#include "decawave_anchorless_communication.h"
#include "modules/datalink/telemetry.h"
#include "modules/radio_control/radio_control.h"
#include "state.h"
#include "mcu_periph/uart.h"
#include "modules/core/abi.h"
#include <stdio.h>

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Data Structures
struct	nodeState

Macros
#define	UWB_SERIAL_PORT (&((SERIAL_UART).device))

#define	UWB_SERIAL_COMM_MAX_MESSAGE 20

#define	UWB_SERIAL_COMM_END_MARKER 255

#define	UWB_SERIAL_COMM_SPECIAL_BYTE 253

#define	UWB_SERIAL_COMM_START_MARKER 254

#define	UWB_SERIAL_COMM_NODE_STATE_SIZE 7

#define	UWB_SERIAL_COMM_NUM_NODES 3

#define	UWB_SERIAL_COMM_DIST_NUM_NODES UWB_SERIAL_COMM_NUM_NODES-1

#define	UWB_SERIAL_COMM_RANGE 0

#define	UWB_SERIAL_COMM_VX 1

#define	UWB_SERIAL_COMM_VY 2

#define	UWB_SERIAL_COMM_Z 3

#define	UWB_SERIAL_COMM_AX 4

#define	UWB_SERIAL_COMM_AY 5

#define	UWB_SERIAL_COMM_YAWR 6

Functions
static void	handleNewStateValue (uint8_t nodeIndex, uint8_t msg_type, float value)
	Function that is called when over the serial a new state value from a remote node is received. More...

static void	decodeHighBytes (uint8_t bytes_received, uint8_t *received_message)
	Function for decoding the high bytes of received serial data and saving the message. More...

static void	encodeHighBytes (uint8_t send_data, uint8_t msg_size, uint8_t data_send_buffer, uint8_t *data_total_send)
	Function that encodes the high bytes of the serial data to be sent. More...

static void	sendFloat (uint8_t msg_type, float data)
	Function that will send a float over serial. More...

static void	setNodeStatesFalse (uint8_t index)
	Helper function that sets the boolean that tells whether a remote drone has a new state update to false. More...

static void	checkStatesUpdated (void)
	This function checks if all the states of all the distant nodes have at least once been updated. More...

static void	getSerialData (uint8_t *bytes_received)
	Function for receiving serial data. More...

void	decawave_anchorless_communication_init (void)
	Initialization functio. More...

void	decawave_anchorless_communication_periodic (void)
	This function periodically sends state data over the serial (which is received by the arduino) More...

void	decawave_anchorless_communication_event (void)
	Event function currently checks for serial data and whether an update of states is available for a distant drone. More...

Variables
struct link_device *	external_device = UWB_SERIAL_PORT

static struct nodeState	states [UWB_SERIAL_COMM_DIST_NUM_NODES]

Data Structure Documentation

◆ nodeState

struct nodeState

Definition at line 71 of file decawave_anchorless_communication.c.

Data Fields
float	ax
float	ay
uint8_t	nodeAddress
float	r
bool	state_updated[UWB_SERIAL_COMM_NODE_STATE_SIZE]
float	vx
float	vy
float	yawr
float	z

Macro Definition Documentation

◆ UWB_SERIAL_COMM_AX

#define UWB_SERIAL_COMM_AX 4

Definition at line 67 of file decawave_anchorless_communication.c.

◆ UWB_SERIAL_COMM_AY

#define UWB_SERIAL_COMM_AY 5

Definition at line 68 of file decawave_anchorless_communication.c.

◆ UWB_SERIAL_COMM_DIST_NUM_NODES

#define UWB_SERIAL_COMM_DIST_NUM_NODES UWB_SERIAL_COMM_NUM_NODES-1

Definition at line 59 of file decawave_anchorless_communication.c.

◆ UWB_SERIAL_COMM_END_MARKER

#define UWB_SERIAL_COMM_END_MARKER 255

Definition at line 53 of file decawave_anchorless_communication.c.

◆ UWB_SERIAL_COMM_MAX_MESSAGE

#define UWB_SERIAL_COMM_MAX_MESSAGE 20

Definition at line 52 of file decawave_anchorless_communication.c.

◆ UWB_SERIAL_COMM_NODE_STATE_SIZE

#define UWB_SERIAL_COMM_NODE_STATE_SIZE 7

Definition at line 56 of file decawave_anchorless_communication.c.

◆ UWB_SERIAL_COMM_NUM_NODES

#define UWB_SERIAL_COMM_NUM_NODES 3

Definition at line 58 of file decawave_anchorless_communication.c.

◆ UWB_SERIAL_COMM_RANGE

#define UWB_SERIAL_COMM_RANGE 0

Definition at line 63 of file decawave_anchorless_communication.c.

◆ UWB_SERIAL_COMM_SPECIAL_BYTE

#define UWB_SERIAL_COMM_SPECIAL_BYTE 253

Definition at line 54 of file decawave_anchorless_communication.c.

