fixed DW1000Time (now uint64_t wrapper) - towards first useful rangin…

…g results

DW1000-arduino-test/DW1000-arduino-ping-pong-test/DW1000-arduino-ping-pong-test.ino

@@ -24,7 +24,7 @@
 #define RECEIVER false
 // toggle and message RX/TX
 // NOTE: the other Arduino needs to be configured with RECEIVER
-volatile boolean trxToggle = SENDER;
+volatile boolean trxToggle = RECEIVER;
 volatile boolean trxAck = false;
 volatile boolean rxError = false;
 String msg;
@@ -44,7 +44,6 @@ void setup() {
   DW1000.setDefaults();
   DW1000.setDeviceAddress(1);
   DW1000.setNetworkId(10);
-  DW1000.setFrameFilter(false);
   DW1000.commitConfiguration();
   Serial.println("Committed configuration ...");
   // DEBUG chip info and registers pretty printed

DW1000-arduino-test/DW1000-arduino-ranging-anchor/DW1000-arduino-ranging-anchor.ino

@@ -15,6 +15,11 @@
  * Complements the "DW1000-arduino-ranging-tag" sketch. 
  */
 
+/*
+ * TODO: ranging needs to be done more often and results have to be taken
+ * on average.
+ */
+
 #include <SPI.h>
 #include <DW1000.h>
 
@@ -118,51 +123,12 @@ void receiver() {
   DW1000.startReceive();
 }
 
-float getRange() {
+DW1000Time getRange() {
   // correct timestamps (in case system time counter wrap-arounds occured)
   // TODO
   // two roundtrip times - each minus message preparation times / 4
-  Serial.println("START DATA");
-  byte d[5];
-  char msgBuf[1024];
-  /*Serial.print("POLL RECEIVED ");
-  timePollReceived.getAsBytes(d);
-  memset(msgBuf, 0, 1024);
-  DW1000.getPrettyBytes(d, msgBuf, 5);
-  Serial.println(msgBuf);
-  Serial.print("POLL ACK SENT ");
-  timePollAckSent.getAsBytes(d);
-  memset(msgBuf, 0, 1024);
-  DW1000.getPrettyBytes(d, msgBuf, 5);
-  Serial.println(msgBuf);
-  Serial.print("RANGE RECEIVED ");
-  timeRangeReceived.getAsBytes(d);
-  memset(msgBuf, 0, 1024);
-  DW1000.getPrettyBytes(d, msgBuf, 5);
-  Serial.println(msgBuf);
-  Serial.print("POLL SENT ");
-  timePollSent.getAsBytes(d);
-  memset(msgBuf, 0, 1024);
-  DW1000.getPrettyBytes(d, msgBuf, 5);
-  Serial.println(msgBuf);
-  Serial.print("POLL ACK RECEIVED ");
-  timePollAckReceived.getAsBytes(d);
-  memset(msgBuf, 0, 1024);
-  DW1000.getPrettyBytes(d, msgBuf, 5);
-  Serial.println(msgBuf);
-  Serial.print("RANGE SENT ");
-  timeRangeSent.getAsBytes(d);
-  memset(msgBuf, 0, 1024);
-  DW1000.getPrettyBytes(d, msgBuf, 5);
-  Serial.println(msgBuf);*/
-
-  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 ((timePollAckReceived-timePollSent)-(timePollAckSent-timePollReceived) +
+      (timeRangeReceived-timePollAckSent)-(timeRangeSent-timePollAckReceived)) / 4;
 }
 
