update

CMakeLists.txt

@@ -37,27 +37,4 @@ target_compile_definitions(app PRIVATE DS_TWR)
 # target_compile_definitions(app PRIVATE LOG_LEVEL=LOG_LEVEL_INF)
 target_compile_definitions(app PRIVATE LOG_LEVEL=LOG_LEVEL_DBG)
 
-target_compile_definitions(app PRIVATE PAN_ID=0xAAAA)
-
-if(TAG_DEF)
-    message("Build application for tag.")
-    target_compile_definitions(app PRIVATE DEVICE_TAG)
-    target_compile_definitions(app PRIVATE DEVICE_ADDR=0x0000000000000001)
-endif()
-
-if(ANCHOR_DEF)
-    message("Build application for anthor.")
-    target_compile_definitions(app PRIVATE DEVICE_ANCHOR)
-    target_compile_definitions(app PRIVATE DEVICE_ADDR=0x0000000000001001)
-endif()
-
-if(NODE_DEF)
-    message("Build application for tag.")
-    target_compile_definitions(app PRIVATE DEVICE_NODE)
-    # target_compile_definitions(app PRIVATE DEVICE_ADDR=0x0000000000000001)
-    target_compile_definitions(app PRIVATE DEVICE_ADDR=0x0000000000001001)
-endif()
-
-target_compile_definitions(app PRIVATE CONFIG_FPU)
-
 target_compile_definitions(app PRIVATE CMAKE_EXPORT_COMPILE_COMMANDS=1)

Kconfig

@@ -1,5 +1,22 @@
-config DEBUG_SWD
-	bool "Enable usage debug via swd in wfi mode"
-	default y
 
-source "Kconfig.zephyr"
+config DEVICE_ADDRESS
+	int "address of the device"
+	default 0
+config DEVICE_PANID
+    int "PAN ID of the device"
+    default 1
+
+choice
+    prompt "Device Type"
+    default DEVICE_TYPE_NODE
+    config DEVICE_TYPE_NODE
+        bool "Node"
+    config DEVICE_TYPE_TAG
+        bool "Tag"
+    config DEVICE_TYPE_ANCHOR
+        bool "Anchor"
+endchoice
+
+menu "Zephyr options"
+    source "Kconfig.zephyr"
+endmenu

include/config.hpp

@@ -0,0 +1,8 @@
+#ifndef CONFIG_HPP
+#define CONFIG_HPP
+
+if
+
+
+#endif // CONFIG_HPP
+

