Revision 4:120ff05a7c27, committed 2018-02-28

Comitter:

bberabi

Date:

Wed Feb 28 17:06:22 2018 +0000

Parent:

3:8bee1711d186

Commit message:

GA Final code with comments

Changed in this revision

--- a/PC/PC.cpp	Wed Feb 28 16:10:21 2018 +0000
+++ b/PC/PC.cpp	Wed Feb 28 17:06:22 2018 +0000
@@ -22,27 +22,23 @@
     printf("\x1B[%d;%dH", Zeile + 1, Spalte + 1);
 }
 
+//This fufnction enable reading strings from matlab. 
 void PC::readcommand(void (*executer)(char*))
 {
     
-    //printf("Reads");
-    //while(1){
-    char input = getc();  
-    //printf("%c", input);           // get the character from serial bus
-    //printf("\x1B[1K");
-    //printf("-");
+    
+    char input = getc();  //get character from the serial bus
     
-     if(input == '\r') {  
-                   // if return was pressed, the command must be executed
+     if(input == '\r') {   // \r is our end of command character when this shows up, command will be executed !
+                   
         this->command[command_char_count] = '\0';
         executer(&command[0]);
         this->command_char_count = 0;                // reset command
         this->command[command_char_count] = '\0';
     //    break;
-    } else if (command_char_count < COMMAND_MAX_LENGHT) {
+    } else if (command_char_count < COMMAND_MAX_LENGHT) { //wait for other characters
        // printf("Debug Point 4");
         this->command[command_char_count] = input;
-        //printf(command);
         this->command_char_count++;
       
     }

--- a/main_minimal.cpp	Wed Feb 28 16:10:21 2018 +0000
+++ b/main_minimal.cpp	Wed Feb 28 17:06:22 2018 +0000
@@ -43,7 +43,7 @@
 
 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
 PC          pc(USBTX, USBRX, 921600);           // USB UART Terminal
-DigitalIn anchorInput(PC_7); // usage of last bit as deciding bit for: anchor or beacon
+DigitalIn anchorInput(PC_7); // usage of last bit as deciding bit for: anchor or beacon (most right bit on chip !)
 Watchdog    wdt = Watchdog();
 BeaconNode  beaconNode(decaWave);
 AnchorNode  anchorNode(decaWave);
@@ -71,10 +71,12 @@
   //modeInput.mode(PullDown);
   wait_ms(50);
   
+  //you can google bit masking for details
     baseStationNode.setAddress(adressInput & adressInput.mask());  
     anchorNode.setAddress(adressInput & adressInput.mask());  
     beaconNode.setAddress(adressInput & adressInput.mask());  
     
+    //if adress == 15
     if((adressInput & adressInput.mask()) == BASE_STATION_ADDR){
         node = &baseStationNode; 
         pc.printf("This node is the Base Station, Adress: %d \r\n \r\n \r\n", node->getAddress());        
@@ -101,7 +103,7 @@
     char command_str[30];
     
     while(1) {
-        
+        //all chips stay in this while loop while listening, when they get a frame they process it and then come back here again !  
         // Choose between what to execte based on whether this device is a:
         // BEACON
         // BASESTATION
@@ -127,12 +129,12 @@
                 wait_ms(8);
             }
             wdt.kick(); 
+            //after processing, tag is resetted
         } 
         else if (node->isBaseStation()){
              
              // EXECUTE THIS IF A BASE STATION
             pc.readcommand(executeOrder);
-            //wdt.kick();
         }
         else { // All Anchor Action is in the Interrupt functions!
             // EXECUTE THIS IF AN ANCHOR
@@ -148,27 +150,29 @@
 void executeOrder(char* command){
 
 
-    int repetitions = command[3]*100 + command[4]*10 + command[5] - 5328;
+    int repetitions = command[3]*100 + command[4]*10 + command[5] - 5328; //the number 5328 come from ascii
     //uint8_t dest1 = command[7] - 48;
-    uint8_t dest2 = command[8] - 48;
+    uint8_t dest2 = command[8] - 48; // -48 comes from ascii
     uint8_t dest3 = command[9] - 48;
     uint8_t dest1=0;
   
+  
     
    
     
