├── .rat-excludes ├── lib └── timescale │ ├── timescale_m0 │ ├── src │ │ └── libtimescale_core.a │ ├── syscfg.yml │ └── pkg.yml │ ├── timescale_m3 │ ├── src │ │ └── libtimescale_core.a │ ├── syscfg.yml │ └── pkg.yml │ ├── timescale_m7 │ ├── src │ │ └── libtimescale_core.a │ ├── syscfg.yml │ └── pkg.yml │ ├── timescale_xtensa │ ├── src │ │ └── libtimescale_core.a │ ├── syscfg.yml │ └── pkg.yml │ ├── timescale_m4_hardfloat │ ├── src │ │ └── libtimescale_core.a │ ├── syscfg.yml │ └── pkg.yml │ ├── timescale_m4_softfloat │ ├── src │ │ └── libtimescale_core.a │ ├── syscfg.yml │ └── pkg.yml │ ├── include │ └── timescale │ │ ├── config.h │ │ ├── bierman_dbl.h │ │ ├── ud_dbl.h │ │ ├── trisolve_dbl.h │ │ ├── thornton_dbl.h │ │ ├── matrix_print.h │ │ ├── timescale.h │ │ └── srkf_dbl.h │ ├── syscfg.yml │ └── pkg.yml ├── NOTICE ├── project.yml ├── .gitignore ├── repository.yml ├── README.md └── LICENSE /.rat-excludes: -------------------------------------------------------------------------------- 1 | # Can't easily add license to rat-excludes file. 2 | .rat-excludes 3 | 4 | # Temporary user files. 5 | .gdb_history 6 | .gdb_out 7 | tags 8 | -------------------------------------------------------------------------------- /lib/timescale/timescale_m0/src/libtimescale_core.a: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Decawave/mynewt-timescale-lib/HEAD/lib/timescale/timescale_m0/src/libtimescale_core.a -------------------------------------------------------------------------------- /lib/timescale/timescale_m3/src/libtimescale_core.a: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Decawave/mynewt-timescale-lib/HEAD/lib/timescale/timescale_m3/src/libtimescale_core.a -------------------------------------------------------------------------------- /lib/timescale/timescale_m7/src/libtimescale_core.a: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Decawave/mynewt-timescale-lib/HEAD/lib/timescale/timescale_m7/src/libtimescale_core.a -------------------------------------------------------------------------------- /lib/timescale/timescale_xtensa/src/libtimescale_core.a: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Decawave/mynewt-timescale-lib/HEAD/lib/timescale/timescale_xtensa/src/libtimescale_core.a -------------------------------------------------------------------------------- /lib/timescale/timescale_m4_hardfloat/src/libtimescale_core.a: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Decawave/mynewt-timescale-lib/HEAD/lib/timescale/timescale_m4_hardfloat/src/libtimescale_core.a -------------------------------------------------------------------------------- /lib/timescale/timescale_m4_softfloat/src/libtimescale_core.a: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Decawave/mynewt-timescale-lib/HEAD/lib/timescale/timescale_m4_softfloat/src/libtimescale_core.a -------------------------------------------------------------------------------- /NOTICE: -------------------------------------------------------------------------------- 1 | Apache Mynewt 2 | Copyright 2015-2017 The Apache Software Foundation 3 | 4 | This product includes software developed at 5 | The Apache Software Foundation (http://www.apache.org/). 6 | 7 | Portions of this software were developed at 8 | Runtime Inc, copyright 2015. 9 | 10 | Portions of this software were developed at 11 | DecaWave Ltd, copyright 2018. 12 | -------------------------------------------------------------------------------- /lib/timescale/include/timescale/config.h: -------------------------------------------------------------------------------- 1 | /** 2 | * Copyright 2017 Paul Kettle 3 | * 4 | * Licensed under the Apache License, Version 2.0 (the "License"); 5 | * you may not use this file except in compliance with the License. 6 | * You may obtain a copy of the License at 7 | * 8 | * http://www.apache.org/licenses/LICENSE-2.0 9 | * 10 | * Unless required by applicable law or agreed to in writing, software 11 | * distributed under the License is distributed on an "AS IS" BASIS, 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | * See the License for the specific language governing permissions and 14 | * limitations under the License. 15 | */ 16 | 17 | #ifndef CONFIG_INCLUDE 18 | #define CONFIG_INCLUDE 19 | // the configured options 20 | #define VERSION_MAJOR 1 21 | #define VERSION_MINOR 0 22 | #define VERSION_PATCH 0 23 | #endif 24 | 25 | -------------------------------------------------------------------------------- /project.yml: -------------------------------------------------------------------------------- 1 | # 2 | # Licensed to the Apache Software Foundation (ASF) under one 3 | # or more contributor license agreements. See the NOTICE file 4 | # distributed with this work for additional information 5 | # regarding copyright ownership. The ASF licenses this file 6 | # to you under the Apache License, Version 2.0 (the 7 | # "License"); you may not use this file except in compliance 8 | # with the License. You may obtain a copy of the License at 9 | # 10 | # http://www.apache.org/licenses/LICENSE-2.0 11 | # 12 | # Unless required by applicable law or agreed to in writing, 13 | # software distributed under the License is distributed on an 14 | # "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY 15 | # KIND, either express or implied. See the License for the 16 | # specific language governing permissions and limitations 17 | # under the License. 