Huseyin Berkay Berabi / GA-Test_copy

ils

Dependencies:   mbed-dev

Fork of GA-Test_copy by Alejandro Ungria Hirte

main_minimal.cpp@2:5adf0b785944, 2018-01-10 (annotated)

Committer:
bberabi
Date:
Wed Jan 10 16:14:49 2018 +0000
Revision:
2:5adf0b785944
Parent:
1:346279def7ac 
milc

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