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.h@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 // by Matthias Grob & Manuel Stalder - ETH Zürich - 2015
manumaet 27:71178fdb78e1 2
manumaet 27:71178fdb78e1 3 #ifndef MMRANGING_H
manumaet 27:71178fdb78e1 4 #define MMRANGING_H
manumaet 27:71178fdb78e1 5
manumaet 27:71178fdb78e1 6 #include "mbed.h"
manumaet 27:71178fdb78e1 7 #include "DW1000.h"
manumaet 27:71178fdb78e1 8
manumaet 35:95d838d33bf5 9 #define MMRANGING_TIMEUNIT_US 1/(128*499.2) // conversion between LSB of TX and RX timestamps and microseconds
manumaet 35:95d838d33bf5 10 #define MMRANGING_TIMEUNIT_NS 1000/(128*499.2) // conversion between LSB of TX and RX timestamps and nanoseconds
manumaet 27:71178fdb78e1 11
manumaet 27:71178fdb78e1 12 class MMRanging {
manumaet 28:a830131560e8 13 public:
manumaet 28:a830131560e8 14 MMRanging(DW1000& DW);
manumaet 36:883de6f9a73b 15 void requestRanging(uint8_t destination);
manumaet 28:a830131560e8 16 //private:
manumaet 28:a830131560e8 17 DW1000& dw;
manumaet 28:a830131560e8 18
manumaet 30:4ecc69d3cf8d 19 void callbackRX();
manumaet 30:4ecc69d3cf8d 20 void callbackTX();
manumaet 36:883de6f9a73b 21 void sendRangingframe(uint8_t destination, uint8_t sequence_number, uint8_t type, uint64_t time_difference_receiver);
manumaet 30:4ecc69d3cf8d 22
manumaet 36:883de6f9a73b 23 uint8_t address;
manumaet 34:f56962030c5c 24 struct rangingframe {
manumaet 36:883de6f9a73b 25 uint8_t source;
manumaet 36:883de6f9a73b 26 uint8_t destination;
manumaet 36:883de6f9a73b 27 uint8_t sequence_number;
manumaet 36:883de6f9a73b 28 uint8_t type;
manumaet 31:6f76f3d518ac 29 uint64_t time_difference_receiver;
manumaet 36:883de6f9a73b 30 };
manumaet 36:883de6f9a73b 31
manumaet 31:6f76f3d518ac 32 uint64_t rangingtimingsSender[10][2];
manumaet 31:6f76f3d518ac 33 uint64_t rangingtimingsReceiver[10][2];
manumaet 35:95d838d33bf5 34 uint64_t tofs;
manumaet 31:6f76f3d518ac 35
manumaet 31:6f76f3d518ac 36 rangingframe TX;
manumaet 31:6f76f3d518ac 37
manumaet 28:a830131560e8 38 // draft for first test
manumaet 28:a830131560e8 39 bool receiver;
manumaet 28:a830131560e8 40 uint64_t TX_timestamp;
manumaet 28:a830131560e8 41 uint64_t RX_timestamp;
manumaet 28:a830131560e8 42 int event_i;
manumaet 28:a830131560e8 43 char event[10][20];
manumaet 28:a830131560e8 44 uint8_t counter;
manumaet 27:71178fdb78e1 45 };
manumaet 27:71178fdb78e1 46
manumaet 27:71178fdb78e1 47 #endif