18 | # 19 | 20 | project.name: "mynewt-timescale-lib" 21 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | # 2 | # Licensed to the Apache Software Foundation (ASF) under one 3 | # or more contributor license agreements. See the NOTICE file 4 | # distributed with this work for additional information 5 | # regarding copyright ownership. The ASF licenses this file 6 | # to you under the Apache License, Version 2.0 (the 7 | # "License"); you may not use this file except in compliance 8 | # with the License. You may obtain a copy of the License at 9 | # 10 | # http://www.apache.org/licenses/LICENSE-2.0 11 | # 12 | # Unless required by applicable law or agreed to in writing, 13 | # software distributed under the License is distributed on an 14 | # "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY 15 | # KIND, either express or implied. See the License for the 16 | # specific language governing permissions and limitations 17 | # under the License. 18 | # 19 | 20 | .app.db 21 | .app 22 | bin 23 | obj 24 | tags 25 | .gdb_history 26 | .gdb_out 27 | .gdb_cmds 28 | *~ 29 | .DS_Store 30 | *.swp 31 | *.swo 32 | -------------------------------------------------------------------------------- /lib/timescale/timescale_m0/syscfg.yml: -------------------------------------------------------------------------------- 1 | # Licensed to the Apache Software Foundation (ASF) under one 2 | # or more contributor license agreements. See the NOTICE file 3 | # distributed with this work for additional information 4 | # regarding copyright ownership. The ASF licenses this file 5 | # to you under the Apache License, Version 2.0 (the 6 | # "License"); you may not use this file except in compliance 7 | # with the License. You may obtain a copy of the License at 8 | # 9 | # http://www.apache.org/licenses/LICENSE-2.0 10 | # 11 | # Unless required by applicable law or agreed to in writing, 12 | # software distributed under the License is distributed on an 13 | # "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY 14 | # KIND, either express or implied. See the License for the 15 | # specific language governing permissions and limitations 16 | # under the License. 17 | # 18 | 19 | # Package: lib/timescale/timescale_m0 20 | 21 | syscfg.defs: 22 | TIMESCALE_ENABLED: 23 | description: 'Enable clock estimation' 24 | value: 1 25 | restrictions: WCS_ENABLED 26 | 27 | -------------------------------------------------------------------------------- /lib/timescale/timescale_m3/syscfg.yml: -------------------------------------------------------------------------------- 1 | # Licensed to the Apache Software Foundation (ASF) under one 2 | # or more contributor license agreements. See the NOTICE file 3 | # distributed with this work for additional information 4 | # regarding copyright ownership. The ASF licenses this file 5 | # to you under the Apache License, Version 2.0 (the 6 | # "License"); you may not use this file except in compliance 7 | # with the License. You may obtain a copy of the License at 8 | # 9 | # http://www.apache.org/licenses/LICENSE-2.0 10 | # 11 | # Unless required by applicable law or agreed to in writing, 12 | # software distributed under the License is distributed on an 13 | # "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY 14 | # KIND, either express or implied. See the License for the 15 | # specific language governing permissions and limitations 16 | # under the License. 17 | # 18 | 19 | # Package: lib/timescale/timescale_m3 20 | 21 | syscfg.defs: 22 | TIMESCALE_ENABLED: 23 | description: 'Enable clock estimation' 24 | value: 1 25 | restrictions: WCS_ENABLED 26 | 27 | -------------------------------------------------------------------------------- /lib/timescale/timescale_m7/syscfg.yml: -------------------------------------------------------------------------------- 1 | # Licensed to the Apache Software Foundation (ASF) under one 2 | # or more contributor license agreements. See the NOTICE file 3 | # distributed with this work for additional information 4 | # regarding copyright ownership. The ASF licenses this file 5 | # to you under the Apache License, Version 2.0 (the 6 | # "License"); you may not use this file except in compliance 7 | # with the License. You may obtain a copy of the License at 8 | # 9 | # http://www.apache.org/licenses/LICENSE-2.0 10 | # 11 | # Unless required by applicable law or agreed to in writing, 12 | # software distributed under the License is distributed on an 13 | # "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY 14 | # KIND, either express or implied. See the License for the 15 | # specific language governing permissions and limitations 16 | # under the License. 