Huseyin Berkay Berabi / GA-Final

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

Dependencies:   mbed-dev

Fork of GA-Berkay_Alex by Alejandro Ungria Hirte

main_minimal.cpp@3:8bee1711d186, 2018-02-28 (annotated)

Committer:
aungriah
Date:
Wed Feb 28 16:10:21 2018 +0000
Revision:
3:8bee1711d186
Parent:
2:5adf0b785944
Child:
4:120ff05a7c27
ILBE

Who changed what in which revision?

UserRevisionLine numberNew contents of line
aungriah 0:a3b83d366423 1 #include "mbed.h"
aungriah 0:a3b83d366423 2
aungriah 0:a3b83d366423 3
aungriah 0:a3b83d366423 4 #include "SMConfig.h"
aungriah 0:a3b83d366423 5 #include "DecaWave.h" // DW1000 functions
aungriah 0:a3b83d366423 6 //#include "LMMN2WR.h" // 2-Way-Ranging
aungriah 0:a3b83d366423 7 #include "PC.h" // Serial Port via USB for debugging with Terminal
aungriah 0:a3b83d366423 8 #include "Watchdog.h" // Resets Program if it gets stuck
aungriah 0:a3b83d366423 9 #include "nodes.h"
aungriah 0:a3b83d366423 10 #include <stddef.h>
aungriah 0:a3b83d366423 11
aungriah 0:a3b83d366423 12 #define NELEMS(x) (sizeof(x) / sizeof((x)[0]))
aungriah 0:a3b83d366423 13
aungriah 0:a3b83d366423 14 // Function Prototypes
aungriah 0:a3b83d366423 15 void dwCallbackTx(const dwt_cb_data_t *rxd);
aungriah 0:a3b83d366423 16 void dwCallbackRx(const dwt_cb_data_t *rxd);
aungriah 0:a3b83d366423 17 int min (int a, int b);
aungriah 0:a3b83d366423 18 void configureDW1000(uint8_t dwMode);
aungriah 0:a3b83d366423 19 void rangeAndDisplayOne(uint8_t addr);
aungriah 0:a3b83d366423 20 void rangeAndDisplayAll();
aungriah 0:a3b83d366423 21 void executeOrder(char* command);
aungriah 3:8bee1711d186 22 void rangeAndDisplayInt(uint8_t from, uint8_t to);
aungriah 0:a3b83d366423 23
aungriah 0:a3b83d366423 24
aungriah 0:a3b83d366423 25 // PA_7 MOSI, PA_6 MISO, PA_5 SCLK, PB_6 CS, PB_9 IRQ
aungriah 0:a3b83d366423 26 SPI decaWaveSpi(PA_7, PA_6, PA_5); // Instance of SPI connection to DW1000
aungriah 0:a3b83d366423 27 DigitalOut decaWaveCs(PB_6);
aungriah 0:a3b83d366423 28 InterruptIn decaWaveIrq(PB_9);
aungriah 0:a3b83d366423 29 DecaWave decaWave = DecaWave(); // Instance of the DW1000
aungriah 0:a3b83d366423 30
aungriah 0:a3b83d366423 31
aungriah 0:a3b83d366423 32 /* BIT and PINS
aungriah 0:a3b83d366423 33 BIT 1 = PA_10
aungriah 0:a3b83d366423 34 BIT 2 = PB_3
aungriah 0:a3b83d366423 35 BIT 3 = PB_5
aungriah 0:a3b83d366423 36 BIT 4 = PB_4
aungriah 0:a3b83d366423 37 BIT 5 = PB_10
aungriah 0:a3b83d366423 38 BIT 6 = PA_8
aungriah 0:a3b83d366423 39 BIT 7 = PA_9
aungriah 0:a3b83d366423 40 BIT 8 = PC_7
aungriah 0:a3b83d366423 41 */
aungriah 0:a3b83d366423 42
aungriah 0:a3b83d366423 43
aungriah 0:a3b83d366423 44 BusIn adressInput(PA_9,PA_8,PB_10,PB_4,PB_5,PB_3,PA_10); // first seven 7 bit for ID settings, most left bit = most significant bit
aungriah 0:a3b83d366423 45 PC pc(USBTX, USBRX, 921600); // USB UART Terminal
aungriah 0:a3b83d366423 46 DigitalIn anchorInput(PC_7); // usage of last bit as deciding bit for: anchor or beacon
aungriah 0:a3b83d366423 47 Watchdog wdt = Watchdog();
aungriah 0:a3b83d366423 48 BeaconNode beaconNode(decaWave);
aungriah 0:a3b83d366423 49 AnchorNode anchorNode(decaWave);
aungriah 0:a3b83d366423 50 BaseStationNode baseStationNode(decaWave);
aungriah 0:a3b83d366423 51 Node *node;
aungriah 0:a3b83d366423 52
aungriah 0:a3b83d366423 53
aungriah 0:a3b83d366423 54 int main() {
aungriah 0:a3b83d366423 55
aungriah 0:a3b83d366423 56 decaWaveSpi.frequency(20000000); // Crank up the SPI frequency from 1Mhz to 3Mhz (maybe more?)
