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Pozyx_lib.cpp
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/*
* Pozyx_lib.cpp
* -------------
* This file contains the defintion of the general POZYX functions
*
*/
#include "Pozyx.h"
#include <Wire.h>
extern "C" {
#include "Pozyx_definitions.h"
}
int PozyxClass::getRead(uint8_t reg_address, uint8_t *pData, int size, uint16_t remote_id)
{
assert (pData != NULL);
if (remote_id == NULL){
return regRead(reg_address, pData, size);
}
else{
return remoteRegRead(remote_id, reg_address, pData, size);
}
}
int PozyxClass::setWrite(uint8_t reg_address, uint8_t *pData, int size, uint16_t remote_id)
{
if (remote_id == NULL){
return regWrite(reg_address, pData, size);
delay(POZYX_DELAY_LOCAL_WRITE);
}
else{
return remoteRegWrite(remote_id, reg_address, pData, size);
delay(POZYX_DELAY_REMOTE_WRITE);
}
}
int PozyxClass::useFunction(uint8_t reg_address, uint8_t *params, int param_size, uint8_t *pData, int size, uint16_t remote_id)
{
if (remote_id == NULL){
return regFunction(reg_address, params, param_size, pData, size);
}
else{
return remoteRegFunction(remote_id, reg_address, params, param_size, pData, size);
}
}
int PozyxClass::getWhoAmI(uint8_t *whoami , uint16_t remote_id)
{
return getRead(POZYX_WHO_AM_I, whoami, 1, remote_id);
}
int PozyxClass::getFirmwareVersion(uint8_t *firmware, uint16_t remote_id)
{
return getRead(POZYX_FIRMWARE_VER, firmware, 1, remote_id);
}
int PozyxClass::getHardwareVersion(uint8_t *hardware, uint16_t remote_id)
{
return getRead(POZYX_HARDWARE_VER, hardware, 1, remote_id);
}
int PozyxClass::getSelftest(uint8_t *selftest, uint16_t remote_id)
{
return getRead(POZYX_ST_RESULT, selftest, 1, remote_id);
}
int PozyxClass::getErrorCode(uint8_t *error_code, uint16_t remote_id)
{
return getRead(POZYX_ERRORCODE, error_code, 1, remote_id);
}
int PozyxClass::getInterruptStatus(uint8_t *interrupts, uint16_t remote_id)
{
return getRead(POZYX_INT_STATUS, interrupts, 1, remote_id);
}
int PozyxClass::getCalibrationStatus(uint8_t *calibration_status, uint16_t remote_id)
{
return getRead(POZYX_CALIB_STATUS, calibration_status, 1, remote_id);
}
int PozyxClass::getInterruptMask(uint8_t *mask, uint16_t remote_id)
{
return getRead(POZYX_INT_MASK, mask, 1, remote_id);
}
int PozyxClass::setInterruptMask(uint8_t mask, uint16_t remote_id)
{
return setWrite(POZYX_INT_MASK, &mask, 1, remote_id);
}
int PozyxClass::getUpdateInterval(uint16_t *ms, uint16_t remote_id)
{
return getRead(POZYX_POS_INTERVAL, (uint8_t *) ms, 2, remote_id);
}
int PozyxClass::setUpdateInterval(uint16_t ms, uint16_t remote_id)
{
assert(ms > 100);
assert(ms <= 60000);
return setWrite(POZYX_POS_INTERVAL, (uint8_t *) &ms, 2, remote_id);
}
int PozyxClass::setRangingProtocol(uint8_t protocol, uint16_t remote_id){
assert(protocol <= 2);
return setWrite(POZYX_RANGE_PROTOCOL, &protocol, 1, remote_id);
}
int PozyxClass::getRangingProtocol(uint8_t *protocol, uint16_t remote_id){
return getRead(POZYX_RANGE_PROTOCOL, protocol, 1, remote_id);
}
int PozyxClass::getConfigModeGPIO(int gpio_num, uint8_t *mode, uint16_t remote_id){
assert(gpio_num > 0);
assert(gpio_num <= 4);
assert(mode != NULL);
int status;
uint8_t gpio_register = POZYX_CONFIG_GPIO1 + (gpio_num-1);
status = getRead(gpio_register, mode, 1, remote_id);
*mode &= 0x7;
return status;
}
int PozyxClass::getConfigPullGPIO(int gpio_num, uint8_t *pull, uint16_t remote_id)
{
assert(gpio_num > 0);
assert(gpio_num <= 4);
assert(pull != NULL);
int status;
uint8_t gpio_register = POZYX_CONFIG_GPIO1 + (gpio_num-1);
status = getRead(gpio_register, pull, 1, remote_id);
*pull = (*pull & 0x18) >> 3;
return status;
}
int PozyxClass::setConfigGPIO(int gpio_num, int mode, int pull, uint16_t remote_id)
