Diff: MM2WayRanging.h

Revision:

58:8d4a354816b1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MM2WayRanging.h	Mon Feb 17 23:24:52 2020 +0000
@@ -0,0 +1,68 @@
+#ifndef MM2WAYRANGING_H
+#define MM2WAYRANGING_H
+ 
+#include "mbed.h"
+#include "DW1000.h"
+
+
+#define TIMEUNITS_TO_US       (1/(128*499.2))               // conversion between the decawave timeunits (ca 15.65ps) to microseconds.
+#define US_TO_TIMEUNITS       (128*499.2)                   // conversion between microseconds to the decawave timeunits (ca 15.65ps).
+#define MMRANGING_2POWER40    1099511627776                 // decimal value of 2^40 to correct timeroverflow between timestamps
+ 
+//Predefined delay for the critical answers in the ranging algorithm
+//HAS TO BE BIGGER THAN THE PROCESSING TIME OF THE FRAME ON THE NODE
+#define ANSWER_DELAY_US             2500                                    //2500 works for 110kbps, 900 for 6.8Mbps
+#define ANSWER_DELAY_TIMEUNITS      ANSWER_DELAY_US * (128*499.2)
+
+class MM2WayRanging {
+ 
+public:
+    MM2WayRanging(DW1000& DW);
+ 
+    bool beacon_requestRanging();
+    void anchor_standbyToRange();
+ 
+    bool isBeacon;
+    uint8_t address;                // Identifies the nodes as source and destination in rangingframes
+    bool overflow;                  // TRUE if counter overflows while ranging
+ 
+private:
+    DW1000& dw;
+    Timer LocalTimer;
+ 
+    bool waitForFrameTX(float time_before);
+    bool waitForFrameRX(float time_before);
+    void callbackRX();
+    void callbackTX();
+    
+    void beacon_ready_Send();
+    void anchor_to_beacon_Send(uint8_t destination);
+    void beacon_to_anchor_response_Send(uint8_t destination, uint64_t rxTimestamp);
+ 
+    //void correctReceiverTimestamps(uint8_t source);
+    //void correctSenderTimestamps(uint8_t source);
+ 
+    enum FrameType{
+        BEACON_READY=1,
+        ANCHOR_TO_BEACON_PING,
+        BEACON_TO_ANCHOR_RESPONSE
+    };
+ 
+    //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
+    //IT IS A GCC SPECIFIC DIRECTIVE
+    struct __attribute__((packed, aligned(1))) RangingFrame {
+        uint8_t source;
+        uint8_t destination;
+        uint8_t type;
+    };
+ 
+    RangingFrame rangingFrame;                  // buffer in class for sending a frame (not made locally because then we can recall in the interrupt what was sent)
+    RangingFrame receivedFrame;
+    
+    uint64_t RxTimestamp;
+    uint64_t rangingTxTimestamp[5];
+    uint64_t rangingRxTimestamp[5];
+    uint64_t rangingTOF[5];
+    float rangingDistance[5];
+};
+#endif
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