Tobias Naegeli / Mbed 2 deprecated AIT_UWB_Range

Tobi's ubw test branch

Dependencies:   mavlink_bridge mbed

Fork of AIT_UWB_Range by Benjamin Hepp

MM2WayRanging/MM2WayRanging.h@47:b6120c152ad1, 2015-03-19 (annotated)

Committer:
manumaet
Date:
Thu Mar 19 12:54:28 2015 +0000
Revision:
47:b6120c152ad1
Parent:
46:6398237672a0
Child:
48:5999e510f154
final release with the code used in the verification test case

Who changed what in which revision?

UserRevisionLine numberNew contents of line
manumaet 44:2e0045042a59 1 // by Matthias Grob & Manuel Stalder - ETH Zürich - 2015
manumaet 44:2e0045042a59 2
manumaet 44:2e0045042a59 3 #ifndef MM2WAYRANGING_H
manumaet 44:2e0045042a59 4 #define MM2WAYRANGING_H
manumaet 44:2e0045042a59 5
manumaet 44:2e0045042a59 6 #include "mbed.h"
manumaet 44:2e0045042a59 7 #include "DW1000.h"
manumaet 44:2e0045042a59 8
manumaet 44:2e0045042a59 9 #define TIMEUNITS_TO_US (1/(128*499.2)) // conversion between the decawave timeunits (ca 15.65ps) to microseconds.
manumaet 44:2e0045042a59 10 #define US_TO_TIMEUNITS (128*499.2) // conversion between microseconds to the decawave timeunits (ca 15.65ps).
manumaet 45:01a33363bc21 11 #define MMRANGING_2POWER40 1099511627776 // decimal value of 2^40 to correct timeroverflow between timestamps
manumaet 45:01a33363bc21 12
manumaet 45:01a33363bc21 13
manumaet 44:2e0045042a59 14
manumaet 44:2e0045042a59 15 //Predefined delay for the critical answers in the ranging algorithm
manumaet 44:2e0045042a59 16 //HAS TO BE BIGGER THAN THE PROCESSING TIME OF THE FRAME ON THE NODE
manumaet 45:01a33363bc21 17 #define ANSWER_DELAY_US 2500 //2500 works for 110kbps, 900 for 6.8Mbps
manumaet 45:01a33363bc21 18 #define ANSWER_DELAY_TIMEUNITS ANSWER_DELAY_US * (128*499.2)
manumaet 44:2e0045042a59 19
manumaet 44:2e0045042a59 20 class MM2WayRanging {
manumaet 45:01a33363bc21 21
manumaet 45:01a33363bc21 22 public:
manumaet 45:01a33363bc21 23 MM2WayRanging(DW1000& DW);
manumaet 45:01a33363bc21 24
manumaet 45:01a33363bc21 25 void requestRanging(uint8_t destination);
manumaet 45:01a33363bc21 26 void requestRangingAll();
manumaet 45:01a33363bc21 27
manumaet 45:01a33363bc21 28
manumaet 45:01a33363bc21 29
manumaet 45:01a33363bc21 30 //TODO: Better capsulation on those?
manumaet 45:01a33363bc21 31 bool isAnchor;
manumaet 45:01a33363bc21 32 uint8_t address; // Identifies the nodes as source and destination in rangingframes
manumaet 44:2e0045042a59 33
manumaet 45:01a33363bc21 34 //TODO: Make those PRIVATE!
manumaet 45:01a33363bc21 35 float roundtriptimes[10]; // Array containing the round trip times to the anchors or the timeout which occured
manumaet 45:01a33363bc21 36 float distances[10]; // Array containing the finally calculated Distances to the anchors
manumaet 45:01a33363bc21 37
manumaet 45:01a33363bc21 38 bool overflow; // TRUE if counter overflows while ranging
manumaet 45:01a33363bc21 39
manumaet 45:01a33363bc21 40 private:
manumaet 45:01a33363bc21 41