{
assert(gpio_num > 0);
assert(gpio_num <= 4);
assert((mode == POZYX_GPIO_DIGITAL_INPUT) || (mode == POZYX_GPIO_PUSHPULL) || (mode == POZYX_GPIO_OPENDRAIN) );
assert((pull == POZYX_GPIO_NOPULL) || (mode == POZYX_GPIO_PULLUP) || (mode == POZYX_GPIO_PULLDOWN) );
uint8_t gpio_register = POZYX_CONFIG_GPIO1 + (gpio_num-1);
uint8_t mask = mode + (pull << 3);
return setWrite(gpio_register, &mask, 1, remote_id);
}
int PozyxClass::setLedConfig(uint8_t config, uint16_t remote_id)
{
return setWrite(POZYX_CONFIG_LEDS, &config, 1, remote_id);
}
int PozyxClass::getPositionFilterStrength(uint8_t *filter_strength, uint16_t remote_id)
{
int status = getRead(POZYX_POS_FILTER, filter_strength, 1, remote_id);
*filter_strength = (*filter_strength & 0xF0) >> 4;
return status;
}
int PozyxClass::getPositionFilterType(uint8_t *filter_type, uint16_t remote_id)
{
int status = getRead(POZYX_POS_FILTER, filter_type, 1, remote_id);
*filter_type = (*filter_type & 0xF);
return status;
}
int PozyxClass::setPositionFilter(uint8_t filter_type, uint8_t filter_strength, uint16_t remote_id)
{
assert ((filter_type == FILTER_TYPE_NONE) || (filter_type == FILTER_TYPE_FIR) || (filter_type == FILTER_TYPE_MOVINGAVERAGE) || (filter_type == FILTER_TYPE_MOVINGMEDIAN));
assert ((filter_strength >= 0) && (filter_strength <= 15));
uint8_t filter = filter_type + (filter_strength << 4);
return setWrite(POZYX_POS_FILTER, &filter, 1, remote_id);
}
int PozyxClass::getPositionAlgorithm(uint8_t *algorithm, uint16_t remote_id)
{
int status = getRead(POZYX_POS_ALG, algorithm, 1, remote_id);
*algorithm &= 0xF;
return status;
}
int PozyxClass::getPositionDimension(uint8_t *dimension, uint16_t remote_id)
{
int status = getRead(POZYX_POS_ALG, dimension, 1, remote_id);
*dimension = (*dimension & 0x30) >> 4;;
return status;
}
int PozyxClass::setPositionAlgorithm(int algorithm, int dimension, uint16_t remote_id)
{
assert( (algorithm == POZYX_POS_ALG_UWB_ONLY ) || (algorithm == POZYX_POS_ALG_TRACKING) );
assert( (dimension == POZYX_3D ) || (dimension == POZYX_2D) || (dimension == POZYX_2_5D) );
int status;
uint8_t params = algorithm + (dimension << 4);
return setWrite(POZYX_POS_ALG, ¶ms, 1, remote_id);
}
int PozyxClass::getAnchorSelectionMode(uint8_t *mode, uint16_t remote_id)
{
int status = getRead(POZYX_POS_NUM_ANCHORS, mode, 1, remote_id);
*mode = ((*mode & 0x80) >> 7);
return status;
}
int PozyxClass::getNumberOfAnchors(uint8_t *nr_anchors, uint16_t remote_id)
{
int status = getRead(POZYX_POS_NUM_ANCHORS, nr_anchors, 1, remote_id);
*nr_anchors &= 0xF;
return status;
}
int PozyxClass::setSelectionOfAnchors(int mode, int nr_anchors, uint16_t remote_id)
{
assert( (mode == POZYX_ANCHOR_SEL_MANUAL ) || (mode == POZYX_ANCHOR_SEL_AUTO ));
assert( nr_anchors > 2);
assert( nr_anchors <= 16);
uint8_t params = (mode << 7) + nr_anchors;
return setWrite(POZYX_POS_NUM_ANCHORS, ¶ms, 1, remote_id);
}
int PozyxClass::getNetworkId(uint16_t *network_id)
{
return getRead(POZYX_NETWORK_ID, (uint8_t *) network_id, 2);
}
int PozyxClass::setNetworkId(uint16_t network_id, uint16_t remote_id)
{
assert(network_id != 0);
return setWrite(POZYX_NETWORK_ID, (uint8_t *) &network_id, 2, remote_id);
}
int PozyxClass::getUWBSettings(UWB_settings_t *UWB_settings, uint16_t remote_id)
{
assert(UWB_settings != NULL);
uint8_t tmp[4];
int status = getRead(POZYX_UWB_CHANNEL, tmp, 4, remote_id);
// copy the register data in the UWB_settings structure
UWB_settings->channel = tmp[0];
UWB_settings->bitrate = (tmp[1] & 0x3F);
UWB_settings->prf = ((tmp[1] & 0xC0)>>6);
UWB_settings->plen = tmp[2];
UWB_settings->gain_db = tmp[3]*0.5f;
return status;
}
