diff --git a/Wireless_Communication/UWB/Anchor/Anchor1/Anchor1.ino b/Wireless_Communication/UWB/Anchor/Anchor1/Anchor1.ino
index 176cde444841157ba458457efb0697c6bd85406d..5407c0b0f5603215e626db01205c115e22f3ccdb 100644
--- a/Wireless_Communication/UWB/Anchor/Anchor1/Anchor1.ino
+++ b/Wireless_Communication/UWB/Anchor/Anchor1/Anchor1.ino
@@ -28,7 +28,7 @@
#define MY_ADDR ANCHOR1
#define RX_TIMEOUT 5000
-#define INTER_RANGING_DELAY 5
+#define INTER_RANGING_DELAY 0
#define NUMBER_OF_BEACONS_TO_RANGE 4 - MY_ADDR
@@ -49,16 +49,12 @@ static dwt_config_t config = {
DWT_PDOA_M0 /* PDOA mode off */
};
-size_t rxLen;
static uint8_t rxBuffer[FRAME_LEN_MAX - MHR_LENGTH] = {};
/* Hold copy of status register state here for reference so that it can be examined at a debug breakpoint. */
uint32_t status_reg;
extern dwt_txconfig_t txconfig_options;
-macHeader txMHR, rxMHR;
-bool frameReceived = 0;
-bool ack;
deviceState state = RESPONDER;
void setup()
@@ -107,6 +103,8 @@ void setup()
while (1)
;
}
+
+ txconfig_options.power = 0xffffffff;
dwt_configuretxrf(&txconfig_options);
dwt_setrxantennadelay(RX_ANT_DLY);
@@ -121,16 +119,13 @@ void setup()
void loop()
{
- // Reset global parameters
- clearMacHeader(&txMHR);
- clearMacHeader(&rxMHR);
- rxLen = 0;
+ macHeader txMHR, rxMHR;
+ bool frameReceived = 0;
+ bool ack;
+ size_t rxLen = 0;
memset(rxBuffer, 0, sizeof(rxBuffer));
- frameReceived = 0;
switch (state) {
- // Beacons will only ever be in BEACON_POSITIONING_MODE mode during beacon positioning
- // hence this portion of code only does ranging with other anchors
case BEACON_POSITIONING_MODE:
double dist;
if (NUMBER_OF_BEACONS_TO_RANGE > 0) {
@@ -142,6 +137,7 @@ void loop()
addresses[i] = i + MY_ADDR + 1; // store destination addresss
for (uint8_t retries = 0; retries < 10; retries++) {
+ // Serial.printf("Ranging %d retry %d\n", addresses[i], retries);
distances[i] = getRangingDistance(&txMHR, PAN_ID, MY_ADDR, addresses[i], &rxMHR); // range beacon at addresses[i]
// distances[i] = getRangingDistanceDelayedTX(&txMHR, PAN_ID, MY_ADDR, addresses[i], &rxMHR); // range beacon at addresses[i]
if (distances[i] != 0.0) {break;}
@@ -153,18 +149,20 @@ void loop()
// ack = sendDistancesWithAck(&txMHR, PAN_ID, MY_ADDR, TAG1, NUMBER_OF_BEACONS_TO_RANGE, addresses, distances, &rxMHR, 5);
// delay(INTER_RANGING_DELAY);
for (uint8_t retries = 0; retries < 10; retries++) {
+ // Serial.printf("send distance retry %d\n", retries);
sendDistances(&txMHR, PAN_ID, MY_ADDR, TAG1, NUMBER_OF_BEACONS_TO_RANGE, addresses, distances, true);
ack = receiveAcknowledgement(&rxMHR);
if (ack) {break;}
delay(INTER_RANGING_DELAY);
}
-
if (MY_ADDR < ANCHOR3) {
// Serial.printf("Anchor %d passing bpm to anchor %d\n", MY_ADDR, MY_ADDR + 1);
// ack = sendCommandWithAck(&txMHR, PAN_ID, MY_ADDR, MY_ADDR + 1, BPM_COMMAND, &rxMHR, 3);
// delay(INTER_RANGING_DELAY);
+
for (uint8_t retries = 0; retries < 10; retries++) {
