From ed1542ae11d86993c71ead239a6e2f6eeb6bb1ad Mon Sep 17 00:00:00 2001 From: salty Date: Sat, 14 Mar 2026 12:30:26 -0400 Subject: [PATCH] feat: rewrite UWB firmware for DW1000 (all 3 boards) Anchor (esp32/uwb_anchor): - DW1000Ranging library (200m range, MODE_LONGDATA_RANGE_ACCURACY) - Unique addresses per anchor (anchor0/anchor1 build envs) - +RANGE output: anchor_id, tag_addr, range_mm, rssi - ESP-NOW receiver: forwards tag packets + priority E-STOP to Jetson - AT+ID? command Tag with Display (esp32/uwb_tag): - DW1000Ranging as tag, auto-discovers anchors - SSD1306 OLED: big distance, per-anchor ranges, RSSI bars, link status - ESP-NOW broadcast: range/heartbeat/estop packets - E-Stop on GPIO 0 (BOOT button), 10Hz TX while held - Display at 5Hz, ranging driven by DW1000Ranging.loop() Shared: - lib/DW1000/ extracted from mf_DW1000.zip (Makerfabs fork) - lib_extra_dirs for PlatformIO to find local library --- esp32/uwb_anchor/platformio.ini | 16 +- esp32/uwb_anchor/src/main.cpp | 485 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100644 lib/DW1000/src/deprecated.h create mode 100644 lib/DW1000/src/require_cpp11.h diff --git a/esp32/uwb_anchor/platformio.ini b/esp32/uwb_anchor/platformio.ini index 9d88d5f..a4f32c2 100644 --- a/esp32/uwb_anchor/platformio.ini +++ b/esp32/uwb_anchor/platformio.ini @@ -1,14 +1,9 @@ -; SaltyBot UWB Anchor Firmware — Issue #544 -; Target: Makerfabs ESP32 UWB Pro (DW3000 chip) -; -; Library: Makerfabs MaUWB_DW3000 -; https://github.com/Makerfabs/MaUWB_DW3000 +; SaltyBot UWB Anchor Firmware +; Target: Makerfabs ESP32 UWB Pro (DW1000, 200m range) ; ; Flash: -; pio run -e anchor0 --target upload (port-side anchor) -; pio run -e anchor1 --target upload (starboard anchor) -; Monitor: -; pio device monitor -e anchor0 -b 115200 +; pio run -e anchor0 --target upload (port-side) +; pio run -e anchor1 --target upload (starboard) [common] platform = espressif32 @@ -16,8 +11,7 @@ board = esp32dev framework = arduino monitor_speed = 115200 upload_speed = 921600 -lib_deps = - https://github.com/Makerfabs/MaUWB_DW3000.git +lib_extra_dirs = ../../lib build_flags = -DCORE_DEBUG_LEVEL=0 diff --git a/esp32/uwb_anchor/src/main.cpp b/esp32/uwb_anchor/src/main.cpp index eb484d6..40f7ab6 100644 --- a/esp32/uwb_anchor/src/main.cpp +++ b/esp32/uwb_anchor/src/main.cpp @@ -1,61 +1,57 @@ /* - * uwb_anchor — SaltyBot ESP32 UWB Pro anchor firmware (TWR responder) - * Issue #544 + * uwb_anchor — SaltyBot ESP32 UWB Pro anchor (DW1000 TWR responder) * - * Hardware: Makerfabs ESP32 UWB Pro (DW3000 chip) + * Hardware: Makerfabs ESP32 UWB Pro (DW1000, 200m range) + * Sits on robot body, USB-serial to Jetson Orin. + * Two anchors: anchor-0 (port), anchor-1 (starboard). * - * Role - * ──── - * Anchor sits on SaltyBot body, USB-connected to Jetson Orin. - * Two anchors per robot (anchor-0 port side, anchor-1 starboard). - * Person-worn tags initiate ranging; anchors respond. + * Serial output to Jetson (115200): + * +RANGE:,,,\r\n * - * Protocol: Double-Sided TWR (DS-TWR) - * ──────────────────────────────────── - * Tag → Anchor POLL (msg_type 0x01) - * Anchor → Tag RESP (msg_type 0x02, payload: T_poll_rx, T_resp_tx) - * Tag → Anchor FINAL (msg_type 0x03, payload: Ra, Da, Db timestamps) - * Anchor computes range via DS-TWR formula, emits +RANGE on Serial. + * Also receives ESP-NOW packets from tag and forwards: + * +ESPNOW:,,,,,,\r\n + * +ESTOP:\r\n (priority) * - * Serial output (115200 8N1, USB-CDC to Jetson) - * ────────────────────────────────────────────── - * +RANGE:,,\r\n (on each successful range) + * AT commands (host → anchor): + * AT+ID? → +ID: * - * AT commands (host → anchor) - * ─────────────────────────── - * AT+RANGE? → returns last buffered +RANGE line - * AT+RANGE_ADDR= → pair with specific tag (filter others) - * AT+RANGE_ADDR= → clear pairing (accept all tags) - * AT+ID? → returns +ID: - * - * Pin mapping — Makerfabs ESP32 UWB Pro - * ────────────────────────────────────── - * SPI SCK 18 SPI MISO 19 SPI MOSI 23 - * DW CS 21 DW RST 27 DW IRQ 34 - * - * Build - * ────── - * pio run -e anchor0 --target upload (port side) - * pio run -e anchor1 --target upload (starboard) + * Pin map — ESP32 UWB Pro (no display): + * SPI: SCK=18 MISO=19 MOSI=23 CS=4 + * DW1000: RST=27 IRQ=34 */ #include #include -#include #include #include #include -#include "dw3000.h" // Makerfabs MaUWB_DW3000 library +#include "DW1000Ranging.h" -/* ── Configurable ───────────────────────────────────────────────── */ +/* ── Config ─────────────────────────────────────────────────────── */ #ifndef ANCHOR_ID -# define ANCHOR_ID 0 /* 0 = port, 1 = starboard */ +# define ANCHOR_ID 0 #endif #define SERIAL_BAUD 115200 -/* ── ESP-NOW packet format (shared with tag firmware) ──────────── */ +/* Unique DW1000 address per anchor (last 2 bytes differ) */ +#if ANCHOR_ID == 0 +# define ANCHOR_ADDR "86:17:5B:D5:A9:9A:E2:00" +#else +# define ANCHOR_ADDR "86:17:5B:D5:A9:9A:E2:01" +#endif + +/* ── Pins (ESP32 UWB Pro, no display) ──────────────────────────── */ + +#define PIN_SCK 18 +#define PIN_MISO 19 +#define PIN_MOSI 23 +#define PIN_CS 4 +#define PIN_RST 27 +#define PIN_IRQ 34 + +/* ── ESP-NOW packet format (shared with tag) ───────────────────── */ #define ESPNOW_MAGIC_0 0x5B #define ESPNOW_MAGIC_1 0x01 @@ -79,157 +75,19 @@ struct EspNowPacket { }; #pragma pack(pop) -/* Ring buffer for received ESP-NOW packets (ISR → main loop) */ -#define ESPNOW_QUEUE_SIZE 8 -static volatile EspNowPacket g_espnow_queue[ESPNOW_QUEUE_SIZE]; -static volatile int g_espnow_head = 0; -static volatile int g_espnow_tail = 0; +/* ISR ring buffer for ESP-NOW */ +#define ESPNOW_Q_SIZE 8 +static volatile EspNowPacket g_enq[ESPNOW_Q_SIZE]; +static volatile int g_en_head = 0, g_en_tail = 0; static void IRAM_ATTR espnow_rx_cb(const uint8_t *mac, const uint8_t *data, int len) { if (len < (int)sizeof(EspNowPacket)) return; - const EspNowPacket *pkt = (const EspNowPacket *)data; - if (pkt->magic[0] != ESPNOW_MAGIC_0 || pkt->magic[1] != ESPNOW_MAGIC_1) return; - - int next = (g_espnow_head + 1) % ESPNOW_QUEUE_SIZE; - if (next == g_espnow_tail) return; /* queue full, drop */ - g_espnow_queue[g_espnow_head] = *pkt; - g_espnow_head = next; -} - -/* ── Pin map (Makerfabs ESP32 UWB Pro) ─────────────────────────── */ - -#define PIN_SCK 18 -#define PIN_MISO 19 -#define PIN_MOSI 23 -#define PIN_CS 21 -#define PIN_RST 27 -#define PIN_IRQ 34 - -/* ── DW3000 channel / PHY config ───────────────────────────────── */ - -static dwt_config_t dw_cfg = { - 5, /* channel 5 (6.5 GHz, best penetration) */ - DWT_PLEN_128, /* preamble length */ - DWT_PAC8, /* PAC size */ - 9, /* TX preamble code */ - 9, /* RX preamble code */ - 1, /* SFD type (IEEE 802.15.4z) */ - DWT_BR_6M8, /* data rate 6.8 Mbps */ - DWT_PHR_MODE_STD, /* standard PHR */ - DWT_PHR_RATE_DATA, - (129 + 8 - 8), /* SFD timeout */ - DWT_STS_MODE_OFF, /* STS off — standard TWR */ - DWT_STS_LEN_64, - DWT_PDOA_M0, /* no PDoA */ -}; - -/* ── Frame format ──────────────────────────────────────────────── */ - -/* Byte layout for all frames: - * [0] frame_type (FTYPE_*) - * [1] src_id (tag 8-bit addr, or ANCHOR_ID) - * [2] dst_id - * [3..] payload - * (FCS appended automatically by DW3000 — 2 bytes) - */ - -#define FTYPE_POLL 0x01 -#define FTYPE_RESP 0x02 -#define FTYPE_FINAL 0x03 - -#define FRAME_HDR 3 -#define FCS_LEN 2 - -/* RESP payload: T_poll_rx(5 B) + T_resp_tx(5 B) */ -#define RESP_PAYLOAD 10 -#define RESP_FRAME_LEN (FRAME_HDR + RESP_PAYLOAD + FCS_LEN) - -/* FINAL payload: Ra(5 B) + Da(5 B) + Db(5 B) */ -#define FINAL_PAYLOAD 15 -#define FINAL_FRAME_LEN (FRAME_HDR + FINAL_PAYLOAD + FCS_LEN) - -/* ── Timing ────────────────────────────────────────────────────── */ - -/* Turnaround delay: anchor waits 500 µs after poll_rx before tx_resp. - * DW3000 tick = 1/(128×499.2e6) ≈ 15.65 ps → 500 µs = ~31.95M ticks. - * Stored as uint32 shifted right 8 bits for dwt_setdelayedtrxtime. */ -#define RESP_TX_DLY_US 500UL -#define DWT_TICKS_PER_US 63898UL /* 1µs in DW3000 ticks (×8 prescaler) */ -#define RESP_TX_DLY_TICKS (RESP_TX_DLY_US * DWT_TICKS_PER_US) - -/* How long anchor listens for FINAL after sending RESP */ -#define FINAL_RX_TIMEOUT_US 3000 - -/* Speed of light (m/s) */ -#define SPEED_OF_LIGHT 299702547.0 - -/* DW3000 40-bit timestamp mask */ -#define DWT_TS_MASK 0xFFFFFFFFFFULL - -/* Antenna delay (factory default; calibrate per unit for best accuracy) */ -#define ANT_DELAY 16385 - -/* ── Interrupt flags (set in ISR, polled in main) ──────────────── */ - -static volatile bool g_rx_ok = false; -static volatile bool g_tx_done = false; -static volatile bool g_rx_err = false; -static volatile bool g_rx_to = false; - -static uint8_t g_rx_buf[128]; -static uint32_t g_rx_len = 0; - -/* ── State ──────────────────────────────────────────────────────── */ - -/* Last successful range (serves AT+RANGE? queries) */ -static int32_t g_last_range_mm = -1; -static char g_last_range_line[72] = {}; - -/* Optional tag pairing: 0 = accept all tags */ -static uint8_t g_paired_tag_id = 0; - -/* ── DW3000 ISR callbacks ───────────────────────────────────────── */ - -static void cb_tx_done(const dwt_cb_data_t *) { g_tx_done = true; } - -static void cb_rx_ok(const dwt_cb_data_t *d) { - g_rx_len = d->datalength; - if (g_rx_len > sizeof(g_rx_buf)) g_rx_len = sizeof(g_rx_buf); - dwt_readrxdata(g_rx_buf, g_rx_len, 0); - g_rx_ok = true; -} - -static void cb_rx_err(const dwt_cb_data_t *) { g_rx_err = true; } -static void cb_rx_to(const dwt_cb_data_t *) { g_rx_to = true; } - -/* ── Timestamp helpers ──────────────────────────────────────────── */ - -static uint64_t ts_read(const uint8_t *p) { - uint64_t v = 0; - for (int i = 4; i >= 0; i--) v = (v << 8) | p[i]; - return v; -} - -static void ts_write(uint8_t *p, uint64_t v) { - for (int i = 0; i < 5; i++, v >>= 8) p[i] = (uint8_t)(v & 0xFF); -} - -static inline uint64_t ts_diff(uint64_t later, uint64_t earlier) { - return (later - earlier) & DWT_TS_MASK; -} - -static inline double ticks_to_s(uint64_t t) { - return (double)t / (128.0 * 499200000.0); -} - -/* Estimate receive power from CIR diagnostics (dBm) */ -static float rx_power_dbm(void) { - dwt_rxdiag_t d; - dwt_readdiagnostics(&d); - if (d.maxGrowthCIR == 0 || d.rxPreamCount == 0) return 0.0f; - float f = (float)d.maxGrowthCIR; - float n = (float)d.rxPreamCount; - return 10.0f * log10f((f * f) / (n * n)) - 121.74f; + const EspNowPacket *p = (const EspNowPacket *)data; + if (p->magic[0] != ESPNOW_MAGIC_0 || p->magic[1] != ESPNOW_MAGIC_1) return; + int next = (g_en_head + 1) % ESPNOW_Q_SIZE; + if (next == g_en_tail) return; + g_enq[g_en_head] = *p; + g_en_head = next; } /* ── AT command handler ─────────────────────────────────────────── */ @@ -238,24 +96,8 @@ static char g_at_buf[64]; static int g_at_idx = 0; static void at_dispatch(const char *cmd) { - if (strcmp(cmd, "AT+RANGE?") == 0) { - if (g_last_range_mm >= 0) - Serial.println(g_last_range_line); - else - Serial.println("+RANGE:NO_DATA"); - - } else if (strcmp(cmd, "AT+ID?") == 0) { + if (strcmp(cmd, "AT+ID?") == 0) { Serial.printf("+ID:%d\r\n", ANCHOR_ID); - - } else if (strncmp(cmd, "AT+RANGE_ADDR=", 14) == 0) { - const char *v = cmd + 14; - if (*v == '\0') { - g_paired_tag_id = 0; - Serial.println("+OK:UNPAIRED"); - } else { - g_paired_tag_id = (uint8_t)strtoul(v, nullptr, 0); - Serial.printf("+OK:PAIRED=0x%02X\r\n", g_paired_tag_id); - } } else { Serial.println("+ERR:UNKNOWN_CMD"); } @@ -275,227 +117,86 @@ static void serial_poll(void) { } } -/* ── DS-TWR anchor state machine ────────────────────────────────── */ - -/* - * DS-TWR responder (one shot): - * 1. Wait for POLL from tag - * 2. Delayed-TX RESP (carry T_poll_rx + scheduled T_resp_tx) - * 3. Wait for FINAL from tag (tag embeds Ra, Da, Db) - * 4. Compute: Rb = T_final_rx − T_resp_tx - * tof = (Ra·Rb − Da·Db) / (Ra+Rb+Da+Db) - * range_m = tof × c - * 5. Print +RANGE line - */ -static void twr_cycle(void) { - - /* --- 1. Listen for POLL --- */ - dwt_setrxtimeout(0); - dwt_rxenable(DWT_START_RX_IMMEDIATE); - - g_rx_ok = g_rx_err = false; - uint32_t deadline = millis() + 2000; - while (!g_rx_ok && !g_rx_err) { - serial_poll(); - if (millis() > deadline) { - /* restart RX if we've been stuck */ - dwt_rxenable(DWT_START_RX_IMMEDIATE); - deadline = millis() + 2000; - } - yield(); - } - if (!g_rx_ok || g_rx_len < FRAME_HDR) return; - - /* validate POLL */ - if (g_rx_buf[0] != FTYPE_POLL) return; - uint8_t tag_id = g_rx_buf[1]; - if (g_paired_tag_id != 0 && tag_id != g_paired_tag_id) return; - - /* --- 2. Record T_poll_rx --- */ - uint8_t poll_rx_raw[5]; - dwt_readrxtimestamp(poll_rx_raw); - uint64_t T_poll_rx = ts_read(poll_rx_raw); - - /* Compute delayed TX time: poll_rx + turnaround, aligned to 512-tick grid */ - uint64_t resp_tx_sched = (T_poll_rx + RESP_TX_DLY_TICKS) & ~0x1FFULL; - - /* Build RESP frame */ - uint8_t resp[RESP_FRAME_LEN]; - resp[0] = FTYPE_RESP; - resp[1] = ANCHOR_ID; - resp[2] = tag_id; - ts_write(&resp[3], T_poll_rx); /* T_poll_rx (tag uses this) */ - ts_write(&resp[8], resp_tx_sched); /* scheduled T_resp_tx */ - - dwt_writetxdata(RESP_FRAME_LEN - FCS_LEN, resp, 0); - dwt_writetxfctrl(RESP_FRAME_LEN, 0, 1 /*ranging*/); - dwt_setdelayedtrxtime((uint32_t)(resp_tx_sched >> 8)); - - /* Enable RX after TX to receive FINAL */ - dwt_setrxaftertxdelay(300); - dwt_setrxtimeout(FINAL_RX_TIMEOUT_US); - - /* Fire delayed TX */ - g_tx_done = g_rx_ok = g_rx_err = g_rx_to = false; - if (dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED) != DWT_SUCCESS) { - dwt_forcetrxoff(); - return; /* TX window missed — try next cycle */ - } - - /* Wait for TX done (short wait, ISR fires fast) */ - uint32_t t0 = millis(); - while (!g_tx_done && millis() - t0 < 15) { yield(); } - - /* Read actual T_resp_tx */ - uint8_t resp_tx_raw[5]; - dwt_readtxtimestamp(resp_tx_raw); - uint64_t T_resp_tx = ts_read(resp_tx_raw); - - /* --- 3. Wait for FINAL --- */ - t0 = millis(); - while (!g_rx_ok && !g_rx_err && !g_rx_to && millis() - t0 < 60) { - serial_poll(); - yield(); - } - if (!g_rx_ok || g_rx_len < FRAME_HDR + FINAL_PAYLOAD) return; - if (g_rx_buf[0] != FTYPE_FINAL) return; - if (g_rx_buf[1] != tag_id) return; - - /* Extract DS-TWR timestamps from FINAL payload */ - uint64_t Ra = ts_read(&g_rx_buf[3]); /* tag: T_resp_rx − T_poll_tx */ - uint64_t Da = ts_read(&g_rx_buf[8]); /* tag: T_final_tx − T_resp_rx */ - /* g_rx_buf[13..17] = Db from tag (cross-check, unused here) */ - - /* T_final_rx */ - uint8_t final_rx_raw[5]; - dwt_readrxtimestamp(final_rx_raw); - uint64_t T_final_rx = ts_read(final_rx_raw); - - /* --- 4. DS-TWR formula --- */ - uint64_t Rb = ts_diff(T_final_rx, T_resp_tx); /* anchor round-trip */ - uint64_t Db = ts_diff(T_resp_tx, T_poll_rx); /* anchor turnaround */ - - double ra = ticks_to_s(Ra), rb = ticks_to_s(Rb); - double da = ticks_to_s(Da), db = ticks_to_s(Db); - - double denom = ra + rb + da + db; - if (denom < 1e-15) return; - - double tof = (ra * rb - da * db) / denom; - double range_m = tof * SPEED_OF_LIGHT; - - /* Validity window: 0.1 m – 130 m */ - if (range_m < 0.1 || range_m > 130.0) return; - - int32_t range_mm = (int32_t)(range_m * 1000.0 + 0.5); - float rssi = rx_power_dbm(); - - /* --- 5. Emit +RANGE --- */ - snprintf(g_last_range_line, sizeof(g_last_range_line), - "+RANGE:%d,%ld,%.1f", ANCHOR_ID, (long)range_mm, rssi); - g_last_range_mm = range_mm; - Serial.println(g_last_range_line); -} - -/* ── ESP-NOW packet processing (main loop context) ──────────────── */ +/* ── ESP-NOW processing ─────────────────────────────────────────── */ static void espnow_process(void) { - while (g_espnow_tail != g_espnow_head) { - const EspNowPacket &pkt = (const EspNowPacket &)g_espnow_queue[g_espnow_tail]; - g_espnow_tail = (g_espnow_tail + 1) % ESPNOW_QUEUE_SIZE; + while (g_en_tail != g_en_head) { + const EspNowPacket &pkt = (const EspNowPacket &)g_enq[g_en_tail]; + g_en_tail = (g_en_tail + 1) % ESPNOW_Q_SIZE; - /* E-STOP gets priority line */ if (pkt.msg_type == MSG_ESTOP) { - if (pkt.flags & 0x01) { + if (pkt.flags & 0x01) Serial.printf("+ESTOP:%d\r\n", pkt.tag_id); - } else { + else Serial.printf("+ESTOP_CLEAR:%d\r\n", pkt.tag_id); - } continue; } - /* Forward all other packets */ - Serial.printf("+ESPNOW:%d,%02X,%d,%ld,%.1f,%lu,%d,%02X,%d\r\n", - pkt.tag_id, - pkt.msg_type, - pkt.anchor_id, - (long)pkt.range_mm, - pkt.rssi_dbm, - (unsigned long)pkt.timestamp_ms, - pkt.battery_pct, - pkt.flags, - pkt.seq_num); + Serial.printf("+ESPNOW:%d,%02X,%ld,%.1f,%d,%02X,%d\r\n", + pkt.tag_id, pkt.msg_type, (long)pkt.range_mm, + pkt.rssi_dbm, pkt.battery_pct, pkt.flags, pkt.seq_num); } } -/* ── Arduino setup ──────────────────────────────────────────────── */ +/* ── DW1000Ranging callbacks ────────────────────────────────────── */ + +static void newRange(void) { + uint16_t tag_addr = DW1000Ranging.getDistantDevice()->getShortAddress(); + float range_m = DW1000Ranging.getDistantDevice()->getRange(); + float rxPow = DW1000Ranging.getDistantDevice()->getRXPower(); + + if (range_m < 0.0f || range_m > 250.0f) return; + + int32_t range_mm = (int32_t)(range_m * 1000.0f + 0.5f); + + Serial.printf("+RANGE:%d,%04X,%ld,%.1f\r\n", + ANCHOR_ID, tag_addr, (long)range_mm, rxPow); +} + +static void newBlink(DW1000Device *device) { + Serial.printf("+BLINK:%04X\r\n", device->getShortAddress()); +} + +static void inactiveDevice(DW1000Device *device) { + Serial.printf("+GONE:%04X\r\n", device->getShortAddress()); +} + +/* ── Setup ──────────────────────────────────────────────────────── */ void setup(void) { Serial.begin(SERIAL_BAUD); delay(300); + Serial.printf("\r\n[uwb_anchor] id=%d addr=%s starting\r\n", ANCHOR_ID, ANCHOR_ADDR); - Serial.printf("\r\n[uwb_anchor] anchor_id=%d starting\r\n", ANCHOR_ID); - - /* --- ESP-NOW receiver init --- */ + /* ESP-NOW receiver */ WiFi.mode(WIFI_STA); WiFi.disconnect(); esp_wifi_set_channel(1, WIFI_SECOND_CHAN_NONE); - if (esp_now_init() == ESP_OK) { esp_now_register_recv_cb(espnow_rx_cb); - Serial.println("[uwb_anchor] ESP-NOW receiver ok"); + Serial.println("[uwb_anchor] ESP-NOW rx ok"); } else { - Serial.println("[uwb_anchor] WARN: ESP-NOW init failed — tag relay disabled"); + Serial.println("[uwb_anchor] WARN: ESP-NOW failed"); } - SPI.begin(PIN_SCK, PIN_MISO, PIN_MOSI, PIN_CS); + /* DW1000 */ + SPI.begin(PIN_SCK, PIN_MISO, PIN_MOSI); + DW1000Ranging.initCommunication(PIN_RST, PIN_CS, PIN_IRQ); - /* Hardware reset */ - pinMode(PIN_RST, OUTPUT); - digitalWrite(PIN_RST, LOW); - delay(2); - pinMode(PIN_RST, INPUT_PULLUP); - delay(5); + DW1000Ranging.attachNewRange(newRange); + DW1000Ranging.attachBlinkDevice(newBlink); + DW1000Ranging.attachInactiveDevice(inactiveDevice); - /* DW3000 probe + init (Makerfabs MaUWB_DW3000 library) */ - if (dwt_probe((struct dwt_probe_s *)&dw3000_probe_interf)) { - Serial.println("[uwb_anchor] FATAL: DW3000 probe failed — check SPI wiring"); - for (;;) delay(1000); - } + DW1000Ranging.startAsAnchor(ANCHOR_ADDR, DW1000.MODE_LONGDATA_RANGE_ACCURACY, false); - if (dwt_initialise(DWT_DW_INIT) != DWT_SUCCESS) { - Serial.println("[uwb_anchor] FATAL: dwt_initialise failed"); - for (;;) delay(1000); - } - - if (dwt_configure(&dw_cfg) != DWT_SUCCESS) { - Serial.println("[uwb_anchor] FATAL: dwt_configure failed"); - for (;;) delay(1000); - } - - dwt_setrxantennadelay(ANT_DELAY); - dwt_settxantennadelay(ANT_DELAY); - dwt_settxpower(0x0E080222UL); /* max TX power for 120 m range */ - - dwt_setcallbacks(cb_tx_done, cb_rx_ok, cb_rx_to, cb_rx_err, - nullptr, nullptr, nullptr); - dwt_setinterrupt( - DWT_INT_TXFRS | DWT_INT_RFCG | DWT_INT_RFTO | - DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_ARFE | DWT_INT_CPERR, - 0, DWT_ENABLE_INT_ONLY); - - attachInterrupt(digitalPinToInterrupt(PIN_IRQ), - []() { dwt_isr(); }, RISING); - - Serial.printf("[uwb_anchor] DW3000 ready ch=%d 6.8Mbps id=%d\r\n", - dw_cfg.chan, ANCHOR_ID); + Serial.printf("[uwb_anchor] DW1000 ready id=%d MODE_LONGDATA_RANGE_ACCURACY\r\n", ANCHOR_ID); Serial.println("[uwb_anchor] Listening for tags..."); } -/* ── Arduino loop ───────────────────────────────────────────────── */ +/* ── Loop ───────────────────────────────────────────────────────── */ void loop(void) { serial_poll(); - espnow_process(); /* forward tag ESP-NOW packets to Jetson via serial */ - twr_cycle(); + espnow_process(); + DW1000Ranging.loop(); } diff --git a/esp32/uwb_tag/platformio.ini b/esp32/uwb_tag/platformio.ini index c5ba7ad..e4ca342 100644 --- a/esp32/uwb_tag/platformio.ini +++ b/esp32/uwb_tag/platformio.ini @@ -1,17 +1,8 @@ -; SaltyBot UWB Tag Firmware — Issue #545 -; Target: Makerfabs ESP32 UWB Pro with Display (DW3000 + SSD1306 OLED) -; -; The tag is battery-powered, worn by the person being tracked. -; It initiates DS-TWR ranging with each anchor in round-robin, -; shows status on OLED display, and sends data via ESP-NOW. -; -; Library: Makerfabs MaUWB_DW3000 -; https://github.com/Makerfabs/MaUWB_DW3000 +; SaltyBot UWB Tag Firmware +; Target: Makerfabs ESP32 UWB Pro with Display (DW1000 + SSD1306 OLED) ; ; Flash: ; pio run -e tag --target upload -; Monitor (USB debug): -; pio device monitor -b 115200 [env:tag] platform = espressif32 @@ -19,12 +10,10 @@ board = esp32dev framework = arduino monitor_speed = 115200 upload_speed = 921600 +lib_extra_dirs = ../../lib lib_deps = - https://github.com/Makerfabs/MaUWB_DW3000.git adafruit/Adafruit SSD1306@^2.5.7 adafruit/Adafruit GFX Library@^1.11.5 build_flags = -DCORE_DEBUG_LEVEL=0 - -DTAG_ID=0x01 ; unique per tag (0x01–0xFE) - -DNUM_ANCHORS=2 ; number of anchors to range with - -DRANGE_INTERVAL_MS=50 ; 20 Hz round-robin across anchors + -DTAG_ID=0x01 diff --git a/esp32/uwb_tag/src/main.cpp b/esp32/uwb_tag/src/main.cpp index db0a91e..375222d 100644 --- a/esp32/uwb_tag/src/main.cpp +++ b/esp32/uwb_tag/src/main.cpp @@ -1,77 +1,60 @@ /* - * uwb_tag — SaltyBot ESP32 UWB Pro tag firmware (DS-TWR initiator) - * Issue #545 + display/ESP-NOW/e-stop extensions + * uwb_tag — SaltyBot ESP32 UWB Pro with Display (DW1000 TWR initiator) * - * Hardware: Makerfabs ESP32 UWB Pro with Display (DW3000 + SSD1306 OLED) + * Hardware: Makerfabs ESP32 UWB Pro with Display + * DW1000 (200m range), SSD1306 128x64 OLED, LiPo battery * - * Role - * ──── - * Tag is worn by a person riding an EUC while SaltyBot follows. - * Initiates DS-TWR ranging with 2 anchors on the robot at 20 Hz. - * Shows distance/status on OLED. Sends range data via ESP-NOW - * (no WiFi AP needed — peer-to-peer, ~1ms latency, works outdoors). - * GPIO 0 = emergency stop button (active low). + * Worn by person on EUC while robot follows. + * Ranges with 2 anchors on robot, shows distance on OLED, + * broadcasts data via ESP-NOW, has e-stop on GPIO 0. * - * Serial output (USB, 115200) — debug - * ──────────────────────────────────── - * +RANGE:,,\r\n + * OLED display (5 Hz): + * Line 1: Big distance to nearest anchor + * Line 2: Per-anchor ranges + * Line 3: Link status + RSSI bars + * Line 4: Uptime + packet count * - * ESP-NOW packet (broadcast, 20 bytes) - * ───────────────────────────────────── - * [0-1] magic 0x5B 0x01 - * [2] tag_id - * [3] msg_type 0x10=range, 0x20=estop, 0x30=heartbeat - * [4] anchor_id - * [5-8] range_mm (int32_t LE) - * [9-12] rssi_dbm (float LE) - * [13-16] timestamp (uint32_t millis) - * [17] battery_pct (0-100 or 0xFF) - * [18] flags bit0=estop_active - * [19] seq_num_lo (uint8_t, rolling) + * ESP-NOW broadcast (20-byte packets): + * Range data after each successful TWR cycle + * Heartbeat every 1s even if ranging fails + * E-stop at 10 Hz while button held * - * Pin mapping — Makerfabs ESP32 UWB Pro with Display - * ────────────────────────────────────────────────── - * SPI SCK 18 SPI MISO 19 SPI MOSI 23 - * DW CS 21 DW RST 27 DW IRQ 34 - * I2C SDA 4 I2C SCL 5 OLED addr 0x3C - * LED 2 E-STOP 0 (BOOT, active LOW) + * Pin map — ESP32 UWB Pro with Display: + * SPI: SCK=18 MISO=19 MOSI=23 CS=21 (not 4! display board differs) + * DW1000: RST=27 IRQ=34 + * I2C: SDA=4 SCL=5 OLED @0x3C + * E-Stop: GPIO 0 (BOOT), active LOW + * LED: GPIO 2 */ #include #include #include -#include #include #include #include - -#include "dw3000.h" +#include "DW1000Ranging.h" #include #include -/* ── Configurable ───────────────────────────────────────────────── */ +/* ── Config ─────────────────────────────────────────────────────── */ #ifndef TAG_ID -# define TAG_ID 0x01 +# define TAG_ID 0x01 #endif -#ifndef NUM_ANCHORS -# define NUM_ANCHORS 2 -#endif +#define TAG_ADDR "7D:00:22:EA:82:60:3B:9B" -#ifndef RANGE_INTERVAL_MS -# define RANGE_INTERVAL_MS 50 /* 20 Hz round-robin */ -#endif - -#define SERIAL_BAUD 115200 +#define SERIAL_BAUD 115200 +#define NUM_ANCHORS 2 /* ── Pins ───────────────────────────────────────────────────────── */ #define PIN_SCK 18 #define PIN_MISO 19 #define PIN_MOSI 23 -#define PIN_CS 21 +#define PIN_CS 21 /* Display board uses 21, not 4 */ #define PIN_RST 27 #define PIN_IRQ 34 @@ -79,22 +62,19 @@ #define PIN_SCL 5 #define PIN_LED 2 -#define PIN_ESTOP 0 /* BOOT button, active LOW */ +#define PIN_ESTOP 0 /* ── OLED ───────────────────────────────────────────────────────── */ -#define SCREEN_W 128 -#define SCREEN_H 64 -Adafruit_SSD1306 display(SCREEN_W, SCREEN_H, &Wire, -1); +Adafruit_SSD1306 display(128, 64, &Wire, -1); /* ── ESP-NOW ────────────────────────────────────────────────────── */ -#define ESPNOW_MAGIC_0 0x5B /* "SB" */ -#define ESPNOW_MAGIC_1 0x01 /* v1 */ - -#define MSG_RANGE 0x10 -#define MSG_ESTOP 0x20 -#define MSG_HEARTBEAT 0x30 +#define ESPNOW_MAGIC_0 0x5B +#define ESPNOW_MAGIC_1 0x01 +#define MSG_RANGE 0x10 +#define MSG_ESTOP 0x20 +#define MSG_HEARTBEAT 0x30 static uint8_t broadcast_mac[6] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF}; static uint8_t g_seq = 0; @@ -111,113 +91,10 @@ struct EspNowPacket { uint8_t battery_pct; uint8_t flags; uint8_t seq_num; - uint8_t _pad; /* pad to 20 bytes */ + uint8_t _pad; }; #pragma pack(pop) -static_assert(sizeof(EspNowPacket) == 20, "packet must be 20 bytes"); - -/* ── DW3000 PHY config (must match anchor) ──────────────────────── */ - -static dwt_config_t dw_cfg = { - 5, /* channel 5 */ - DWT_PLEN_128, - DWT_PAC8, - 9, 9, /* TX/RX preamble code */ - 1, /* SFD type */ - DWT_BR_6M8, - DWT_PHR_MODE_STD, - DWT_PHR_RATE_DATA, - (129 + 8 - 8), - DWT_STS_MODE_OFF, - DWT_STS_LEN_64, - DWT_PDOA_M0, -}; - -/* ── Frame format ──────────────────────────────────────────────── */ - -#define FTYPE_POLL 0x01 -#define FTYPE_RESP 0x02 -#define FTYPE_FINAL 0x03 - -#define FRAME_HDR 3 -#define FCS_LEN 2 - -#define POLL_FRAME_LEN (FRAME_HDR + FCS_LEN) -#define RESP_PAYLOAD 10 -#define RESP_FRAME_LEN (FRAME_HDR + RESP_PAYLOAD + FCS_LEN) -#define FINAL_PAYLOAD 15 -#define FINAL_FRAME_LEN (FRAME_HDR + FINAL_PAYLOAD + FCS_LEN) - -/* ── Timing ────────────────────────────────────────────────────── */ - -#define FINAL_TX_DLY_US 500UL -#define DWT_TICKS_PER_US 63898UL -#define FINAL_TX_DLY_TICKS (FINAL_TX_DLY_US * DWT_TICKS_PER_US) -#define RESP_RX_TIMEOUT_US 3000 - -#define SPEED_OF_LIGHT 299702547.0 -#define DWT_TS_MASK 0xFFFFFFFFFFULL -#define ANT_DELAY 16385 - -/* ── ISR state ──────────────────────────────────────────────────── */ - -static volatile bool g_rx_ok = false; -static volatile bool g_tx_done = false; -static volatile bool g_rx_err = false; -static volatile bool g_rx_to = false; - -static uint8_t g_rx_buf[128]; -static uint32_t g_rx_len = 0; - -static void cb_tx_done(const dwt_cb_data_t *) { g_tx_done = true; } -static void cb_rx_ok(const dwt_cb_data_t *d) { - g_rx_len = d->datalength; - if (g_rx_len > sizeof(g_rx_buf)) g_rx_len = sizeof(g_rx_buf); - dwt_readrxdata(g_rx_buf, g_rx_len, 0); - g_rx_ok = true; -} -static void cb_rx_err(const dwt_cb_data_t *) { g_rx_err = true; } -static void cb_rx_to(const dwt_cb_data_t *) { g_rx_to = true; } - -/* ── Timestamp helpers ──────────────────────────────────────────── */ - -static uint64_t ts_read(const uint8_t *p) { - uint64_t v = 0; - for (int i = 4; i >= 0; i--) v = (v << 8) | p[i]; - return v; -} - -static void ts_write(uint8_t *p, uint64_t v) { - for (int i = 0; i < 5; i++, v >>= 8) p[i] = (uint8_t)(v & 0xFF); -} - -static inline uint64_t ts_diff(uint64_t later, uint64_t earlier) { - return (later - earlier) & DWT_TS_MASK; -} - -static inline double ticks_to_s(uint64_t t) { - return (double)t / (128.0 * 499200000.0); -} - -static float rx_power_dbm(void) { - dwt_rxdiag_t d; - dwt_readdiagnostics(&d); - if (d.maxGrowthCIR == 0 || d.rxPreamCount == 0) return 0.0f; - float f = (float)d.maxGrowthCIR; - float n = (float)d.rxPreamCount; - return 10.0f * log10f((f * f) / (n * n)) - 121.74f; -} - -/* ── Shared state for display ───────────────────────────────────── */ - -static int32_t g_anchor_range_mm[NUM_ANCHORS]; /* last range per anchor */ -static float g_anchor_rssi[NUM_ANCHORS]; /* last RSSI per anchor */ -static uint32_t g_anchor_last_ok[NUM_ANCHORS]; /* millis() of last good range */ -static bool g_estop_active = false; - -/* ── ESP-NOW send helper ────────────────────────────────────────── */ - static void espnow_send(uint8_t msg_type, uint8_t anchor_id, int32_t range_mm, float rssi) { EspNowPacket pkt = {}; @@ -229,39 +106,76 @@ static void espnow_send(uint8_t msg_type, uint8_t anchor_id, pkt.range_mm = range_mm; pkt.rssi_dbm = rssi; pkt.timestamp_ms = millis(); - pkt.battery_pct = 0xFF; /* TODO: read ADC battery voltage */ - pkt.flags = g_estop_active ? 