int PozyxClass::setUWBSettings(UWB_settings_t *UWB_settings, uint16_t remote_id)
{
assert(UWB_settings->channel >= 1);
assert(UWB_settings->channel <= 7);
assert(UWB_settings->channel != 6);
uint8_t tmp[3];
tmp[0] = UWB_settings->channel;
tmp[1] = ((UWB_settings->bitrate) | (UWB_settings->prf << 6));
tmp[2] = UWB_settings->plen;
// first set the uwb channel, bitrate, prf and plen, this will set gain to the default gain computed for these settings
// leave this way and not use setWrite because of custom delays
int status = setWrite(POZYX_UWB_CHANNEL, tmp, 3, remote_id);
if (status != POZYX_SUCCESS){
return status;
}
// afterwards, it is possible to set the gain to a custom value
if (remote_id == NULL){
return setTxPower(UWB_settings->gain_db);
}else{
UWB_settings_t local_settings;
status &= getUWBSettings(&local_settings);
status &= setUWBSettings(UWB_settings);
status &= setTxPower(UWB_settings->gain_db, remote_id);
status &= setUWBSettings(&local_settings);
return status;
}
}
int PozyxClass::setUWBSettingsExceptGain(UWB_settings_t *UWB_settings, uint16_t remote_id)
{
assert(UWB_settings->channel >= 1);
assert(UWB_settings->channel <= 7);
assert(UWB_settings->channel != 6);
uint8_t tmp[3];
tmp[0] = UWB_settings->channel;
tmp[1] = ((UWB_settings->bitrate) | (UWB_settings->prf << 6));
tmp[2] = UWB_settings->plen;
// first set the uwb channel, bitrate, prf and plen
return setWrite(POZYX_UWB_CHANNEL, tmp, 3, remote_id);
}
int PozyxClass::setUWBChannel(int channel_num, uint16_t remote_id)
{
assert(channel_num >= 1);
assert(channel_num <= 7);
assert(channel_num != 6);
return setWrite(POZYX_UWB_CHANNEL, (uint8_t *)&channel_num, 1, remote_id);
}
int PozyxClass::getUWBChannel(int* channel_num, uint16_t remote_id)
{
assert(channel_num != NULL);
*channel_num = 0;
return getRead(POZYX_UWB_CHANNEL, (uint8_t *)channel_num, 1, remote_id);
}
int PozyxClass::setTxPower(float txgain_dB, uint16_t remote_id)
{
assert(txgain_dB >= 0.0f);
assert(txgain_dB <= 33.0f);
// convert to an int where one unit is 0.5dB
uint8_t doublegain_dB = (int)(2.0*txgain_dB + 0.5f);
return setWrite(POZYX_UWB_GAIN, &doublegain_dB, 1, remote_id);
}
int PozyxClass::getTxPower(float* txgain_dB, uint16_t remote_id)
{
assert(txgain_dB != NULL);
uint8_t doublegain_dB = 0;
int status = getRead(POZYX_UWB_GAIN, (uint8_t *)&doublegain_dB, 1, remote_id);
*txgain_dB = 0.5f*((float)doublegain_dB);
return status;
}
int PozyxClass::getOperationMode(uint8_t *mode, uint16_t remote_id)
{
return getRead(POZYX_OPERATION_MODE, mode, 1, remote_id);
}
int PozyxClass::setOperationMode(uint8_t mode, uint16_t remote_id)
{
assert( (mode == POZYX_ANCHOR_MODE ) || (mode == POZYX_TAG_MODE) );
return setWrite(POZYX_OPERATION_MODE, (uint8_t *) &mode, 1, remote_id);
}
int PozyxClass::getSensorMode(uint8_t *sensor_mode, uint16_t remote_id)
{
return getRead(POZYX_SENSORS_MODE, (uint8_t *) sensor_mode, 1, remote_id);
}
int PozyxClass::setSensorMode(uint8_t sensor_mode, uint16_t remote_id)
{
assert(sensor_mode >= 0);
assert(sensor_mode <= 12);
return setWrite(POZYX_SENSORS_MODE, (uint8_t *) &sensor_mode, 1, remote_id);
}
int PozyxClass::getCoordinates(coordinates_t *coordinates, uint16_t remote_id)
{
return getRead(POZYX_POS_X, (uint8_t *) coordinates, sizeof(coordinates_t), remote_id);
}
int PozyxClass::setCoordinates(coordinates_t coordinates, uint16_t remote_id)
{
return setWrite(POZYX_POS_X, (uint8_t *) &coordinates, sizeof(coordinates_t), remote_id);
}
int PozyxClass::getPositionError(pos_error_t *pos_error, uint16_t remote_id)
{
return getRead(POZYX_POS_ERR_X, (uint8_t *) pos_error, sizeof(pos_error_t), remote_id);
}
int PozyxClass::getRawSensorData(sensor_raw_t *sensor_raw, uint16_t remote_id)
{