+ // Serial.printf("Send bpm retry %d\n", retries);
sendCommand(&txMHR, PAN_ID, MY_ADDR, MY_ADDR + 1, BPM_COMMAND, true);
ack = receiveAcknowledgement(&rxMHR);
if (ack) {break;}
@@ -192,7 +190,7 @@ void loop()
state = BEACON_POSITIONING_MODE;
break;
- case POLL_REQUEST: //TOF
+ case POLL_REQUEST: // TOF
handlePollRequest(&txMHR, PAN_ID, MY_ADDR, getMacSrcAddr(&rxMHR));
// handlePollRequestDelayedTX(&txMHR, PAN_ID, MY_ADDR, getMacSrcAddr(&rxMHR), TX_ANT_DLY);
break;
diff --git a/Wireless_Communication/UWB/Anchor/Anchor2/Anchor2.ino b/Wireless_Communication/UWB/Anchor/Anchor2/Anchor2.ino
index 4a60cd2ea7b78e841797fd692ae6a36dde1fdd30..ef0cd1017d82aa9a7bbdb22d508c1057755e6727 100644
--- a/Wireless_Communication/UWB/Anchor/Anchor2/Anchor2.ino
+++ b/Wireless_Communication/UWB/Anchor/Anchor2/Anchor2.ino
@@ -28,7 +28,7 @@
#define MY_ADDR ANCHOR2
#define RX_TIMEOUT 5000
-#define INTER_RANGING_DELAY 5
+#define INTER_RANGING_DELAY 0
#define NUMBER_OF_BEACONS_TO_RANGE 4 - MY_ADDR
@@ -49,16 +49,12 @@ static dwt_config_t config = {
DWT_PDOA_M0 /* PDOA mode off */
};
-size_t rxLen;
static uint8_t rxBuffer[FRAME_LEN_MAX - MHR_LENGTH] = {};
/* Hold copy of status register state here for reference so that it can be examined at a debug breakpoint. */
uint32_t status_reg;
extern dwt_txconfig_t txconfig_options;
-macHeader txMHR, rxMHR;
-bool frameReceived = 0;
-bool ack;
deviceState state = RESPONDER;
void setup()
@@ -107,6 +103,8 @@ void setup()
while (1)
;
}
+
+ txconfig_options.power = 0xffffffff;
dwt_configuretxrf(&txconfig_options);
dwt_setrxantennadelay(RX_ANT_DLY);
@@ -121,16 +119,13 @@ void setup()
void loop()
{
- // Reset global parameters
- clearMacHeader(&txMHR);
- clearMacHeader(&rxMHR);
- rxLen = 0;
+ macHeader txMHR, rxMHR;
+ bool frameReceived = 0;
+ bool ack;
+ size_t rxLen = 0;
memset(rxBuffer, 0, sizeof(rxBuffer));
- frameReceived = 0;
switch (state) {
- // Beacons will only ever be in BEACON_POSITIONING_MODE mode during beacon positioning
- // hence this portion of code only does ranging with other anchors
case BEACON_POSITIONING_MODE:
double dist;
if (NUMBER_OF_BEACONS_TO_RANGE > 0) {
@@ -142,6 +137,7 @@ void loop()
addresses[i] = i + MY_ADDR + 1; // store destination addresss
for (uint8_t retries = 0; retries < 10; retries++) {
+ // Serial.printf("Ranging %d retry %d\n", addresses[i], retries);
distances[i] = getRangingDistance(&txMHR, PAN_ID, MY_ADDR, addresses[i], &rxMHR); // range beacon at addresses[i]
// distances[i] = getRangingDistanceDelayedTX(&txMHR, PAN_ID, MY_ADDR, addresses[i], &rxMHR); // range beacon at addresses[i]
if (distances[i] != 0.0) {break;}
@@ -153,18 +149,20 @@ void loop()
// ack = sendDistancesWithAck(&txMHR, PAN_ID, MY_ADDR, TAG1, NUMBER_OF_BEACONS_TO_RANGE, addresses, distances, &rxMHR, 5);
// delay(INTER_RANGING_DELAY);
for (uint8_t retries = 0; retries < 10; retries++) {
+ // Serial.printf("send distance retry %d\n", retries);
