A base program for ranging, open to improvement

Dependencies:   SX1280Lib mbed

Files at this revision

API Documentation at this revision

Comitter:
LuisRuiz
Date:
Mon Apr 23 18:42:08 2018 +0000
Commit message:
Ranging Master Role for SX1280

Changed in this revision

FreqLUT.h Show annotated file Show diff for this revision Revisions of this file
SX1280Lib.lib Show annotated file Show diff for this revision Revisions of this file
Timers/Timers.cpp Show annotated file Show diff for this revision Revisions of this file
Timers/Timers.h Show annotated file Show diff for this revision Revisions of this file
main.cpp Show annotated file Show diff for this revision Revisions of this file
mbed.bld Show annotated file Show diff for this revision Revisions of this file
diff -r 000000000000 -r 1ca9a50646e6 FreqLUT.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/FreqLUT.h	Mon Apr 23 18:42:08 2018 +0000
@@ -0,0 +1,54 @@
+#define CHANNELS 40
+
+/*
+ * Frequency look up table :
+ * To avoid Wifi channels, 40 Bluetooth channels are defined below (they already
+ * avoid Wifi common channels) : from 2402 MHz to 2480 MHz, step 2 MHz.
+ * User can define channel count for Ranging run, and it is optimized to have
+ * several frequencies in the largest band as possible. Also the 40 frequencies 
+ * are generated by random sorting to preferate the 10 first in the largest band
+ * as possible (10 is the shortest channel count the user can choose).
+ */
+const uint32_t Channels[] =
+{
+ 2450000000,
+ 2402000000,
+ 2476000000,
+ 2436000000,
+ 2430000000,
+ 2468000000,
+ 2458000000,
+ 2416000000,
+ 2424000000,
+ 2478000000,
+ 2456000000,
+ 2448000000,
+ 2462000000,
+ 2472000000,
+ 2432000000,
+ 2446000000,
+ 2422000000,
+ 2442000000,
+ 2460000000,
+ 2474000000,
+ 2414000000,
+ 2464000000,
+ 2454000000,
+ 2444000000,
+ 2404000000,
+ 2434000000,
+ 2410000000,
+ 2408000000,
+ 2440000000,
+ 2452000000,
+ 2480000000,
+ 2426000000,
+ 2428000000,
+ 2466000000,
+ 2418000000,
+ 2412000000,
+ 2406000000,
+ 2470000000,
+ 2438000000,
+ 2420000000,
+};
diff -r 000000000000 -r 1ca9a50646e6 SX1280Lib.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SX1280Lib.lib	Mon Apr 23 18:42:08 2018 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/teams/Semtech/code/SX1280Lib/#c1b368a5052f
diff -r 000000000000 -r 1ca9a50646e6 Timers/Timers.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Timers/Timers.cpp	Mon Apr 23 18:42:08 2018 +0000
@@ -0,0 +1,56 @@
+/*
+  ______                              _
+ / _____)             _              | |
+( (____  _____ ____ _| |_ _____  ____| |__
+ \____ \| ___ |    (_   _) ___ |/ ___)  _ \
+ _____) ) ____| | | || |_| ____( (___| | | |
+(______/|_____)_|_|_| \__)_____)\____)_| |_|
+    (C)2016 Semtech
+
+Description: Timers
+
+Maintainer: Gregory Cristian & Gilbert Menth
+*/
+
+#include "mbed.h"
+#include "Timers.h"
+
+
+Ticker TickTimer;
+
+static uint32_t SoftTimer = 0;
+static void TimersIncSoftTimer( void );
+
+
+void TimersInit( void )
+{
+    TickTimer.attach_us( &TimersIncSoftTimer, 1000 ); // Ticks every millisecond
+}
+
+static void TimersIncSoftTimer( void )
+{
+    SoftTimer++;
+}
+
+void TimersSetTimer( uint32_t *sTimer, uint32_t timeLength )
+{
+    if( timeLength > MAX_TIMER_VALUE )
+    {
+        timeLength = MAX_TIMER_VALUE;
+    }
+    *sTimer = SoftTimer + timeLength;
+}
+
+uint32_t TimersTimerHasExpired ( const uint32_t * sTimer )
+{
+    if( ( SoftTimer - *sTimer ) > 0x7fffffff )
+    {
+        return false;
+    }
+    return true;
+}
+