return getRead(POZYX_PRESSURE, (uint8_t *)sensor_raw, sizeof(sensor_raw_t), remote_id);
}
int PozyxClass::getAllSensorData(sensor_data_t *sensor_data, uint16_t remote_id)
{
assert(sensor_data != NULL);
sensor_raw_t raw_data;
int status = getRead(POZYX_PRESSURE, (uint8_t *)&raw_data, sizeof(sensor_raw_t), remote_id);
// convert all the raw data to meaningfull physical quantities
sensor_data->pressure = raw_data.pressure / POZYX_PRESS_DIV_PA;
sensor_data->acceleration.x = raw_data.acceleration[0] / POZYX_ACCEL_DIV_MG;
sensor_data->acceleration.y = raw_data.acceleration[1] / POZYX_ACCEL_DIV_MG;
sensor_data->acceleration.z = raw_data.acceleration[2] / POZYX_ACCEL_DIV_MG;
sensor_data->magnetic.x = raw_data.magnetic[0] / POZYX_MAG_DIV_UT;
sensor_data->magnetic.y = raw_data.magnetic[1] / POZYX_MAG_DIV_UT;
sensor_data->magnetic.z = raw_data.magnetic[2] / POZYX_MAG_DIV_UT;
sensor_data->angular_vel.x = raw_data.angular_vel[0] / POZYX_GYRO_DIV_DPS;
sensor_data->angular_vel.y = raw_data.angular_vel[1] / POZYX_GYRO_DIV_DPS;
sensor_data->angular_vel.z = raw_data.angular_vel[2] / POZYX_GYRO_DIV_DPS;
sensor_data->euler_angles.heading = raw_data.euler_angles[0] / POZYX_EULER_DIV_DEG;
sensor_data->euler_angles.roll = raw_data.euler_angles[1] / POZYX_EULER_DIV_DEG;
sensor_data->euler_angles.pitch = raw_data.euler_angles[2] / POZYX_EULER_DIV_DEG;
sensor_data->quaternion.weight = raw_data.quaternion[0] / POZYX_QUAT_DIV;
sensor_data->quaternion.x = raw_data.quaternion[1] / POZYX_QUAT_DIV;
sensor_data->quaternion.y = raw_data.quaternion[2] / POZYX_QUAT_DIV;
sensor_data->quaternion.z = raw_data.quaternion[3] / POZYX_QUAT_DIV;
sensor_data->linear_acceleration.x = raw_data.linear_acceleration[0] / POZYX_ACCEL_DIV_MG;
sensor_data->linear_acceleration.y = raw_data.linear_acceleration[1] / POZYX_ACCEL_DIV_MG;
sensor_data->linear_acceleration.z = raw_data.linear_acceleration[2] / POZYX_ACCEL_DIV_MG;
sensor_data->gravity_vector.x = raw_data.gravity_vector[0] / POZYX_ACCEL_DIV_MG;
sensor_data->gravity_vector.y = raw_data.gravity_vector[1] / POZYX_ACCEL_DIV_MG;
sensor_data->gravity_vector.z = raw_data.gravity_vector[2] / POZYX_ACCEL_DIV_MG;
sensor_data->temperature = raw_data.temperature;
return status;
}
int PozyxClass::getPressure_Pa(float32_t *pressure, uint16_t remote_id)
{
assert(pressure != NULL);
// the raw data is one 32bit value
uint32_t raw_data;
int status = getRead(POZYX_PRESSURE, (uint8_t *)&raw_data, sizeof(uint32_t), remote_id);
// convert the raw data from the pressure sensor to pressure in Pascal
*pressure = raw_data / POZYX_PRESS_DIV_PA;
return status;
}
int PozyxClass::getAcceleration_mg(acceleration_t *acceleration, uint16_t remote_id)
{
assert(acceleration != NULL);
// the raw data are three 16bit values
int16_t raw_data[3] = {0,0,0};
int status = getRead(POZYX_ACCEL_X, (uint8_t *)&raw_data, 3*sizeof(int16_t), remote_id);
// convert the raw data from the accelerometer to acceleration in mg
acceleration->x = raw_data[0] / POZYX_ACCEL_DIV_MG;
acceleration->y = raw_data[1] / POZYX_ACCEL_DIV_MG;
acceleration->z = raw_data[2] / POZYX_ACCEL_DIV_MG;
return status;
}
int PozyxClass::getMaxLinearAcceleration(uint16_t *max_lin_acc, uint16_t remote_id){
return getRead(POZYX_MAX_LIN_ACC, (uint8_t *) max_lin_acc, 2, remote_id);
}
int PozyxClass::getMagnetic_uT(magnetic_t *magnetic, uint16_t remote_id)
{
assert(magnetic != NULL);
// the raw data are three 16bit values
int16_t raw_data[3] = {0,0,0};
int status = getRead(POZYX_MAGN_X, (uint8_t *)&raw_data, 3*sizeof(int16_t), remote_id);
// convert the raw data from the magnetometer to magnetic field strength in µTesla (ut)
magnetic->x = raw_data[0] / POZYX_MAG_DIV_UT;
magnetic->y = raw_data[1] / POZYX_MAG_DIV_UT;