include/device/anthor.hpp

@@ -1,7 +1,7 @@
 #ifndef _ANTHOR_H_
 #define _ANTHOR_H_
 
-#if defined(DEVICE_ANCHOR)
+#if CONFIG_DEVICE_TYPE_ANCHOR
 
 #include "device/device.hpp"
 #include <zephyr/sys/hash_map.h>

include/device/node.hpp

@@ -1,7 +1,7 @@
 #ifndef _NODE_HPP_
 #define _NODE_HPP_
 
-#if defined(DEVICE_NODE)
+#if CONFIG_DEVICE_TYPE_NODE
 
 #include "device/device.hpp"
 #include <zephyr/sys/ring_buffer.h>

include/device/tag.hpp

@@ -1,7 +1,7 @@
 #ifndef _TAG_HPP_
 #define _TAG_HPP_
 
-#if defined(DEVICE_TAG)
+#if CONFIG_DEVICE_TYPE_TAG
 
 #include "device/device.hpp"
 #include <zephyr/sys/hash_map.h>

makefile

@@ -1,29 +1,55 @@
 clean:
 	rm -rf $(CURDIR)/build
+	rm prj.conf
+	rm prj.conf.template
+	rm boards/stm32f401_mini.overlay
 dw1000:
 	cp $(CURDIR)/boards/stm32f401_mini_dw1000.overlay $(CURDIR)/boards/stm32f401_mini.overlay
-	if grep -q 'CONFIG_DW3000=y' $(CURDIR)/prj.conf; then \
-		sed -i 's/CONFIG_DW3000=y/CONFIG_DW3000=n/g' prj.conf; \
-	fi
-	if grep -q 'CONFIG_DW1000=n' $(CURDIR)/prj.conf; then \
-		sed -i 's/CONFIG_DW1000=n/CONFIG_DW1000=y/g' prj.conf; \
-	fi
+	cp $(CURDIR)/prj.conf.dw1000 $(CURDIR)/prj.conf.template
 dw3000:
 	cp $(CURDIR)/boards/stm32f401_mini_dw3000.overlay $(CURDIR)/boards/stm32f401_mini.overlay
-	if grep -q 'CONFIG_DW3000=n' $(CURDIR)/prj.conf; then \
-		sed -i 's/CONFIG_DW3000=n/CONFIG_DW3000=y/g' prj.conf; \
-	fi
-	if grep -q 'CONFIG_DW1000=y' $(CURDIR)/prj.conf; then \
-		sed -i 's/CONFIG_DW1000=y/CONFIG_DW1000=n/g' prj.conf; \
-	fi
+	cp $(CURDIR)/prj.conf.dw3000 $(CURDIR)/prj.conf.template
 tag:
-	west build -- -DTAG_DEF=ON -DANCHOR_DEF=OFF -DNODE_DEF=OFF
+	cp $(CURDIR)/prj.conf.template $(CURDIR)/prj.conf
+	echo "CONFIG_DEVICE_TYPE_TAG=y" >> $(CURDIR)/prj.conf
+	echo "CONFIG_DEVICE_ADDRESS=1" >> $(CURDIR)/prj.conf
+	west build
 anchor:
-	west build -- -DTAG_DEF=OFF -DANCHOR_DEF=ON -DNODE_DEF=OFF
+	cp $(CURDIR)/prj.conf.template $(CURDIR)/prj.conf
+	echo "CONFIG_DEVICE_TYPE_ANCHOR=y" >> $(CURDIR)/prj.conf
+	echo "CONFIG_DEVICE_ADDRESS=4097" >> $(CURDIR)/prj.conf
+	west build
 node:
-	west build -- -DTAG_DEF=OFF -DANCHOR_DEF=OFF -DNODE_DEF=ON
+	cp $(CURDIR)/prj.conf.template $(CURDIR)/prj.conf
+	echo "CONFIG_DEVICE_TYPE_NODE=y" >> $(CURDIR)/prj.conf
+	echo "CONFIG_DEVICE_ADDRESS=1" >> $(CURDIR)/prj.conf
+	west build
+
 test:
-	west build -- -DTAG_DEF=ON -DANCHOR_DEF=OFF -DNODE_DEF=OFF
+	cp $(CURDIR)/prj.conf.template $(CURDIR)/prj.conf
+	echo "CONFIG_DEVICE_TYPE_ANCHOR=y" >> $(CURDIR)/prj.conf
+	echo "CONFIG_DEVICE_ADDRESS=4097" >> $(CURDIR)/prj.conf
+
+	west build
 	west flash -r openocd --config boards/stlink.cfg
-	west build -- -DTAG_DEF=OFF -DANCHOR_DEF=ON -DNODE_DEF=OFF
+
+	cp $(CURDIR)/prj.conf.template $(CURDIR)/prj.conf
+	echo "CONFIG_DEVICE_TYPE_TAG=y" >> $(CURDIR)/prj.conf
+	echo "CONFIG_DEVICE_ADDRESS=1" >> $(CURDIR)/prj.conf
+
+	west build
+	west flash -r openocd --config boards/daplink.cfg
+
+test_node:
+	cp $(CURDIR)/prj.conf.template $(CURDIR)/prj.conf
+	echo "CONFIG_DEVICE_TYPE_NODE=y" >> $(CURDIR)/prj.conf
+	echo "CONFIG_DEVICE_ADDRESS=1" >> $(CURDIR)/prj.conf
+
+	west build
+	west flash -r openocd --config boards/stlink.cfg
+
+	cp $(CURDIR)/prj.conf.template $(CURDIR)/prj.conf
+	echo "CONFIG_DEVICE_TYPE_NODE=y" >> $(CURDIR)/prj.conf
+	echo "CONFIG_DEVICE_ADDRESS=2" >> $(CURDIR)/prj.conf
+	west build
 	west flash -r openocd --config boards/daplink.cfg