aungriah 0:a3b83d366423 57
aungriah 0:a3b83d366423 58 // Check if Reset was from Watchdog or externally
aungriah 0:a3b83d366423 59 if(RCC->CSR&0x20000000)
aungriah 0:a3b83d366423 60 pc.printf("\r\n\r\n --- !!!!WATCHDOG RESET!!!! --- \r\n\r\n", RCC->CSR);
aungriah 0:a3b83d366423 61 else if(RCC->CSR&0x4000000){
aungriah 0:a3b83d366423 62 pc.printf("\r\n\r\n --- External Reset --- \r\n\r\n", RCC->CSR);
aungriah 0:a3b83d366423 63 //wdt.kick();
aungriah 0:a3b83d366423 64 }
aungriah 0:a3b83d366423 65 __HAL_RCC_CLEAR_RESET_FLAGS();
aungriah 0:a3b83d366423 66
aungriah 0:a3b83d366423 67 // Set all Switches Pull-Down so that it is zero if Switch is not set
aungriah 0:a3b83d366423 68
aungriah 0:a3b83d366423 69 adressInput.mode(PullDown);
aungriah 0:a3b83d366423 70 anchorInput.mode(PullDown);
aungriah 0:a3b83d366423 71 //modeInput.mode(PullDown);
aungriah 0:a3b83d366423 72 wait_ms(50);
aungriah 0:a3b83d366423 73
aungriah 0:a3b83d366423 74 baseStationNode.setAddress(adressInput & adressInput.mask());
aungriah 0:a3b83d366423 75 anchorNode.setAddress(adressInput & adressInput.mask());
aungriah 0:a3b83d366423 76 beaconNode.setAddress(adressInput & adressInput.mask());
aungriah 0:a3b83d366423 77
aungriah 0:a3b83d366423 78 if((adressInput & adressInput.mask()) == BASE_STATION_ADDR){
aungriah 0:a3b83d366423 79 node = &baseStationNode;
aungriah 0:a3b83d366423 80 pc.printf("This node is the Base Station, Adress: %d \r\n \r\n \r\n", node->getAddress());
aungriah 0:a3b83d366423 81 // wdt.kick(2); // Set up WatchDog
aungriah 0:a3b83d366423 82
aungriah 0:a3b83d366423 83 }
aungriah 0:a3b83d366423 84 else if(anchorInput){
aungriah 0:a3b83d366423 85 node = &anchorNode;
aungriah 0:a3b83d366423 86 pc.printf("This node is an Anchor node, Adress: %d \r\n \r\n \r\n", node->getAddress());
aungriah 0:a3b83d366423 87 wdt.kick(2); // Set up WatchDog
aungriah 0:a3b83d366423 88 }
aungriah 0:a3b83d366423 89 else{
aungriah 0:a3b83d366423 90 node = &beaconNode;
aungriah 0:a3b83d366423 91 pc.printf("This node is a Beacon, Adress: %d \r\n \r\n \r\n", node->getAddress());
aungriah 0:a3b83d366423 92 wdt.kick(2); // Set up WatchDog
aungriah 0:a3b83d366423 93 }
aungriah 0:a3b83d366423 94
aungriah 0:a3b83d366423 95 //pc.printf(" Adress: %d \r\n \r\n \r\n", node->getAddress());
aungriah 0:a3b83d366423 96
aungriah 0:a3b83d366423 97 configureDW1000(7);
aungriah 0:a3b83d366423 98
aungriah 0:a3b83d366423 99 // TODO turn on RXMode regularly (every couple seconds)
aungriah 0:a3b83d366423 100
aungriah 0:a3b83d366423 101 char command_str[30];
aungriah 0:a3b83d366423 102
aungriah 0:a3b83d366423 103 while(1) {
aungriah 0:a3b83d366423 104
aungriah 0:a3b83d366423 105 // Choose between what to execte based on whether this device is a:
aungriah 0:a3b83d366423 106 // BEACON
aungriah 0:a3b83d366423 107 // BASESTATION
aungriah 0:a3b83d366423 108 // ANCHOR
aungriah 0:a3b83d366423 109 if (!node->isAnchor() && !node->isBaseStation()){
aungriah 0:a3b83d366423 110
aungriah 0:a3b83d366423 111 // THE BEACON EXECUTES THIS
