Merge branch 'release/1.1.5'

Author: laurentva

.gitignore

@@ -91,4 +91,6 @@ ENV/
 .ropeproject
 
 # Pycharm project settings
-.idea
+.idea
+
+.pytest_cache

pypozyx/__init__.py

@@ -80,7 +80,7 @@
 
 """
 
-__version__ = '1.1.4'
+__version__ = '1.1.5'
 
 VERSION = __version__
 version = __version__

pypozyx/core.py

@@ -1,6 +1,47 @@
 #!/usr/bin/env python
 """pypozyx.definitions.bitmasks - contains all bitmasks used in Pozyx functionality, such as interrupt flags."""
 
+class PozyxBitmasks:
+    # Bit mask for POZYX_ST_RESULT
+    POZYX_ST_RESULT_ACC = 0x01
+    POZYX_ST_RESULT_MAGN = 0x02
+    POZYX_ST_RESULT_GYR = 0x04
+    POZYX_ST_RESULT_MCU = 0x08
+    POZYX_ST_RESULT_PRES = 0x10
+    POZYX_ST_RESULT_UWB = 0x20
+
+    # Bit mask for POZYX_INT_STATUS
+    POZYX_INT_STATUS_ERR = 0x01
+    POZYX_INT_STATUS_POS = 0x02
+    POZYX_INT_STATUS_IMU = 0x04
+    POZYX_INT_STATUS_RX_DATA = 0x08
+    POZYX_INT_STATUS_FUNC = 0x10
+
+    # Bit mask for POZYX_INT_MASK
+    POZYX_INT_MASK_ERR = 0x01
+    POZYX_INT_MASK_POS = 0x02
+    POZYX_INT_MASK_IMU = 0x04
+    POZYX_INT_MASK_RX_DATA = 0x08
+    POZYX_INT_MASK_FUNC = 0x10
+    POZYX_INT_MASK_TDMA = 0x40
+    POZYX_INT_MASK_PIN = 0x80
+    POZYX_INT_MASK_ALL = 0x1F
+
+    # Bit mask for POZYX_LED_CTRL
+    POZYX_LED_CTRL_LED1 = 0x01
+    POZYX_LED_CTRL_LED2 = 0x02
+    POZYX_LED_CTRL_LED3 = 0x04
+    POZYX_LED_CTRL_LED4 = 0x08
+
+    # Remote operations
+    POZYX_REMOTE_READ = 0x02
+    POZYX_REMOTE_WRITE = 0x04
+    POZYX_REMOTE_DATA = 0x06
+    POZYX_REMOTE_FUNCTION = 0x08
+
+    # Bit mask for device type
+    POZYX_TYPE = 0xE0
+
 # Bit mask for POZYX_ST_RESULT
 POZYX_ST_RESULT_ACC = 0x01
 POZYX_ST_RESULT_MAGN = 0x02
@@ -32,5 +73,11 @@
 POZYX_LED_CTRL_LED3 = 0x04
 POZYX_LED_CTRL_LED4 = 0x08
 
+# Remote operations
+POZYX_REMOTE_READ = 0x02
+POZYX_REMOTE_WRITE = 0x04
+POZYX_REMOTE_DATA = 0x06
+POZYX_REMOTE_FUNCTION = 0x08
+
 # Bit mask for device type
 POZYX_TYPE = 0xE0

pypozyx/definitions/bitmasks.py

@@ -1,13 +1,144 @@
 #!/usr/bin/env python
 """pypozyx.definitions.constants - contains all Pozyx constants, such as error definitions, delays, physical convertions."""
 
