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Pozyx_definitions.h
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/*
Pozyx_definitions.h - Library for Arduino Pozyx shield.
Copyright (c) Pozyx Laboratories. All right reserved.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
#ifndef POZYX_DEFINITIONS_h
#define POZYX_DEFINITIONS_h
#define _POZYX_LIB_VERSION 1
#define _POZYX_FEET_PER_METER 3.2808399
#define _POZYX_INCH_PER_METER 39.3700787
#define _POZYX_FORMAT_METER
#define _POZYX_FORMAT_FOOT
#define _POZYX_FORMAT_INCH
/* Maximum number of anchors to be stored in the interal anchor list on the pozyx device */
#define MAX_ANCHORS_IN_LIST 20
#define POZYX_I2C_ADDRESS 0x4B
/* Begin auto generated defines */
/* POZYX REGISTERS firmware version v1.0 */
/* Status registers */
#define POZYX_WHO_AM_I 0x0 /* Returns the constant value 0x43. */
#define POZYX_FIRMWARE_VER 0x1 /* Returns the POZYX firmware version. */
#define POZYX_HARDWARE_VER 0x2 /* Returns the POZYX hardware version. */
#define POZYX_ST_RESULT 0x3 /* Returns the self-test result */
#define POZYX_ERRORCODE 0x4 /* Describes a possibly system error. */
#define POZYX_INT_STATUS 0x5 /* Indicates the source of the interrupt. */
#define POZYX_CALIB_STATUS 0x6 /* Returns the calibration status. */
/* Configuration registers */
#define POZYX_INT_MASK 0x10 /* Indicates which interrupts are enabled. */
#define POZYX_INT_CONFIG 0x11 /* Configure the interrupt pin */
#define POZYX_POS_FILTER 0x14 /* Pozyx filter configuration register */
#define POZYX_CONFIG_LEDS 0x15 /* Configure the LEDs */
#define POZYX_POS_ALG 0x16 /* Algorithm used for positioning */
#define POZYX_POS_NUM_ANCHORS 0x17 /* Configure the number of anchors and selection procedure */
#define POZYX_POS_INTERVAL 0x18 /* Defines the update interval in ms in continuous positioning. */
#define POZYX_NETWORK_ID 0x1A /* The network id. */
#define POZYX_UWB_CHANNEL 0x1C /* UWB channel number. */
#define POZYX_UWB_RATES 0x1D /* Configure the UWB datarate and pulse repetition frequency (PRF) */
#define POZYX_UWB_PLEN 0x1E /* Configure the UWB preamble length. */
#define POZYX_UWB_GAIN 0x1F /* Configure the power gain for the UWB transmitter */
#define POZYX_UWB_XTALTRIM 0x20 /* Trimming value for the uwb crystal. */
#define POZYX_RANGE_PROTOCOL 0x21 /* The ranging protocol */
#define POZYX_OPERATION_MODE 0x22 /* Configure the mode of operation of the pozyx device */
#define POZYX_SENSORS_MODE 0x23 /* Configure the mode of operation of the sensors */
#define POZYX_CONFIG_GPIO1 0x27 /* Configure GPIO pin 1. */
#define POZYX_CONFIG_GPIO2 0x28 /* Configure GPIO pin 2. */
#define POZYX_CONFIG_GPIO3 0x29 /* Configure GPIO pin 3. */
#define POZYX_CONFIG_GPIO4 0x2A /* Configure GPIO pin 4. */
/* Positioning data */
#define POZYX_POS_X 0x30 /* x-coordinate of the device in mm. */
#define POZYX_POS_Y 0x34 /* y-coordinate of the device in mm. */
#define POZYX_POS_Z 0x38 /* z-coordinate of the device in mm. */
