Revision 3:8bee1711d186, committed 2018-02-28

Comitter:

aungriah

Date:

Wed Feb 28 16:10:21 2018 +0000

Parent:

2:5adf0b785944

Commit message:

ILBE

Changed in this revision

--- a/PC/PC.cpp	Wed Jan 10 16:14:49 2018 +0000
+++ b/PC/PC.cpp	Wed Feb 28 16:10:21 2018 +0000
@@ -25,28 +25,34 @@
 void PC::readcommand(void (*executer)(char*))
 {
     
-
-    /*char input = getc();             // get the character from serial bus
+    //printf("Reads");
+    //while(1){
+    char input = getc();  
+    //printf("%c", input);           // get the character from serial bus
     //printf("\x1B[1K");
     //printf("-");
-    if(input == 'r') {                 // if return was pressed, the command must be executed
-        command[command_char_count] = '\0';
+    
+     if(input == '\r') {  
+                   // if return was pressed, the command must be executed
+        this->command[command_char_count] = '\0';
         executer(&command[0]);
-        command_char_count = 0;                 // reset command
-        command[command_char_count] = '\0';
+        this->command_char_count = 0;                // reset command
+        this->command[command_char_count] = '\0';
+    //    break;
     } else if (command_char_count < COMMAND_MAX_LENGHT) {
        // printf("Debug Point 4");
-        command[command_char_count] = input;
+        this->command[command_char_count] = input;
         //printf(command);
-        command_char_count++;
+        this->command_char_count++;
+      
     }
+//}
 
-*/
 
 
     
    
-   while (1)
+/*   while (1)
     {
        
         if (readable())
@@ -61,7 +67,7 @@
     executer(&command[0]);
     command_char_count = 0;                 // reset command
     
-    
+   */ 
 
 
 

--- a/PC/PC.h	Wed Jan 10 16:14:49 2018 +0000
+++ b/PC/PC.h	Wed Feb 28 16:10:21 2018 +0000
@@ -12,10 +12,10 @@
         void cls();                                                                        // to clear the display
         void locate(int column, int row);                                                  // to relocate the cursor
         void readcommand(void (*executer)(char*));                  // to read a char from the pc to the command string
+                    int command_char_count;
         
         char command[COMMAND_MAX_LENGHT];
     private:
-        int command_char_count;
 };
 #endif
 

--- a/main_minimal.cpp	Wed Jan 10 16:14:49 2018 +0000
+++ b/main_minimal.cpp	Wed Feb 28 16:10:21 2018 +0000
@@ -19,6 +19,7 @@
 void rangeAndDisplayOne(uint8_t addr);
 void rangeAndDisplayAll();
 void executeOrder(char* command);
+void rangeAndDisplayInt(uint8_t from, uint8_t to);
 
 
 // PA_7 MOSI, PA_6 MISO, PA_5 SCLK, PB_6 CS, PB_9 IRQ
@@ -114,6 +115,9 @@
                                     break;
                     case RANGE_ONE: rangeAndDisplayOne(beaconNode.getDestination());
                                     break;
+                    case RANGE_INT:  rangeAndDisplayInt(beaconNode.getRepetitions(), beaconNode.getDestination());
+                                   
+                                    break;
                     default:        break;
                 }
                 beaconNode.decreaseRepetitions();
@@ -128,9 +132,7 @@
              
              // EXECUTE THIS IF A BASE STATION
             pc.readcommand(executeOrder);
-             wait_ms(10);
-
-            wdt.kick();
+            //wdt.kick();
         }
         else { // All Anchor Action is in the Interrupt functions!
             // EXECUTE THIS IF AN ANCHOR
@@ -173,7 +175,10 @@
         pc.printf("Base Station is RESETTED  \r\n\r\n");
     }
     
-    
+    else if (strncmp(command,"int",3)==0){
+        baseStationNode.sendOrder(0,dest1,RANGE_INT,repetitions, Node::BASE_ORDER);
+        // pc.print("Mode: Range interval \r\n");
+        }
     else if (strncmp(command, "all", 3) == 0){
         baseStationNode.sendOrder(0, NOT_USED, RANGE_ALL, repetitions, Node::BASE_ORDER); 
        // pc.printf("Mode: Range all \r\n");
@@ -246,6 +251,9 @@
         baseStationNode.sendOrder(dest3, NOT_USED, BECOME_ANCHOR, NOT_USED, Node::SWITCH_TYPE);
         
