3
+        turnaround_time: u8,
+    },
+}
+
 #[derive(Copy, Clone, Debug, Default, Eq, PartialEq, Serialize, Deserialize, TryFromPrimitive)]
 #[repr(u8)]
 /// The bitrate at which a message is transmitted

dw1000/src/hl/awake.rs

@@ -50,6 +50,12 @@ where
         Ok(Instant::new(sys_time).unwrap())
     }
 
+    /// Set the value of the pending bit used by the auto acks
+    pub fn set_pending_bit(&mut self, value: bool) -> Result<(), Error<SPI>> {
+        self.ll.sys_cfg().modify(|_, w| w.aackpend(value as u8))?;
+        Ok(())
+    }
+
     /// Provides direct access to the register-level API
     ///
     /// Be aware that by using the register-level API, you can invalidate

dw1000/src/hl/error.rs

@@ -80,6 +80,12 @@ where
     /// There are issues with frame filtering in double buffer mode.
     /// So it's not supported now.
     RxConfigFrameFilteringUnsupported,
+
+    /// The wrong continuation was called on the radio
+    WrongTxContinuation,
+
+    /// The transmission has not yet finished
+    TxNotFinishedyet,
 }
 
 impl<SPI> From<ll::Error<SPI>> for Error<SPI>
@@ -131,6 +137,12 @@ where
             Error::RxConfigFrameFilteringUnsupported => {
                 write!(f, "RxConfigFrameFilteringUnsupported")
             }
+            Error::WrongTxContinuation => {
+                write!(f, "WrongTxContinuation")
+            }
+            Error::TxNotFinishedyet => {
+                write!(f, "TxNotFinishedyet")
+            }
         }
     }
 }