Diff: MM2WayRanging/MM2WayRanging.h

Revision:

45:01a33363bc21

Parent:

44:2e0045042a59

Child:

46:6398237672a0

--- a/MM2WayRanging/MM2WayRanging.h	Thu Mar 05 12:18:37 2015 +0000
+++ b/MM2WayRanging/MM2WayRanging.h	Sun Mar 08 15:59:14 2015 +0000
@@ -8,66 +8,85 @@
 
 #define TIMEUNITS_TO_US       (1/(128*499.2))               // conversion between the decawave timeunits (ca 15.65ps) to microseconds.
 #define US_TO_TIMEUNITS       (128*499.2)                   // conversion between microseconds to the decawave timeunits (ca 15.65ps).
-#define MMRANGING_2POWER40    1099511627776                 // decimal value of 2^40 to correct timeroverflow between timestamps
+#define MMRANGING_2POWER40          1099511627776               // decimal value of 2^40 to correct timeroverflow between timestamps
+
+
 
 //Predefined delay for the critical answers in the ranging algorithm
 //HAS TO BE BIGGER THAN THE PROCESSING TIME OF THE FRAME ON THE NODE
-#define ANSWER_DELAY_US             900
-#define ANSWER_DELAY_TIMEUNITS      50000000    //Alternative: ANSWER_DELAY_US * (128*499.2)
+#define ANSWER_DELAY_US             2500                                    //2500 works for 110kbps, 900 for 6.8Mbps
+#define ANSWER_DELAY_TIMEUNITS      ANSWER_DELAY_US * (128*499.2)
 
 class MM2WayRanging {
-    public:
-        MM2WayRanging(DW1000& DW);
-    
-        void requestRanging(uint8_t destination);
-        void requestRangingAll();
+
+public:
+    MM2WayRanging(DW1000& DW);
+
+    void requestRanging(uint8_t destination);
+    void requestRangingAll();
+
+
+
+    //TODO: Better capsulation on those?
+    bool isAnchor;
+    uint8_t address; // Identifies the nodes as source and destination in rangingframes
 
-        // TODO: Better capsulation on those?
-        bool isAnchor;
-        uint8_t address; // Identifies the nodes as source and destination in rangingframes
+    //TODO: Make those PRIVATE!
+    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
+
+    bool overflow;              // TRUE if counter overflows while ranging
+
+private:
+
+
+    DW1000& dw;
+    Timer LocalTimer;
+
+    void callbackRX();
+    void callbackTX();
+    void sendPingFrame(uint8_t destination);
+    void sendDelayedAnswer(uint8_t destination, uint8_t type, uint64_t rxTimestamp);
+    void sendTransferFrame(uint8_t destination, int timestamp);
+
+    inline float calibratedDistance(uint8_t destination);
 
-        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
-    
-    private:
-        DW1000& dw;
-        Timer LocalTimer;
-    
-        void callbackRX();
-        void callbackTX();
-        void sendPingFrame(uint8_t destination);
-        void sendDelayedAnswer(uint8_t destination, uint8_t type, uint64_t rxTimestamp);
-        void sendTransferFrame(uint8_t destination, int timestamp);
-    
-        int timediffRec;
-        int timediffSend;
-    
-        enum FrameType{
-            PING=1,
-            ANCHOR_RESPONSE,
-            BEACON_RESPONSE,
-            TRANSFER_FRAME
-        };
-    
-        struct RangingFrame {
-            uint8_t source;
-            uint8_t destination;
-            uint8_t type;
-        };
-    
-        struct ExtendedRangingFrame : RangingFrame{
-            int signedTime;
-        };
-    
-        RangingFrame rangingFrame;                  // buffer in class for sending a frame (not made locally because then we can recall in the interrupt what was sent)
-        ExtendedRangingFrame transferFrame;
-        ExtendedRangingFrame receivedFrame;
-        uint64_t rxTimestamp;
-        uint64_t senderTimestamps[10][3];
-        uint64_t receiverTimestamps[10][3];
-        bool acknowledgement[10];                   // flag to indicate if ranging has succeeded
-        uint32_t tofs[10];                          // Array containing time of flights for each node (index is address of node)
+    /**
+     * These two functions correct the timestamps if the counter had an overflow between measurements
+     */
+    void correctReceiverTimestamps(uint8_t source);
+    void correctSenderTimestamps(uint8_t source);
+
+    int timediffRec;
+    int timediffSend;
+
+    enum FrameType{
+        PING=1,
+        ANCHOR_RESPONSE,
+        BEACON_RESPONSE,
+        TRANSFER_FRAME
+    };
+
+    struct RangingFrame {
+        uint8_t source;
+        uint8_t destination;
+        uint8_t type;
+    };
+
+    struct ExtendedRangingFrame : RangingFrame{
+        int signedTime;
+    };
+
+
+    RangingFrame rangingFrame;                  // buffer in class for sending a frame (not made locally because then we can recall in the interrupt what was sent)
+    ExtendedRangingFrame transferFrame;
+    ExtendedRangingFrame receivedFrame;
+    uint64_t rxTimestamp;
+    uint64_t senderTimestamps[10][3];
+    uint64_t receiverTimestamps[10][3];
+    bool acknowledgement[10];                   // flag to indicate if ranging has succeeded
+    uint32_t tofs[10];                          // Array containing time of flights for each node (index is address of node)
 
 };
 
-#endif
\ No newline at end of file
+#endif