From 3822c87079d295653edcf0c29cf9cfda5e493d2a Mon Sep 17 00:00:00 2001 From: Thomas Date: Tue, 30 Jun 2015 23:59:09 +0200 Subject: [PATCH] Fixed returned future time in setDelay(..) (antenna delay compensation) --- .../DW1000-arduino-ranging-anchor.ino | 7 +- .../DW1000-arduino-sender-test.ino | 4 +- DW1000/DW1000 | 308 ++++++++++++++++++ DW1000/DW1000.cpp | 21 +- DW1000/DW1000.h | 5 +- 5 files changed, 332 insertions(+), 13 deletions(-) create mode 100644 DW1000/DW1000 diff --git a/DW1000-arduino-test/DW1000-arduino-ranging-anchor/DW1000-arduino-ranging-anchor.ino b/DW1000-arduino-test/DW1000-arduino-ranging-anchor/DW1000-arduino-ranging-anchor.ino index 810b07d5..3b83a3e2 100644 --- a/DW1000-arduino-test/DW1000-arduino-ranging-anchor/DW1000-arduino-ranging-anchor.ino +++ b/DW1000-arduino-test/DW1000-arduino-ranging-anchor/DW1000-arduino-ranging-anchor.ino @@ -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() { diff --git a/DW1000-arduino-test/DW1000-arduino-sender-test/DW1000-arduino-sender-test.ino b/DW1000-arduino-test/DW1000-arduino-sender-test/DW1000-arduino-sender-test.ino index 23da793e..70e8decf 100644 --- a/DW1000-arduino-test/DW1000-arduino-sender-test/DW1000-arduino-sender-test.ino +++ b/DW1000-arduino-test/DW1000-arduino-sender-test/DW1000-arduino-sender-test.ino @@ -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 diff --git a/DW1000/DW1000 b/DW1000/DW1000 new file mode 100644 index 00000000..2a1ebab8 --- /dev/null +++ b/DW1000/DW1000 @@ -0,0 +1,308 @@ +# Doxyfile 1.8.6 + +#--------------------------------------------------------------------------- +# Project related configuration options +#--------------------------------------------------------------------------- +DOXYFILE_ENCODING = UTF-8 +PROJECT_NAME = "My Project" +PROJECT_NUMBER = +PROJECT_BRIEF = +PROJECT_LOGO = +OUTPUT_DIRECTORY = +CREATE_SUBDIRS = NO +OUTPUT_LANGUAGE = English +BRIEF_MEMBER_DESC = YES +REPEAT_BRIEF = YES +ABBREVIATE_BRIEF = +ALWAYS_DETAILED_SEC = NO +INLINE_INHERITED_MEMB = NO +FULL_PATH_NAMES = YES +STRIP_FROM_PATH = +STRIP_FROM_INC_PATH = +SHORT_NAMES = NO +JAVADOC_AUTOBRIEF = NO +QT_AUTOBRIEF = NO +MULTILINE_CPP_IS_BRIEF = NO +INHERIT_DOCS = YES +SEPARATE_MEMBER_PAGES = NO +TAB_SIZE = 4 +ALIASES = +TCL_SUBST = +OPTIMIZE_OUTPUT_FOR_C = NO +OPTIMIZE_OUTPUT_JAVA = NO +OPTIMIZE_FOR_FORTRAN = NO +OPTIMIZE_OUTPUT_VHDL = NO +EXTENSION_MAPPING = +MARKDOWN_SUPPORT = YES +AUTOLINK_SUPPORT = YES +BUILTIN_STL_SUPPORT = NO +CPP_CLI_SUPPORT = NO +SIP_SUPPORT = NO +IDL_PROPERTY_SUPPORT = YES +DISTRIBUTE_GROUP_DOC = NO +SUBGROUPING = YES +INLINE_GROUPED_CLASSES = NO +INLINE_SIMPLE_STRUCTS = NO +TYPEDEF_HIDES_STRUCT = NO +LOOKUP_CACHE_SIZE = 0 +#--------------------------------------------------------------------------- +# Build related configuration options +#--------------------------------------------------------------------------- +EXTRACT_ALL = NO +EXTRACT_PRIVATE = NO +EXTRACT_PACKAGE = NO +EXTRACT_STATIC = NO +EXTRACT_LOCAL_CLASSES = YES +EXTRACT_LOCAL_METHODS = NO +EXTRACT_ANON_NSPACES = NO +HIDE_UNDOC_MEMBERS = NO +HIDE_UNDOC_CLASSES = NO +HIDE_FRIEND_COMPOUNDS = NO +HIDE_IN_BODY_DOCS = NO +INTERNAL_DOCS = NO +CASE_SENSE_NAMES = YES +HIDE_SCOPE_NAMES = NO +SHOW_INCLUDE_FILES = YES +SHOW_GROUPED_MEMB_INC = NO +FORCE_LOCAL_INCLUDES = NO +INLINE_INFO = YES +SORT_MEMBER_DOCS = YES +SORT_BRIEF_DOCS = NO +SORT_MEMBERS_CTORS_1ST = NO +SORT_GROUP_NAMES = NO +SORT_BY_SCOPE_NAME = NO +STRICT_PROTO_MATCHING = NO +GENERATE_TODOLIST = YES +GENERATE_TESTLIST = YES +GENERATE_BUGLIST = YES +GENERATE_DEPRECATEDLIST= YES +ENABLED_SECTIONS = +MAX_INITIALIZER_LINES = 30 +SHOW_USED_FILES = YES +SHOW_FILES = YES +SHOW_NAMESPACES = YES +FILE_VERSION_FILTER = +LAYOUT_FILE = +CITE_BIB_FILES = +#--------------------------------------------------------------------------- +# Configuration options related to warning and progress messages +#--------------------------------------------------------------------------- +QUIET = NO +WARNINGS = YES +WARN_IF_UNDOCUMENTED = YES +WARN_IF_DOC_ERROR = YES +WARN_NO_PARAMDOC = NO +WARN_FORMAT = "$file:$line: $text" +WARN_LOGFILE = +#--------------------------------------------------------------------------- +# Configuration options related to the input files +#--------------------------------------------------------------------------- +INPUT = +INPUT_ENCODING = UTF-8 +FILE_PATTERNS = +RECURSIVE = NO +EXCLUDE = +EXCLUDE_SYMLINKS = NO +EXCLUDE_PATTERNS = +EXCLUDE_SYMBOLS = +EXAMPLE_PATH = +EXAMPLE_PATTERNS = +EXAMPLE_RECURSIVE = NO +IMAGE_PATH = +INPUT_FILTER = +FILTER_PATTERNS = +FILTER_SOURCE_FILES = NO +FILTER_SOURCE_PATTERNS = +USE_MDFILE_AS_MAINPAGE = +#--------------------------------------------------------------------------- +# Configuration options related to source browsing +#--------------------------------------------------------------------------- +SOURCE_BROWSER = NO +INLINE_SOURCES = NO +STRIP_CODE_COMMENTS = YES +REFERENCED_BY_RELATION = NO +REFERENCES_RELATION = NO +REFERENCES_LINK_SOURCE = YES +SOURCE_TOOLTIPS = YES +USE_HTAGS = NO +VERBATIM_HEADERS = YES +#--------------------------------------------------------------------------- +# Configuration options related to the alphabetical class index +#--------------------------------------------------------------------------- +ALPHABETICAL_INDEX = YES +COLS_IN_ALPHA_INDEX = 5 +IGNORE_PREFIX = +#--------------------------------------------------------------------------- +# Configuration options related to the HTML output +#--------------------------------------------------------------------------- +GENERATE_HTML = YES +HTML_OUTPUT = html +HTML_FILE_EXTENSION = .html +HTML_HEADER = +HTML_FOOTER = +HTML_STYLESHEET = +HTML_EXTRA_STYLESHEET = +HTML_EXTRA_FILES = +HTML_COLORSTYLE_HUE = 220 +HTML_COLORSTYLE_SAT = 100 +HTML_COLORSTYLE_GAMMA = 80 +HTML_TIMESTAMP = YES +HTML_DYNAMIC_SECTIONS = NO +HTML_INDEX_NUM_ENTRIES = 100 +GENERATE_DOCSET = NO +DOCSET_FEEDNAME = "Doxygen generated docs" +DOCSET_BUNDLE_ID = org.doxygen.Project +DOCSET_PUBLISHER_ID = org.doxygen.Publisher +DOCSET_PUBLISHER_NAME = Publisher +GENERATE_HTMLHELP = NO +CHM_FILE = +HHC_LOCATION = +GENERATE_CHI = NO +CHM_INDEX_ENCODING = +BINARY_TOC = NO +TOC_EXPAND = NO +GENERATE_QHP = NO +QCH_FILE = +QHP_NAMESPACE = org.doxygen.Project +QHP_VIRTUAL_FOLDER = doc +QHP_CUST_FILTER_NAME = +QHP_CUST_FILTER_ATTRS = +QHP_SECT_FILTER_ATTRS = +QHG_LOCATION = +GENERATE_ECLIPSEHELP = NO +ECLIPSE_DOC_ID = org.doxygen.Project +DISABLE_INDEX = NO +GENERATE_TREEVIEW = NO +ENUM_VALUES_PER_LINE = 4 +TREEVIEW_WIDTH = 250 +EXT_LINKS_IN_WINDOW = NO +FORMULA_FONTSIZE = 10 +FORMULA_TRANSPARENT = YES +USE_MATHJAX = NO +MATHJAX_FORMAT = HTML-CSS +MATHJAX_RELPATH = http://cdn.mathjax.org/mathjax/latest +MATHJAX_EXTENSIONS = +MATHJAX_CODEFILE = +SEARCHENGINE = YES +SERVER_BASED_SEARCH = NO +EXTERNAL_SEARCH = NO +SEARCHENGINE_URL = +SEARCHDATA_FILE = searchdata.xml +EXTERNAL_SEARCH_ID = +EXTRA_SEARCH_MAPPINGS = +#--------------------------------------------------------------------------- +# Configuration options related to the LaTeX output +#--------------------------------------------------------------------------- +GENERATE_LATEX = YES +LATEX_OUTPUT = latex +LATEX_CMD_NAME = latex +MAKEINDEX_CMD_NAME = makeindex +COMPACT_LATEX = NO +PAPER_TYPE = a4 +EXTRA_PACKAGES = +LATEX_HEADER = +LATEX_FOOTER = +LATEX_EXTRA_FILES = +PDF_HYPERLINKS = YES +USE_PDFLATEX = YES +LATEX_BATCHMODE = NO +LATEX_HIDE_INDICES = NO +LATEX_SOURCE_CODE = NO +LATEX_BIB_STYLE = plain +#--------------------------------------------------------------------------- +# Configuration options related to the RTF output +#--------------------------------------------------------------------------- +GENERATE_RTF = NO +RTF_OUTPUT = rtf +COMPACT_RTF = NO +RTF_HYPERLINKS = NO +RTF_STYLESHEET_FILE = +RTF_EXTENSIONS_FILE = +#--------------------------------------------------------------------------- +# Configuration options related to the man page output +#--------------------------------------------------------------------------- +GENERATE_MAN = NO +MAN_OUTPUT = man +MAN_EXTENSION = .3 +MAN_LINKS = NO +#--------------------------------------------------------------------------- +# Configuration options related to the XML output +#--------------------------------------------------------------------------- +GENERATE_XML = NO +XML_OUTPUT = xml +XML_SCHEMA = +XML_DTD = +XML_PROGRAMLISTING = YES +#--------------------------------------------------------------------------- +# Configuration options related to the DOCBOOK output +#--------------------------------------------------------------------------- +GENERATE_DOCBOOK = NO +DOCBOOK_OUTPUT = docbook +#--------------------------------------------------------------------------- +# Configuration options for the AutoGen Definitions output +#--------------------------------------------------------------------------- +GENERATE_AUTOGEN_DEF = NO +#--------------------------------------------------------------------------- +# Configuration