Luca Antolini
1st Fork
Dependencies: mbed QEI DmTftLibrary
Diff: Demo/DemoApplication.cpp
- Revision:
- 19:45d0ce0f0677
- Parent:
- 18:22796c3be774
--- a/Demo/DemoApplication.cpp Fri Aug 24 08:01:53 2018 +0000
+++ b/Demo/DemoApplication.cpp Thu Nov 08 10:13:23 2018 +0000
@@ -19,6 +19,7 @@
#include "Eeprom.h"
#include "DemoApplication.h"
#include "FreqLUT.h"
+#include "RangingCorrection.h"
#define max(a,b) \
({ __typeof__ (a) _a = (a); \
@@ -35,6 +36,14 @@
double t7 = 0.000009240142234; // X2^4
+double p[8] = { 0,
+ -4.1e-9,
+ 1.03e-7,
+ 1.971e-5,
+ -0.00107,
+ 0.018757,
+ 0.869171,
+ 3.072450 };
/*!
* \brief Defines the local payload buffer size
@@ -346,7 +355,6 @@
InitializeDemoParameters( Eeprom.EepromData.DemoSettings.ModulationType );
TX_LED = 0;
RX_LED = 0;
-
IrqMask = IRQ_TX_DONE | IRQ_RX_TX_TIMEOUT;
Radio.SetDioIrqParams( IrqMask, IrqMask, IRQ_RADIO_NONE, IRQ_RADIO_NONE );
for( i = 0; i < localPayloadSize; i++ )
@@ -1054,8 +1062,8 @@
if( Eeprom.EepromData.DemoSettings.Entity == MASTER )
{
Eeprom.EepromData.DemoSettings.TimeOnAir = RX_TX_INTER_PACKET_DELAY;
- Radio.SetDioIrqParams( IRQ_RADIO_ALL /*IRQ_RX_DONE | IRQ_TX_DONE | IRQ_RX_TX_TIMEOUT | IRQ_RANGING_MASTER_RESULT_VALID | IRQ_RANGING_MASTER_ERROR_CODE*/,
- IRQ_RADIO_ALL /*IRQ_RX_DONE | IRQ_TX_DONE | IRQ_RX_TX_TIMEOUT | IRQ_RANGING_MASTER_RESULT_VALID | IRQ_RANGING_MASTER_ERROR_CODE*/,
+ Radio.SetDioIrqParams( IRQ_RX_DONE | IRQ_TX_DONE | IRQ_RX_TX_TIMEOUT | IRQ_RANGING_MASTER_RESULT_VALID | IRQ_RANGING_MASTER_TIMEOUT,
+ IRQ_RX_DONE | IRQ_TX_DONE | IRQ_RX_TX_TIMEOUT | IRQ_RANGING_MASTER_RESULT_VALID | IRQ_RANGING_MASTER_TIMEOUT,
IRQ_RADIO_NONE, IRQ_RADIO_NONE );
Eeprom.EepromData.DemoSettings.RngDistance = 0.0;
DemoInternalState = APP_RANGING_CONFIG;
@@ -1130,8 +1138,8 @@
}
break;
- case DEMO_RNG_ANT_2:
- //ANT_SW = 0; // ANT2
+ case DEMO_RNG_ANT_0:
+ //ANT_SW = 0; // ANT0
Eeprom.EepromData.DemoSettings.AntennaSwitch = 1;
CurrentChannel++;
if( CurrentChannel >= CHANNELS )
@@ -1170,13 +1178,21 @@
Eeprom.EepromData.DemoSettings.HoldDemo = true;
SendNext = false;
DemoInternalState = APP_RANGING_CONFIG;
+ Eeprom.EepromData.DemoSettings.RngStatus = RNG_INIT;
}
}
break;
case APP_RANGING_DONE:
TX_LED = 0;
- RawRngResults[RngResultIndex++] = Radio.GetRangingResult( RANGING_RESULT_RAW );
+ RawRngResults[RngResultIndex] = Radio.GetRangingResult( RANGING_RESULT_RAW );
+ RawRngResults[RngResultIndex] += Sx1280RangingCorrection::GetRangingCorrectionPerSfBwGain(
+ ModulationParams.Params.LoRa.SpreadingFactor,
+ ModulationParams.Params.LoRa.Bandwidth,
+ Radio.GetRangingPowerDeltaThresholdIndicator( )
+ );
+ RngResultIndex++;
+
Eeprom.EepromData.DemoSettings.CntPacketRxOK++;
DemoInternalState = APP_RNG;
break;
@@ -1327,8 +1343,8 @@
}
break;
- case DEMO_RNG_ANT_2:
- //ANT_SW = 0; // ANT2
+ case DEMO_RNG_ANT_0:
+ //ANT_SW = 0; // ANT0
Eeprom.EepromData.DemoSettings.AntennaSwitch = 1;
CurrentChannel++;
if( CurrentChannel >= CHANNELS )
@@ -1409,6 +1425,10 @@
Radio.SendPayload( Buffer, 9, ( TickTime_t ){ RADIO_TICK_SIZE_1000_US, RNG_COM_TIMEOUT } );