+uint32_t TimersTimerValue ( void )
+{
+    return SoftTimer;
+}
diff -r 000000000000 -r 1ca9a50646e6 Timers/Timers.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Timers/Timers.h	Mon Apr 23 18:42:08 2018 +0000
@@ -0,0 +1,58 @@
+/*
+  ______                              _
+ / _____)             _              | |
+( (____  _____ ____ _| |_ _____  ____| |__
+ \____ \| ___ |    (_   _) ___ |/ ___)  _ \
+ _____) ) ____| | | || |_| ____( (___| | | |
+(______/|_____)_|_|_| \__)_____)\____)_| |_|
+    (C)2016 Semtech
+
+Description: Timers header
+
+Maintainer: Gregory Cristian & Gilbert Menth
+*/
+
+#ifndef TIMERS_H
+#define TIMERS_H
+
+
+#define TIM_MSEC        ( uint32_t )1
+#define TIM_SEC         ( uint32_t )1000
+#define TIM_MIN         ( uint32_t )60000
+#define TIM_HOUR        ( uint32_t )3600000
+#define MAX_TIMER_VALUE ( TIM_MIN * 150 ) // maximum time for timer
+
+
+ /*!
+ * \brief Initialses the hardware and variables associated with the timers.
+ */
+void TimersInit( void );
+
+ /*!
+ * \brief Sets a timer to a specific value
+ *
+ * \param [in]  *STimer       Pointer to the timer value to be set.
+ * \param [in]  TimeLength    Value to set the timer to in milliseconds.
+ */
+void TimersSetTimer( uint32_t *sTimer, uint32_t timeLength );
+
+ /*!
+ * \brief Checks if a timer has expired.
+ *
+ * \param [in]  *STimer       Pointer to the timer value to be read.
+ *
+ * \retval      Status        Non zero if the timer has not expired and is still
+ *                            running.
+ */
+uint32_t TimersTimerHasExpired ( const uint32_t * sTimer );
+
+ /*!
+ * \brief Returns the value of the current time in milliseconds
+ *
+ * \param [in]  refresh       Flag indicates refresh display required (touch)
+ *
+ * \retval      Value         value of current time in milliseconds
+ */
+uint32_t TimersTimerValue ( void );
+
+#endif //TIMERS_H
diff -r 000000000000 -r 1ca9a50646e6 main.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Apr 23 18:42:08 2018 +0000
@@ -0,0 +1,660 @@
+#include "mbed.h"
+#include "radio.h"
+#include "sx1280-hal.h"
+#include <math.h>
+#include "FreqLUT.h"
+#include "Timers.h"
+
+double t0 =       -0.016432807883697;                         // X0
+double t1 =       0.323147003165358;                          // X1
+double t2 =       0.014922061351196;                          // X1^2
+double t3 =       0.000137832006285;                          // X1^3
+double t4 =       0.536873856625399;                          // X2
+double t5 =       0.040890089178579;                          // X2^2
+double t6 =       -0.001074801048732;                         // X2^3
+double t7 =       0.000009240142234;                          // X2^4
+
+/*!
+ * \brief Used to display firmware version on RS232
+ */
+#define FIRMWARE_VERSION ( ( char* )"Firmware Version: 15.0.3" )
+
+/*!
+ * Mode of operation
+ */
+#define MODE_LORA
+
+/*!
+ * \brief Ranging raw factors
+ *                                  SF5     SF6     SF7     SF8     SF9     SF10
+ */
+//const uint16_t RNG_CALIB_0400[] = { 10299,  10271,  10244,  10242,  10230,  10246  };
+//const uint16_t RNG_CALIB_0800[] = { 11486,  11474,  11453,  11426,  11417,  11401  };
+const uint16_t RNG_CALIB_1600[] = { 13308,  13493,  13528,  13515,  13430,  13376  };
+//const double   RNG_FGRAD_0400[] = { -0.148, -0.214, -0.419, -0.853, -1.686, -3.423 };
+//const double   RNG_FGRAD_0800[] = { -0.041, -0.811, -0.218, -0.429, -0.853, -1.737 };
+const double   RNG_FGRAD_1600[] = { 0.103,  -0.041, -0.101, -0.211, -0.424, -0.87  };
+
+/*!