     } 
+    else{
+        pc.printf("test");
+        }
   
 }
 
@@ -322,7 +330,9 @@
     pc.printf("%f(%f) \r\n", beaconNode.getDistance(addr), beaconNode.getSignalStrength(addr));
 }
 
-
+void rangeAndDisplayInt(uint8_t from,uint8_t to){
+    beaconNode.requestRangingInt(from,to);
+    }
 
 void rangeAndDisplayAll(){
     beaconNode.requestRangingAll(); 

--- a/nodes/nodes.cpp	Wed Jan 10 16:14:49 2018 +0000
+++ b/nodes/nodes.cpp	Wed Feb 28 16:10:21 2018 +0000
@@ -42,6 +42,7 @@
 void BeaconNode::callbackRX(uint64_t RxTime) {
    //pc.printf("Got a frame, adress: %d source: %d \r\n", receivedFrame.destination, receivedFrame.source);   
         if (receivedFrame.destination == address){
+
             switch (receivedFrame.type) {
                 case SWITCH_TYPE:
                     sendBaseAck();
@@ -84,9 +85,10 @@
                     float level = dw.getRXLevel(&diagnostic2);
                     if(level < signalStrength[receivedFrame.source])
                         signalStrength[receivedFrame.source] = level;
+                    
                                  
                     acknowledgement[1] = true;
-                  
+                 
                    // dw.turnonrx();   // start listening again
                     break;
                 }
@@ -120,7 +122,8 @@
     if(acknowledgement[1] == true){
         acknowledgement[2] = true; 
        // pc.printf("Ack edited %d \r\n",  acknowledgement[2]);
-    }      
+    }    
+      
 }
 
 
@@ -135,7 +138,7 @@
         pc.printf(" max try %d\n\r",MAX_TRIES);
         float time_before = LocalTimer.read();
         
-        while(!acknowledgement[2] && LocalTimer.read() < time_before + 0.001f); // Wait until previous StreamFrame is sent 
+        while(!acknowledgement[2] && LocalTimer.read() < time_before + 0.0025f); // Wait until previous StreamFrame is sent 
          
         acknowledgement[0] = false;
         acknowledgement[1] = false;
@@ -144,7 +147,7 @@
     
         sendPingFrame(destination);
     
-        while(!acknowledgement[1] && (LocalTimer.read() < time_before + 0.001f + 0.003f*acknowledgement[0])); // One Ranging normaly takes less than 1.5 miliseconds
+        while(!acknowledgement[1] && (LocalTimer.read() < time_before + 0.0025f + 0.003f*acknowledgement[0])); // One Ranging normaly takes less than 1.5 miliseconds
     
         if(acknowledgement[1]){
             distances[destination] = calibratedDistance(destination);
@@ -152,7 +155,7 @@
             // Stream Data to Basestation                
             sendStreamFrame(destination);         
         } else {
-            acknowledgement[1]=1;
+            //acknowledgement[1]=1;
             distances[destination] = -10;
             noRec[destination] = 0;
             sendStreamFrame(destination);
@@ -172,16 +175,16 @@
     //if(rawDistance <= 8.458)
     //    rawDistance -= 0.0541*rawDistance; // Correction Term 22-03-2017
     //else
-    if(rawDistance >= 22.7)
-        rawDistance += -0.0004*rawDistance - 0.3971;
-    else if (rawDistance >= 14.3)
-        rawDistance += -0.0015*rawDistance - 0.372;
-    else if (rawDistance >= 8)
-        rawDistance += -0.0029*rawDistance - 0.352;
-    else if (rawDistance >= 3.93)
-        rawDistance += 0.001*rawDistance - 0.370;
-    else
-        rawDistance += -0.0235*rawDistance - 0.273;
+    //if(rawDistance >= 22.7)
+    //    rawDistance += -0.0004*rawDistance - 0.3971;
+    //else if (rawDistance >= 14.3)
+    //    rawDistance += -0.0015*rawDistance - 0.372;
+    //else if (rawDistance >= 8)
+    //    rawDistance += -0.0029*rawDistance - 0.352;
+    //else if (rawDistance >= 3.93)
+    //    rawDistance += 0.001*rawDistance - 0.370;
+    //else
+    //    rawDistance += -0.0235*rawDistance - 0.273;
         