magnetic->z = raw_data[2] / POZYX_MAG_DIV_UT;
return status;
}
int PozyxClass::getAngularVelocity_dps(angular_vel_t *angular_vel, uint16_t remote_id)
{
assert(angular_vel != NULL);
// the raw data are three 16bit values
int16_t raw_data[3] = {0,0,0};
int status = getRead(POZYX_GYRO_X, (uint8_t *)&raw_data, 3*sizeof(int16_t), remote_id);
// convert the raw data from the gyroscope to angular velocity in degrees per second (dps)
angular_vel->x = raw_data[0] / POZYX_GYRO_DIV_DPS;
angular_vel->y = raw_data[1] / POZYX_GYRO_DIV_DPS;
angular_vel->z = raw_data[2] / POZYX_GYRO_DIV_DPS;
return status;
}
int PozyxClass::getEulerAngles_deg(euler_angles_t *euler_angles, uint16_t remote_id)
{
assert(euler_angles != NULL);
// the raw data are three 16bit values
int16_t raw_data[3] = {0,0,0};
int status = getRead(POZYX_EUL_HEADING, (uint8_t *)&raw_data, 3*sizeof(int16_t), remote_id);
// convert the raw data from to euler angles in degrees
euler_angles->heading = raw_data[0] / POZYX_EULER_DIV_DEG;
euler_angles->roll = raw_data[1] / POZYX_EULER_DIV_DEG;
euler_angles->pitch = raw_data[2] / POZYX_EULER_DIV_DEG;
return status;
}
int PozyxClass::getQuaternion(quaternion_t *quaternion, uint16_t remote_id)
{
assert(quaternion != NULL);
// the raw data are four 16bit values
int16_t raw_data[4] = {0,0,0,0};
int status = getRead(POZYX_QUAT_W, (uint8_t *)&raw_data, 4*sizeof(int16_t), remote_id);
// convert the raw data from to a quaternion
quaternion->weight = raw_data[0] / POZYX_QUAT_DIV;
quaternion->x = raw_data[1] / POZYX_QUAT_DIV;
quaternion->y = raw_data[2] / POZYX_QUAT_DIV;
quaternion->z = raw_data[3] / POZYX_QUAT_DIV;
return status;
}
int PozyxClass::getLinearAcceleration_mg(linear_acceleration_t *linear_acceleration, uint16_t remote_id)
{
assert(linear_acceleration != NULL);
// the raw data are three 16bit values
int16_t raw_data[3] = {0,0,0};
int status = getRead(POZYX_LIA_X, (uint8_t *)&raw_data, 3*sizeof(int16_t), remote_id);
// convert the raw data to linear acceleration in mg
linear_acceleration->x = raw_data[0] / POZYX_ACCEL_DIV_MG;
linear_acceleration->y = raw_data[1] / POZYX_ACCEL_DIV_MG;
linear_acceleration->z = raw_data[2] / POZYX_ACCEL_DIV_MG;
return status;
}
int PozyxClass::getGravityVector_mg(gravity_vector_t *gravity_vector, uint16_t remote_id)
{
assert(gravity_vector != NULL);
// the raw data are three 16bit values
int16_t raw_data[3] = {0,0,0};
int status = getRead(POZYX_GRAV_X, (uint8_t *)&raw_data, 3*sizeof(int16_t), remote_id);
// convert the raw data to gravity vector in mg
gravity_vector->x = raw_data[0] / POZYX_ACCEL_DIV_MG;
gravity_vector->y = raw_data[1] / POZYX_ACCEL_DIV_MG;
gravity_vector->z = raw_data[2] / POZYX_ACCEL_DIV_MG;
return status;
}
int PozyxClass::getTemperature_c(float32_t *temperature, uint16_t remote_id)
{
assert(temperature != NULL);
// the raw data is one 8bit value
uint8_t raw_data = 0;
int status = getRead(POZYX_TEMPERATURE, (uint8_t *)&raw_data, 1, remote_id);
// convert the raw data to the temperature in degrees Celcius
*temperature = raw_data / POZYX_TEMP_DIV_CELSIUS;
return status;
}
int PozyxClass::getDeviceListSize(uint8_t *device_list_size, uint16_t remote_id)
{
return getRead(POZYX_DEVICE_LIST_SIZE, (uint8_t *) device_list_size, 1, remote_id);
}
int PozyxClass::getLastNetworkId(uint16_t *network_id, uint16_t remote_id)
{
return getRead(POZYX_RX_NETWORK_ID, (uint8_t *) network_id, 2, remote_id);
}
int PozyxClass::getLastDataLength(uint8_t *data_length, uint16_t remote_id)
{
return getRead(POZYX_RX_DATA_LEN, (uint8_t *) data_length, 1, remote_id);
}
int PozyxClass::getGPIO(int gpio_num, uint8_t *value, uint16_t remote_id)
{
assert(gpio_num >= 1);