sendDistances(&txMHR, PAN_ID, MY_ADDR, TAG1, NUMBER_OF_BEACONS_TO_RANGE, addresses, distances, true);
ack = receiveAcknowledgement(&rxMHR);
if (ack) {break;}
delay(INTER_RANGING_DELAY);
}
-
if (MY_ADDR < ANCHOR3) {
// Serial.printf("Anchor %d passing bpm to anchor %d\n", MY_ADDR, MY_ADDR + 1);
// ack = sendCommandWithAck(&txMHR, PAN_ID, MY_ADDR, MY_ADDR + 1, BPM_COMMAND, &rxMHR, 3);
// delay(INTER_RANGING_DELAY);
+
for (uint8_t retries = 0; retries < 10; retries++) {
+ // Serial.printf("Send bpm retry %d\n", retries);
sendCommand(&txMHR, PAN_ID, MY_ADDR, MY_ADDR + 1, BPM_COMMAND, true);
ack = receiveAcknowledgement(&rxMHR);
if (ack) {break;}
@@ -192,7 +190,7 @@ void loop()
state = BEACON_POSITIONING_MODE;
break;
- case POLL_REQUEST: //TOF
+ case POLL_REQUEST: // TOF
handlePollRequest(&txMHR, PAN_ID, MY_ADDR, getMacSrcAddr(&rxMHR));
// handlePollRequestDelayedTX(&txMHR, PAN_ID, MY_ADDR, getMacSrcAddr(&rxMHR), TX_ANT_DLY);
break;
diff --git a/Wireless_Communication/UWB/Anchor/Anchor3/Anchor3.ino b/Wireless_Communication/UWB/Anchor/Anchor3/Anchor3.ino
index 30586f17a18845dce234c28fa19060af672ae76e..9985d98243034a05085746b7cd87fe13f74ec8a6 100644
--- a/Wireless_Communication/UWB/Anchor/Anchor3/Anchor3.ino
+++ b/Wireless_Communication/UWB/Anchor/Anchor3/Anchor3.ino
@@ -28,7 +28,7 @@
#define MY_ADDR ANCHOR3
#define RX_TIMEOUT 5000
-#define INTER_RANGING_DELAY 5
+#define INTER_RANGING_DELAY 0
#define NUMBER_OF_BEACONS_TO_RANGE 4 - MY_ADDR
@@ -49,16 +49,12 @@ static dwt_config_t config = {
DWT_PDOA_M0 /* PDOA mode off */
};
-size_t rxLen;
static uint8_t rxBuffer[FRAME_LEN_MAX - MHR_LENGTH] = {};
/* Hold copy of status register state here for reference so that it can be examined at a debug breakpoint. */
uint32_t status_reg;
extern dwt_txconfig_t txconfig_options;
-macHeader txMHR, rxMHR;
-bool frameReceived = 0;
-bool ack;
deviceState state = RESPONDER;
void setup()
@@ -107,6 +103,8 @@ void setup()
while (1)
;
}
+
+ txconfig_options.power = 0xffffffff;
dwt_configuretxrf(&txconfig_options);
dwt_setrxantennadelay(RX_ANT_DLY);
@@ -121,16 +119,13 @@ void setup()
void loop()
{
- // Reset global parameters
- clearMacHeader(&txMHR);
- clearMacHeader(&rxMHR);
- rxLen = 0;
+ macHeader txMHR, rxMHR;
+ bool frameReceived = 0;
+ bool ack;
+ size_t rxLen = 0;
memset(rxBuffer, 0, sizeof(rxBuffer));
- frameReceived = 0;
switch (state) {
- // Beacons will only ever be in BEACON_POSITIONING_MODE mode during beacon positioning
- // hence this portion of code only does ranging with other anchors
case BEACON_POSITIONING_MODE:
double dist;
if (NUMBER_OF_BEACONS_TO_RANGE > 0) {
@@ -142,6 +137,7 @@ void loop()
addresses[i] = i + MY_ADDR + 1; // store destination addresss
for (uint8_t retries = 0; retries < 10; retries++) {
+ // Serial.printf("Ranging %d retry %d\n", addresses[i], retries);
distances[i] = getRangingDistance(&txMHR, PAN_ID, MY_ADDR, addresses[i], &rxMHR); // range beacon at addresses[i]