-    if(command[7] == 0 && command[8] == 0)
+    if(command[7] == 0 && command[8] == 0) //anchor id in command has is 1 digit number for example 008
     {
     dest1 =    command[9] - 48;
     }
-    else if (command[7] == 0 && command[8] != 0)
+    else if (command[7] == 0 && command[8] != 0) //anchor id is 2 digit number for example 017
     {
     dest1 =     command[8] * 10 + command[9] - 528;
     }
-    else if (command[7] != 0 && command[8] != 0) 
+    else if (command[7] != 0 && command[8] != 0) //anchor id is 3 digit number: 123 
     {
     dest1 = command[7] * 100 + command[8] * 10 + command[9] - 5328;
     }
+    //again all offsets comes from ascii
     
     if (strncmp(command, "reset", 5) == 0){ // This command is implemented in order to be able to reset BaseStation from Matlab. 
         wdt.kick();            // Set up WatchDog   
@@ -179,11 +183,11 @@
         baseStationNode.sendOrder(0,dest1,RANGE_INT,repetitions, Node::BASE_ORDER);
         // pc.print("Mode: Range interval \r\n");
         }
-    else if (strncmp(command, "all", 3) == 0){
+    else if (strncmp(command, "all", 3) == 0){ //range all
         baseStationNode.sendOrder(0, NOT_USED, RANGE_ALL, repetitions, Node::BASE_ORDER); 
        // pc.printf("Mode: Range all \r\n");
     }
-    else if (strncmp(command, "one", 3) == 0){
+    else if (strncmp(command, "one", 3) == 0){ //range one
         
         
         
@@ -198,7 +202,7 @@
         }
     }
     
-    else if (strncmp(command, "bea", 3) == 0){
+    else if (strncmp(command, "bea", 3) == 0){ //makes an antenna tag
         if(dest1 < 15)        
             baseStationNode.sendOrder(dest1, NOT_USED, BECOME_BEACON, NOT_USED, Node::SWITCH_TYPE);
         else
@@ -206,14 +210,22 @@
          
     }
     
-    else if (strncmp(command, "anc", 3) == 0){
-        if(dest1 < 15)   
+    else if (strncmp(command, "anc", 3) == 0){ //makes an antenna anchor
+        if(dest1 < 15)  //that should be if dest1 != 0 since we have 128 anchors right now 
             baseStationNode.sendOrder(dest1, NOT_USED, BECOME_ANCHOR, NOT_USED, Node::SWITCH_TYPE); 
         else
             baseStationNode.sendOrder(0, NOT_USED, BECOME_ANCHOR, NOT_USED, Node::SWITCH_TYPE); 
     }
     
-    else if (strncmp(command, "tri", 3) == 0){
+    else if (strncmp(command, "tri", 3) == 0){ //makes a trilateration but does not work anymore since in our project we only use
+    // one destination(dest1). the command and the code should be changed so that 3 destination can be given where all of them can be a 3 digit number ! in our code
+    // tri001-123 would not work since we take dest1 = 123 as coded above. where actually tri001-123 a triangulation between ancors 1,2,3 sybolizes
+    
+    //ideally one should extend the command and the code like this:
+    //action(3 chars) repetitions(3chars) - dest1(3 chars) - dest2(3 chars) - dest3(3 chars) so that every action could work indepently, we ignored tri since we did ni=ot need it in our project
+    //for example one002-121-000-000 == range with anchor 121 2 time
+    //tri002-121-004-056 == triangulation between anchors 121 4 and 56
+    
         // Switch them in correct modes (should already be the case)
         baseStationNode.sendOrder(dest1, NOT_USED, BECOME_BEACON, NOT_USED, Node::SWITCH_TYPE);
         baseStationNode.sendOrder(dest2, NOT_USED, BECOME_ANCHOR, NOT_USED, Node::SWITCH_TYPE);  

--- a/nodes/nodes.cpp	Wed Feb 28 16:10:21 2018 +0000
+++ b/nodes/nodes.cpp	Wed Feb 28 17:06:22 2018 +0000
@@ -29,22 +29,26 @@
 
 
 //------- BeaconNode Class -------------------
+
+//This is the class for the Tag !
+
 BeaconNode::BeaconNode(DecaWave& DW) : Node(DW) {
-    Anchor = false;
+    Anchor = false; // since it is a tag
     for (int i = 0; i < 3; i++)
         acknowledgement[i] = true;
-    LocalTimer.start();
+    LocalTimer.start(); //starts the timer of the tag.
     mode=0;   
 }
 
