Revision 2:5adf0b785944, committed 2018-01-10

Comitter:

bberabi

Date:

Wed Jan 10 16:14:49 2018 +0000

Parent:

1:346279def7ac

Commit message:

milc

Changed in this revision

--- a/main_minimal.cpp	Sat Dec 09 16:02:58 2017 +0000
+++ b/main_minimal.cpp	Wed Jan 10 16:14:49 2018 +0000
@@ -128,7 +128,7 @@
              
              // EXECUTE THIS IF A BASE STATION
             pc.readcommand(executeOrder);
-                        wait_ms(80);
+             wait_ms(10);
 
             wdt.kick();
         }
@@ -145,6 +145,7 @@
 
 void executeOrder(char* command){
 
+
     int repetitions = command[3]*100 + command[4]*10 + command[5] - 5328;
     //uint8_t dest1 = command[7] - 48;
     uint8_t dest2 = command[8] - 48;
@@ -168,7 +169,7 @@
     }
     
     if (strncmp(command, "reset", 5) == 0){ // This command is implemented in order to be able to reset BaseStation from Matlab. 
-        wdt.kick(2);            // Set up WatchDog   
+        wdt.kick();            // Set up WatchDog   
         pc.printf("Base Station is RESETTED  \r\n\r\n");
     }
     

--- a/nodes/nodes.cpp	Sat Dec 09 16:02:58 2017 +0000
+++ b/nodes/nodes.cpp	Wed Jan 10 16:14:49 2018 +0000
@@ -87,10 +87,11 @@
                                  
                     acknowledgement[1] = true;
                   
-                    //dw.turnonrx();   // start listening again
+                   // dw.turnonrx();   // start listening again
                     break;
                 }
-                default : break;
+                default : dw.turnonrx();
+                break;
             }
         }
         else{
@@ -131,8 +132,7 @@
  */
 void BeaconNode::requestRanging(uint8_t destination) {
     if(noRec[destination] <= MAX_TRIES){
-        
-        
+        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 
@@ -152,10 +152,15 @@
             // Stream Data to Basestation                
             sendStreamFrame(destination);         
         } else {
+            acknowledgement[1]=1;
             distances[destination] = -10;
-            noRec[destination]++;
+            noRec[destination] = 0;
+            sendStreamFrame(destination);
+
+
         }     
     }     
+        pc.printf("no rec dest %d\n\r",noRec[destination]);
 }
 
 #pragma Otime // Compiler optimize Runtime at the cost of image size
@@ -459,6 +464,8 @@
                 ack = true;
                 break;
                 
+
+                
             
                 
         }
@@ -478,18 +485,18 @@
 void BaseStationNode::sendOrder(uint8_t beacon_destination, uint8_t anchor_destination, uint8_t action, uint16_t repetitions, uint8_t type) {
     ExtendedRangingFrame orderFrame;
     ack = false;
-        
+
     orderFrame.source = address;
     orderFrame.destination = beacon_destination;
     orderFrame.type = type;
     orderFrame.signedTime =  action << 24 | anchor_destination << 16 | repetitions;           
  
     int i = 0;     
-    //for(i = 0; i < 10 && !ack; i++){
+    for(i = 0; i < 3 && !ack; i++){
         float time_before = LocalTimer.read(); 
         dw.sendFrame((uint8_t*)&orderFrame, sizeof(orderFrame), 0, 0);
         while(!ack && (LocalTimer.read() < time_before + 0.010 + 0.01*i)); // One Ranging normaly takes less than 1.5 miliseconds
-    //}
+    }
     if(!ack)
     {
         pc.printf("ERROR: Tag #%d did not respond \r\n", beacon_destination);

--- a/nodes/nodes.h	Sat Dec 09 16:02:58 2017 +0000
+++ b/nodes/nodes.h	Wed Jan 10 16:14:49 2018 +0000
@@ -14,10 +14,10 @@
 #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         10                // 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
   
   //static int ADRESSES_COUNT=1;                                           // Adress Space: 0 - (ADRESSES_COUNT - 1)
-#define MAX_TRIES              5                 // Number of times a Anchor is pinged until determined it is not in range
+#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)
 
 // Constants for Base_Orders