assert(gpio_num <= 4);
assert(value != NULL);
uint8_t gpio_register = POZYX_GPIO1 + (gpio_num-1);
return getRead(gpio_register, (uint8_t *) value, 1, remote_id);
}
int PozyxClass::setGPIO(int gpio_num, uint8_t value, uint16_t remote_id)
{
assert(gpio_num >= 1);
assert(gpio_num <= 4);
assert( (value == 0) || (value == 1) );
uint8_t gpio_register = POZYX_GPIO1 + (gpio_num-1);
return setWrite(gpio_register, &value, 1, remote_id);
}
void PozyxClass::resetSystem(uint16_t remote_id)
{
useFunction(POZYX_RESET_SYS, NULL, 0, NULL, 0, remote_id);
if(remote_id == NULL){
delay(1000);
}
// remove the delay here if you want the freedom
}
String PozyxClass::getSystemError(uint16_t remote_id)
{
uint8_t error_code;
int status = getRead(POZYX_ERRORCODE, &error_code, 1, remote_id);
if(status != POZYX_SUCCESS)
return F("Error: could not connect with the Pozyx device");
switch(error_code)
{
case POZYX_ERROR_NONE:
return F("");
case POZYX_ERROR_I2C_WRITE:
return F("Error 0x01: Error writing to a register through the I2C bus");
case POZYX_ERROR_I2C_CMDFULL:
return F("Error 0x02: Pozyx cannot handle all the I2C commands at once");
case POZYX_ERROR_ANCHOR_ADD:
return F("Error 0x03: Cannot add anchor to the internal device list");
case POZYX_ERROR_COMM_QUEUE_FULL:
return F("Error 0x04: Communication queue is full, too many UWB messages");
case POZYX_ERROR_I2C_READ:
return F("Error 0x05: Error reading from a register from the I2C bus");
case POZYX_ERROR_UWB_CONFIG:
return F("Error 0x06: Cannot change the UWB configuration");
case POZYX_ERROR_OPERATION_QUEUE_FULL:
return F("Error 0x07: Pozyx cannot handle all the operations at once");
case POZYX_ERROR_STARTUP_BUSFAULT:
return F("Error 0x08: Internal bus error");
case POZYX_ERROR_FLASH_INVALID:
return F("Error 0x09: Flash memory is corrupted or invalid");
case POZYX_ERROR_NOT_ENOUGH_ANCHORS:
return F("Error 0x0A: Not enough anchors available for positioning");
case POZYX_ERROR_DISCOVERY:
return F("Error 0x0B: Error during the Discovery process");
case POZYX_ERROR_CALIBRATION:
return F("Error 0x0C: Error during the auto calibration process");
case POZYX_ERROR_FUNC_PARAM:
return F("Error 0x0D: Invalid function parameters for the register function");
case POZYX_ERROR_ANCHOR_NOT_FOUND:
return F("Error 0x0E: The coordinates of an anchor are not found");
case POZYX_ERROR_FLASH:
return F("Error 0x0F: Flash error");
case POZYX_ERROR_MEMORY:
return F("Error 0x10: Memory error");
case POZYX_ERROR_RANGING:
return F("Error 0x11: Ranging failed");
case POZYX_ERROR_RTIMEOUT1:
return F("Error 0x12: Ranging timeout");
case POZYX_ERROR_RTIMEOUT2:
return F("Error 0x13: Ranging timeout");
case POZYX_ERROR_TXLATE:
return F("Error 0x14: Tx was late");
case POZYX_ERROR_UWB_BUSY:
return F("Error 0x15: UWB is busy");
case POZYX_ERROR_POSALG:
return F("Error 0x16: Positioning failed");
case POZYX_ERROR_NOACK:
return F("Error 0x17: No Acknowledge received");
case POZYX_ERROR_NEW_TASK:
return F("Error 0xF1: Cannot create task");
case POZYX_ERROR_UNRECDEV :
return F("Error 0xFE: Hardware not recognized. Please contact [email protected]");
case POZYX_ERROR_GENERAL:
return F("Error 0xFF: General error");
default:
return F("Unknown error");
}
}
int PozyxClass::setLed(int led_num, boolean state, uint16_t remote_id)
{
assert(led_num >= 1);
assert(led_num <= 4);
assert( (state == true) || (state == false) );
// the 4 MSB indicate which led we wish to control, the 4 LSB indicate the state of the leds
uint8_t params = (0x1 << (led_num-1+4)) | (((uint8_t)state) << (led_num-1));
return useFunction(POZYX_LED_CTRL, ¶ms, 1, NULL, 0, remote_id);
}
int PozyxClass::doRanging(uint16_t destination, device_range_t *range)
{
assert(destination != 0);
