Diff: main.cpp

Revision:

40:5ce51b7e3118

Parent:

39:bb57aa77b015

Child:

41:0a3bb028d4ba

--- a/main.cpp	Sun Feb 22 17:40:38 2015 +0000
+++ b/main.cpp	Fri Feb 27 11:47:51 2015 +0000
@@ -8,9 +8,15 @@
 DW1000      dw(PA_7, PA_6, PA_5, PB_6, PB_9);       // Device driver instanceSPI pins: (MOSI, MISO, SCLK, CS, IRQ)
 MMRanging   r(dw);                                  // Ranging class for getting distances and later positions
 
-char message[100] = "";
+Timer LocalTimer;
+float time_before;
+
+int average[50];
+int average_index = 0;
+float averaged;
 
 int main() {
+    LocalTimer.start();
     pc.printf("DecaWave 0.2\r\nup and running!\r\n");  
     dw.setEUI(0xFAEDCD01FAEDCD01);                                  // basic methods called to check if we have a working SPI connection
     pc.printf("DEVICE_ID register: 0x%X\r\n", dw.getDeviceID());
@@ -19,13 +25,13 @@
     pc.printf("System Configuration: %llX\r\n", dw.readRegister40(DW1000_SYS_CFG, 0));
     pc.printf("Size of Rangingframe: %d\r\n", sizeof(r.TX));
     
-    uint16_t setdelay = 32300;//768; // TODO: = 2^15
+    uint16_t setdelay = 32768; // TODO: = 2^15
     dw.writeRegister16(DW1000_TX_ANTD, 0, setdelay);
     pc.printf("Antenna Delay TX: %d\r\n", dw.readRegister16(DW1000_TX_ANTD, 0));
     pc.printf("Antenna Delay RX: %d\r\n", dw.readRegister16(DW1000_LDE_CTRL, 0x1804));
     //r.receiver = true;
     if (r.receiver)
-        r.address = 2;
+        r.address = 1;
     else
         r.address = 0; // sender node has address 0
     pc.printf("Address: %d\r\n", r.address);
@@ -33,16 +39,30 @@
     
     while(1) {
         if (!r.receiver) {                  // Request ranging
-            r.requestRanging(1);            // TODO: ask all available nodes!
-            wait(0.005);
-            r.requestRanging(2);
-            wait(0.005);
-            pc.printf("%lld\r\n", r.tofs[2]); // logging output
+            for (int i = 1; i <= 4; i++) {
+                r.acknowledgement[i] = false;
+                r.requestRanging(i);            // TODO: ask all available nodes in MMRanging
+                time_before = LocalTimer.read();
+                while(!r.acknowledgement[i] && LocalTimer.read() < time_before + 0.5);
+                pc.printf("%f, ", (r.tofs[i]*300/MMRANGING_TIMEUNIT_US / 2) - 0.5);
+                //pc.printf("%2.6fs\r\n", LocalTimer.read() - time_before);
+            }
+            pc.printf("\r\n"); // logging output
         } else {
-            pc.printf("%lld\r\n", r.rangingtimingsReceiver[0][1] - r.rangingtimingsReceiver[0][0]);
+            //pc.printf("%lld\r\n", r.timeDifference40Bit(r.rangingtimingsReceiver[0][0], r.rangingtimingsReceiver[0][1]));
         }
         
-        
+        #if 0
+            pc.printf("Distance: %f\r\n", (r.tofs[2]*300/MMRANGING_TIMEUNIT_US / 2) - 0.5);
+            average[average_index] = r.tofs[2];
+            average_index++;
+            if(average_index == 50)
+                average_index = 0;
+            for(int i = 0; i < 50; i++)
+                averaged += average[i];
+            averaged /= 50;
+            pc.printf("Distance: %f\r\n", (averaged*300/MMRANGING_TIMEUNIT_US / 2) - 0.5);
+        #endif
         
         #if 0 // Output bars on console
             for(int i = 1; i < 3; i++) {
@@ -56,7 +76,7 @@
             }
         #endif
         
-        #if 0   // Output events for debugging
+        #ifdef EVENTS   // Output interrupt callback events for debugging (defined in MMRanging.h)
             for(int j = 0; j < 10; j++)
                 if(r.event[j][0] == '!') {
                     pc.printf("%s\r\n", r.event[j]);
@@ -68,6 +88,6 @@
         //pc.printf("TX Control: %llX\r\n", dw.readRegister40(DW1000_TX_FCTRL, 0));
         //pc.printf("\r\n");
         wait(0.02);
-        //wait(0.1);
+        wait(0.2);
     }
 }
\ No newline at end of file