使用Sera NX040 (453-00174C)和PIC32MZ2048EFH100在室内环境中精确监控和定位贵重资产

/*!
 * @file main.c
 * @brief UWB 4 Click Example.
 *
 * # Description
 * This example demonstrates the use of UWB 4 click board by showing
 * the UWB ranging between two click boards configured as initiator and responder.
 *
 * The demo application is composed of two sections :
 *
 * ## Application Init
 * Initializes the driver and logger.
 *
 * ## Application Task
 * Application task is split in few stages:
 *  - UWB4_POWER_UP:
 * Powers up the device and reads system information.
 *  - UWB4_CONFIG_EXAMPLE:
 * Configures device for UWB ranging.
 *  - UWB4_EXAMPLE:
 * Reads and parses the UWB ranging information.
 *
 * ## Additional Function
 * - static void uwb4_clear_app_buf ( void )
 * - static void uwb4_log_app_buf ( void )
 * - static err_t uwb4_process ( uwb4_t *ctx )
 * - static err_t uwb4_read_response ( uwb4_t *ctx, uint8_t *rsp )
 * - static err_t uwb4_power_up ( uwb4_t *ctx )
 * - static err_t uwb4_config_example ( uwb4_t *ctx )
 * - static err_t uwb4_example ( uwb4_t *ctx )
 *
 * @author Stefan Filipovic
 *
 */

#include "board.h"
#include "log.h"
#include "uwb4.h"
#include "generic_pointer.h"

// Comment out the line below to switch the example mode to responder
#define EXAMPLE_INITIATOR

// Default config for initiator and responder examples
#ifdef EXAMPLE_INITIATOR
    #define UWB_SESSION_ID          "1234"
    #define UWB_ROLE                "0"
    #define UWB_LOCAL_ADDRESS       "1111"
    #define UWB_REMOTE_ADDRESS      "2222"
    #define UWB_RANGING_INTERVAL    "500"
#else
    #define UWB_SESSION_ID          "1234"
    #define UWB_ROLE                "1"
    #define UWB_LOCAL_ADDRESS       "2222"
    #define UWB_REMOTE_ADDRESS      "1111"
    #define UWB_RANGING_INTERVAL    "500"
#endif

static uwb4_t uwb4;
static log_t logger;

// Application buffer size
#define APP_BUFFER_SIZE             256
#define PROCESS_BUFFER_SIZE         256

static uint8_t app_buf[ APP_BUFFER_SIZE ] = { 0 };
static int32_t app_buf_len = 0;

/**
 * @brief Example states.
 * @details Predefined enum values for application example state.
 */
typedef enum
{
    UWB4_POWER_UP = 1,
    UWB4_CONFIG_EXAMPLE,
    UWB4_EXAMPLE

} uwb4_app_state_t;

static uwb4_app_state_t app_state = UWB4_POWER_UP;

/**
 * @brief UWB 4 clearing application buffer.
 * @details This function clears memory of application buffer and reset its length.
 * @note None.
 */
static void uwb4_clear_app_buf ( void );

/**
 * @brief UWB 4 log application buffer.
 * @details This function logs data from application buffer to USB UART.
 * @note None.
 */
static void uwb4_log_app_buf ( void );

/**
 * @brief UWB 4 data reading function.
 * @details This function reads data from device and concatenates data to application buffer. 
 * @param[in] ctx : Click context object.
 * See #uwb4_t object definition for detailed explanation.
 * @return @li @c  0 - Read some data.
 *         @li @c -1 - Nothing is read.
 * See #err_t definition for detailed explanation.
 * @note None.
 */
static err_t uwb4_process ( uwb4_t *ctx );

/**
 * @brief UWB 4 read response function.
 * @details This function waits for a response message, reads and displays it on the USB UART.
 * @param[in] ctx : Click context object.
 * See #uwb4_t object definition for detailed explanation.
 * @param[in] rsp  Expected response.
 * @return @li @c  0 - OK response.
 *         @li @c -2 - Timeout error.
 *         @li @c -3 - Command error.
 * See #err_t definition for detailed explanation.
 * @note None.
 */
static err_t uwb4_read_response ( uwb4_t *ctx, uint8_t *rsp );