17 | # 18 | 19 | # Package: lib/timescale/timescale_m7 20 | 21 | syscfg.defs: 22 | TIMESCALE_ENABLED: 23 | description: 'Enable clock estimation' 24 | value: 1 25 | restrictions: WCS_ENABLED 26 | 27 | -------------------------------------------------------------------------------- /lib/timescale/timescale_xtensa/syscfg.yml: -------------------------------------------------------------------------------- 1 | # Licensed to the Apache Software Foundation (ASF) under one 2 | # or more contributor license agreements. See the NOTICE file 3 | # distributed with this work for additional information 4 | # regarding copyright ownership. The ASF licenses this file 5 | # to you under the Apache License, Version 2.0 (the 6 | # "License"); you may not use this file except in compliance 7 | # with the License. You may obtain a copy of the License at 8 | # 9 | # http://www.apache.org/licenses/LICENSE-2.0 10 | # 11 | # Unless required by applicable law or agreed to in writing, 12 | # software distributed under the License is distributed on an 13 | # "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY 14 | # KIND, either express or implied. See the License for the 15 | # specific language governing permissions and limitations 16 | # under the License. 17 | # 18 | 19 | # Package: lib/timescale/timescale_xtensa 20 | 21 | syscfg.defs: 22 | TIMESCALE_ENABLED: 23 | description: 'Enable clock estimation' 24 | value: 1 25 | restrictions: WCS_ENABLED 26 | 27 | -------------------------------------------------------------------------------- /lib/timescale/syscfg.yml: -------------------------------------------------------------------------------- 1 | # Licensed to the Apache Software Foundation (ASF) under one 2 | # or more contributor license agreements. See the NOTICE file 3 | # distributed with this work for additional information 4 | # regarding copyright ownership. The ASF licenses this file 5 | # to you under the Apache License, Version 2.0 (the 6 | # "License"); you may not use this file except in compliance 7 | # with the License. You may obtain a copy of the License at 8 | # 9 | # http://www.apache.org/licenses/LICENSE-2.0 10 | # 11 | # Unless required by applicable law or agreed to in writing, 12 | # software distributed under the License is distributed on an 13 | # "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY 14 | # KIND, either express or implied. See the License for the 15 | # specific language governing permissions and limitations 16 | # under the License. 17 | # 18 | 19 | # Package: lib/timescale 20 | 21 | syscfg.defs: 22 | TIMESCALE_QVAR: 23 | description: 'Model Variance' 24 | value: (128e6*512*3e-20) 25 | TIMESCALE_RVAR: 26 | description: 'Observation Variance' 27 | value: (128e6*512*6e-20) 28 | 29 | -------------------------------------------------------------------------------- /lib/timescale/timescale_m4_hardfloat/syscfg.yml: -------------------------------------------------------------------------------- 1 | # Licensed to the Apache Software Foundation (ASF) under one 2 | # or more contributor license agreements. See the NOTICE file 3 | # distributed with this work for additional information 4 | # regarding copyright ownership. The ASF licenses this file 5 | # to you under the Apache License, Version 2.0 (the 6 | # "License"); you may not use this file except in compliance 7 | # with the License. You may obtain a copy of the License at 8 | # 9 | # http://www.apache.org/licenses/LICENSE-2.0 10 | # 11 | # Unless required by applicable law or agreed to in writing, 12 | # software distributed under the License is distributed on an 13 | # "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY 14 | # KIND, either express or implied. See the License for the 15 | # specific language governing permissions and limitations 16 | # under the License. 17 | # 18 | 19 | # Package: lib/timescale/timescale_m4_hardfloat 20 | 21 | syscfg.defs: 22 | TIMESCALE_ENABLED: 23 | description: 'Enable clock estimation' 24 | value: 1 25 | restrictions: WCS_ENABLED 26 | restrictions: HARDFLOAT 27 | -------------------------------------------------------------------------------- /lib/timescale/timescale_m4_softfloat/syscfg.yml: -------------------------------------------------------------------------------- 1 | # Licensed to the Apache Software Foundation (ASF) under one 2 | # or more contributor license agreements. See the NOTICE file 3 | # distributed with this work for additional information 4 | # regarding copyright ownership. The ASF licenses this file 5 | # to you under the Apache License, Version 2.0 (the 6 | # "License"); you may not use this file except in compliance 7 | # with the License. You may obtain a copy of the License at 8 | # 9 | # http://www.apache.org/licenses/LICENSE-2.0 10 | # 11 | # Unless required by applicable law or agreed to in writing, 12 | # software distributed under the License is distributed on an 13 | # "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY 14 | # KIND, either express or implied. See the License for the 15 | # specific language governing permissions and limitations 16 | # under the License. 17 | # 18 | 19 | # Package: lib/timescale/timescale_m4_softfloat 20 | 21 | syscfg.defs: 22 | TIMESCALE_ENABLED: 23 | description: 'Enable clock estimation' 24 | value: 1 25 | restrictions: WCS_ENABLED 26 | restrictions: !HARDFLOAT 27 | 28 | -------------------------------------------------------------------------------- /lib/timescale/include/timescale/bierman_dbl.