assert(range != NULL);
memset((uint8_t*)range, 0, sizeof(device_range_t));
// trigger the ranging
uint8_t int_status = 0;
Pozyx.regRead(POZYX_INT_STATUS, &int_status, 1);
int status = regFunction(POZYX_DO_RANGING, (uint8_t *) &destination, 2, NULL, 0);
if (status == POZYX_SUCCESS )
{
// wait for the result
if(Pozyx.waitForFlag_safe(POZYX_INT_STATUS_FUNC | POZYX_INT_STATUS_ERR, POZYX_DELAY_INTERRUPT, &int_status))
{
if((int_status & POZYX_INT_STATUS_ERR) == POZYX_INT_STATUS_ERR)
{
return POZYX_FAILURE;
}else{
// read out the ranging results
return getDeviceRangeInfo(destination, range);
}
}else{
return POZYX_TIMEOUT;
}
}else{
return POZYX_FAILURE;
}
}
int PozyxClass::doRemoteRanging(uint16_t device_from, uint16_t device_to, device_range_t* range)
{
assert(device_from != 0);
assert(device_to != 0);
assert(range != NULL);
int status;
range->timestamp = 0;
range->distance = 0;
range->RSS = 0;
// trigger remote ranging between the two devices
status = remoteRegFunction(device_from, POZYX_DO_RANGING, (uint8_t *)&device_to, 2, NULL, 0);
if (status == POZYX_SUCCESS)
{
// the remote device (device_from) will respond with the ranging result, wait for that to happen
if(waitForFlag_safe(POZYX_INT_STATUS_RX_DATA , POZYX_DELAY_INTERRUPT))
{
// read out the ranging results from the received message
//delay(5);
return getDeviceRangeInfo(device_to, range, device_from);
}else{
return POZYX_TIMEOUT;
}
}else{
return status;
}
}
int PozyxClass::doPositioning(coordinates_t *coordinates, uint8_t dimension, int32_t height, uint8_t algorithm)
{
int status = setPositionAlgorithm(algorithm, dimension);
if (status != POZYX_SUCCESS)
return status;
return doPositioning(coordinates, dimension, height);
}
int PozyxClass::doPositioning(coordinates_t *position, uint8_t dimension, int32_t height)
{
assert(position != NULL);
int status;
// in 2.5D mode, we also supply the height
if (dimension == POZYX_2_5D){
status = regWrite(POZYX_POS_Z, (uint8_t*)&height, sizeof(int32_t));
}
// trigger positioning
uint8_t int_status = 0;
regRead(POZYX_INT_STATUS, &int_status, 1); // first clear out the interrupt status register by reading from it
status = regFunction(POZYX_DO_POSITIONING, NULL, 0, NULL, 0);
if (status != POZYX_SUCCESS )
return POZYX_FAILURE;
// now wait for the positioning to finish or generate an error
if (waitForFlag_safe(POZYX_INT_STATUS_POS | POZYX_INT_STATUS_ERR, POZYX_DELAY_POSITIONING, &int_status)){
if((int_status & POZYX_INT_STATUS_ERR) == POZYX_INT_STATUS_ERR)
{
// An error occured during positioning.
// Please read out the register POZYX_ERRORCODE to obtain more information about the error
return POZYX_FAILURE;
}else{
status = getCoordinates(position);
return POZYX_SUCCESS;
}
}else{
return POZYX_TIMEOUT;
}
}
// int PozyxClass::doPositioning(coordinates_t *position, int32_t height)
// {
// assert(position != NULL);
//
// int status;
//
// // in 2.5D mode, we also supply the height
// uint8_t dimension;
// getPositionDimension(&dimension);
// if (dimension == POZYX_2_5D){
// status = regWrite(POZYX_POS_Z, (uint8_t*)&height, sizeof(int32_t));
// }
// // trigger positioning
// uint8_t int_status = 0;
// regRead(POZYX_INT_STATUS, &int_status, 1); // first clear out the interrupt status register by reading from it
// status = regFunction(POZYX_DO_POSITIONING, NULL, 0, NULL, 0);
// if (status != POZYX_SUCCESS )
// return POZYX_FAILURE;
//
// // now wait for the positioning to finish or generate an error
// if (waitForFlag_safe(POZYX_INT_STATUS_POS | POZYX_INT_STATUS_ERR, 2*POZYX_DELAY_INTERRUPT, &int_status)){
// if((int_status & POZYX_INT_STATUS_ERR) == POZYX_INT_STATUS_ERR)
// {
// // An error occured during positioning.