/**
 * @brief UWB 4 power up function.
 * @details This function powers up the device and reads system information.
 * @param[in] ctx : Click context object.
 * See #uwb4_t object definition for detailed explanation.
 * @return @li @c    0 - OK.
 *         @li @c != 0 - Read response error.
 * See #err_t definition for detailed explanation.
 * @note None.
 */
static err_t uwb4_power_up ( uwb4_t *ctx );

/**
 * @brief UWB 4 config example function.
 * @details This function configures device for UWB ranging.
 * @param[in] ctx : Click context object.
 * See #uwb4_t object definition for detailed explanation.
 * @return @li @c    0 - OK.
 *         @li @c != 0 - Read response error.
 * See #err_t definition for detailed explanation.
 * @note None.
 */
static err_t uwb4_config_example ( uwb4_t *ctx );

/**
 * @brief UWB 4 example function.
 * @details This function reads and parses the UWB ranging information.
 * @param[in] ctx : Click context object.
 * See #uwb4_t object definition for detailed explanation.
 * @return @li @c    0 - OK.
 *         @li @c != 0 - Read response error.
 * See #err_t definition for detailed explanation.
 * @note None.
 */
static err_t uwb4_example ( uwb4_t *ctx );

void application_init ( void ) 
{
    log_cfg_t log_cfg;  /**< Logger config object. */
    uwb4_cfg_t uwb4_cfg;  /**< Click config object. */

    /** 
     * Logger initialization.
     * Default baud rate: 115200
     * Default log level: LOG_LEVEL_DEBUG
     * @note If USB_UART_RX and USB_UART_TX 
     * are defined as HAL_PIN_NC, you will 
     * need to define them manually for log to work. 
     * See @b LOG_MAP_USB_UART macro definition for detailed explanation.
     */
    LOG_MAP_USB_UART( log_cfg );
    log_init( &logger, &log_cfg );
    log_info( &logger, " Application Init " );

    // Click initialization.
    uwb4_cfg_setup( &uwb4_cfg );
    UWB4_MAP_MIKROBUS( uwb4_cfg, MIKROBUS_1 );
    if ( UART_ERROR == uwb4_init( &uwb4, &uwb4_cfg ) ) 
    {
        log_error( &logger, " Communication init." );
        for ( ; ; );
    }
    
    log_info( &logger, " Application Task " );

    app_state = UWB4_POWER_UP;
    log_printf( &logger, ">>> APP STATE - POWER UP <<<\r\n\n" );
}

void application_task ( void ) 
{
    switch ( app_state )
    {
        case UWB4_POWER_UP:
        {
            if ( UWB4_OK == uwb4_power_up( &uwb4 ) )
            {
                app_state = UWB4_CONFIG_EXAMPLE;
                log_printf( &logger, ">>> APP STATE - CONFIG EXAMPLE <<<\r\n\n" );
            }
            break;
        }
        case UWB4_CONFIG_EXAMPLE:
        {
            if ( UWB4_OK == uwb4_config_example( &uwb4 ) )
            {
                app_state = UWB4_EXAMPLE;
                log_printf( &logger, ">>> APP STATE - EXAMPLE <<<\r\n\n" );
            }
            break;
        }
        case UWB4_EXAMPLE:
        {
            uwb4_example( &uwb4 );
            break;
        }
        default:
        {
            log_error( &logger, " APP STATE." );
            break;
        }
    }
}

int main ( void ) 
{
    /* Do not remove this line or clock might not be set correctly. */
    #ifdef PREINIT_SUPPORTED
    preinit();
    #endif
    
    application_init( );
    
    for ( ; ; ) 
    {
        application_task( );
    }

    return 0;
}

static void uwb4_clear_app_buf ( void ) 
{
    memset( app_buf, 0, app_buf_len );
    app_buf_len = 0;
}