 #pragma Otime // Compiler optimize Runtime at the cost of image size
 // Two Way Ranging Actions when Frame was received
+//a Frame is basically a message.
 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){
+        if (receivedFrame.destination == address){ //if id of the package is the same as the id of the anchor to which the tag was communicating
 
             switch (receivedFrame.type) {
-                case SWITCH_TYPE:
+                case SWITCH_TYPE: //base station can change the type of an antenna, making an anchor tag or making a tag anchor
                     sendBaseAck();
                     if((receivedFrame.signedTime >> 24) == BECOME_BEACON){
                         pc.printf("\r\n \r\n ---This Node is already a beacon ---\r\n \r\n");
@@ -55,13 +59,13 @@
                     }
                     
                     break;
-                case BASE_ORDER:
-                    repetitions = receivedFrame.signedTime&0xffff;
+                case BASE_ORDER: // tag received an order from base station
+                    repetitions = receivedFrame.signedTime&0xffff; 
                     mode = receivedFrame.signedTime >> 24;
                     destination = (receivedFrame.signedTime&0xff0000) >> 16;
-                    sendBaseAck();
+                    sendBaseAck(); //send an acknowledgement to base that message is received
                     break;
-                case ANCHOR_RESPONSE:
+                case ANCHOR_RESPONSE: //tag was measuring distance to an anchor, and respond from anchor came
                 {
                     sendAnswer(receivedFrame.source, BEACON_RESPONSE);  
                     senderTimestamps[receivedFrame.source][1] = RxTime;        //Save the second timestamp on the sending node/beacon (T_rr)
@@ -135,7 +139,12 @@
  */
 void BeaconNode::requestRanging(uint8_t destination) {
     if(noRec[destination] <= MAX_TRIES){
-        pc.printf(" max try %d\n\r",MAX_TRIES);
+       
+       //norec array containg for each id(index) how many times it was tried to contact that anchor.
+       //for example if tag has tried to contact anchor 5 3 times, noRec[5] = 3 !
+       //MAX_TRIES can be changed at nodex.h 
+      
+       // pc.printf(" max try %d\n\r",MAX_TRIES);
         float time_before = LocalTimer.read();
         
         while(!acknowledgement[2] && LocalTimer.read() < time_before + 0.0025f); // Wait until previous StreamFrame is sent 
@@ -143,18 +152,18 @@
         acknowledgement[0] = false;
         acknowledgement[1] = false;
         acknowledgement[2] = false;
-        time_before = LocalTimer.read();
+        time_before = LocalTimer.read(); //start time t0
     
         sendPingFrame(destination);
     
         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]){
+        if(acknowledgement[1]){ //measurement is done
             distances[destination] = calibratedDistance(destination);
             noRec[destination] = 0;
             // Stream Data to Basestation                
             sendStreamFrame(destination);         
-        } else {
+        } else { //maesurement was not succesfull
             //acknowledgement[1]=1;
             distances[destination] = -10;
             noRec[destination] = 0;
@@ -169,22 +178,27 @@
 #pragma Otime // Compiler optimize Runtime at the cost of image size
 inline float BeaconNode::calibratedDistance(uint8_t destination) {
 
+    //the error of two way ranging also depends on how long the distance is. We have tried to calibrate these errors.
+    //the numbers are found according to our measurements and test. 
+    //PLEASE NOTE THAT THESE CALIBRATIONS MIGHT BE DONE WISELY IN ORDER TO INCREASE ACCURANCY !
+
     float rawDistance = (tofs[destination] * 300 * TIMEUNITS_TO_US / 4);
     //float correctDistance = rawDistance + dwt_getrangebias(7, rawDistance, DWT_PRF_64M);
 
     //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
@@ -217,6 +231,7 @@
 
 #pragma Otime // Compiler optimize Runtime at the cost of image size
 void BeaconNode::requestRangingAll() {
+    //ADRESSES_COUNT can be changed in nodes.h !
     for (int i = 0; i < ADRESSES_COUNT; i++) {  // Request ranging to all anchors
         if(i != address){
             requestRanging(i);  
@@ -226,6 +241,8 @@
     }
 }
 void BeaconNode::requestRangingInt(uint8_t from,uint8_t to) {
+    //measures distances to anhors with id in interval [from,to]
+    //------------- Unfourtunately, it does not work properly, this case needs to be debugged !!! ---------
     for (int i=from; i <= to; i++){
         if (i!= address) {
             requestRanging(i);
@@ -319,7 +336,7 @@
     return destination;
 }
 
-void BeaconNode::clearRec(){
+void BeaconNode::clearRec(){ //the fufnction clears the noRec array ! 
     for(int j = 0; j < ADRESSES_COUNT; j++)
         noRec[j] = 0;
 }
@@ -327,7 +344,7 @@
 
 //------- AnchorNode Class -------------------
 AnchorNode::AnchorNode(DecaWave& DW) : Node(DW) {
-    Anchor = true;
+    Anchor = true; //Since it is an anchor
 }
 