+ * \brief Defines the nominal frequency
+ */
+#define RF_FREQUENCY                                2402000000UL // Hz
+
+/*!
+ * \brief Defines the output power in dBm
+ *
+ * \remark The range of the output power is [-18..+13] dBm
+ */
+#define TX_OUTPUT_POWER                             13
+
+uint32_t RngAddress  = 0x10000000;
+uint32_t RngAddress1 = 0x32100000;
+uint32_t CntPacketTx = 0;
+uint32_t CntPacketRxOK = 0;
+uint32_t CntPacketRxOKSlave = 0;
+uint32_t CntPacketRxKOSlave = 0;
+uint32_t MeasuredChannels = 0;
+uint32_t CurrentChannel = 0;
+uint16_t RxTimeOutCount = 0;
+uint16_t RngCalib;
+uint16_t RngReqDelay;
+uint16_t RngRequestCount = 10;
+uint8_t  RngStatus;
+int8_t RssiValue = 0;
+int8_t SnrValue = 0;
+double RngDistance = 0.0;
+double RngFeiFactor;
+double RngFei = 0.0;
+double RawRngResults[255];
+double RssiRng[255];
+int    RngResultIndex;
+int    Address = 0;
+
+/*!
+ * \brief Status of ranging distance
+ */
+enum RangingStatus
+{
+    RNG_INIT = 0,
+    RNG_PROCESS,
+    RNG_VALID,
+    RNG_TIMEOUT,
+    RNG_PER_ERROR
+};
+
+/*!
+ * \brief Defines the states of the application
+ */
+typedef enum
+{
+    APP_IDLE,
+    APP_RANGING_DONE,
+    APP_RANGING_TIMEOUT,
+    APP_RANGING_CONFIG,
+    APP_RNG,
+    APP_RX,
+    APP_RX_TIMEOUT,
+    APP_RX_ERROR,
+    APP_TX,
+    APP_TX_TIMEOUT,
+}AppStates_t;
+
+/*!
+ * \brief Defines the buffer size, i.e. the payload size
+ */
+#define BUFFER_SIZE                                 255
+
+/*!
+ * \brief The size of the buffer
+ */
+uint8_t BufferSize = BUFFER_SIZE;
+
+/*!
+ * \brief The buffer
+ */
+uint8_t Buffer[BUFFER_SIZE];
+
+/*!
+ * \brief The State of the application
+ */
+AppStates_t AppState = APP_IDLE;
+
+void SendNextPacketEvent( void );
+uint8_t CheckDistance( void );
+
+/*!
+ * \brief Function to be executed on Radio Tx Done event
+ */
+void OnTxDone( void );
+
+/*!
+ * \brief Function to be executed on Radio Rx Done event
+ */
+void OnRxDone( void );
+
+/*!
+ * \brief Function executed on Radio Tx Timeout event
+ */
+void OnTxTimeout( void );
+
+/*!
+ * \brief Function executed on Radio Rx Timeout event
+ */
+void OnRxTimeout( void );
+
+/*!
+ * \brief Function executed on Radio Rx Error event
+ */
+void OnRxError( IrqErrorCode_t );
+
+/*!
+ * \brief Function executed on Ranging Done
+ */
+void OnRangingDone( IrqRangingCode_t val );
+
+/*!
+ * \brief Function for Interrupt
+ */
+void pressed( void );
+
+/*!
+ * \brief All the callbacks are stored in a structure
+ */
+RadioCallbacks_t callbacks =
+{
+    &OnTxDone,        // txDone
+    &OnRxDone,        // rxDone
+    NULL,             // syncWordDone
+    NULL,             // headerDone
+    &OnTxTimeout,     // txTimeout
+    &OnRxTimeout,     // rxTimeout
+    &OnRxError,       // rxError
+    &OnRangingDone,   // rangingDone
+    NULL,             // cadDone
+};
+
+// mosi, miso, sclk, nss, busy, dio1, dio2, dio3, rst, callbacks...
