TOF

This module implements the Time of Flight (TOF) More...

Modules
	TOF Security Structures
	TOF Structures

Files
file	TOF.h
	TOF interface.
file	tof_security.h
	ToF security module interface.

Macros
#define	FAILURE   0x01
	Failure.
#define	IRQN_DOUBLE_SYNCWORD_BUFFER_SWITCH   11
	Same as RF_EventTxBufferChange, use with care.
#define	IRQN_PARTIAL_READ_READY   15
	Partial result readout is ready.
#define	NUM_ELEMENTS(x)   (sizeof(x)/sizeof(x[0]))
	NUM_ELEMENTS calculates the num of elements in an array.
#define	RF_EventDoubleSyncWordBufferSwitch   (1 << IRQN_DOUBLE_SYNCWORD_BUFFER_SWITCH)
	Double syncword buffer switch event bitmap.
#define	RF_EventPartialReadReady   (1 << IRQN_PARTIAL_READ_READY)
	Partial result readout event bitmap.
#define	SUCCESS   0x00
	SUCCESS.
#define	syncWordBufferOneReady   0x01
	First buffer ready.
#define	syncWordBufferTwoReady   0x02
	Second buffer ready.
#define	TICK_TO_METER   (6.25 * 3)
	Clock tics to distance in meters conversion.
#define	TOF_COMPENSATION_CORRELATOR_COMP   2
	use correlator compensation
#define	TOF_COMPENSATION_NO_COMP   0
	don't use compensation
#define	TOF_COMPENSATION_STIM_COMP   1
	use STIM compensation (experimental feature)
#define	TOF_FILL_1ST_BUFF   TOF_SEC_FILL_1ST_BUFF
	Fill first buffers.
#define	TOF_FILL_2ND_BUFF   TOF_SEC_FILL_2ND_BUFF
	Fill second buffers.
#define	TOF_FILL_BOTH_BUFF   TOF_SEC_FILL_BOTH_BUFFS
	Fill both buffers.
#define	TOF_MAX_NUM_FREQ   20
	Maximun number of frequencies.
#define	TOF_PATCH_LOCATION   0x21000914
	TOF patch location in memory.
#define	TOF_SEC_DBL_BUFF_SIZE   16
	Size of ToF_security double buffer.
#define	TOF_SEC_FILL_1ST_BUFF   0x02
	Fill first buffers.
#define	TOF_SEC_FILL_2ND_BUFF   0x03
	Fill second buffers.
#define	TOF_SEC_FILL_BOTH_BUFFS   0x01
	Fill both buffers.
#define	TOF_SEC_SYNCWORD_SIZE   8
	Length of Syncword.
#define	TOF_SEEDLEN   32
	Seed Length in Bytes.
#define	TOF_TIMEOUTVAL   0xFFFFFFFF
	TOF Timeout.

Functions
void	TOF_clearBuffers (ToF_Handle handle)
	Clean buffers for the specified ToF Handle. More...
void	TOF_close (ToF_Handle handle)
	Close the ToF and RF drivers. More...
void	TOF_getBurstStat (ToF_Handle handle, ToF_BurstStat **resultBuffer)
	Get the result for the last ToF burst (run) More...
uint8_t	TOF_getSeed (uint8_t *dst)
	copy 32 byte seed into dst More...
ToF_Handle	TOF_open (ToF_Struct *tofStruct, ToF_Params *params)
	Initiate RF ToF params and open RF driver. More...
void	TOF_roleSwitch (ToF_Role newRole)
	Switch ToF role. More...
ToF_Status	TOF_run (ToF_Handle handle, uint32_t nextTaskTime)
	Start a ToF run. More...
int	TOF_setSeed (uint8_t *newSeed)
	call ToF Security module to restart the ctr drbg new 128-bit random seed More...
int	TOFSecurity_close (tofSecHandle_t *tofSecHandle)
	This function is used to close ToF Security and free buffers. More...
int	TOFSecurity_genSyncWords (tofSecHandle_t *tofSecHandle, uint8_t bufferToFill)
	Will fill each Sync Word Buffer with numOfSyncWordsPerBuffer Sync Words. More...
int	TOFSecurity_open (tofSecHandle_t *tofSecHandle, uint8_t *seed)
	This function is used to open AESCTRDRBG driver and, when needed, to generate 128-bit random seed. More...
int	TOFSecurity_paramsInit (tofSecHandle_t *tofSecHandle, tofSecCfgPrms_t *tofSecCfgPrms)
	This function to initialize the tof security parameters. More...

