void refresh_anchors(void) {
init_anchors();
// Discover anchors
uint32_t anchor_refresh_ts = 0;
while (anchors_status) {
printf("Discovering anchors .. anchors_status:%02X\r\n", anchors_status);
// Check for refresh of anchors
uint32_t elapsed = cph_get_millis() - anchor_refresh_ts;
if (elapsed > ANCHORS_REFRESH_INTERVAL) {
printf("Anchors discovery timeout. anchors_status:%02X\r\n", anchors_status);
init_anchors();
anchor_refresh_ts = cph_get_millis();
}
for (int i=0;i<ANCHORS_MIN;i++) {
if (anchors_status & (1 << i)) {
int result = discover(i);
if (result == CPH_OK) {
anchors_status &= (~(1 << i));
printf("anchor[%d] %04X\r\n", i, anchors[i].shortid);
}
deca_sleep(RNG_DELAY_MS);
}
}
deca_sleep(POLL_DELAY_MS);
}
printf("Anchors discovered. Moving to poll. anchors_status:%02X\r\n", anchors_status);
}
void push_over_usb(uint8 *string, int len)
{
send_usbmessage(string,len);
/* What does this do? Who knows really. */
usb_run();
deca_sleep(1000);
}
void toSendMsg1(uint8 niz[], int size){
uint8 niz1[size];
int rx_id;
uint8 transmission_delay;
memset(dataseq2,0,sizeof(dataseq1));
sprintf((char*)&dataseq2[0],"%lx %lx send",
niz1[1],niz1[2]);//,niz1[2],sizeof(niz1), size);
writetoLCD(1, 0, 0x2);
writetoLCD(40,1,dataseq2);
memset(dataseq2,0,sizeof(dataseq2));
rx_id=niz[2];
if(rx_id==1){
for (int i=0;i<size;i++){
niz1[i]=niz[i];
}
niz1[1]=rx_seq_num;
niz1[2]=3; // ID of the end node/ second one in the line.
/* Write frame data to DW1000 and prepare transmission. See NOTE 3 below.*/
dwt_writetxdata(size, niz1, 0);
dwt_writetxfctrl(size, 0);
/* Start transmission. */
dwt_starttx(DWT_START_TX_IMMEDIATE);
/* Poll DW1000 until TX frame sent event set. See NOTE 4 below.
* STATUS register is 5 bytes long but, as the event we are looking at is in the first byte of the register, we can use this simplest API
* function to access it.*/
while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))
{ };
/* Clear TX frame sent event. */
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);
/* Execute a delay between transmissions. */
deca_sleep(TX_DELAY_MS);
/* Increment the blink frame sequence number (modulo 256). */
rx_seq_num++;
}
}
void DWM1000_Anchor::init() {
INFO("HSPI");
//_________________________________________________INIT SPI ESP8266
resetChip();
initSpi();
enableIsr();
uint64_t eui = 0xF1F2F3F4F5F6F7F;
dwt_seteui((uint8_t*) &eui);
dwt_geteui((uint8_t*) &eui);
LOG<< HEX << "EUID : "<< eui <<FLUSH;
dwt_seteui((uint8_t*) &eui);
dwt_geteui((uint8_t*) &eui);
LOG<< HEX << "EUID : "<< eui <<FLUSH;
// dwt_softreset();
deca_sleep(100);
if (dwt_initialise(DWT_LOADUCODE)) {
LOG<< " dwt_initialise failed " << FLUSH;
} else
LOG<< " dwt_initialise done." << FLUSH;
if (dwt_configure(&config)) {
LOG<< " dwt_configure failed " << FLUSH;
} else
LOG<< " dwt_configure done." << FLUSH;
uint32_t device_id = dwt_readdevid();
uint32_t part_id = dwt_getpartid();
uint32_t lot_id = dwt_getlotid();
LOG<< HEX << " device id : " << device_id << ", part id : " << part_id << ", lot_id :" << lot_id <<FLUSH;
/* Apply default antenna delay value. See NOTE 1 below. */
dwt_setrxantennadelay(RX_ANT_DLY);
dwt_settxantennadelay(TX_ANT_DLY);
/* Set expected response's delay and timeout. See NOTE 4 and 5 below.