aungriah 0:a3b83d366423 112 if(beaconNode.getRepetitions() > 0){
aungriah 0:a3b83d366423 113 switch(beaconNode.getMode()){
aungriah 0:a3b83d366423 114 case RANGE_ALL: rangeAndDisplayAll();
aungriah 0:a3b83d366423 115 break;
aungriah 0:a3b83d366423 116 case RANGE_ONE: rangeAndDisplayOne(beaconNode.getDestination());
aungriah 0:a3b83d366423 117 break;
aungriah 3:8bee1711d186 118 case RANGE_INT: rangeAndDisplayInt(beaconNode.getRepetitions(), beaconNode.getDestination());
aungriah 3:8bee1711d186 119
aungriah 3:8bee1711d186 120 break;
aungriah 0:a3b83d366423 121 default: break;
aungriah 0:a3b83d366423 122 }
aungriah 0:a3b83d366423 123 beaconNode.decreaseRepetitions();
aungriah 0:a3b83d366423 124 }
aungriah 0:a3b83d366423 125 else{
aungriah 0:a3b83d366423 126 beaconNode.clearRec();
aungriah 0:a3b83d366423 127 wait_ms(8);
aungriah 0:a3b83d366423 128 }
aungriah 0:a3b83d366423 129 wdt.kick();
aungriah 0:a3b83d366423 130 }
aungriah 0:a3b83d366423 131 else if (node->isBaseStation()){
aungriah 0:a3b83d366423 132
aungriah 0:a3b83d366423 133 // EXECUTE THIS IF A BASE STATION
aungriah 0:a3b83d366423 134 pc.readcommand(executeOrder);
aungriah 3:8bee1711d186 135 //wdt.kick();
aungriah 0:a3b83d366423 136 }
aungriah 0:a3b83d366423 137 else { // All Anchor Action is in the Interrupt functions!
aungriah 0:a3b83d366423 138 // EXECUTE THIS IF AN ANCHOR
aungriah 0:a3b83d366423 139 wait_ms(10);
aungriah 0:a3b83d366423 140 wdt.kick();
aungriah 0:a3b83d366423 141 }
aungriah 0:a3b83d366423 142 }
aungriah 0:a3b83d366423 143
aungriah 0:a3b83d366423 144
aungriah 0:a3b83d366423 145 }
aungriah 0:a3b83d366423 146
aungriah 0:a3b83d366423 147
aungriah 0:a3b83d366423 148 void executeOrder(char* command){
aungriah 0:a3b83d366423 149
bberabi 2:5adf0b785944 150
aungriah 0:a3b83d366423 151 int repetitions = command[3]*100 + command[4]*10 + command[5] - 5328;
aungriah 0:a3b83d366423 152 //uint8_t dest1 = command[7] - 48;
aungriah 0:a3b83d366423 153 uint8_t dest2 = command[8] - 48;
aungriah 0:a3b83d366423 154 uint8_t dest3 = command[9] - 48;
aungriah 0:a3b83d366423 155 uint8_t dest1=0;
aungriah 0:a3b83d366423 156
aungriah 0:a3b83d366423 157
aungriah 0:a3b83d366423 158
aungriah 0:a3b83d366423 159
aungriah 0:a3b83d366423 160 if(command[7] == 0 && command[8] == 0)
aungriah 0:a3b83d366423 161 {
aungriah 0:a3b83d366423 162 dest1 = command[9] - 48;
aungriah 0:a3b83d366423 163 }
aungriah 0:a3b83d366423 164 else if (command[7] == 0 && command[8] != 0)
aungriah 0:a3b83d366423 165 {
aungriah 0:a3b83d366423 166 dest1 = command[8] * 10 + command[9] - 528;
aungriah 0:a3b83d366423 167 }
aungriah 0:a3b83d366423 168 else if (command[7] != 0 && command[8] != 0)
aungriah 0:a3b83d366423 169 {
aungriah 0:a3b83d366423 170 dest1 = command[7] * 100 + command[8] * 10 + command[9] - 5328;
aungriah 0:a3b83d366423 171 }
aungriah 0:a3b83d366423 172
aungriah 0:a3b83d366423 173 if (strncmp(command, "reset", 5) == 0){ // This command is implemented in order to be able to reset BaseStation from Matlab.