 #pragma Otime // Compiler optimize Runtime at the cost of image size
@@ -337,7 +354,7 @@
    // if(!isBaseStation()){    
         if (receivedFrame.destination == address){
             switch (receivedFrame.type) {
-                case SWITCH_TYPE:
+                case SWITCH_TYPE: //as explained in beaconnode class
                     sendBaseAck();
                     if((receivedFrame.signedTime >> 24) == BECOME_BEACON){
                         node = &beaconNode; 
@@ -347,12 +364,12 @@
                         pc.printf("\r\n \r\n ---This Node is already an anchor ---\r\n \r\n");
                     }
                     break;
-                case PING:
+                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:
+                case BEACON_RESPONSE:  
                     {
                     receiverTimestamps[receivedFrame.source][2] = RxTime;      //Save the third timestamp on the receiving node/anchor (T_rf)
                     correctReceiverTimestamps(receivedFrame.source);                //Correct the timestamps for the case of a counter overflow
@@ -364,7 +381,7 @@
                     break;
                     }
                 default : 
-                dw.turnonrx(); 
+                dw.turnonrx(); //turn on listening mode
                 break;
             }
         }
@@ -392,12 +409,12 @@
 
 
 #pragma Otime // Compiler optimize Runtime at the cost of image size
-void AnchorNode::sendBaseAck() {
+void AnchorNode::sendBaseAck() { //send base ack that the order is received
     rangingFrame.source = address;
     rangingFrame.destination = BASE_STATION_ADDR;
     rangingFrame.type = BASE_ORDER_ACK;
     //dw.sendFrame((uint8_t*)&rangingFrame, sizeof(rangingFrame));
-    dw.sendFrame((uint8_t*)&rangingFrame, sizeof(rangingFrame), 0, 0);
+    dw.sendFrame((uint8_t*)&rangingFrame, sizeof(rangingFrame), 0, 0); //function for sending messages(frames)
 }
 
 
@@ -450,6 +467,7 @@
 
 
 //------- BaseStationNode Class -------------------
+
 BaseStationNode::BaseStationNode(DecaWave& DW) : Node(DW) {
     Anchor = false;
     LocalTimer.start();    
@@ -469,14 +487,14 @@
     //pc.printf("Got a frame, adress: %d source: %d \r\n", receivedStreamFrame.destination, receivedStreamFrame.source);
     if (receivedStreamFrame.destination == address){
         switch(receivedStreamFrame.type){
-            case STREAM_TO_BASE:
+            case STREAM_TO_BASE: //send the received string from tag to the matlab with pc.printf
                 
                 //pc.printf("#%d to #%d %f(%f) \r\n", receivedStreamFrame.source, receivedStreamFrame.anchor_adress, receivedStreamFrame.distance, receivedStreamFrame.signalStrength);
                 pc.printf("#%03d/#%03d/%+011.6f/%+011.6f/%+011.6f/ \r\n", receivedStreamFrame.source, receivedStreamFrame.anchor_adress, receivedStreamFrame.distance, receivedStreamFrame.signalStrength, receivedStreamFrame.FPLevel/*dw.getFPLevel()*/);
                 break;
             case BASE_ORDER_ACK:
                
-                ack = true;
+                ack = true; // so that base station knows order was received
                 break;
             
             default: 
@@ -505,7 +523,7 @@
 void BaseStationNode::sendOrder(uint8_t beacon_destination, uint8_t anchor_destination, uint8_t action, uint16_t repetitions, uint8_t type) {
     ExtendedRangingFrame orderFrame;
     ack = false;
-
+    //the function is used to send orders one has to create and order frame
     orderFrame.source = address;
     orderFrame.destination = beacon_destination;
     orderFrame.type = type;

--- a/nodes/nodes.h	Wed Feb 28 16:10:21 2018 +0000
+++ b/nodes/nodes.h	Wed Feb 28 17:06:22 2018 +0000
@@ -14,11 +14,11 @@
 #define TIMEUNITS_TO_US       (1/(128*499.2))    // conversion between the decawave timeunits (ca 15.65ps) to microseconds.
 #define US_TO_TIMEUNITS       (128*499.2)        // conversion between microseconds to the decawave timeunits (ca 15.65ps).
 #define MMRANGING_2POWER40     1099511627776     // decimal value of 2^40 to correct timeroverflow between timestamps
-#define ADRESSES_COUNT         128               // Defines the Adress Space that is covered when Ranging for all
+#define ADRESSES_COUNT         128               // Defines the Adress Space that is covered when Ranging for all, it is always number of possible anchors + 1
   
   //static int ADRESSES_COUNT=1;                                           // Adress Space: 0 - (ADRESSES_COUNT - 1)
 #define MAX_TRIES              0                // Number of times a Anchor is pinged until determined it is not in range
-#define BASE_STATION_ADDR      15                // Defines the Adress of the Base Station (reserved Adress)
+#define BASE_STATION_ADDR      15                // Defines the Adress of the Base Station (reserved Adress) 
 
 // Constants for Base_Orders
 #define RANGE_ALL               2