// distances[i] = getRangingDistanceDelayedTX(&txMHR, PAN_ID, MY_ADDR, addresses[i], &rxMHR); // range beacon at addresses[i]
if (distances[i] != 0.0) {break;}
@@ -153,18 +149,20 @@ void loop()
// ack = sendDistancesWithAck(&txMHR, PAN_ID, MY_ADDR, TAG1, NUMBER_OF_BEACONS_TO_RANGE, addresses, distances, &rxMHR, 5);
// delay(INTER_RANGING_DELAY);
for (uint8_t retries = 0; retries < 10; retries++) {
+ // Serial.printf("send distance retry %d\n", retries);
sendDistances(&txMHR, PAN_ID, MY_ADDR, TAG1, NUMBER_OF_BEACONS_TO_RANGE, addresses, distances, true);
ack = receiveAcknowledgement(&rxMHR);
if (ack) {break;}
delay(INTER_RANGING_DELAY);
}
-
if (MY_ADDR < ANCHOR3) {
// Serial.printf("Anchor %d passing bpm to anchor %d\n", MY_ADDR, MY_ADDR + 1);
// ack = sendCommandWithAck(&txMHR, PAN_ID, MY_ADDR, MY_ADDR + 1, BPM_COMMAND, &rxMHR, 3);
// delay(INTER_RANGING_DELAY);
+
for (uint8_t retries = 0; retries < 10; retries++) {
+ // Serial.printf("Send bpm retry %d\n", retries);
sendCommand(&txMHR, PAN_ID, MY_ADDR, MY_ADDR + 1, BPM_COMMAND, true);
ack = receiveAcknowledgement(&rxMHR);
if (ack) {break;}
@@ -192,7 +190,7 @@ void loop()
state = BEACON_POSITIONING_MODE;
break;
- case POLL_REQUEST: //TOF
+ case POLL_REQUEST: // TOF
handlePollRequest(&txMHR, PAN_ID, MY_ADDR, getMacSrcAddr(&rxMHR));
// handlePollRequestDelayedTX(&txMHR, PAN_ID, MY_ADDR, getMacSrcAddr(&rxMHR), TX_ANT_DLY);
break;
diff --git a/Wireless_Communication/UWB/Anchor/Anchor4/Anchor4.ino b/Wireless_Communication/UWB/Anchor/Anchor4/Anchor4.ino
index 50692f38b41d1e16322dcacbb42c55146f781aec..f4bb968e4c3f42372722d6f55a194718738361f6 100644
--- a/Wireless_Communication/UWB/Anchor/Anchor4/Anchor4.ino
+++ b/Wireless_Communication/UWB/Anchor/Anchor4/Anchor4.ino
@@ -28,7 +28,7 @@
#define MY_ADDR ANCHOR4
#define RX_TIMEOUT 5000
-#define INTER_RANGING_DELAY 5
+#define INTER_RANGING_DELAY 0
#define NUMBER_OF_BEACONS_TO_RANGE 4 - MY_ADDR
@@ -49,16 +49,12 @@ static dwt_config_t config = {
DWT_PDOA_M0 /* PDOA mode off */
};
-size_t rxLen;
static uint8_t rxBuffer[FRAME_LEN_MAX - MHR_LENGTH] = {};
/* Hold copy of status register state here for reference so that it can be examined at a debug breakpoint. */
uint32_t status_reg;
extern dwt_txconfig_t txconfig_options;
-macHeader txMHR, rxMHR;
-bool frameReceived = 0;
-bool ack;
deviceState state = RESPONDER;
void setup()
@@ -107,6 +103,8 @@ void setup()
while (1)
;
}
+
+ txconfig_options.power = 0xffffffff;
dwt_configuretxrf(&txconfig_options);
dwt_setrxantennadelay(RX_ANT_DLY);
@@ -121,16 +119,13 @@ void setup()
void loop()
{
- // Reset global parameters
- clearMacHeader(&txMHR);
- clearMacHeader(&rxMHR);
- rxLen = 0;
+ macHeader txMHR, rxMHR;
+ bool frameReceived = 0;
+ bool ack;
+ size_t rxLen = 0;
memset(rxBuffer, 0, sizeof(rxBuffer));
- frameReceived = 0;
switch (state) {
- // Beacons will only ever be in BEACON_POSITIONING_MODE mode during beacon positioning