bberabi 2:5adf0b785944 174 wdt.kick(); // Set up WatchDog
aungriah 0:a3b83d366423 175 pc.printf("Base Station is RESETTED \r\n\r\n");
aungriah 0:a3b83d366423 176 }
aungriah 0:a3b83d366423 177
aungriah 3:8bee1711d186 178 else if (strncmp(command,"int",3)==0){
aungriah 3:8bee1711d186 179 baseStationNode.sendOrder(0,dest1,RANGE_INT,repetitions, Node::BASE_ORDER);
aungriah 3:8bee1711d186 180 // pc.print("Mode: Range interval \r\n");
aungriah 3:8bee1711d186 181 }
aungriah 0:a3b83d366423 182 else if (strncmp(command, "all", 3) == 0){
aungriah 0:a3b83d366423 183 baseStationNode.sendOrder(0, NOT_USED, RANGE_ALL, repetitions, Node::BASE_ORDER);
aungriah 0:a3b83d366423 184 // pc.printf("Mode: Range all \r\n");
aungriah 0:a3b83d366423 185 }
aungriah 0:a3b83d366423 186 else if (strncmp(command, "one", 3) == 0){
aungriah 0:a3b83d366423 187
aungriah 0:a3b83d366423 188
aungriah 0:a3b83d366423 189
aungriah 0:a3b83d366423 190 if(dest1 != 15)
aungriah 0:a3b83d366423 191 {
aungriah 0:a3b83d366423 192
aungriah 0:a3b83d366423 193 baseStationNode.sendOrder(0, dest1, RANGE_ONE, repetitions, Node::BASE_ORDER);
aungriah 0:a3b83d366423 194 }
aungriah 0:a3b83d366423 195 else
aungriah 0:a3b83d366423 196 {
aungriah 0:a3b83d366423 197 baseStationNode.sendOrder(0, 1, RANGE_ONE, repetitions, Node::BASE_ORDER);
aungriah 0:a3b83d366423 198 }
aungriah 0:a3b83d366423 199 }
aungriah 0:a3b83d366423 200
aungriah 0:a3b83d366423 201 else if (strncmp(command, "bea", 3) == 0){
aungriah 0:a3b83d366423 202 if(dest1 < 15)
aungriah 0:a3b83d366423 203 baseStationNode.sendOrder(dest1, NOT_USED, BECOME_BEACON, NOT_USED, Node::SWITCH_TYPE);
aungriah 0:a3b83d366423 204 else
aungriah 0:a3b83d366423 205 baseStationNode.sendOrder(0, NOT_USED, BECOME_BEACON, NOT_USED, Node::SWITCH_TYPE);
aungriah 0:a3b83d366423 206
aungriah 0:a3b83d366423 207 }
aungriah 0:a3b83d366423 208
aungriah 0:a3b83d366423 209 else if (strncmp(command, "anc", 3) == 0){
aungriah 0:a3b83d366423 210 if(dest1 < 15)
aungriah 0:a3b83d366423 211 baseStationNode.sendOrder(dest1, NOT_USED, BECOME_ANCHOR, NOT_USED, Node::SWITCH_TYPE);
aungriah 0:a3b83d366423 212 else
aungriah 0:a3b83d366423 213 baseStationNode.sendOrder(0, NOT_USED, BECOME_ANCHOR, NOT_USED, Node::SWITCH_TYPE);
aungriah 0:a3b83d366423 214 }
aungriah 0:a3b83d366423 215
aungriah 0:a3b83d366423 216 else if (strncmp(command, "tri", 3) == 0){
aungriah 0:a3b83d366423 217 // Switch them in correct modes (should already be the case)
aungriah 0:a3b83d366423 218 baseStationNode.sendOrder(dest1, NOT_USED, BECOME_BEACON, NOT_USED, Node::SWITCH_TYPE);
aungriah 0:a3b83d366423 219 baseStationNode.sendOrder(dest2, NOT_USED, BECOME_ANCHOR, NOT_USED, Node::SWITCH_TYPE);