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright 2017 Paul Kettle 3 | * 4 | * Licensed under the Apache License, Version 2.0 (the "License"); 5 | * you may not use this file except in compliance with the License. 6 | * You may obtain a copy of the License at 7 | * 8 | * http://www.apache.org/licenses/LICENSE-2.0 9 | * 10 | * Unless required by applicable law or agreed to in writing, software 11 | * distributed under the License is distributed on an "AS IS" BASIS, 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | * See the License for the specific language governing permissions and 14 | * limitations under the License. 15 | */ 16 | 17 | /** 18 | * @file bierman_dbl.h 19 | * @author Paul Kettle 20 | * @date July 24 2017 21 | * @brief Berman Factorization, square root filtering without square roots 22 | * \cite bierman2006factorization 23 | * 24 | */ 25 | 26 | #ifndef BIERMAN_DBL_INCLUDE 27 | #define BIERMAN_DBL_INCLUDE 28 | 29 | #include 30 | #include 31 | 32 | void bierman_dbl(double z, double r, double H[], double x[], double UP[], double DP[], uint16_t n); 33 | 34 | #endif 35 | 36 | 37 | -------------------------------------------------------------------------------- /lib/timescale/include/timescale/ud_dbl.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright 2017 Paul Kettle 3 | * 4 | * Licensed under the Apache License, Version 2.0 (the "License"); 5 | * you may not use this file except in compliance with the License. 6 | * You may obtain a copy of the License at 7 | * 8 | * http://www.apache.org/licenses/LICENSE-2.0 9 | * 10 | * Unless required by applicable law or agreed to in writing, software 11 | * distributed under the License is distributed on an "AS IS" BASIS, 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | * See the License for the specific language governing permissions and 14 | * limitations under the License. 15 | */ 16 | 17 | /** 18 | * @file ud_dbl.h 19 | * @author Paul Kettle 20 | * @date July 24 2017 21 | * @brief UD decomposition 22 | * 23 | */ 24 | 25 | 26 | #ifndef UD_DBL_INCLUDE 27 | #define UD_DBL_INCLUDE 28 | 29 | #include 30 | #include 31 | 32 | typedef struct _ud_dbl_status_t{ 33 | uint16_t NotPositiveDefinitive:1; /**< Matrix inverison, input not full rank */ 34 | }ud_dbl_status_t; 35 | 36 | ud_dbl_status_t ud_dbl(double A[],double U[], double D[], uint16_t n); 37 | 38 | #endif 39 | 40 | 41 | -------------------------------------------------------------------------------- /lib/timescale/timescale_xtensa/pkg.yml: -------------------------------------------------------------------------------- 1 | # 2 | # Licensed to the Apache Software Foundation (ASF) under one 3 | # or more contributor license agreements. See the NOTICE file 4 | # distributed with this work for additional information 5 | # regarding copyright ownership. The ASF licenses this file 6 | # to you under the Apache License, Version 2.0 (the 7 | # "License"); you may not use this file except in compliance 8 | # with the License. You may obtain a copy of the License at 9 | # 10 | # http://www.apache.org/licenses/LICENSE-2.0 11 | # 12 | # Unless required by applicable law or agreed to in writing, 13 | # software distributed under the License is distributed on an 14 | # "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY 15 | # KIND, either express or implied. See the License for the 16 | # specific language governing permissions and limitations 17 | # under the License. 18 | # 19 | 20 | pkg.name: lib/timescale/timescale_xtensa 21 | pkg.description: Xtensa version of core algorithm for ccp timescale applications 22 | pkg.author: "Paul Kettle " 23 | pkg.homepage: "http://www.decawave.com/" 24 | pkg.keywords: 25 | - uwb 26 | - ccp 27 | - timescale 28 | 29 | pkg.cflags: 30 | - "-std=gnu99" 31 | - "-fms-extensions" 32 | -------------------------------------------------------------------------------- /lib/timescale/include/timescale/trisolve_dbl.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright 2017 Paul Kettle 3 | * 4 | * Licensed under the Apache License, Version 2.0 (the "License"); 5 | * you may not use this file except in compliance with the License. 6 | * You may obtain a copy of the License at 7 | * 8 | * http://www.apache.org/licenses/LICENSE-2.0 9 | * 10 | * Unless required by applicable law or agreed to in writing, software 11 | * distributed under the License is distributed on an "AS IS" BASIS, 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | * See the License for the specific language governing permissions and 14 | * limitations under the License. 