* As this example only handles one incoming frame with always the same delay and timeout, those values can be set here once for all. */
dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS);
dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
dwt_initialise(DWT_LOADUCODE);
// Configure the callbacks from the dwt library
dwt_setcallbacks(txcallback, rxcallback);
_count = 0;
}
void toSendMsg(uint8 niz[], int size){ // for relaing node, that does not change anything
uint8 niz1[size];
int rx_id;
uint8 transmission_delay;
memset(dataseq2,0,sizeof(dataseq1));
sprintf((char*)&dataseq2[0],"%lx send",
niz1[2]);//,niz1[2],sizeof(niz1), size);
writetoLCD(1, 0, 0x2);
writetoLCD(40,1,dataseq2);
memset(dataseq2,0,sizeof(dataseq2));
rx_id=niz[2];
for (int i=0;i<size;i++){
niz1[i]=niz[i];
}
/* Write frame data to DW1000 and prepare transmission. See NOTE 3 below.*/
dwt_writetxdata(size, niz1, 0);
dwt_writetxfctrl(size, 0);
/* Start transmission. */
dwt_starttx(DWT_START_TX_IMMEDIATE);
/* Poll DW1000 until TX frame sent event set. See NOTE 4 below.
* STATUS register is 5 bytes long but, as the event we are looking at is in the first byte of the register, we can use this simplest API
* function to access it.*/
while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))
{ };
/* Clear TX frame sent event. */
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);
/* Execute a delay between transmissions. */
deca_sleep(TX_DELAY_MS);
}
/**
* Application entry point.
*/
int simpleTx(void)
{
/* Reset and initialise DW1000.
* For initialisation, DW1000 clocks must be temporarily set to crystal speed. After initialisation SPI rate can be increased for optimum
* performance. */
reset_DW1000(); /* Target specific drive of RSTn line into DW1000 low for a period. */
//spi_set_rate_low();
dwt_initialise(DWT_LOADNONE);
//spi_set_rate_high();
/* Configure DW1000. See NOTE 2 below. */
dwt_configure(&config);
/* Loop forever sending frames periodically. */
while(1)
{
/* Write frame data to DW1000 and prepare transmission. See NOTE 3 below.*/
dwt_writetxdata(sizeof(tx_msg), tx_msg, 0);
dwt_writetxfctrl(sizeof(tx_msg), 0);
/* Start transmission. */
dwt_starttx(DWT_START_TX_IMMEDIATE);
/* Poll DW1000 until TX frame sent event set. See NOTE 4 below.
* STATUS register is 5 bytes long but, as the event we are looking at is in the first byte of the register, we can use this simplest API
* function to access it.*/
while (!(status_reg = dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))
{ };
printf("Status reg now 0x%x\r\n",status_reg);
/* Clear TX frame sent event. */
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);
/* Execute a delay between transmissions. */
deca_sleep(TX_DELAY_MS);
// toggle led
ledToggle();
/* Increment the blink frame sequence number (modulo 256). */
tx_msg[BLINK_FRAME_SN_IDX]++;
}
}
void reset_DW1000(void)
{
u32 uwbIn;
XGpio_Initialize(&uwbGpio,XPAR_AXI_GPIO_UWB_DEVICE_ID);
XGpio_DiscreteWrite(&uwbGpio,1,0); // reset on
uwbIn = XGpio_DiscreteRead(&uwbGpio,2);
/*
printf("UBW reset active. Inputs 0x%x. Press any key\r\n", uwbIn);
getchar();
*/
XGpio_DiscreteWrite(&uwbGpio,1,0xff); // reset off
uwbIn = XGpio_DiscreteRead(&uwbGpio,2);
while(0 == (uwbIn & 0x4)){
//printf("UBW reset inactive. Inputs 0x%x\r\n", uwbIn);
uwbIn = XGpio_DiscreteRead(&uwbGpio,2);
}
printf("UBW reset completed\r\n");
deca_sleep(2);
}
int main()
{
Xil_ICacheEnable();
Xil_DCacheEnable();
print("---Entering main---\n\r");
{
printf("LEDs and switches\r\n");
XGpio_Initialize(&inGpio,XPAR_AXI_GPIO_1_DEVICE_ID);