aungriah 0:a3b83d366423 220 baseStationNode.sendOrder(dest3, NOT_USED, BECOME_ANCHOR, NOT_USED, Node::SWITCH_TYPE);
aungriah 0:a3b83d366423 221
aungriah 0:a3b83d366423 222 // Ranging from first node
aungriah 0:a3b83d366423 223 baseStationNode.sendOrder(dest1, dest2, RANGE_ONE, repetitions, Node::BASE_ORDER);
aungriah 0:a3b83d366423 224 wait_ms(10*repetitions);
aungriah 0:a3b83d366423 225 baseStationNode.sendOrder(dest1, dest3, RANGE_ONE, repetitions, Node::BASE_ORDER);
aungriah 0:a3b83d366423 226 wait_ms(10*repetitions);
aungriah 0:a3b83d366423 227
aungriah 0:a3b83d366423 228 // Mode Switches
aungriah 0:a3b83d366423 229 baseStationNode.sendOrder(dest2, NOT_USED, BECOME_BEACON, NOT_USED, Node::SWITCH_TYPE);
aungriah 0:a3b83d366423 230 baseStationNode.sendOrder(dest1, NOT_USED, BECOME_ANCHOR, NOT_USED, Node::SWITCH_TYPE);
aungriah 0:a3b83d366423 231
aungriah 0:a3b83d366423 232 // Rangings
aungriah 0:a3b83d366423 233 baseStationNode.sendOrder(dest2, dest1, RANGE_ONE, repetitions, Node::BASE_ORDER);
aungriah 0:a3b83d366423 234 wait_ms(10*repetitions);
aungriah 0:a3b83d366423 235 baseStationNode.sendOrder(dest2, dest3, RANGE_ONE, repetitions, Node::BASE_ORDER);
aungriah 0:a3b83d366423 236 wait_ms(10*repetitions);
aungriah 0:a3b83d366423 237
aungriah 0:a3b83d366423 238 // Mode Switches
aungriah 0:a3b83d366423 239 baseStationNode.sendOrder(dest3, NOT_USED, BECOME_BEACON, NOT_USED, Node::SWITCH_TYPE);
aungriah 0:a3b83d366423 240 baseStationNode.sendOrder(dest2, NOT_USED, BECOME_ANCHOR, NOT_USED, Node::SWITCH_TYPE);
aungriah 0:a3b83d366423 241
aungriah 0:a3b83d366423 242 // Rangings
aungriah 0:a3b83d366423 243 baseStationNode.sendOrder(dest3, dest1, RANGE_ONE, repetitions, Node::BASE_ORDER);
aungriah 0:a3b83d366423 244 wait_ms(10*repetitions);
aungriah 0:a3b83d366423 245 baseStationNode.sendOrder(dest3, dest2, RANGE_ONE, repetitions, Node::BASE_ORDER);
aungriah 0:a3b83d366423 246 wait_ms(10*repetitions);
aungriah 0:a3b83d366423 247
aungriah 0:a3b83d366423 248 // Back to original modes
aungriah 0:a3b83d366423 249 baseStationNode.sendOrder(dest1, NOT_USED, BECOME_BEACON, NOT_USED, Node::SWITCH_TYPE);
aungriah 0:a3b83d366423 250 baseStationNode.sendOrder(dest2, NOT_USED, BECOME_ANCHOR, NOT_USED, Node::SWITCH_TYPE);
aungriah 0:a3b83d366423 251 baseStationNode.sendOrder(dest3, NOT_USED, BECOME_ANCHOR, NOT_USED, Node::SWITCH_TYPE);
aungriah 0:a3b83d366423 252
aungriah 0:a3b83d366423 253 }
aungriah 3:8bee1711d186 254 else{
aungriah 3:8bee1711d186 255 pc.printf("test");
aungriah 3:8bee1711d186 256 }
bberabi 1:346279def7ac 257
aungriah 0:a3b83d366423 258 }
aungriah 0:a3b83d366423 259
aungriah 0:a3b83d366423 260 #pragma Otime // Compiler optimize Runtime at the cost of image size
aungriah 0:a3b83d366423 261 // Called after Frame was received