- // hence this portion of code only does ranging with other anchors
case BEACON_POSITIONING_MODE:
double dist;
if (NUMBER_OF_BEACONS_TO_RANGE > 0) {
@@ -142,6 +137,7 @@ void loop()
addresses[i] = i + MY_ADDR + 1; // store destination addresss
for (uint8_t retries = 0; retries < 10; retries++) {
+ // Serial.printf("Ranging %d retry %d\n", addresses[i], retries);
distances[i] = getRangingDistance(&txMHR, PAN_ID, MY_ADDR, addresses[i], &rxMHR); // range beacon at addresses[i]
// distances[i] = getRangingDistanceDelayedTX(&txMHR, PAN_ID, MY_ADDR, addresses[i], &rxMHR); // range beacon at addresses[i]
if (distances[i] != 0.0) {break;}
@@ -153,18 +149,20 @@ void loop()
// ack = sendDistancesWithAck(&txMHR, PAN_ID, MY_ADDR, TAG1, NUMBER_OF_BEACONS_TO_RANGE, addresses, distances, &rxMHR, 5);
// delay(INTER_RANGING_DELAY);
for (uint8_t retries = 0; retries < 10; retries++) {
+ // Serial.printf("send distance retry %d\n", retries);
sendDistances(&txMHR, PAN_ID, MY_ADDR, TAG1, NUMBER_OF_BEACONS_TO_RANGE, addresses, distances, true);
ack = receiveAcknowledgement(&rxMHR);
if (ack) {break;}
delay(INTER_RANGING_DELAY);
}
-
if (MY_ADDR < ANCHOR3) {
// Serial.printf("Anchor %d passing bpm to anchor %d\n", MY_ADDR, MY_ADDR + 1);
// ack = sendCommandWithAck(&txMHR, PAN_ID, MY_ADDR, MY_ADDR + 1, BPM_COMMAND, &rxMHR, 3);
// delay(INTER_RANGING_DELAY);
+
for (uint8_t retries = 0; retries < 10; retries++) {
+ // Serial.printf("Send bpm retry %d\n", retries);
sendCommand(&txMHR, PAN_ID, MY_ADDR, MY_ADDR + 1, BPM_COMMAND, true);
ack = receiveAcknowledgement(&rxMHR);
if (ack) {break;}
@@ -192,7 +190,7 @@ void loop()
state = BEACON_POSITIONING_MODE;
break;
- case POLL_REQUEST: //TOF
+ case POLL_REQUEST: // TOF
handlePollRequest(&txMHR, PAN_ID, MY_ADDR, getMacSrcAddr(&rxMHR));
// handlePollRequestDelayedTX(&txMHR, PAN_ID, MY_ADDR, getMacSrcAddr(&rxMHR), TX_ANT_DLY);
break;
diff --git a/Wireless_Communication/UWB/Beacons_tag_position/realtime_location_with_serial_gui.py b/Wireless_Communication/UWB/Beacons_tag_position/realtime_location_with_serial_gui.py
index c45a4ff9d546486e72ab115ead51d19d19e97165..e20c797be6e205ef8f17751bf047c34dfde4cf3b 100644
--- a/Wireless_Communication/UWB/Beacons_tag_position/realtime_location_with_serial_gui.py
+++ b/Wireless_Communication/UWB/Beacons_tag_position/realtime_location_with_serial_gui.py
@@ -196,7 +196,7 @@ class AnchorTagGUI:
# Guess for B based on distance A-B and B-D
x_B = measured_distances[0] / 2
- y_B = measured_distances[4] / 2 + 100 # Start y_B above y_C
+ y_B = measured_distances[4] / 2 + 200 # Start y_B above y_C
# Guess for C based on distance C-D and A-C
x_C = measured_distances[5] / 2
@@ -211,17 +211,17 @@ class AnchorTagGUI:
# Define lower and upper bounds based on measured distances
lower_bound = [
- -max_dist / 2, # x_B lower bound
- min_dist / 2, # y_B lower bound (above y_C)
- -max_dist / 2, # x_C lower bound
- min_dist / 4, # y_C lower bound