XGpio_Initialize(&outGpio,XPAR_AXI_GPIO_0_DEVICE_ID);
XGpio_DiscreteWrite(&outGpio,1,0); // leds off
}
{
printf("Deca SPI test\r\n");
if (0 != openspi()){
printf("Init SPI failed\r\n");
} else {
// get switches
int sw = XGpio_DiscreteRead(&inGpio,1);
XGpio_DiscreteWrite(&outGpio,1,sw);
//printf("LED: %x\r\n",XGpio_DiscreteRead(&outGpio,1));
switch (sw & 0x7){
case 1:
printf("SS TWR INIT\r\n");
ssTwrInit();
break;
case 2:
printf("SS TWR RESP\r\n");
ssTwrResp();
break;
case 3:
printf("Simple TX\r\n");
simpleTx();
break;
case 4:
printf("Simple RX\r\n");
simpleRx();
break;
case 5:
printf("TX Wait\r\n");
txWait();
break;
case 6:
printf("RX Wait\r\n");
rxWait();
break;
default:
/* Reset and initialise DW1000. */
reset_DW1000();
dwt_initialise(DWT_LOADNONE);
/* Configure DW1000. */
printf("UBW configuration sequence\r\n");
dwt_configure(&config);
dwt_configuretxrf(&txconfig);
/* Activate continuous wave mode. */
dwt_configcwmode(config.chan);
/* Wait for the wanted duration of the continuous wave transmission. */
printf("Waiting for UBW continuous wave transmission delay: %ds\r\n",CONT_WAVE_DURATION_MS/1000);
deca_sleep(CONT_WAVE_DURATION_MS);
/* Software reset of the DW1000 to deactivate continuous wave mode and go back to default state. Initialisation and configuration should be run
* again if one wants to get the DW1000 back to normal operation. */
dwt_softreset();
}
printf("Deca test done. press any key\r\n");
getchar();
}
}
print("---Exiting main---\n\r");
Xil_DCacheDisable();
Xil_ICacheDisable();
return 0;
}
/**
* Application entry point.
*/
int main(void)
{
int prijem=0;
uint32 device_id;
/* Start with board specific hardware init. */
peripherals_init();
spi_peripheral_init();
Sleep(1000); //wait for LCD to power on
initLCD();
/* Display application name on LCD. */
setLCDline1( 234);
// Sleep(1000);
usb_init();
//Sleep(1000);
// lcd_display_str("connected");
/* Reset and initialise DW1000.
* For initialisation, DW1000 clocks must be temporarily set to crystal speed. After initialisation SPI rate can be increased for optimum
* performance. */
reset_DW1000(); /* Target specific drive of RSTn line into DW1000 low for a period. */
SPI_ChangeRate(SPI_BaudRatePrescaler_32);
// spi_set_rate_low();
// uint32 temp = dwt_read32bitoffsetreg(AON_ID,AON_WCFG_OFFSET);
dwt_initialise(DWT_LOADUCODE);
// dwt_configuresleepcnt(sleep16); //needed for LPL
// dwt_configuresleep(DWT_LOADUCODE | DWT_LOADOPSET | DWT_PRESRV_SLEEP | DWT_CONFIG, DWT_WAKE_WK | DWT_SLP_EN); //needed for LPL
SPI_ChangeRate(SPI_BaudRatePrescaler_4);
//spi_set_rate_high();
// dwt_configure(&config);
/* Loop forever receiving frames. */
/* while (1)
{
led_on(LED_ALL);
Sleep(100);
led_off(LED_ALL);
Sleep(100);
push_over_usb("nikola",6);
setLCDline1( 123);
}*/
s1switch = is_button_low(0) << 1 // is_switch_on(TA_SW1_2) << 2
| is_switch_on(TA_SW1_3) << 2
| is_switch_on(TA_SW1_4) << 3
| is_switch_on(TA_SW1_5) << 4
| is_switch_on(TA_SW1_6) << 5
| is_switch_on(TA_SW1_7) << 6
| is_switch_on(TA_SW1_8) << 7;
port_EnableEXT_IRQ();
while(1){
setLCDline1(123);
deca_sleep(1000);
device_id= inittestapplication(s1switch);
setLCDline1(instance_data[0].mode);
if(instance_mode == TAG){
setLCDline1(1);
}
else if(instance_mode==ANCHOR){
setLCDline1(2);
}
else {
setLCDline1(3);
}
deca_sleep(1000);
// instance_run();
//setLCDline1(message);
instance_run();
}
}
/*! ------------------------------------------------------------------------------------------------------------------
* @fn main()
*
* @brief Application entry point.