 void loop() {
@@ -197,16 +163,17 @@ void loop() {
       DW1000.getReceiveTimestamp(timeRangeReceived);
       expectedMsgId = POLL;
       if(!protocolFailed) {
-        timePollSent.setFromBytes(data+1);
-        timePollAckReceived.setFromBytes(data+6);
-        timeRangeSent.setFromBytes(data+11);
+        timePollSent.setTimestamp(data+1);
+        timePollAckReceived.setTimestamp(data+6);
+        timeRangeSent.setTimestamp(data+11);
         Serial.print("Received RANGE @ "); Serial.println(timeRangeReceived.getAsFloat());
         Serial.print("POLL sent @ "); Serial.println(timePollSent.getAsFloat());
         Serial.print("POLL ACK received @ "); Serial.println(timePollAckReceived.getAsFloat());
         Serial.print("RANGE sent @ "); Serial.println(timeRangeSent.getAsFloat());
-        float curRange = getRange();
-        Serial.print("Range time is "); Serial.println(curRange);
-        transmitRangeReport(curRange);
+        DW1000Time curRange = getRange();
+        Serial.print("Range time is "); Serial.println(curRange.getAsFloat(), 4);
+        Serial.print("Range is "); Serial.println(curRange.getAsMeters());
+        transmitRangeReport(curRange.getAsFloat());
       } else {
         transmitRangeFailed();
       }

DW1000-arduino-test/DW1000-arduino-ranging-tag/DW1000-arduino-ranging-tag.ino

@@ -15,6 +15,11 @@
  * Complements the "DW1000-arduino-ranging-anchor" sketch. 
  */
 
+ /*
+  * TODO: either ACK frames to check if message loss or watchdog timer to recover
+  * from protocol failure on tag side.
+  */
+
 #include <SPI.h>
 #include <DW1000.h>
 
@@ -91,14 +96,14 @@ void transmitRange() {
   DW1000.setDefaults();
   data[0] = RANGE;
   // delay sending the message and remember expected future sent timestamp
-  DW1000Time deltaTime = DW1000Time(50, DW1000Time::MILLISECONDS);
+  DW1000Time deltaTime = DW1000Time(10, DW1000Time::MILLISECONDS);
   timeRangeSent = DW1000.setDelay(deltaTime);
-  Serial.print("Expect RANGE to be sent @ "); Serial.println(timeRangeSent.getAsFloat());
-  timePollSent.getAsBytes(data+1);
-  timePollAckReceived.getAsBytes(data+6);
-  timeRangeSent.getAsBytes(data+11);
+  timePollSent.getTimestamp(data+1);
+  timePollAckReceived.getTimestamp(data+6);
+  timeRangeSent.getTimestamp(data+11);
   DW1000.setData(data, LEN_DATA);
   DW1000.startTransmit();
+  Serial.print("Expect RANGE to be sent @ "); Serial.println(timeRangeSent.getAsFloat());
 }
 
 void receiver() {

DW1000-arduino-test/DW1000-arduino-sender-test/DW1000-arduino-sender-test.ino

@@ -65,7 +65,8 @@ void transmitter() {
   String msg = "Hello DW1000, it's #"; msg += sentNum;
   DW1000.setData(msg);
   // delay sending the message for the given amount
-  DW1000Time deltaTime = DW1000Time(500, DW1000Time::MILLISECONDS);
+  //DW1000Time deltaTime = DW1000Time(500, DW1000Time::MILLISECONDS);
+  DW1000Time deltaTime = DW1000Time(10, DW1000Time::MILLISECONDS);
   DW1000.setDelay(deltaTime);
   DW1000.startTransmit();
   delaySent = millis();

DW1000-arduino-test/DW1000Time-arduino-test/DW1000Time-arduino-test.ino

@@ -0,0 +1,46 @@
+/*
+ * Copyright (c) 2015 by Thomas Trojer <thomas@trojer.net>
+ * Decawave DW1000 library for arduino.
+ *
+ * This file is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ *
+ * This is a simple unit test for the DW1000Time class. This test
+ * has no actual use to the operation of the DW1000.
+ */
+
+#include <SPI.h>
+#include <DW1000.h>
+
+void setup() {
+  Serial.begin(9600);
+  Serial.println("### DW1000Time-arduino-test ###");  
+}
+
+void loop() {
+  // variables for the test
+  DW1000Time time;
+  DW1000Time time2;
+  byte stamp[LEN_STAMP];
+  // unit test
+  Serial.print("Time is [us] ... "); Serial.println(time.getAsFloat(), 4);
+  time += DW1000Time(10, DW1000Time::MICROSECONDS);
+  Serial.print("Time is [us] ... "); Serial.println(time.getAsFloat(), 4);
+  time -= DW1000Time(500, DW1000Time::NANOSECONDS);
+  Serial.print("Time is [us] ... "); Serial.println(time.getAsFloat(), 4);
+  time2 = time;
+  time2 += DW1000Time(10.0f);
+  Serial.print("Time2 == Time1 ... "); Serial.println(time == time2 ? "YES" : "NO");
+  time += DW1000Time(10000, DW1000Time::NANOSECONDS);
+  Serial.print("Time2 == Time1 ... "); Serial.println(time == time2 ? "YES" : "NO");
+  memset(stamp, 0, LEN_STAMP);
+  stamp[1] = 0x02; // = 512
+  time2 = DW1000Time(stamp);
+  Serial.print("Time2 is [us] ... "); Serial.println(time2.getAsFloat(), 4);
+  Serial.print("Time2 range is [m] ... "); Serial.println(time2.getAsMeters(), 4);
+  // keep calm
+  delay(1000);
+}
+