options related to the Perl module output +#--------------------------------------------------------------------------- +GENERATE_PERLMOD = NO +PERLMOD_LATEX = NO +PERLMOD_PRETTY = YES +PERLMOD_MAKEVAR_PREFIX = +#--------------------------------------------------------------------------- +# Configuration options related to the preprocessor +#--------------------------------------------------------------------------- +ENABLE_PREPROCESSING = YES +MACRO_EXPANSION = NO +EXPAND_ONLY_PREDEF = NO +SEARCH_INCLUDES = YES +INCLUDE_PATH = +INCLUDE_FILE_PATTERNS = +PREDEFINED = +EXPAND_AS_DEFINED = +SKIP_FUNCTION_MACROS = YES +#--------------------------------------------------------------------------- +# Configuration options related to external references +#--------------------------------------------------------------------------- +TAGFILES = +GENERATE_TAGFILE = +ALLEXTERNALS = NO +EXTERNAL_GROUPS = YES +EXTERNAL_PAGES = YES +PERL_PATH = /usr/bin/perl +#--------------------------------------------------------------------------- +# Configuration options related to the dot tool +#--------------------------------------------------------------------------- +CLASS_DIAGRAMS = YES +MSCGEN_PATH = +DIA_PATH = +HIDE_UNDOC_RELATIONS = YES +HAVE_DOT = NO +DOT_NUM_THREADS = 0 +DOT_FONTNAME = Helvetica +DOT_FONTSIZE = 10 +DOT_FONTPATH = +CLASS_GRAPH = YES +COLLABORATION_GRAPH = YES +GROUP_GRAPHS = YES +UML_LOOK = NO +UML_LIMIT_NUM_FIELDS = 10 +TEMPLATE_RELATIONS = NO +INCLUDE_GRAPH = YES +INCLUDED_BY_GRAPH = YES +CALL_GRAPH = NO +CALLER_GRAPH = NO +GRAPHICAL_HIERARCHY = YES +DIRECTORY_GRAPH = YES +DOT_IMAGE_FORMAT = png +INTERACTIVE_SVG = NO +DOT_PATH = +DOTFILE_DIRS = +MSCFILE_DIRS = +DIAFILE_DIRS = +DOT_GRAPH_MAX_NODES = 50 +MAX_DOT_GRAPH_DEPTH = 0 +DOT_TRANSPARENT = NO +DOT_MULTI_TARGETS = YES +GENERATE_LEGEND = YES +DOT_CLEANUP = YES diff --git a/DW1000/DW1000.cpp b/DW1000/DW1000.cpp index e63f16f1..45c05fdf 100644 --- a/DW1000/DW1000.cpp +++ b/DW1000/DW1000.cpp @@ -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; @@ -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); @@ -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(); @@ -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; } diff --git a/DW1000/DW1000.h b/DW1000/DW1000.h index 2324c6f9..486fa651 100644 --- a/DW1000/DW1000.h +++ b/DW1000/DW1000.h @@ -162,13 +162,15 @@ #define LEN_DRX_TUNE4H 2 // LDE_CFG1 (for re-tuning only) -#define LDE_CFG 0x2E +#define LDE_IF 0x2E #define LDE_CFG1_SUB 0x0806 +#define LDE_RXANTD_SUB 0x1804 #define LDE_CFG2_SUB 0x1806 #define LDE_REPC_SUB 0x2804 #define LEN_LDE_CFG1 1 #define LEN_LDE_CFG2 2 #define LEN_LDE_REPC 2 +#define LEN_LDE_RXANTD 2 // TX_POWER (for re-tuning only) #define TX_POWER 0x1E @@ -437,6 +439,7 @@ class DW1000Class { static byte _pulseFrequency; static byte _dataRate; static byte _pacSize; + static DW1000Time _antennaDelay; /* internal helper to remember how to properly act. */ static boolean _permanentReceive;