File content as of revision 44:2e0045042a59:

// by Matthias Grob & Manuel Stalder - ETH Zürich - 2015

#ifndef MM2WAYRANGING_H
#define MM2WAYRANGING_H

#include "mbed.h"
#include "DW1000.h"

#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

//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)

class MM2WayRanging {
    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

        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)

};

#endif