Matthias Grob & Manuel Stalder / Mbed 2 deprecated DecaWave

This is the DW1000 driver and our self developed distance measurement application based on it. We do this as a semester thesis at ETH Zürich under the Automatic Control Laboratory in the Department of electrical engineering.

Dependencies:   mbed

Diff: MM2WayRanging/MM2WayRanging.cpp

Revision:
46:6398237672a0
Parent:
45:01a33363bc21
Child:
47:b6120c152ad1
--- a/MM2WayRanging/MM2WayRanging.cpp	Sun Mar 08 15:59:14 2015 +0000
+++ b/MM2WayRanging/MM2WayRanging.cpp	Tue Mar 10 12:11:13 2015 +0000
@@ -51,7 +51,7 @@
                 break;
             default : break;
         }
-    
+
     dw.startRX();
 }
 
@@ -84,7 +84,7 @@
 
     sendPingFrame(destination);
 
-    while(!acknowledgement[destination] && (LocalTimer.read() < time_before + 0.5f)); // wait for succeeding ranging or timeout
+    while(!acknowledgement[destination] && (LocalTimer.read() < time_before + 0.02f)); // wait for succeeding ranging or timeout
 
     roundtriptimes[destination] = LocalTimer.read() - time_before;
 
@@ -96,27 +96,31 @@
 }
 
 inline float MM2WayRanging::calibratedDistance(uint8_t destination) {
-    
+
     float rawDistance = (tofs[destination] * 300 * TIMEUNITS_TO_US / 4);
-    
-    if (this->address == 1) rawDistance+= 10;
-    
-    switch(destination){
-        case 2:
-            return  rawDistance * 0.9754 - 0.5004;              
-        case 3:
-            return  rawDistance * 0.9759 - 0.4103;
-        case 4:
-            return  rawDistance * 0.9798 - 0.5499;
-        case 5:
-            return  rawDistance * 0.9765 - 0.5169;
-        }
-    
-            
+
+
+
+ // Calibration for Nucleo 0 (and 1)
+
+ //   if (this->address == 1) rawDistance+= 10;
+//    switch(destination){
+//        case 2:
+//            return  rawDistance * 0.9754 - 0.5004;
+//        case 3:
+//            return  rawDistance * 0.9759 - 0.4103;
+//        case 4:
+//            return  rawDistance * 0.9798 - 0.5499;
+//        case 5:
+//            return  rawDistance * 0.9765 - 0.5169;
+//        }
+
+    return rawDistance;
+
 }
 
 void MM2WayRanging::requestRangingAll() {
-    for (int i = 1; i <= 5; i++) {  // Request ranging to all anchors
+    for (int i = 1; i <= 4; i++) {  // Request ranging to all anchors
         requestRanging(i);
     }
 }