+
+class PozyxConstants:
+    # TODO unused in wrappers atm
+    # Pozyx firmware identifiers
+    POZYX_FW_MAJOR = 0xF0
+    POZYX_FW_MINOR = 0xF
+
+    # Pozyx device identifier for hardware
+    POZYX_ANCHOR = 0x00
+    POZYX_TAG = 0x20
+
+    # Pozyx serial buffer sizes
+    MAX_BUF_SIZE = 100
+    MAX_SERIAL_SIZE = 28
+
+    # Pozyx delay constants
+    POZYX_DELAY_POLLING = 0.002
+    POZYX_DELAY_LOCAL_WRITE = 0.001
+    POZYX_DELAY_LOCAL_FUNCTION = 0.005
+    POZYX_DELAY_REMOTE_WRITE = 0.005
+    POZYX_DELAY_REMOTE_FUNCTION = 0.01
+    POZYX_DELAY_INTERRUPT = 0.1
+    POZYX_DELAY_CALIBRATION = 1
+    POZYX_DELAY_MODE_CHANGE = 0.02
+    POZYX_DELAY_RANGING = 0.025
+    POZYX_DELAY_REMOTE_RANGING = 0.1
+    POZYX_DELAY_POSITIONING = 0.2
+    POZYX_DELAY_REMOTE_POSITIONING = 0.4
+    POZYX_DELAY_FLASH = 0.5
+
+    # Pozyx status returns
+    POZYX_FAILURE = 0x0
+    POZYX_SUCCESS = 0x1
+    POZYX_TIMEOUT = 0x8
+
+    # Pozyx positioning dimensions
+    POZYX_3D = 3
+    POZYX_2D = 2
+    POZYX_2_5D = 1
+
+    # Pozyx interrupt pin
+    POZYX_INT_PIN0 = 0x0
+    POZYX_INT_PIN1 = 0x1
+
+    # Pozyx led control indexes
+    POZYX_LED_CTRL_LEDRX = 0x10
+    POZYX_LED_CTRL_LEDTX = 0x20
+    POZYX_LED_ON = True
+    POZYX_LED_OFF = False
+
+    # Pozyx device modes
+    POZYX_ANCHOR_MODE = 0
+    POZYX_TAG_MODE = 1
+
+    # The GPIO modes
+    POZYX_GPIO_DIGITAL_INPUT = 0
+    POZYX_GPIO_PUSHPULL = 1
+    POZYX_GPIO_OPENDRAIN = 1
+
+    # The GPIO pull resistor configuration
+    POZYX_GPIO_NOPULL = 0
+    POZYX_GPIO_PULLUP = 1
+    POZYX_GPIO_PULLDOWN = 2
+
+    # anchor selection modes
+    POZYX_ANCHOR_SEL_MANUAL = 0
+    POZYX_ANCHOR_SEL_AUTO = 1
+
+    # discovery options
+    POZYX_DISCOVERY_ANCHORS_ONLY = 0
+    POZYX_DISCOVERY_TAGS_ONLY = 1
+    POZYX_DISCOVERY_ALL_DEVICES = 2
+
+    # positioning algorithm options
+    POZYX_POS_ALG_UWB_ONLY = 0
+    POZYX_POS_ALG_TRACKING = 4
+
+    # ranging protocol options
+    POZYX_RANGE_PROTOCOL_PRECISION = 0x00
+    POZYX_RANGE_PROTOCOL_FAST = 0x01
+    POZYX_RANGE_PROTOCOL_TEST = 0x02
+
+    # positioning filters
+    FILTER_TYPE_NONE = 0
+    FILTER_TYPE_FIR = 1
+    FILTER_TYPE_MOVINGAVERAGE = 3
+    FILTER_TYPE_MOVINGMEDIAN = 4
+
+    # how to intercept pozyx events: by polling or by interrupts
+    MODE_POLLING = 0
+    MODE_INTERRUPT = 1
+
+    # Division factors for converting the raw register values to meaningful
+    # physical quantities
+    POZYX_POS_DIV_MM = 1.0
+    POZYX_PRESS_DIV_PA = 1000.0
+    POZYX_MAX_LIN_ACCEL_DIV_MG = 1.0
+    POZYX_ACCEL_DIV_MG = 16.0
+    POZYX_GYRO_DIV_DPS = 16.0
+    POZYX_MAG_DIV_UT = 16.0
+    POZYX_EULER_DIV_DEG = 16.0
+    POZYX_QUAT_DIV = 16384.0
+    POZYX_TEMP_DIV_CELSIUS = 1.0
+
+    # flash configuration types
+    POZYX_FLASH_REGS = 1
+    POZYX_FLASH_ANCHOR_IDS = 2
+    POZYX_FLASH_NETWORK = 3
+    POZYX_FLASH_ALL = 4
+
+    # possible pin configuration settings
+    POZYX_INT_CONFIG = 0x24
+    PIN_MODE_PUSHPULL = 0
+    PIN_MODE_OPENDRAIN = 1
+
+    # Possible pin activity states
+    PIN_ACTIVE_LOW = 0
+    PIN_ACTIVE_HIGH = 1
+
+    # Possible UWB settings
+    POZYX_ALL_CHANNELS = [1, 2, 3, 4, 5, 7]
+    POZYX_ALL_BITRATES = [0, 1, 2]
+    POZYX_ALL_PRFS = [1, 2]
+    POZYX_ALL_PLENS = [0x04, 0x14, 0x24, 0x34, 0x08, 0x18, 0x28, 0x0C]
+
+# Pozyx firmware identifiers
+POZYX_FW_MAJOR = 0xF0
+POZYX_FW_MINOR = 0xF
+
+# Pozyx device identifier for hardware
 POZYX_ANCHOR = 0x00
 POZYX_TAG = 0x20
 