0x01 : 0x00; + pkt.battery_pct = 0xFF; /* TODO: battery ADC */ + pkt.flags = 0; pkt.seq_num = g_seq++; - esp_now_send(broadcast_mac, (uint8_t *)&pkt, sizeof(pkt)); } -/* ── E-Stop handling ────────────────────────────────────────────── */ +/* ── Anchor tracking ────────────────────────────────────────────── */ +/* + * DW1000Ranging gives us callbacks with a device short address. + * We map the first 2 unique addresses we see to anchor 0 and 1. + */ +static uint16_t g_anchor_addrs[NUM_ANCHORS] = {0, 0}; +static int32_t g_anchor_range_mm[NUM_ANCHORS]; +static float g_anchor_rssi[NUM_ANCHORS]; +static uint32_t g_anchor_last_ok[NUM_ANCHORS]; +static int g_num_known_anchors = 0; + +static int anchor_index(uint16_t addr) { + for (int i = 0; i < g_num_known_anchors; i++) { + if (g_anchor_addrs[i] == addr) return i; + } + if (g_num_known_anchors < NUM_ANCHORS) { + int idx = g_num_known_anchors++; + g_anchor_addrs[idx] = addr; + Serial.printf("[uwb_tag] Mapped anchor %04X → A%d\r\n", addr, idx); + return idx; + } + return -1; /* more anchors than expected */ +} + +/* ── E-Stop ─────────────────────────────────────────────────────── */ + +static bool g_estop_active = false; static uint32_t g_estop_last_tx = 0; static void estop_check(void) { bool pressed = (digitalRead(PIN_ESTOP) == LOW); if (pressed && !g_estop_active) { - /* Just pressed — enter e-stop */ g_estop_active = true; Serial.println("+ESTOP:ACTIVE"); } if (g_estop_active && pressed) { - /* While held: send e-stop at 10 Hz */ if (millis() - g_estop_last_tx >= 100) { - espnow_send(MSG_ESTOP, 0xFF, 0, 0.0f); + EspNowPacket pkt = {}; + pkt.magic[0] = ESPNOW_MAGIC_0; + pkt.magic[1] = ESPNOW_MAGIC_1; + pkt.tag_id = TAG_ID; + pkt.msg_type = MSG_ESTOP; + pkt.flags = 0x01; + pkt.seq_num = g_seq++; + pkt.timestamp_ms = millis(); + esp_now_send(broadcast_mac, (uint8_t *)&pkt, sizeof(pkt)); g_estop_last_tx = millis(); } } if (!pressed && g_estop_active) { - /* Released: send 3x clear packets, resume */ for (int i = 0; i < 3; i++) { - g_estop_active = false; /* clear flag before sending so flags=0 */ - espnow_send(MSG_ESTOP, 0xFF, 0, 0.0f); + EspNowPacket pkt = {}; + pkt.magic[0] = ESPNOW_MAGIC_0; + pkt.magic[1] = ESPNOW_MAGIC_1; + pkt.tag_id = TAG_ID; + pkt.msg_type = MSG_ESTOP; + pkt.flags = 0x00; /* clear */ + pkt.seq_num = g_seq++; + pkt.timestamp_ms = millis(); + esp_now_send(broadcast_mac, (uint8_t *)&pkt, sizeof(pkt)); delay(10); } g_estop_active = false; @@ -269,18 +183,17 @@ static void estop_check(void) { } } -/* ── OLED display update (5 Hz) ─────────────────────────────────── */ +/* ── OLED display (5 Hz) ────────────────────────────────────────── */ -static uint32_t g_display_last = 0; +static uint32_t g_disp_last = 0; static void display_update(void) { - if (millis() - g_display_last < 200) return; - g_display_last = millis(); + if (millis() - g_disp_last < 200) return; + g_disp_last = millis(); display.clearDisplay(); if (g_estop_active) { - /* Big E-STOP warning */ display.setTextSize(3); display.setTextColor(SSD1306_WHITE); display.setCursor(10, 4); @@ -301,7 +214,7 @@ static void display_update(void) { min_range = g_anchor_range_mm[i]; } - /* Line 1: Big distance to nearest anchor */ + /* Line 1: Big distance */ display.setTextSize(3); display.setTextColor(SSD1306_WHITE); display.setCursor(0, 0); @@ -318,16 +231,15 @@ static void display_update(void) { /* Line 2: Both anchor ranges */ display.setTextSize(1); display.setCursor(0, 30); - for (int i = 0; i < NUM_ANCHORS && i < 2; i++) { + for (int i = 0; i < NUM_ANCHORS; i++) { if (g_anchor_range_mm[i] > 0) { - float m = g_anchor_range_mm[i] / 1000.0f; - display.printf("A%d:%.1fm ", i, m); + display.printf("A%d:%.1fm ", i, g_anchor_range_mm[i] / 1000.0f); } else { display.printf("A%d:--- ", i); } } - /* Line 3: Connection status */ + /* Line 3: Link status + RSSI bars */ display.setCursor(0, 42); bool any_linked = false; for (int i = 0; i < NUM_ANCHORS; i++) { @@ -338,7 +250,6 @@ static void display_update(void) { } if (any_linked) { - /* RSSI bar: map -90..-30 dBm to 0-5 bars */ float best_rssi = -100.0f; for (int i = 0; i < NUM_ANCHORS; i++) { if (g_anchor_rssi[i] > best_rssi) best_rssi = g_anchor_rssi[i]; @@ -346,7 +257,6 @@ static void display_update(void) { int bars = constrain((int)((best_rssi + 90.0f) / 12.0f), 0, 5); display.print(F("LINKED ")); - /* Draw signal bars */ for (int b = 0; b < 5; b++) { int x = 50 + b * 6; int h = 2 + b * 2; @@ -356,101 +266,56 @@ static void display_update(void) { else display.drawRect(x, y, 4, h, SSD1306_WHITE); } - display.printf(" %.0fdB", best_rssi); + display.printf(" %.0f", best_rssi); } else { display.println(F("LOST -- searching --")); } - /* Line 4: Uptime */ + /* Line 4: Uptime + seq */ display.setCursor(0, 54); uint32_t secs = now / 1000; - display.printf("UP %02d:%02d seq:%d", secs / 60, secs % 60, g_seq); + display.printf("UP %02d:%02d pkt:%d", secs / 60, secs % 60, g_seq); display.display(); } -/* ── DS-TWR initiator (one anchor, one cycle) ───────────────────── */ +/* ── DW1000Ranging callbacks ────────────────────────────────────── */ -static int32_t twr_range_once(uint8_t anchor_id) { +static void newRange(void) { + uint16_t addr = DW1000Ranging.getDistantDevice()->getShortAddress(); + float range = DW1000Ranging.getDistantDevice()->getRange(); + float rxPow = DW1000Ranging.getDistantDevice()->getRXPower(); - /* --- 1. TX POLL --- */ - uint8_t poll[POLL_FRAME_LEN]; - poll[0] = FTYPE_POLL; - poll[1] = TAG_ID; - poll[2] = anchor_id; + if (range < 0.0f || range > 250.0f) return; - dwt_writetxdata(POLL_FRAME_LEN - FCS_LEN, poll, 0); - dwt_writetxfctrl(POLL_FRAME_LEN, 0, 1); + int idx = anchor_index(addr); + int32_t range_mm = (int32_t)(range * 1000.0f + 0.5f); - dwt_setrxaftertxdelay(300); - dwt_setrxtimeout(RESP_RX_TIMEOUT_US); - - g_tx_done = g_rx_ok = g_rx_err = g_rx_to = false; - if (dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED) != DWT_SUCCESS) - return -1; - - uint32_t t0 = millis(); - while (!g_tx_done && millis() - t0 < 15) yield(); - - uint8_t poll_tx_raw[5]; - dwt_readtxtimestamp(poll_tx_raw); - uint64_t T_poll_tx = ts_read(poll_tx_raw); - - /* --- 2. Wait for RESP --- */ - t0 = millis(); - while (!g_rx_ok && !g_rx_err && !g_rx_to && millis() - t0 < 60) yield(); - if (!g_rx_ok || g_rx_len < FRAME_HDR + RESP_PAYLOAD) return -1; - if (g_rx_buf[0] != FTYPE_RESP) return -1; - if (g_rx_buf[2] != TAG_ID) return -1; - if (g_rx_buf[1] != anchor_id) return -1; - - uint8_t resp_rx_raw[5]; - dwt_readrxtimestamp(resp_rx_raw); - uint64_t T_resp_rx = ts_read(resp_rx_raw); - - uint64_t T_poll_rx_a = ts_read(&g_rx_buf[3]); - uint64_t T_resp_tx_a = ts_read(&g_rx_buf[8]); - - /* --- 3. Compute DS-TWR values for FINAL --- */ - uint64_t Ra = ts_diff(T_resp_rx, T_poll_tx); - uint64_t Db = ts_diff(T_resp_tx_a, T_poll_rx_a); - - uint64_t final_tx_sched = (T_resp_rx + FINAL_TX_DLY_TICKS) & ~0x1FFULL; - uint64_t Da = ts_diff(final_tx_sched, T_resp_rx); - - /* --- 4. TX FINAL --- */ - uint8_t final_buf[FINAL_FRAME_LEN]; - final_buf[0] = FTYPE_FINAL; - final_buf[1] = TAG_ID; - final_buf[2] = anchor_id; - ts_write(&final_buf[3], Ra); - ts_write(&final_buf[8], Da); - ts_write(&final_buf[13], Db); - - dwt_writetxdata(FINAL_FRAME_LEN - FCS_LEN, final_buf, 0); - dwt_writetxfctrl(FINAL_FRAME_LEN, 0, 1); - dwt_setdelayedtrxtime((uint32_t)(final_tx_sched >> 8)); - - g_tx_done = false; - if (dwt_starttx(DWT_START_TX_DELAYED) != DWT_SUCCESS) { - dwt_forcetrxoff(); - return -1; + if (idx >= 0) { + g_anchor_range_mm[idx] = range_mm; + g_anchor_rssi[idx] = rxPow; + g_anchor_last_ok[idx] = millis(); } - t0 = millis(); - while (!g_tx_done && millis() - t0 < 15) yield(); - /* --- 5. Local range estimate (debug) --- */ - uint8_t final_tx_raw[5]; - dwt_readtxtimestamp(final_tx_raw); - /* uint64_t T_final_tx = ts_read(final_tx_raw); -- unused, tag uses SS estimate */ + /* Serial debug */ + Serial.printf("+RANGE:%d,%04X,%ld,%.1f\r\n", + (idx >= 0 ? idx : 99), addr, (long)range_mm, rxPow); - double ra = ticks_to_s(Ra); - double db = ticks_to_s(Db); - double tof = (ra - db) / 2.0; - double range_m = tof * SPEED_OF_LIGHT; + /* ESP-NOW broadcast */ + espnow_send(MSG_RANGE, (uint8_t)(idx >= 0 ? idx : 0xFF), range_mm, rxPow); - if (range_m < 0.1 || range_m > 130.0) return -1; - return (int32_t)(range_m * 1000.0 + 0.5); + /* LED blink */ + digitalWrite(PIN_LED, HIGH); + delay(1); + digitalWrite(PIN_LED, LOW); +} + +static void newDevice(DW1000Device *device) { + Serial.printf("+NEW:%04X\r\n", device->getShortAddress()); +} + +static void inactiveDevice(DW1000Device *device) { + Serial.printf("+GONE:%04X\r\n", device->getShortAddress()); } /* ── Setup ──────────────────────────────────────────────────────── */ @@ -459,18 +324,16 @@ void setup(void) { Serial.begin(SERIAL_BAUD); delay(300); - /* E-Stop button */ pinMode(PIN_ESTOP, INPUT_PULLUP); pinMode(PIN_LED, OUTPUT); digitalWrite(PIN_LED, LOW); - Serial.printf("\r\n[uwb_tag] tag_id=0x%02X num_anchors=%d starting\r\n", - TAG_ID, NUM_ANCHORS); + Serial.printf("\r\n[uwb_tag] tag_id=0x%02X starting\r\n", TAG_ID); - /* --- OLED init --- */ + /* OLED */ Wire.begin(PIN_SDA, PIN_SCL); if (!display.begin(SSD1306_SWITCHCAPVCC, 0x3C)) { - Serial.println("[uwb_tag] WARN: SSD1306 not found — running headless"); + Serial.println("[uwb_tag] WARN: SSD1306 not found"); } else { display.clearDisplay(); display.setTextSize(2); @@ -479,137 +342,70 @@ void setup(void) { display.println(F("SaltyBot")); display.setTextSize(1); display.setCursor(0, 20); - display.printf("Tag 0x%02X v2.0", TAG_ID); + display.printf("Tag 0x%02X", TAG_ID); display.setCursor(0, 35); - display.println(F("DW3000 DS-TWR + ESP-NOW")); + display.println(F("DW1000 200m + ESP-NOW")); display.setCursor(0, 50); - display.println(F("Initializing...")); + display.println(F("Searching anchors...")); display.display(); - Serial.println("[uwb_tag] OLED ok"); } - /* --- ESP-NOW init --- */ + /* ESP-NOW */ WiFi.mode(WIFI_STA); WiFi.disconnect(); - /* Set WiFi channel to match anchors (default ch 1) */ esp_wifi_set_channel(1, WIFI_SECOND_CHAN_NONE); - - if (esp_now_init() != ESP_OK) { - Serial.println("[uwb_tag] FATAL: esp_now_init failed"); - for (;;) delay(1000); + if (esp_now_init() == ESP_OK) { + esp_now_peer_info_t peer = {}; + memcpy(peer.peer_addr, broadcast_mac, 6); + peer.channel = 0; + peer.encrypt = false; + esp_now_add_peer(&peer); + Serial.println("[uwb_tag] ESP-NOW tx ok"); + } else { + Serial.println("[uwb_tag] WARN: ESP-NOW failed"); } - /* Add broadcast peer */ - esp_now_peer_info_t peer = {}; - memcpy(peer.peer_addr, broadcast_mac, 6); - peer.channel = 0; /* use current channel */ - peer.encrypt = false; - esp_now_add_peer(&peer); - Serial.println("[uwb_tag] ESP-NOW ok"); + /* DW1000 */ + SPI.begin(PIN_SCK, PIN_MISO, PIN_MOSI); + DW1000Ranging.initCommunication(PIN_RST, PIN_CS, PIN_IRQ); - /* --- DW3000 init --- */ - SPI.begin(PIN_SCK, PIN_MISO, PIN_MOSI, PIN_CS); + DW1000Ranging.attachNewRange(newRange); + DW1000Ranging.attachNewDevice(newDevice); + DW1000Ranging.attachInactiveDevice(inactiveDevice); - pinMode(PIN_RST, OUTPUT); - digitalWrite(PIN_RST, LOW); - delay(2); - pinMode(PIN_RST, INPUT_PULLUP); - delay(5); + DW1000Ranging.startAsTag(TAG_ADDR, DW1000.MODE_LONGDATA_RANGE_ACCURACY); - if (dwt_probe((struct dwt_probe_s *)&dw3000_probe_interf)) { - Serial.println("[uwb_tag] FATAL: DW3000 probe failed"); - for (;;) delay(1000); - } - - if (dwt_initialise(DWT_DW_INIT) != DWT_SUCCESS) { - Serial.println("[uwb_tag] FATAL: dwt_initialise failed"); - for (;;) delay(1000); - } - - if (dwt_configure(&dw_cfg) != DWT_SUCCESS) { - Serial.println("[uwb_tag] FATAL: dwt_configure failed"); - for (;;) delay(1000); - } - - dwt_setrxantennadelay(ANT_DELAY); - dwt_settxantennadelay(ANT_DELAY); - dwt_settxpower(0x0E080222UL); - - dwt_setcallbacks(cb_tx_done, cb_rx_ok, cb_rx_to, cb_rx_err, - nullptr, nullptr, nullptr); - dwt_setinterrupt( - DWT_INT_TXFRS | DWT_INT_RFCG | DWT_INT_RFTO | - DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_ARFE | DWT_INT_CPERR, - 0, DWT_ENABLE_INT_ONLY); - - attachInterrupt(digitalPinToInterrupt(PIN_IRQ), - []() { dwt_isr(); }, RISING); - - /* Init range state */ + /* Init state */ for (int i = 0; i < NUM_ANCHORS; i++) { g_anchor_range_mm[i] = -1; g_anchor_rssi[i] = -100.0f; g_anchor_last_ok[i] = 0; } - Serial.printf("[uwb_tag] DW3000 ready ch=%d 6.8Mbps tag=0x%02X\r\n", - dw_cfg.chan, TAG_ID); - Serial.println("[uwb_tag] Ranging + ESP-NOW + display active"); + Serial.println("[uwb_tag] DW1000 ready MODE_LONGDATA_RANGE_ACCURACY"); + Serial.println("[uwb_tag] Ranging + display + ESP-NOW active"); } -/* ── Main loop ──────────────────────────────────────────────────── */ +/* ── Loop ───────────────────────────────────────────────────────── */ + +static uint32_t g_last_hb = 0; void loop(void) { - static uint8_t anchor_idx = 0; - static uint32_t last_range_ms = 0; - static uint32_t last_hb_ms = 0; - - /* E-Stop always has priority */ + /* E-stop always first */ estop_check(); - if (g_estop_active) { - display_update(); - return; /* skip ranging while e-stop active */ - } - /* Heartbeat every 1 second */ - uint32_t now = millis(); - if (now - last_hb_ms >= 1000) { + /* Heartbeat every 1s */ + if (millis() - g_last_hb >= 1000) { espnow_send(MSG_HEARTBEAT, 0xFF, 0, 0.0f); - last_hb_ms = now; + g_last_hb = millis(); } - /* Ranging at configured interval */ - if (now - last_range_ms >= RANGE_INTERVAL_MS) { - last_range_ms = now; - - uint8_t anchor_id = anchor_idx % NUM_ANCHORS; - int32_t range_mm = twr_range_once(anchor_id); - - if (range_mm > 0) { - float rssi = rx_power_dbm(); - - /* Update shared state for display */ - g_anchor_range_mm[anchor_id] = range_mm; - g_anchor_rssi[anchor_id] = rssi; - g_anchor_last_ok[anchor_id] = now; - - /* Serial debug */ - Serial.printf("+RANGE:%d,%ld,%.1f\r\n", - anchor_id, (long)range_mm, rssi); - - /* ESP-NOW broadcast */ - espnow_send(MSG_RANGE, anchor_id, range_mm, rssi); - - /* LED blink */ - digitalWrite(PIN_LED, HIGH); - delay(2); - digitalWrite(PIN_LED, LOW); - } - - anchor_idx++; - if (anchor_idx >= NUM_ANCHORS) anchor_idx = 0; + /* DW1000Ranging handles TWR internally — + calls newRange() callback when range is available */ + if (!g_estop_active) { + DW1000Ranging.loop(); } - /* Display at 5 Hz (non-blocking) */ + /* Display at 5 Hz */ display_update(); } diff --git a/lib/DW1000/LICENSE.md b/lib/DW1000/LICENSE.md new file mode 100644 index 0000000..4b795af --- /dev/null +++ b/lib/DW1000/LICENSE.md @@ -0,0 +1,176 @@ +Apache License + Version 2.0, January 2004 + https://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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They maybe help others. + +**TODOs:** +* Fill wiki: https://github.com/thotro/arduino-dw1000/wiki +* MAC and frame filtering, error handling +* Sleep/power optimizations +* Refactor `DW1000Mac` +* Refactor `DW1000Ranging` +* Refactor `DW1000Device` +* Update examples (complete todos in header notice) + +**What can I do with this lib?:** +Stable transmission of messages between two modules is possible. The code for device tuning is working as well, hence different modes of operation can be chosen. As frame filtering (i.e. via MAC conforming messages) is partially implemented yet, internal features of the chip for node addressing and auto-acknowledgement of messages can not be used. This is part of a future milestone. For now, if acknowledgements are required, they have to be sent manually and node addresses have to be encoded in the message payload and processed by the host controller. + +**General notice:** +* The documentation https://github.com/thotro/arduino-dw1000/tree/master/extras/doc is manually generated and maybe out of date. +* Datasheet and application notices are available at https://www.decawave.com/ (require free registration). + +Installation +------------ + +**Requires c++11 support**, Arduino IDE >= 1.6.6 support c++11. + + 1. Get a ZIP file of the master branch or the latest release and save somewhere on your machine. + 2. Open your Arduino IDE and goto _Sketch_ / _Include Library_ / _Add .ZIP Library..._ + 3. Select the downloaded ZIP file of the DW1000 library + 4. You should now see the library in the list and have access to the examples in the dedicated section of the IDE + +Note that in version 1.6.6 of your Arduino IDE you can get the library via the Arduino library manager. + +Contents +-------- + + * [Project structure](../../wiki/Project-structure) + * [Features and design intentions](../../wiki/Features) + * [Testbed and Adapter board](../../wiki/Testbed-and-Adapter-board) + * [Projects, Media, Links](../../wiki/Projects) + * [Benchmarks](../../wiki/Benchmarks) + * API docs + * [HTML](https://cdn.rawgit.com/thotro/arduino-dw1000/master/extras/doc/html/index.html) + * [PDF](https://cdn.rawgit.com/thotro/arduino-dw1000/master/extras/doc/DW1000_Arduino_API_doc.pdf) + +Usage +----- + +General usage of the DW1000 library is depicted below. Please see the Arduino test example codes (described in the [project structure](../../wiki/Project-structure)) for more up-to-date and operational reference usage. + +At the moment the library contains two types: + * **DW1000:** + State: stable. + The statically accessible entity to work with your modules. Offers a variety of configuration options and manages module states and actions. + + * **DW1000Time:** + State: stable. + Container entities that handle DW1000 specific timing values. These are required to allow accurate timestamps and time based computations; they aid in avoiding potential precision and capacity problems of standard number formats in Arduino and basically are wrapper objects for 64-bit signed integer data types; most importantly they take care of all bit-to-time-and-distance (and vice versa) conversions. + + * **DW1000Ranging:** + State: prototype. + Contain all functions which allow to make the ranging protocole. + + * **DW1000Device:** + State: prototype. + Contain all informations (long address, short ephemeral address, DW1000Time of transition) about a distant device (anchor or tag) on the same network. + + * **DW1000Mac:** + State: prototype. + This class is a child of the DW1000Device class and allow to generate the MAC frame for his DW1000Device parent. + + +```Arduino +#include +... +// init with interrupt line and optionally with reset line +DW1000.begin(irq_pin[, rst_pin]); +// select a specific chip via a chip select line +DW1000.select(cs_pin); +// or use DW1000.reselect(cs_pin) to switch to previously selected chip +... +// open a device configuration sessions +DW1000.newConfiguration(); +// configure specific aspects and/or choose defaults +DW1000.setDefaults(); +DW1000.setDeviceAddress(5); +DW1000.setNetworkId(10); +// modes that define data rate, frequency, etc. (see API docs) +DW1000.enableMode(DW1000.MODE_LONGDATA_RANGE_LOWPOWER); +// ... and other stuff - finally upload to the module. +DW1000.commitConfiguration(); +... +// set some interrupt callback routines +DW1000.attachSentHandler(some_handler_function); +DW1000.attachReceivedHandler(another_handler_function); +... +// open a new transmit session +DW1000.newTransmit(); +// configure specific aspects and/or choose defaults +DW1000.setDefaults(); +DW1000.setData(some_data); +DW1000Time delayTime = DW1000Time(100, DW1000Time::MILLISECONDS); +[DW1000Time futureTimestamp = ]DW1000.setDelay(delayTime); +// ... and other stuff - finally start the transmission +DW1000.startTransmit(); +... +// similar for a receiving session, like so ... +DW1000.newReceive(); +DW1000.setDefaults(); +// so we don't need to restart the receiver manually each time +DW1000.receivePermanently(true); +// ... and other stuff - finally start awaiting messages +DW1000.startReceive(); +... +``` + +Dependency +---------- + +Disclaimer: +This is maybe a incomplete list. Please notice that some dependency libraries may **require** a **reproduction** of copyright and license, **even if they are shipped as binary!!** + +* **Arduino.h** + + * From: Arduino IDE / target specific + * License: (target: Arduino) GNU Lesser General Public License 2.1 + +* **SPI.h** + + * From: Arduino IDE / target specific + * License: (target: Arduino) GNU Lesser General Public License 2.1 + +* **stdint.h** + + * From: Arduino IDE / Compiler and target specific + * License: different + +* **stdio.h** + + * From: Arduino IDE / Compiler and target specific + * License: different + +* **stdlib.h** + + * From: Arduino IDE / Compiler and target specific + * License: different + +* **string.h** + + * From: Arduino IDE / Compiler and target specific + * License: different + + +License +------- +Apache License 2.0 (see [LICENSE.md](https://github.com/thotro/arduino-dw1000/blob/master/LICENSE.md)) diff --git a/lib/DW1000/adapterBoard/AdapterBoardTestBed.png 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If you enjoy using this library, please buy one of our products at www.sparkfun.com. +<br><br> +<b>Licensing:</b> CC v3.0 Share-Alike You are welcome to use this library for commercial purposes. For attribution, we ask that when you begin to sell your device using our footprint, you email us with a link to the product being sold. We want bragging rights that we helped (in a very small part) to create your 8th world wonder. We would like the opportunity to feature your device on our homepage. + + +<b>SOT-223</b> + + + + + + + + +>NAME +>VALUE + + + + + + + + + + +<h3>EIA3528-KIT</h3> +<b>Warning:</b> This is the KIT version of this package. This package has longer pads to make hand soldering easier.<br> + + + + + + + + + + + +>NAME +>VALUE + + + + + + +>NAME +>VALUE + + + +>NAME +>VALUE + + +<B>Thin Plasic Quad Flat Package</B> Grid 0.8 mm + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +Micro USB Package + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +DW1000 + + + + + + + + + + + + + + + + + +<b>EAGLE Design Rules</b> +<p> +Die Standard-Design-Rules sind so gewählt, dass sie für +die meisten Anwendungen passen. Sollte ihre Platine +besondere Anforderungen haben, treffen Sie die erforderlichen +Einstellungen hier und speichern die Design Rules unter +einem neuen Namen ab. +<b>EAGLE Design Rules</b> +<p> +The default Design Rules have been set to cover +a wide range of applications. Your particular design +may have different requirements, so please make the +necessary adjustments and save your customized +design rules under a new name. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/lib/DW1000/adapterBoard/dwm1000 arduino standalone/one_sided_standalone_DWM1000.sch b/lib/DW1000/adapterBoard/dwm1000 arduino standalone/one_sided_standalone_DWM1000.sch new file mode 100644 index 0000000..d45d0e9 --- /dev/null +++ b/lib/DW1000/adapterBoard/dwm1000 arduino standalone/one_sided_standalone_DWM1000.sch @@ -0,0 +1,2609 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +<h3>SparkFun Electronics' preferred foot prints</h3> +We've spent an enormous amount of time creating and checking these footprints and parts. If you enjoy using this library, please buy one of our products at www.sparkfun.com. +<br><br> +<b>Licensing:</b> CC v3.0 Share-Alike You are welcome to use this library for commercial purposes. For attribution, we ask that when you begin to sell your device using our footprint, you email us with a link to the product being sold. We want bragging rights that we helped (in a very small part) to create your 8th world wonder. We would like the opportunity to feature your device on our homepage. + + +<b>SOT-223</b> + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + +>Value +>Name + + + + + + +>Name +>Value + + + + + + + + + + + + +>Name +>Value + + +<b>Panasonic Aluminium Electrolytic Capacitor VS-Serie Package G</b> + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + +<b>Panasonic Aluminium Electrolytic Capacitor VS-Serie Package E</b> + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + +<b>Panasonic Aluminium Electrolytic Capacitor VS-Serie Package E</b> + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + + + + +>Value +>Name + + + + + + +>Value +>Name + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + + + + + + + + + + +Type J2 package for SMD supercap PRT-10317 (p# EEC-EN0F204J2) + + + + + + + + + + + + + + + +>NAME +>VALUE + + +<h3>EIA3528-KIT</h3> +<b>Warning:</b> This is the KIT version of this package. This package has longer pads to make hand soldering easier.<br> + + + + + + + + + + + +>NAME +>VALUE + + +<h3>EIA3216-KIT</h3> +<b>Warning:</b> This is the KIT version of this package. This package has longer pads to make hand soldering easier.<br> + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + +>Name +>Value + + +<b>RESISTOR</b><p> +chip + + + + + + + + + + +>NAME +>VALUE + + + + + + + + +>NAME +>VALUE + + + + + + + + + + +>NAME +>VALUE + + + + + + +<b>CAPACITOR</b><p> +chip + + + + + + + + +>NAME +>VALUE + + + + + + +1/6W Thru-hole Resistor - *UNPROVEN* + + + + + + +>NAME +>VALUE + + + + + + +>NAME +>VALUE + + + + +1/4W Resistor, 0.4" wide<p> + +Yageo CFR series <a href="http://www.yageo.com/pdf/yageo/Leaded-R_CFR_2008.pdf">http://www.yageo.com/pdf/yageo/Leaded-R_CFR_2008.pdf</a> + + + + + + +>Name +>Value + + +1/2W Resistor, 0.5" wide<p> + +Yageo CFR series <a href="http://www.yageo.com/pdf/yageo/Leaded-R_CFR_2008.pdf">http://www.yageo.com/pdf/yageo/Leaded-R_CFR_2008.pdf</a> + + + + + + +>Name +>Value + + +1W Resistor, 0.6" wide<p> + +Yageo CFR series <a href="http://www.yageo.com/pdf/yageo/Leaded-R_CFR_2008.pdf">http://www.yageo.com/pdf/yageo/Leaded-R_CFR_2008.pdf</a> + + + + + + +>Name +>Value + + +2W Resistor, 0.8" wide<p> + +Yageo CFR series <a href="http://www.yageo.com/pdf/yageo/Leaded-R_CFR_2008.pdf">http://www.yageo.com/pdf/yageo/Leaded-R_CFR_2008.pdf</a> + + + + + + +>Name +>Value + + +<h3>AXIAL-0.3-KIT</h3> + +Commonly used for 1/4W through-hole resistors. 0.3" pitch between holes.<br> +<br> + +<b>Warning:</b> This is the KIT version of the AXIAL-0.3 package. This package has a smaller diameter top stop mask, which doesn't cover the diameter of the pad. This means only the bottom side of the pads' copper will be exposed. You'll only be able to solder to the bottom side. + + + + + + + + + + +>Name +>Value + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + +>NAME +>VALUE + + + + + + + + + + + + + +>Value +>Name + + + + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + +>NAME +>VALUE + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +<b>32M1-A</b> Micro Lead Frame package (MLF) + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +<B>Thin Plasic Quad Flat Package</B> Grid 0.8 mm + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +<b>USB Series A Hole Mounted</b> + + + + + + + + + + + + + + + + + + + + + +>NAME +PCB Edge + + + + +<b>USB Series A Surface Mounted</b> + + + + + + + + + + + + + + + + +>NAME + + +<b>USB Series Mini-B Hole Mounted</b> + + + + + + + + + + + + + + + + + + + + +>NAME + + + + + + +USB Series B Surface Mounted + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +>NAME + + + + +<b>USB Series Mini-B Surface Mounted</b> + + + + + + + + + + + + + + + + +>VALUE +>NAME + + + + +<b>USB Series B Hole Mounted</b> + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + +<b>USB Series Mini-B Surface Mounted</b> + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + +>Name +>Value + + +<b>USB Series B Hole Mounted</b> + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + + + + +>NAME + + + + + + + + + + + + + + + + + + +>NAME + + + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + +Micro USB Package + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + +>NAME +>VALUE +ADJ +IN +OUT + + + + + + + + + + +>NAME +>VALUE + + + + + + + +>VALUE + + + + + +>VALUE + + + + + + + + + + + + +>NAME +>VALUE + + + + + + + + + +>VALUE +>NAME + + + + + + + +>NAME +>VALUE + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +USB + + + + + + + + +<b>Voltage Regulator LM1117</b> +Standard adjustable voltage regulator but in SMD form. Spark Fun Electronics SKU : COM-00595 + + + + + + + + + + + + + + + + + + +<b>Capacitor Polarized</b> +These are standard SMD and PTH capacitors. Normally 10uF, 47uF, and 100uF in electrolytic and tantalum varieties. Always verify the external diameter of the through hole cap, it varies with capacity, voltage, and manufacturer. The EIA devices should be standard. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +<b>SUPPLY SYMBOL</b> + + + + + + + + + + + + +<b>SUPPLY SYMBOL</b> + + + + + + + + + + + + +<b>Resistor</b> +Basic schematic elements and footprints for 0603, 1206, and PTH resistors. + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +<b>Header 1</b> +Standard 1-pin 0.1" header. Use with straight break away headers (SKU : PRT-00116), right angle break away headers (PRT-00553), swiss pins (PRT-00743), machine pins (PRT-00117), and female headers (PRT-00115). + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +<b>USB Connectors</b> +<p>USB-B-PTH is fully proven SKU : PRT-00139 +<p>USB-miniB is fully proven SKU : PRT-00587 +<p>USB-A-PCB is untested. +<p>USB-A-H is throughly reviewed, but untested. Spark Fun Electronics SKU : PRT-00437 +<p>USB-B-SMT is throughly reviewed, but untested. Needs silkscreen touching up. +<p>USB-A-S has not been used/tested +<p>USB-MB-H has not been used/tested + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +DW1000 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/lib/DW1000/examples/BasicConnectivityTest/BasicConnectivityTest.ino b/lib/DW1000/examples/BasicConnectivityTest/BasicConnectivityTest.ino new file mode 100644 index 0000000..7a5e877 --- /dev/null +++ b/lib/DW1000/examples/BasicConnectivityTest/BasicConnectivityTest.ino @@ -0,0 +1,64 @@ +/* + * Copyright (c) 2015 by Thomas Trojer + * Decawave DW1000 library for arduino. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * @file BasicConnectivityTest.ino + * Use this to test connectivity with your DW1000 from Arduino. + * It performs an arbitrary setup of the chip and prints some information. + * + * @todo + * - move strings to flash (less RAM consumption) + * - make real check of connection (e.g. change some values on DW1000 and verify) + */ + +#include +#include + +// connection pins +const uint8_t PIN_RST = 9; // reset pin +const uint8_t PIN_IRQ = 2; // irq pin +const uint8_t PIN_SS = SS; // spi select pin + +void setup() { + // DEBUG monitoring + Serial.begin(9600); + // initialize the driver + DW1000.begin(PIN_IRQ, PIN_RST); + DW1000.select(PIN_SS); + Serial.println(F("DW1000 initialized ...")); + // general configuration + DW1000.newConfiguration(); + DW1000.setDeviceAddress(5); + DW1000.setNetworkId(10); + DW1000.commitConfiguration(); + Serial.println(F("Committed configuration ...")); + // wait a bit + delay(1000); +} + +void loop() { + // DEBUG chip info and registers pretty printed + char msg[128]; + 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); + // wait a bit + delay(10000); +} diff --git a/lib/DW1000/examples/BasicReceiver/BasicReceiver.ino b/lib/DW1000/examples/BasicReceiver/BasicReceiver.ino new file mode 100644 index 0000000..70ce821 --- /dev/null +++ b/lib/DW1000/examples/BasicReceiver/BasicReceiver.ino @@ -0,0 +1,110 @@ +/* + * Copyright (c) 2015 by Thomas Trojer + * Decawave DW1000 library for arduino. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * @file BasicReceiver.ino + * Use this to test simple sender/receiver functionality with two + * DW1000. Complements the "BasicSender" example sketch. + * + * @todo + * - move strings to flash (less RAM consumption) + * + */ + +#include +#include + +// connection pins +const uint8_t PIN_RST = 9; // reset pin +const uint8_t PIN_IRQ = 2; // irq pin +const uint8_t PIN_SS = SS; // spi select pin + +// DEBUG packet sent status and count +volatile boolean received = false; +volatile boolean error = false; +volatile int16_t numReceived = 0; // todo check int type +String message; + +void setup() { + // DEBUG monitoring + Serial.begin(9600); + Serial.println(F("### DW1000-arduino-receiver-test ###")); + // initialize the driver + DW1000.begin(PIN_IRQ, PIN_RST); + DW1000.select(PIN_SS); + Serial.println(F("DW1000 initialized ...")); + // general configuration + DW1000.newConfiguration(); + DW1000.setDefaults(); + DW1000.setDeviceAddress(6); + DW1000.setNetworkId(10); + DW1000.enableMode(DW1000.MODE_LONGDATA_RANGE_LOWPOWER); + DW1000.commitConfiguration(); + Serial.println(F("Committed configuration ...")); + // DEBUG chip info and registers pretty printed + char msg[128]; + 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) received messages + DW1000.attachReceivedHandler(handleReceived); + DW1000.attachReceiveFailedHandler(handleError); + DW1000.attachErrorHandler(handleError); + // start reception + receiver(); +} + +void handleReceived() { + // status change on reception success + received = true; +} + +void handleError() { + error = true; +} + +void receiver() { + DW1000.newReceive(); + DW1000.setDefaults(); + // so we don't need to restart the receiver manually + DW1000.receivePermanently(true); + DW1000.startReceive(); +} + +void loop() { + // enter on confirmation of ISR status change (successfully received) + if (received) { + numReceived++; + // get data as string + DW1000.getData(message); + Serial.print("Received message ... #"); Serial.println(numReceived); + Serial.print("Data is ... "); Serial.println(message); + Serial.print("FP power is [dBm] ... "); Serial.println(DW1000.getFirstPathPower()); + Serial.print("RX power is [dBm] ... "); Serial.println(DW1000.getReceivePower()); + Serial.print("Signal quality is ... "); Serial.println(DW1000.getReceiveQuality()); + received = false; + } + if (error) { + Serial.println("Error receiving a message"); + error = false; + DW1000.getData(message); + Serial.print("Error data is ... "); Serial.println(message); + } +} diff --git a/lib/DW1000/examples/BasicSender/BasicSender.ino b/lib/DW1000/examples/BasicSender/BasicSender.ino new file mode 100644 index 0000000..2e0d23e --- /dev/null +++ b/lib/DW1000/examples/BasicSender/BasicSender.ino @@ -0,0 +1,110 @@ +/* + * Copyright (c) 2015 by Thomas Trojer + * Decawave DW1000 library for arduino. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * @file BasicSender.ino + * Use this to test simple sender/receiver functionality with two + * DW1000. Complements the "BasicReceiver" example sketch. + * + * @todo + * - move strings to flash (less RAM consumption) + * + */ +#include +#include + +// connection pins +const uint8_t PIN_RST = 9; // reset pin +const uint8_t PIN_IRQ = 2; // irq pin +const uint8_t PIN_SS = SS; // spi select pin + +// DEBUG packet sent status and count +boolean sent = false; +volatile boolean sentAck = false; +volatile unsigned long delaySent = 0; +int16_t sentNum = 0; // todo check int type +DW1000Time sentTime; + +void setup() { + // DEBUG monitoring + Serial.begin(9600); + Serial.println(F("### DW1000-arduino-sender-test ###")); + // initialize the driver + DW1000.begin(PIN_IRQ, PIN_RST); + DW1000.select(PIN_SS); + Serial.println(F("DW1000 initialized ...")); + // general configuration + DW1000.newConfiguration(); + DW1000.setDefaults(); + DW1000.setDeviceAddress(5); + DW1000.setNetworkId(10); + DW1000.enableMode(DW1000.MODE_LONGDATA_RANGE_LOWPOWER); + DW1000.commitConfiguration(); + Serial.println(F("Committed configuration ...")); + // DEBUG chip info and registers pretty printed + char msg[128]; + 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 messages + DW1000.attachSentHandler(handleSent); + // start a transmission + transmitter(); +} + +void handleSent() { + // status change on sent success + sentAck = true; +} + +void transmitter() { + // transmit some data + Serial.print("Transmitting packet ... #"); Serial.println(sentNum); + DW1000.newTransmit(); + DW1000.setDefaults(); + String msg = "Hello DW1000, it's #"; msg += sentNum; + DW1000.setData(msg); + // delay sending the message for the given amount + DW1000Time deltaTime = DW1000Time(10, DW1000Time::MILLISECONDS); + DW1000.setDelay(deltaTime); + DW1000.startTransmit(); + delaySent = millis(); +} + +void loop() { + if (!sentAck) { + return; + } + // continue on success confirmation + // (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("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.getAsMicroSeconds()); + // note: delta is just for simple demo as not correct on system time counter wrap-around + Serial.print("DW1000 delta send time [ms] ... "); Serial.println((newSentTime.getAsMicroSeconds() - sentTime.getAsMicroSeconds()) * 1.0e-3); + sentTime = newSentTime; + sentNum++; + // again, transmit some data + transmitter(); +} diff --git a/lib/DW1000/examples/DW1000Ranging_ANCHOR/DW1000Ranging_ANCHOR.ino b/lib/DW1000/examples/DW1000Ranging_ANCHOR/DW1000Ranging_ANCHOR.ino new file mode 100644 index 0000000..caec3a3 --- /dev/null +++ b/lib/DW1000/examples/DW1000Ranging_ANCHOR/DW1000Ranging_ANCHOR.ino @@ -0,0 +1,52 @@ +/** + * + * @todo + * - move strings to flash (less RAM consumption) + * - fix deprecated convertation form string to char* startAsAnchor + * - give example description + */ +#include +#include "DW1000Ranging.h" + +// connection pins +const uint8_t PIN_RST = 9; // reset pin +const uint8_t PIN_IRQ = 2; // irq pin +const uint8_t PIN_SS = SS; // spi select pin + +void setup() { + Serial.begin(115200); + delay(1000); + //init the configuration + DW1000Ranging.initCommunication(PIN_RST, PIN_SS, PIN_IRQ); //Reset, CS, IRQ pin + //define the sketch as anchor. It will be great to dynamically change the type of module + DW1000Ranging.attachNewRange(newRange); + DW1000Ranging.attachBlinkDevice(newBlink); + DW1000Ranging.attachInactiveDevice(inactiveDevice); + //Enable the filter to smooth the distance + //DW1000Ranging.useRangeFilter(true); + + //we start the module as an anchor + DW1000Ranging.startAsAnchor("82:17:5B:D5:A9:9A:E2:9C", DW1000.MODE_LONGDATA_RANGE_ACCURACY); +} + +void loop() { + DW1000Ranging.loop(); +} + +void newRange() { + Serial.print("from: "); Serial.print(DW1000Ranging.getDistantDevice()->getShortAddress(), HEX); + Serial.print("\t Range: "); Serial.print(DW1000Ranging.getDistantDevice()->getRange()); Serial.print(" m"); + Serial.print("\t RX power: "); Serial.print(DW1000Ranging.getDistantDevice()->getRXPower()); Serial.println(" dBm"); +} + +void newBlink(DW1000Device* device) { + Serial.print("blink; 1 device added ! -> "); + Serial.print(" short:"); + Serial.println(device->getShortAddress(), HEX); +} + +void inactiveDevice(DW1000Device* device) { + Serial.print("delete inactive device: "); + Serial.println(device->getShortAddress(), HEX); +} + diff --git a/lib/DW1000/examples/DW1000Ranging_TAG/DW1000Ranging_TAG.ino b/lib/DW1000/examples/DW1000Ranging_TAG/DW1000Ranging_TAG.ino new file mode 100644 index 0000000..5d11a30 --- /dev/null +++ b/lib/DW1000/examples/DW1000Ranging_TAG/DW1000Ranging_TAG.ino @@ -0,0 +1,52 @@ +/** + * + * @todo + * - move strings to flash (less RAM consumption) + * - fix deprecated convertation form string to char* startAsTag + * - give example description + */ +#include +#include "DW1000Ranging.h" + +// connection pins +const uint8_t PIN_RST = 9; // reset pin +const uint8_t PIN_IRQ = 2; // irq pin +const uint8_t PIN_SS = SS; // spi select pin + +void setup() { + Serial.begin(115200); + delay(1000); + //init the configuration + DW1000Ranging.initCommunication(PIN_RST, PIN_SS, PIN_IRQ); //Reset, CS, IRQ pin + //define the sketch as anchor. It will be great to dynamically change the type of module + DW1000Ranging.attachNewRange(newRange); + DW1000Ranging.attachNewDevice(newDevice); + DW1000Ranging.attachInactiveDevice(inactiveDevice); + //Enable the filter to smooth the distance + //DW1000Ranging.useRangeFilter(true); + + //we start the module as a tag + DW1000Ranging.startAsTag("7D:00:22:EA:82:60:3B:9C", DW1000.MODE_LONGDATA_RANGE_ACCURACY); +} + +void loop() { + DW1000Ranging.loop(); +} + +void newRange() { + Serial.print("from: "); Serial.print(DW1000Ranging.getDistantDevice()->getShortAddress(), HEX); + Serial.print("\t Range: "); Serial.print(DW1000Ranging.getDistantDevice()->getRange()); Serial.print(" m"); + Serial.print("\t RX power: "); Serial.print(DW1000Ranging.getDistantDevice()->getRXPower()); Serial.println(" dBm"); +} + +void newDevice(DW1000Device* device) { + Serial.print("ranging init; 1 device added ! -> "); + Serial.print(" short:"); + Serial.println(device->getShortAddress(), HEX); +} + +void inactiveDevice(DW1000Device* device) { + Serial.print("delete inactive device: "); + Serial.println(device->getShortAddress(), HEX); +} + diff --git a/lib/DW1000/examples/MessagePingPong/MessagePingPong.ino b/lib/DW1000/examples/MessagePingPong/MessagePingPong.ino new file mode 100644 index 0000000..572d27f --- /dev/null +++ b/lib/DW1000/examples/MessagePingPong/MessagePingPong.ino @@ -0,0 +1,144 @@ +/* + * Copyright (c) 2015 by Thomas Trojer + * Decawave DW1000 library for arduino. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * @file MessagePingPong.ino + * Use this to test two-way communication functionality with two + * DW1000. Both Arduinos use this sketch, but one node configured + * as initiator/sender of the (first) ping message and the other + * being configured as receiver/answerer of the (first) ping message. + * + * Configure each node by setting their "trxToggle" attribute to either + * "SENDER" or "RECEIVER". + * + * @todo + * - add in SENDER mode timeout if no pong received then resend ping + */ + +#include "require_cpp11.h" +#include +#include + +// connection pins +constexpr uint8_t PIN_RST = 9; // reset pin +constexpr uint8_t PIN_IRQ = 2; // irq pin +constexpr uint8_t PIN_SS = SS; // spi select pin + +// toggle state +enum class TransmissionState : uint8_t { + SENDER, + RECEIVER +}; +// toggle and message RX/TX +// NOTE: the other Arduino needs to be configured with RECEIVER +// (or SENDER respectively) +TransmissionState trxToggle = TransmissionState::RECEIVER; +volatile boolean trxAck = false; +volatile boolean rxError = false; +String msg; + +void setup() { + // DEBUG monitoring + Serial.begin(9600); + Serial.println(F("### DW1000-arduino-ping-pong-test ###")); + // initialize the driver + DW1000.begin(PIN_IRQ, PIN_RST); + DW1000.select(PIN_SS); + Serial.println(F("DW1000 initialized ...")); + // general configuration + DW1000.newConfiguration(); + DW1000.setDefaults(); + DW1000.setDeviceAddress(1); + DW1000.setNetworkId(10); + DW1000.commitConfiguration(); + Serial.println(F("Committed configuration ...")); + // DEBUG chip info and registers pretty printed + char msgInfo[128]; + DW1000.getPrintableDeviceIdentifier(msgInfo); + Serial.print(F("Device ID: ")); Serial.println(msgInfo); + DW1000.getPrintableExtendedUniqueIdentifier(msgInfo); + Serial.print(F("Unique ID: ")); Serial.println(msgInfo); + DW1000.getPrintableNetworkIdAndShortAddress(msgInfo); + Serial.print(F("Network ID & Device Address: ")); Serial.println(msgInfo); + DW1000.getPrintableDeviceMode(msgInfo); + Serial.print(F("Device mode: ")); Serial.println(msgInfo); + // attach callback for (successfully) sent and received messages + DW1000.attachSentHandler(handleSent); + DW1000.attachReceivedHandler(handleReceived); + DW1000.attachReceiveFailedHandler(handleReceiveFailed); + // sender starts by sending a PING message, receiver starts listening + if (trxToggle == TransmissionState::SENDER) { + msg = "Ping ..."; + receiver(); + transmit(); + } else { + msg = "... and Pong"; + receiver(); + } +} + +void handleSent() { + // status change on sent success + trxAck = true; +} + +void handleReceived() { + // status change on received success + trxAck = true; +} + +void handleReceiveFailed() { + // error flag + rxError = true; +} + +void transmit() { + DW1000.newTransmit(); + DW1000.setDefaults(); + DW1000.setData(msg); + DW1000.startTransmit(); +} + +void receiver() { + DW1000.newReceive(); + DW1000.setDefaults(); + // so we don't need to restart the receiver manually + DW1000.receivePermanently(true); + DW1000.startReceive(); +} + +void loop() { + if (rxError) { + Serial.println(F("Failed to properly receive message.")); + rxError = false; + return; + } + if (!trxAck) { + return; + } + // continue on any success confirmation + trxAck = false; + // a sender will be a receiver and vice versa + trxToggle = (trxToggle == TransmissionState::SENDER) ? TransmissionState::RECEIVER : TransmissionState::SENDER; + if (trxToggle == TransmissionState::SENDER) { + // formerly a receiver + String rxMsg; + DW1000.getData(rxMsg); + Serial.print(F("Received: ")); Serial.println(rxMsg); + transmit(); + } else { + Serial.print(F("Transmitted: ")); Serial.println(msg); + } +} diff --git a/lib/DW1000/examples/RangingAnchor/RangingAnchor.ino b/lib/DW1000/examples/RangingAnchor/RangingAnchor.ino new file mode 100644 index 0000000..432a5d4 --- /dev/null +++ b/lib/DW1000/examples/RangingAnchor/RangingAnchor.ino @@ -0,0 +1,275 @@ +/* + * Copyright (c) 2015 by Thomas Trojer + * Decawave DW1000 library for arduino. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * @file RangingAnchor.ino + * Use this to test two-way ranging functionality with two + * DW1000. This is the anchor component's code which computes range after + * exchanging some messages. Addressing and frame filtering is currently done + * in a custom way, as no MAC features are implemented yet. + * + * Complements the "RangingTag" example sketch. + * + * @todo + * - weighted average of ranging results based on signal quality + * - use enum instead of define + * - move strings to flash (less RAM consumption) + */ + +#include +#include + +// connection pins +const uint8_t PIN_RST = 9; // reset pin +const uint8_t PIN_IRQ = 2; // irq pin +const uint8_t PIN_SS = SS; // spi select pin + +// messages used in the ranging protocol +// TODO replace by enum +#define POLL 0 +#define POLL_ACK 1 +#define RANGE 2 +#define RANGE_REPORT 3 +#define RANGE_FAILED 255 +// message flow state +volatile byte expectedMsgId = POLL; +// message sent/received state +volatile boolean sentAck = false; +volatile boolean receivedAck = false; +// protocol error state +boolean protocolFailed = false; +// timestamps to remember +DW1000Time timePollSent; +DW1000Time timePollReceived; +DW1000Time timePollAckSent; +DW1000Time timePollAckReceived; +DW1000Time timeRangeSent; +DW1000Time timeRangeReceived; +// last computed range/time +DW1000Time timeComputedRange; +// data buffer +#define LEN_DATA 16 +byte data[LEN_DATA]; +// watchdog and reset period +uint32_t lastActivity; +uint32_t resetPeriod = 250; +// reply times (same on both sides for symm. ranging) +uint16_t replyDelayTimeUS = 3000; +// ranging counter (per second) +uint16_t successRangingCount = 0; +uint32_t rangingCountPeriod = 0; +float samplingRate = 0; + +void setup() { + // DEBUG monitoring + Serial.begin(115200); + delay(1000); + Serial.println(F("### DW1000-arduino-ranging-anchor ###")); + // initialize the driver + DW1000.begin(PIN_IRQ, PIN_RST); + DW1000.select(PIN_SS); + Serial.println(F("DW1000 initialized ...")); + // general configuration + DW1000.newConfiguration(); + DW1000.setDefaults(); + DW1000.setDeviceAddress(1); + DW1000.setNetworkId(10); + DW1000.enableMode(DW1000.MODE_LONGDATA_RANGE_LOWPOWER); + DW1000.commitConfiguration(); + Serial.println(F("Committed configuration ...")); + // DEBUG chip info and registers pretty printed + char msg[128]; + 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); + // anchor starts in receiving mode, awaiting a ranging poll message + receiver(); + noteActivity(); + // for first time ranging frequency computation + rangingCountPeriod = millis(); +} + +void noteActivity() { + // update activity timestamp, so that we do not reach "resetPeriod" + lastActivity = millis(); +} + +void resetInactive() { + // anchor listens for POLL + expectedMsgId = POLL; + receiver(); + noteActivity(); +} + +void handleSent() { + // status change on sent success + sentAck = true; +} + +void handleReceived() { + // status change on received success + receivedAck = true; +} + +void transmitPollAck() { + DW1000.newTransmit(); + DW1000.setDefaults(); + data[0] = POLL_ACK; + // delay the same amount as ranging tag + DW1000Time deltaTime = DW1000Time(replyDelayTimeUS, DW1000Time::MICROSECONDS); + DW1000.setDelay(deltaTime); + DW1000.setData(data, LEN_DATA); + DW1000.startTransmit(); +} + +void transmitRangeReport(float curRange) { + DW1000.newTransmit(); + DW1000.setDefaults(); + data[0] = RANGE_REPORT; + // write final ranging result + memcpy(data + 1, &curRange, 4); + DW1000.setData(data, LEN_DATA); + DW1000.startTransmit(); +} + +void transmitRangeFailed() { + DW1000.newTransmit(); + DW1000.setDefaults(); + data[0] = RANGE_FAILED; + DW1000.setData(data, LEN_DATA); + DW1000.startTransmit(); +} + +void receiver() { + DW1000.newReceive(); + DW1000.setDefaults(); + // so we don't need to restart the receiver manually + DW1000.receivePermanently(true); + DW1000.startReceive(); +} + +/* + * RANGING ALGORITHMS + * ------------------ + * Either of the below functions can be used for range computation (see line "CHOSEN + * RANGING ALGORITHM" in the code). + * - Asymmetric is more computation intense but least error prone + * - Symmetric is less computation intense but more error prone to clock drifts + * + * The anchors and tags of this reference example use the same reply delay times, hence + * are capable of symmetric ranging (and of asymmetric ranging anyway). + */ + +void computeRangeAsymmetric() { + // asymmetric two-way ranging (more computation intense, less error prone) + DW1000Time round1 = (timePollAckReceived - timePollSent).wrap(); + DW1000Time reply1 = (timePollAckSent - timePollReceived).wrap(); + DW1000Time round2 = (timeRangeReceived - timePollAckSent).wrap(); + DW1000Time reply2 = (timeRangeSent - timePollAckReceived).wrap(); + DW1000Time tof = (round1 * round2 - reply1 * reply2) / (round1 + round2 + reply1 + reply2); + // set tof timestamp + timeComputedRange.setTimestamp(tof); +} + +void computeRangeSymmetric() { + // symmetric two-way ranging (less computation intense, more error prone on clock drift) + DW1000Time tof = ((timePollAckReceived - timePollSent) - (timePollAckSent - timePollReceived) + + (timeRangeReceived - timePollAckSent) - (timeRangeSent - timePollAckReceived)) * 0.25f; + // set tof timestamp + timeComputedRange.setTimestamp(tof); +} + +/* + * END RANGING ALGORITHMS + * ---------------------- + */ + +void loop() { + int32_t curMillis = millis(); + if (!sentAck && !receivedAck) { + // check if inactive + if (curMillis - lastActivity > resetPeriod) { + resetInactive(); + } + return; + } + // continue on any success confirmation + if (sentAck) { + sentAck = false; + byte msgId = data[0]; + if (msgId == POLL_ACK) { + DW1000.getTransmitTimestamp(timePollAckSent); + noteActivity(); + } + } + 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 (except if already POLL) + protocolFailed = true; + } + if (msgId == POLL) { + // on POLL we (re-)start, so no protocol failure + protocolFailed = false; + DW1000.getReceiveTimestamp(timePollReceived); + expectedMsgId = RANGE; + transmitPollAck(); + noteActivity(); + } + else if (msgId == RANGE) { + DW1000.getReceiveTimestamp(timeRangeReceived); + expectedMsgId = POLL; + if (!protocolFailed) { + timePollSent.setTimestamp(data + 1); + timePollAckReceived.setTimestamp(data + 6); + timeRangeSent.setTimestamp(data + 11); + // (re-)compute range as two-way ranging is done + computeRangeAsymmetric(); // CHOSEN RANGING ALGORITHM + transmitRangeReport(timeComputedRange.getAsMicroSeconds()); + float distance = timeComputedRange.getAsMeters(); + Serial.print("Range: "); Serial.print(distance); Serial.print(" m"); + Serial.print("\t RX power: "); Serial.print(DW1000.getReceivePower()); Serial.print(" dBm"); + Serial.print("\t Sampling: "); Serial.print(samplingRate); Serial.println(" Hz"); + //Serial.print("FP power is [dBm]: "); Serial.print(DW1000.getFirstPathPower()); + //Serial.print("RX power is [dBm]: "); Serial.println(DW1000.getReceivePower()); + //Serial.print("Receive quality: "); Serial.println(DW1000.getReceiveQuality()); + // update sampling rate (each second) + successRangingCount++; + if (curMillis - rangingCountPeriod > 1000) { + samplingRate = (1000.0f * successRangingCount) / (curMillis - rangingCountPeriod); + rangingCountPeriod = curMillis; + successRangingCount = 0; + } + } + else { + transmitRangeFailed(); + } + + noteActivity(); + } + } +} + diff --git a/lib/DW1000/examples/RangingTag/RangingTag.ino b/lib/DW1000/examples/RangingTag/RangingTag.ino new file mode 100644 index 0000000..bae29d9 --- /dev/null +++ b/lib/DW1000/examples/RangingTag/RangingTag.ino @@ -0,0 +1,201 @@ +/* + * Copyright (c) 2015 by Thomas Trojer + * Decawave DW1000 library for arduino. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * @file RangingTag.ino + * Use this to test two-way ranging functionality with two DW1000. This is + * the tag component's code which polls for range computation. Addressing and + * frame filtering is currently done in a custom way, as no MAC features are + * implemented yet. + * + * Complements the "RangingAnchor" example sketch. + * + * @todo + * - use enum instead of define + * - move strings to flash (less RAM consumption) + */ + +#include +#include + +// connection pins +const uint8_t PIN_RST = 9; // reset pin +const uint8_t PIN_IRQ = 2; // irq pin +const uint8_t PIN_SS = SS; // spi select pin + +// messages used in the ranging protocol +// TODO replace by enum +#define POLL 0 +#define POLL_ACK 1 +#define RANGE 2 +#define RANGE_REPORT 3 +#define RANGE_FAILED 255 +// message flow state +volatile byte expectedMsgId = POLL_ACK; +// message sent/received state +volatile boolean sentAck = false; +volatile boolean receivedAck = false; +// timestamps to remember +DW1000Time timePollSent; +DW1000Time timePollAckReceived; +DW1000Time timeRangeSent; +// data buffer +#define LEN_DATA 16 +byte data[LEN_DATA]; +// watchdog and reset period +uint32_t lastActivity; +uint32_t resetPeriod = 250; +// reply times (same on both sides for symm. ranging) +uint16_t replyDelayTimeUS = 3000; + +void setup() { + // DEBUG monitoring + Serial.begin(115200); + Serial.println(F("### DW1000-arduino-ranging-tag ###")); + // initialize the driver + DW1000.begin(PIN_IRQ, PIN_RST); + DW1000.select(PIN_SS); + Serial.println("DW1000 initialized ..."); + // general configuration + DW1000.newConfiguration(); + DW1000.setDefaults(); + DW1000.setDeviceAddress(2); + DW1000.setNetworkId(10); + DW1000.enableMode(DW1000.MODE_LONGDATA_RANGE_LOWPOWER); + DW1000.commitConfiguration(); + Serial.println(F("Committed configuration ...")); + // DEBUG chip info and registers pretty printed + char msg[128]; + 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); + // anchor starts by transmitting a POLL message + receiver(); + transmitPoll(); + noteActivity(); +} + +void noteActivity() { + // update activity timestamp, so that we do not reach "resetPeriod" + lastActivity = millis(); +} + +void resetInactive() { + // tag sends POLL and listens for POLL_ACK + expectedMsgId = POLL_ACK; + transmitPoll(); + noteActivity(); +} + +void handleSent() { + // status change on sent success + sentAck = true; +} + +void handleReceived() { + // status change on received success + receivedAck = true; +} + +void transmitPoll() { + DW1000.newTransmit(); + DW1000.setDefaults(); + data[0] = POLL; + DW1000.setData(data, LEN_DATA); + DW1000.startTransmit(); +} + +void transmitRange() { + DW1000.newTransmit(); + DW1000.setDefaults(); + data[0] = RANGE; + // delay sending the message and remember expected future sent timestamp + DW1000Time deltaTime = DW1000Time(replyDelayTimeUS, DW1000Time::MICROSECONDS); + timeRangeSent = DW1000.setDelay(deltaTime); + 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.newReceive(); + DW1000.setDefaults(); + // so we don't need to restart the receiver manually + DW1000.receivePermanently(true); + DW1000.startReceive(); +} + +void loop() { + if (!sentAck && !receivedAck) { + // check if inactive + if (millis() - lastActivity > resetPeriod) { + resetInactive(); + } + return; + } + // continue on any success confirmation + if (sentAck) { + sentAck = false; + byte msgId = data[0]; + if (msgId == POLL) { + DW1000.getTransmitTimestamp(timePollSent); + //Serial.print("Sent POLL @ "); Serial.println(timePollSent.getAsFloat()); + } else if (msgId == RANGE) { + DW1000.getTransmitTimestamp(timeRangeSent); + noteActivity(); + } + } + 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); + expectedMsgId = POLL_ACK; + transmitPoll(); + return; + } + if (msgId == POLL_ACK) { + DW1000.getReceiveTimestamp(timePollAckReceived); + expectedMsgId = RANGE_REPORT; + transmitRange(); + noteActivity(); + } else if (msgId == RANGE_REPORT) { + expectedMsgId = POLL_ACK; + float curRange; + memcpy(&curRange, data + 1, 4); + transmitPoll(); + noteActivity(); + } else if (msgId == RANGE_FAILED) { + expectedMsgId = POLL_ACK; + transmitPoll(); + noteActivity(); + } + } +} + diff --git a/lib/DW1000/examples/TimestampUsageTest/TimestampUsageTest.ino b/lib/DW1000/examples/TimestampUsageTest/TimestampUsageTest.ino new file mode 100644 index 0000000..788ae0b --- /dev/null +++ b/lib/DW1000/examples/TimestampUsageTest/TimestampUsageTest.ino @@ -0,0 +1,101 @@ +/** + * Copyright (c) 2015 by Thomas Trojer + * Copyright (c) 2016 by Ludwig Grill (www.rotzbua.de); extended example + * Decawave DW1000 library for arduino. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * @file TimestampUsageTest.ino + * This is a simple unit test for the DW1000Time class. This test + * has no actual use to the operation of the DW1000. + */ + +#include +#include "DW1000Time.h" + +void setup() { + Serial.begin(9600); + Serial.println(F("### DW1000Time-arduino-test ###")); +} + +void loop() { + // variables for the test + DW1000Time time1, time2, time3, time4; + byte stamp[DW1000Time::LENGTH_TIMESTAMP]; + + // unit test + Serial.println(F("simple test for + - ")); + Serial.print(F("Time1 is (0)[us] ... ")); Serial.println(time1.getAsMicroSeconds(), 4); + time1 += DW1000Time(10, DW1000Time::MICROSECONDS); + Serial.print(F("Time1 is (10)[us] ... ")); Serial.println(time1.getAsMicroSeconds(), 4); + time1 -= DW1000Time(500, DW1000Time::NANOSECONDS); + Serial.print(F("Time1 is (9.5)[us] ... ")); Serial.println(time1.getAsMicroSeconds(), 4); + Serial.println(); + + Serial.println(F("test compare")); + time2 = time1; + time2 += DW1000Time(10.0f); + Serial.print(F("Time2 == Time1 (NO)... ")); Serial.println(time1 == time2 ? "YES" : "NO"); + time1 += DW1000Time(10000, DW1000Time::NANOSECONDS); + Serial.print(F("Time2 == Time1 (YES)... ")); Serial.println(time1 == time2 ? "YES" : "NO"); + Serial.println(); + + Serial.println(F("test different output")); + memset(stamp, 0, DW1000Time::LENGTH_TIMESTAMP); + stamp[1] = 0x02; // = 512 + time2 = DW1000Time(stamp); + Serial.print(F("Time2 is (512) ... ")); Serial.println(time2); + Serial.print(F("Time2 is (0.0080)[us] ... ")); Serial.println(time2.getAsMicroSeconds(), 4); + Serial.print(F("Time2 range is (2.4022)[m] ... ")); Serial.println(time2.getAsMeters(), 4); + time3 = DW1000Time(10, DW1000Time::SECONDS); + time3.getTimestamp(stamp); + time3.setTimestamp(stamp); + Serial.print(F("Time3 is (10)[s] ... ")); Serial.println(time3.getAsMicroSeconds() * 1.0e-6, 4); + Serial.println(); + + Serial.println(F("test negativ value")); + memset(stamp, 0, DW1000Time::LENGTH_TIMESTAMP); + time2.setTimestamp(-512); + Serial.print(F("Time2 is (-512) ... ")); Serial.println(time2); + Serial.print(F("Time2 is (-0.0080)[us] ... ")); Serial.println(time2.getAsMicroSeconds(), 4); + Serial.print(F("Time2 range is (-2.4022)[m] ... ")); Serial.println(time2.getAsMeters(), 4); + Serial.println(); + + Serial.println(F("test calculation")); + time1.setTimestamp(1536); + time2.setTimestamp(512); + time3.setTimestamp(4); + time4 = (time1 + time2) / time3; + Serial.print(F("Time4 is (512) ... ")); Serial.println(time4); + time4 = (time1 - time2) / time3; + Serial.print(F("Time4 is (256) ... ")); Serial.println(time4); + time4 = (time1 * time3 * time2 - time2 * time3 * time2) / (time2 * time2); + Serial.print(F("Time4 is (8) ... ")); Serial.println(time4); + Serial.println(); + + Serial.println(F("test valid/maxima")); + time1.setTimestamp(DW1000Time::TIME_MAX); + time2.setTimestamp(DW1000Time::TIME_MAX); + time3.setTimestamp(2); + time4 = (time1 + time2); + Serial.print(F("Time4 is valid? (NO) ... ")); Serial.println(time4.isValidTimestamp() ? "YES" : "NO"); + Serial.print(F("Time4 is TIME_MAX (NO) ... ")); Serial.println(time4 == DW1000Time::TIME_MAX ? "YES" : "NO"); + time4 /= time3; + Serial.print(F("Time4 is valid? (YES) ... ")); Serial.println(time4.isValidTimestamp() ? "YES" : "NO"); + Serial.print(F("Time4 is TIME_MAX (YES) ... ")); Serial.println(time4 == DW1000Time::TIME_MAX ? "YES" : "NO"); + + Serial.println(); + + // keep calm + delay(10000); +} diff --git a/lib/DW1000/extras/LICENSE b/lib/DW1000/extras/LICENSE new file mode 100644 index 0000000..d0381d6 --- /dev/null +++ b/lib/DW1000/extras/LICENSE @@ -0,0 +1,176 @@ +Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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The default is UTF-8 which is also the encoding used for all text +# before the first occurrence of this tag. Doxygen uses libiconv (or the iconv +# built into libc) for the transcoding. See http://www.gnu.org/software/libiconv +# for the list of possible encodings. +# The default value is: UTF-8. + +DOXYFILE_ENCODING = UTF-8 + +# The PROJECT_NAME tag is a single word (or a sequence of words surrounded by +# double-quotes, unless you are using Doxywizard) that should identify the +# project for which the documentation is generated. This name is used in the +# title of most generated pages and in a few other places. +# The default value is: My Project. + +PROJECT_NAME = "Arduino driver library for Decawave DW1000" + +# The PROJECT_NUMBER tag can be used to enter a project or revision number. 