Added longer timeouts for new positioning algorithm

pozyxLabs · Aug 29, 2018 · c188ce9 · c188ce9
1 parent e7d0879
commit c188ce9
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Showing 2 changed files with 8 additions and 4 deletions.
diff --git a/Pozyx_definitions.h b/Pozyx_definitions.h
@@ -216,6 +216,8 @@
 #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
@@ -259,6 +261,8 @@
 
 // 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

diff --git a/Pozyx_lib.cpp b/Pozyx_lib.cpp
@@ -805,7 +805,7 @@ int PozyxClass::doPositioning(coordinates_t *position, uint8_t dimension, int32_
     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 (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.
@@ -919,11 +919,11 @@ int PozyxClass::doRemotePositioning(uint16_t remote_id, coordinates_t *coordinat
   uint8_t firmware;
   getFirmwareVersion(&firmware);
 
-  if (firmware == 0x13) {
+  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 , 200) == POZYX_SUCCESS){
+    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);
@@ -950,7 +950,7 @@ int PozyxClass::doRemotePositioning(uint16_t remote_id, coordinates_t *coordinat
   }
 
   // change timeout flag if crashes
-  if (waitForFlag_safe(POZYX_INT_STATUS_RX_DATA , 200)){
+  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};