static void uwb4_log_app_buf ( void )
{
    for ( int32_t buf_cnt = 0; buf_cnt < app_buf_len; buf_cnt++ )
    {
        log_printf( &logger, "%c", app_buf[ buf_cnt ] );
    }
}

static err_t uwb4_process ( uwb4_t *ctx ) 
{
    uint8_t rx_buf[ PROCESS_BUFFER_SIZE ] = { 0 };
    int32_t overflow_bytes = 0;
    int32_t rx_cnt = 0;
    int32_t rx_size = uwb4_generic_read( ctx, rx_buf, PROCESS_BUFFER_SIZE );
    if ( ( rx_size > 0 ) && ( rx_size <= APP_BUFFER_SIZE ) ) 
    {
        if ( ( app_buf_len + rx_size ) > APP_BUFFER_SIZE ) 
        {
            overflow_bytes = ( app_buf_len + rx_size ) - APP_BUFFER_SIZE;
            app_buf_len = APP_BUFFER_SIZE - rx_size;
            memmove ( app_buf, &app_buf[ overflow_bytes ], app_buf_len );
            memset ( &app_buf[ app_buf_len ], 0, overflow_bytes );
        }
        for ( rx_cnt = 0; rx_cnt < rx_size; rx_cnt++ ) 
        {
            if ( rx_buf[ rx_cnt ] ) 
            {
                app_buf[ app_buf_len++ ] = rx_buf[ rx_cnt ];
            }
        }
        return UWB4_OK;
    }
    return UWB4_ERROR;
}

static err_t uwb4_read_response ( uwb4_t *ctx, uint8_t *rsp ) 
{
    #define READ_RESPONSE_TIMEOUT_MS    30000
    uint32_t timeout_cnt = 0;
    uwb4_clear_app_buf ( );
    uwb4_process( ctx );
    while ( ( 0 == strstr( app_buf, rsp ) ) &&
            ( 0 == strstr( app_buf, UWB4_RSP_ERROR ) ) )
    {
        uwb4_process( ctx );
        if ( timeout_cnt++ > READ_RESPONSE_TIMEOUT_MS )
        {
            uwb4_clear_app_buf( );
            log_error( &logger, " Timeout!" );
            return UWB4_ERROR_TIMEOUT;
        }
        Delay_ms( 1 );
    }
    Delay_ms ( 200 );
    uwb4_process( ctx );
    if ( strstr( app_buf, rsp ) )
    {
        uwb4_log_app_buf( );
        log_printf( &logger, "--------------------------------\r\n" );
        return UWB4_OK;
    }
    log_error( &logger, " CMD!" );
    return UWB4_ERROR_CMD;
}

static err_t uwb4_power_up ( uwb4_t *ctx )
{
    err_t error_flag = UWB4_OK;
    
    log_printf( &logger, ">>> Reset device.\r\n" );
    uwb4_reset_device( &uwb4 );
    while ( UWB4_OK == uwb4_process( ctx ) )
    {
        uwb4_log_app_buf( );
        uwb4_clear_app_buf ( );
    }
    log_printf( &logger, "--------------------------------\r\n" );

    log_printf( &logger, ">>> Check communication.\r\n" );
    uwb4_cmd_run( &uwb4, UWB4_CMD_AT );
    error_flag |= uwb4_read_response( &uwb4, UWB4_RSP_OK );

    log_printf( &logger, ">>> Enable echo.\r\n" );
    uwb4_cmd_run( &uwb4, UWB4_CMD_ENABLE_ECHO );
    error_flag |= uwb4_read_response( &uwb4, UWB4_RSP_OK );
    
    log_printf( &logger, ">>> Get module name.\r\n" );
    uwb4_cmd_run( ctx, UWB4_CMD_GET_MODULE_NAME );
    error_flag |= uwb4_read_response( ctx, UWB4_RSP_OK );

    log_printf( &logger, ">>> Get device firmware version.\r\n" );
    uwb4_cmd_run( ctx, UWB4_CMD_GET_FIRMWARE_VERSION );
    error_flag |= uwb4_read_response( ctx, UWB4_RSP_OK );