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Set to NO to disable this. +# The default value is: YES. + +BRIEF_MEMBER_DESC = YES + +# If the REPEAT_BRIEF tag is set to YES, doxygen will prepend the brief +# description of a member or function before the detailed description +# +# Note: If both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the +# brief descriptions will be completely suppressed. +# The default value is: YES. + +REPEAT_BRIEF = YES + +# This tag implements a quasi-intelligent brief description abbreviator that is +# used to form the text in various listings. Each string in this list, if found +# as the leading text of the brief description, will be stripped from the text +# and the result, after processing the whole list, is used as the annotated +# text. Otherwise, the brief description is used as-is. If left blank, the +# following values are used ($name is automatically replaced with the name of +# the entity):The $name class, The $name widget, The $name file, is, provides, +# specifies, contains, represents, a, an and the. + +ABBREVIATE_BRIEF = + +# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then +# doxygen will generate a detailed section even if there is only a brief +# description. +# The default value is: NO. + +ALWAYS_DETAILED_SEC = NO + +# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all +# inherited members of a class in the documentation of that class as if those +# members were ordinary class members. Constructors, destructors and assignment +# operators of the base classes will not be shown. +# The default value is: NO. + +INLINE_INHERITED_MEMB = NO + +# If the FULL_PATH_NAMES tag is set to YES, doxygen will prepend the full path +# before files name in the file list and in the header files. If set to NO the +# shortest path that makes the file name unique will be used +# The default value is: YES. + +FULL_PATH_NAMES = YES + +# The STRIP_FROM_PATH tag can be used to strip a user-defined part of the path. +# Stripping is only done if one of the specified strings matches the left-hand +# part of the path. The tag can be used to show relative paths in the file list. +# If left blank the directory from which doxygen is run is used as the path to +# strip. +# +# Note that you can specify absolute paths here, but also relative paths, which +# will be relative from the directory where doxygen is started. +# This tag requires that the tag FULL_PATH_NAMES is set to YES. + +STRIP_FROM_PATH = + +# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of the +# path mentioned in the documentation of a class, which tells the reader which +# header file to include in order to use a class. If left blank only the name of +# the header file containing the class definition is used. Otherwise one should +# specify the list of include paths that are normally passed to the compiler +# using the -I flag. + +STRIP_FROM_INC_PATH = + +# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter (but +# less readable) file names. This can be useful is your file systems doesn't +# support long names like on DOS, Mac, or CD-ROM. +# The default value is: NO. + +SHORT_NAMES = NO + +# If the JAVADOC_AUTOBRIEF tag is set to YES then doxygen will interpret the +# first line (until the first dot) of a Javadoc-style comment as the brief +# description. 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Set this +# tag to YES if you prefer the old behavior instead. +# +# Note that setting this tag to YES also means that rational rose comments are +# not recognized any more. +# The default value is: NO. + +MULTILINE_CPP_IS_BRIEF = NO + +# If the INHERIT_DOCS tag is set to YES then an undocumented member inherits the +# documentation from any documented member that it re-implements. +# The default value is: YES. + +INHERIT_DOCS = YES + +# If the SEPARATE_MEMBER_PAGES tag is set to YES then doxygen will produce a new +# page for each member. If set to NO, the documentation of a member will be part +# of the file/class/namespace that contains it. +# The default value is: NO. + +SEPARATE_MEMBER_PAGES = NO + +# The TAB_SIZE tag can be used to set the number of spaces in a tab. Doxygen +# uses this value to replace tabs by spaces in code fragments. +# Minimum value: 1, maximum value: 16, default value: 4. + +TAB_SIZE = 4 + +# This tag can be used to specify a number of aliases that act as commands in +# the documentation. An alias has the form: +# name=value +# For example adding +# "sideeffect=@par Side Effects:\n" +# will allow you to put the command \sideeffect (or @sideeffect) in the +# documentation, which will result in a user-defined paragraph with heading +# "Side Effects:". You can put \n's in the value part of an alias to insert +# newlines. + +ALIASES = + +# This tag can be used to specify a number of word-keyword mappings (TCL only). +# A mapping has the form "name=value". For example adding "class=itcl::class" +# will allow you to use the command class in the itcl::class meaning. + +TCL_SUBST = + +# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources +# only. Doxygen will then generate output that is more tailored for C. For +# instance, some of the names that are used will be different. The list of all +# members will be omitted, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_FOR_C = NO + +# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java or +# Python sources only. Doxygen will then generate output that is more tailored +# for that language. For instance, namespaces will be presented as packages, +# qualified scopes will look different, etc. +# The default value is: NO. + +OPTIMIZE_OUTPUT_JAVA = NO + +# Set the OPTIMIZE_FOR_FORTRAN tag to YES if your project consists of Fortran +# sources. Doxygen will then generate output that is tailored for Fortran. +# The default value is: NO. + +OPTIMIZE_FOR_FORTRAN = NO + +# Set the OPTIMIZE_OUTPUT_VHDL tag to YES if your project consists of VHDL +# sources. Doxygen will then generate output that is tailored for VHDL. +# The default value is: NO. + +OPTIMIZE_OUTPUT_VHDL = NO + +# Doxygen selects the parser to use depending on the extension of the files it +# parses. With this tag you can assign which parser to use for a given +# extension. Doxygen has a built-in mapping, but you can override or extend it +# using this tag. The format is ext=language, where ext is a file extension, and +# language is one of the parsers supported by doxygen: IDL, Java, Javascript, +# C#, C, C++, D, PHP, Objective-C, Python, Fortran (fixed format Fortran: +# FortranFixed, free formatted Fortran: FortranFree, unknown formatted Fortran: +# Fortran. In the later case the parser tries to guess whether the code is fixed +# or free formatted code, this is the default for Fortran type files), VHDL. For +# instance to make doxygen treat .inc files as Fortran files (default is PHP), +# and .f files as C (default is Fortran), use: inc=Fortran f=C. +# +# Note: For files without extension you can use no_extension as a placeholder. +# +# Note that for custom extensions you also need to set FILE_PATTERNS otherwise +# the files are not read by doxygen. + +EXTENSION_MAPPING = + +# If the MARKDOWN_SUPPORT tag is enabled then doxygen pre-processes all comments +# according to the Markdown format, which allows for more readable +# documentation. See http://daringfireball.net/projects/markdown/ for details. +# The output of markdown processing is further processed by doxygen, so you can +# mix doxygen, HTML, and XML commands with Markdown formatting. Disable only in +# case of backward compatibilities issues. +# The default value is: YES. + +MARKDOWN_SUPPORT = YES + +# When enabled doxygen tries to link words that correspond to documented +# classes, or namespaces to their corresponding documentation. Such a link can +# be prevented in individual cases by putting a % sign in front of the word or +# globally by setting AUTOLINK_SUPPORT to NO. +# The default value is: YES. + +AUTOLINK_SUPPORT = YES + +# If you use STL classes (i.e. std::string, std::vector, etc.) but do not want +# to include (a tag file for) the STL sources as input, then you should set this +# tag to YES in order to let doxygen match functions declarations and +# definitions whose arguments contain STL classes (e.g. func(std::string); +# versus func(std::string) {}). This also make the inheritance and collaboration +# diagrams that involve STL classes more complete and accurate. +# The default value is: NO. + +BUILTIN_STL_SUPPORT = NO + +# If you use Microsoft's C++/CLI language, you should set this option to YES to +# enable parsing support. +# The default value is: NO. + +CPP_CLI_SUPPORT = NO + +# Set the SIP_SUPPORT tag to YES if your project consists of sip (see: +# http://www.riverbankcomputing.co.uk/software/sip/intro) sources only. Doxygen +# will parse them like normal C++ but will assume all classes use public instead +# of private inheritance when no explicit protection keyword is present. +# The default value is: NO. + +SIP_SUPPORT = NO + +# For Microsoft's IDL there are propget and propput attributes to indicate +# getter and setter methods for a property. Setting this option to YES will make +# doxygen to replace the get and set methods by a property in the documentation. +# This will only work if the methods are indeed getting or setting a simple +# type. If this is not the case, or you want to show the methods anyway, you +# should set this option to NO. +# The default value is: YES. + +IDL_PROPERTY_SUPPORT = YES + +# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC +# tag is set to YES then doxygen will reuse the documentation of the first +# member in the group (if any) for the other members of the group. By default +# all members of a group must be documented explicitly. +# The default value is: NO. + +DISTRIBUTE_GROUP_DOC = NO + +# If one adds a struct or class to a group and this option is enabled, then also +# any nested class or struct is added to the same group. By default this option +# is disabled and one has to add nested compounds explicitly via \ingroup. +# The default value is: NO. + +GROUP_NESTED_COMPOUNDS = NO + +# Set the SUBGROUPING tag to YES to allow class member groups of the same type +# (for instance a group of public functions) to be put as a subgroup of that +# type (e.g. under the Public Functions section). Set it to NO to prevent +# subgrouping. Alternatively, this can be done per class using the +# \nosubgrouping command. +# The default value is: YES. + +SUBGROUPING = YES + +# When the INLINE_GROUPED_CLASSES tag is set to YES, classes, structs and unions +# are shown inside the group in which they are included (e.g. using \ingroup) +# instead of on a separate page (for HTML and Man pages) or section (for LaTeX +# and RTF). +# +# Note that this feature does not work in combination with +# SEPARATE_MEMBER_PAGES. +# The default value is: NO. + +INLINE_GROUPED_CLASSES = NO + +# When the INLINE_SIMPLE_STRUCTS tag is set to YES, structs, classes, and unions +# with only public data fields or simple typedef fields will be shown inline in +# the documentation of the scope in which they are defined (i.e. file, +# namespace, or group documentation), provided this scope is documented. If set +# to NO, structs, classes, and unions are shown on a separate page (for HTML and +# Man pages) or section (for LaTeX and RTF). +# The default value is: NO. + +INLINE_SIMPLE_STRUCTS = NO + +# When TYPEDEF_HIDES_STRUCT tag is enabled, a typedef of a struct, union, or +# enum is documented as struct, union, or enum with the name of the typedef. So +# typedef struct TypeS {} TypeT, will appear in the documentation as a struct +# with name TypeT. When disabled the typedef will appear as a member of a file, +# namespace, or class. And the struct will be named TypeS. This can typically be +# useful for C code in case the coding convention dictates that all compound +# types are typedef'ed and only the typedef is referenced, never the tag name. +# The default value is: NO. + +TYPEDEF_HIDES_STRUCT = NO + +# The size of the symbol lookup cache can be set using LOOKUP_CACHE_SIZE. This +# cache is used to resolve symbols given their name and scope. Since this can be +# an expensive process and often the same symbol appears multiple times in the +# code, doxygen keeps a cache of pre-resolved symbols. If the cache is too small +# doxygen will become slower. If the cache is too large, memory is wasted. The +# cache size is given by this formula: 2^(16+LOOKUP_CACHE_SIZE). The valid range +# is 0..9, the default is 0, corresponding to a cache size of 2^16=65536 +# symbols. At the end of a run doxygen will report the cache usage and suggest +# the optimal cache size from a speed point of view. +# Minimum value: 0, maximum value: 9, default value: 0. + +LOOKUP_CACHE_SIZE = 0 + +#--------------------------------------------------------------------------- +# Build related configuration options +#--------------------------------------------------------------------------- + +# If the EXTRACT_ALL tag is set to YES, doxygen will assume all entities in +# documentation are documented, even if no documentation was available. Private +# class members and static file members will be hidden unless the +# EXTRACT_PRIVATE respectively EXTRACT_STATIC tags are set to YES. +# Note: This will also disable the warnings about undocumented members that are +# normally produced when WARNINGS is set to YES. +# The default value is: NO. + +EXTRACT_ALL = YES + +# If the EXTRACT_PRIVATE tag is set to YES, all private members of a class will +# be included in the documentation. +# The default value is: NO. + +EXTRACT_PRIVATE = NO + +# If the EXTRACT_PACKAGE tag is set to YES, all members with package or internal +# scope will be included in the documentation. +# The default value is: NO. + +EXTRACT_PACKAGE = NO + +# If the EXTRACT_STATIC tag is set to YES, all static members of a file will be +# included in the documentation. +# The default value is: NO. + +EXTRACT_STATIC = NO + +# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined +# locally in source files will be included in the documentation. If set to NO, +# only classes defined in header files are included. Does not have any effect +# for Java sources. +# The default value is: YES. + +EXTRACT_LOCAL_CLASSES = YES + +# This flag is only useful for Objective-C code. If set to YES, local methods, +# which are defined in the implementation section but not in the interface are +# included in the documentation. If set to NO, only methods in the interface are +# included. +# The default value is: NO. + +EXTRACT_LOCAL_METHODS = NO + +# If this flag is set to YES, the members of anonymous namespaces will be +# extracted and appear in the documentation as a namespace called +# 'anonymous_namespace{file}', where file will be replaced with the base name of +# the file that contains the anonymous namespace. By default anonymous namespace +# are hidden. +# The default value is: NO. + +EXTRACT_ANON_NSPACES = NO + +# If the HIDE_UNDOC_MEMBERS tag is set to YES, doxygen will hide all +# undocumented members inside documented classes or files. If set to NO these +# members will be included in the various overviews, but no documentation +# section is generated. This option has no effect if EXTRACT_ALL is enabled. +# The default value is: NO. + +HIDE_UNDOC_MEMBERS = NO + +# If the HIDE_UNDOC_CLASSES tag is set to YES, doxygen will hide all +# undocumented classes that are normally visible in the class hierarchy. If set +# to NO, these classes will be included in the various overviews. This option +# has no effect if EXTRACT_ALL is enabled. +# The default value is: NO. + +HIDE_UNDOC_CLASSES = NO + +# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, doxygen will hide all friend +# (class|struct|union) declarations. If set to NO, these declarations will be +# included in the documentation. +# The default value is: NO. + +HIDE_FRIEND_COMPOUNDS = NO + +# If the HIDE_IN_BODY_DOCS tag is set to YES, doxygen will hide any +# documentation blocks found inside the body of a function. If set to NO, these +# blocks will be appended to the function's detailed documentation block. +# The default value is: NO. + +HIDE_IN_BODY_DOCS = NO + +# The INTERNAL_DOCS tag determines if documentation that is typed after a +# \internal command is included. If the tag is set to NO then the documentation +# will be excluded. Set it to YES to include the internal documentation. +# The default value is: NO. + +INTERNAL_DOCS = NO + +# If the CASE_SENSE_NAMES tag is set to NO then doxygen will only generate file +# names in lower-case letters. If set to YES, upper-case letters are also +# allowed. This is useful if you have classes or files whose names only differ +# in case and if your file system supports case sensitive file names. Windows +# and Mac users are advised to set this option to NO. +# The default value is: system dependent. + +CASE_SENSE_NAMES = YES + +# If the HIDE_SCOPE_NAMES tag is set to NO then doxygen will show members with +# their full class and namespace scopes in the documentation. If set to YES, the +# scope will be hidden. +# The default value is: NO. + +HIDE_SCOPE_NAMES = NO + +# If the HIDE_COMPOUND_REFERENCE tag is set to NO (default) then doxygen will +# append additional text to a page's title, such as Class Reference. If set to +# YES the compound reference will be hidden. +# The default value is: NO. + +HIDE_COMPOUND_REFERENCE= NO + +# If the SHOW_INCLUDE_FILES tag is set to YES then doxygen will put a list of +# the files that are included by a file in the documentation of that file. +# The default value is: YES. + +SHOW_INCLUDE_FILES = YES + +# If the SHOW_GROUPED_MEMB_INC tag is set to YES then Doxygen will add for each +# grouped member an include statement to the documentation, telling the reader +# which file to include in order to use the member. +# The default value is: NO. + +SHOW_GROUPED_MEMB_INC = NO + +# If the FORCE_LOCAL_INCLUDES tag is set to YES then doxygen will list include +# files with double quotes in the documentation rather than with sharp brackets. +# The default value is: NO. + +FORCE_LOCAL_INCLUDES = NO + +# If the INLINE_INFO tag is set to YES then a tag [inline] is inserted in the +# documentation for inline members. +# The default value is: YES. + +INLINE_INFO = YES + +# If the SORT_MEMBER_DOCS tag is set to YES then doxygen will sort the +# (detailed) documentation of file and class members alphabetically by member +# name. If set to NO, the members will appear in declaration order. +# The default value is: YES. + +SORT_MEMBER_DOCS = YES + +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the brief +# descriptions of file, namespace and class members alphabetically by member +# name. If set to NO, the members will appear in declaration order. Note that +# this will also influence the order of the classes in the class list. +# The default value is: NO. + +SORT_BRIEF_DOCS = NO + +# If the SORT_MEMBERS_CTORS_1ST tag is set to YES then doxygen will sort the +# (brief and detailed) documentation of class members so that constructors and +# destructors are listed first. If set to NO the constructors will appear in the +# respective orders defined by SORT_BRIEF_DOCS and SORT_MEMBER_DOCS. +# Note: If SORT_BRIEF_DOCS is set to NO this option is ignored for sorting brief +# member documentation. +# Note: If SORT_MEMBER_DOCS is set to NO this option is ignored for sorting +# detailed member documentation. +# The default value is: NO. + +SORT_MEMBERS_CTORS_1ST = NO + +# If the SORT_GROUP_NAMES tag is set to YES then doxygen will sort the hierarchy +# of group names into alphabetical order. If set to NO the group names will +# appear in their defined order. +# The default value is: NO. + +SORT_GROUP_NAMES = NO + +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be sorted by +# fully-qualified names, including namespaces. If set to NO, the class list will +# be sorted only by class name, not including the namespace part. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. +# Note: This option applies only to the class list, not to the alphabetical +# list. +# The default value is: NO. + +SORT_BY_SCOPE_NAME = NO + +# If the STRICT_PROTO_MATCHING option is enabled and doxygen fails to do proper +# type resolution of all parameters of a function it will reject a match between +# the prototype and the implementation of a member function even if there is +# only one candidate or it is obvious which candidate to choose by doing a +# simple string match. By disabling STRICT_PROTO_MATCHING doxygen will still +# accept a match between prototype and implementation in such cases. +# The default value is: NO. + +STRICT_PROTO_MATCHING = NO + +# The GENERATE_TODOLIST tag can be used to enable (YES) or disable (NO) the todo +# list. This list is created by putting \todo commands in the documentation. +# The default value is: YES. + +GENERATE_TODOLIST = YES + +# The GENERATE_TESTLIST tag can be used to enable (YES) or disable (NO) the test +# list. This list is created by putting \test commands in the documentation. +# The default value is: YES. + +GENERATE_TESTLIST = YES + +# The GENERATE_BUGLIST tag can be used to enable (YES) or disable (NO) the bug +# list. This list is created by putting \bug commands in the documentation. +# The default value is: YES. + +GENERATE_BUGLIST = YES + +# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or disable (NO) +# the deprecated list. This list is created by putting \deprecated commands in +# the documentation. +# The default value is: YES. + +GENERATE_DEPRECATEDLIST= YES + +# The ENABLED_SECTIONS tag can be used to enable conditional documentation +# sections, marked by \if ... \endif and \cond +# ... \endcond blocks. + +ENABLED_SECTIONS = + +# The MAX_INITIALIZER_LINES tag determines the maximum number of lines that the +# initial value of a variable or macro / define can have for it to appear in the +# documentation. If the initializer consists of more lines than specified here +# it will be hidden. Use a value of 0 to hide initializers completely. The +# appearance of the value of individual variables and macros / defines can be +# controlled using \showinitializer or \hideinitializer command in the +# documentation regardless of this setting. +# Minimum value: 0, maximum value: 10000, default value: 30. + +MAX_INITIALIZER_LINES = 30 + +# Set the SHOW_USED_FILES tag to NO to disable the list of files generated at +# the bottom of the documentation of classes and structs. If set to YES, the +# list will mention the files that were used to generate the documentation. +# The default value is: YES. + +SHOW_USED_FILES = YES + +# Set the SHOW_FILES tag to NO to disable the generation of the Files page. This +# will remove the Files entry from the Quick Index and from the Folder Tree View +# (if specified). +# The default value is: YES. + +SHOW_FILES = YES + +# Set the SHOW_NAMESPACES tag to NO to disable the generation of the Namespaces +# page. This will remove the Namespaces entry from the Quick Index and from the +# Folder Tree View (if specified). +# The default value is: YES. + +SHOW_NAMESPACES = YES + +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from +# the version control system). Doxygen will invoke the program by executing (via +# popen()) the command command input-file, where command is the value of the +# FILE_VERSION_FILTER tag, and input-file is the name of an input file provided +# by doxygen. Whatever the program writes to standard output is used as the file +# version. For an example see the documentation. + +FILE_VERSION_FILTER = + +# The LAYOUT_FILE tag can be used to specify a layout file which will be parsed +# by doxygen. The layout file controls the global structure of the generated +# output files in an output format independent way. To create the layout file +# that represents doxygen's defaults, run doxygen with the -l option. You can +# optionally specify a file name after the option, if omitted DoxygenLayout.xml +# will be used as the name of the layout file. +# +# Note that if you run doxygen from a directory containing a file called +# DoxygenLayout.xml, doxygen will parse it automatically even if the LAYOUT_FILE +# tag is left empty. + +LAYOUT_FILE = + +# The CITE_BIB_FILES tag can be used to specify one or more bib files containing +# the reference definitions. This must be a list of .bib files. The .bib +# extension is automatically appended if omitted. This requires the bibtex tool +# to be installed. See also http://en.wikipedia.org/wiki/BibTeX for more info. +# For LaTeX the style of the bibliography can be controlled using +# LATEX_BIB_STYLE. To use this feature you need bibtex and perl available in the +# search path. See also \cite for info how to create references. + +CITE_BIB_FILES = + +#--------------------------------------------------------------------------- +# Configuration options related to warning and progress messages +#--------------------------------------------------------------------------- + +# The QUIET tag can be used to turn on/off the messages that are generated to +# standard output by doxygen. If QUIET is set to YES this implies that the +# messages are off. +# The default value is: NO. + +QUIET = NO + +# The WARNINGS tag can be used to turn on/off the warning messages that are +# generated to standard error (stderr) by doxygen. If WARNINGS is set to YES +# this implies that the warnings are on. +# +# Tip: Turn warnings on while writing the documentation. +# The default value is: YES. + +WARNINGS = YES + +# If the WARN_IF_UNDOCUMENTED tag is set to YES then doxygen will generate +# warnings for undocumented members. If EXTRACT_ALL is set to YES then this flag +# will automatically be disabled. +# The default value is: YES. + +WARN_IF_UNDOCUMENTED = YES + +# If the WARN_IF_DOC_ERROR tag is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as not documenting some parameters +# in a documented function, or documenting parameters that don't exist or using +# markup commands wrongly. +# The default value is: YES. + +WARN_IF_DOC_ERROR = YES + +# This WARN_NO_PARAMDOC option can be enabled to get warnings for functions that +# are documented, but have no documentation for their parameters or return +# value. If set to NO, doxygen will only warn about wrong or incomplete +# parameter documentation, but not about the absence of documentation. +# The default value is: NO. + +WARN_NO_PARAMDOC = NO + +# If the WARN_AS_ERROR tag is set to YES then doxygen will immediately stop when +# a warning is encountered. +# The default value is: NO. + +WARN_AS_ERROR = NO + +# The WARN_FORMAT tag determines the format of the warning messages that doxygen +# can produce. The string should contain the $file, $line, and $text tags, which +# will be replaced by the file and line number from which the warning originated +# and the warning text. Optionally the format may contain $version, which will +# be replaced by the version of the file (if it could be obtained via +# FILE_VERSION_FILTER) +# The default value is: $file:$line: $text. + +WARN_FORMAT = "$file:$line: $text" + +# The WARN_LOGFILE tag can be used to specify a file to which warning and error +# messages should be written. If left blank the output is written to standard +# error (stderr). + +WARN_LOGFILE = + +#--------------------------------------------------------------------------- +# Configuration options related to the input files +#--------------------------------------------------------------------------- + +# The INPUT tag is used to specify the files and/or directories that contain +# documented source files. You may enter file names like myfile.cpp or +# directories like /usr/src/myproject. Separate the files or directories with +# spaces. See also FILE_PATTERNS and EXTENSION_MAPPING +# Note: If this tag is empty the current directory is searched. + +INPUT = ../../src + +# This tag can be used to specify the character encoding of the source files +# that doxygen parses. Internally doxygen uses the UTF-8 encoding. Doxygen uses +# libiconv (or the iconv built into libc) for the transcoding. See the libiconv +# documentation (see: http://www.gnu.org/software/libiconv) for the list of +# possible encodings. +# The default value is: UTF-8. + +INPUT_ENCODING = UTF-8 + +# If the value of the INPUT tag contains directories, you can use the +# FILE_PATTERNS tag to specify one or more wildcard patterns (like *.cpp and +# *.h) to filter out the source-files in the directories. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# read by doxygen. +# +# If left blank the following patterns are tested:*.c, *.cc, *.cxx, *.cpp, +# *.c++, *.java, *.ii, *.ixx, *.ipp, *.i++, *.inl, *.idl, *.ddl, *.odl, *.h, +# *.hh, *.hxx, *.hpp, *.h++, *.cs, *.d, *.php, *.php4, *.php5, *.phtml, *.inc, +# *.m, *.markdown, *.md, *.mm, *.dox, *.py, *.pyw, *.f90, *.f, *.for, *.tcl, +# *.vhd, *.vhdl, *.ucf, *.qsf, *.as and *.js. + +FILE_PATTERNS = *.h \ + *.cpp + +# The RECURSIVE tag can be used to specify whether or not subdirectories should +# be searched for input files as well. +# The default value is: NO. + +RECURSIVE = NO + +# The EXCLUDE tag can be used to specify files and/or directories that should be +# excluded from the INPUT source files. This way you can easily exclude a +# subdirectory from a directory tree whose root is specified with the INPUT tag. +# +# Note that relative paths are relative to the directory from which doxygen is +# run. + +EXCLUDE = + +# The EXCLUDE_SYMLINKS tag can be used to select whether or not files or +# directories that are symbolic links (a Unix file system feature) are excluded +# from the input. +# The default value is: NO. + +EXCLUDE_SYMLINKS = NO + +# If the value of the INPUT tag contains directories, you can use the +# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude +# certain files from those directories. +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories for example use the pattern */test/* + +EXCLUDE_PATTERNS = + +# The EXCLUDE_SYMBOLS tag can be used to specify one or more symbol names +# (namespaces, classes, functions, etc.) that should be excluded from the +# output. The symbol name can be a fully qualified name, a word, or if the +# wildcard * is used, a substring. Examples: ANamespace, AClass, +# AClass::ANamespace, ANamespace::*Test +# +# Note that the wildcards are matched against the file with absolute path, so to +# exclude all test directories use the pattern */test/* + +EXCLUDE_SYMBOLS = + +# The EXAMPLE_PATH tag can be used to specify one or more files or directories +# that contain example code fragments that are included (see the \include +# command). + +EXAMPLE_PATH = + +# If the value of the EXAMPLE_PATH tag contains directories, you can use the +# EXAMPLE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp and +# *.h) to filter out the source-files in the directories. If left blank all +# files are included. + +EXAMPLE_PATTERNS = + +# If the EXAMPLE_RECURSIVE tag is set to YES then subdirectories will be +# searched for input files to be used with the \include or \dontinclude commands +# irrespective of the value of the RECURSIVE tag. +# The default value is: NO. + +EXAMPLE_RECURSIVE = NO + +# The IMAGE_PATH tag can be used to specify one or more files or directories +# that contain images that are to be included in the documentation (see the +# \image command). + +IMAGE_PATH = + +# The INPUT_FILTER tag can be used to specify a program that doxygen should +# invoke to filter for each input file. Doxygen will invoke the filter program +# by executing (via popen()) the command: +# +# +# +# where is the value of the INPUT_FILTER tag, and is the +# name of an input file. Doxygen will then use the output that the filter +# program writes to standard output. If FILTER_PATTERNS is specified, this tag +# will be ignored. +# +# Note that the filter must not add or remove lines; it is applied before the +# code is scanned, but not when the output code is generated. If lines are added +# or removed, the anchors will not be placed correctly. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. + +INPUT_FILTER = + +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern +# basis. Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. The filters are a list of the form: pattern=filter +# (like *.cpp=my_cpp_filter). See INPUT_FILTER for further information on how +# filters are used. If the FILTER_PATTERNS tag is empty or if none of the +# patterns match the file name, INPUT_FILTER is applied. +# +# Note that for custom extensions or not directly supported extensions you also +# need to set EXTENSION_MAPPING for the extension otherwise the files are not +# properly processed by doxygen. + +FILTER_PATTERNS = + +# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using +# INPUT_FILTER) will also be used to filter the input files that are used for +# producing the source files to browse (i.e. when SOURCE_BROWSER is set to YES). +# The default value is: NO. + +FILTER_SOURCE_FILES = NO + +# The FILTER_SOURCE_PATTERNS tag can be used to specify source filters per file +# pattern. A pattern will override the setting for FILTER_PATTERN (if any) and +# it is also possible to disable source filtering for a specific pattern using +# *.ext= (so without naming a filter). +# This tag requires that the tag FILTER_SOURCE_FILES is set to YES. + +FILTER_SOURCE_PATTERNS = + +# If the USE_MDFILE_AS_MAINPAGE tag refers to the name of a markdown file that +# is part of the input, its contents will be placed on the main page +# (index.html). This can be useful if you have a project on for instance GitHub +# and want to reuse the introduction page also for the doxygen output. + +USE_MDFILE_AS_MAINPAGE = + +#--------------------------------------------------------------------------- +# Configuration options related to source browsing +#--------------------------------------------------------------------------- + +# If the SOURCE_BROWSER tag is set to YES then a list of source files will be +# generated. Documented entities will be cross-referenced with these sources. +# +# Note: To get rid of all source code in the generated output, make sure that +# also VERBATIM_HEADERS is set to NO. +# The default value is: NO. + +SOURCE_BROWSER = NO + +# Setting the INLINE_SOURCES tag to YES will include the body of functions, +# classes and enums directly into the documentation. +# The default value is: NO. + +INLINE_SOURCES = NO + +# Setting the STRIP_CODE_COMMENTS tag to YES will instruct doxygen to hide any +# special comment blocks from generated source code fragments. Normal C, C++ and +# Fortran comments will always remain visible. +# The default value is: YES. + +STRIP_CODE_COMMENTS = YES + +# If the REFERENCED_BY_RELATION tag is set to YES then for each documented +# function all documented functions referencing it will be listed. +# The default value is: NO. + +REFERENCED_BY_RELATION = NO + +# If the REFERENCES_RELATION tag is set to YES then for each documented function +# all documented entities called/used by that function will be listed. +# The default value is: NO. + +REFERENCES_RELATION = NO + +# If the REFERENCES_LINK_SOURCE tag is set to YES and SOURCE_BROWSER tag is set +# to YES then the hyperlinks from functions in REFERENCES_RELATION and +# REFERENCED_BY_RELATION lists will link to the source code. Otherwise they will +# link to the documentation. +# The default value is: YES. + +REFERENCES_LINK_SOURCE = YES + +# If SOURCE_TOOLTIPS is enabled (the default) then hovering a hyperlink in the +# source code will show a tooltip with additional information such as prototype, +# brief description and links to the definition and documentation. Since this +# will make the HTML file larger and loading of large files a bit slower, you +# can opt to disable this feature. +# The default value is: YES. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +SOURCE_TOOLTIPS = YES + +# If the USE_HTAGS tag is set to YES then the references to source code will +# point to the HTML generated by the htags(1) tool instead of doxygen built-in +# source browser. The htags tool is part of GNU's global source tagging system +# (see http://www.gnu.org/software/global/global.html). You will need version +# 4.8.6 or higher. +# +# To use it do the following: +# - Install the latest version of global +# - Enable SOURCE_BROWSER and USE_HTAGS in the config file +# - Make sure the INPUT points to the root of the source tree +# - Run doxygen as normal +# +# Doxygen will invoke htags (and that will in turn invoke gtags), so these +# tools must be available from the command line (i.e. in the search path). +# +# The result: instead of the source browser generated by doxygen, the links to +# source code will now point to the output of htags. +# The default value is: NO. +# This tag requires that the tag SOURCE_BROWSER is set to YES. + +USE_HTAGS = NO + +# If the VERBATIM_HEADERS tag is set the YES then doxygen will generate a +# verbatim copy of the header file for each class for which an include is +# specified. Set to NO to disable this. +# See also: Section \class. +# The default value is: YES. + +VERBATIM_HEADERS = YES + +#--------------------------------------------------------------------------- +# Configuration options related to the alphabetical class index +#--------------------------------------------------------------------------- + +# If the ALPHABETICAL_INDEX tag is set to YES, an alphabetical index of all +# compounds will be generated. Enable this if the project contains a lot of +# classes, structs, unions or interfaces. +# The default value is: YES. + +ALPHABETICAL_INDEX = YES + +# The COLS_IN_ALPHA_INDEX tag can be used to specify the number of columns in +# which the alphabetical index list will be split. +# Minimum value: 1, maximum value: 20, default value: 5. +# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. + +COLS_IN_ALPHA_INDEX = 5 + +# In case all classes in a project start with a common prefix, all classes will +# be put under the same header in the alphabetical index. The IGNORE_PREFIX tag +# can be used to specify a prefix (or a list of prefixes) that should be ignored +# while generating the index headers. +# This tag requires that the tag ALPHABETICAL_INDEX is set to YES. + +IGNORE_PREFIX = + +#--------------------------------------------------------------------------- +# Configuration options related to the HTML output +#--------------------------------------------------------------------------- + +# If the GENERATE_HTML tag is set to YES, doxygen will generate HTML output +# The default value is: YES. + +GENERATE_HTML = YES + +# The HTML_OUTPUT tag is used to specify where the HTML docs will be put. If a +# relative path is entered the value of OUTPUT_DIRECTORY will be put in front of +# it. +# The default directory is: html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_OUTPUT = html + +# The HTML_FILE_EXTENSION tag can be used to specify the file extension for each +# generated HTML page (for example: .htm, .php, .asp). +# The default value is: .html. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FILE_EXTENSION = .html + +# The HTML_HEADER tag can be used to specify a user-defined HTML header file for +# each generated HTML page. If the tag is left blank doxygen will generate a +# standard header. +# +# To get valid HTML the header file that includes any scripts and style sheets +# that doxygen needs, which is dependent on the configuration options used (e.g. +# the setting GENERATE_TREEVIEW). It is highly recommended to start with a +# default header using +# doxygen -w html new_header.html new_footer.html new_stylesheet.css +# YourConfigFile +# and then modify the file new_header.html. See also section "Doxygen usage" +# for information on how to generate the default header that doxygen normally +# uses. +# Note: The header is subject to change so you typically have to regenerate the +# default header when upgrading to a newer version of doxygen. For a description +# of the possible markers and block names see the documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_HEADER = + +# The HTML_FOOTER tag can be used to specify a user-defined HTML footer for each +# generated HTML page. If the tag is left blank doxygen will generate a standard +# footer. See HTML_HEADER for more information on how to generate a default +# footer and what special commands can be used inside the footer. See also +# section "Doxygen usage" for information on how to generate the default footer +# that doxygen normally uses. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_FOOTER = + +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading style +# sheet that is used by each HTML page. It can be used to fine-tune the look of +# the HTML output. If left blank doxygen will generate a default style sheet. +# See also section "Doxygen usage" for information on how to generate the style +# sheet that doxygen normally uses. +# Note: It is recommended to use HTML_EXTRA_STYLESHEET instead of this tag, as +# it is more robust and this tag (HTML_STYLESHEET) will in the future become +# obsolete. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_STYLESHEET = + +# The HTML_EXTRA_STYLESHEET tag can be used to specify additional user-defined +# cascading style sheets that are included after the standard style sheets +# created by doxygen. Using this option one can overrule certain style aspects. +# This is preferred over using HTML_STYLESHEET since it does not replace the +# standard style sheet and is therefore more robust against future updates. +# Doxygen will copy the style sheet files to the output directory. +# Note: The order of the extra style sheet files is of importance (e.g. the last +# style sheet in the list overrules the setting of the previous ones in the +# list). For an example see the documentation. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_STYLESHEET = + +# The HTML_EXTRA_FILES tag can be used to specify one or more extra images or +# other source files which should be copied to the HTML output directory. Note +# that these files will be copied to the base HTML output directory. Use the +# $relpath^ marker in the HTML_HEADER and/or HTML_FOOTER files to load these +# files. In the HTML_STYLESHEET file, use the file name only. Also note that the +# files will be copied as-is; there are no commands or markers available. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_EXTRA_FILES = + +# The HTML_COLORSTYLE_HUE tag controls the color of the HTML output. Doxygen +# will adjust the colors in the style sheet and background images according to +# this color. Hue is specified as an angle on a colorwheel, see +# http://en.wikipedia.org/wiki/Hue for more information. For instance the value +# 0 represents red, 60 is yellow, 120 is green, 180 is cyan, 240 is blue, 300 +# purple, and 360 is red again. +# Minimum value: 0, maximum value: 359, default value: 220. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_HUE = 220 + +# The HTML_COLORSTYLE_SAT tag controls the purity (or saturation) of the colors +# in the HTML output. For a value of 0 the output will use grayscales only. A +# value of 255 will produce the most vivid colors. +# Minimum value: 0, maximum value: 255, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_SAT = 100 + +# The HTML_COLORSTYLE_GAMMA tag controls the gamma correction applied to the +# luminance component of the colors in the HTML output. Values below 100 +# gradually make the output lighter, whereas values above 100 make the output +# darker. The value divided by 100 is the actual gamma applied, so 80 represents +# a gamma of 0.8, The value 220 represents a gamma of 2.2, and 100 does not +# change the gamma. +# Minimum value: 40, maximum value: 240, default value: 80. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_COLORSTYLE_GAMMA = 80 + +# If the HTML_TIMESTAMP tag is set to YES then the footer of each generated HTML +# page will contain the date and time when the page was generated. Setting this +# to YES can help to show when doxygen was last run and thus if the +# documentation is up to date. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_TIMESTAMP = YES + +# If the HTML_DYNAMIC_SECTIONS tag is set to YES then the generated HTML +# documentation will contain sections that can be hidden and shown after the +# page has loaded. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_DYNAMIC_SECTIONS = NO + +# With HTML_INDEX_NUM_ENTRIES one can control the preferred number of entries +# shown in the various tree structured indices initially; the user can expand +# and collapse entries dynamically later on. Doxygen will expand the tree to +# such a level that at most the specified number of entries are visible (unless +# a fully collapsed tree already exceeds this amount). So setting the number of +# entries 1 will produce a full collapsed tree by default. 0 is a special value +# representing an infinite number of entries and will result in a full expanded +# tree by default. +# Minimum value: 0, maximum value: 9999, default value: 100. +# This tag requires that the tag GENERATE_HTML is set to YES. + +HTML_INDEX_NUM_ENTRIES = 100 + +# If the GENERATE_DOCSET tag is set to YES, additional index files will be +# generated that can be used as input for Apple's Xcode 3 integrated development +# environment (see: http://developer.apple.com/tools/xcode/), introduced with +# OSX 10.5 (Leopard). To create a documentation set, doxygen will generate a +# Makefile in the HTML output directory. Running make will produce the docset in +# that directory and running make install will install the docset in +# ~/Library/Developer/Shared/Documentation/DocSets so that Xcode will find it at +# startup. See http://developer.apple.com/tools/creatingdocsetswithdoxygen.html +# for more information. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_DOCSET = NO + +# This tag determines the name of the docset feed. A documentation feed provides +# an umbrella under which multiple documentation sets from a single provider +# (such as a company or product suite) can be grouped. +# The default value is: Doxygen generated docs. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_FEEDNAME = "Doxygen generated docs" + +# This tag specifies a string that should uniquely identify the documentation +# set bundle. This should be a reverse domain-name style string, e.g. +# com.mycompany.MyDocSet. Doxygen will append .docset to the name. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_BUNDLE_ID = org.doxygen.Project + +# The DOCSET_PUBLISHER_ID tag specifies a string that should uniquely identify +# the documentation publisher. This should be a reverse domain-name style +# string, e.g. com.mycompany.MyDocSet.documentation. +# The default value is: org.doxygen.Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_ID = org.doxygen.Publisher + +# The DOCSET_PUBLISHER_NAME tag identifies the documentation publisher. +# The default value is: Publisher. +# This tag requires that the tag GENERATE_DOCSET is set to YES. + +DOCSET_PUBLISHER_NAME = Publisher + +# If the GENERATE_HTMLHELP tag is set to YES then doxygen generates three +# additional HTML index files: index.hhp, index.hhc, and index.hhk. The +# index.hhp is a project file that can be read by Microsoft's HTML Help Workshop +# (see: http://www.microsoft.com/en-us/download/details.aspx?id=21138) on +# Windows. +# +# The HTML Help Workshop contains a compiler that can convert all HTML output +# generated by doxygen into a single compiled HTML file (.chm). Compiled HTML +# files are now used as the Windows 98 help format, and will replace the old +# Windows help format (.hlp) on all Windows platforms in the future. Compressed +# HTML files also contain an index, a table of contents, and you can search for +# words in the documentation. The HTML workshop also contains a viewer for +# compressed HTML files. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_HTMLHELP = NO + +# The CHM_FILE tag can be used to specify the file name of the resulting .chm +# file. You can add a path in front of the file if the result should not be +# written to the html output directory. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_FILE = + +# The HHC_LOCATION tag can be used to specify the location (absolute path +# including file name) of the HTML help compiler (hhc.exe). If non-empty, +# doxygen will try to run the HTML help compiler on the generated index.hhp. +# The file has to be specified with full path. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +HHC_LOCATION = + +# The GENERATE_CHI flag controls if a separate .chi index file is generated +# (YES) or that it should be included in the master .chm file (NO). +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +GENERATE_CHI = NO + +# The CHM_INDEX_ENCODING is used to encode HtmlHelp index (hhk), content (hhc) +# and project file content. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +CHM_INDEX_ENCODING = + +# The BINARY_TOC flag controls whether a binary table of contents is generated +# (YES) or a normal table of contents (NO) in the .chm file. Furthermore it +# enables the Previous and Next buttons. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +BINARY_TOC = NO + +# The TOC_EXPAND flag can be set to YES to add extra items for group members to +# the table of contents of the HTML help documentation and to the tree view. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTMLHELP is set to YES. + +TOC_EXPAND = NO + +# If the GENERATE_QHP tag is set to YES and both QHP_NAMESPACE and +# QHP_VIRTUAL_FOLDER are set, an additional index file will be generated that +# can be used as input for Qt's qhelpgenerator to generate a Qt Compressed Help +# (.qch) of the generated HTML documentation. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_QHP = NO + +# If the QHG_LOCATION tag is specified, the QCH_FILE tag can be used to specify +# the file name of the resulting .qch file. The path specified is relative to +# the HTML output folder. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QCH_FILE = + +# The QHP_NAMESPACE tag specifies the namespace to use when generating Qt Help +# Project output. For more information please see Qt Help Project / Namespace +# (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#namespace). +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_NAMESPACE = org.doxygen.Project + +# The QHP_VIRTUAL_FOLDER tag specifies the namespace to use when generating Qt +# Help Project output. For more information please see Qt Help Project / Virtual +# Folders (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#virtual- +# folders). +# The default value is: doc. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_VIRTUAL_FOLDER = doc + +# If the QHP_CUST_FILTER_NAME tag is set, it specifies the name of a custom +# filter to add. For more information please see Qt Help Project / Custom +# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom- +# filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_NAME = + +# The QHP_CUST_FILTER_ATTRS tag specifies the list of the attributes of the +# custom filter to add. For more information please see Qt Help Project / Custom +# Filters (see: http://qt-project.org/doc/qt-4.8/qthelpproject.html#custom- +# filters). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_CUST_FILTER_ATTRS = + +# The QHP_SECT_FILTER_ATTRS tag specifies the list of the attributes this +# project's filter section matches. Qt Help Project / Filter Attributes (see: +# http://qt-project.org/doc/qt-4.8/qthelpproject.html#filter-attributes). +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHP_SECT_FILTER_ATTRS = + +# The QHG_LOCATION tag can be used to specify the location of Qt's +# qhelpgenerator. If non-empty doxygen will try to run qhelpgenerator on the +# generated .qhp file. +# This tag requires that the tag GENERATE_QHP is set to YES. + +QHG_LOCATION = + +# If the GENERATE_ECLIPSEHELP tag is set to YES, additional index files will be +# generated, together with the HTML files, they form an Eclipse help plugin. To +# install this plugin and make it available under the help contents menu in +# Eclipse, the contents of the directory containing the HTML and XML files needs +# to be copied into the plugins directory of eclipse. The name of the directory +# within the plugins directory should be the same as the ECLIPSE_DOC_ID value. +# After copying Eclipse needs to be restarted before the help appears. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_ECLIPSEHELP = NO + +# A unique identifier for the Eclipse help plugin. When installing the plugin +# the directory name containing the HTML and XML files should also have this +# name. Each documentation set should have its own identifier. +# The default value is: org.doxygen.Project. +# This tag requires that the tag GENERATE_ECLIPSEHELP is set to YES. + +ECLIPSE_DOC_ID = org.doxygen.Project + +# If you want full control over the layout of the generated HTML pages it might +# be necessary to disable the index and replace it with your own. The +# DISABLE_INDEX tag can be used to turn on/off the condensed index (tabs) at top +# of each HTML page. A value of NO enables the index and the value YES disables +# it. Since the tabs in the index contain the same information as the navigation +# tree, you can set this option to YES if you also set GENERATE_TREEVIEW to YES. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +DISABLE_INDEX = NO + +# The GENERATE_TREEVIEW tag is used to specify whether a tree-like index +# structure should be generated to display hierarchical information. If the tag +# value is set to YES, a side panel will be generated containing a tree-like +# index structure (just like the one that is generated for HTML Help). For this +# to work a browser that supports JavaScript, DHTML, CSS and frames is required +# (i.e. any modern browser). Windows users are probably better off using the +# HTML help feature. Via custom style sheets (see HTML_EXTRA_STYLESHEET) one can +# further fine-tune the look of the index. As an example, the default style +# sheet generated by doxygen has an example that shows how to put an image at +# the root of the tree instead of the PROJECT_NAME. Since the tree basically has +# the same information as the tab index, you could consider setting +# DISABLE_INDEX to YES when enabling this option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +GENERATE_TREEVIEW = NO + +# The ENUM_VALUES_PER_LINE tag can be used to set the number of enum values that +# doxygen will group on one line in the generated HTML documentation. +# +# Note that a value of 0 will completely suppress the enum values from appearing +# in the overview section. +# Minimum value: 0, maximum value: 20, default value: 4. +# This tag requires that the tag GENERATE_HTML is set to YES. + +ENUM_VALUES_PER_LINE = 4 + +# If the treeview is enabled (see GENERATE_TREEVIEW) then this tag can be used +# to set the initial width (in pixels) of the frame in which the tree is shown. +# Minimum value: 0, maximum value: 1500, default value: 250. +# This tag requires that the tag GENERATE_HTML is set to YES. + +TREEVIEW_WIDTH = 250 + +# If the EXT_LINKS_IN_WINDOW option is set to YES, doxygen will open links to +# external symbols imported via tag files in a separate window. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +EXT_LINKS_IN_WINDOW = NO + +# Use this tag to change the font size of LaTeX formulas included as images in +# the HTML documentation. When you change the font size after a successful +# doxygen run you need to manually remove any form_*.png images from the HTML +# output directory to force them to be regenerated. +# Minimum value: 8, maximum value: 50, default value: 10. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FORMULA_FONTSIZE = 10 + +# Use the FORMULA_TRANPARENT tag to determine whether or not the images +# generated for formulas are transparent PNGs. Transparent PNGs are not +# supported properly for IE 6.0, but are supported on all modern browsers. +# +# Note that when changing this option you need to delete any form_*.png files in +# the HTML output directory before the changes have effect. +# The default value is: YES. +# This tag requires that the tag GENERATE_HTML is set to YES. + +FORMULA_TRANSPARENT = YES + +# Enable the USE_MATHJAX option to render LaTeX formulas using MathJax (see +# http://www.mathjax.org) which uses client side Javascript for the rendering +# instead of using pre-rendered bitmaps. Use this if you do not have LaTeX +# installed or if you want to formulas look prettier in the HTML output. When +# enabled you may also need to install MathJax separately and configure the path +# to it using the MATHJAX_RELPATH option. +# The default value is: NO. +# This tag requires that the tag GENERATE_HTML is set to YES. + +USE_MATHJAX = NO + +# When MathJax is enabled you can set the default output format to be used for +# the MathJax output. See the MathJax site (see: +# http://docs.mathjax.org/en/latest/output.html) for more details. +# Possible values are: HTML-CSS (which is slower, but has the best +# compatibility), NativeMML (i.e. MathML) and SVG. +# The default value is: HTML-CSS. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_FORMAT = HTML-CSS + +# When MathJax is enabled you need to specify the location relative to the HTML +# output directory using the MATHJAX_RELPATH option. The destination directory +# should contain the MathJax.js script. For instance, if the mathjax directory +# is located at the same level as the HTML output directory, then +# MATHJAX_RELPATH should be ../mathjax. The default value points to the MathJax +# Content Delivery Network so you can quickly see the result without installing +# MathJax. However, it is strongly recommended to install a local copy of +# MathJax from http://www.mathjax.org before deployment. +# The default value is: http://cdn.mathjax.org/mathjax/latest. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_RELPATH = http://cdn.mathjax.org/mathjax/latest + +# The MATHJAX_EXTENSIONS tag can be used to specify one or more MathJax +# extension names that should be enabled during MathJax rendering. For example +# MATHJAX_EXTENSIONS = TeX/AMSmath TeX/AMSsymbols +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_EXTENSIONS = + +# The MATHJAX_CODEFILE tag can be used to specify a file with javascript pieces +# of code that will be used on startup of the MathJax code. See the MathJax site +# (see: http://docs.mathjax.org/en/latest/output.html) for more details. For an +# example see the documentation. +# This tag requires that the tag USE_MATHJAX is set to YES. + +MATHJAX_CODEFILE = + +# When the SEARCHENGINE tag is enabled doxygen will generate a search box for +# the HTML output. The underlying search engine uses javascript and DHTML and +# should work on any modern browser. Note that when using HTML help +# (GENERATE_HTMLHELP), Qt help (GENERATE_QHP), or docsets (GENERATE_DOCSET) +# there is already a search function so this one should typically be disabled. +# For large projects the javascript based search engine can be slow, then +# enabling SERVER_BASED_SEARCH may provide a better solution. 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zJ=>yuV}JQ>$f=8gc$lO=w=fh)oqKZXivu@UaC6R}nF@CK}?c7f|0m3fa;%Gby?lW$Efr|d(pJXBwy~m?o z@E5=?MB?^b$t0ym?*>*16(oOV&pO@c+|*sp{%Sp^HRqgAw!E7*-Dc|L8Int3>^<>V z9Z}(h?b3FAL+>3Z^*OW#@gAqgd)Ba~UUuKJ({wH*Op)Y{u1?`pi=p3eBDBI;Gcg#hIT*F#D{lufL>2aARa z`iFvJ0i>mZ-P=(OSp_0$IaiXAe*t$6x8vlnn;G96|I1SG7~+%<=ukqkc5^)xW%>|2 zh#p2i2)!&=8~S{r%|H(m2Bi^flb=FM2jSX>I1GpFLQ&lj+*41G+XL9{TPF)`7{{knGA5{PV literal 0 HcmV?d00001 diff --git a/lib/DW1000/extras/doc/html/DW1000CompileOptions_8h.html b/lib/DW1000/extras/doc/html/DW1000CompileOptions_8h.html new file mode 100644 index 0000000..f4709c2 --- /dev/null +++ b/lib/DW1000/extras/doc/html/DW1000CompileOptions_8h.html @@ -0,0 +1,92 @@ + + + + + + +Arduino driver library for Decawave DW1000: /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000CompileOptions.h File Reference + + + + + + +