#define POZYX_POS_ERR_X 0x3C /* estimated error covariance of x */
#define POZYX_POS_ERR_Y 0x3E /* estimated error covariance of y */
#define POZYX_POS_ERR_Z 0x40 /* estimated error covariance of z */
#define POZYX_POS_ERR_XY 0x42 /* estimated covariance of xy */
#define POZYX_POS_ERR_XZ 0x44 /* estimated covariance of xz */
#define POZYX_POS_ERR_YZ 0x46 /* estimated covariance of yz */
#define POZYX_MAX_LIN_ACC 0x4E /* maximum linear acceleration since */
/* Sensor data */
#define POZYX_PRESSURE 0x50 /* Pressure data */
#define POZYX_ACCEL_X 0x54 /* Accelerometer data (in mg) */
#define POZYX_ACCEL_Y 0x56 /* */
#define POZYX_ACCEL_Z 0x58 /* */
#define POZYX_MAGN_X 0x5A /* Magnemtometer data */
#define POZYX_MAGN_Y 0x5C /* */
#define POZYX_MAGN_Z 0x5E /* */
#define POZYX_GYRO_X 0x60 /* Gyroscope data */
#define POZYX_GYRO_Y 0x62 /* */
#define POZYX_GYRO_Z 0x64 /* */
#define POZYX_EUL_HEADING 0x66 /* Euler angles heading (or yaw) */
#define POZYX_EUL_ROLL 0x68 /* Euler angles roll */
#define POZYX_EUL_PITCH 0x6A /* Euler angles pitch */
#define POZYX_QUAT_W 0x6C /* Weight of quaternion. */
#define POZYX_QUAT_X 0x6E /* x of quaternion */
#define POZYX_QUAT_Y 0x70 /* y of quaternion */
#define POZYX_QUAT_Z 0x72 /* z of quaternion */
#define POZYX_LIA_X 0x74 /* Linear acceleration in x-direction */
#define POZYX_LIA_Y 0x76 /* */
#define POZYX_LIA_Z 0x78 /* */
#define POZYX_GRAV_X 0x7A /* x-component of gravity vector */
#define POZYX_GRAV_Y 0x7C /* y-component of gravity vector */
#define POZYX_GRAV_Z 0x7E /* z-component of gravity vector */
#define POZYX_TEMPERATURE 0x80 /* Temperature */
/* General data */
#define POZYX_DEVICE_LIST_SIZE 0x81 /* Returns the number of devices stored internally */
#define POZYX_RX_NETWORK_ID 0x82 /* The network id of the latest received message */
#define POZYX_RX_DATA_LEN 0x84 /* The length of the latest received message */
#define POZYX_GPIO1 0x85 /* Value of the GPIO pin 1 */
#define POZYX_GPIO2 0x86 /* Value of the GPIO pin 2 */
#define POZYX_GPIO3 0x87 /* Value of the GPIO pin 3 */
#define POZYX_GPIO4 0x88 /* Value of the GPIO pin 4 */
/*Functions*/
#define POZYX_RESET_SYS 0xB0 /* Reset the Pozyx device */
#define POZYX_LED_CTRL 0xB1 /* Control LEDS 1 to 4 on the board */
#define POZYX_TX_DATA 0xB2 /* Write data in the UWB transmit (TX) buffer */
#define POZYX_TX_SEND 0xB3 /* Transmit the TX buffer to some other pozyx device */
#define POZYX_RX_DATA 0xB4 /* Read data from the UWB receive (RX) buffer */
#define POZYX_DO_RANGING 0xB5 /* Initiate ranging measurement */
#define POZYX_DO_POSITIONING 0xB6 /* Initiate the positioning process. */
#define POZYX_POS_SET_ANCHOR_IDS 0xB7 /* Set the list of anchor ID's used for positioning. */
#define POZYX_POS_GET_ANCHOR_IDS 0xB8 /* Read the list of anchor ID's used for positioning. */
#define POZYX_FLASH_RESET 0xB9 /* Reset a portion of the configuration in flash memory */
#define POZYX_FLASH_SAVE 0xBA /* Store a portion of the configuration in flash memory */