    log_printf( &logger, ">>> Get device serial number.\r\n" );
    uwb4_cmd_run( ctx, UWB4_CMD_GET_UNIQUE_ID );
    error_flag |= uwb4_read_response( ctx, UWB4_RSP_OK );

    return error_flag;
}

static err_t uwb4_config_example ( uwb4_t *ctx )
{
    err_t error_flag = UWB4_OK;
    uint8_t param_buf[ 100 ] = { 0 };
#ifdef EXAMPLE_INITIATOR
    log_printf( &logger, ">>> Create a new initiator UWB session.\r\n" );
#else
    log_printf( &logger, ">>> Create a new responder UWB session.\r\n" );
#endif
    strcpy( param_buf, UWB_SESSION_ID );
    strcat( param_buf, "," );
    strcat( param_buf, UWB_ROLE );
    uwb4_cmd_set( ctx, UWB4_CMD_CREATE_SESSION, param_buf );
    error_flag |= uwb4_read_response( ctx, UWB4_RSP_OK );
    log_printf( &logger, ">>> Set local and remote addresses.\r\n" );
    strcpy( param_buf, UWB_SESSION_ID );
    strcat( param_buf, "," );
    strcat( param_buf, UWB_LOCAL_ADDRESS );
    strcat( param_buf, "," );
    strcat( param_buf, UWB_REMOTE_ADDRESS );
    uwb4_cmd_set( ctx, UWB4_CMD_SET_ADDRESS, param_buf );
    error_flag |= uwb4_read_response( ctx, UWB4_RSP_OK );
    log_printf( &logger, ">>> Set ranging interval.\r\n" );
    strcpy( param_buf, UWB_SESSION_ID );
    strcat( param_buf, "," );
    strcat( param_buf, UWB_RANGING_INTERVAL );
    uwb4_cmd_set( ctx, UWB4_CMD_SET_RANGING_INTERVAL, param_buf );
    error_flag |= uwb4_read_response( ctx, UWB4_RSP_OK );
    log_printf( &logger, ">>> Start the UWB session.\r\n" );
    uwb4_cmd_set( ctx, UWB4_CMD_START_SESSION, UWB_SESSION_ID );
    error_flag |= uwb4_read_response( ctx, UWB4_RSP_OK );
    return error_flag;
}

static err_t uwb4_example ( uwb4_t *ctx )
{
    err_t error_flag = UWB4_OK;
    uint8_t session_id[ 10 ] = { 0 };
    uint8_t remote_addr[ 10 ] = { 0 };
    uint8_t distance[ 10 ] = { 0 };

    log_printf( &logger, ">>> Reading distance to the remote device.\r\n" );
    error_flag |= uwb4_read_response( ctx, UWB4_RSP_RANGE );
    
    uint8_t * __generic_ptr start_ptr = strstr( app_buf, UWB4_RSP_RANGE );
    uint8_t * __generic_ptr end_ptr = NULL;
    if ( start_ptr )
    {
        start_ptr = start_ptr + strlen ( UWB4_RSP_RANGE );
        end_ptr = strstr ( start_ptr, " " );
        memcpy ( session_id, start_ptr, end_ptr - start_ptr );
        
        start_ptr = end_ptr + 1;
        end_ptr = strstr ( start_ptr, " " );
        memcpy ( remote_addr, start_ptr, end_ptr - start_ptr );

        start_ptr = end_ptr + 1;
        end_ptr = strstr ( start_ptr, "\r\n" );
        memcpy ( distance, start_ptr, end_ptr - start_ptr );

        log_printf( &logger, ">>> Parse received message.\r\n" );
        if ( strstr ( distance, "65535" ) )
        {
            log_printf ( &logger, " No remote device found.\r\n" );
        }
        else
        {
            log_printf ( &logger, " Session ID: %s\r\n", session_id );
            log_printf ( &logger, " Remote address: %s\r\n", remote_addr );
            log_printf ( &logger, " Distance: %s cm\r\n", distance );
        }
        log_printf( &logger, "--------------------------------\r\n" );
    }
    return error_flag;
}

// ------------------------------------------------------------------------ END