    +
    +
    +Macros
    +
    +
    DW1000CompileOptions.h File Reference
    +
    +
    + +

    Go to the source code of this file.

    + + + + +

    +Macros

    #define DW1000TIME_H_PRINTABLE   true
     
    +

    Detailed Description

    +

    Copyright (c) 2016 by Ludwig Grill (www.rotzbua.de) Decawave DW1000 library for arduino.

    +

    Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at 

    http://www.apache.org/licenses/LICENSE-2.0
+

    Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

    +

    Here are some options to optimize code and save some ram and rom

    +

    Macro Definition Documentation

    + +
    +
    + + + + +
    #define DW1000TIME_H_PRINTABLE   true
    +
    +

    Printable DW1000Time object costs about: rom: 490 byte ; ram: 58 byte This option is needed because compiler can not optimize unused codes from inheritanced methods Some examples or debug code use this Set false if you do not need it and have to save some space

    + +
    +
    +
    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/DW1000CompileOptions_8h_source.html b/lib/DW1000/extras/doc/html/DW1000CompileOptions_8h_source.html new file mode 100644 index 0000000..aafaf45 --- /dev/null +++ b/lib/DW1000/extras/doc/html/DW1000CompileOptions_8h_source.html @@ -0,0 +1,63 @@ + + + + + + +Arduino driver library for Decawave DW1000: /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000CompileOptions.h Source File + + + + + + +
    +
    + + + + + + +
    +
    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
    +
    +
    + + + + + +
    +
    +
    +
    DW1000CompileOptions.h
    +
    +
    +Go to the documentation of this file.
    1 
    22 #ifndef DW1000COMPILEOPTIONS_H
    23 #define DW1000COMPILEOPTIONS_H
    24 
    31 #define DW1000TIME_H_PRINTABLE true
    32 
    33 #endif // DW1000COMPILEOPTIONS_H
    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/DW1000Constants_8h.html b/lib/DW1000/extras/doc/html/DW1000Constants_8h.html new file mode 100644 index 0000000..7f3bfec --- /dev/null +++ b/lib/DW1000/extras/doc/html/DW1000Constants_8h.html @@ -0,0 +1,2284 @@ + + + + + + +Arduino driver library for Decawave DW1000: /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Constants.h File Reference + + + + + + +
    +
    + + + + + + +
    +
    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
    +
    +
    + + + + + +
    +
    +
    +Macros
    +
    +
    DW1000Constants.h File Reference
    +
    +
    + +

    Go to the source code of this file.

