Diff: MMRanging/MMRanging.h

Revision:

41:0a3bb028d4ba

Parent:

40:5ce51b7e3118

--- a/MMRanging/MMRanging.h	Fri Feb 27 11:47:51 2015 +0000
+++ b/MMRanging/MMRanging.h	Sun Mar 01 20:19:38 2015 +0000
@@ -11,21 +11,24 @@
 
 #define MMRANGING_2POWER40          1099511627776               // decimal value of 2^40 to correct timeroverflow between timestamps
 
-//#define EVENTS                                                // to see debug output of occuring interrupt callbacks
+//#define EVENTS                                                // to see debug output of occurring interrupt callbacks
 
 class MMRanging {
     public:
         MMRanging(DW1000& DW);
         void requestRanging(uint8_t destination);
+        void requestRangingAll();
     //private:
         DW1000& dw;
+        Timer LocalTimer;
         
         void callbackRX();
         void callbackTX();
         void sendRangingframe(uint8_t destination, uint8_t sequence_number, uint8_t type, uint64_t time_difference_receiver);
-        uint64_t timeDifference40Bit(uint64_t early, uint64_t late); // Method to calculate the difference between two 40-Bit timestamps correcting timer overflow reset between the timestamps
+        uint64_t timeDifference40Bit(uint64_t early, uint64_t late); // Method to calculate the difference between two 40-Bit timestamps correcting timer overflow reset occurring between the timestamps
         
-        uint8_t address;                        // Identifies the node, source and destination in rangingframes
+        uint8_t address;                        // Identifies the nodes as source and destination in rangingframes
+        //struct __attribute__((packed, aligned(1))) rangingframe {         // TODO: avoid structure padding, 32-Bit enough for time_difference_receiver  =>  8 Byte per frame instead of 16
         struct rangingframe {
             uint8_t source;
             uint8_t destination;
@@ -37,8 +40,10 @@
         rangingframe TX;                        // buffer in class for sending a frame (not made locally because then we can recall in the interrupt what was sent)
         uint64_t rangingtimingsSender[10][2];
         uint64_t rangingtimingsReceiver[10][2];
+        bool acknowledgement[10];               // flag to indicate if ranging has succeeded
         uint64_t tofs[10];                      // Array containing time of flights for each node (index is address of node)
-        bool acknowledgement[10];
+        float roundtriptimes[10];               // Array containing the round trip times to the anchors or the timeout which occured
+        float distances[10];                    // Array containing the finally calculated Distances to the anchors
         
         // draft for first test
         bool receiver;