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

MMRanging/MMRanging.cpp@36:883de6f9a73b, 2015-02-20 (annotated)

Committer:
manumaet
Date:
Fri Feb 20 09:07:52 2015 +0000
Revision:
36:883de6f9a73b
Parent:
35:95d838d33bf5
Child:
37:40f94c634c3e
before changing data rate (disabled resetAll)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
manumaet 27:71178fdb78e1 1 #include "MMRanging.h"
manumaet 27:71178fdb78e1 2
manumaet 34:f56962030c5c 3 MMRanging::MMRanging(DW1000& DW) : dw(DW) {
manumaet 28:a830131560e8 4 event_i = 0;
manumaet 28:a830131560e8 5 counter = 0;
manumaet 29:019ff388ed76 6 dw.setCallbacks(this, &MMRanging::callbackRX, &MMRanging::callbackTX);
manumaet 28:a830131560e8 7 dw.startRX();
manumaet 27:71178fdb78e1 8 }
manumaet 28:a830131560e8 9
manumaet 28:a830131560e8 10 void MMRanging::callbackRX() {
manumaet 28:a830131560e8 11 RX_timestamp = dw.getRXTimestamp();
manumaet 31:6f76f3d518ac 12
manumaet 32:041dd02e0e3b 13 rangingframe RX;
manumaet 32:041dd02e0e3b 14 dw.readRegister(DW1000_RX_BUFFER, 0, (uint8_t*)&RX, dw.getFramelength()); // get data from buffer
manumaet 31:6f76f3d518ac 15
manumaet 36:883de6f9a73b 16 if (RX.destination == address) // only if received packet is for me
manumaet 36:883de6f9a73b 17 switch (RX.type) {
manumaet 36:883de6f9a73b 18 case 1:
manumaet 36:883de6f9a73b 19 rangingtimingsReceiver[RX.source][0] = dw.getRXTimestamp();
manumaet 36:883de6f9a73b 20 sendRangingframe(RX.source, RX.sequence_number, 2, 0);
manumaet 36:883de6f9a73b 21 break;
manumaet 36:883de6f9a73b 22 case 2:
manumaet 36:883de6f9a73b 23 rangingtimingsSender[RX.source][1] = dw.getRXTimestamp();
manumaet 36:883de6f9a73b 24 sendRangingframe(RX.source, counter, 3, 0);
manumaet 36:883de6f9a73b 25 counter++;
manumaet 36:883de6f9a73b 26 break;
manumaet 36:883de6f9a73b 27 case 3:
manumaet 36:883de6f9a73b 28 sendRangingframe(RX.source, RX.sequence_number, 4, rangingtimingsReceiver[RX.source][1] - rangingtimingsReceiver[RX.source][0]);
manumaet 36:883de6f9a73b 29 break;
manumaet 36:883de6f9a73b 30 case 4:
manumaet 36:883de6f9a73b 31 tofs = (rangingtimingsSender[RX.source][1] - rangingtimingsSender[RX.source][0] - RX.time_difference_receiver);
manumaet 36:883de6f9a73b 32 break;
manumaet 36:883de6f9a73b 33 default : break;
manumaet 36:883de6f9a73b 34 }
manumaet 36:883de6f9a73b 35
manumaet 28:a830131560e8 36 event[event_i][0] = '!';
manumaet 28:a830131560e8 37 event[event_i][1] = 'R';
manumaet 28:a830131560e8 38 event[event_i][2] = ' ';
manumaet 36:883de6f9a73b 39 sprintf(&event[event_i][3], "%d>%d / %d %d", RX.source, RX.destination, RX.sequence_number, RX.type);
manumaet 28:a830131560e8 40 if (event_i == 8)
manumaet 28:a830131560e8 41 event_i = 0;
manumaet 28:a830131560e8 42 else
manumaet 28:a830131560e8 43 event_i++;
manumaet 31:6f76f3d518ac 44
manumaet 28:a830131560e8 45 dw.startRX();
manumaet 28:a830131560e8 46 }
manumaet 28:a830131560e8 47
manumaet 28:a830131560e8 48 void MMRanging::callbackTX() {
manumaet 28:a830131560e8 49 TX_timestamp = dw.getTXTimestamp();
manumaet 31:6f76f3d518ac 50 switch (TX.type) {
manumaet 31:6f76f3d518ac 51 case 1:
manumaet 36:883de6f9a73b 52 rangingtimingsSender[TX.destination][0] = dw.getTXTimestamp();
manumaet 31:6f76f3d518ac 53 break;
manumaet 31:6f76f3d518ac 54 case 2:
manumaet 36:883de6f9a73b 55 rangingtimingsReceiver[TX.destination][1] = dw.getTXTimestamp();
manumaet 31:6f76f3d518ac 56 break;
manumaet 31:6f76f3d518ac 57 default: break;
manumaet 31:6f76f3d518ac 58 }
manumaet 31:6f76f3d518ac 59
manumaet 28:a830131560e8 60 event[event_i][0] = '!';
manumaet 28:a830131560e8 61 event[event_i][1] = 'S';
manumaet 28:a830131560e8 62 event[event_i][2] = ' ';
manumaet 36:883de6f9a73b 63 sprintf(&event[event_i][3], "%d>%d / %d %d", TX.source, TX.destination, TX.sequence_number, TX.type);
manumaet 28:a830131560e8 64 if (event_i == 8)
manumaet 28:a830131560e8 65 event_i = 0;
manumaet 28:a830131560e8 66 else
manumaet 28:a830131560e8 67 event_i++;
manumaet 28:a830131560e8 68 }
manumaet 28:a830131560e8 69
manumaet 36:883de6f9a73b 70 void MMRanging::requestRanging(uint8_t destination) {
manumaet 36:883de6f9a73b 71 sendRangingframe(destination, counter, 1, 0);
manumaet 31:6f76f3d518ac 72 }
manumaet 31:6f76f3d518ac 73
manumaet 36:883de6f9a73b 74 void MMRanging::sendRangingframe(uint8_t destination, uint8_t sequence_number, uint8_t type, uint64_t time_difference_receiver) {
manumaet 36:883de6f9a73b 75 TX.source = address;
manumaet 36:883de6f9a73b 76 TX.destination = destination;
manumaet 36:883de6f9a73b 77 TX.sequence_number = sequence_number;
manumaet 34:f56962030c5c 78 TX.type = type;
manumaet 34:f56962030c5c 79 TX.time_difference_receiver = time_difference_receiver;
manumaet 34:f56962030c5c 80 dw.sendFrame((uint8_t*)&TX, sizeof(TX));
manumaet 28:a830131560e8 81 }