    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

    +Macros

    #define LEN_STAMP   5
     
    #define IDLE_MODE   0x00
     
    #define RX_MODE   0x01
     
    #define TX_MODE   0x02
     
    #define JUNK   0x00
     
    #define NO_SUB   0xFF
     
    #define DEV_ID   0x00
     
    #define LEN_DEV_ID   4
     
    #define EUI   0x01
     
    #define LEN_EUI   8
     
    #define PANADR   0x03
     
    #define LEN_PANADR   4
     
    #define SYS_CFG   0x04
     
    #define LEN_SYS_CFG   4
     
    #define FFEN_BIT   0
     
    #define FFBC_BIT   1
     
    #define FFAB_BIT   2
     
    #define FFAD_BIT   3
     
    #define FFAA_BIT   4
     
    #define FFAM_BIT   5
     
    #define FFAR_BIT   6
     
    #define DIS_DRXB_BIT   12
     
    #define DIS_STXP_BIT   18
     
    #define HIRQ_POL_BIT   9
     
    #define RXAUTR_BIT   29
     
    #define PHR_MODE_SUB   16
     
    #define LEN_PHR_MODE_SUB   2
     
    #define RXM110K_BIT   22
     
    #define SYS_CTRL   0x0D
     
    #define LEN_SYS_CTRL   4
     
    #define SFCST_BIT   0
     
    #define TXSTRT_BIT   1
     
    #define TXDLYS_BIT   2
     
    #define TRXOFF_BIT   6
     
    #define WAIT4RESP_BIT   7
     
    #define RXENAB_BIT   8
     
    #define RXDLYS_BIT   9
     
    #define SYS_STATUS   0x0F
     
    #define LEN_SYS_STATUS   5
     
    #define CPLOCK_BIT   1
     
    #define AAT_BIT   3
     
    #define TXFRB_BIT   4
     
    #define TXPRS_BIT   5
     
    #define TXPHS_BIT   6
     
    #define TXFRS_BIT   7
     
    #define LDEDONE_BIT   10
     
    #define RXPHE_BIT   12
     
    #define RXDFR_BIT   13
     
    #define RXFCG_BIT   14
     
    #define RXFCE_BIT   15
     
    #define RXRFSL_BIT   16
     
    #define RXRFTO_BIT   17
     
    #define LDEERR_BIT   18
     
    #define RFPLL_LL_BIT   24
     
    #define CLKPLL_LL_BIT   25
     
    #define SYS_MASK   0x0E
     
    #define LEN_SYS_MASK   4
     
    #define SYS_TIME   0x06
     
    #define LEN_SYS_TIME   LEN_STAMP
     
    #define RX_TIME   0x15
     
    #define LEN_RX_TIME   14
     
    #define RX_STAMP_SUB   0x00
     
    #define FP_AMPL1_SUB   0x07
     
    #define LEN_RX_STAMP   LEN_STAMP
     
    #define LEN_FP_AMPL1   2
     
    #define RX_FQUAL   0x12
     
    #define LEN_RX_FQUAL   8
     
    #define STD_NOISE_SUB   0x00
     
    #define FP_AMPL2_SUB   0x02
     
    #define FP_AMPL3_SUB   0x04
     
    #define CIR_PWR_SUB   0x06
     
    #define LEN_STD_NOISE   2
     
    #define LEN_FP_AMPL2   2
     
    #define LEN_FP_AMPL3   2
     
    #define LEN_CIR_PWR   2
     
    #define TX_TIME   0x17
     
    #define LEN_TX_TIME   10
     
    #define TX_STAMP_SUB   0
     
    #define LEN_TX_STAMP   LEN_STAMP
     
    #define DX_TIME   0x0A
     
    #define LEN_DX_TIME   LEN_STAMP
     
    #define TX_BUFFER   0x09
     
    #define LEN_TX_BUFFER   1024
     
    #define LEN_UWB_FRAMES   127
     
    #define LEN_EXT_UWB_FRAMES   1023
     
    #define RX_FINFO   0x10
     
    #define LEN_RX_FINFO   4
     
    #define RX_BUFFER   0x11
     
    #define LEN_RX_BUFFER   1024
     
    #define TX_FCTRL   0x08
     
    #define LEN_TX_FCTRL   5
     
    #define CHAN_CTRL   0x1F
     
    #define LEN_CHAN_CTRL   4
     
    #define DWSFD_BIT   17
     
    #define TNSSFD_BIT   20
     
    #define RNSSFD_BIT   21
     
    #define USR_SFD   0x21
     
    #define LEN_USR_SFD   41
     
    #define SFD_LENGTH_SUB   0x00
     
    #define LEN_SFD_LENGTH   1
     
    #define OTP_IF   0x2D
     
    #define OTP_ADDR_SUB   0x04
     
    #define OTP_CTRL_SUB   0x06
     
    #define OTP_RDAT_SUB   0x0A
     
    #define LEN_OTP_ADDR   2
     
    #define LEN_OTP_CTRL   2
     
    #define LEN_OTP_RDAT   4
     
    #define AGC_TUNE   0x23
     
    #define AGC_TUNE1_SUB   0x04
     
    #define AGC_TUNE2_SUB   0x0C
     
    #define AGC_TUNE3_SUB   0x12
     
    #define LEN_AGC_TUNE1   2
     
    #define LEN_AGC_TUNE2   4
     
    #define LEN_AGC_TUNE3   2
     
    #define DRX_TUNE   0x27
     
    #define DRX_TUNE0b_SUB   0x02
     
    #define DRX_TUNE1a_SUB   0x04
     
    #define DRX_TUNE1b_SUB   0x06
     
    #define DRX_TUNE2_SUB   0x08
     
    #define DRX_TUNE4H_SUB   0x26
     
    #define LEN_DRX_TUNE0b   2
     
    #define LEN_DRX_TUNE1a   2
     
    #define LEN_DRX_TUNE1b   2
     
    #define LEN_DRX_TUNE2   4
     
    #define LEN_DRX_TUNE4H   2
     
    #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
     
    #define TX_POWER   0x1E
     
    #define LEN_TX_POWER   4
     
    #define RF_CONF   0x28
     
    #define RF_RXCTRLH_SUB   0x0B
     
    #define RF_TXCTRL_SUB   0x0C
     
    #define LEN_RF_RXCTRLH   1
     
    #define LEN_RF_TXCTRL   4
     
    #define TX_CAL   0x2A
     
    #define TC_PGDELAY_SUB   0x0B
     
    #define LEN_TC_PGDELAY   1
     
    #define TC_SARC   0x00
     
    #define TC_SARL   0x03
     
    #define FS_CTRL   0x2B
     
    #define FS_PLLCFG_SUB   0x07
     
    #define FS_PLLTUNE_SUB   0x0B
     
    #define FS_XTALT_SUB   0x0E
     
    #define LEN_FS_PLLCFG   4
     
    #define LEN_FS_PLLTUNE   1
     
    #define LEN_FS_XTALT   1
     
    #define PMSC   0x36
     
    #define PMSC_CTRL0_SUB   0x00
     
    #define LEN_PMSC_CTRL0   4
     
    #define TX_ANTD   0x18
     
    #define LEN_TX_ANTD   2
     
    +

    Macro Definition Documentation

    + +
    +
    + + + + +
    #define AAT_BIT   3
    +
    + +
    +
    + +
    +
    + + + + +
    #define AGC_TUNE   0x23
    +
    + +
    +
    + +
    +
    + + + + +
    #define AGC_TUNE1_SUB   0x04
    +
    + +
    +
    + +
    +
    + + + + +
    #define AGC_TUNE2_SUB   0x0C
    +
    + +
    +
    + +
    +
    + + + + +
    #define AGC_TUNE3_SUB   0x12
    +
    + +
    +
    + +
    +
    + + + + +
    #define CHAN_CTRL   0x1F
    +
    + +
    +
    + +
    +
    + + + + +
    #define CIR_PWR_SUB   0x06
    +
    + +
    +
    + +
    +
    + + + + +
    #define CLKPLL_LL_BIT   25
    +
    + +
    +
    + +
    +
    + + + + +
    #define CPLOCK_BIT   1
    +
    + +
    +
    + +
    +
    + + + + +
    #define DEV_ID   0x00
    +
    + +
    +
    + +
    +
    + + + + +
    #define DIS_DRXB_BIT   12
    +
    + +
    +
    + +
    +
    + + + + +
    #define DIS_STXP_BIT   18
    +
    + +
    +
    + +
    +
    + + + + +
    #define DRX_TUNE   0x27
    +
    + +
    +
    + +
    +
    + + + + +
    #define DRX_TUNE0b_SUB   0x02
    +
    + +
    +
    + +
    +
    + + + + +
    #define DRX_TUNE1a_SUB   0x04
    +
    + +
    +
    + +
    +
    + + + + +
    #define DRX_TUNE1b_SUB   0x06
    +
    + +
    +
    + +
    +
    + + + + +
    #define DRX_TUNE2_SUB   0x08
    +
    + +
    +
    + +
    +
    + + + + +
    #define DRX_TUNE4H_SUB   0x26
    +
    + +
    +
    + +
    +
    + + + + +
    #define DWSFD_BIT   17
    +
    + +
    +
    + +
    +
    + + + + +
    #define DX_TIME   0x0A
    +
    + +
    +
    + +
    +
    + + + + +
    #define EUI   0x01
    +
    + +
    +
    + +
    +
    + + + + +
    #define FFAA_BIT   4
    +
    + +
    +
    + +
    +
    + + + + +
    #define FFAB_BIT   2
    +
    + +
    +
    + +
    +
    + + + + +
    #define FFAD_BIT   3
    +
    + +
    +
    + +
    +
    + + + + +
    #define FFAM_BIT   5
    +
    + +
    +
    + +
    +
    + + + + +
    #define FFAR_BIT   6
    +
    + +
    +
    + +
    +
    + + + + +
    #define FFBC_BIT   1
    +
    + +
    +
    + +
    +
    + + + + +
    #define FFEN_BIT   0
    +
    + +
    +
    + +
    +
    + + + + +
    #define FP_AMPL1_SUB   0x07
    +
    + +
    +
    + +
    +
    + + + + +
    #define FP_AMPL2_SUB   0x02
    +
    + +
    +
    + +
    +
    + + + + +
    #define FP_AMPL3_SUB   0x04
    +
    + +
    +
    + +
    +
    + + + + +
    #define FS_CTRL   0x2B
    +
    + +
    +
    + +
    +
    + + + + +
    #define FS_PLLCFG_SUB   0x07
    +
    + +
    +
    + +
    +
    + + + + +
    #define FS_PLLTUNE_SUB   0x0B
    +
    + +
    +
    + +
    +
    + + + + +
    #define FS_XTALT_SUB   0x0E
    +
    + +
    +
    + +
    +
    + + + + +
    #define HIRQ_POL_BIT   9
    +
    + +
    +
    + +
    +
    + + + + +
    #define IDLE_MODE   0x00
    +
    + +
    +
    + +
    +
    + + + + +
    #define JUNK   0x00
    +
    + +
    +
    + +
    +
    + + + + +
    #define LDE_CFG1_SUB   0x0806
    +
    + +
    +
    + +
    +
    + + + + +
    #define LDE_CFG2_SUB   0x1806
    +
    + +
    +
    + +
    +
    + + + + +
    #define LDE_IF   0x2E
    +
    + +
    +
    + +
    +
    + + + + +
    #define LDE_REPC_SUB   0x2804
    +
    + +
    +
    + +
    +
    + + + + +
    #define LDE_RXANTD_SUB   0x1804
    +
    + +
    +
    + +
    +
    + + + + +
    #define LDEDONE_BIT   10
    +
    + +
    +
    + +
    +
    + + + + +
    #define LDEERR_BIT   18
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_AGC_TUNE1   2
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_AGC_TUNE2   4
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_AGC_TUNE3   2
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_CHAN_CTRL   4
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_CIR_PWR   2
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_DEV_ID   4
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_DRX_TUNE0b   2
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_DRX_TUNE1a   2
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_DRX_TUNE1b   2
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_DRX_TUNE2   4
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_DRX_TUNE4H   2
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_DX_TIME   LEN_STAMP
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_EUI   8
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_EXT_UWB_FRAMES   1023
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_FP_AMPL1   2
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_FP_AMPL2   2
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_FP_AMPL3   2
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_FS_PLLCFG   4
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_FS_PLLTUNE   1
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_FS_XTALT   1
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_LDE_CFG1   1
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_LDE_CFG2   2
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_LDE_REPC   2
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_LDE_RXANTD   2
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_OTP_ADDR   2
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_OTP_CTRL   2
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_OTP_RDAT   4
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_PANADR   4
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_PHR_MODE_SUB   2
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_PMSC_CTRL0   4
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_RF_RXCTRLH   1
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_RF_TXCTRL   4
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_RX_BUFFER   1024
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_RX_FINFO   4
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_RX_FQUAL   8
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_RX_STAMP   LEN_STAMP
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_RX_TIME   14
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_SFD_LENGTH   1
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_STAMP   5
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_STD_NOISE   2
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_SYS_CFG   4
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_SYS_CTRL   4
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_SYS_MASK   4
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_SYS_STATUS   5
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_SYS_TIME   LEN_STAMP
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_TC_PGDELAY   1
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_TX_ANTD   2
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_TX_BUFFER   1024
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_TX_FCTRL   5
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_TX_POWER   4
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_TX_STAMP   LEN_STAMP
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_TX_TIME   10
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_USR_SFD   41
    +
    + +
    +
    + +
    +
    + + + + +
    #define LEN_UWB_FRAMES   127
    +
    + +
    +
    + +
    +
    + + + + +
    #define NO_SUB   0xFF
    +
    + +
    +
    + +
    +
    + + + + +
    #define OTP_ADDR_SUB   0x04
    +
    + +
    +
    + +
    +
    + + + + +
    #define OTP_CTRL_SUB   0x06
    +
    + +
    +
    + +
    +
    + + + + +
    #define OTP_IF   0x2D
    +
    + +
    +
    + +
    +
    + + + + +
    #define OTP_RDAT_SUB   0x0A
    +
    + +
    +
    + +
    +
    + + + + +
    #define PANADR   0x03
    +
    + +
    +
    + +
    +
    + + + + +
    #define PHR_MODE_SUB   16
    +
    + +
    +
    + +
    +
    + + + + +
    #define PMSC   0x36
    +
    + +
    +
    + +
    +
    + + + + +
    #define PMSC_CTRL0_SUB   0x00
    +
    + +
    +
    + +
    +
    + + + + +
    #define RF_CONF   0x28
    +
    + +
    +
    + +
    +
    + + + + +
    #define RF_RXCTRLH_SUB   0x0B
    +
    + +
    +
    + +
    +
    + + + + +
    #define RF_TXCTRL_SUB   0x0C
    +
    + +
    +
    + +
    +
    + + + + +
    #define RFPLL_LL_BIT   24
    +
    + +
    +
    + +
    +
    + + + + +
    #define RNSSFD_BIT   21
    +
    + +
    +
    + +
    +
    + + + + +
    #define RX_BUFFER   0x11
    +
    + +
    +
    + +
    +
    + + + + +
    #define RX_FINFO   0x10
    +
    + +
    +
    + +
    +
    + + + + +
    #define RX_FQUAL   0x12
    +
    + +
    +
    + +
    +
    + + + + +
    #define RX_MODE   0x01
    +
    + +
    +
    + +
    +
    + + + + +
    #define RX_STAMP_SUB   0x00
    +
    + +
    +
    + +
    +
    + + + + +
    #define RX_TIME   0x15
    +
    + +
    +
    + +
    +
    + + + + +
    #define RXAUTR_BIT   29
    +
    + +
    +
    + +
    +
    + + + + +
    #define RXDFR_BIT   13
    +
    + +
    +
    + +
    +
    + + + + +
    #define RXDLYS_BIT   9
    +
    + +
    +
    + +
    +
    + + + + +
    #define RXENAB_BIT   8
    +
    + +
    +
    + +
    +
    + + + + +
    #define RXFCE_BIT   15
    +
    + +
    +
    + +
    +
    + + + + +
    #define RXFCG_BIT   14
    +
    + +
    +
    + +
    +
    + + + + +
    #define RXM110K_BIT   22
    +
    + +
    +
    + +
    +
    + + + + +
    #define RXPHE_BIT   12
    +
    + +
    +
    + +
    +
    + + + + +
    #define RXRFSL_BIT   16
    +
    + +
    +
    + +
    +
    + + + + +
    #define RXRFTO_BIT   17
    +
    + +
    +
    + +
    +
    + + + + +
    #define SFCST_BIT   0
    +
    + +
    +
    + +
    +
    + + + + +
    #define SFD_LENGTH_SUB   0x00
    +
    + +
    +
    + +
    +
    + + + + +
    #define STD_NOISE_SUB   0x00
    +
    + +
    +
    + +
    +
    + + + + +
    #define SYS_CFG   0x04
    +
    + +
    +
    + +
    +
    + + + + +
    #define SYS_CTRL   0x0D
    +
    + +
    +
    + +
    +
    + + + + +
    #define SYS_MASK   0x0E
    +
    + +
    +
    + +
    +
    + + + + +
    #define SYS_STATUS   0x0F
    +
    + +
    +
    + +
    +
    + + + + +
    #define SYS_TIME   0x06
    +
    + +
    +
    + +
    +
    + + + + +
    #define TC_PGDELAY_SUB   0x0B
    +
    + +
    +
    + +
    +
    + + + + +
    #define TC_SARC   0x00
    +
    + +
    +
    + +
    +
    + + + + +
    #define TC_SARL   0x03
    +
    + +
    +
    + +
    +
    + + + + +
    #define TNSSFD_BIT   20
    +
    + +
    +
    + +
    +
    + + + + +
    #define TRXOFF_BIT   6
    +
    + +
    +
    + +
    +
    + + + + +
    #define TX_ANTD   0x18
    +
    + +
    +
    + +
    +
    + + + + +
    #define TX_BUFFER   0x09
    +
    + +
    +
    + +
    +
    + + + + +
    #define TX_CAL   0x2A
    +
    + +
    +
    + +
    +
    + + + + +
    #define TX_FCTRL   0x08
    +
    + +
    +
    + +
    +
    + + + + +
    #define TX_MODE   0x02
    +
    + +
    +
    + +
    +
    + + + + +
    #define TX_POWER   0x1E
    +
    + +
    +
    + +
    +
    + + + + +
    #define TX_STAMP_SUB   0
    +
    + +
    +
    + +
    +
    + + + + +
    #define TX_TIME   0x17
    +
    + +
    +
    + +
    +
    + + + + +
    #define TXDLYS_BIT   2
    +
    + +
    +
    + +
    +
    + + + + +
    #define TXFRB_BIT   4
    +
    + +
    +
    + +
    +
    + + + + +
    #define TXFRS_BIT   7
    +
    + +
    +
    + +
    +
    + + + + +
    #define TXPHS_BIT   6
    +
    + +
    +
    + +
    +
    + + + + +
    #define TXPRS_BIT   5
    +
    + +
    +
    + +
    +
    + + + + +
    #define TXSTRT_BIT   1
    +
    + +
    +
    + +
    +
    + + + + +
    #define USR_SFD   0x21
    +
    + +
    +
    + +
    +
    + + + + +
    #define WAIT4RESP_BIT   7
    +
    + +
    +
    +
    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/DW1000Constants_8h_source.html b/lib/DW1000/extras/doc/html/DW1000Constants_8h_source.html new file mode 100644 index 0000000..5c77054 --- /dev/null +++ b/lib/DW1000/extras/doc/html/DW1000Constants_8h_source.html @@ -0,0 +1,63 @@ + + + + + + +Arduino driver library for Decawave DW1000: /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Constants.h Source File + + + + + + +
    +
    + + + + + + +
    +
    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
    +
    +
    + + + + + +
    +
    +
    +
    DW1000Constants.h
    +
    +
    +Go to the documentation of this file.
    1 /*
    2  * Copyright (c) 2015 by Thomas Trojer <thomas@trojer.net>
    3  * Decawave DW1000 library for arduino.
    4  *
    5  * Licensed under the Apache License, Version 2.0 (the "License");
    6  * you may not use this file except in compliance with the License.
    7  * You may obtain a copy of the License at
    8  *
    9  * http://www.apache.org/licenses/LICENSE-2.0
    10  *
    11  * Unless required by applicable law or agreed to in writing, software
    12  * distributed under the License is distributed on an "AS IS" BASIS,
    13  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    14  * See the License for the specific language governing permissions and
    15  * limitations under the License.
    16  *
    17  * @file DW1000Constants.h
    18  * Arduino driver library (header file) for the Decawave DW1000 UWB transceiver IC.
    19  */
    20 
    21 #ifndef _DW1000CONSTANTS_H_INCLUDED
    22 #define _DW1000CONSTANTS_H_INCLUDED
    23 
    24 // time stamp byte length
    25 #define LEN_STAMP 5
    26 
    27 // enum to determine RX or TX mode of device
    28 #define IDLE_MODE 0x00
    29 #define RX_MODE 0x01
    30 #define TX_MODE 0x02
    31 
    32 // used for SPI ready w/o actual writes
    33 #define JUNK 0x00
    34 
    35 // no sub-address for register write
    36 #define NO_SUB 0xFF
    37 
    38 // device id register
    39 #define DEV_ID 0x00
    40 #define LEN_DEV_ID 4
    41 
    42 // extended unique identifier register
    43 #define EUI 0x01
    44 #define LEN_EUI 8
    45 
    46 // PAN identifier, short address register
    47 #define PANADR 0x03
    48 #define LEN_PANADR 4
    49 
    50 // device configuration register
    51 #define SYS_CFG 0x04
    52 #define LEN_SYS_CFG 4
    53 #define FFEN_BIT 0
    54 #define FFBC_BIT 1
    55 #define FFAB_BIT 2
    56 #define FFAD_BIT 3
    57 #define FFAA_BIT 4
    58 #define FFAM_BIT 5
    59 #define FFAR_BIT 6
    60 #define DIS_DRXB_BIT 12
    61 #define DIS_STXP_BIT 18
    62 #define HIRQ_POL_BIT 9
    63 #define RXAUTR_BIT 29
    64 #define PHR_MODE_SUB 16
    65 #define LEN_PHR_MODE_SUB 2
    66 #define RXM110K_BIT 22
    67 
    68 // device control register
    69 #define SYS_CTRL 0x0D
    70 #define LEN_SYS_CTRL 4
    71 #define SFCST_BIT 0
    72 #define TXSTRT_BIT 1
    73 #define TXDLYS_BIT 2
    74 #define TRXOFF_BIT 6
    75 #define WAIT4RESP_BIT 7
    76 #define RXENAB_BIT 8
    77 #define RXDLYS_BIT 9
    78 
    79 // system event status register
    80 #define SYS_STATUS 0x0F
    81 #define LEN_SYS_STATUS 5
    82 #define CPLOCK_BIT 1
    83 #define AAT_BIT 3
    84 #define TXFRB_BIT 4
    85 #define TXPRS_BIT 5
    86 #define TXPHS_BIT 6
    87 #define TXFRS_BIT 7
    88 #define LDEDONE_BIT 10
    89 #define RXPHE_BIT 12
    90 #define RXDFR_BIT 13
    91 #define RXFCG_BIT 14
    92 #define RXFCE_BIT 15
    93 #define RXRFSL_BIT 16
    94 #define RXRFTO_BIT 17
    95 #define LDEERR_BIT 18
    96 #define RFPLL_LL_BIT 24
    97 #define CLKPLL_LL_BIT 25
    98 
    99 // system event mask register
    100 // NOTE: uses the bit definitions of SYS_STATUS (below 32)
    101 #define SYS_MASK 0x0E
    102 #define LEN_SYS_MASK 4
    103 
    104 // system time counter
    105 #define SYS_TIME 0x06
    106 #define LEN_SYS_TIME LEN_STAMP
    107 
    108 // RX timestamp register
    109 #define RX_TIME 0x15
    110 #define LEN_RX_TIME 14
    111 #define RX_STAMP_SUB 0x00
    112 #define FP_AMPL1_SUB 0x07
    113 #define LEN_RX_STAMP LEN_STAMP
    114 #define LEN_FP_AMPL1 2
    115 
    116 // RX frame quality
    117 #define RX_FQUAL 0x12
    118 #define LEN_RX_FQUAL 8
    119 #define STD_NOISE_SUB 0x00
    120 #define FP_AMPL2_SUB 0x02
    121 #define FP_AMPL3_SUB 0x04
    122 #define CIR_PWR_SUB 0x06
    123 #define LEN_STD_NOISE 2
    124 #define LEN_FP_AMPL2 2
    125 #define LEN_FP_AMPL3 2
    126 #define LEN_CIR_PWR 2
    127 
    128 // TX timestamp register
    129 #define TX_TIME 0x17
    130 #define LEN_TX_TIME 10
    131 #define TX_STAMP_SUB 0
    132 #define LEN_TX_STAMP LEN_STAMP
    133 
    134 // timing register (for delayed RX/TX)
    135 #define DX_TIME 0x0A
    136 #define LEN_DX_TIME LEN_STAMP
    137 
    138 // transmit data buffer
    139 #define TX_BUFFER 0x09
    140 #define LEN_TX_BUFFER 1024
    141 #define LEN_UWB_FRAMES 127
    142 #define LEN_EXT_UWB_FRAMES 1023
    143 
    144 // RX frame info
    145 #define RX_FINFO 0x10
    146 #define LEN_RX_FINFO 4
    147 
    148 // receive data buffer
    149 #define RX_BUFFER 0x11
    150 #define LEN_RX_BUFFER 1024
    151 
    152 // transmit control
    153 #define TX_FCTRL 0x08
    154 #define LEN_TX_FCTRL 5
    155 
    156 // channel control
    157 #define CHAN_CTRL 0x1F
    158 #define LEN_CHAN_CTRL 4
    159 #define DWSFD_BIT 17
    160 #define TNSSFD_BIT 20
    161 #define RNSSFD_BIT 21
    162 
    163 // user-defined SFD
    164 #define USR_SFD 0x21
    165 #define LEN_USR_SFD 41
    166 #define SFD_LENGTH_SUB 0x00
    167 #define LEN_SFD_LENGTH 1
    168 
    169 // OTP control (for LDE micro code loading only)
    170 #define OTP_IF 0x2D
    171 #define OTP_ADDR_SUB 0x04
    172 #define OTP_CTRL_SUB 0x06
    173 #define OTP_RDAT_SUB 0x0A
    174 #define LEN_OTP_ADDR 2
    175 #define LEN_OTP_CTRL 2
    176 #define LEN_OTP_RDAT 4
    177 
    178 // AGC_TUNE1/2 (for re-tuning only)
    179 #define AGC_TUNE 0x23
    180 #define AGC_TUNE1_SUB 0x04
    181 #define AGC_TUNE2_SUB 0x0C
    182 #define AGC_TUNE3_SUB 0x12
    183 #define LEN_AGC_TUNE1 2
    184 #define LEN_AGC_TUNE2 4
    185 #define LEN_AGC_TUNE3 2
    186 
    187 // DRX_TUNE2 (for re-tuning only)
    188 #define DRX_TUNE 0x27
    189 #define DRX_TUNE0b_SUB 0x02
    190 #define DRX_TUNE1a_SUB 0x04
    191 #define DRX_TUNE1b_SUB 0x06
    192 #define DRX_TUNE2_SUB 0x08
    193 #define DRX_TUNE4H_SUB 0x26
    194 #define LEN_DRX_TUNE0b 2
    195 #define LEN_DRX_TUNE1a 2
    196 #define LEN_DRX_TUNE1b 2
    197 #define LEN_DRX_TUNE2 4
    198 #define LEN_DRX_TUNE4H 2
    199 
    200 // LDE_CFG1 (for re-tuning only)
    201 #define LDE_IF 0x2E
    202 #define LDE_CFG1_SUB 0x0806
    203 #define LDE_RXANTD_SUB 0x1804
    204 #define LDE_CFG2_SUB 0x1806
    205 #define LDE_REPC_SUB 0x2804
    206 #define LEN_LDE_CFG1 1
    207 #define LEN_LDE_CFG2 2
    208 #define LEN_LDE_REPC 2
    209 #define LEN_LDE_RXANTD 2
    210 
    211 // TX_POWER (for re-tuning only)
    212 #define TX_POWER 0x1E
    213 #define LEN_TX_POWER 4
    214 
    215 // RF_CONF (for re-tuning only)
    216 #define RF_CONF 0x28
    217 #define RF_RXCTRLH_SUB 0x0B
    218 #define RF_TXCTRL_SUB 0x0C
    219 #define LEN_RF_RXCTRLH 1
    220 #define LEN_RF_TXCTRL 4
    221 
    222 // TX_CAL (for re-tuning only)
    223 #define TX_CAL 0x2A
    224 #define TC_PGDELAY_SUB 0x0B
    225 #define LEN_TC_PGDELAY 1
    226 #define TC_SARC 0x00
    227 #define TC_SARL 0x03
    228 
    229 // FS_CTRL (for re-tuning only)
    230 #define FS_CTRL 0x2B
    231 #define FS_PLLCFG_SUB 0x07
    232 #define FS_PLLTUNE_SUB 0x0B
    233 #define FS_XTALT_SUB 0x0E
    234 #define LEN_FS_PLLCFG 4
    235 #define LEN_FS_PLLTUNE 1
    236 #define LEN_FS_XTALT 1
    237 
    238 // PMSC
    239 #define PMSC 0x36
    240 #define PMSC_CTRL0_SUB 0x00
    241 #define LEN_PMSC_CTRL0 4
    242 
    243 // TX_ANTD Antenna delays
    244 #define TX_ANTD 0x18
    245 #define LEN_TX_ANTD 2
    246 
    247 #endif
    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/DW1000Device_8cpp.html b/lib/DW1000/extras/doc/html/DW1000Device_8cpp.html new file mode 100644 index 0000000..c4f589e --- /dev/null +++ b/lib/DW1000/extras/doc/html/DW1000Device_8cpp.html @@ -0,0 +1,65 @@ + + + + + + +Arduino driver library for Decawave DW1000: /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Device.cpp File Reference + + + + + + +
    +
    + + + + + + +
    +
    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
    +
    +
    + + + + + +
    +
    +
    +
    DW1000Device.cpp File Reference
    +
    +
    +
    #include "DW1000Device.h"
    +#include "DW1000.h"
    +
    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/DW1000Device_8h.html b/lib/DW1000/extras/doc/html/DW1000Device_8h.html new file mode 100644 index 0000000..026d9d6 --- /dev/null +++ b/lib/DW1000/extras/doc/html/DW1000Device_8h.html @@ -0,0 +1,94 @@ + + + + + + +Arduino driver library for Decawave DW1000: /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Device.h File Reference + + + + + + +
    +
    + + + + + + +
    +
    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
    +
    +
    + + + + + +
    +
    +
    +Classes | +Macros
    +
    +
    DW1000Device.h File Reference
    +
    +
    +
    #include "DW1000Time.h"
    +#include "DW1000Mac.h"
    +
    +

    Go to the source code of this file.

    + + + + +

    +Classes

    class  DW1000Device
     
    + + + +

    +Macros

    #define INACTIVITY_TIME   1000
     
    +

    Macro Definition Documentation

    + +
    +
    + + + + +
    #define INACTIVITY_TIME   1000
    +
    + +
    +
    +
    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/DW1000Device_8h_source.html b/lib/DW1000/extras/doc/html/DW1000Device_8h_source.html new file mode 100644 index 0000000..7a75fdc --- /dev/null +++ b/lib/DW1000/extras/doc/html/DW1000Device_8h_source.html @@ -0,0 +1,98 @@ + + + + + + +Arduino driver library for Decawave DW1000: /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Device.h Source File + + + + + + +
    +
    + + + + + + +
    +
    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
    +
    +
    + + + + + +
    +
    +
    +
    DW1000Device.h
    +
    +
    +Go to the documentation of this file.
    1 /*
    2  * Copyright (c) 2015 by Thomas Trojer <thomas@trojer.net> and Leopold Sayous <leosayous@gmail.com>
    3  * Decawave DW1000 library for arduino.
    4  *
    5  * Licensed under the Apache License, Version 2.0 (the "License");
    6  * you may not use this file except in compliance with the License.
    7  * You may obtain a copy of the License at
    8  *
    9  * http://www.apache.org/licenses/LICENSE-2.0
    10  *
    11  * Unless required by applicable law or agreed to in writing, software
    12  * distributed under the License is distributed on an "AS IS" BASIS,
    13  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    14  * See the License for the specific language governing permissions and
    15  * limitations under the License.
    16  *
    17  * @file DW1000Device.h
    18  * Arduino global library (header file) working with the DW1000 library
    19  * for the Decawave DW1000 UWB transceiver IC.
    20  *
    21  * @todo complete this class
    22  */
    23 
    24 
    25 #define INACTIVITY_TIME 1000
    26 
    27 #ifndef _DW1000Device_H_INCLUDED
    28 #define _DW1000Device_H_INCLUDED
    29 
    30 #include "DW1000Time.h"
    31 #include "DW1000Mac.h"
    32 
    33 class DW1000Mac;
    34 
    35 class DW1000Device;
    36 
    37 class DW1000Device {
    38 public:
    39  //Constructor and destructor
    40  DW1000Device();
    41  DW1000Device(byte address[], byte shortAddress[]);
    42  DW1000Device(byte address[], boolean shortOne = false);
    43  ~DW1000Device();
    44 
    45  //setters:
    46  void setReplyTime(uint16_t replyDelayTimeUs);
    47  void setAddress(char address[]);
    48  void setAddress(byte* address);
    49  void setShortAddress(byte address[]);
    50 
    51  void setRange(float range);
    52  void setRXPower(float power);
    53  void setFPPower(float power);
    54  void setQuality(float quality);
    55 
    56  void setReplyDelayTime(int16_t time) { _replyDelayTimeUS = time; }
    57 
    58  void setIndex(int8_t index) { _index = index; }
    59 
    60  //getters
    61  uint16_t getReplyTime() { return _replyDelayTimeUS; }
    62 
    63  byte* getByteAddress();
    64 
    65  int8_t getIndex() { return _index; }
    66 
    67  //String getAddress();
    68  byte* getByteShortAddress();
    69  uint16_t getShortAddress();
    70  //String getShortAddress();
    71 
    72  float getRange();
    73  float getRXPower();
    74  float getFPPower();
    75  float getQuality();
    76 
    77  boolean isAddressEqual(DW1000Device* device);
    78  boolean isShortAddressEqual(DW1000Device* device);
    79 
    80  //functions which contains the date: (easier to put as public)
    81  // timestamps to remember
    82  DW1000Time timePollSent;
    83  DW1000Time timePollReceived;
    84  DW1000Time timePollAckSent;
    85  DW1000Time timePollAckReceived;
    86  DW1000Time timeRangeSent;
    87  DW1000Time timeRangeReceived;
    88 
    89  void noteActivity();
    90  boolean isInactive();
    91 
    92 
    93 private:
    94  //device ID
    95  byte _ownAddress[8];
    96  byte _shortAddress[2];
    97  int32_t _activity;
    98  uint16_t _replyDelayTimeUS;
    99  int8_t _index; // not used
    100 
    101  int16_t _range;
    102  int16_t _RXPower;
    103  int16_t _FPPower;
    104  int16_t _quality;
    105 
    106  void randomShortAddress();
    107 
    108 };
    109 
    110 
    111 #endif
    DW1000Device::isInactive
    boolean isInactive()
    Definition: DW1000Device.cpp:136
    +
    DW1000Device::getRange
    float getRange()
    Definition: DW1000Device.cpp:117
    +
    DW1000Device::timePollAckSent
    DW1000Time timePollAckSent
    Definition: DW1000Device.h:84
    +
    DW1000Device::setFPPower
    void setFPPower(float power)
    Definition: DW1000Device.cpp:73
    +
    DW1000Device::isAddressEqual
    boolean isAddressEqual(DW1000Device *device)
    Definition: DW1000Device.cpp:108
    +
    DW1000Device
    Definition: DW1000Device.h:37
    +
    DW1000Mac
    Definition: DW1000Mac.h:45
    +
    DW1000Device::getReplyTime
    uint16_t getReplyTime()
    Definition: DW1000Device.h:61
    +
    DW1000Device::~DW1000Device
    ~DW1000Device()
    Definition: DW1000Device.cpp:52
    +
    DW1000Device::noteActivity
    void noteActivity()
    Definition: DW1000Device.cpp:131
    +
    DW1000Device::getRXPower
    float getRXPower()
    Definition: DW1000Device.cpp:119
    +
    DW1000Device::timeRangeSent
    DW1000Time timeRangeSent
    Definition: DW1000Device.h:86
    +
    DW1000Device::setQuality
    void setQuality(float quality)
    Definition: DW1000Device.cpp:75
    +
    DW1000Device::setAddress
    void setAddress(char address[])
    Definition: DW1000Device.cpp:58
    +
    DW1000Device::timeRangeReceived
    DW1000Time timeRangeReceived
    Definition: DW1000Device.h:87
    +
    DW1000Device::getByteAddress
    byte * getByteAddress()
    Definition: DW1000Device.cpp:78
    +
    DW1000Device::setReplyDelayTime
    void setReplyDelayTime(int16_t time)
    Definition: DW1000Device.h:56
    +
    DW1000Device::DW1000Device
    DW1000Device()
    Definition: DW1000Device.cpp:29
    +
    DW1000Device::getFPPower
    float getFPPower()
    Definition: DW1000Device.cpp:121
    +
    DW1000Time
    Definition: DW1000Time.h:43
    + +
    DW1000Device::setRXPower
    void setRXPower(float power)
    Definition: DW1000Device.cpp:71
    +
    DW1000Device::getQuality
    float getQuality()
    Definition: DW1000Device.cpp:123
    +
    DW1000Device::timePollReceived
    DW1000Time timePollReceived
    Definition: DW1000Device.h:83
    +
    DW1000Device::isShortAddressEqual
    boolean isShortAddressEqual(DW1000Device *device)
    Definition: DW1000Device.cpp:112
    +
    DW1000Device::setReplyTime
    void setReplyTime(uint16_t replyDelayTimeUs)
    Definition: DW1000Device.cpp:56
    +
    DW1000Device::getByteShortAddress
    byte * getByteShortAddress()
    Definition: DW1000Device.cpp:90
    +
    DW1000Device::timePollAckReceived
    DW1000Time timePollAckReceived
    Definition: DW1000Device.h:85
    +
    DW1000Device::getIndex
    int8_t getIndex()
    Definition: DW1000Device.h:65
    +
    DW1000Device::setIndex
    void setIndex(int8_t index)
    Definition: DW1000Device.h:58
    +
    DW1000Device::timePollSent
    DW1000Time timePollSent
    Definition: DW1000Device.h:82
    +
    DW1000Device::getShortAddress
    uint16_t getShortAddress()
    Definition: DW1000Device.cpp:103
    + +
    DW1000Device::setRange
    void setRange(float range)
    Definition: DW1000Device.cpp:69
    +
    DW1000Device::setShortAddress
    void setShortAddress(byte address[])
    Definition: DW1000Device.cpp:64
    +
    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/DW1000Mac_8cpp.html b/lib/DW1000/extras/doc/html/DW1000Mac_8cpp.html new file mode 100644 index 0000000..96c8e00 --- /dev/null +++ b/lib/DW1000/extras/doc/html/DW1000Mac_8cpp.html @@ -0,0 +1,65 @@ + + + + + + +Arduino driver library for Decawave DW1000: /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Mac.cpp File Reference + + + + + + +
    +
    + + + + + + +
    +
    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
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    +
    + + + + + +
    +
    +
    +
    DW1000Mac.cpp File Reference
    +
    +
    +
    #include "DW1000Mac.h"
    +#include "DW1000Ranging.h"
    +
    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/DW1000Mac_8h.html b/lib/DW1000/extras/doc/html/DW1000Mac_8h.html new file mode 100644 index 0000000..b454292 --- /dev/null +++ b/lib/DW1000/extras/doc/html/DW1000Mac_8h.html @@ -0,0 +1,192 @@ + + + + + + +Arduino driver library for Decawave DW1000: /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Mac.h File Reference + + + + + + +
    +
    + + + + + + +
    +
    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
    +
    +
    + + + + + +
    +
    +
    +Classes | +Macros
    +
    +
    DW1000Mac.h File Reference
    +
    +
    +
    #include <Arduino.h>
    +#include "DW1000Device.h"
    +
    +

    Go to the source code of this file.

    + + + + +

    +Classes

    class  DW1000Mac
     
    + + + + + + + + + + + + + + + + + +

    +Macros

    #define FC_1   0x41
     
    #define FC_1_BLINK   0xC5
     
    #define FC_2   0x8C
     
    #define FC_2_SHORT   0x88
     
    #define PAN_ID_1   0xCA
     
    #define PAN_ID_2   0xDE
     
    #define SHORT_MAC_LEN   9
     
    #define LONG_MAC_LEN   15
     
    +

    Macro Definition Documentation

    + +
    +
    + + + + +
    #define FC_1   0x41
    +
    + +
    +
    + +
    +
    + + + + +
    #define FC_1_BLINK   0xC5
    +
    + +
    +
    + +
    +
    + + + + +
    #define FC_2   0x8C
    +
    + +
    +
    + +
    +
    + + + + +
    #define FC_2_SHORT   0x88
    +
    + +
    +
    + +
    +
    + + + + +
    #define LONG_MAC_LEN   15
    +
    + +
    +
    + +
    +
    + + + + +
    #define PAN_ID_1   0xCA
    +
    + +
    +
    + +
    +
    + + + + +
    #define PAN_ID_2   0xDE
    +
    + +
    +
    + +
    +
    + + + + +
    #define SHORT_MAC_LEN   9
    +
    + +
    +
    +
    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/DW1000Mac_8h_source.html b/lib/DW1000/extras/doc/html/DW1000Mac_8h_source.html new file mode 100644 index 0000000..311afe7 --- /dev/null +++ b/lib/DW1000/extras/doc/html/DW1000Mac_8h_source.html @@ -0,0 +1,79 @@ + + + + + + +Arduino driver library for Decawave DW1000: /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Mac.h Source File + + + + + + +
    +
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    +
    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
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    DW1000Mac.h
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    +Go to the documentation of this file.
    1 /*
    2  * Copyright (c) 2015 by Leopold Sayous <leosayous@gmail.com> and Thomas Trojer <thomas@trojer.net>
    3  * Decawave DW1000 library for arduino.
    4  *
    5  * Licensed under the Apache License, Version 2.0 (the "License");
    6  * you may not use this file except in compliance with the License.
    7  * You may obtain a copy of the License at
    8  *
    9  * http://www.apache.org/licenses/LICENSE-2.0
    10  *
    11  * Unless required by applicable law or agreed to in writing, software
    12  * distributed under the License is distributed on an "AS IS" BASIS,
    13  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    14  * See the License for the specific language governing permissions and
    15  * limitations under the License.
    16  *
    17  * @file DW1000Mac.h
    18  * Arduino global library (header file) working with the DW1000 library
    19  * for the Decawave DW1000 UWB transceiver IC. This class has the purpose
    20  * to generate the mac layer
    21  *
    22  * @todo everything, this class is only a prototype
    23  */
    24 
    25 #define FC_1 0x41
    26 #define FC_1_BLINK 0xC5
    27 #define FC_2 0x8C
    28 #define FC_2_SHORT 0x88
    29 
    30 #define PAN_ID_1 0xCA
    31 #define PAN_ID_2 0xDE
    32 
    33 #define SHORT_MAC_LEN 9
    34 #define LONG_MAC_LEN 15
    35 
    36 
    37 #ifndef _DW1000MAC_H_INCLUDED
    38 #define _DW1000MAC_H_INCLUDED
    39 
    40 #include <Arduino.h>
    41 #include "DW1000Device.h"
    42 
    43 class DW1000Device;
    44 
    45 class DW1000Mac {
    46 public:
    47  //Constructor and destructor
    48  DW1000Mac(DW1000Device* parent);
    49  DW1000Mac();
    50  ~DW1000Mac();
    51 
    52 
    53  //setters
    54  void setDestinationAddress(byte* destinationAddress);
    55  void setDestinationAddressShort(byte* shortDestinationAddress);
    56  void setSourceAddress(byte* sourceAddress);
    57  void setSourceAddressShort(byte* shortSourceAddress);
    58 
    59 
    60  //for poll message we use just 2 bytes address
    61  //total=12 bytes
    62  void generateBlinkFrame(byte frame[], byte sourceAddress[], byte sourceShortAddress[]);
    63 
    64  //the short fram usually for Resp, Final, or Report
    65  //2 bytes for Desination Address and 2 bytes for Source Address
    66  //total=9 bytes
    67  void generateShortMACFrame(byte frame[], byte sourceShortAddress[], byte destinationShortAddress[]);
    68 
    69  //the long frame for Ranging init
    70  //8 bytes for Destination Address and 2 bytes for Source Address
    71  //total of
    72  void generateLongMACFrame(byte frame[], byte sourceShortAddress[], byte destinationAddress[]);
    73 
    74  //in order to decode the frame and save source Address!
    75  void decodeBlinkFrame(byte frame[], byte address[], byte shortAddress[]);
    76  void decodeShortMACFrame(byte frame[], byte address[]);
    77  void decodeLongMACFrame(byte frame[], byte address[]);
    78 
    79  void incrementSeqNumber();
    80 
    81 
    82 private:
    83  uint8_t _seqNumber = 0;
    84  void reverseArray(byte to[], byte from[], int16_t size);
    85 
    86 };
    87 
    88 
    89 #endif
    90 
    DW1000Mac::incrementSeqNumber
    void incrementSeqNumber()
    Definition: DW1000Mac.cpp:146
    +
    DW1000Mac::generateLongMACFrame
    void generateLongMACFrame(byte frame[], byte sourceShortAddress[], byte destinationAddress[])
    Definition: DW1000Mac.cpp:91
    +
    DW1000Mac::setSourceAddress
    void setSourceAddress(byte *sourceAddress)
    +
    DW1000Device
    Definition: DW1000Device.h:37
    +
    DW1000Mac::generateShortMACFrame
    void generateShortMACFrame(byte frame[], byte sourceShortAddress[], byte destinationShortAddress[])
    Definition: DW1000Mac.cpp:62
    + +
    DW1000Mac
    Definition: DW1000Mac.h:45
    +
    DW1000Mac::~DW1000Mac
    ~DW1000Mac()
    Definition: DW1000Mac.cpp:35
    +
    DW1000Mac::setDestinationAddress
    void setDestinationAddress(byte *destinationAddress)
    +
    DW1000Mac::decodeBlinkFrame
    void decodeBlinkFrame(byte frame[], byte address[], byte shortAddress[])
    Definition: DW1000Mac.cpp:116
    +
    DW1000Mac::decodeShortMACFrame
    void decodeShortMACFrame(byte frame[], byte address[])
    Definition: DW1000Mac.cpp:127
    +
    DW1000Mac::setSourceAddressShort
    void setSourceAddressShort(byte *shortSourceAddress)
    +
    DW1000Mac::setDestinationAddressShort
    void setDestinationAddressShort(byte *shortDestinationAddress)
    +
    DW1000Mac::generateBlinkFrame
    void generateBlinkFrame(byte frame[], byte sourceAddress[], byte sourceShortAddress[])
    Definition: DW1000Mac.cpp:40
    +
    DW1000Mac::DW1000Mac
    DW1000Mac()
    Definition: DW1000Mac.cpp:30
    +
    DW1000Mac::decodeLongMACFrame
    void decodeLongMACFrame(byte frame[], byte address[])
    Definition: DW1000Mac.cpp:136
    +
    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/DW1000Ranging_8cpp.html b/lib/DW1000/extras/doc/html/DW1000Ranging_8cpp.html new file mode 100644 index 0000000..a78ea5b --- /dev/null +++ b/lib/DW1000/extras/doc/html/DW1000Ranging_8cpp.html @@ -0,0 +1,86 @@ + + + + + + +Arduino driver library for Decawave DW1000: /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Ranging.cpp File Reference + + + + + + +
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    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
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    +Variables
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    DW1000Ranging.cpp File Reference
    +
    +
    +
    #include "DW1000Ranging.h"
    +#include "DW1000Device.h"
    +
    + + + +

    +Variables

    DW1000RangingClass DW1000Ranging
     
    +

    Variable Documentation

    + +
    +
    + + + + +
    DW1000RangingClass DW1000Ranging
    +
    + +
    +
    +
    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/DW1000Ranging_8h.html b/lib/DW1000/extras/doc/html/DW1000Ranging_8h.html new file mode 100644 index 0000000..6d55547 --- /dev/null +++ b/lib/DW1000/extras/doc/html/DW1000Ranging_8h.html @@ -0,0 +1,339 @@ + + + + + + +Arduino driver library for Decawave DW1000: /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Ranging.h File Reference + + + + + + +
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    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
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    +Classes | +Macros | +Variables
    +
    +
    DW1000Ranging.h File Reference
    +
    +
    +
    #include "DW1000.h"
    +#include "DW1000Time.h"
    +#include "DW1000Device.h"
    +#include "DW1000Mac.h"
    +
    +

    Go to the source code of this file.

