Luis Ruiz
/
RangingSlave
Slave program for ranging, open for improvements
main.cpp
- Committer:
- LuisRuiz
- Date:
- 2018-04-23
- Revision:
- 0:871af6563674
File content as of revision 0:871af6563674:
#include "mbed.h" #include "radio.h" #include "sx1280-hal.h" #include <math.h> #include "FreqLUT.h" #include "Timers.h" /*! * \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 = 0x32100000;//0x10000000; 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; double RawRngResults[255]; double RssiRng[255]; int RngResultIndex; /*! * \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 ); /*! * \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 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 ); 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( "\nSlave\n\r" ); TimersInit( ); RngStatus = RNG_INIT; Radio.SetDioIrqParams( IRQ_RADIO_ALL, IRQ_RADIO_ALL, IRQ_RADIO_NONE, IRQ_RADIO_NONE ); RxLed = 0; TxLed = 0; AppState = APP_RANGING_CONFIG; while( 1 ){ switch( AppState ) { case APP_RANGING_CONFIG: //printf("App_Ranging_Config\r\n"); RngStatus = RNG_INIT; 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 = 9; 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 ); RxLed = 1; // use listen mode here instead of rx continuous Radio.SetRx( ( TickTime_t ) { RADIO_TICK_SIZE_1000_US, 0xFFFF } ); AppState = APP_IDLE; break; case APP_RNG: //printf("App_Rng "); if( SendNext == true ) { SendNext = false; MeasuredChannels++; if( MeasuredChannels <= RngRequestCount ) { Radio.SetRfFrequency( Channels[CurrentChannel] ); RxLed = 1; CurrentChannel++; if( CurrentChannel >= CHANNELS ) { CurrentChannel -= CHANNELS; } AppState = APP_IDLE; Radio.SetRx( ( TickTime_t ){ RADIO_TICK_SIZE_1000_US, RngReqDelay } ); } else { Radio.SetStandby( STDBY_RC ); SendNextPacket.detach( ); RngStatus = RNG_VALID; AppState = APP_RANGING_CONFIG; } } break; case APP_RANGING_DONE: //printf("App_Ranging_Done "); RxLed = 0; CntPacketRxOK++; AppState = APP_RNG; break; case APP_RANGING_TIMEOUT: //printf("App_Ranging_Timeout "); RxLed = 0; AppState = APP_RNG; break; case APP_RX: //printf("App_Rx "); RxLed = 0; if( RngStatus == RNG_INIT ) { Radio.GetPayload( Buffer, &BufferSize, BUFFER_SIZE ); Radio.GetPacketStatus( &PacketStatus ); if( ( BufferSize > 0 ) && \ ( Buffer[0] == ( ( RngAddress >> 24 ) & 0xFF ) ) && \ ( Buffer[1] == ( ( RngAddress >> 16 ) & 0xFF ) ) && \ ( Buffer[2] == ( ( RngAddress >> 8 ) & 0xFF ) ) && \ ( Buffer[3] == ( RngAddress & 0xFF ) ) ) { RngFei = Radio.GetFrequencyError( ); RssiValue = PacketStatus.LoRa.RssiPkt; CntPacketTx++; CurrentChannel = Buffer[4]; //RngAntenna = Buffer[5]; RngRequestCount = Buffer[6]; wait_us( 10 ); Buffer[4] = ( ( ( int32_t )RngFei ) >> 24 ) & 0xFF ; Buffer[5] = ( ( ( int32_t )RngFei ) >> 16 ) & 0xFF ; Buffer[6] = ( ( ( int32_t )RngFei ) >> 8 ) & 0xFF ; Buffer[7] = ( ( ( int32_t )RngFei ) & 0xFF ); Buffer[8] = RssiValue; TxLed = 1; Radio.SendPayload( Buffer, 9, ( TickTime_t ){ RADIO_TICK_SIZE_1000_US, RNG_COM_TIMEOUT } ); AppState = APP_IDLE; } else { AppState = APP_RANGING_CONFIG; } } else { AppState = APP_RANGING_CONFIG; } break; case APP_TX: //printf("App_Tx "); TxLed = 0; if( RngStatus == RNG_INIT ) { RngStatus = RNG_PROCESS; 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.SetDeviceRangingAddress( RngAddress ); Radio.SetRangingCalibration( RngCalib ); Radio.SetTxParams( TX_OUTPUT_POWER, RADIO_RAMP_20_US ); CntPacketRxOK = 0; MeasuredChannels = 0; CntPacketRxKOSlave = 0; SendNextPacket.attach_us( &SendNextPacketEvent, RngReqDelay * 1000 ); AppState = APP_RNG; } else { AppState = APP_RANGING_CONFIG; } break; case APP_RX_TIMEOUT: //printf("App_Rx "); RxLed = 0; AppState = 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 if( CntPacketRxKOSlave > 255 ) { CntPacketRxKOSlave = 0; RxLed = 0; AppState = APP_RANGING_CONFIG; SendNextPacket.detach( ); } break; default: AppState = APP_RANGING_CONFIG; SendNextPacket.detach( ); break; } } } /*! * \brief Callback of ticker PerSendNextPacket */ void SendNextPacketEvent( void ) { SendNext = true; if( RngStatus == RNG_PROCESS ) { CntPacketRxKOSlave++; } } // ************************ 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 ) { }