device mode printing + some progress on ranging

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

@@ -23,7 +23,8 @@
 #define SENDER true
 #define RECEIVER false
 // toggle and message RX/TX
-// NOTE: the other Arduino needs to be configured with RECEIVER
+// NOTE: the other Arduino needs to be configured with RECEIVER 
+//       (or SENDER respectively)
 volatile boolean trxToggle = RECEIVER;
 volatile boolean trxAck = false;
 volatile boolean rxError = false;
@@ -54,6 +55,8 @@ void setup() {
   Serial.print("Unique ID: "); Serial.println(msgInfo);
   DW1000.getPrintableNetworkIdAndShortAddress(msgInfo);
   Serial.print("Network ID & Device Address: "); Serial.println(msgInfo);
+  DW1000.getPrintableDeviceMode(msg);
+  Serial.print("Device mode: "); Serial.println(msg);
   // attach callback for (successfully) sent and received messages
   DW1000.attachSentHandler(handleSent);
   DW1000.attachReceivedHandler(handleReceived);

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

@@ -40,6 +40,8 @@ DW1000Time timePollAckSent;
 DW1000Time timePollAckReceived;
 DW1000Time timeRangeSent;
 DW1000Time timeRangeReceived;
+// last computed range/time
+DW1000Time timeComputedRange;
 // data buffer
 #define LEN_DATA 16
 byte data[LEN_DATA];
@@ -62,13 +64,15 @@ void setup() {
   DW1000.commitConfiguration();
   Serial.println("Committed configuration ...");
   // DEBUG chip info and registers pretty printed
-  char msg[1024];
+  char msg[256];
   DW1000.getPrintableDeviceIdentifier(msg);
   Serial.print("Device ID: "); Serial.println(msg);
   DW1000.getPrintableExtendedUniqueIdentifier(msg);
   Serial.print("Unique ID: "); Serial.println(msg);
   DW1000.getPrintableNetworkIdAndShortAddress(msg);
   Serial.print("Network ID & Device Address: "); Serial.println(msg);
+  DW1000.getPrintableDeviceMode(msg);
+  Serial.print("Device mode: "); Serial.println(msg);
   // attach callback for (successfully) sent and received messages
   DW1000.attachSentHandler(handleSent);
   DW1000.attachReceivedHandler(handleReceived);
@@ -92,7 +96,6 @@ void transmitPollAck() {
   data[0] = POLL_ACK;
   DW1000.setData(data, LEN_DATA);
   DW1000.startTransmit();
-  receiver();
 }
 
 void transmitRangeReport(float curRange) {
@@ -103,7 +106,6 @@ void transmitRangeReport(float curRange) {
   memcpy(data+1, &curRange, 4);
   DW1000.setData(data, LEN_DATA);
   DW1000.startTransmit();
-  receiver();
 }
 
 void transmitRangeFailed() {
@@ -112,7 +114,6 @@ void transmitRangeFailed() {
   data[0] = RANGE_FAILED;
   DW1000.setData(data, LEN_DATA);
   DW1000.startTransmit();
-  receiver();
 }
 
 void receiver() {
@@ -123,12 +124,16 @@ void receiver() {
   DW1000.startReceive();
 }
 
-DW1000Time getRange() {
+void computeRange() {
   // correct timestamps (in case system time counter wrap-arounds occured)
   // TODO
+  /*if(timePollAckReceived < timePollSent) {
+    timePollAckReceived += ...
+  }*/
   // two roundtrip times - each minus message preparation times / 4
-  return ((timePollAckReceived-timePollSent)-(timePollAckSent-timePollReceived) +
-      (timeRangeReceived-timePollAckSent)-(timeRangeSent-timePollAckReceived)) / 4;
+  DW1000Time tof = ((timePollAckReceived-timePollSent)-(timePollAckSent-timePollReceived) +
+      (timeRangeReceived-timePollAckSent)-(timeRangeSent-timePollAckReceived)) * 0.25f;
+  timeComputedRange.setTimestamp(tof);
 }
 