     //else if (rawDistance >= 3)
     //    rawDistance += 0.0004*rawDistance - 0.5556
@@ -209,7 +212,7 @@
 //        }
 
     return rawDistance;
-
+    //return tofs[destination];
 }
 
 #pragma Otime // Compiler optimize Runtime at the cost of image size
@@ -222,7 +225,15 @@
             distances[i] = -10;
     }
 }
-
+void BeaconNode::requestRangingInt(uint8_t from,uint8_t to) {
+    for (int i=from; i <= to; i++){
+        if (i!= address) {
+            requestRanging(i);
+        }
+        else
+        distances[i] = -10;
+    }
+}
 #pragma Otime // Compiler optimize Runtime at the cost of image size
 void BeaconNode::sendPingFrame(uint8_t destination) {
     rangingFrame.source = address;
@@ -339,6 +350,7 @@
                 case PING:
                     sendAnswer(receivedFrame.source, ANCHOR_RESPONSE);  
                     receiverTimestamps[receivedFrame.source][0] = RxTime;      //Save the first timestamp on the receiving node/anchor (T_rp)             
+                    //dw.turnonrx();
                     break;
                 case BEACON_RESPONSE:
                     {
@@ -348,9 +360,12 @@
                     //if(timediffRec < 0)
                     //    timediffRec = 0;
                     sendTransferFrame(receivedFrame.source, receiverTimestamps[receivedFrame.source][0] + receiverTimestamps[receivedFrame.source][2] - 2*receiverTimestamps[receivedFrame.source][1]);
+                    //dw.turnonrx();
                     break;
                     }
-                default : break;
+                default : 
+                dw.turnonrx(); 
+                break;
             }
         }
         else{
@@ -463,7 +478,10 @@
                
                 ack = true;
                 break;
-                
+            
+            default: 
+            //dw.turnonrx(); 
+            break;   
 
                 
             
@@ -481,6 +499,8 @@
     dw.turnonrx();   // start listening again      
 }
 
+
+
 #pragma Otime // Compiler optimize Runtime at the cost of image size
 void BaseStationNode::sendOrder(uint8_t beacon_destination, uint8_t anchor_destination, uint8_t action, uint16_t repetitions, uint8_t type) {
     ExtendedRangingFrame orderFrame;
@@ -489,7 +509,11 @@
     orderFrame.source = address;
     orderFrame.destination = beacon_destination;
     orderFrame.type = type;
-    orderFrame.signedTime =  action << 24 | anchor_destination << 16 | repetitions;           
+    if(action == 1){
+        orderFrame.signedTime =  action << 24 | anchor_destination << 16 | 1;  
+    }
+    else
+        orderFrame.signedTime =  action << 24 | anchor_destination << 16 | repetitions;           
  
     int i = 0;     
     for(i = 0; i < 3 && !ack; i++){
@@ -500,12 +524,13 @@
     if(!ack)
     {
         pc.printf("ERROR: Tag #%d did not respond \r\n", beacon_destination);
+
     }
     else
     {
        // pc.printf("Order sent, %d tries \r\n", i);
     }
-        
+       
    
         
 }

--- a/nodes/nodes.h	Wed Jan 10 16:14:49 2018 +0000
+++ b/nodes/nodes.h	Wed Feb 28 16:10:21 2018 +0000
@@ -21,8 +21,9 @@
 #define BASE_STATION_ADDR      15                // Defines the Adress of the Base Station (reserved Adress)
 
 // Constants for Base_Orders
-#define RANGE_ALL               1                
-#define RANGE_ONE               0           
+#define RANGE_ALL               2                
+#define RANGE_ONE               0          
+#define RANGE_INT               1 
 #define NOT_USED                0xff
 
 // Constant for Switch Types Orders
@@ -118,6 +119,7 @@
     
         virtual void requestRanging(uint8_t destination);
         virtual void requestRangingAll();
+        virtual void requestRangingInt(uint8_t from, uint8_t to);
      
         float getDistance(uint8_t index);  
         float getSignalStrength(uint8_t index);