cricket.h

无线传感器网络中的节点定位算法。详见ReadMe文件。在TinyOS上实现的节点定位算法。

#ifndef _CRICKET_H
#define _CRICKET_H

#include <stdio.h>
#ifndef PLATFORM_PC
#include <avr/eeprom.h>
#endif


#if defined(PLATFORM_CRICKET_MIT)

// Number of timer ticks between starting the timer and sending the pulse
#define TIMER_OFFSET        315
// Number of timer ticks per bit over the radio (19200 baud)
#define COMPENSATION_VAL    52
// Multiplier as a given speed of sound in timer_ticks per cm
#define DISTANCE_MULT       30
// Number of microseconds per timer tick
#define US_PER_TICK         1.0
// The maximum amount of that to wait for ultrasound arrival
// The should be the time to travel the maximum distance + the offset
// Currently this is 45000 us + the offset
#define MAX_ALLOWED_TIMER_VAL 45000
#define MAX_NEIGHBORS   16

#elif defined(PLATFORM_CRICKET)

#define TIMER_OFFSET        262
#define COMPENSATION_VAL    48
#define DISTANCE_MULT       28
#define US_PER_TICK         1.0850694
#define MAX_ALLOWED_TIMER_VAL 41472
#define MAX_NEIGHBORS   16

#else /* if defined(PLATFORM_PC) */

#define TIMER_OFFSET        0
#define COMPENSATION_VAL    0
#define DISTANCE_MULT       30
#define US_PER_TICK         1.0
#define MAX_ALLOWED_TIMER_VAL 45000
#define MAX_NEIGHBORS   50

#endif

#define SELF            MAX_NEIGHBORS
// Minimum and maximum beacon interval times
#define MIN_BEAC_IVAL       468
#define MAX_BEAC_IVAL       900
// Maximum ultrasound travel time
#define MAX_US_TRAVEL_TIME  45
// Speed of sound in microseconds per cm
#define DISTANCE_MULT_US    30

// Localization parameters
#define ASYMMETRIC_THRESHOLD 180

// Filtering parameters
#define VEL_VARIANCE    100
#define VEL_VARIANCE_MOTION  360000
#define MEAS_VARIANCE   3600
#define MAX_DIST        30000

/* Cricket flags */
#define CR_MOVING   1
#define CR_HAS_CONE 2

/* Information about a neighboring node */
typedef struct NodeInfo {
    uint8_t id[4];      /* Its 4-byte ID */
    uint8_t status;     /* status of our distance cache */
    uint8_t next;       /* pointer to next node for hash table collisions */
} node_info;
/* values for the status field */
#define EMPTY           0xff
#define RELAY_DATA      0x1
#define OLD_MEAS        0x2
#define OLD_RELAY       0x4
#define IS_MOVING       0x8
#define IS_NEW          0x10

uint8_t has_cones = 0;

#define OUT_NONE        0
#define OUT_CRITICAL    1
#define OUT_ERROR       2
#define OUT_WARNING     3
#define OUT_INFO        4
#define OUT_DEBUG       5

#ifdef PLATFORM_PC

#define debug_out   ((NODE_NUM==0)?OUT_DEBUG:OUT_NONE)

void print_output(char * s) {
    static char lastch = '\n';
    while (*s) {
        if (lastch == '\n') {
            fprintf(stdout, "%04u.%03u: ", (unsigned int)(tos_state.tos_time / (long long)4000000), (unsigned int)((tos_state.tos_time % (long long)4000000)/4000));
        }
        fwrite(s, 1, 1, stdout);
        fflush(stdout);
        lastch = *s;
        s++;
    }
}

#define UARTOutput(__x,__y,__args...) do { \
    char __s[256]; \
    snprintf(__s, 256, __y, ## __args); \
    if (debug_out) print_output(__s); \
    } while (0)
#define square(x)   ((x)*(x))
#define strcmp_P(x,y)   strcmp(x,y)

#else /* PLATFORM_PC */

uint8_t debug_out = OUT_INFO;

#define UARTOutput(__x,__y,__args...) do { \
    static char __s[] __attribute__((progmem)) = __y; \
    if (debug_out >= __x) \
        printf_P(__s, ## __args);	\
} while (0)

#endif /* PLATFORM_PC */

#endif