Detailed Description

This module implements the Time of Flight (TOF)

Function Documentation

TOF_clearBuffers()

void TOF_clearBuffers

(

ToF_Handle

handle

)

Clean buffers for the specified ToF Handle.

Parameters

handle

- ToF Handle.

Returns

none

TOF_close()

void TOF_close

(

ToF_Handle

handle

)

Close the ToF and RF drivers.

Parameters

handle

- ToF Handle.

Returns

none

TOF_getBurstStat()

void TOF_getBurstStat	(	ToF_Handle	handle,
		ToF_BurstStat **	resultBuffer
	)

Get the result for the last ToF burst (run)

Parameters

handle	- ToF Handle.
resultBuffer	- The ToF stats for the last run.

Returns

none

TOF_getSeed()

uint8_t TOF_getSeed

(

uint8_t *

dst

)

copy 32 byte seed into dst

Parameters

dst	- destination to copy seed into.

Returns

None

TOF_open()

ToF_Handle TOF_open	(	ToF_Struct *	tofStruct,
		ToF_Params *	params
	)

Initiate RF ToF params and open RF driver.

Parameters

tofStruct	- ToF structure initiated by user application
params	- User provided params

Returns

ToF Handle - Pointer to a ToF_Object

TOF_roleSwitch()

void TOF_roleSwitch

(

ToF_Role

newRole

)

Switch ToF role.

Parameters

newRole

- new role for this node to take

Returns

None

TOF_run()

ToF_Status TOF_run	(	ToF_Handle	handle,
		uint32_t	nextTaskTime
	)

Start a ToF run.

Parameters

handle	- ToF Handle.
nextTaskTime	- Time remaining until next Stack event.

Returns

ToF Status

TOF_setSeed()

int TOF_setSeed

(

uint8_t *

newSeed

)

call ToF Security module to restart the ctr drbg new 128-bit random seed

Note: This function can be used only by RTLS Passive and RTLS Slave. It cannot be used by RTLS Master.

Parameters

newSeed

- New seed handle.

Returns

int - TOF_SEC_SUCCESS_E if succeeded, other if failed

TOFSecurity_close()

int TOFSecurity_close

(

tofSecHandle_t *

tofSecHandle

)

This function is used to close ToF Security and free buffers.

input parameters

Parameters

tofSecHandle

- A pointer to an empty tof security handle.

output parameters

Returns

int - NULL if failed, other if succeeded

TOFSecurity_genSyncWords()

int TOFSecurity_genSyncWords	(	tofSecHandle_t *	tofSecHandle,
		uint8_t	bufferToFill
	)

Will fill each Sync Word Buffer with numOfSyncWordsPerBuffer Sync Words.

input parameters

Parameters

bufferToFill	- An enum describing which buffers to fill
tofSecHandle	- A pointer to the tof security state.

output parameters

Parameters

tofSecHandle

- A pointer to the tof security state.

Returns

NULL if failed, other if succeeded

TOFSecurity_open()

int TOFSecurity_open	(	tofSecHandle_t *	tofSecHandle,
		uint8_t *	seed
	)

This function is used to open AESCTRDRBG driver and, when needed, to generate 128-bit random seed.

input parameters

Parameters

tofSecHandle	- A pointer to an empty tof security handle.
seed	- NULL if need to generate seed, otherwise, a pointer to 128-bit random seed.

output parameters

Parameters

tofSecHandle

- A pointer to the tof security state.

Returns

int - NULL if failed, other if succeeded.

TOFSecurity_paramsInit()

int TOFSecurity_paramsInit	(	tofSecHandle_t *	tofSecHandle,
		tofSecCfgPrms_t *	tofSecCfgPrms
	)

This function to initialize the tof security parameters.

input parameters

Parameters

tofSecCfgPrms	- A pointer to the user-defined tof security preset values.
tofSecHandle	- A pointer to an empty tof security handle.

output parameters

Parameters

tofSecHandle

- A pointer to the tof security state.

Returns

int - NULL if failed, other if succeeded.