15 | */ 16 | 17 | /** 18 | * @file trisolve_bdl.h 19 | * @author Paul Kettle 20 | * @date July 24 2017 21 | * @brief This function solves the linear, unit triangular system of equations Y = T * X 22 | * using backsubstitution, and returns X such that X = T^(-1) * Y; 23 | * \cite moore1979optimal \cite bierman2006factorization 24 | * 25 | */ 26 | 27 | #ifndef TRISOLVE_DBL_INCLUDE 28 | #define TRISOLVE_DBL_INCLUDE 29 | 30 | #include 31 | #include 32 | 33 | void trisolve_dbl(double x[], double U[], const double y[], uint16_t n, uint16_t m); 34 | 35 | #endif 36 | 37 | 38 | -------------------------------------------------------------------------------- /lib/timescale/timescale_m0/pkg.yml: -------------------------------------------------------------------------------- 1 | # 2 | # Licensed to the Apache Software Foundation (ASF) under one 3 | # or more contributor license agreements. See the NOTICE file 4 | # distributed with this work for additional information 5 | # regarding copyright ownership. The ASF licenses this file 6 | # to you under the Apache License, Version 2.0 (the 7 | # "License"); you may not use this file except in compliance 8 | # with the License. You may obtain a copy of the License at 9 | # 10 | # http://www.apache.org/licenses/LICENSE-2.0 11 | # 12 | # Unless required by applicable law or agreed to in writing, 13 | # software distributed under the License is distributed on an 14 | # "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY 15 | # KIND, either express or implied. See the License for the 16 | # specific language governing permissions and limitations 17 | # under the License. 18 | # 19 | 20 | pkg.name: lib/timescale/timescale_m0 21 | pkg.description: cortex-m0 version of core algorithm for ccp timescale applications 22 | pkg.author: "Paul Kettle " 23 | pkg.homepage: "http://www.decawave.com/" 24 | pkg.keywords: 25 | - dw1000 26 | - uwb 27 | - ccp 28 | - timescale 29 | 30 | pkg.cflags: 31 | - "-std=gnu99" 32 | - "-fms-extensions" 33 | -------------------------------------------------------------------------------- /lib/timescale/timescale_m3/pkg.yml: -------------------------------------------------------------------------------- 1 | # 2 | # Licensed to the Apache Software Foundation (ASF) under one 3 | # or more contributor license agreements. See the NOTICE file 4 | # distributed with this work for additional information 5 | # regarding copyright ownership. The ASF licenses this file 6 | # to you under the Apache License, Version 2.0 (the 7 | # "License"); you may not use this file except in compliance 8 | # with the License. You may obtain a copy of the License at 9 | # 10 | # http://www.apache.org/licenses/LICENSE-2.0 11 | # 12 | # Unless required by applicable law or agreed to in writing, 13 | # software distributed under the License is distributed on an 14 | # "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY 15 | # KIND, either express or implied. See the License for the 16 | # specific language governing permissions and limitations 17 | # under the License. 18 | # 19 | 20 | pkg.name: lib/timescale/timescale_m3 21 | pkg.description: cortex-m3 version of core algorithm for ccp timescale applications 22 | pkg.author: "Paul Kettle " 23 | pkg.homepage: "http://www.decawave.com/" 24 | pkg.keywords: 25 | - dw1000 26 | - uwb 27 | - ccp 28 | - timescale 29 | 30 | pkg.cflags: 31 | - "-std=gnu99" 32 | - "-fms-extensions" 33 | -------------------------------------------------------------------------------- /lib/timescale/timescale_m7/pkg.yml: -------------------------------------------------------------------------------- 1 | # 2 | # Licensed to the Apache Software Foundation (ASF) under one 3 | # or more contributor license agreements. See the NOTICE file 4 | # distributed with this work for additional information 5 | # regarding copyright ownership. The ASF licenses this file 6 | # to you under the Apache License, Version 2.0 (the 7 | # "License"); you may not use this file except in compliance 8 | # with the License. You may obtain a copy of the License at 9 | # 10 | # http://www.apache.org/licenses/LICENSE-2.0 11 | # 12 | # Unless required by applicable law or agreed to in writing, 13 | # software distributed under the License is distributed on an 14 | # "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY 15 | # KIND, either express or implied. See the License for the 16 | # specific language governing permissions and limitations 17 | # under the License. 18 | # 19 | 20 | pkg.name: lib/timescale/timescale_m7 21 | pkg.description: cortex-m7 version of core algorithm for ccp timescale applications 22 | pkg.author: "Paul Kettle " 23 | pkg.homepage: "http://www.decawave.com/" 24 | pkg.keywords: 25 | - dw1000 26 | - uwb 27 | - ccp 28 | - timescale 29 | 30 | pkg.cflags: 31 | - "-std=gnu99" 32 | - "-fms-extensions" 33 | -------------------------------------------------------------------------------- /lib/timescale/timescale_m4_softfloat/pkg.yml: -------------------------------------------------------------------------------- 1 | # 2 | # Licensed to the Apache Software Foundation (ASF) under one 3 | # or more contributor license agreements. See the NOTICE file 4 | # distributed with this work for additional information 5 | # regarding copyright ownership. The ASF licenses this file 6 | # to you under the Apache License, Version 2.0 (the 7 | # "License"); you may not use this file except in compliance 8 | # with the License. You may obtain a copy of the License at 9 | # 10 | # http://www.apache.org/licenses/LICENSE-2.0 11 | # 12 | # Unless required by applicable law or agreed to in writing, 13 | # software distributed under the License is distributed on an 14 | # "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY 15 | # KIND, either express or implied. See the License for the 16 | # specific language governing permissions and limitations 17 | # under the License. 