 void loop() {
@@ -141,9 +146,10 @@ void loop() {
     byte msgId = data[0];
     if(msgId == POLL_ACK) {
       DW1000.getTransmitTimestamp(timePollAckSent);
-      Serial.print("Sent POLL ACK @ "); Serial.println(timePollAckSent.getAsFloat());
+      //Serial.print("Sent POLL ACK @ "); Serial.println(timePollAckSent.getAsFloat());
     }
-  } else if(receivedAck) {
+  }
+  if(receivedAck) {
     receivedAck = false;
     // get message and parse
     DW1000.getData(data, LEN_DATA);
@@ -157,23 +163,24 @@ void loop() {
       protocolFailed = false;
       DW1000.getReceiveTimestamp(timePollReceived);
       expectedMsgId = RANGE;
-      Serial.print("Received POLL @ "); Serial.println(timePollReceived.getAsFloat());
       transmitPollAck();
+      //Serial.print("Received POLL @ "); Serial.println(timePollReceived.getAsFloat());
     } else if(msgId == RANGE) {
       DW1000.getReceiveTimestamp(timeRangeReceived);
       expectedMsgId = POLL;
       if(!protocolFailed) {
         timePollSent.setTimestamp(data+1);
         timePollAckReceived.setTimestamp(data+6);
         timeRangeSent.setTimestamp(data+11);
-        Serial.print("Received RANGE @ "); Serial.println(timeRangeReceived.getAsFloat());
+        // (re-)compute range as two-way ranging is done
+        computeRange();
+        transmitRangeReport(timeComputedRange.getAsFloat());
+        /*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());
-        DW1000Time curRange = getRange();
-        Serial.print("Range time is "); Serial.println(curRange.getAsFloat(), 4);
-        Serial.print("Range is "); Serial.println(curRange.getAsMeters());
-        transmitRangeReport(curRange.getAsFloat());
+        Serial.print("Range time is "); Serial.println(timeComputedRange.getAsFloat(), 4);*/
+        Serial.print("Range is [m] "); Serial.println(timeComputedRange.getAsMeters());
       } else {
         transmitRangeFailed();
       }

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

@@ -58,13 +58,15 @@ void setup() {
   DW1000.commitConfiguration();
   Serial.println("Committed configuration ...");
   // DEBUG chip info and registers pretty printed
-  char msg[1024];
+  char msg[256];
   DW1000.getPrintableDeviceIdentifier(msg);
   Serial.print("Device ID: "); Serial.println(msg);
   DW1000.getPrintableExtendedUniqueIdentifier(msg);
   Serial.print("Unique ID: "); Serial.println(msg);
   DW1000.getPrintableNetworkIdAndShortAddress(msg);
   Serial.print("Network ID & Device Address: "); Serial.println(msg);
+  DW1000.getPrintableDeviceMode(msg);
+  Serial.print("Device mode: "); Serial.println(msg);
   // attach callback for (successfully) sent and received messages
   DW1000.attachSentHandler(handleSent);
   DW1000.attachReceivedHandler(handleReceived);
@@ -103,7 +105,7 @@ void transmitRange() {
   timeRangeSent.getTimestamp(data+11);
   DW1000.setData(data, LEN_DATA);
   DW1000.startTransmit();
-  Serial.print("Expect RANGE to be sent @ "); Serial.println(timeRangeSent.getAsFloat());
+  //Serial.print("Expect RANGE to be sent @ "); Serial.println(timeRangeSent.getAsFloat());
 }
 