aungriah 0:a3b83d366423 262 void dwCallbackRx(const dwt_cb_data_t *rxd) {
aungriah 0:a3b83d366423 263 int64_t rxTimeStamp = 0;
aungriah 0:a3b83d366423 264 dwt_readrxdata(node->getRecFrameRef(), min(node->getRecFrameLength(), rxd->datalength), 0); // Read Data Frame from Registers
aungriah 0:a3b83d366423 265
aungriah 0:a3b83d366423 266 dwt_readrxtimestamp((uint8_t*) &rxTimeStamp); // Read Timestamp when the frame was received exactly
aungriah 0:a3b83d366423 267 rxTimeStamp &= MASK_40BIT; //Mask the 40 Bits of the timestamp
aungriah 0:a3b83d366423 268
aungriah 0:a3b83d366423 269 node->callbackRX(rxTimeStamp); // Two Way Ranging Function
aungriah 0:a3b83d366423 270 }
aungriah 0:a3b83d366423 271
aungriah 0:a3b83d366423 272
aungriah 0:a3b83d366423 273 #pragma Otime // Compiler optimize Runtime at the cost of image size
aungriah 0:a3b83d366423 274 // Called after Frame was transmitted
aungriah 0:a3b83d366423 275 void dwCallbackTx(const dwt_cb_data_t *txd) {
aungriah 0:a3b83d366423 276 int64_t txTimeStamp = 0;
aungriah 0:a3b83d366423 277 dwt_readtxtimestamp((uint8_t*) &txTimeStamp); // Read Timestamp when the frame was transmitted exactly
aungriah 0:a3b83d366423 278 txTimeStamp &= MASK_40BIT; // Delete the most significant 8 Bits because the timestamp has only 40 Bits
aungriah 0:a3b83d366423 279
aungriah 0:a3b83d366423 280 node->callbackTX(txTimeStamp); // Two Way Ranging Function
aungriah 0:a3b83d366423 281 }
aungriah 0:a3b83d366423 282
aungriah 0:a3b83d366423 283
aungriah 0:a3b83d366423 284 int min (int a, int b){
aungriah 0:a3b83d366423 285 if(a<=b) return a;
aungriah 0:a3b83d366423 286 return b;
aungriah 0:a3b83d366423 287 }
aungriah 0:a3b83d366423 288
aungriah 0:a3b83d366423 289 void configureDW1000(uint8_t dwMode){
aungriah 0:a3b83d366423 290 dwt_config_t dwConfig;
aungriah 0:a3b83d366423 291 dwt_txconfig_t dwConfigTx;
aungriah 0:a3b83d366423 292
aungriah 0:a3b83d366423 293 SMsetconfig(dwMode, &dwConfig, &dwConfigTx);
aungriah 0:a3b83d366423 294
aungriah 0:a3b83d366423 295 decaWave.setup(dwConfig, dwConfigTx, rfDelays[dwConfig.prf - DWT_PRF_16M], dwCallbackTx, dwCallbackRx);
aungriah 0:a3b83d366423 296
aungriah 0:a3b83d366423 297 pc.printf("%s\r\n", DW1000_DEVICE_DRIVER_VER_STRING);
aungriah 0:a3b83d366423 298 {
aungriah 0:a3b83d366423 299 uint16_t tempvbat = dwt_readtempvbat(1);
aungriah 0:a3b83d366423 300 if (tempvbat>0) {
aungriah 0:a3b83d366423 301 float tempC = 1.13f * (float) (tempvbat >> 8) - 113.0f;
aungriah 0:a3b83d366423 302 float vbatV = 0.0057f * (float) (tempvbat & 0xFF) + 2.3f;
aungriah 0:a3b83d366423 303
aungriah 0:a3b83d366423 304 pc.printf(" Voltage: %f, Temperature: %f\r\n", vbatV, tempC);
aungriah 0:a3b83d366423 305 } else {
aungriah 0:a3b83d366423 306 pc.printf("ERROR: Cannot read voltage/temperature\r\n");