18 | # 19 | 20 | pkg.name: lib/timescale/timescale_m4_softfloat 21 | pkg.description: Soft-float version of core algorithm for ccp timescale applications 22 | pkg.author: "Paul Kettle " 23 | pkg.homepage: "http://www.decawave.com/" 24 | pkg.keywords: 25 | - dw1000 26 | - uwb 27 | - ccp 28 | - timescale 29 | 30 | pkg.cflags: 31 | - "-std=gnu99" 32 | - "-fms-extensions" 33 | -------------------------------------------------------------------------------- /lib/timescale/timescale_m4_hardfloat/pkg.yml: -------------------------------------------------------------------------------- 1 | # 2 | # Licensed to the Apache Software Foundation (ASF) under one 3 | # or more contributor license agreements. See the NOTICE file 4 | # distributed with this work for additional information 5 | # regarding copyright ownership. The ASF licenses this file 6 | # to you under the Apache License, Version 2.0 (the 7 | # "License"); you may not use this file except in compliance 8 | # with the License. You may obtain a copy of the License at 9 | # 10 | # http://www.apache.org/licenses/LICENSE-2.0 11 | # 12 | # Unless required by applicable law or agreed to in writing, 13 | # software distributed under the License is distributed on an 14 | # "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY 15 | # KIND, either express or implied. See the License for the 16 | # specific language governing permissions and limitations 17 | # under the License. 18 | # 19 | 20 | pkg.name: lib/timescale/timescale_m4_hardfloat 21 | pkg.description: Hard-float version of core algorithm for ccp timescale applications 22 | pkg.author: "Paul Kettle " 23 | pkg.homepage: "http://www.decawave.com/" 24 | pkg.keywords: 25 | - dw1000 26 | - uwb 27 | - ccp 28 | - timescale 29 | 30 | pkg.cflags: 31 | - "-std=gnu99" 32 | - "-fms-extensions" 33 | 34 | -------------------------------------------------------------------------------- /lib/timescale/include/timescale/thornton_dbl.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright 2017 Paul Kettle 3 | * 4 | * Licensed under the Apache License, Version 2.0 (the "License"); 5 | * you may not use this file except in compliance with the License. 6 | * You may obtain a copy of the License at 7 | * 8 | * http://www.apache.org/licenses/LICENSE-2.0 9 | * 10 | * Unless required by applicable law or agreed to in writing, software 11 | * distributed under the License is distributed on an "AS IS" BASIS, 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | * See the License for the specific language governing permissions and 14 | * limitations under the License. 15 | */ 16 | 17 | /** 18 | * @file thornton_dbl.h 19 | * @author Paul Kettle 20 | * @date July 24 2017 21 | * @brief Catherine Thornton's modified weighted Gram-Schmidt 22 | * orthogonalization method for the predictor update of the U-D factors of the covariance matrix 23 | * of estimation uncertainty in Kalman filtering 24 | * \cite bierman2006factorization 25 | */ 26 | 27 | #ifndef THORNTON_DBL_INCLUDE 28 | #define THORNTON_DBL_INCLUDE 29 | 30 | #include 31 | #include 32 | 33 | typedef struct _thornton_dbl_status_t{ 34 | uint16_t NotPositiveDefinitive:1; 35 | }thornton_dbl_status_t; 36 | 37 | thornton_dbl_status_t thornton_dbl(double UP[], double DP[], double UQ[], double DQ[], double A[], double S[], uint16_t n); 38 | 39 | #endif 40 | 41 | 42 | -------------------------------------------------------------------------------- /repository.yml: -------------------------------------------------------------------------------- 1 | # 2 | # Licensed to the Apache Software Foundation (ASF) under one 3 | # or more contributor license agreements. See the NOTICE file 4 | # distributed with this work for additional information 5 | # regarding copyright ownership. The ASF licenses this file 6 | # to you under the Apache License, Version 2.0 (the 7 | # "License"); you may not use this file except in compliance 8 | # with the License. You may obtain a copy of the License at 9 | # 10 | # http://www.apache.org/licenses/LICENSE-2.0 11 | # 12 | # Unless required by applicable law or agreed to in writing, 13 | # software distributed under the License is distributed on an 14 | # "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY 15 | # KIND, either express or implied. See the License for the 16 | # specific language governing permissions and limitations 17 | # under the License. 18 | # 19 | 20 | repo.name: mynewt-timescale-lib 21 | repo.versions: 22 | "0.0.0": "master" 23 | "1.0.0": "timescale_lib_1_0_0_tag" 24 | "1.0.1": "timescale_lib_1_0_1_tag" 25 | 26 | "0-latest": "1.0.1" # 1.0.0 27 | "0-dev": "0.0.0" # master 28 | 29 | repo.newt_compatibility: 30 | # Allow all versions for 0.0.0. This is a workaround to prevent a warning 31 | # from being displayed when newt doesn't know which version of the repo is 32 | # present. 