Diff: UWBProtocol/UWBProtocol.h

Revision:

0:6d63b6992cbf

Child:

1:c070ca30da80

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/UWBProtocol/UWBProtocol.h	Fri Feb 05 13:48:52 2016 +0000
@@ -0,0 +1,99 @@
+#pragma once
+
+#include "settings.h"
+
+#include <mbed.h>
+#include <DW1000.h>
+
+namespace ait
+{
+    
+class UWBProtocol
+{
+public:
+    UWBProtocol(uint8_t address);
+
+    uint8_t getAddress() const;
+
+    // Attributes packed and aligned(1) ensure that the structure is not padded and not aligned in memory.
+    struct __attribute__((packed, aligned(1))) ReceptionStats
+    {
+        uint16_t std_noise;
+        uint16_t preamble_acc_count;
+        uint16_t first_path_index;
+        uint16_t first_path_amp_1;
+        uint16_t first_path_amp_2;
+        uint16_t first_path_amp_3;
+        uint16_t channel_impulse_response_power;
+        uint8_t prf;
+    };
+
+protected:
+    uint8_t address_;
+    Timer timer_;
+
+    // Response delay of the ranging. This should be equal on both sides and has to be bigger than the processing time of the frame on each node.
+    // For 110kbps, 2500 is OK. For 6.8Mbps, 900 is OK.
+    const static int ANSWER_DELAY_US = 2500;
+    const static float ANSWER_DELAY_TIMEUNITS = ANSWER_DELAY_US * DW1000::US_TO_TIMEUNITS;
+
+    const static int NUM_OF_UWB_ADDRESSES = 256;
+
+    enum FrameType
+    {
+        MASTER_REQUEST_1 = 1,
+        SLAVE_REPLY,
+        MASTER_REQUEST_2,
+        SLAVE_REPORT,
+    };
+
+    // Attributes packed and aligned(1) ensure that the structure is not padded and not aligned in memory.
+    struct __attribute__((packed, aligned(1))) RangingFrame
+    {
+        uint8_t address;
+        uint8_t remote_address;
+        uint8_t type;
+    };
+
+    // Attributes packed and aligned(1) ensure that the structure is not padded and not aligned in memory.
+    struct __attribute__((packed, aligned(1))) ReportRangingFrame : RangingFrame
+    {
+        int64_t timediff_slave;
+        int64_t timestamp_master_request_1_recv;
+        int64_t timestamp_slave_reply_send;
+        int64_t timestamp_master_request_2_recv;
+#if SLAVE_REPLY_WITH_STATS
+        ReceptionStats stats1;
+        ReceptionStats stats2;
+#endif
+    };
+
+    RangingFrame rangingFrame_;
+    ReportRangingFrame receivedFrame_;
+    ReportRangingFrame reportFrame_;
+
+    void sendRangingFrame(DW1000* dw_ptr, uint8_t remote_address, uint8_t type);
+    void sendDelayedRangingFrame(DW1000* dw_ptr, uint8_t remote_address, uint8_t type, uint64_t timestamp_send);
+    void sendReportFrame(DW1000* dw_ptr, uint8_t remote_address, int64_t timediff_slave,
+        uint64_t timestamp_master_request_1_recv,
+        uint64_t timestamp_slave_reply_send,
+        uint64_t timestamp_master_request_2_recv);
+
+    bool receiveAnyFrameBlocking(DW1000* dw_ptr, float timeout, uint64_t* timestamp_recv = NULL, ReceptionStats* stats = NULL, bool start_recv = true);
+
+    bool receiveFrameBlocking(DW1000* dw_ptr, float timeout, uint64_t* timestamp_recv = NULL, ReceptionStats* stats = NULL, bool start_recv = true);
+    bool receiveFrameBlocking(DW1000* dw_ptr, uint8_t type, float timeout, uint64_t* timestamp_recv = NULL, ReceptionStats* stats = NULL, bool start_recv = true);
+    bool receiveFrameBlocking(DW1000* dw_ptr, uint8_t remote_address, uint8_t type, float timeout, uint64_t* timestamp_recv = NULL, ReceptionStats* stats = NULL, bool start_recv = true);
+
+    bool sendFrameBlocking(DW1000* dw_ptr, uint8_t* frame, int frame_size, float timeout, uint64_t* timestamp_send = NULL);
+    bool sendDelayedFrameBlocking(DW1000* dw_ptr, uint8_t* frame, int frame_size, float timeout, uint64_t* timestamp_send);
+
+    bool sendRangingFrameBlocking(DW1000* dw_ptr, uint8_t remote_address, uint8_t type, float timeout, uint64_t* timestamp_send = NULL);
+    bool sendReportFrameBlocking(DW1000* dw_ptr, uint8_t remote_address, int64_t timediff_slave, float timeout, uint64_t* timestamp_send = NULL);
+    bool sendDelayedRangingFrameBlocking(DW1000* dw_ptr, uint8_t remote_address, uint8_t type, float timeout, uint64_t* timestamp_send = NULL);
+
+    // This function corrects the timestamps if the counter had an overflow between measurements
+    bool correctTimestamps(uint64_t* timestamp_master_request_1, uint64_t* timestamp_slave_reply, uint64_t* timestamp_master_request_2) const;
+};
+
+}