+# Pozyx serial buffer sizes
 MAX_BUF_SIZE = 100
 MAX_SERIAL_SIZE = 28
 
-POZYX_INT_MASK_ALL = 0x1F
+# Pozyx delay constants
 POZYX_DELAY_POLLING = 0.002
 POZYX_DELAY_LOCAL_WRITE = 0.001
 POZYX_DELAY_LOCAL_FUNCTION = 0.005
@@ -21,20 +152,28 @@
 POZYX_DELAY_POSITIONING = 0.2
 POZYX_DELAY_REMOTE_POSITIONING = 0.4
 POZYX_DELAY_FLASH = 0.5
+
+# Pozyx status returns
 POZYX_FAILURE = 0x0
 POZYX_SUCCESS = 0x1
 POZYX_TIMEOUT = 0x8
+
+# Pozyx positioning dimensions
 POZYX_3D = 3
 POZYX_2D = 2
 POZYX_2_5D = 1
+
+# Pozyx interrupt pin
 POZYX_INT_PIN0 = 0x0
 POZYX_INT_PIN1 = 0x1
 
+# Pozyx led control indexes
 POZYX_LED_CTRL_LEDRX = 0x10
 POZYX_LED_CTRL_LEDTX = 0x20
 POZYX_LED_ON = True
 POZYX_LED_OFF = False
 
+# Pozyx device modes
 POZYX_ANCHOR_MODE = 0
 POZYX_TAG_MODE = 1
 
@@ -83,11 +222,62 @@
 POZYX_MAX_LIN_ACCEL_DIV_MG = 1.0
 POZYX_ACCEL_DIV_MG = 16.0
 POZYX_GYRO_DIV_DPS = 16.0
-POZYX_MAG_DIV_UT = 16.0
+POZYX_MAG_DIV_UT = 1.0
 POZYX_EULER_DIV_DEG = 16.0
 POZYX_QUAT_DIV = 16384.0
 POZYX_TEMP_DIV_CELSIUS = 1.0
 
+# flash configuration types
+POZYX_FLASH_REGS = 1
+POZYX_FLASH_ANCHOR_IDS = 2
+POZYX_FLASH_NETWORK = 3
+POZYX_FLASH_ALL = 4
+
+# possible pin configuration settings
+POZYX_INT_CONFIG = 0x24
+PIN_MODE_PUSHPULL = 0
+PIN_MODE_OPENDRAIN = 1
+
+PIN_ACTIVE_LOW = 0
+PIN_ACTIVE_HIGH = 1
+
+POZYX_ALL_CHANNELS = [1, 2, 3, 4, 5, 7]
+POZYX_ALL_BITRATES = [0, 1, 2]
+POZYX_ALL_PRFS = [1, 2]
+POZYX_ALL_PLENS = [0x04, 0x14, 0x24, 0x34, 0x08, 0x18, 0x28, 0x0C]
+
+class PozyxErrorCodes:
+    POZYX_ERROR_NONE = 0x00
+    POZYX_ERROR_I2C_WRITE = 0x01
+    POZYX_ERROR_I2C_CMDFULL = 0x02
+    POZYX_ERROR_ANCHOR_ADD = 0x03
+    POZYX_ERROR_COMM_QUEUE_FULL = 0x04
+    POZYX_ERROR_I2C_READ = 0x05
+    POZYX_ERROR_UWB_CONFIG = 0x06
+    POZYX_ERROR_OPERATION_QUEUE_FULL = 0x07
+    POZYX_ERROR_TDMA = 0xA0
+    POZYX_ERROR_STARTUP_BUSFAULT = 0x08
+    POZYX_ERROR_FLASH_INVALID = 0x09
+    POZYX_ERROR_NOT_ENOUGH_ANCHORS = 0x0A
+    POZYX_ERROR_DISCOVERY = 0X0B
+    POZYX_ERROR_CALIBRATION = 0x0C
+    POZYX_ERROR_FUNC_PARAM = 0x0D
+    POZYX_ERROR_ANCHOR_NOT_FOUND = 0x0E
+    POZYX_ERROR_FLASH = 0x0F
+    POZYX_ERROR_MEMORY = 0x10
+    POZYX_ERROR_RANGING = 0x11
+    POZYX_ERROR_RTIMEOUT1 = 0x12
+    POZYX_ERROR_RTIMEOUT2 = 0x13
+    POZYX_ERROR_TXLATE = 0x14
+    POZYX_ERROR_UWB_BUSY = 0x15
+    POZYX_ERROR_POSALG = 0x16
+    POZYX_ERROR_NOACK = 0x17
+    POZYX_ERROR_SNIFF_OVERFLOW = 0xE0
+    POZYX_ERROR_NO_PPS = 0xF0
+    POZYX_ERROR_NEW_TASK = 0xF1
+    POZYX_ERROR_UNRECDEV = 0xFE
+    POZYX_ERROR_GENERAL = 0xFF
+
 # error-code definitions
 POZYX_ERROR_NONE = 0x00
 POZYX_ERROR_I2C_WRITE = 0x01
@@ -120,52 +310,32 @@
 POZYX_ERROR_UNRECDEV = 0xFE
 POZYX_ERROR_GENERAL = 0xFF
 