*
* @param none
*
* @return none
*/
int ssTwrInit(void)
{
/* Reset and initialise DW1000.
* For initialisation, DW1000 clocks must be temporarily set to crystal speed. After initialisation SPI rate can be increased for optimum
* performance. */
int status;
reset_DW1000(); /* Target specific drive of RSTn line into DW1000 low for a period. */
//spi_set_rate_low();
status = dwt_initialise(DWT_LOADUCODE);
if (DWT_SUCCESS != status) printf("API error line %d\r\n",__LINE__);
//spi_set_rate_high();
/* Configure DW1000. See NOTE 6 below. */
status = dwt_configure(&config);
if (DWT_SUCCESS != status) printf("API error line %d\r\n",__LINE__);
// read otp
uint32_t otpVal[0x20];
dwt_otpread(0,otpVal,0x20);
printf("OTP 6: 0x%x\r\n",otpVal[6]);
printf("OTP 7: 0x%x\r\n",otpVal[7]);
printf("OTP x16: 0x%x\r\n",otpVal[0x16]);
printf("OTP x17: 0x%x\r\n",otpVal[0x17]);
/* Apply default antenna delay value. See NOTE 2 below. */
printf("antenna delays: default TX: %d, default RX: %d, evk 16m: %d, evk 64m: %d\r\n",TX_ANT_DLY,RX_ANT_DLY,DWT_RF_DELAY_16M,DWT_RF_DELAY_64M);
tx_delay = TX_ANT_DLY;
rx_delay = RX_ANT_DLY;
dwt_setrxantennadelay(rx_delay);
dwt_settxantennadelay(tx_delay);
/* Set expected response's delay and timeout. See NOTE 1 and 5 below.
* As this example only handles one incoming frame with always the same delay and timeout, those values can be set here once for all. */
dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS);
dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
btn = buttons();
printf("%s entering main loop\r\n",__FUNCTION__);
/* Loop forever initiating ranging exchanges. */
while (1)
{
/* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
tx_poll_msg[ALL_MSG_SN_IDX] = frame_seq_nb;
status = dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);
if (DWT_SUCCESS != status) printf("API error line %d\r\n",__LINE__);
status = dwt_writetxdata(sizeof(tx_poll_msg), tx_poll_msg, 0);
if (DWT_SUCCESS != status) printf("API error line %d\r\n",__LINE__);
status = dwt_writetxfctrl(sizeof(tx_poll_msg), 0);
if (DWT_SUCCESS != status) printf("API error line %d\r\n",__LINE__);
/* Start transmission, indicating that a response is expected so that reception is enabled automatically after the frame is sent and the delay
* set by dwt_setrxaftertxdelay() has elapsed. */
status = dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);
if (DWT_SUCCESS != status) printf("API error line %d\r\n",__LINE__);
/* We assume that the transmission is achieved correctly, poll for reception of a frame or error/timeout. See NOTE 8 below. */
while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))
{ } ; // printf("Waiting. status reg 0x%x\r\n",status_reg); };
//printf("Status reg now 0x%x\r\n",status_reg);
if (SYS_STATUS_RXRFTO & status_reg)
printf("RX timeout\r\n");
/* Increment frame sequence number after transmission of the poll message (modulo 256). */
frame_seq_nb++;
if (status_reg & SYS_STATUS_RXFCG)
{
uint32 frame_len;
//printf("Check RX\r\n");
/* Clear good RX frame event in the DW1000 status register. */
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);
/* A frame has been received, read it into the local buffer. */
frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;
if (frame_len <= RX_BUF_LEN)
{
dwt_readrxdata(rx_buffer, frame_len, 0);
}
/* Check that the frame is the expected response from the companion "SS TWR responder" example.