prj.conf

@@ -17,13 +17,14 @@ CONFIG_UART_LINE_CTRL=y
 
 CONFIG_SPI=y
 CONFIG_GPIO=y
-CONFIG_DEBUG_SWD=y
 
 CONFIG_SHELL=y
 CONFIG_LOG=y
 CONFIG_CBPRINTF_FP_SUPPORT=y
 
 CONFIG_JSON_LIBRARY=y
 
-CONFIG_DW3000=n
-CONFIG_DW1000=y
+CONFIG_DW3000=y
+CONFIG_DW1000=n
+CONFIG_DEVICE_TYPE_NODE=y
+CONFIG_DEVICE_ADDRESS=1

prj.conf.dw1000

@@ -0,0 +1,29 @@
+CONFIG_CPP=y
+CONFIG_CPP_MAIN=y
+CONFIG_LIB_CPLUSPLUS=y
+CONFIG_SYS_HASH_MAP_CHOICE_CXX=y
+CONFIG_SYS_HASH_MAP=y
+CONFIG_MINIMAL_LIBC_MALLOC_ARENA_SIZE=1024
+
+CONFIG_USB_DEVICE_STACK=y
+CONFIG_USB_DEVICE_VID=0x2FE4
+CONFIG_USB_DEVICE_PRODUCT="USB console"
+CONFIG_USB_DEVICE_MANUFACTURER="vacabun"
+
+CONFIG_SERIAL=y
+CONFIG_CONSOLE=y
+CONFIG_UART_CONSOLE=y
+CONFIG_UART_LINE_CTRL=y
+
+CONFIG_SPI=y
+CONFIG_GPIO=y
+
+CONFIG_SHELL=y
+CONFIG_LOG=y
+CONFIG_CBPRINTF_FP_SUPPORT=y
+
+CONFIG_JSON_LIBRARY=y
+
+
+CONFIG_DW1000=y
+CONFIG_DW1000=n

prj.conf.dw3000

@@ -0,0 +1,28 @@
+CONFIG_CPP=y
+CONFIG_CPP_MAIN=y
+CONFIG_LIB_CPLUSPLUS=y
+CONFIG_SYS_HASH_MAP_CHOICE_CXX=y
+CONFIG_SYS_HASH_MAP=y
+CONFIG_MINIMAL_LIBC_MALLOC_ARENA_SIZE=1024
+
+CONFIG_USB_DEVICE_STACK=y
+CONFIG_USB_DEVICE_VID=0x2FE4
+CONFIG_USB_DEVICE_PRODUCT="USB console"
+CONFIG_USB_DEVICE_MANUFACTURER="vacabun"
+
+CONFIG_SERIAL=y
+CONFIG_CONSOLE=y
+CONFIG_UART_CONSOLE=y
+CONFIG_UART_LINE_CTRL=y
+
+CONFIG_SPI=y
+CONFIG_GPIO=y
+
+CONFIG_SHELL=y
+CONFIG_LOG=y
+CONFIG_CBPRINTF_FP_SUPPORT=y
+
+CONFIG_JSON_LIBRARY=y
+
+CONFIG_DW3000=y
+CONFIG_DW1000=n

