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Fixed returned future time in setDelay(..) (antenna delay compensation)
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@thotro
thotro committed Jun 30, 2015
1 parent 612f849 commit 3822c87
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Showing 5 changed files with 332 additions and 13 deletions.
7 changes: 5 additions & 2 deletions DW1000-arduino-test/DW1000-arduino-ranging-anchor/DW1000-arduino-ranging-anchor.ino
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Expand Up @@ -156,10 +156,13 @@ float getRange() {
DW1000.getPrettyBytes(d, msgBuf, 5);
Serial.println(msgBuf);*/

DW1000Time timeOfFlight = ((timePollAckReceived-timePollSent)-(timePollAckSent-timePollReceived) +
return ((timePollAckReceived.getAsFloat()-timePollSent.getAsFloat())-(timePollAckSent.getAsFloat()-timePollReceived.getAsFloat()) +
(timeRangeReceived.getAsFloat()-timePollAckSent.getAsFloat())-(timeRangeSent.getAsFloat()-timePollAckReceived.getAsFloat()));// / 4;

/*DW1000Time timeOfFlight = ((timePollAckReceived-timePollSent)-(timePollAckSent-timePollReceived) +
(timeRangeReceived-timePollAckSent)-(timeRangeSent-timePollAckReceived));// / 4;
return timeOfFlight.getAsFloat();
return timeOfFlight.getAsFloat();*/
}

void loop() {
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4 changes: 2 additions & 2 deletions DW1000-arduino-test/DW1000-arduino-sender-test/DW1000-arduino-sender-test.ino
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Expand Up @@ -79,13 +79,13 @@ void loop() {
// (we are here after the given amount of send delay time has passed)
sentAck = false;
// update and print some information about the sent message
Serial.print("Delay sent [ms] ... "); Serial.println(millis() - delaySent);
Serial.print("ARDUINO delay sent [ms] ... "); Serial.println(millis() - delaySent);
DW1000Time newSentTime;
DW1000.getTransmitTimestamp(newSentTime);
Serial.print("Processed packet ... #"); Serial.println(sentNum);
Serial.print("Sent timestamp ... "); Serial.println(newSentTime.getAsFloat());
// note: delta is just for simple demo as not correct on system time counter wrap-around
Serial.print("Delta send time [s] ... "); Serial.println((newSentTime.getAsFloat() - sentTime.getAsFloat()) * 1.0e-6);
Serial.print("DW1000 delta send time [ms] ... "); Serial.println((newSentTime.getAsFloat() - sentTime.getAsFloat()) * 1.0e-3);
sentTime = newSentTime;
sentNum++;
// again, transmit some data
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308 changes: 308 additions & 0 deletions DW1000/DW1000
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@@ -0,0 +1,308 @@
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21 changes: 13 additions & 8 deletions DW1000/DW1000.cpp
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Expand Up @@ -42,6 +42,7 @@ byte DW1000Class::_dataRate = TRX_RATE_6800KBPS;
byte DW1000Class::_preambleLength = TX_PREAMBLE_LEN_128;
byte DW1000Class::_preambleCode = PREAMBLE_CODE_16MHZ_4;
byte DW1000Class::_channel = CHANNEL_5;
DW1000Time DW1000Class::_antennaDelay;
boolean DW1000Class::_frameCheck = true;
boolean DW1000Class::_permanentReceive = false;
int DW1000Class::_deviceMode = IDLE_MODE;
Expand Down Expand Up @@ -500,9 +501,9 @@ void DW1000Class::tune() {
writeBytes(DRX_TUNE, DRX_TUNE1b_SUB, drxtune1b, LEN_DRX_TUNE1b);
writeBytes(DRX_TUNE, DRX_TUNE2_SUB, drxtune2, LEN_DRX_TUNE2);
writeBytes(DRX_TUNE, DRX_TUNE4H_SUB, drxtune4H, LEN_DRX_TUNE4H);
writeBytes(LDE_CFG, LDE_CFG1_SUB, ldecfg1, LEN_LDE_CFG1);
writeBytes(LDE_CFG, LDE_CFG2_SUB, ldecfg2, LEN_LDE_CFG2);
writeBytes(LDE_CFG, LDE_REPC_SUB, lderepc, LEN_LDE_REPC);
writeBytes(LDE_IF, LDE_CFG1_SUB, ldecfg1, LEN_LDE_CFG1);
writeBytes(LDE_IF, LDE_CFG2_SUB, ldecfg2, LEN_LDE_CFG2);
writeBytes(LDE_IF, LDE_REPC_SUB, lderepc, LEN_LDE_REPC);
writeBytes(TX_POWER, NO_SUB, txpower, LEN_TX_POWER);
writeBytes(RF_CONF, RF_RXCTRLH_SUB, rfrxctrlh, LEN_RF_RXCTRLH);
writeBytes(RF_CONF, RF_TXCTRL_SUB, rftxctrl, LEN_RF_TXCTRL);
Expand Down Expand Up @@ -741,11 +742,13 @@ void DW1000Class::commitConfiguration() {
loadLDE();
delay(10);
enableClock(AUTO_CLOCK);
// TODO clean up code
byte antennaDelay[LEN_TX_ANTD];
writeValueToBytes(antennaDelay, 16384, LEN_TX_ANTD);
writeBytes(TX_ANTD, NO_SUB, antennaDelay, LEN_TX_ANTD);
writeBytes(LDE_CFG, LDE_CFG2_SUB, antennaDelay, LEN_LDE_CFG2);
// TODO clean up code + antenna delay/calibration API
byte antennaDelayBytes[LEN_STAMP];
// TODO setter + check not larger two bytes integer
writeValueToBytes(antennaDelayBytes, 16384, LEN_STAMP);
_antennaDelay.setFromBytes(antennaDelayBytes);
writeBytes(TX_ANTD, NO_SUB, antennaDelayBytes, LEN_TX_ANTD);
writeBytes(LDE_IF, LDE_RXANTD_SUB, antennaDelayBytes, LEN_LDE_RXANTD);
// write all configurations back to device
writeNetworkIdAndDeviceAddress();
writeSystemConfigurationRegister();
Expand Down Expand Up @@ -782,6 +785,8 @@ DW1000Time DW1000Class::setDelay(const DW1000Time& delay) {
delayBytes[0] = 0;
delayBytes[1] &= 0xFE;
writeBytes(DX_TIME, NO_SUB, delayBytes, LEN_DX_TIME);
// adjust expected time with configured antenna delay
futureTime += _antennaDelay;
return futureTime;
}

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