 void receiver() {
@@ -124,40 +126,41 @@ void loop() {
     byte msgId = data[0];
     if(msgId == POLL) {
       DW1000.getTransmitTimestamp(timePollSent);
-      Serial.print("Sent POLL @ "); Serial.println(timePollSent.getAsFloat());
+      //Serial.print("Sent POLL @ "); Serial.println(timePollSent.getAsFloat());
     } else if(msgId == RANGE) {
       DW1000.getTransmitTimestamp(timeRangeSent);
-      Serial.print("Sent RANGE @ "); Serial.println(timeRangeSent.getAsFloat());
+      //Serial.print("Sent RANGE @ "); Serial.println(timeRangeSent.getAsFloat());
     }
-  } else if(receivedAck) {
+  }
+  if(receivedAck) {
     receivedAck = false;
     // get message and parse
     DW1000.getData(data, LEN_DATA);
     byte msgId = data[0];
     if(msgId != expectedMsgId) {
       // unexpected message, start over again
       Serial.print("Received wrong message # "); Serial.println(msgId);
-      delay(2000);
+      delay(100);
       expectedMsgId = POLL_ACK;
       transmitPoll();
       return;
     }
     if(msgId == POLL_ACK) {
       DW1000.getReceiveTimestamp(timePollAckReceived);
       expectedMsgId = RANGE_REPORT;
-      Serial.print("Received POLL ACK @ "); Serial.println(timePollAckReceived.getAsFloat());
       transmitRange();
+      //Serial.print("Received POLL ACK @ "); Serial.println(timePollAckReceived.getAsFloat());
     } else if(msgId == RANGE_REPORT) {
       expectedMsgId = POLL_ACK;
       float curRange;
       memcpy(&curRange, data+1, 4);
-      Serial.print("Received RANGE REPORT = "); Serial.println(curRange);
-      delay(2000);
+      //Serial.print("Received RANGE REPORT = "); Serial.println(curRange);
+      delay(100);
       transmitPoll();
     } else if(msgId == RANGE_FAILED) {
       expectedMsgId = POLL_ACK;
       Serial.println("Received RANGE FAILED");
-      delay(2000);
+      delay(100);
       transmitPoll();
     }
   }

DW1000-arduino-test/DW1000-arduino-receiver-test/DW1000-arduino-receiver-test.ino

@@ -45,6 +45,8 @@ void setup() {
   Serial.print("Unique ID: "); Serial.println(msg);
   DW1000.getPrintableNetworkIdAndShortAddress(msg);
   Serial.print("Network ID & Device Address: "); Serial.println(msg);
+  DW1000.getPrintableDeviceMode(msg);
+  Serial.print("Device mode: "); Serial.println(msg);
   // attach callback for (successfully) received messages
   DW1000.attachReceivedHandler(handleReceived);
   DW1000.attachReceiveErrorHandler(handleReceiveError);

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

@@ -46,6 +46,8 @@ void setup() {
   Serial.print("Unique ID: "); Serial.println(msg);
   DW1000.getPrintableNetworkIdAndShortAddress(msg);
   Serial.print("Network ID & Device Address: "); Serial.println(msg);
+  DW1000.getPrintableDeviceMode(msg);
+  Serial.print("Device mode: "); Serial.println(msg);
   // attach callback for (successfully) sent messages
   DW1000.attachSentHandler(handleSent);
   // start a transmission
@@ -65,7 +67,6 @@ 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(10, DW1000Time::MILLISECONDS);
   DW1000.setDelay(deltaTime);
   DW1000.startTransmit();

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

@@ -23,6 +23,7 @@ void loop() {
   // variables for the test
   DW1000Time time;
   DW1000Time time2;
+  DW1000Time time3;
   byte stamp[LEN_STAMP];
   // unit test
   Serial.print("Time is [us] ... "); Serial.println(time.getAsFloat(), 4);
@@ -40,6 +41,10 @@ void loop() {
   time2 = DW1000Time(stamp);
   Serial.print("Time2 is [us] ... "); Serial.println(time2.getAsFloat(), 4);
   Serial.print("Time2 range is [m] ... "); Serial.println(time2.getAsMeters(), 4);
+  time3 = DW1000Time(10, DW1000Time::SECONDS);
+  time3.getTimestamp(stamp);
+  time3.setTimestamp(stamp);
+  Serial.print("Time3 is [s] ... "); Serial.println(time3.getAsFloat() * 1.0e-6, 4);
   // keep calm
   delay(1000);
 }