◆ UWB_SERIAL_COMM_START_MARKER

#define UWB_SERIAL_COMM_START_MARKER 254

Definition at line 55 of file decawave_anchorless_communication.c.

◆ UWB_SERIAL_COMM_VX

#define UWB_SERIAL_COMM_VX 1

Definition at line 64 of file decawave_anchorless_communication.c.

◆ UWB_SERIAL_COMM_VY

#define UWB_SERIAL_COMM_VY 2

Definition at line 65 of file decawave_anchorless_communication.c.

◆ UWB_SERIAL_COMM_YAWR

#define UWB_SERIAL_COMM_YAWR 6

Definition at line 69 of file decawave_anchorless_communication.c.

◆ UWB_SERIAL_COMM_Z

#define UWB_SERIAL_COMM_Z 3

Definition at line 66 of file decawave_anchorless_communication.c.

◆ UWB_SERIAL_PORT

#define UWB_SERIAL_PORT (&((SERIAL_UART).device))

Definition at line 48 of file decawave_anchorless_communication.c.

Function Documentation

◆ checkStatesUpdated()

static void checkStatesUpdated ( void )

static

This function checks if all the states of all the distant nodes have at least once been updated.

If all the states are updated, then do something with it! AKA CALLBACK TO MARIO

Definition at line 218 of file decawave_anchorless_communication.c.

References nodeState::ax, nodeState::ay, nodeState::r, setNodeStatesFalse(), nodeState::state_updated, states, UWB_COMM_ID, UWB_SERIAL_COMM_DIST_NUM_NODES, UWB_SERIAL_COMM_NODE_STATE_SIZE, nodeState::vx, nodeState::vy, nodeState::yawr, and nodeState::z.

Referenced by decawave_anchorless_communication_event().

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◆ decawave_anchorless_communication_event()

void decawave_anchorless_communication_event ( void )

Event function currently checks for serial data and whether an update of states is available for a distant drone.

If these cases are true, then actions are taken.

Definition at line 298 of file decawave_anchorless_communication.c.

References checkStatesUpdated(), and getSerialData().

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◆ decawave_anchorless_communication_init()

void decawave_anchorless_communication_init ( void )

Initialization functio.

Definition at line 272 of file decawave_anchorless_communication.c.

References setNodeStatesFalse(), and UWB_SERIAL_COMM_DIST_NUM_NODES.

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◆ decawave_anchorless_communication_periodic()

void decawave_anchorless_communication_periodic ( void )

This function periodically sends state data over the serial (which is received by the arduino)

Definition at line 283 of file decawave_anchorless_communication.c.

References nodeState::r, sendFloat(), stateGetAccelNed_f(), stateGetBodyRates_f(), stateGetPositionEnu_f(), stateGetSpeedEnu_f(), UWB_SERIAL_COMM_AX, UWB_SERIAL_COMM_AY, UWB_SERIAL_COMM_VX, UWB_SERIAL_COMM_VY, UWB_SERIAL_COMM_YAWR, UWB_SERIAL_COMM_Z, and nodeState::z.

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◆ decodeHighBytes()

static void decodeHighBytes	(	uint8_t	bytes_received,
		uint8_t *	received_message
	)

static

Function for decoding the high bytes of received serial data and saving the message.

Since the start and end marker could also be regular payload bytes (since they are simply the values 254 and 255, which could also be payload data) the payload values 254 and 255 have been encoded as byte pairs 253 1 and 253 2 respectively. Value 253 itself is encoded as 253 0. This function will decode these back into values the original payload values.

Definition at line 130 of file decawave_anchorless_communication.c.

References handleNewStateValue(), and UWB_SERIAL_COMM_SPECIAL_BYTE.

Referenced by getSerialData().

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◆ encodeHighBytes()

static void encodeHighBytes	(	uint8_t *	send_data,
		uint8_t	msg_size,
		uint8_t *	data_send_buffer,
		uint8_t *	data_total_send
	)

static

Function that encodes the high bytes of the serial data to be sent.

Start and end markers are reserved values 254 and 255. In order to be able to send these values, the payload values 253, 254, and 255 are encoded as 2 bytes, respectively 253 0, 253 1, and 253 2.

Definition at line 164 of file decawave_anchorless_communication.c.

References send_data(), and UWB_SERIAL_COMM_SPECIAL_BYTE.

Referenced by sendFloat().

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◆ getSerialData()

static void getSerialData ( uint8_t * bytes_received )

static

Function for receiving serial data.

Only receives serial data that is between the start and end markers. Discards all other data. Stores the received data in received_message, and after decodes the high bytes and copies the final message to the corresponding message in _messages.

Definition at line 239 of file decawave_anchorless_communication.c.

References decodeHighBytes(), external_device, UWB_SERIAL_COMM_END_MARKER, UWB_SERIAL_COMM_MAX_MESSAGE, UWB_SERIAL_COMM_START_MARKER, and UWB_SERIAL_PORT.

Referenced by decawave_anchorless_communication_event().

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