+SX1280Hal Radio( D11, D12, D13, D7, D3, D5, NC, NC, A0, &callbacks );
+
+//DigitalOut ANT_SW( A3 );
+InterruptIn Button( USER_BUTTON );         // Interrupt Declaration
+DigitalOut TxLed( A4 );
+DigitalOut RxLed( A5 );
+
+
+/*!
+ * \brief Define IO for Unused Pin
+ */
+DigitalOut F_CS( D6 );      // MBED description of pin  RX_EN
+DigitalOut SD_CS( D8 );     // MBED description of pin  TX_EN
+
+/*!
+ * \brief Number of tick size steps for tx timeout
+ */
+#define TX_TIMEOUT_VALUE                            100 // ms
+
+/*!
+ * \brief Number of tick size steps for rx timeout
+ */
+#define RX_TIMEOUT_VALUE                            100 // ms
+
+/*!
+ * \brief Size of ticks (used for Tx and Rx timeout)
+ */
+#define RX_TIMEOUT_TICK_SIZE                        RADIO_TICK_SIZE_1000_US
+
+#define RNG_TIMER_MS                    384 // ms
+#define RNG_COM_TIMEOUT                 100 // ms
+
+/*!
+ * \brief Mask of IRQs to listen to in rx mode
+ */
+uint16_t RxIrqMask = IRQ_RX_DONE | IRQ_RX_TX_TIMEOUT;
+
+/*!
+ * \brief Mask of IRQs to listen to in tx mode
+ */
+uint16_t TxIrqMask = IRQ_TX_DONE | IRQ_RX_TX_TIMEOUT;
+
+/*!
+ * \brief Locals parameters and status for radio API
+ * NEED TO BE OPTIMIZED, COPY OF STUCTURE ALREADY EXISTING
+ */
+PacketParams_t PacketParams;
+PacketStatus_t PacketStatus;
+ModulationParams_t ModulationParams;
+
+/*!
+ * \brief Ticker for master to synch Tx frames. Flags for PER and PingPong demo
+ * for Synch TX in cycle.
+ */ 
+Ticker SendNextPacket;
+static bool SendNext = false;
+
+/*!
+ * \brief Specify serial datarate for UART debug output
+ */
+void baud( int baudrate )
+{
+    Serial s( USBTX, USBRX );
+
+    s.baud( baudrate );
+}
+
+int main( )
+{
+    baud( 115200 );
+
+    F_CS   = 1;
+    SD_CS  = 1;
+    RxLed  = 1;
+    TxLed  = 1;
+
+    wait_ms( 500 ); // wait for on board DC/DC start-up time
+
+    Radio.Init( );
+    Radio.SetRegulatorMode( USE_DCDC ); // Can also be set in LDO mode but consume more power
+
+    memset( &Buffer, 0x00, BufferSize );
+
+    printf( "\n\n\r     SX1280 Ranging Demo Application (%s)\n\n\r", FIRMWARE_VERSION );
+    printf( "\nRunning in LORA mode\n\r" );
+    printf( "\nMaster\n\r" );
+    
+    TimersInit( );
+
+    RngStatus = RNG_INIT;
+    Radio.SetDioIrqParams( IRQ_RX_DONE | IRQ_TX_DONE | IRQ_RX_TX_TIMEOUT | IRQ_RANGING_MASTER_RESULT_VALID | IRQ_RANGING_MASTER_TIMEOUT,
+                           IRQ_RX_DONE | IRQ_TX_DONE | IRQ_RX_TX_TIMEOUT | IRQ_RANGING_MASTER_RESULT_VALID | IRQ_RANGING_MASTER_TIMEOUT,
+                           IRQ_RADIO_NONE, IRQ_RADIO_NONE );
+
+    RxLed = 0;
+    TxLed = 0;
+
+    AppState = APP_IDLE;//APP_RANGING_CONFIG;
+    Button.fall(&pressed);
+    
+    while( 1 ){
+        switch( AppState )
+        {
+            case APP_RANGING_CONFIG:
+            //printf("App_Ranging_Config\r\n");
+                    /*RngStatus = RNG_INIT;
+                    CntPacketTx++;
+                    
+                    ModulationParams.PacketType = PACKET_TYPE_LORA;
+                    PacketParams.PacketType     = PACKET_TYPE_LORA;
+                    
+                    ModulationParams.Params.LoRa.SpreadingFactor = LORA_SF7;
+                    ModulationParams.Params.LoRa.Bandwidth       = LORA_BW_1600;
+                    ModulationParams.Params.LoRa.CodingRate      = LORA_CR_4_5;
+                    
+                    PacketParams.Params.LoRa.PreambleLength      = 0x08;
+                    PacketParams.Params.LoRa.HeaderType          = LORA_PACKET_VARIABLE_LENGTH;
+                    PacketParams.Params.LoRa.PayloadLength       = 7;
+                    PacketParams.Params.LoRa.Crc                 = LORA_CRC_ON;
+                    PacketParams.Params.LoRa.InvertIQ            = LORA_IQ_INVERTED;