* As the sequence number field of the frame is not relevant, it is cleared to simplify the validation of the frame. */
rx_buffer[ALL_MSG_SN_IDX] = 0;
if (memcmp(rx_buffer, rx_resp_msg, ALL_MSG_COMMON_LEN) == 0)
{
uint32 poll_tx_ts, resp_rx_ts, poll_rx_ts, resp_tx_ts;
int32 rtd_init, rtd_resp;
/* Retrieve poll transmission and response reception timestamps. See NOTE 9 below. */
poll_tx_ts = dwt_readtxtimestamplo32();
resp_rx_ts = dwt_readrxtimestamplo32();
/* Get timestamps embedded in response message. */
resp_msg_get_ts(&rx_buffer[RESP_MSG_POLL_RX_TS_IDX], &poll_rx_ts);
resp_msg_get_ts(&rx_buffer[RESP_MSG_RESP_TX_TS_IDX], &resp_tx_ts);
/* Compute time of flight and distance. */
rtd_init = resp_rx_ts - poll_tx_ts;
rtd_resp = resp_tx_ts - poll_rx_ts;
tof = ((rtd_init - rtd_resp) / 2.0) * DWT_TIME_UNITS;
distance = tof * SPEED_OF_LIGHT;
/* Display computed distance on LCD. */
//sprintf(dist_str, "DIST: %3.2f m", distance);
sprintf(dist_str, "%3.2f", distance);
printf("%s\r\n",dist_str);
//lcd_display_str(dist_str);
}
}
else
{
/* Clear RX error events in the DW1000 status register. */
printf("Errors occured. Clearing up\r\n");
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
/* Execute a delay between ranging exchanges. */
//printf("Delay %dms\r\n",RNG_DELAY_MS);
deca_sleep(RNG_DELAY_MS);
// toggle led
ledToggle();
// update antenna
if (buttons() & 1) {
tx_delay -= 10; // >>= 1;
rx_delay -= 10; //>>= 1;
dwt_setrxantennadelay(rx_delay);
dwt_settxantennadelay(tx_delay);
printf("Decreased antenna delay to 0x%x\r\n",tx_delay);
}
if (buttons() & 2) {
tx_delay += 10;
rx_delay += 10;
dwt_setrxantennadelay(rx_delay);
dwt_settxantennadelay(tx_delay);
printf("Increased antenna delay to 0x%x\r\n",tx_delay);
}
}
}
void tag_run(void) {
// Setup DECAWAVE
cph_deca_init_device();
cph_deca_init_network(cph_config->panid, cph_config->shortid);
// Set our short id in common messages
tx_poll_msg.header.source = cph_config->shortid;
tx_discover_msg.header.source = cph_config->shortid;
tx_pair_msg.header.source = cph_config->shortid;
tx_range_results_msg.header.source = cph_config->shortid;
// First, discover anchors
uint32_t anchor_refresh_ts = 0;
refresh_anchors();
anchor_refresh_ts = cph_get_millis();
// Poll loop
while (1) {
int ranges_countdown = MAX_RANGES_BEFORE_POLL_TIMEOUT;
anchors_status = ANCHORS_MASK;
while (anchors_status && (--ranges_countdown)) {
// Check for refresh of anchors
uint32_t elapsed = cph_get_millis() - anchor_refresh_ts;
if (elapsed > ANCHORS_REFRESH_INTERVAL) {
printf("Anchors refresh timeout. anchors_status:%02X\r\n", anchors_status);
refresh_anchors();
anchor_refresh_ts = cph_get_millis();
// Since we refreshed the anchors, need to range again for ALL anchors during this poll
anchors_status = ANCHORS_MASK;
}
// Range each anchor once during this poll
for (int i = 0; i < ANCHORS_MIN; i++) {
if (anchors_status & (1 << i)) {
anchors[i].range = 0;
int result = range(&anchors[i]);
if (result == CPH_OK) {
anchors_status &= (~(1 << i));
}
deca_sleep(RNG_DELAY_MS);
}
}
deca_sleep(RNG_DELAY_MS);
}
if (ranges_countdown) {
send_ranges(MAX_RANGES_BEFORE_POLL_TIMEOUT - ranges_countdown);
}
else {
printf("ranges_countdown expired!\r\n");
}
// Execute a delay between ranging exchanges.
deca_sleep(POLL_DELAY_MS);
}
}