+ -max_dist, # x_B lower bound
+ -max_dist, # y_B lower bound (above y_C)
+ -max_dist, # x_C lower bound
+ -max_dist, # y_C lower bound
min_dist / 2 # y_A lower bound
]
upper_bound = [
max_dist * 1.5, # x_B upper bound
max_dist * 1.5, # y_B upper bound
max_dist * 1.5, # x_C upper bound
- max_dist * 1.25, # y_C upper bound
+ max_dist * 1.5, # y_C upper bound
max_dist * 1.5 # y_A upper bound
]
return lower_bound, upper_bound
@@ -274,14 +274,14 @@ class AnchorTagGUI:
)
optimized_coords_noisy = result_noisy.x
h=250
- print(f"Optimized coordinates: {optimized_coords_noisy}")
+ # print(f"Optimized coordinates: {optimized_coords_noisy}")
self.anchors = {
"A1": (0, optimized_coords_noisy[4], h),
"A2": (optimized_coords_noisy[0], optimized_coords_noisy[1], h),
"A3": (optimized_coords_noisy[2], optimized_coords_noisy[3], h),
"A4": (0, 0, h),
}
- print(self.anchors)
+ # print(self.anchors)
self.draw_canvas()
print(f"Optimized anchor coordinates: {self.anchors}")
return {k: (round(v[0], 2), round(v[1], 2)) for k, v in self.anchors.items()}
@@ -416,7 +416,7 @@ class AnchorTagGUI:
canvas_width, canvas_height = 600, 600
center_x, center_y = canvas_width // 2, canvas_height // 2
- scale_factor = 0.1
+ scale_factor = 0.2
# Determine avg anchor position for centering
if hasattr(self, 'anchors') and self.anchors:
@@ -429,8 +429,8 @@ class AnchorTagGUI:
y_offset = center_y - avg_y
def transform_coordinates(x, y):
- x_scaled = int((x + x_offset) * scale_factor) +100
- y_scaled = int(canvas_height - (y + y_offset) * scale_factor) - 200
+ x_scaled = int((x + x_offset) * scale_factor) + 200
+ y_scaled = int(canvas_height - (y + y_offset) * scale_factor) - 250
return x_scaled, y_scaled
# Draw anchorss
diff --git a/Wireless_Communication/UWB/MAC_Responder/MAC_Responder.ino b/Wireless_Communication/UWB/MAC_Responder/MAC_Responder.ino
index 08b97f184510fe2b2b2f71782ce2e294cd09ecbd..5af768afa1dfaa6c888477cb81dc285f83bbda52 100644
--- a/Wireless_Communication/UWB/MAC_Responder/MAC_Responder.ino
+++ b/Wireless_Communication/UWB/MAC_Responder/MAC_Responder.ino
@@ -162,8 +162,8 @@ void loop()
// Send acknowledgement if AR bit is set
if (checkAckRequest(&rxMHR)) {
Serial.println("Sending acknowledgement...");
- initializeEnhAckMHR(&txMHR, PAN_ID, MY_ADDR, 0x1234);
- // initializeEnhAckMHR(&txMHR, PAN_ID, MY_ADDR, getMacSrcAddr(&rxMHR));
+ // initializeEnhAckMHR(&txMHR, PAN_ID, MY_ADDR, 0x1234);
+ initializeEnhAckMHR(&txMHR, PAN_ID, MY_ADDR, getMacSrcAddr(&rxMHR));
Serial.printf("ACK MHR: ");
for (int i = 0; i < MHR_LENGTH; i++) {
diff --git a/Wireless_Communication/UWB/Tag/Tag1/Tag1.ino b/Wireless_Communication/UWB/Tag/Tag1/Tag1.ino
index f80226d8ff78584d08c5c88d9246542eacbd0c59..52c8e037eb49efa85112ad9be7951267fc55d24e 100644
--- a/Wireless_Communication/UWB/Tag/Tag1/Tag1.ino
+++ b/Wireless_Communication/UWB/Tag/Tag1/Tag1.ino
@@ -29,7 +29,7 @@
#define RX_TIMEOUT 5000
#define INTER_RANGING_DELAY 5
