pypozyx.definitions package

Submodules

pypozyx.definitions.bitmasks module

pypozyx.definitions.bitmasks - contains all bitmasks used in Pozyx functionality, such as interrupt flags.

class pypozyx.definitions.bitmasks.PozyxBitmasks

Bases: object

ANCHOR = 0

DEVICE_TYPE = 224

FIRMWARE_MAJOR = 240

FIRMWARE_MINOR = 15

INT_MASK_ALL = 31

INT_MASK_ERR = 1

INT_MASK_FUNC = 16

INT_MASK_IMU = 4

INT_MASK_PIN = 128

INT_MASK_POS = 2

INT_MASK_RX_DATA = 8

INT_MASK_TDMA = 64

INT_STATUS_ERR = 1

INT_STATUS_FUNC = 16

INT_STATUS_IMU = 4

INT_STATUS_POS = 2

INT_STATUS_RX_DATA = 8

LED_CTRL_LED1 = 1

LED_CTRL_LED2 = 2

LED_CTRL_LED3 = 4

LED_CTRL_LED4 = 8

SELFTEST_RESULT_ACCELEROMETER = 1

SELFTEST_RESULT_GYRO = 4

SELFTEST_RESULT_MAGNETOMETER = 2

SELFTEST_RESULT_MCU = 8

SELFTEST_RESULT_PRESSURE = 16

SELFTEST_RESULT_UWB = 32

TAG = 32

pypozyx.definitions.constants module

pypozyx.definitions.constants - contains all Pozyx constants, such as error definitions, delays, physical convertions.

class pypozyx.definitions.constants.PozyxConstants

Bases: object

ACCELERATION_DIV_MG = 1.0

ALL_FLASH_SAVE_TYPES = [1, 2, 3, 4]

ALL_GPIO_MODES = [0, 1, 1]

ALL_GPIO_PULLS = [0, 1, 2]

ALL_UWB_BITRATES = [0, 1, 2]

ALL_UWB_CHANNELS = [1, 2, 3, 4, 5, 7]

ALL_UWB_PLENS = [4, 20, 36, 52, 8, 24, 40, 12]

ALL_UWB_PRFS = [1, 2]

ANCHOR_MODE = 1

ANCHOR_SELECT_AUTO = 1

ANCHOR_SELECT_MANUAL = 0

DELAY_FLASH = 0.5

DELAY_INTERRUPT = 0.1

DELAY_LOCAL_FUNCTION = 0.005

DELAY_LOCAL_WRITE = 0.001

DELAY_MODE_CHANGE = 0.02

DELAY_POLLING = 0.002

DELAY_POLLING_FAST = 0.0005

DELAY_RANGING = 0.2

DELAY_REMOTE_FUNCTION = 0.01

DELAY_REMOTE_WRITE = 0.005

DIMENSIONS = [3, 2, 1]

DIMENSION_2D = 2

DIMENSION_2_5D = 1

DIMENSION_3D = 3

DISCOVERY_ALL_DEVICES = 2

DISCOVERY_ANCHORS_ONLY = 0

DISCOVERY_TAGS_ONLY = 1

DISCOVERY_TYPES = [2, 0, 1]

EULER_ANGLES_DIV_DEG = 16.0

FILTER_TYPES = [0, 1, 3, 4]

FILTER_TYPE_FIR = 1

FILTER_TYPE_MOVING_AVERAGE = 3

FILTER_TYPE_MOVING_MEDIAN = 4

FILTER_TYPE_NONE = 0

FLASH_SAVE_ALL = 4

FLASH_SAVE_ANCHOR_IDS = 2

FLASH_SAVE_NETWORK = 3

FLASH_SAVE_REGISTERS = 1

GPIO_DIGITAL_INPUT = 0

GPIO_NO_PULL = 0

GPIO_OPEN_DRAIN = 1

GPIO_PULL_DOWN = 2

GPIO_PULL_UP = 1

GPIO_PUSH_PULL = 1

GYRO_DIV_DPS = 16.0

INTERRUPT_CONFIG = 36

INT_PIN0 = 0

INT_PIN1 = 1

LED_CTRL_LED_RX = 16

LED_CTRL_LED_TX = 32

LED_OFF = False

LED_ON = True

MAGNETOMETER_DIV_UT = 16.0

MAX_BUF_SIZE = 100

MAX_LINEAR_ACCELERATION_DIV_MG = 1.0

MAX_SERIAL_SIZE = 28

MODE_INTERRUPT = 1

MODE_POLLING = 0

PIN_ACTIVE_HIGH = 1

PIN_ACTIVE_LOW = 0

PIN_MODE_OPEN_DRAIN = 1

PIN_MODE_PUSH_PULL = 0

POSITIONING_ALGORITHMS = [0, 4, 3]