// // Please read out the register POZYX_ERRORCODE to obtain more information about the error
// return POZYX_FAILURE;
// }else{
// status = getCoordinates(position);
// return POZYX_SUCCESS;
// }
// }else{
// return POZYX_TIMEOUT;
// }
// }
int PozyxClass::remoteRegFunctionWithoutCheck(uint16_t destination, uint8_t reg_address, uint8_t *params, int param_size, uint8_t *pData, int size){
if(!IS_FUNCTIONCALL(reg_address)) return POZYX_FAILURE; // the register is not a function
int status = 0;
// first prepare the packet to send
uint8_t tmp_data[param_size+2];
tmp_data[0] = 0;
tmp_data[1] = reg_address; // the first byte is the function register address we want to call.
memcpy(tmp_data+2, params, param_size); // the remaining bytes are the parameter bytes for the function.
status = regFunction(POZYX_TX_DATA, tmp_data, param_size+2, NULL, 0);
if (status == POZYX_FAILURE) {
return status;
}
// send the packet
uint8_t tx_params[3];
tx_params[0] = (uint8_t)destination;
tx_params[1] = (uint8_t)(destination>>8);
tx_params[2] = 0x08; // flag to indicate a register function call
uint8_t int_status = 0;
regRead(POZYX_INT_STATUS, &int_status, 1); // first clear out the interrupt status register by reading from it
status = regFunction(POZYX_TX_SEND, tx_params, 3, NULL, 0);
// stop if POZYX_TX_SEND returned an error.
if(status == POZYX_FAILURE){
return status;
}
waitForFlag_safe(POZYX_INT_STATUS_FUNC | POZYX_INT_STATUS_ERR, 20, &int_status);
return status;
}
int PozyxClass::doRemotePositioning(uint16_t remote_id, coordinates_t *coordinates, uint8_t dimension, int32_t height, uint8_t algorithm)
{
int status = setPositionAlgorithm(algorithm, dimension, remote_id);
if (status != POZYX_SUCCESS)
return status;
return doRemotePositioning(remote_id, coordinates, dimension, height);
}
int PozyxClass::doRemotePositioning(uint16_t remote_id, coordinates_t *coordinates, uint8_t dimension, int32_t height)
{
assert(remote_id != 0);
assert(coordinates != NULL);
int status;
coordinates->x = 0;
coordinates->y = 0;
coordinates->z = 0;
// in 2.5D mode, we also supply the height
if(dimension == POZYX_2_5D) {
remoteRegWrite(remote_id, POZYX_POS_Z, (uint8_t*)&height, sizeof(int32_t));
delay(10);
}
// trigger remote positioning
uint8_t firmware;
getFirmwareVersion(&firmware);
if (firmware >= 0x13) {
uint8_t params_positioning[2] = {1, 0};
status = remoteRegFunctionWithoutCheck(remote_id, POZYX_DO_POSITIONING, params_positioning, 2, NULL, 0);
if (waitForFlag_safe(POZYX_INT_STATUS_RX_DATA , POZYX_DELAY_REMOTE_POSITIONING) == POZYX_SUCCESS){
uint8_t rx_info[3]= {0,0,0};
regRead(POZYX_RX_NETWORK_ID, rx_info, 3);
uint16_t remote_network_id = rx_info[0] + ((uint16_t)rx_info[1]<<8);
uint8_t data_len = rx_info[2];
if( remote_network_id == remote_id && data_len == (sizeof(coordinates_t) + 1))
{
status = readRXBufferData((uint8_t *) coordinates, 12); //sizeof(coordinates_t));
return status;
}else{
return POZYX_FAILURE;
}
} else{
return POZYX_TIMEOUT;
}
return status;
}
status = remoteRegFunction(remote_id, POZYX_DO_POSITIONING, NULL, 0, NULL, 0);
if(status != POZYX_SUCCESS){
delay(40);
return status;
}
// change timeout flag if crashes
if (waitForFlag_safe(POZYX_INT_STATUS_RX_DATA , POZYX_DELAY_REMOTE_POSITIONING)){
// we received a response, now get some information about the response
uint8_t rx_info[3]= {0,0,0};
regRead(POZYX_RX_NETWORK_ID, rx_info, 3);
uint16_t remote_network_id = rx_info[0] + ((uint16_t)rx_info[1]<<8);
uint8_t data_len = rx_info[2];
// check if we have received the expected response, i.e., a packet containing the coordinates.
if( remote_network_id == remote_id && data_len == sizeof(coordinates_t))
{
status = readRXBufferData((uint8_t *) coordinates, 12); //sizeof(coordinates_t));
return status;
}else{
return POZYX_FAILURE;
}
}
else{
return POZYX_TIMEOUT;
}
return status;
}
// int PozyxClass::doRemotePositioning(uint16_t remote_id, coordinates_t *coordinates, int32_t height)
// {
// assert(remote_id != 0);
// assert(coordinates != NULL);
//
// int status;
// coordinates->x = 0;
// coordinates->y = 0;
// coordinates->z = 0;
//
// // trigger remote positioning
// status = remoteRegFunction(remote_id, POZYX_DO_POSITIONING, NULL, 0, NULL, 0);
//
// if(status != POZYX_SUCCESS){
// delay(40);
// return status;
// }
//
// // never change this again...
// if (waitForFlag_safe(POZYX_INT_STATUS_RX_DATA , 200)){
//
// // we received a response, now get some information about the response
// uint8_t rx_info[3]= {0,0,0};
// regRead(POZYX_RX_NETWORK_ID, rx_info, 3);
// uint16_t remote_network_id = rx_info[0] + ((uint16_t)rx_info[1]<<8);