U of Calegary - Okeef / Mbed 2 deprecated 1TestDECAWAVE_plus_others

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Dependencies:   General C12832 FatFileSystemCpp mbed

Fork of MPU9150AHRS by Kris Winer

MM2WayRanging/MM2WayRanging.h@1:4523d7cda75e, 2016-06-17 (annotated)

Committer:
Kekehoho
Date:
Fri Jun 17 20:35:28 2016 +0000
Revision:
1:4523d7cda75e
2nd try

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Kekehoho 1:4523d7cda75e 1 // by Matthias Grob & Manuel Stalder - ETH Zürich - 2015
Kekehoho 1:4523d7cda75e 2
Kekehoho 1:4523d7cda75e 3 #ifndef MM2WAYRANGING_H
Kekehoho 1:4523d7cda75e 4 #define MM2WAYRANGING_H
Kekehoho 1:4523d7cda75e 5
Kekehoho 1:4523d7cda75e 6 #include "mbed.h"
Kekehoho 1:4523d7cda75e 7 #include "DW1000.h"
Kekehoho 1:4523d7cda75e 8
Kekehoho 1:4523d7cda75e 9 #define TIMEUNITS_TO_US (1/(128*499.2)) // conversion between the decawave timeunits (ca 15.65ps) to microseconds.
Kekehoho 1:4523d7cda75e 10 #define US_TO_TIMEUNITS (128*499.2) // conversion between microseconds to the decawave timeunits (ca 15.65ps).
Kekehoho 1:4523d7cda75e 11 #define MMRANGING_2POWER40 1099511627776 // decimal value of 2^40 to correct timeroverflow between timestamps
Kekehoho 1:4523d7cda75e 12
Kekehoho 1:4523d7cda75e 13
Kekehoho 1:4523d7cda75e 14
Kekehoho 1:4523d7cda75e 15 //Predefined delay for the critical answers in the ranging algorithm
Kekehoho 1:4523d7cda75e 16 //HAS TO BE BIGGER THAN THE PROCESSING TIME OF THE FRAME ON THE NODE
Kekehoho 1:4523d7cda75e 17 #define ANSWER_DELAY_US 2500 //2500 works for 110kbps, 900 for 6.8Mbps
Kekehoho 1:4523d7cda75e 18 #define ANSWER_DELAY_TIMEUNITS ANSWER_DELAY_US * (128*499.2)
Kekehoho 1:4523d7cda75e 19
Kekehoho 1:4523d7cda75e 20 class MM2WayRanging {
Kekehoho 1:4523d7cda75e 21
Kekehoho 1:4523d7cda75e 22 public:
Kekehoho 1:4523d7cda75e 23 MM2WayRanging(DW1000& DW);
Kekehoho 1:4523d7cda75e 24
Kekehoho 1:4523d7cda75e 25 void requestRanging(uint8_t destination);
Kekehoho 1:4523d7cda75e 26 void requestRangingAll();
Kekehoho 1:4523d7cda75e 27 float rangeAndDisplayAll();
Kekehoho 1:4523d7cda75e 28 char getStrength();
Kekehoho 1:4523d7cda75e 29
Kekehoho 1:4523d7cda75e 30
Kekehoho 1:4523d7cda75e 31
Kekehoho 1:4523d7cda75e 32 //TODO: Better capsulation on those?
Kekehoho 1:4523d7cda75e 33 bool isAnchor;
Kekehoho 1:4523d7cda75e 34 uint8_t address; // Identifies the nodes as source and destination in rangingframes
Kekehoho 1:4523d7cda75e 35
Kekehoho 1:4523d7cda75e 36 //TODO: Make those PRIVATE!
Kekehoho 1:4523d7cda75e 37 float roundtriptimes[10]; // Array containing the round trip times to the anchors or the timeout which occured
Kekehoho 1:4523d7cda75e 38 float distances[10]; // Array containing the finally calculated Distances to the anchors
Kekehoho 1:4523d7cda75e 39
Kekehoho 1:4523d7cda75e 40 bool overflow; // TRUE if counter overflows while ranging
Kekehoho 1:4523d7cda75e 41
Kekehoho 1:4523d7cda75e 42 private:
Kekehoho 1:4523d7cda75e 43
Kekehoho 1:4523d7cda75e 44
Kekehoho 1:4523d7cda75e 45 DW1000& dw;
Kekehoho 1:4523d7cda75e 46 Timer LocalTimer;
Kekehoho 1:4523d7cda75e 47
Kekehoho 1:4523d7cda75e 48 void callbackRX();
Kekehoho 1:4523d7cda75e 49 void callbackTX();
Kekehoho 1:4523d7cda75e 50 void sendPingFrame(uint8_t destination);
Kekehoho 1:4523d7cda75e 51 void sendDelayedAnswer(uint8_t destination, uint8_t type, uint64_t rxTimestamp);
Kekehoho 1:4523d7cda75e 52 void sendTransferFrame(uint8_t destination, int timestamp);
Kekehoho 1:4523d7cda75e 53
Kekehoho 1:4523d7cda75e 54 inline float calibratedDistance(uint8_t destination);
Kekehoho 1:4523d7cda75e 55
Kekehoho 1:4523d7cda75e 56 /**
Kekehoho 1:4523d7cda75e 57 * These two functions correct the timestamps if the counter had an overflow between measurements
Kekehoho 1:4523d7cda75e 58 */
Kekehoho 1:4523d7cda75e 59 void correctReceiverTimestamps(uint8_t source);
Kekehoho 1:4523d7cda75e 60 void correctSenderTimestamps(uint8_t source);
Kekehoho 1:4523d7cda75e 61
Kekehoho 1:4523d7cda75e 62 int timediffRec;
Kekehoho 1:4523d7cda75e 63 int timediffSend;
Kekehoho 1:4523d7cda75e 64
Kekehoho 1:4523d7cda75e 65 enum FrameType{
Kekehoho 1:4523d7cda75e 66 PING=1,
Kekehoho 1:4523d7cda75e 67 ANCHOR_RESPONSE,
Kekehoho 1:4523d7cda75e 68 BEACON_RESPONSE,
Kekehoho 1:4523d7cda75e 69 TRANSFER_FRAME,
Kekehoho 1:4523d7cda75e 70 DISTANCES_FRAME
Kekehoho 1:4523d7cda75e 71 };
Kekehoho 1:4523d7cda75e 72
Kekehoho 1:4523d7cda75e 73 //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
Kekehoho 1:4523d7cda75e 74 //IT IS A GCC SPECIFIC DIRECTIVE
Kekehoho 1:4523d7cda75e 75 struct __attribute__((packed, aligned(1))) RangingFrame {
Kekehoho 1:4523d7cda75e 76 uint8_t source;
Kekehoho 1:4523d7cda75e 77 uint8_t destination;
Kekehoho 1:4523d7cda75e 78 uint8_t type;
Kekehoho 1:4523d7cda75e 79 };
Kekehoho 1:4523d7cda75e 80
Kekehoho 1:4523d7cda75e 81 struct __attribute__((packed, aligned(1))) ExtendedRangingFrame : RangingFrame{
Kekehoho 1:4523d7cda75e 82 int signedTime;
Kekehoho 1:4523d7cda75e 83 };
Kekehoho 1:4523d7cda75e 84
Kekehoho 1:4523d7cda75e 85
Kekehoho 1:4523d7cda75e 86 RangingFrame rangingFrame; // buffer in class for sending a frame (not made locally because then we can recall in the interrupt what was sent)
Kekehoho 1:4523d7cda75e 87 ExtendedRangingFrame transferFrame;
Kekehoho 1:4523d7cda75e 88 ExtendedRangingFrame receivedFrame;
Kekehoho 1:4523d7cda75e 89 uint64_t rxTimestamp;
Kekehoho 1:4523d7cda75e 90 uint64_t senderTimestamps[10][3];
Kekehoho 1:4523d7cda75e 91 uint64_t receiverTimestamps[10][3];
Kekehoho 1:4523d7cda75e 92 bool acknowledgement[10]; // flag to indicate if ranging has succeeded
Kekehoho 1:4523d7cda75e 93 uint32_t tofs[10]; // Array containing time of flights for each node (index is address of node)
Kekehoho 1:4523d7cda75e 94
Kekehoho 1:4523d7cda75e 95 };
Kekehoho 1:4523d7cda75e 96
Kekehoho 1:4523d7cda75e 97 #endif