POSITIONING_ALGORITHM_NONE = 3

POSITIONING_ALGORITHM_TRACKING = 4

POSITIONING_ALGORITHM_UWB_ONLY = 0

POSITION_DIV_MM = 1.0

PRESSURE_DIV_PA = 1000.0

QUATERNION_DIV = 16384.0

RANGE_PROTOCOL_FAST = 1

RANGE_PROTOCOL_PRECISION = 0

RANGE_PROTOCOL_TEST = 2

RANGING_PROTOCOLS = [0, 1]

REMOTE_DATA = 6

REMOTE_FUNCTION = 8

REMOTE_READ = 2

REMOTE_WRITE = 4

STATUS_FAILURE = 0

STATUS_SUCCESS = 1

STATUS_TIMEOUT = 8

TAG_MODE = 0

TEMPERATURE_DIV_CELSIUS = 1.0

TIMEOUT_OPTIMAL_DISCOVERY = 0.1

TIMEOUT_POSITIONING = 0.2

TIMEOUT_POSITIONING_DATA = 1.0

TIMEOUT_RANGING = 0.025

TIMEOUT_REMOTE_POSITIONING = 0.4

TIMEOUT_REMOTE_POSITIONING_DATA = 1.0

TIMEOUT_REMOTE_RANGING = 0.1

UWB_BITRATE_110_KBPS = 0

UWB_BITRATE_6810_KBPS = 2

UWB_BITRATE_850_KBPS = 1

UWB_PLEN_1024 = 8

UWB_PLEN_128 = 20

UWB_PLEN_1536 = 24

UWB_PLEN_2048 = 40

UWB_PLEN_256 = 36

UWB_PLEN_4096 = 12

UWB_PLEN_512 = 52

UWB_PLEN_64 = 4

UWB_PRF_16_MHZ = 1

UWB_PRF_64_MHZ = 2

class pypozyx.definitions.constants.PozyxErrorCodes

Bases: object

POZYX_ERROR_ANCHOR_ADD = 3

POZYX_ERROR_ANCHOR_NOT_FOUND = 14

POZYX_ERROR_CALIBRATION = 12

POZYX_ERROR_COMM_QUEUE_FULL = 4

POZYX_ERROR_DISCOVERY = 11

POZYX_ERROR_FLASH = 15

POZYX_ERROR_FLASH_INVALID = 9

POZYX_ERROR_FUNC_PARAM = 13

POZYX_ERROR_GENERAL = 255

POZYX_ERROR_I2C_CMDFULL = 2

POZYX_ERROR_I2C_READ = 5

POZYX_ERROR_I2C_WRITE = 1

POZYX_ERROR_MEMORY = 16

POZYX_ERROR_NEW_TASK = 241

POZYX_ERROR_NOACK = 23

POZYX_ERROR_NONE = 0

POZYX_ERROR_NOT_ENOUGH_ANCHORS = 10

POZYX_ERROR_NO_PPS = 240

POZYX_ERROR_OPERATION_QUEUE_FULL = 7

POZYX_ERROR_POSALG = 22

POZYX_ERROR_RANGING = 17

POZYX_ERROR_RTIMEOUT1 = 18

POZYX_ERROR_RTIMEOUT2 = 19

POZYX_ERROR_SNIFF_OVERFLOW = 224

POZYX_ERROR_STARTUP_BUSFAULT = 8

POZYX_ERROR_TDMA = 160

POZYX_ERROR_TXLATE = 20

POZYX_ERROR_UNRECDEV = 254

POZYX_ERROR_UWB_BUSY = 21

POZYX_ERROR_UWB_CONFIG = 6

pypozyx.definitions.registers module

pypozyx.definitions.registers - contains all register definitions used in Pozyx.

