init
Dependencies: aconno_I2C Lis2dh12 WatchdogTimer
MM2WayRanging.h@58:8d4a354816b1, 2020-02-17 (annotated)
- Committer:
- pathfindr
- Date:
- Mon Feb 17 23:24:52 2020 +0000
- Revision:
- 58:8d4a354816b1
usb
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
pathfindr | 58:8d4a354816b1 | 1 | #ifndef MM2WAYRANGING_H |
pathfindr | 58:8d4a354816b1 | 2 | #define MM2WAYRANGING_H |
pathfindr | 58:8d4a354816b1 | 3 | |
pathfindr | 58:8d4a354816b1 | 4 | #include "mbed.h" |
pathfindr | 58:8d4a354816b1 | 5 | #include "DW1000.h" |
pathfindr | 58:8d4a354816b1 | 6 | |
pathfindr | 58:8d4a354816b1 | 7 | |
pathfindr | 58:8d4a354816b1 | 8 | #define TIMEUNITS_TO_US (1/(128*499.2)) // conversion between the decawave timeunits (ca 15.65ps) to microseconds. |
pathfindr | 58:8d4a354816b1 | 9 | #define US_TO_TIMEUNITS (128*499.2) // conversion between microseconds to the decawave timeunits (ca 15.65ps). |
pathfindr | 58:8d4a354816b1 | 10 | #define MMRANGING_2POWER40 1099511627776 // decimal value of 2^40 to correct timeroverflow between timestamps |
pathfindr | 58:8d4a354816b1 | 11 | |
pathfindr | 58:8d4a354816b1 | 12 | //Predefined delay for the critical answers in the ranging algorithm |
pathfindr | 58:8d4a354816b1 | 13 | //HAS TO BE BIGGER THAN THE PROCESSING TIME OF THE FRAME ON THE NODE |
pathfindr | 58:8d4a354816b1 | 14 | #define ANSWER_DELAY_US 2500 //2500 works for 110kbps, 900 for 6.8Mbps |
pathfindr | 58:8d4a354816b1 | 15 | #define ANSWER_DELAY_TIMEUNITS ANSWER_DELAY_US * (128*499.2) |
pathfindr | 58:8d4a354816b1 | 16 | |
pathfindr | 58:8d4a354816b1 | 17 | class MM2WayRanging { |
pathfindr | 58:8d4a354816b1 | 18 | |
pathfindr | 58:8d4a354816b1 | 19 | public: |
pathfindr | 58:8d4a354816b1 | 20 | MM2WayRanging(DW1000& DW); |
pathfindr | 58:8d4a354816b1 | 21 | |
pathfindr | 58:8d4a354816b1 | 22 | bool beacon_requestRanging(); |
pathfindr | 58:8d4a354816b1 | 23 | void anchor_standbyToRange(); |
pathfindr | 58:8d4a354816b1 | 24 | |
pathfindr | 58:8d4a354816b1 | 25 | bool isBeacon; |
pathfindr | 58:8d4a354816b1 | 26 | uint8_t address; // Identifies the nodes as source and destination in rangingframes |
pathfindr | 58:8d4a354816b1 | 27 | bool overflow; // TRUE if counter overflows while ranging |
pathfindr | 58:8d4a354816b1 | 28 | |
pathfindr | 58:8d4a354816b1 | 29 | private: |
pathfindr | 58:8d4a354816b1 | 30 | DW1000& dw; |
pathfindr | 58:8d4a354816b1 | 31 | Timer LocalTimer; |
pathfindr | 58:8d4a354816b1 | 32 | |
pathfindr | 58:8d4a354816b1 | 33 | bool waitForFrameTX(float time_before); |
pathfindr | 58:8d4a354816b1 | 34 | bool waitForFrameRX(float time_before); |
pathfindr | 58:8d4a354816b1 | 35 | void callbackRX(); |
pathfindr | 58:8d4a354816b1 | 36 | void callbackTX(); |
pathfindr | 58:8d4a354816b1 | 37 | |
pathfindr | 58:8d4a354816b1 | 38 | void beacon_ready_Send(); |
pathfindr | 58:8d4a354816b1 | 39 | void anchor_to_beacon_Send(uint8_t destination); |
pathfindr | 58:8d4a354816b1 | 40 | void beacon_to_anchor_response_Send(uint8_t destination, uint64_t rxTimestamp); |
pathfindr | 58:8d4a354816b1 | 41 | |
pathfindr | 58:8d4a354816b1 | 42 | //void correctReceiverTimestamps(uint8_t source); |
pathfindr | 58:8d4a354816b1 | 43 | //void correctSenderTimestamps(uint8_t source); |
pathfindr | 58:8d4a354816b1 | 44 | |
pathfindr | 58:8d4a354816b1 | 45 | enum FrameType{ |
pathfindr | 58:8d4a354816b1 | 46 | BEACON_READY=1, |
pathfindr | 58:8d4a354816b1 | 47 | ANCHOR_TO_BEACON_PING, |
pathfindr | 58:8d4a354816b1 | 48 | BEACON_TO_ANCHOR_RESPONSE |
pathfindr | 58:8d4a354816b1 | 49 | }; |
pathfindr | 58:8d4a354816b1 | 50 | |
pathfindr | 58:8d4a354816b1 | 51 | //the packed attribute makes sure the types only use their respective size in memory (8 bit for uint8_t), otherwise they would always use 32 bit |
pathfindr | 58:8d4a354816b1 | 52 | //IT IS A GCC SPECIFIC DIRECTIVE |
pathfindr | 58:8d4a354816b1 | 53 | struct __attribute__((packed, aligned(1))) RangingFrame { |
pathfindr | 58:8d4a354816b1 | 54 | uint8_t source; |
pathfindr | 58:8d4a354816b1 | 55 | uint8_t destination; |
pathfindr | 58:8d4a354816b1 | 56 | uint8_t type; |
pathfindr | 58:8d4a354816b1 | 57 | }; |
pathfindr | 58:8d4a354816b1 | 58 | |
pathfindr | 58:8d4a354816b1 | 59 | RangingFrame rangingFrame; // buffer in class for sending a frame (not made locally because then we can recall in the interrupt what was sent) |
pathfindr | 58:8d4a354816b1 | 60 | RangingFrame receivedFrame; |
pathfindr | 58:8d4a354816b1 | 61 | |
pathfindr | 58:8d4a354816b1 | 62 | uint64_t RxTimestamp; |
pathfindr | 58:8d4a354816b1 | 63 | uint64_t rangingTxTimestamp[5]; |
pathfindr | 58:8d4a354816b1 | 64 | uint64_t rangingRxTimestamp[5]; |
pathfindr | 58:8d4a354816b1 | 65 | uint64_t rangingTOF[5]; |
pathfindr | 58:8d4a354816b1 | 66 | float rangingDistance[5]; |
pathfindr | 58:8d4a354816b1 | 67 | }; |
pathfindr | 58:8d4a354816b1 | 68 | #endif |