gistfile1.txt

/**
 * LEAPS - Low Energy Accurate Positioning System.
 *
 * Simple user application.
 *
 * Copyright (c) 2016-2019, LEAPS. All rights reserved.
 *
 */

#include "dwm.h"
#include <stdio.h>

/* Thread priority */
#ifndef THREAD_APP_PRIO
#define THREAD_APP_PRIO	20
#endif /* THREAD_APP_PRIO */

/* Thread stack size */
#ifndef THREAD_APP_STACK_SIZE
#define THREAD_APP_STACK_SIZE	(3 * 1024)
#endif /* THREAD_APP_STACK_SIZE */

#define APP_ERR_CHECK(err_code)	\
do {							\
	if ((err_code) != DWM_OK)	\
		printf("err: line(%u) code(%u)", __LINE__, (err_code));\
} while (0)						\

#define MSG_INIT	\
	"\n\n"	\
	"App   :  dwm-simple\n"	\
	"Built :  " __DATE__ " " __TIME__ "\n"	\
	"\n"

/**
 * Event callback
 *
 * @param[in] p_evt  Pointer to event structure
 */
void on_dwm_evt(dwm_evt_t *p_evt)
{
	int len;
	int i;

	switch (p_evt->header.id) {
	/* New location data */
	case DWM_EVT_LOC_READY:
		printf("\nT:%lu ", dwm_systime_us_get());
		if (p_evt->loc.pos_available) {
			printf("POS:[%ld,%ld,%ld,%u] ", p_evt->loc.pos.x,
					p_evt->loc.pos.y, p_evt->loc.pos.z,
					p_evt->loc.pos.qf);
		} else {
			printf("POS:N/A ");
		}

		for (i = 0; i < p_evt->loc.anchors.dist.cnt; ++i) {
			printf("DIST%d:", i);

			printf("0x%04X", (unsigned int)(p_evt->loc.anchors.dist.addr[i] & 0xffff));
			if (i < p_evt->loc.anchors.an_pos.cnt) {
				printf("[%ld,%ld,%ld]",
						p_evt->loc.anchors.an_pos.pos[i].x,
						p_evt->loc.anchors.an_pos.pos[i].y,
						p_evt->loc.anchors.an_pos.pos[i].z);
			}

			printf("=[%lu,%u] ", p_evt->loc.anchors.dist.dist[i],
					p_evt->loc.anchors.dist.qf[i]);
		}
		printf("\n");
		break;

	case DWM_EVT_USR_DATA_READY:
		len = p_evt->header.len - sizeof(dwm_evt_hdr_t);
		if (len <= 0)
			break;

		printf("iot received, len=%d:", len);
		for (i = 0; i < len; ++i) {
			printf(" %02X", p_evt->usr_data[i]);
		}
		break;

	case DWM_EVT_USR_DATA_SENT:
		printf("iot sent\n");
		break;

	case DWM_EVT_BH_INITIALIZED_CHANGED:
		printf("uwbmac: backhaul = %d\n", p_evt->bh_initialized);
		break;

	case DWM_EVT_UWBMAC_JOINED_CHANGED:
		printf("uwbmac: joined = %d\n", p_evt->uwbmac_joined);
		break;

	default:
		break;
	}
}

/**
 * Application thread
 *
 * @param[in] data  Pointer to user data
 */
void app_thread_entry(uint32_t data)
{
	dwm_cfg_t cfg;
	dwm_evt_t evt;
	int rv;
	uint8_t label[DWM_LABEL_LEN_MAX];
	uint8_t label_len = DWM_LABEL_LEN_MAX;
        dwm_pos_t pos;

	/* Initial message */
	printf(MSG_INIT);

	/* Get node configuration */
	APP_ERR_CHECK(dwm_cfg_get(&cfg));

	/* Update rate set to 1 second, stationary update rate set to 5 seconds */
	APP_ERR_CHECK(dwm_upd_rate_set(10, 10));

	/* Sensitivity for switching between stationary and normal update rate */
	APP_ERR_CHECK(dwm_stnry_cfg_set(DWM_STNRY_SENSITIVITY_NORMAL));

	/* Register event callback */
	dwm_evt_listener_register(
			DWM_EVT_LOC_READY | DWM_EVT_USR_DATA_READY |
			DWM_EVT_BH_INITIALIZED_CHANGED |
			DWM_EVT_UWBMAC_JOINED_CHANGED, NULL);


	rv = dwm_label_read(label, &label_len);

	if (rv == DWM_OK) {
		printf("LABEL(len=%d):", label_len);
		for (rv = 0; rv < label_len; ++rv) {
			printf(" %02x", label[rv]);
		}
		printf("\n");
	} else {
		printf("can't read label len=%d, error %d\n", label_len, rv);
	}

	while (1) {
		/* Thread loop */
		rv = dwm_evt_wait(&evt);

		if (rv != DWM_OK) {
			printf("dwm_evt_wait, error %d\n", rv);
		} else {
			on_dwm_evt(&evt);
		}
	}
}

/**
 * Application entry point. Initialize application thread.
 *
 * @warning ONLY ENABLING OF LOCATION ENGINE OR BLE AND CREATION AND STARTING OF
 * USER THREADS CAN BE DONE IN THIS FUNCTION
 */
void dwm_user_start(void)
{
	uint8_t hndl;
	int rv;

	dwm_shell_compile();
	//Disabling ble by default as softdevice prevents debugging with breakpoints (due to priority)
	//dwm_ble_compile();
	dwm_le_compile();
	dwm_serial_spi_compile();

	/* Create thread */
	rv = dwm_thread_create(THREAD_APP_PRIO, app_thread_entry, (void*)NULL,
			"app", THREAD_APP_STACK_SIZE, &hndl);
	APP_ERR_CHECK(rv);

	/* Start the thread */
	dwm_thread_resume(hndl);
}