-# flash configuration types
-POZYX_FLASH_REGS = 1
-POZYX_FLASH_ANCHOR_IDS = 2
-POZYX_FLASH_NETWORK = 3
-POZYX_FLASH_ALL = 4
-
-# possible pin configuration settings
-POZYX_INT_CONFIG = 0x24
-PIN_MODE_PUSHPULL = 0
-PIN_MODE_OPENDRAIN = 1
-
-PIN_ACTIVE_LOW = 0
-PIN_ACTIVE_HIGH = 1
-
-POZYX_ALL_CHANNELS = [1, 2, 3, 4, 5, 7]
-POZYX_ALL_BITRATES = [0, 1, 2]
-POZYX_ALL_PRFS = [1, 2]
-POZYX_ALL_PLENS = [0x04, 0x14, 0x24, 0x34, 0x08, 0x18, 0x28, 0x0C]
-
-
 ERROR_CODES = {
-    POZYX_ERROR_NONE: "NO ERROR",
-    POZYX_ERROR_I2C_WRITE: "ERROR 0x01: Error writing to a register through the I2C bus",
-    POZYX_ERROR_I2C_CMDFULL: "ERROR 0x02: Pozyx cannot handle all the I2C commands at once",
-    POZYX_ERROR_ANCHOR_ADD: "ERROR 0x03: Cannot add anchor to the internal device list",
-    POZYX_ERROR_COMM_QUEUE_FULL: "ERROR 0x04: Communication queue is full, too many UWB messages",
-    POZYX_ERROR_I2C_READ: "ERROR 0x05: Error reading from a register from the I2C bus",
-    POZYX_ERROR_UWB_CONFIG: "ERROR 0x06: Cannot change the UWB configuration",
-    POZYX_ERROR_OPERATION_QUEUE_FULL: "ERROR 0x07: Pozyx cannot handle all the operations at once",
-    POZYX_ERROR_STARTUP_BUSFAULT: "ERROR 0x08: Internal bus error",
-    POZYX_ERROR_FLASH_INVALID: "ERROR 0x09: Flash memory is corrupted or invalid",
-    POZYX_ERROR_NOT_ENOUGH_ANCHORS: "ERROR 0x0A: Not enough anchors available for positioning",
-    POZYX_ERROR_DISCOVERY: "ERROR 0x0B: Error during the Discovery process",
-    POZYX_ERROR_CALIBRATION: "ERROR 0x0C: Error during the auto calibration process",
-    POZYX_ERROR_FUNC_PARAM: "ERROR 0x0D: Invalid function parameters for the register function",
-    POZYX_ERROR_ANCHOR_NOT_FOUND: "ERROR 0x0E: The coordinates of an anchor are not found",
-    POZYX_ERROR_FLASH: "ERROR 0x0F: Flash error",
-    POZYX_ERROR_MEMORY: "ERROR 0x10: Memory error",
-    POZYX_ERROR_RANGING: "ERROR 0x11: Ranging failed",
-    POZYX_ERROR_RTIMEOUT1: "ERROR 0x12: Ranging timeout",
-    POZYX_ERROR_RTIMEOUT2: "ERROR 0x13: Ranging timeout",
-    POZYX_ERROR_TXLATE: "ERROR 0x14: Tx was late",
-    POZYX_ERROR_UWB_BUSY: "ERROR 0x15: UWB is busy",
-    POZYX_ERROR_POSALG: "ERROR 0x16: Positioning failed",
-    POZYX_ERROR_NOACK: "ERROR 0x17: No Acknowledge received",
-    POZYX_ERROR_NEW_TASK: "ERROR 0xF1: Cannot create task",
-    POZYX_ERROR_UNRECDEV: "ERROR 0xFE: Hardware not recognized. Please contact support@pozyx.io",
-    POZYX_ERROR_GENERAL: "ERROR 0xFF: General error",