+                    
+                    Radio.SetPacketType( ModulationParams.PacketType );
+                    Radio.SetModulationParams( &ModulationParams );
+                    Radio.SetPacketParams( &PacketParams );
+                    Radio.SetRfFrequency( RF_FREQUENCY );
+                    
+                    RngCalib     = RNG_CALIB_1600[ ( ModulationParams.Params.LoRa.SpreadingFactor >> 4 ) - 5 ];
+                    RngFeiFactor = ( double )RNG_FGRAD_1600[ ( ModulationParams.Params.LoRa.SpreadingFactor >> 4 ) - 5 ];
+                    RngReqDelay  = RNG_TIMER_MS >> ( 2 + 10 - ( ModulationParams.Params.LoRa.SpreadingFactor >> 4 ) );
+                    
+                    CntPacketRxOK = 0;
+                    CntPacketRxOKSlave = 0;
+                    MeasuredChannels  = 0;
+                    CurrentChannel    = 0;
+                    
+                    Buffer[0] = ( RngAddress >> 24 ) & 0xFF;
+                    Buffer[1] = ( RngAddress >> 16 ) & 0xFF;
+                    Buffer[2] = ( RngAddress >>  8 ) & 0xFF;
+                    Buffer[3] = ( RngAddress & 0xFF );
+                    Buffer[4] = CurrentChannel;    // set the first channel to use
+                    Buffer[5] = 0x00;
+                    Buffer[6] = RngRequestCount; // set the number of hops
+                    
+                    TxLed = 1;
+                    
+                    if( button == 0 ){
+                    Radio.SendPayload( Buffer, PacketParams.Params.LoRa.PayloadLength, ( TickTime_t ){ RX_TIMEOUT_TICK_SIZE, RNG_COM_TIMEOUT } );
+                    }
+                    */
+                    
+                    AppState = APP_IDLE;
+                    pressed(); 
+                //printf("B0= %d,B1= %d,B2= %d,B3= %d,B4= %d,B5= %d,B6= %d",Buffer[0],Buffer[1],Buffer[2],Buffer[3],Buffer[4],Buffer[5],Buffer[6]);
+                break;
+
+            case APP_RNG:
+            printf("App_Rng ");
+                if( SendNext == true )
+                {
+                    SendNext = false;
+                    MeasuredChannels++;
+                    if( MeasuredChannels <= RngRequestCount )
+                    {
+                        Radio.SetRfFrequency( Channels[CurrentChannel] );
+                        TxLed = 1;
+                        CurrentChannel++;
+                        if( CurrentChannel >= CHANNELS )
+                        {
+                            CurrentChannel -= CHANNELS;
+                        }
+                        AppState = APP_IDLE;
+                        Radio.SetTx( ( TickTime_t ){ RADIO_TICK_SIZE_1000_US, 0xFFFF } );
+                    }
+                    else
+                    {
+                        CntPacketRxOKSlave = CheckDistance( );
+                        SendNextPacket.detach( );
+                        SendNext = false;
+                        
+                        if( Address == 0 )
+                        {
+                            Address = 1;
+                            wait_ms( 100 );
+                            pressed( );
+                        }
+                        else
+                        {
+                            Address = 0;
+                            AppState = APP_IDLE;//APP_RANGING_CONFIG;
+                        }
+                    }
+                }
+                break;
+
+            case APP_RANGING_DONE:
+            printf("App_Ranging_Done ");
+                TxLed = 0;
+                RawRngResults[RngResultIndex++] = Radio.GetRangingResult( RANGING_RESULT_RAW );
+                //printf( "\r\nResult : %f ", RawRngResults[RngResultIndex] );
+                CntPacketRxOK++;
+                AppState = APP_RNG;
+                break;
+
+            case APP_RANGING_TIMEOUT:
+            //printf("App_Ranging_Timeout ");
+                TxLed = 0;
+                AppState = APP_RNG;
+                break;
+
+            case APP_RX:
+            printf("App_RX ");
+                RxLed = 0;
+                if( RngStatus == RNG_INIT )
+                {
+                    Radio.GetPayload( Buffer, &BufferSize, BUFFER_SIZE );
+                    if( BufferSize > 0 )
+                    {
+                        RxTimeOutCount = 0;
+                        RngStatus = RNG_PROCESS;
+                        RngFei = ( double )( ( ( int32_t )Buffer[4] << 24 ) | \
+                                             ( ( int32_t )Buffer[5] << 16 ) | \
+                                             ( ( int32_t )Buffer[6] <<  8 ) | \
+                                                          Buffer[7] );
+                                                          
+                        RssiValue = Buffer[8]; // for ranging post-traitment (since V3 only)
+                        
+                        ModulationParams.PacketType = PACKET_TYPE_RANGING;
+                        PacketParams.PacketType     = PACKET_TYPE_RANGING;
+
+                        ModulationParams.Params.LoRa.SpreadingFactor = LORA_SF7;
+                        ModulationParams.Params.LoRa.Bandwidth       = LORA_BW_1600;
+                        ModulationParams.Params.LoRa.CodingRate      = LORA_CR_4_5;
+                        
+                        PacketParams.Params.LoRa.PreambleLength      = 0x08;
+                        PacketParams.Params.LoRa.HeaderType          = LORA_PACKET_VARIABLE_LENGTH;
+                        PacketParams.Params.LoRa.PayloadLength       = 10;
+                        PacketParams.Params.LoRa.Crc                 = LORA_CRC_ON;
+                        PacketParams.Params.LoRa.InvertIQ            = LORA_IQ_INVERTED;
+
+                        RngCalib     = RNG_CALIB_1600[ ( ModulationParams.Params.LoRa.SpreadingFactor >> 4 ) - 5 ];
+                        RngFeiFactor = ( double )RNG_FGRAD_1600[ ( ModulationParams.Params.LoRa.SpreadingFactor >> 4 ) - 5 ];
+                        RngReqDelay  = RNG_TIMER_MS >> ( 2 + 10 - ( ModulationParams.Params.LoRa.SpreadingFactor >> 4 ) );
+
+                        Radio.SetPacketType( ModulationParams.PacketType );
+                        Radio.SetModulationParams( &ModulationParams );
+                        Radio.SetPacketParams( &PacketParams );
+                        Radio.SetRangingRequestAddress( RngAddress );
+                        Radio.SetRangingCalibration( RngCalib );
+                        Radio.SetTxParams( TX_OUTPUT_POWER, RADIO_RAMP_20_US );
+
+                        MeasuredChannels = 0;
+                        RngResultIndex   = 0;
+                        SendNextPacket.attach_us( &SendNextPacketEvent, RngReqDelay * 1000 );
+                        AppState = APP_RNG;
+                    }
+                    else
+                    {
+                        AppState = APP_IDLE;//APP_RANGING_CONFIG;
+                    }
+                }
+                else
+                {
+                    AppState = APP_IDLE;//APP_RANGING_CONFIG;
+                }
+                break;
+
+            case APP_TX:
+            printf("App_TX ");
+                TxLed = 0;
+                if( RngStatus == RNG_INIT )
+                {
+                    RxLed = 1;
+                    Radio.SetRx( ( TickTime_t ) { RX_TIMEOUT_TICK_SIZE, RNG_COM_TIMEOUT } );
+                    AppState = APP_IDLE;
+                }
+                else
+                {
+                    AppState = APP_IDLE;//APP_RANGING_CONFIG;
+                }
+                break;
+
+            case APP_RX_TIMEOUT:
+            //printf("App_RX_Timeout ");
+                RxLed = 0;
+                RngStatus = RNG_TIMEOUT;
+                AppState = APP_IDLE;//APP_RANGING_CONFIG;
+                break;
+
+            case APP_RX_ERROR:
+            //printf("App_RX_Error ");
+                RxLed = 0;
+                AppState = APP_RANGING_CONFIG;
+                break;
+
+            case APP_TX_TIMEOUT:
+            //printf("App_TX_Timeout ");
+                TxLed = 0;
+                AppState = APP_RANGING_CONFIG;
+                break;
+
+            case APP_IDLE: // do nothing
+                break;
+
+            default:
+                AppState = APP_RANGING_CONFIG;
+                break;
+        }
+    }
+}
+
+// ************************     Interrupt Action    ****************************
+void pressed( void ){                               // Send the next PING frame
+   printf("App_Ranging_Config (Pressed)\r\n");
+                    RngStatus = RNG_INIT;
+                    CntPacketTx++;
+                    
+                    ModulationParams.PacketType = PACKET_TYPE_LORA;
+                    PacketParams.PacketType     = PACKET_TYPE_LORA;
+                    
+                    ModulationParams.Params.LoRa.SpreadingFactor = LORA_SF7;
+                    ModulationParams.Params.LoRa.Bandwidth       = LORA_BW_1600;
+                    ModulationParams.Params.LoRa.CodingRate      = LORA_CR_4_5;
+                    
+                    PacketParams.Params.LoRa.PreambleLength      = 0x08;
+                    PacketParams.Params.LoRa.HeaderType          = LORA_PACKET_VARIABLE_LENGTH;
+                    PacketParams.Params.LoRa.PayloadLength       = 7;
+                    PacketParams.Params.LoRa.Crc                 = LORA_CRC_ON;
+                    PacketParams.Params.LoRa.InvertIQ            = LORA_IQ_INVERTED;
+                    
+                    Radio.SetPacketType( ModulationParams.PacketType );
+                    Radio.SetModulationParams( &ModulationParams );
+                    Radio.SetPacketParams( &PacketParams );
+                    Radio.SetRfFrequency( RF_FREQUENCY );
+                    
+                    CntPacketRxOK = 0;
+                    CntPacketRxOKSlave = 0;
+                    MeasuredChannels  = 0;
+                    CurrentChannel    = 0;
+                    
+                    if( Address == 0 )
+                    {
+                        Buffer[0] = ( RngAddress >> 24 ) & 0xFF;
+                        Buffer[1] = ( RngAddress >> 16 ) & 0xFF;
+                        Buffer[2] = ( RngAddress >>  8 ) & 0xFF;
+                        Buffer[3] = ( RngAddress & 0xFF );
+                    }
+                    else if ( Address == 1 )
+                    {
+                        Buffer[0] = ( RngAddress1 >> 24 ) & 0xFF;
+                        Buffer[1] = ( RngAddress1 >> 16 ) & 0xFF;
+                        Buffer[2] = ( RngAddress1 >>  8 ) & 0xFF;
+                        Buffer[3] = ( RngAddress1 & 0xFF );
+                    }
+                    
+                    Buffer[4] = CurrentChannel;    // set the first channel to use
+                    Buffer[5] = 0x00;
+                    Buffer[6] = RngRequestCount; // set the number of hops
+                    
+                    TxLed = 1;
+                    
+                    Radio.SendPayload( Buffer, PacketParams.Params.LoRa.PayloadLength, ( TickTime_t ){ RX_TIMEOUT_TICK_SIZE, RNG_COM_TIMEOUT } );
+                    AppState = APP_IDLE;     
+}
+
+/*!
+ * \brief Callback of ticker PerSendNextPacket
+ */
+void SendNextPacketEvent( void )
+{
+    SendNext = true;
+    if( RngStatus == RNG_PROCESS )
+    {
+        CntPacketRxKOSlave++;
+    }
+}
+
+/*!