#define POZYX_FLASH_DETAILS 0xBB /* Return information on what is stored in flash */
/*Device list functions*/
#define POZYX_DEVICES_GETIDS 0xC0 /* Get all the network IDs's of devices in the device list. */
#define POZYX_DEVICES_DISCOVER 0xC1 /* Obtain the network ID's of all pozyx devices within range. */
#define POZYX_DEVICES_CALIBRATE 0xC2 /* Obtain the coordinates of the pozyx (anchor) devices within range. */
#define POZYX_DEVICES_CLEAR 0xC3 /* Clear the list of all pozyx devices. */
#define POZYX_DEVICE_ADD 0xC4 /* Add a pozyx device to the devices list */
#define POZYX_DEVICE_GETINFO 0xC5 /* Get the stored device information for a given pozyx device */
#define POZYX_DEVICE_GETCOORDS 0xC6 /* Get the stored coordinates of a given pozyx device */
#define POZYX_DEVICE_GETRANGEINFO 0xC7 /* Get the stored range inforamation of a given pozyx device */
#define POZYX_CIR_DATA 0xC8 /* Get the channel impulse response (CIR) coefficients */
/* Macro's to test if registers are readable/writable */
#define IS_REG_READABLE(x) (((((x)>=0x0)&&((x)<0x7)) || (((x)>=0x10)&&((x)<0x12)) || (((x)>=0x14)&&((x)<0x24)) || (((x)>=0x27)&&((x)<0x2b)) || (((x)>=0x30)&&((x)<0x48)) || (((x)>=0x4E)&&((x)<0x89)))?1:0)
#define IS_REG_WRITABLE(x) (((((x)>=0x10)&&((x)<0x12)) || (((x)>=0x14)&&((x)<0x24)) || (((x)>=0x27)&&((x)<0x2b)) || (((x)>=0x30)&&((x)<0x3c)) || (((x)>=0x85)&&((x)<0x89)))?1:0)
#define IS_FUNCTIONCALL(x) (((((x)>=0xb0)&&((x)<0xbc)) || (((x)>=0xc0)&&((x)<0xc9)))?1:0)
/* End of auto generated defines */
/* Bit mask for POZYX_ST_RESULT */
#define POZYX_ST_RESULT_ACC 0x01
#define POZYX_ST_RESULT_MAGN 0x02
#define POZYX_ST_RESULT_GYR 0x04
#define POZYX_ST_RESULT_MCU 0x08
#define POZYX_ST_RESULT_PRES 0x10
#define POZYX_ST_RESULT_UWB 0x20
/* Bit mask for POZYX_INT_STATUS */
#define POZYX_INT_STATUS_ERR 0x01
#define POZYX_INT_STATUS_POS 0x02
#define POZYX_INT_STATUS_IMU 0x04
#define POZYX_INT_STATUS_RX_DATA 0x08
#define POZYX_INT_STATUS_FUNC 0x10
/* Bit mask for POZYX_INT_MASK */
#define POZYX_INT_MASK_ERR 0x01
#define POZYX_INT_MASK_POS 0x02
#define POZYX_INT_MASK_IMU 0x04
#define POZYX_INT_MASK_RX_DATA 0x08
#define POZYX_INT_MASK_FUNC 0x10
#define POZYX_INT_MASK_TDMA 0x40
#define POZYX_INT_MASK_PIN 0x80
/* Bit mask for POZYX_POS_ALG */
#define POZYX_POS_ALG_UWB_ONLY 0x00
#define POZYX_POS_ALG_LS 0x00 // deprecated so default to UWB only
#define POZYX_POS_ALG_TRACKING 0x04
/* Bit masks for POZYX_POS_FILTER */
#define FILTER_TYPE_NONE 0x00
#define FILTER_TYPE_FIR 0x01
#define FILTER_TYPE_MOVINGAVERAGE 0x03
#define FILTER_TYPE_MOVINGMEDIAN 0x04
/* Bit mask for POZYX_RANGE_PROTOCOL */
#define POZYX_RANGE_PROTOCOL_PRECISION 0x00
#define POZYX_RANGE_PROTOCOL_FAST 0x01
#define POZYX_RANGE_PROTOCOL_TEST 0x02
/* Bit mask for POZYX_LED_CTRL */
#define POZYX_LED_CTRL_LED1 0x01
#define POZYX_LED_CTRL_LED2 0x02
#define POZYX_LED_CTRL_LED3 0x04
#define POZYX_LED_CTRL_LED4 0x08
#define POZYX_TYPE 0xE0
#define POZYX_ANCHOR 0x00
#define POZYX_TAG 0x20
#define MAX_BUF_SIZE 100
#define POZYX_INT_MASK_ALL 0x1F