DemoInternalState = APP_IDLE;
}
+ else
+ {
+ DemoInternalState = APP_RANGING_CONFIG;
+ }
}
else
{
@@ -1790,7 +1810,7 @@
Eeprom.EepromData.DemoSettings.PayloadLength = PacketParams.Params.LoRa.PayloadLength;
- Radio.WriteRegister( REG_HIGH_SENSITIVITY, Radio.ReadRegister( REG_HIGH_SENSITIVITY ) & ~LNA_HIGH_SENSITIVITY_MASK );
+ Radio.SetLNAGainSetting(LNA_LOW_POWER_MODE);
}
else if( modulation == PACKET_TYPE_FLRC )
{
@@ -1813,7 +1833,7 @@
Eeprom.EepromData.DemoSettings.PayloadLength = PacketParams.Params.Flrc.PayloadLength;
- Radio.WriteRegister( REG_HIGH_SENSITIVITY, Radio.ReadRegister( REG_HIGH_SENSITIVITY ) | LNA_HIGH_SENSITIVITY_MASK );
+ Radio.SetLNAGainSetting(LNA_HIGH_SENSITIVITY_MODE);
}
else if( modulation == PACKET_TYPE_GFSK )
{
@@ -1835,8 +1855,8 @@
PacketParams.Params.Gfsk.Whitening = ( RadioWhiteningModes_t ) Eeprom.EepromData.DemoSettings.PacketParam7;
Eeprom.EepromData.DemoSettings.PayloadLength = PacketParams.Params.Gfsk.PayloadLength;
-
- Radio.WriteRegister( REG_HIGH_SENSITIVITY, Radio.ReadRegister( REG_HIGH_SENSITIVITY ) | LNA_HIGH_SENSITIVITY_MASK );
+
+ Radio.SetLNAGainSetting(LNA_HIGH_SENSITIVITY_MODE);
}
if( modulation == PACKET_TYPE_RANGING )
{
@@ -1866,7 +1886,7 @@
}
Radio.SetPollingMode( );
- Radio.WriteRegister( REG_HIGH_SENSITIVITY, Radio.ReadRegister( REG_HIGH_SENSITIVITY ) & ~LNA_HIGH_SENSITIVITY_MASK );
+ Radio.SetLNAGainSetting(LNA_LOW_POWER_MODE);
}
else
{
@@ -1910,7 +1930,6 @@
uint8_t CheckDistance( void )
{
double displayRange = 0.0;
- double rssi = Eeprom.EepromData.DemoSettings.RssiValue;
uint16_t j = 0;
uint16_t i;
@@ -1941,16 +1960,34 @@
if ((RngResultIndex % 2) == 0)
{
median = (RawRngResults[RngResultIndex/2] + RawRngResults[(RngResultIndex/2) - 1])/2.0;
- }
- else
+ }
+ else
{
median = RawRngResults[RngResultIndex/2];
}
- if( median < 50 )
+ if( median < 100 )
{
+ printf("median: %f \n\r", median );
// Apply the short range correction and RSSI short range improvement below 50 m
- displayRange = t0 + t1 * rssi + t2 * pow(rssi,2) + t3 * pow(rssi, 3) +t4 * median + t5 * pow(median,2) + t6 * pow(median, 3) + t7 * pow(median, 4) ;
+ displayRange = Sx1280RangingCorrection::ComputeRangingCorrectionPolynome(
+ ModulationParams.Params.LoRa.SpreadingFactor,
+ ModulationParams.Params.LoRa.Bandwidth,
+ median
+ );
+ printf("Corrected range: %f \n\r", displayRange );
+ //displayRange = t0 + t1 * rssi + t2 * pow(rssi,2) + t3 * pow(rssi, 3) + t4 * median + t5 * pow(median,2) + t6 * pow(median, 3) + t7 * pow(median, 4) ;
+ //printf("displayRange %f \n\r", displayRange );
+// double correctedRange = 0;
+// uint8_t k = 0;
+// uint8_t order = 6;
+// for( k = 1; k <= (order+1); k++ ) // loop though each polynomial term and sum
+// {
+// correctedRange = correctedRange + p[k] * pow( median, ( order + 1 - k ) );
+// printf("correctedRange[%d] %f \n\r", k, correctedRange );
+// }
+// printf("Final correctedRange %f \n\r", correctedRange );
+// displayRange = correctedRange - 2;
}
else
{
@@ -2021,7 +2058,7 @@
}
else
{
- ANT_SW = 0; // ANT2
+ ANT_SW = 0; // ANT0
}
}