DW1000/DW1000.cpp

@@ -746,7 +746,7 @@ void DW1000Class::commitConfiguration() {
 	byte antennaDelayBytes[LEN_STAMP];
 	// TODO setter + check not larger two bytes integer
 	writeValueToBytes(antennaDelayBytes, 16384, LEN_STAMP);
-	_antennaDelay.setFromBytes(antennaDelayBytes);
+	_antennaDelay.setTimestamp(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
@@ -781,7 +781,7 @@ DW1000Time DW1000Class::setDelay(const DW1000Time& delay) {
 	DW1000Time futureTime;
 	getSystemTimestamp(futureTime);
 	futureTime += delay;
-	futureTime.getAsBytes(delayBytes);
+	futureTime.getTimestamp(delayBytes);
 	delayBytes[0] = 0;
 	delayBytes[1] &= 0xFE;
 	writeBytes(DX_TIME, NO_SUB, delayBytes, LEN_DX_TIME);
@@ -947,19 +947,19 @@ void DW1000Class::getData(String& data) {
 void DW1000Class::getTransmitTimestamp(DW1000Time& time) {
 	byte txTimeBytes[LEN_TX_STAMP];
 	readBytes(TX_TIME, TX_STAMP_SUB, txTimeBytes, LEN_TX_STAMP);
-	time.setFromBytes(txTimeBytes);
+	time.setTimestamp(txTimeBytes);
 }
 
 void DW1000Class::getReceiveTimestamp(DW1000Time& time) {
 	byte rxTimeBytes[LEN_RX_STAMP];
 	readBytes(RX_TIME, RX_STAMP_SUB, rxTimeBytes, LEN_RX_STAMP);
-	time.setFromBytes(rxTimeBytes);
+	time.setTimestamp(rxTimeBytes);
 }
 
 void DW1000Class::getSystemTimestamp(DW1000Time& time) {
 	byte sysTimeBytes[LEN_SYS_TIME];
 	readBytes(SYS_TIME, NO_SUB, sysTimeBytes, LEN_SYS_TIME);
-	time.setFromBytes(sysTimeBytes);
+	time.setTimestamp(sysTimeBytes);
 }
 
 void DW1000Class::getTransmitTimestamp(byte data[]) {
@@ -982,10 +982,6 @@ boolean DW1000Class::isReceiveTimestampAvailable() {
 	return getBit(_sysstatus, LEN_SYS_STATUS, LDEDONE_BIT);
 }
 
-boolean DW1000Class::isLDEDone() {
-	return getBit(_sysstatus, LEN_SYS_STATUS, LDEDONE_BIT);
-}
-
 boolean DW1000Class::isReceiveDone() {
 	if(_frameCheck) {
 		return getBit(_sysstatus, LEN_SYS_STATUS, RXFCG_BIT);

DW1000/DW1000.h

@@ -464,7 +464,6 @@ class DW1000Class {
 	/* device status flags */
 	static boolean isReceiveTimestampAvailable();
 	static boolean isTransmitDone();
-	static boolean isLDEDone();
 	static boolean isReceiveDone();
 	static boolean isReceiveError();
 	static boolean isReceiveTimeout();