manumaet 45:01a33363bc21 42
manumaet 45:01a33363bc21 43 DW1000& dw;
manumaet 45:01a33363bc21 44 Timer LocalTimer;
manumaet 45:01a33363bc21 45
manumaet 45:01a33363bc21 46 void callbackRX();
manumaet 45:01a33363bc21 47 void callbackTX();
manumaet 45:01a33363bc21 48 void sendPingFrame(uint8_t destination);
manumaet 45:01a33363bc21 49 void sendDelayedAnswer(uint8_t destination, uint8_t type, uint64_t rxTimestamp);
manumaet 45:01a33363bc21 50 void sendTransferFrame(uint8_t destination, int timestamp);
manumaet 45:01a33363bc21 51
manumaet 45:01a33363bc21 52 inline float calibratedDistance(uint8_t destination);
manumaet 44:2e0045042a59 53
manumaet 45:01a33363bc21 54 /**
manumaet 45:01a33363bc21 55 * These two functions correct the timestamps if the counter had an overflow between measurements
manumaet 45:01a33363bc21 56 */
manumaet 45:01a33363bc21 57 void correctReceiverTimestamps(uint8_t source);
manumaet 45:01a33363bc21 58 void correctSenderTimestamps(uint8_t source);
manumaet 45:01a33363bc21 59
manumaet 45:01a33363bc21 60 int timediffRec;
manumaet 45:01a33363bc21 61 int timediffSend;
manumaet 45:01a33363bc21 62
manumaet 45:01a33363bc21 63 enum FrameType{
manumaet 45:01a33363bc21 64 PING=1,
manumaet 45:01a33363bc21 65 ANCHOR_RESPONSE,
manumaet 45:01a33363bc21 66 BEACON_RESPONSE,
manumaet 46:6398237672a0 67 TRANSFER_FRAME,
manumaet 46:6398237672a0 68 DISTANCES_FRAME
manumaet 45:01a33363bc21 69 };
manumaet 45:01a33363bc21 70
manumaet 47:b6120c152ad1 71 //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
manumaet 47:b6120c152ad1 72 //IT IS A GCC SPECIFIC DIRECTIVE
manumaet 46:6398237672a0 73 struct __attribute__((packed, aligned(1))) RangingFrame {
manumaet 45:01a33363bc21 74 uint8_t source;
manumaet 45:01a33363bc21 75 uint8_t destination;
manumaet 45:01a33363bc21 76 uint8_t type;
manumaet 45:01a33363bc21 77 };
manumaet 45:01a33363bc21 78
manumaet 46:6398237672a0 79 struct __attribute__((packed, aligned(1))) ExtendedRangingFrame : RangingFrame{
manumaet 45:01a33363bc21 80 int signedTime;
manumaet 45:01a33363bc21 81 };
manumaet 45:01a33363bc21 82
manumaet 45:01a33363bc21 83
manumaet 45:01a33363bc21 84 RangingFrame rangingFrame; // buffer in class for sending a frame (not made locally because then we can recall in the interrupt what was sent)
manumaet 45:01a33363bc21 85 ExtendedRangingFrame transferFrame;
manumaet 45:01a33363bc21 86 ExtendedRangingFrame receivedFrame;
manumaet 45:01a33363bc21 87 uint64_t rxTimestamp;
manumaet 45:01a33363bc21 88 uint64_t senderTimestamps[10][3];
manumaet 45:01a33363bc21 89 uint64_t receiverTimestamps[10][3];
manumaet 45:01a33363bc21 90 bool acknowledgement[10]; // flag to indicate if ranging has succeeded
manumaet 45:01a33363bc21 91 uint32_t tofs[10]; // Array containing time of flights for each node (index is address of node)
manumaet 44:2e0045042a59 92
manumaet 44:2e0045042a59 93 };
manumaet 44:2e0045042a59 94
manumaet 45:01a33363bc21 95 #endif