+ * CheckDistance
+ */
+uint8_t CheckDistance( void ){
+    uint16_t j = 0;
+    uint16_t i;
+    double rssi = RssiValue;
+    double median;
+    
+    if( RngResultIndex > 0 ){
+        for( i = 0; i < RngResultIndex; ++i ){
+            RawRngResults[i] = RawRngResults[i] - ( RngFeiFactor * RngFei / 1000 );
+            //printf("\r\nRawFei: %f ",RawRngResults[i]);
+        }
+
+        for (int i = RngResultIndex - 1; i > 0; --i){
+            for (int j = 0; j < i; ++j){
+                if (RawRngResults[j] > RawRngResults[j+1]){
+                    int temp = RawRngResults[j];
+                    RawRngResults[j] = RawRngResults[j+1];
+                    RawRngResults[j+1] = temp;
+                }
+            }
+        }
+        
+        if ((RngResultIndex % 2) == 0){
+            median = (RawRngResults[RngResultIndex/2] + RawRngResults[(RngResultIndex/2) - 1])/2.0;
+        } 
+        else{
+            median = RawRngResults[RngResultIndex/2];
+        }
+        
+        if( median < 50 ){
+            median = t0 + t1 * rssi + t2 * pow(rssi,2) + t3 * pow(rssi, 3) +t4 * median + t5 * pow(median,2) + t6 * pow(median, 3) + t7 * pow(median, 4) ;
+            for( int i = 0; i < RngResultIndex; ++i ){
+            // Apply the short range correction and RSSI short range improvement below 50 m
+            RawRngResults[i] = t0 + t1 * rssi + t2 * pow(rssi,2) + t3 * pow(rssi, 3) +t4 * RawRngResults[i] + t5 * pow(RawRngResults[i],2) + t6 * pow(RawRngResults[i], 3) + t7 * pow(RawRngResults[i], 4) ;    
+            printf( "\r\n%5.3f", RawRngResults[i] );
+            }
+        }
+        
+        if( j < RngRequestCount ){
+            RngStatus = RNG_PER_ERROR;
+        }
+        else{
+            RngStatus = RNG_VALID;
+        }
+    }
+    /*for( int i = 0; i < RngResultIndex; ++i ){
+        printf("%5.3f\r\n", RawRngResults[i]);
+    }*/
+    printf( "\r\n#id: %d, Rssi: %4.0f, Median: %5.1f, FEI: %f\r\n", CntPacketTx, rssi, median, RngFei );
+    return j;
+}  
+
+// ************************     Radio Callbacks     ****************************
+// *                                                                           *
+// * These functions are called through function pointer by the Radio low      *
+// * level drivers                                                             *
+// *                                                                           *
+// *****************************************************************************
+
+void OnTxDone( void )
+{
+    AppState = APP_TX;
+}
+
+void OnRxDone( void )
+{
+    AppState = APP_RX;
+}
+
+void OnTxTimeout( void )
+{
+    AppState = APP_TX_TIMEOUT;
+    printf( "<>>>>>>>>TXE\r\n" );
+}
+
+void OnRxTimeout( void )
+{
+    AppState = APP_RX_TIMEOUT;
+}
+
+void OnRxError( IrqErrorCode_t errorCode )
+{
+    AppState = APP_RX_ERROR;
+    printf( "RXE<>>>>>>>>\r\n" );
+}
+
+void OnRangingDone( IrqRangingCode_t val )
+{
+    if( val == IRQ_RANGING_MASTER_VALID_CODE || val == IRQ_RANGING_SLAVE_VALID_CODE )
+    {
+        AppState = APP_RANGING_DONE;
+    }
+    else if( val == IRQ_RANGING_MASTER_ERROR_CODE || val == IRQ_RANGING_SLAVE_ERROR_CODE )
+    {
+        AppState = APP_RANGING_TIMEOUT;
+    }
+    else
+    {
+        AppState = APP_RANGING_TIMEOUT;
+    }
+}
+
+void OnCadDone( bool channelActivityDetected )
+{
+}
\ No newline at end of file
diff -r 000000000000 -r 1ca9a50646e6 mbed.bld
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Apr 23 18:42:08 2018 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/mbed_official/code/mbed/builds/994bdf8177cb
\ No newline at end of file