aungriah 0:a3b83d366423 307 }
aungriah 0:a3b83d366423 308 }
aungriah 0:a3b83d366423 309 pc.printf(" Device Lot ID %lu, Part ID %lu\r\n", dwt_getlotid(), dwt_getpartid());
aungriah 0:a3b83d366423 310
aungriah 0:a3b83d366423 311 uint16_t DWID = (dwt_getpartid() & 0xFFFF);
aungriah 0:a3b83d366423 312
aungriah 0:a3b83d366423 313 pc.printf(
aungriah 0:a3b83d366423 314 " Settings %i: \r\n Channel %u (%1.3f GHz w/ %1.3f GHz BW), Datarate %s, \r\n PRF %s, Preamble Code %u, PreambleLength %u symbols, \r\n PAC Size %u, %s SFD, SDF timeout %ul symbols\r\n",
aungriah 0:a3b83d366423 315 dwMode, dwConfig.chan, ChannelFrequency[dwConfig.chan],
aungriah 0:a3b83d366423 316 ChannelBandwidth[dwConfig.chan], ChannelBitrate[dwConfig.dataRate], ChannelPRF[dwConfig.prf],
aungriah 0:a3b83d366423 317 dwConfig.txCode, ChannelPLEN(dwConfig.txPreambLength), ChannelPAC[dwConfig.rxPAC],
aungriah 0:a3b83d366423 318 dwConfig.nsSFD==0?"standard":"non-standard", dwConfig.sfdTO);
aungriah 0:a3b83d366423 319 pc.printf(" Power: NORM %2.1f dB, BOOST: 0.125ms %2.1f dB, 0.25ms %2.1f dB, 0.5ms %2.1f dB\r\n",
aungriah 0:a3b83d366423 320 SMgain(dwConfigTx.power& 0xFF), SMgain((dwConfigTx.power>>24)& 0xFF), SMgain((dwConfigTx.power>>16)& 0xFF),
aungriah 0:a3b83d366423 321 SMgain((dwConfigTx.power>>8)& 0xFF));
aungriah 0:a3b83d366423 322 pc.printf(" Frame length: %d us\r\n", decaWave.computeFrameLength_us());
aungriah 0:a3b83d366423 323 pc.printf(" Antenna Delay set to: %d \r\n", decaWave.getAntennaDelay());
aungriah 0:a3b83d366423 324
aungriah 0:a3b83d366423 325 decaWave.turnonrx(); // start listening
aungriah 0:a3b83d366423 326 }
aungriah 0:a3b83d366423 327
aungriah 0:a3b83d366423 328 void rangeAndDisplayOne(uint8_t addr){
aungriah 0:a3b83d366423 329 beaconNode.requestRanging(addr);
bberabi 1:346279def7ac 330 pc.printf("%f(%f) \r\n", beaconNode.getDistance(addr), beaconNode.getSignalStrength(addr));
aungriah 0:a3b83d366423 331 }
aungriah 0:a3b83d366423 332
aungriah 3:8bee1711d186 333 void rangeAndDisplayInt(uint8_t from,uint8_t to){
aungriah 3:8bee1711d186 334 beaconNode.requestRangingInt(from,to);
aungriah 3:8bee1711d186 335 }
aungriah 0:a3b83d366423 336
aungriah 0:a3b83d366423 337 void rangeAndDisplayAll(){
aungriah 0:a3b83d366423 338 beaconNode.requestRangingAll();
aungriah 0:a3b83d366423 339 for(int i = 0; i < ADRESSES_COUNT; i++){
aungriah 0:a3b83d366423 340 /*if(beaconNode.getDistance(i) > -10){
aungriah 0:a3b83d366423 341 pc.printf("#%d %f(%f), ", i, beaconNode.getDistance(i), beaconNode.getSignalStrength(i));
aungriah 0:a3b83d366423 342 }*/
aungriah 0:a3b83d366423 343 }
aungriah 0:a3b83d366423 344 // pc.printf("o error3 ? \r\n");
aungriah 0:a3b83d366423 345 }
aungriah 0:a3b83d366423 346