#define POZYX_DELAY_LOCAL_WRITE 1
#define POZYX_DELAY_LOCAL_FUNCTION 5
#define POZYX_DELAY_REMOTE_WRITE 5
#define POZYX_DELAY_REMOTE_FUNCTION 10
#define POZYX_DELAY_INTERRUPT 100
#define POZYX_DELAY_POSITIONING 1000
#define POZYX_DELAY_REMOTE_POSITIONING 1000
#define POZYX_DELAY_CALIBRATION 1000
#define POZYX_FAILURE 0x0
#define POZYX_SUCCESS 0x1
#define POZYX_TIMEOUT 0x8
#define POZYX_3D 3
#define POZYX_2D 2
#define POZYX_2_5D 1
#define POZYX_INT_PIN0 0x0
#define POZYX_INT_PIN1 0x1
#define POZYX_LED_CTRL_LEDRX 0x10
#define POZYX_LED_CTRL_LEDTX 0x20
#define POZYX_ANCHOR_MODE 0
#define POZYX_TAG_MODE 1
// The GPIO modes
#define POZYX_GPIO_DIGITAL_INPUT 0
#define POZYX_GPIO_PUSHPULL 1
#define POZYX_GPIO_OPENDRAIN 1
// The GPIO pull resistor configuration
#define POZYX_GPIO_NOPULL 0
#define POZYX_GPIO_PULLUP 1
#define POZYX_GPIO_PULLDOWN 2
// anchor selection modes
#define POZYX_ANCHOR_SEL_MANUAL 0
#define POZYX_ANCHOR_SEL_AUTO 1
// discovery options
#define POZYX_DISCOVERY_ANCHORS_ONLY 0
#define POZYX_DISCOVERY_TAGS_ONLY 1
#define POZYX_DISCOVERY_ALL_DEVICES 2
// how to intercept pozyx events: by polling or by interrupts
#define MODE_POLLING 0
#define MODE_INTERRUPT 1
// Division factors for converting the raw register values to meaningful physical quantities
#define POZYX_POS_DIV_MM 1.0f
#define POZYX_PRESS_DIVPOSITIONING 1000
#define POZYX_PRESS_DIVREMOTE_POSITIONING 1000
#define POZYX_PRESS_DIV_PA 1000.0f
#define POZYX_ACCEL_DIV_MG 1.0f
#define POZYX_GYRO_DIV_DPS 16.0f
#define POZYX_MAG_DIV_UT 16.0f
#define POZYX_EULER_DIV_DEG 16.0f
#define POZYX_QUAT_DIV 16384.0f
#define POZYX_TEMP_DIV_CELSIUS 1.0f
// error-code defintions
#define POZYX_ERROR_NONE 0x00
#define POZYX_ERROR_I2C_WRITE 0x01
#define POZYX_ERROR_I2C_CMDFULL 0x02
#define POZYX_ERROR_ANCHOR_ADD 0x03
#define POZYX_ERROR_COMM_QUEUE_FULL 0x04
#define POZYX_ERROR_I2C_READ 0x05
#define POZYX_ERROR_UWB_CONFIG 0x06
#define POZYX_ERROR_OPERATION_QUEUE_FULL 0x07
#define POZYX_ERROR_TDMA 0xA0
#define POZYX_ERROR_STARTUP_BUSFAULT 0x08
#define POZYX_ERROR_FLASH_INVALID 0x09
#define POZYX_ERROR_NOT_ENOUGH_ANCHORS 0x0A
#define POZYX_ERROR_DISCOVERY 0X0B
#define POZYX_ERROR_CALIBRATION 0x0C
#define POZYX_ERROR_FUNC_PARAM 0x0D
#define POZYX_ERROR_ANCHOR_NOT_FOUND 0x0E
#define POZYX_ERROR_FLASH 0x0F
#define POZYX_ERROR_MEMORY 0x10
#define POZYX_ERROR_RANGING 0x11
#define POZYX_ERROR_RTIMEOUT1 0x12
#define POZYX_ERROR_RTIMEOUT2 0x13
#define POZYX_ERROR_TXLATE 0x14
#define POZYX_ERROR_UWB_BUSY 0x15
#define POZYX_ERROR_POSALG 0x16
#define POZYX_ERROR_NOACK 0x17
#define POZYX_ERROR_SNIFF_OVERFLOW 0xE0
#define POZYX_ERROR_NO_PPS 0xF0
#define POZYX_ERROR_NEW_TASK 0xF1
#define POZYX_ERROR_UNRECDEV 0xFE
#define POZYX_ERROR_GENERAL 0xFF
// flash configuration types
#define POZYX_FLASH_REGS 1
#define POZYX_FLASH_ANCHOR_IDS 2
#define POZYX_FLASH_NETWORK 3
// possible interrupt pin configuration settings
#define PIN_MODE_PUSHPULL 0
#define PIN_ACTIVE_LOW 0
#define PIN_ACTIVE_HIGH 1
#endif