prj.conf.template

@@ -0,0 +1,28 @@
+CONFIG_CPP=y
+CONFIG_CPP_MAIN=y
+CONFIG_LIB_CPLUSPLUS=y
+CONFIG_SYS_HASH_MAP_CHOICE_CXX=y
+CONFIG_SYS_HASH_MAP=y
+CONFIG_MINIMAL_LIBC_MALLOC_ARENA_SIZE=1024
+
+CONFIG_USB_DEVICE_STACK=y
+CONFIG_USB_DEVICE_VID=0x2FE4
+CONFIG_USB_DEVICE_PRODUCT="USB console"
+CONFIG_USB_DEVICE_MANUFACTURER="vacabun"
+
+CONFIG_SERIAL=y
+CONFIG_CONSOLE=y
+CONFIG_UART_CONSOLE=y
+CONFIG_UART_LINE_CTRL=y
+
+CONFIG_SPI=y
+CONFIG_GPIO=y
+
+CONFIG_SHELL=y
+CONFIG_LOG=y
+CONFIG_CBPRINTF_FP_SUPPORT=y
+
+CONFIG_JSON_LIBRARY=y
+
+CONFIG_DW3000=y
+CONFIG_DW1000=n

src/device/anthor.cpp

@@ -6,7 +6,7 @@
 #include <msg/twr_response.hpp>
 #include <msg/twr_report.hpp>
 
-#if defined(DEVICE_ANCHOR)
+#if CONFIG_DEVICE_TYPE_ANCHOR
 
 LOG_MODULE_REGISTER(anthor, LOG_LEVEL);
 #if defined(DS_TWR)
@@ -30,6 +30,9 @@ void Anthor::app(void *p1, void *p2, void *p3)
         //     dwt_rxenable(DWT_START_RX_IMMEDIATE);
         // }
         // k_mutex_unlock(&transceiver_mutex);
+#endif
+#if CONFIG_DW3000
+        dwt_rxenable(DWT_START_RX_IMMEDIATE);
 #endif
         k_sleep(K_SECONDS(1));
     }

src/device/device.cpp

@@ -45,7 +45,7 @@ Device::Device()
             LOG_DBG("DEV INIT FAILED");
         }
 
-        LOG_INF("Device ID: 0x%lx", dwt_readdevid());
+        LOG_INF("Device ID: 0x%x", dwt_readdevid());
 #if CONFIG_DW1000
         dw1000_spi_speed_fast();
 #endif
@@ -167,8 +167,8 @@ Device::Device()
 
     k_sleep(K_MSEC(100));
 
-    device_address = DEVICE_ADDR;
-    pan_id = PAN_ID;
+    device_address = CONFIG_DEVICE_ADDRESS;
+    pan_id = CONFIG_DEVICE_PANID;
 
     LOG_INF("pan_id: %04X", pan_id);
     LOG_INF("device_address: %016llX", device_address);

src/device/node.cpp

@@ -13,7 +13,7 @@
 
 #define SPEED_OF_LIGHT (299702547)
 
-#if defined(DEVICE_NODE)
+#if CONFIG_DEVICE_TYPE_NODE
 
 LOG_MODULE_REGISTER(node, LOG_LEVEL);
 

src/device/tag.cpp

@@ -10,7 +10,7 @@
 
 #define SPEED_OF_LIGHT (299702547)
 
-#if defined(DEVICE_TAG)
+#if CONFIG_DEVICE_TYPE_TAG
 
 LOG_MODULE_REGISTER(tag, LOG_LEVEL);
 
@@ -191,7 +191,7 @@ void Tag::msg_process_cb(uint8_t *msg_recv, uint16_t msg_recv_len, uint64_t src_
 
         sys_hashmap_insert(&measure_res, src_addr, (uint64_t)(distance * 1000), NULL);
 
-        LOG_INF("distance from %016llx to %016llx is %lfcm", src_addr, device_address, distance);
+        LOG_INF("distance from %016llx to %016llx is %lfm", src_addr, device_address, distance);
 
         k_sem_give(&measure_finish_sem);
     }