-#define TIMEOUT_MILLIS 300
+#define TIMEOUT_MILLIS 2000
unsigned long startTime;
@@ -124,6 +124,7 @@ void setup()
}
// Serial.println("CONFIG OK");
/* Configure the TX spectrum parameters (power PG delay and PG Count) */
+ // txconfig_options.power = 0xffffffff;
dwt_configuretxrf(&txconfig_options);
dwt_setrxantennadelay(RX_ANT_DLY);
@@ -172,15 +173,15 @@ void loop()
if (strcmp(serialBuffer, "bpm") == 0) {
//Perform live checks on all 4 anchors
- for (uint8_t beacon = ANCHOR1; beacon <= ANCHOR4; beacon++) {
- ack = sendCommandWithAck(&txMHR, PAN_ID, MY_ADDR, beacon, LIVE_CHECK, &rxMHR, 3);
- // ack = 1; // DEBUGGING
- anchorAcks[beacon - 1] = ack;
- if (!ack) {allTrue = false;}
- delay(INTER_RANGING_DELAY);
- }
-
- if (allTrue) { // do BPM if all anchors are alive
+ // for (uint8_t beacon = ANCHOR1; beacon <= ANCHOR4; beacon++) {
+ // ack = sendCommandWithAck(&txMHR, PAN_ID, MY_ADDR, beacon, LIVE_CHECK, &rxMHR, 3);
+ // // ack = 1; // DEBUGGING
+ // anchorAcks[beacon - 1] = ack;
+ // if (!ack) {allTrue = false;}
+ // delay(INTER_RANGING_DELAY);
+ // }
+
+ // if (allTrue) { // do BPM if all anchors are alive
BPMResponseCount = 0;
memset(BPMDistances, 0, sizeof(BPMDistances));
ack = sendCommandWithAck(&txMHR, PAN_ID, MY_ADDR, ANCHOR1, BPM_COMMAND, &rxMHR); // initiate BPM chain reaction starting with ANCHOR1
@@ -189,15 +190,24 @@ void loop()
memset(serialBuffer, 0, sizeof(serialBuffer)); //clear the serial buffer once done
serialDataReady = false; //reset serial data ready flag
return;
- }
- else { // tell the pi which anchors are offline
- Serial.printf("%d %d %d %d", anchorAcks[0], anchorAcks[1], anchorAcks[2], anchorAcks[3]);
- Serial.println();
- }
+ // }
+ // else { // tell the pi which anchors are offline
+ // Serial.printf("%d %d %d %d", anchorAcks[0], anchorAcks[1], anchorAcks[2], anchorAcks[3]);
+ // Serial.println();
+ // }
}
else if (strcmp(serialBuffer, "rng") == 0) {
state = RANGING_INITIATOR;
}
+ // else if (strcmp(serialBuffer, "lc") == 0) {
+ // Serial.print("Live check: ");
+ // for (uint8_t beacon = ANCHOR1; beacon <= ANCHOR4; beacon++) {
+ // ack = sendCommandWithAck(&txMHR, PAN_ID, MY_ADDR, beacon, LIVE_CHECK, &rxMHR, 3);
+ // printf("%d: %d ", beacon, ack);
+ // // delay(INTER_RANGING_DELAY);
+ // }
+ // Serial.println();
+ // }
// else {
// Serial.println("Serial command not recognized. ");
// }
@@ -287,11 +297,11 @@ void loop()
readDistancesBPM(senderAnchor, rxBuffer, BPMDistances);
startTime = millis(); //reset start time
- // Serial.printf("Received distances from %d\n", senderAnchor);
- // for (int i = 0; i < 6; i++) {
- // Serial.printf("%lf ", BPMDistances[i] * 100.0);
- // }
- // Serial.println();
+ // Serial.printf("Received distances from %d\n", senderAnchor);
+ // for (int i = 0; i < 6; i++) {
+ // Serial.printf("%lf ", BPMDistances[i] * 100.0);
+ // }
+ // Serial.println();
}
else {
Serial.println(3); // did not receive a send distances frame