+    PozyxErrorCodes.POZYX_ERROR_NONE: "NO ERROR",
+    PozyxErrorCodes.POZYX_ERROR_I2C_WRITE: "ERROR 0x01: Error writing to a register through the I2C bus",
+    PozyxErrorCodes.POZYX_ERROR_I2C_CMDFULL: "ERROR 0x02: Pozyx cannot handle all the I2C commands at once",
+    PozyxErrorCodes.POZYX_ERROR_ANCHOR_ADD: "ERROR 0x03: Cannot add anchor to the internal device list",
+    PozyxErrorCodes.POZYX_ERROR_COMM_QUEUE_FULL: "ERROR 0x04: Communication queue is full, too many UWB messages",
+    PozyxErrorCodes.POZYX_ERROR_I2C_READ: "ERROR 0x05: Error reading from a register from the I2C bus",
+    PozyxErrorCodes.POZYX_ERROR_UWB_CONFIG: "ERROR 0x06: Cannot change the UWB configuration",
+    PozyxErrorCodes.POZYX_ERROR_OPERATION_QUEUE_FULL: "ERROR 0x07: Pozyx cannot handle all the operations at once",
+    PozyxErrorCodes.POZYX_ERROR_STARTUP_BUSFAULT: "ERROR 0x08: Internal bus error",
+    PozyxErrorCodes.POZYX_ERROR_FLASH_INVALID: "ERROR 0x09: Flash memory is corrupted or invalid",
+    PozyxErrorCodes.POZYX_ERROR_NOT_ENOUGH_ANCHORS: "ERROR 0x0A: Not enough anchors available for positioning",
+    PozyxErrorCodes.POZYX_ERROR_DISCOVERY: "ERROR 0x0B: Error during the Discovery process",
+    PozyxErrorCodes.POZYX_ERROR_CALIBRATION: "ERROR 0x0C: Error during the auto calibration process",
+    PozyxErrorCodes.POZYX_ERROR_FUNC_PARAM: "ERROR 0x0D: Invalid function parameters for the register function",
+    PozyxErrorCodes.POZYX_ERROR_ANCHOR_NOT_FOUND: "ERROR 0x0E: The coordinates of an anchor are not found",
+    PozyxErrorCodes.POZYX_ERROR_FLASH: "ERROR 0x0F: Flash error",
+    PozyxErrorCodes.POZYX_ERROR_MEMORY: "ERROR 0x10: Memory error",
+    PozyxErrorCodes.POZYX_ERROR_RANGING: "ERROR 0x11: Ranging failed",
+    PozyxErrorCodes.POZYX_ERROR_RTIMEOUT1: "ERROR 0x12: Ranging timeout",
+    PozyxErrorCodes.POZYX_ERROR_RTIMEOUT2: "ERROR 0x13: Ranging timeout",
+    PozyxErrorCodes.POZYX_ERROR_TXLATE: "ERROR 0x14: Tx was late",
+    PozyxErrorCodes.POZYX_ERROR_UWB_BUSY: "ERROR 0x15: UWB is busy",
+    PozyxErrorCodes.POZYX_ERROR_POSALG: "ERROR 0x16: Positioning failed",
+    PozyxErrorCodes.POZYX_ERROR_NOACK: "ERROR 0x17: No Acknowledge received",
+    PozyxErrorCodes.POZYX_ERROR_NEW_TASK: "ERROR 0xF1: Cannot create task",
+    PozyxErrorCodes.POZYX_ERROR_UNRECDEV: "ERROR 0xFE: Hardware not recognized. Please contact support@pozyx.io",
+    PozyxErrorCodes.POZYX_ERROR_GENERAL: "ERROR 0xFF: General error",
 }