It shouldn’t be necessary to use these in basic applications as the library functions should provide a lot of functionality already, but for advanced users looking to implement their own low-level functionality, these might be very useful.

class pypozyx.definitions.registers.PozyxRegisters

Bases: object

ACCELERATION_X = 84

ACCELERATION_Y = 86

ACCELERATION_Z = 88

ADD_DEVICE = 196

ALL_POSITIONING_REGISTERS = [20, 22, 33, 56]

ALL_UWB_REGISTERS = [28, 29, 30, 31]

CALIBRATION_STATUS = 6

CIR_DATA = 200

CLEAR_DEVICES = 195

CONFIG_GPIO_1 = 39

CONFIG_GPIO_2 = 40

CONFIG_GPIO_3 = 41

CONFIG_GPIO_4 = 42

DEVICE_LIST_SIZE = 129

DO_DISCOVERY = 193

DO_POSITIONING = 182

DO_POSITIONING_WITH_DATA = 204

DO_RANGING = 181

ERROR_CODE = 4

EULER_ANGLE_HEADING = 102

EULER_ANGLE_PITCH = 106

EULER_ANGLE_ROLL = 104

EULER_ANGLE_YAW = 102

FIRMWARE_VERSION = 1

GET_DEVICE_COORDINATES = 198

GET_DEVICE_INFO = 197

GET_DEVICE_LIST_IDS = 192

GET_DEVICE_RANGE_INFO = 199

GET_FLASH_DETAILS = 187

GET_POSITIONING_ANCHOR_IDS = 184

GPIO_1 = 133

GPIO_2 = 134

GPIO_3 = 135

GPIO_4 = 136

GRAVITY_VECTOR_X = 122

GRAVITY_VECTOR_Y = 124

GRAVITY_VECTOR_Z = 126

GYRO_X = 96

GYRO_Y = 98

GYRO_Z = 100

HARDWARE_VERSION = 2

HEIGHT = 56

INTERRUPT_MASK = 16

INTERRUPT_PIN = 17

INTERRUPT_STATUS = 5

LED_CONFIGURATION = 21

LED_CONTROL = 177

LINEAR_ACCELERATION_X = 116

LINEAR_ACCELERATION_Y = 118

LINEAR_ACCELERATION_Z = 120

MAGNETIC_X = 90

MAGNETIC_Y = 92

MAGNETIC_Z = 94

MAX_LINEAR_ACCELERATION = 78

NETWORK_ID = 26

OPERATION_MODE = 34

POSITIONING_ALGORITHM = 22

POSITIONING_ERROR_X = 60

POSITIONING_ERROR_XY = 66

POSITIONING_ERROR_XZ = 68

POSITIONING_ERROR_Y = 62

POSITIONING_ERROR_YZ = 70

POSITIONING_ERROR_Z = 64

POSITIONING_FILTER = 20

POSITIONING_INTERVAL = 24

POSITIONING_NUMBER_OF_ANCHORS = 23

POSITION_X = 48

POSITION_Y = 52

POSITION_Z = 56

PRESSURE = 80

QUATERNION_W = 108

QUATERNION_X = 110

QUATERNION_Y = 112

QUATERNION_Z = 114

RANGING_PROTOCOL = 33

READ_RX_DATA = 180

RESET_FLASH_MEMORY = 185

RESET_SYSTEM = 176

RX_DATA_LENGTH = 132

RX_NETWORK_ID = 130

SAVE_FLASH_MEMORY = 186

SELFTEST_RESULT = 3

SEND_TX_DATA = 179

SENSORS_MODE = 35

SET_POSITIONING_ANCHOR_IDS = 183

TEMPERATURE = 128

UWB_CHANNEL = 28

UWB_CRYSTAL_TRIM = 32

UWB_GAIN = 31

UWB_PLEN = 30

UWB_RATES = 29

WHO_AM_I = 0

WRITE_TX_DATA = 178

Module contents

pypozyx.definitions - contains all Pozyx constant definitions.

These definitions are divided in three large groups:

• constants: physical constants, type definitions…
• bitmasks: bitmasks used for ANDing register data against, especially useful for interrupt status data.
• registers: definitions of the register addresses, for more ‘advanced’ use.

When importing this, only the constants will get imported. To import the registers and bitmasks, use the following code:

>>> from pypozyx.definitions.registers import * # or specific registers for best practice
>>> from pypozyx.definitions.bitmasks import * # or specific bitmasks for best practice