Diff: main.cpp

Revision:

43:d89fe237a684

Parent:

42:83931678c4de

Child:

44:2e0045042a59

--- a/main.cpp	Mon Mar 02 09:33:03 2015 +0000
+++ b/main.cpp	Thu Mar 05 10:26:51 2015 +0000
@@ -8,8 +8,7 @@
 DW1000      dw(PA_7, PA_6, PA_5, PB_6, PB_9);       // Device driver instanceSPI pins: (MOSI, MISO, SCLK, CS, IRQ)
 MMRanging   r(dw);                                  // Ranging class for getting distances and later positions
 
-float rangings[1000];
-int index = 0;
+int average_index = 0;
 
 int main() {
     pc.printf("\r\nDecaWave 1.0   up and running!\r\n");  
@@ -33,7 +32,7 @@
     
     while(1) {
         if (!r.receiver) {
-            #if 1 // normal operation
+            #if 0 // normal operation
                 r.requestRangingAll();
                 for (int i = 1; i <= 4; i++) {  // Request ranging to all anchors
                     pc.printf("%f, ", r.distances[i]);
@@ -42,6 +41,9 @@
                 pc.printf("\r\n");
             #endif
             #if 0 // calibration of antennadelay
+                float rangings[1000];
+                int index = 0;
+            
                 r.requestRanging(1);
                 if (r.distances[1] < 100) {
                     rangings[index] = r.distances[1];
@@ -71,25 +73,26 @@
             //pc.printf("%lld\r\n", r.timeDifference40Bit(r.rangingtimingsReceiver[0][0], r.rangingtimingsReceiver[0][1]));  // debuging output to find 40Bit overflows on receiver side
         }
         
-        #if 0 // averaging the distance with a ringbuffer
-            int average[50];
-            int average_index = 0;
-            float averaged;
-        
-            pc.printf("Distance: %f\r\n", (r.tofs[2]*300/MMRANGING_TIMEUNIT_US / 2) - 0.5);
-            average[average_index] = r.tofs[2];
+        #if 1 // averaging the distance with a ringbuffer
+            float averaged = 0;
+            float average[1000];
+            
+            int i = 1;
+            r.requestRanging(i);
+            average[average_index] = r.distances[i];
             average_index++;
-            if(average_index == 50)
+            if(average_index == 1000) {
                 average_index = 0;
-            for(int i = 0; i < 50; i++)
-                averaged += average[i];
-            averaged /= 50;
-            pc.printf("Distance: %f\r\n", (averaged*300/MMRANGING_TIMEUNIT_US / 2) - 0.5);
+                for(int j = 0; j < 1000; j++)
+                    averaged += average[j];
+                averaged /= 1000;
+                pc.printf("Distance: %f\r\n", averaged);
+                pc.printf("Calibrated: %f\r\n", -0.123 *averaged*averaged + 2.564 * averaged - 5.332 );
+            }
         #endif
         
         #if 0 // Output bars on console
             for(int i = 1; i < 3; i++) {
-                //pc.printf("%f ", r.tofs[j]*MMRANGING_TIMEUNIT_NS);
                 pc.printf("%lld [", r.tofs[i]);
                 int dots = r.tofs[i]*70/1400;
                 if (abs(dots) < 10000)