33 | 0.0.0: 34 | 0.0.0: good 35 | 36 | 1.0.1: 37 | 1.7.0: good 38 | 1.0.0: 39 | 1.7.0: good 40 | -------------------------------------------------------------------------------- /lib/timescale/pkg.yml: -------------------------------------------------------------------------------- 1 | # 2 | # Licensed to the Apache Software Foundation (ASF) under one 3 | # or more contributor license agreements. See the NOTICE file 4 | # distributed with this work for additional information 5 | # regarding copyright ownership. The ASF licenses this file 6 | # to you under the Apache License, Version 2.0 (the 7 | # "License"); you may not use this file except in compliance 8 | # with the License. You may obtain a copy of the License at 9 | # 10 | # http://www.apache.org/licenses/LICENSE-2.0 11 | # 12 | # Unless required by applicable law or agreed to in writing, 13 | # software distributed under the License is distributed on an 14 | # "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY 15 | # KIND, either express or implied. See the License for the 16 | # specific language governing permissions and limitations 17 | # under the License. 18 | # 19 | 20 | pkg.name: lib/timescale 21 | pkg.description: Core algorithm for ccp timescale applications 22 | pkg.author: "Paul Kettle " 23 | pkg.homepage: "http://www.decawave.com/" 24 | pkg.keywords: 25 | - uwb 26 | - ccp 27 | - timescale 28 | 29 | pkg.cflags: 30 | - "-std=gnu99" 31 | - "-fms-extensions" 32 | 33 | pkg.deps.'!HARDFLOAT': 34 | - lib/timescale/timescale_m4_softfloat 35 | 36 | pkg.deps.'HARDFLOAT': 37 | - lib/timescale/timescale_m4_hardfloat 38 | 39 | # XXX Below inclusions depend on setting of the TIMESCALE_XXX variable 40 | pkg.deps.'TIMESCALE_M0': 41 | - lib/timescale/timescale_m0 42 | 43 | pkg.deps.'TIMESCALE_M3': 44 | - lib/timescale/timescale_m3 45 | 46 | pkg.deps.'TIMESCALE_M7': 47 | - lib/timescale/timescale_m7 48 | 49 | pkg.deps.'TIMESCALE_XTENSA': 50 | - lib/timescale/timescale_xtensa 51 | 52 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | 21 | 22 | # Decawave Timescale lib 23 | 24 | ## Overview 25 | 26 | Precompiled library for timescale processing. The Timescale algorithm estimates clock skew and drift of the local in the master clock reference frame. The library is precompiled for Cortex-m0/m3/m4f devices and works in conjunction with CCP and WCS packages. The library is included as a dependent repo as required. The 27 | 28 | The timescale library implements wireless clock synchronization, when used in conjunction with the mynewt-dw1000-core all timestamps are transformers into the master reference, this frame greatly simplifying the TDOA problem. The timescale_forward, timescale_inverse fuctions allow you convert between referece frames. 29 | 30 | ### Perforamnce: 31 | | profile | Description | Benchmark | 32 | | ------------- |:-------------:| -----:| 33 | | 1s CCP superframe | In TDOA usercase | 1-sigma 30 DTUs(~500ps) | 34 | 35 | -------------------------------------------------------------------------------- /lib/timescale/include/timescale/matrix_print.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright 2017 Paul Kettle 3 | * 4 | * Licensed under the Apache License, Version 2.0 (the "License"); 5 | * you may not use this file except in compliance with the License. 6 | * You may obtain a copy of the License at 7 | * 8 | * http://www.apache.org/licenses/LICENSE-2.0 9 | * 10 | * Unless required by applicable law or agreed to in writing, software 11 | * distributed under the License is distributed on an "AS IS" BASIS, 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | * See the License for the specific language governing permissions and 14 | * limitations under the License. 15 | */ 16 | 17 | /** 18 | * @file matrix_print.h 19 | * @author Paul Kettle 20 | * @date May 28 2016 21 | * @brief Matlab friendly matrix output 22 | * 23 | */ 24 | 25 | #ifndef MATRIXPRINT_INCLUDE 26 | #define MATRIXPRINT_INCLUDE 27 | #include 28 | 29 | #ifdef MEX 30 | static inline void matrix_print(double x[], const char * name, int m, int n){ 31 | mexPrintf("%s = [\n\t",name); 32 | for (int j=0;j 30 | #include "srkf_dbl.h" 31 | 32 | #define TIMESCALE_N (sizeof(timescale_states_t)/sizeof(double)) 33 | #define TIMESCALE_M (sizeof(timescale_observations_t)/sizeof(double)) 34 | #define TIMESCALE_DYNAMICS 3 35 | #undef TIMESCALE_SKEW_OBSERVATION 36 | 37 | typedef struct _timescale_states_t{ 38 | double time; /**< Local time state */ 39 | double skew; /**< Skew parameter */ 40 | #if (TIMESCALE_DYNAMICS == 3) 41 | double drift; /**< Rate of change of Skew */ 42 | #endif 43 | }timescale_states_t; 44 | 45 | typedef struct _timescale_observations_t{ 46 | double time; /**< ccp timestamp */ 47 | #ifdef TIMESCALE_SKEW_OBSERVATION 48 | double skew; /**< Skew parameter */ 49 | #endif 50 | }timescale_observations_t; 51 | 52 | typedef struct _timescale_status_t{ 53 | uint16_t selfmalloc:1; /**< Internal flag for memory garbage collection */ 54 | uint16_t initialized:1; /**< Instance allocated and valids */ 55 | uint16_t illconditioned:1; /**< Generally an indication of an illposed problem, only coarse of action is tare down and reconstruct */ 56 | uint16_t valid:1; 57 | uint16_t NotPositiveDefinitive:1; 58 | uint16_t rollover:1; 59 | uint16_t halfperiod:1; 60 | }timescale_status_t; 61 | 62 | typedef struct _timescale_instance_t{ 63 | srkf_dbl_instance_t * eke; /**< Extended Kalman base class ptr */ 64 | timescale_status_t status; /**< Instance status */ 65 | }timescale_instance_t; 66 | 67 | timescale_instance_t * timescale_init(timescale_instance_t * inst, const double x0[], const double q[], double T); 68 | void timescale_free(timescale_instance_t * inst); 69 | timescale_status_t timescale_main(timescale_instance_t * inst, const double z[], const double q[], const double r[], double T); 70 | double timescale_forward(timescale_instance_t * inst, double T); 71 | double timescale_inverse(timescale_instance_t * inst, double T); 72 | 73 | #endif 74 | -------------------------------------------------------------------------------- /lib/timescale/include/timescale/srkf_dbl.h: -------------------------------------------------------------------------------- 1 | /* 2 | * Copyright 2017 Paul Kettle 3 | * 4 | * Licensed under the Apache License, Version 2.0 (the "License"); 5 | * you may not use this file except in compliance with the License. 6 | * You may obtain a copy of the License at 7 | * 8 | * http://www.apache.org/licenses/LICENSE-2.0 9 | * 10 | * Unless required by applicable law or agreed to in writing, software 11 | * distributed under the License is distributed on an "AS IS" BASIS, 12 | * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 13 | * See the License for the specific language governing permissions and 14 | * limitations under the License. 15 | */ 16 | 17 | /** 18 | * @file srkf_dbl.h 19 | * @author Paul Kettle 20 | * @date Jul 25 2017 21 | * @brief Square Root Extended Kalman Estimator Core 22 | * 23 | */ 24 | 25 | #ifndef SRKF_DBL_INCLUDE 26 | #define SRKF_DBL_INCLUDE 27 | 28 | #include 29 | #include "thornton_dbl.h" 30 | #include "bierman_dbl.h" 31 | #include "trisolve_dbl.h" 32 | #include "ud_dbl.h" 33 | 34 | typedef struct _srkf_dbl_status_t{ 35 | uint16_t selfmalloc:1; /**< Internal flag for garbage collection */ 36 | uint16_t initialized:1; /**< Resources allocated and instance is valid */ 37 | uint16_t divergence:1; /**< NAN or INF present error covarience matrix, behaviour undefined */ 38 | uint16_t inhibit:1; /**< postprior updates inhibited by external event. Behaviour is defined but will result in divergence if persistent.*/ 39 | uint16_t illconditioned:1; /**< Error covarience matrix not full rank, behaviour undefined */ 40 | uint16_t NotPositiveDefinitive:1; 41 | }srkf_dbl_status_t; 42 | 43 | typedef struct _srkf_dbl_ctrl_t{ 44 | uint16_t diagonal:1; /**< Indicates a diagonal measurement model, as such ud-factorization not required. */ 45 | }srkf_dbl_ctrl_t; 46 | 47 | typedef struct _srkf_dbl_instance_t{ 48 | uint16_t n, m, _m; /**< Estimator dimensions */ 49 | double * x; /**< States */ 50 | double * _x; /**< States */ 51 | double * y; /**< Input Estimate */ 52 | double * z; /**< Observations */ 53 | double * e; /**< error */ 54 | double * H; /**< Measurement matrix */ 55 | double * P; /**< Error Covarience */ 56 | double * UP; /**< Error Covarience factorized Upper triangle post */ 57 | double * DP; /**< Error Covarience factorized Diagonal post */ 58 | double * Q; /**< Model variances */ 59 | double * UQ; /**< Variances factorized Upper triangle */ 60 | double * DQ; /**< Variances factorized Diagonal */ 61 | double * R; /**< Measurement variances */ 62 | double * UR; /**< Measurement variances Upper triangle */ 63 | double * DR; /**< Measurement variances Diagonal */ 64 | double * S; /**< Scratch pad matrix, used for intermidiate P */ 65 | double * _S; /**< Scratch pad matrix, used for intermidiate P */ 66 | double * A; /**< State Transition */ 67 | double * K; /**< Gain Matrix */ 68 | void (*Aofx)(struct _srkf_dbl_instance_t * inst, const double u[], double T); /**< Callback function for Nonlinear state transition */ 69 | void (*JofAx)(struct _srkf_dbl_instance_t * inst, const double u[], double T); /**< Callback function for Jocobian of state transition */ 70 | void (*Hofx)(struct _srkf_dbl_instance_t * inst, double T); /**< Callback function for Nonlinear measurement equation */ 71 | void (*JofHx)(struct _srkf_dbl_instance_t * inst, double T); /**< Callback function for Jocobian of measurement equation */ 72 | void (*constraints)(struct _srkf_dbl_instance_t * inst, double T); /**< Callback function constraints [optional] */ 73 | void (*innovation)(struct _srkf_dbl_instance_t * inst, double T); /**< Callback function innovation sequence [optional] */ 74 | void *parent; /**< Reference pointer for parent instance, use this to access derrived class variables */ 75 | srkf_dbl_status_t status; /**< Internal status and error flags*/ 76 | srkf_dbl_ctrl_t ctrl; 77 | }srkf_dbl_instance_t; 78 | 79 | srkf_dbl_instance_t * srkf_dbl_init(srkf_dbl_instance_t * eke, const double x0[], uint16_t n, uint16_t m); 80 | void srkf_dbl_free(srkf_dbl_instance_t * eke); 81 | srkf_dbl_status_t srkf_dbl_main(srkf_dbl_instance_t * eke, const double z[], const double u[], double T, uint16_t flag); 82 | 83 | 84 | #endif 85 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | Apache License 2 | Version 2.0, January 2004 3 | http://www.apache.org/licenses/ 4 | 5 | TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 6 | 7 | 1. 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