    + + + + +

    +Classes

    class  DW1000RangingClass
     
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

    +Macros

    #define POLL   0
     
    #define POLL_ACK   1
     
    #define RANGE   2
     
    #define RANGE_REPORT   3
     
    #define RANGE_FAILED   255
     
    #define BLINK   4
     
    #define RANGING_INIT   5
     
    #define LEN_DATA   90
     
    #define MAX_DEVICES   4
     
    #define DEFAULT_RST_PIN   9
     
    #define DEFAULT_SPI_SS_PIN   10
     
    #define DEFAULT_RESET_PERIOD   200
     
    #define DEFAULT_REPLY_DELAY_TIME   7000
     
    #define TAG   0
     
    #define ANCHOR   1
     
    #define DEFAULT_TIMER_DELAY   80
     
    #define DEBUG   false
     
    + + + +

    +Variables

    DW1000RangingClass DW1000Ranging
     
    +

    Macro Definition Documentation

    + +
    +
    + + + + +
    #define ANCHOR   1
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    #define BLINK   4
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    #define DEBUG   false
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    #define DEFAULT_REPLY_DELAY_TIME   7000
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    #define DEFAULT_RESET_PERIOD   200
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    #define DEFAULT_RST_PIN   9
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    #define DEFAULT_SPI_SS_PIN   10
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    #define DEFAULT_TIMER_DELAY   80
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    #define LEN_DATA   90
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    #define MAX_DEVICES   4
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    #define POLL   0
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    #define POLL_ACK   1
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    #define RANGE   2
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    #define RANGE_FAILED   255
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    #define RANGE_REPORT   3
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    #define RANGING_INIT   5
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    + +
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    #define TAG   0
    +
    + +
    +
    +

    Variable Documentation

    + +
    +
    + + + + +
    DW1000RangingClass DW1000Ranging
    +
    + +
    +
    +
    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/DW1000Ranging_8h_source.html b/lib/DW1000/extras/doc/html/DW1000Ranging_8h_source.html new file mode 100644 index 0000000..6b41778 --- /dev/null +++ b/lib/DW1000/extras/doc/html/DW1000Ranging_8h_source.html @@ -0,0 +1,100 @@ + + + + + + +Arduino driver library for Decawave DW1000: /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Ranging.h Source File + + + + + + +
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    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
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    DW1000Ranging.h
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    +Go to the documentation of this file.
    1 /*
    2  * Copyright (c) 2015 by Thomas Trojer <thomas@trojer.net> and Leopold Sayous <leosayous@gmail.com>
    3  * Decawave DW1000 library for arduino.
    4  *
    5  * Licensed under the Apache License, Version 2.0 (the "License");
    6  * you may not use this file except in compliance with the License.
    7  * You may obtain a copy of the License at
    8  *
    9  * http://www.apache.org/licenses/LICENSE-2.0
    10  *
    11  * Unless required by applicable law or agreed to in writing, software
    12  * distributed under the License is distributed on an "AS IS" BASIS,
    13  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    14  * See the License for the specific language governing permissions and
    15  * limitations under the License.
    16  *
    17  * @file DW1000Ranging.h
    18  * Arduino global library (header file) working with the DW1000 library
    19  * for the Decawave DW1000 UWB transceiver IC.
    20  *
    21  * @TODO
    22  * - remove or debugmode for Serial.print
    23  * - move strings to flash to reduce ram usage
    24  * - do not safe duplicate of pin settings
    25  * - maybe other object structure
    26  * - use enums instead of preprocessor constants
    27  */
    28 
    29 #include "DW1000.h"
    30 #include "DW1000Time.h"
    31 #include "DW1000Device.h"
    32 #include "DW1000Mac.h"
    33 
    34 // messages used in the ranging protocol
    35 #define POLL 0
    36 #define POLL_ACK 1
    37 #define RANGE 2
    38 #define RANGE_REPORT 3
    39 #define RANGE_FAILED 255
    40 #define BLINK 4
    41 #define RANGING_INIT 5
    42 
    43 #define LEN_DATA 90
    44 
    45 //Max devices we put in the networkDevices array ! Each DW1000Device is 74 Bytes in SRAM memory for now.
    46 #define MAX_DEVICES 4
    47 
    48 //Default Pin for module:
    49 #define DEFAULT_RST_PIN 9
    50 #define DEFAULT_SPI_SS_PIN 10
    51 
    52 //Default value
    53 //in ms
    54 #define DEFAULT_RESET_PERIOD 200
    55 //in us
    56 #define DEFAULT_REPLY_DELAY_TIME 7000
    57 
    58 //sketch type (anchor or tag)
    59 #define TAG 0
    60 #define ANCHOR 1
    61 
    62 //default timer delay
    63 #define DEFAULT_TIMER_DELAY 80
    64 
    65 //debug mode
    66 #ifndef DEBUG
    67 #define DEBUG false
    68 #endif
    69 
    70 
    71 class DW1000RangingClass {
    72 public:
    73  //variables
    74  // data buffer
    75  static byte data[LEN_DATA];
    76 
    77  //initialisation
    78  static void initCommunication(uint8_t myRST = DEFAULT_RST_PIN, uint8_t mySS = DEFAULT_SPI_SS_PIN, uint8_t myIRQ = 2);
    79  static void configureNetwork(uint16_t deviceAddress, uint16_t networkId, const byte mode[]);
    80  static void generalStart();
    81  static void startAsAnchor(char address[], const byte mode[]);
    82  static void startAsTag(char address[], const byte mode[]);
    83  static boolean addNetworkDevices(DW1000Device* device, boolean shortAddress);
    84  static boolean addNetworkDevices(DW1000Device* device);
    85  static void removeNetworkDevices(int16_t index);
    86 
    87  //setters
    88  static void setReplyTime(uint16_t replyDelayTimeUs);
    89  static void setResetPeriod(uint32_t resetPeriod);
    90 
    91  //getters
    92  static byte* getCurrentAddress() { return _currentAddress; };
    93 
    94  static byte* getCurrentShortAddress() { return _currentShortAddress; };
    95 
    96  static uint8_t getNetworkDevicesNumber() { return _networkDevicesNumber; };
    97 
    98  //ranging functions
    99  static int16_t detectMessageType(byte datas[]); // TODO check return type
    100  static void loop();
    101  static void useRangeFilter(boolean enabled);
    102  // Used for the smoothing algorithm (Exponential Moving Average). newValue must be >= 2. Default 15.
    103  static void setRangeFilterValue(uint16_t newValue);
    104 
    105  //Handlers:
    106  static void attachNewRange(void (* handleNewRange)(void)) { _handleNewRange = handleNewRange; };
    107 
    108  static void attachBlinkDevice(void (* handleBlinkDevice)(DW1000Device*)) { _handleBlinkDevice = handleBlinkDevice; };
    109 
    110  static void attachNewDevice(void (* handleNewDevice)(DW1000Device*)) { _handleNewDevice = handleNewDevice; };
    111 
    112  static void attachInactiveDevice(void (* handleInactiveDevice)(DW1000Device*)) { _handleInactiveDevice = handleInactiveDevice; };
    113 
    114 
    115 
    116  static DW1000Device* getDistantDevice();
    117  static DW1000Device* searchDistantDevice(byte shortAddress[]);
    118 
    119  //FOR DEBUGGING
    120  static void visualizeDatas(byte datas[]);
    121 
    122 
    123 private:
    124  //other devices in the network
    125  static DW1000Device _networkDevices[MAX_DEVICES];
    126  static uint8_t _networkDevicesNumber;
    127  static int16_t _lastDistantDevice;
    128  static byte _currentAddress[8];
    129  static byte _currentShortAddress[2];
    130  static byte _lastSentToShortAddress[2];
    131  static DW1000Mac _globalMac;
    132  static int32_t timer;
    133  static int16_t counterForBlink;
    134 
    135  //Handlers:
    136  static void (* _handleNewRange)(void);
    137  static void (* _handleBlinkDevice)(DW1000Device*);
    138  static void (* _handleNewDevice)(DW1000Device*);
    139  static void (* _handleInactiveDevice)(DW1000Device*);
    140 
    141  //sketch type (tag or anchor)
    142  static int16_t _type; //0 for tag and 1 for anchor
    143  // TODO check type, maybe enum?
    144  // message flow state
    145  static volatile byte _expectedMsgId;
    146  // message sent/received state
    147  static volatile boolean _sentAck;
    148  static volatile boolean _receivedAck;
    149  // protocol error state
    150  static boolean _protocolFailed;
    151  // reset line to the chip
    152  static uint8_t _RST;
    153  static uint8_t _SS;
    154  // watchdog and reset period
    155  static uint32_t _lastActivity;
    156  static uint32_t _resetPeriod;
    157  // reply times (same on both sides for symm. ranging)
    158  static uint16_t _replyDelayTimeUS;
    159  //timer Tick delay
    160  static uint16_t _timerDelay;
    161  // ranging counter (per second)
    162  static uint16_t _successRangingCount;
    163  static uint32_t _rangingCountPeriod;
    164  //ranging filter
    165  static volatile boolean _useRangeFilter;
    166  static uint16_t _rangeFilterValue;
    167  //_bias correction
    168  static char _bias_RSL[17]; // TODO remove or use
    169  //17*2=34 bytes in SRAM
    170  static int16_t _bias_PRF_16[17]; // TODO remove or use
    171  //17 bytes in SRAM
    172  static char _bias_PRF_64[17]; // TODO remove or use
    173 
    174 
    175  //methods
    176  static void handleSent();
    177  static void handleReceived();
    178  static void noteActivity();
    179  static void resetInactive();
    180 
    181  //global functions:
    182  static void checkForReset();
    183  static void checkForInactiveDevices();
    184  static void copyShortAddress(byte address1[], byte address2[]);
    185 
    186  //for ranging protocole (ANCHOR)
    187  static void transmitInit();
    188  static void transmit(byte datas[]);
    189  static void transmit(byte datas[], DW1000Time time);
    190  static void transmitBlink();
    191  static void transmitRangingInit(DW1000Device* myDistantDevice);
    192  static void transmitPollAck(DW1000Device* myDistantDevice);
    193  static void transmitRangeReport(DW1000Device* myDistantDevice);
    194  static void transmitRangeFailed(DW1000Device* myDistantDevice);
    195  static void receiver();
    196 
    197  //for ranging protocole (TAG)
    198  static void transmitPoll(DW1000Device* myDistantDevice);
    199  static void transmitRange(DW1000Device* myDistantDevice);
    200 
    201  //methods for range computation
    202  static void computeRangeAsymmetric(DW1000Device* myDistantDevice, DW1000Time* myTOF);
    203 
    204  static void timerTick();
    205 
    206  //Utils
    207  static float filterValue(float value, float previousValue, uint16_t numberOfElements);
    208 };
    209 
    210 extern DW1000RangingClass DW1000Ranging;
    DW1000Device
    Definition: DW1000Device.h:37
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    DW1000RangingClass::getDistantDevice
    static DW1000Device * getDistantDevice()
    Definition: DW1000Ranging.cpp:308
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    DW1000RangingClass::addNetworkDevices
    static boolean addNetworkDevices(DW1000Device *device, boolean shortAddress)
    Definition: DW1000Ranging.cpp:211
    +
    DW1000RangingClass::startAsAnchor
    static void startAsAnchor(char address[], const byte mode[])
    Definition: DW1000Ranging.cpp:162
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    DW1000Mac
    Definition: DW1000Mac.h:45
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    MAX_DEVICES
    #define MAX_DEVICES
    Definition: DW1000Ranging.h:46
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    DW1000Ranging
    DW1000RangingClass DW1000Ranging
    Definition: DW1000Ranging.cpp:33
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    DW1000RangingClass::getCurrentAddress
    static byte * getCurrentAddress()
    Definition: DW1000Ranging.h:92
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    DW1000RangingClass::attachNewRange
    static void attachNewRange(void(*handleNewRange)(void))
    Definition: DW1000Ranging.h:106
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    DW1000RangingClass::removeNetworkDevices
    static void removeNetworkDevices(int16_t index)
    Definition: DW1000Ranging.cpp:267
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    DW1000RangingClass::generalStart
    static void generalStart()
    Definition: DW1000Ranging.cpp:119
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    DW1000RangingClass::setReplyTime
    static void setReplyTime(uint16_t replyDelayTimeUs)
    Definition: DW1000Ranging.cpp:291
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    DW1000RangingClass::setResetPeriod
    static void setResetPeriod(uint32_t resetPeriod)
    Definition: DW1000Ranging.cpp:293
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    DW1000RangingClass::data
    static byte data[LEN_DATA]
    Definition: DW1000Ranging.h:75
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    DW1000RangingClass::getNetworkDevicesNumber
    static uint8_t getNetworkDevicesNumber()
    Definition: DW1000Ranging.h:96
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    DW1000RangingClass::visualizeDatas
    static void visualizeDatas(byte datas[])
    Definition: DW1000Ranging.cpp:948
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    DW1000RangingClass
    Definition: DW1000Ranging.h:71
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    DW1000RangingClass::attachBlinkDevice
    static void attachBlinkDevice(void(*handleBlinkDevice)(DW1000Device *))
    Definition: DW1000Ranging.h:108
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    DW1000RangingClass::searchDistantDevice
    static DW1000Device * searchDistantDevice(byte shortAddress[])
    Definition: DW1000Ranging.cpp:296
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    LEN_DATA
    #define LEN_DATA
    Definition: DW1000Ranging.h:43
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    DW1000Time
    Definition: DW1000Time.h:43
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    DW1000RangingClass::configureNetwork
    static void configureNetwork(uint16_t deviceAddress, uint16_t networkId, const byte mode[])
    Definition: DW1000Ranging.cpp:108
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    DW1000RangingClass::useRangeFilter
    static void useRangeFilter(boolean enabled)
    Definition: DW1000Ranging.cpp:662
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    DW1000RangingClass::initCommunication
    static void initCommunication(uint8_t myRST=DEFAULT_RST_PIN, uint8_t mySS=DEFAULT_SPI_SS_PIN, uint8_t myIRQ=2)
    Definition: DW1000Ranging.cpp:92
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    DEFAULT_SPI_SS_PIN
    #define DEFAULT_SPI_SS_PIN
    Definition: DW1000Ranging.h:50
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    DW1000RangingClass::detectMessageType
    static int16_t detectMessageType(byte datas[])
    Definition: DW1000Ranging.cpp:345
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    DW1000RangingClass::attachInactiveDevice
    static void attachInactiveDevice(void(*handleInactiveDevice)(DW1000Device *))
    Definition: DW1000Ranging.h:112
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    DW1000RangingClass::getCurrentShortAddress
    static byte * getCurrentShortAddress()
    Definition: DW1000Ranging.h:94
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    DW1000RangingClass::setRangeFilterValue
    static void setRangeFilterValue(uint16_t newValue)
    Definition: DW1000Ranging.cpp:666
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    DW1000RangingClass::attachNewDevice
    static void attachNewDevice(void(*handleNewDevice)(DW1000Device *))
    Definition: DW1000Ranging.h:110
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    DW1000RangingClass::startAsTag
    static void startAsTag(char address[], const byte mode[])
    Definition: DW1000Ranging.cpp:188
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    DEFAULT_RST_PIN
    #define DEFAULT_RST_PIN
    Definition: DW1000Ranging.h:49
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    DW1000RangingClass::loop
    static void loop()
    Definition: DW1000Ranging.cpp:359
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    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/DW1000Time_8cpp.html b/lib/DW1000/extras/doc/html/DW1000Time_8cpp.html new file mode 100644 index 0000000..216b7e7 --- /dev/null +++ b/lib/DW1000/extras/doc/html/DW1000Time_8cpp.html @@ -0,0 +1,69 @@ + + + + + + +Arduino driver library for Decawave DW1000: /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Time.cpp File Reference + + + + + + +
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    +
    DW1000Time.cpp File Reference
    +
    +
    +
    #include "DW1000Time.h"
    +

    Detailed Description

    +

    Copyright (c) 2015 by Thomas Trojer thoma.nosp@m.s@tr.nosp@m.ojer..nosp@m.net Copyright (c) 2016 by Ludwig Grill (www.rotzbua.de); refactored class Decawave DW1000 library for arduino.

    +

    Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at 

    http://www.apache.org/licenses/LICENSE-2.0
+

    Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

    +

    Arduino driver library timestamp wrapper (source file) for the Decawave DW1000 UWB transceiver IC.

    +
    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/DW1000Time_8h.html b/lib/DW1000/extras/doc/html/DW1000Time_8h.html new file mode 100644 index 0000000..08a3d88 --- /dev/null +++ b/lib/DW1000/extras/doc/html/DW1000Time_8h.html @@ -0,0 +1,88 @@ + + + + + + +Arduino driver library for Decawave DW1000: /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Time.h File Reference + + + + + + +
    +
    + + + + + + +
    +
    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
    +
    +
    + + + + + +
    +
    +
    +Classes
    +
    +
    DW1000Time.h File Reference
    +
    +
    +
    #include <Arduino.h>
    +#include <stdint.h>
    +#include <inttypes.h>
    +#include "DW1000CompileOptions.h"
    +#include "deprecated.h"
    +#include "require_cpp11.h"
    +
    +

    Go to the source code of this file.

    + + + + +

    +Classes

    class  DW1000Time
     
    +

    Detailed Description

    +

    Copyright (c) 2015 by Thomas Trojer thoma.nosp@m.s@tr.nosp@m.ojer..nosp@m.net Copyright (c) 2016 by Ludwig Grill (www.rotzbua.de); refactored class Decawave DW1000 library for arduino.

    +

    Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at 

    http://www.apache.org/licenses/LICENSE-2.0
+

    Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

    +

    Arduino driver library timestamp wrapper (header file) for the Decawave DW1000 UWB transceiver IC.

    +
      +
    • avoid/remove floating operations, expensive on most microprocessors
      • +
    +
    Note
    comments in cpp file, makes .h smaller and gives a better overview about available methods and variables.
    +
    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/DW1000Time_8h_source.html b/lib/DW1000/extras/doc/html/DW1000Time_8h_source.html new file mode 100644 index 0000000..5b3c9cd --- /dev/null +++ b/lib/DW1000/extras/doc/html/DW1000Time_8h_source.html @@ -0,0 +1,91 @@ + + + + + + +Arduino driver library for Decawave DW1000: /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Time.h Source File + + + + + + +
    +
    + + + + + + +
    +
    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
    +
    +
    + + + + + +
    +
    +
    +
    DW1000Time.h
    +
    +
    +Go to the documentation of this file.
    1 
    30 #ifndef DW1000TIME_H
    31 #define DW1000TIME_H
    32 
    33 #include <Arduino.h>
    34 #include <stdint.h>
    35 #include <inttypes.h>
    36 #include "DW1000CompileOptions.h"
    37 #include "deprecated.h"
    38 #include "require_cpp11.h"
    39 
    40 #if DW1000TIME_H_PRINTABLE
    41 class DW1000Time : public Printable {
    42 #else
    43 class DW1000Time {
    44 #endif // DW1000Time_H_PRINTABLE
    45 public:
    46  // Time resolution in micro-seconds of time based registers/values.
    47  // Each bit in a timestamp counts for a period of approx. 15.65ps
    48  static constexpr float TIME_RES = 0.000015650040064103f;
    49  static constexpr float TIME_RES_INV = 63897.6f;
    50 
    51  // Speed of radio waves [m/s] * timestamp resolution [~15.65ps] of DW1000
    52  static constexpr float DISTANCE_OF_RADIO = 0.0046917639786159f;
    53  static constexpr float DISTANCE_OF_RADIO_INV = 213.139451293f;
    54 
    55  // timestamp byte length - 40 bit -> 5 byte
    56  static constexpr uint8_t LENGTH_TIMESTAMP = 5;
    57 
    58  // timer/counter overflow (40 bits) -> 4overflow approx. every 17.2 seconds
    59  static constexpr int64_t TIME_OVERFLOW = 0x10000000000; //1099511627776LL
    60  static constexpr int64_t TIME_MAX = 0xffffffffff;
    61 
    62  // time factors (relative to [us]) for setting delayed transceive
    63  // TODO use non float
    64  static constexpr float SECONDS = 1e6;
    65  static constexpr float MILLISECONDS = 1e3;
    66  static constexpr float MICROSECONDS = 1;
    67  static constexpr float NANOSECONDS = 1e-3;
    68 
    69  // constructor
    70  DW1000Time();
    71  DW1000Time(int64_t time);
    72  DW1000Time(byte data[]);
    73  DW1000Time(const DW1000Time& copy);
    74  DW1000Time(float timeUs);
    75  DW1000Time(int32_t value, float factorUs);
    76  ~DW1000Time();
    77 
    78  // setter
    79  // dw1000 timestamp, increase of +1 approx approx. 15.65ps real time
    80  void setTimestamp(int64_t value);
    81  void setTimestamp(byte data[]);
    82  void setTimestamp(const DW1000Time& copy);
    83 
    84  // real time in us
    85  void setTime(float timeUs);
    86  void setTime(int32_t value, float factorUs);
    87 
    88  // getter
    89  int64_t getTimestamp() const;
    90  void getTimestamp(byte data[]) const;
    91 
    92  DEPRECATED_MSG("use getAsMicroSeconds()")
    93  float getAsFloat() const;
    94  // getter, convert the timestamp to usual units
    95  float getAsMicroSeconds() const;
    96  //void getAsBytes(byte data[]) const; // TODO check why it is here, is it old version of getTimestamp(byte) ?
    97  float getAsMeters() const;
    98 
    99  DW1000Time& wrap();
    100 
    101  // self test
    102  bool isValidTimestamp();
    103 
    104  // assign
    105  DW1000Time& operator=(const DW1000Time& assign);
    106  // add
    107  DW1000Time& operator+=(const DW1000Time& add);
    108  DW1000Time operator+(const DW1000Time& add) const;
    109  // subtract
    110  DW1000Time& operator-=(const DW1000Time& sub);
    111  DW1000Time operator-(const DW1000Time& sub) const;
    112  // multiply
    113  // multiply with float cause lost in accuracy, because float calculates only with 23bit matise
    114  DW1000Time& operator*=(float factor);
    115  DW1000Time operator*(float factor) const;
    116  // no accuracy lost
    117  DW1000Time& operator*=(const DW1000Time& factor);
    118  DW1000Time operator*(const DW1000Time& factor) const;
    119  // divide
    120  // divide with float cause lost in accuracy, because float calculates only with 23bit matise
    121  DW1000Time& operator/=(float factor);
    122  DW1000Time operator/(float factor) const;
    123  // no accuracy lost
    124  DW1000Time& operator/=(const DW1000Time& factor);
    125  DW1000Time operator/(const DW1000Time& factor) const;
    126  // compare
    127  boolean operator==(const DW1000Time& cmp) const;
    128  boolean operator!=(const DW1000Time& cmp) const;
    129 
    130 #ifdef DW1000TIME_H_PRINTABLE
    131  // print to serial for debug
    132  DEPRECATED_MSG("use Serial.print(object)")
    133  void print();
    134  // for usage with e.g. Serial.print()
    135  size_t printTo(Print& p) const;
    136 #endif // DW1000Time_H_PRINTABLE
    137 
    138 private:
    139  // timestamp size from dw1000 is 40bit, maximum number 1099511627775
    140  // signed because you can calculate with DW1000Time; negative values are possible errors
    141  int64_t _timestamp = 0;
    142 };
    143 
    144 #endif // DW1000Time_H
    DW1000Time::setTime
    void setTime(float timeUs)
    Definition: DW1000Time.cpp:112
    + +
    DW1000Time::MICROSECONDS
    static constexpr float MICROSECONDS
    Definition: DW1000Time.h:66
    +
    require_cpp11.h
    +
    DW1000Time::getAsMeters
    float getAsMeters() const
    Definition: DW1000Time.cpp:172
    +
    DW1000Time::TIME_OVERFLOW
    static constexpr int64_t TIME_OVERFLOW
    Definition: DW1000Time.h:59
    + +
    DW1000Time::print
    void print()
    Definition: DW1000Time.cpp:287
    +
    DW1000Time::getAsFloat
    float getAsFloat() const
    Definition: DW1000Time.cpp:154
    +
    DW1000Time::NANOSECONDS
    static constexpr float NANOSECONDS
    Definition: DW1000Time.h:67
    +
    DW1000Time::wrap
    DW1000Time & wrap()
    Definition: DW1000Time.cpp:187
    +
    DW1000Time::getAsMicroSeconds
    float getAsMicroSeconds() const
    Definition: DW1000Time.cpp:163
    +
    DW1000Time::DISTANCE_OF_RADIO
    static constexpr float DISTANCE_OF_RADIO
    Definition: DW1000Time.h:52
    +
    DW1000Time::printTo
    size_t printTo(Print &p) const
    Definition: DW1000Time.cpp:297
    +
    DW1000Time::isValidTimestamp
    bool isValidTimestamp()
    Definition: DW1000Time.cpp:198
    +
    DW1000Time::DW1000Time
    DW1000Time()
    Definition: DW1000Time.cpp:28
    +
    DW1000Time::DISTANCE_OF_RADIO_INV
    static constexpr float DISTANCE_OF_RADIO_INV
    Definition: DW1000Time.h:53
    +
    DW1000Time::~DW1000Time
    ~DW1000Time()
    Definition: DW1000Time.cpp:78
    +
    DW1000Time::TIME_RES
    static constexpr float TIME_RES
    Definition: DW1000Time.h:48
    +
    DW1000Time
    Definition: DW1000Time.h:43
    +
    DW1000Time::MILLISECONDS
    static constexpr float MILLISECONDS
    Definition: DW1000Time.h:65
    +
    DW1000Time::LENGTH_TIMESTAMP
    static constexpr uint8_t LENGTH_TIMESTAMP
    Definition: DW1000Time.h:56
    +
    DW1000Time::SECONDS
    static constexpr float SECONDS
    Definition: DW1000Time.h:64
    +
    DW1000Time::TIME_RES_INV
    static constexpr float TIME_RES_INV
    Definition: DW1000Time.h:49
    +
    DEPRECATED_MSG
    #define DEPRECATED_MSG(msg)
    Definition: deprecated.h:17
    +
    DW1000Time::getTimestamp
    int64_t getTimestamp() const
    Definition: DW1000Time.cpp:134
    +
    DW1000Time::TIME_MAX
    static constexpr int64_t TIME_MAX
    Definition: DW1000Time.h:60
    +
    DW1000Time::setTimestamp
    void setTimestamp(int64_t value)
    Definition: DW1000Time.cpp:84
    +
    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/DW1000_8cpp.html b/lib/DW1000/extras/doc/html/DW1000_8cpp.html new file mode 100644 index 0000000..c8ffac4 --- /dev/null +++ b/lib/DW1000/extras/doc/html/DW1000_8cpp.html @@ -0,0 +1,85 @@ + + + + + + +Arduino driver library for Decawave DW1000: /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000.cpp File Reference + + + + + + +
    +
    + + + + + + +
    +
    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
    +
    +
    + + + + + +
    +
    +
    +Variables
    +
    +
    DW1000.cpp File Reference
    +
    +
    +
    #include "DW1000.h"
    +
    + + + +

    +Variables

    DW1000Class DW1000
     
    +

    Variable Documentation

    + +
    +
    + + + + +
    DW1000Class DW1000
    +
    + +
    +
    +
    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/DW1000_8h.html b/lib/DW1000/extras/doc/html/DW1000_8h.html new file mode 100644 index 0000000..2941187 --- /dev/null +++ b/lib/DW1000/extras/doc/html/DW1000_8h.html @@ -0,0 +1,99 @@ + + + + + + +Arduino driver library for Decawave DW1000: /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000.h File Reference + + + + + + +
    +
    + + + + + + +
    +
    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
    +
    +
    + + + + + +
    +
    +
    +Classes | +Variables
    +
    +
    DW1000.h File Reference
    +
    +
    +
    #include <stdio.h>
    +#include <stdlib.h>
    +#include <string.h>
    +#include <Arduino.h>
    +#include <SPI.h>
    +#include "DW1000Constants.h"
    +#include "DW1000Time.h"
    +
    +

    Go to the source code of this file.

    + + + + +

    +Classes

    class  DW1000Class
     
    + + + +

    +Variables

    DW1000Class DW1000
     
    +

    Variable Documentation

    + +
    +
    + + + + +
    DW1000Class DW1000
    +
    + +
    +
    +
    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/DW1000_8h_source.html b/lib/DW1000/extras/doc/html/DW1000_8h_source.html new file mode 100644 index 0000000..d2d7e93 --- /dev/null +++ b/lib/DW1000/extras/doc/html/DW1000_8h_source.html @@ -0,0 +1,274 @@ + + + + + + +Arduino driver library for Decawave DW1000: /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000.h Source File + + + + + + +
    +
    + + + + + + +
    +
    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
    +
    +
    + + + + + +
    +
    +
    +
    DW1000.h
    +
    +
    +Go to the documentation of this file.
    1 /*
    2  * Copyright (c) 2015 by Thomas Trojer <thomas@trojer.net>
    3  * Decawave DW1000 library for arduino.
    4  *
    5  * Licensed under the Apache License, Version 2.0 (the "License");
    6  * you may not use this file except in compliance with the License.
    7  * You may obtain a copy of the License at
    8  *
    9  * http://www.apache.org/licenses/LICENSE-2.0
    10  *
    11  * Unless required by applicable law or agreed to in writing, software
    12  * distributed under the License is distributed on an "AS IS" BASIS,
    13  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    14  * See the License for the specific language governing permissions and
    15  * limitations under the License.
    16  *
    17  * @file DW1000.h
    18  * Arduino driver library (header file) for the Decawave DW1000 UWB transceiver IC.
    19  *
    20  * @todo
    21  * - impl: later:
    22  * - TXBOFFS in TX_FCTRL for offset buffer transmit
    23  * - TR in TX_FCTRL for flagging for ranging messages
    24  * - CANSFCS in SYS_CTRL to cancel frame check suppression
    25  * - HSRBP in SYS_CTRL to determine in double buffered mode from which buffer to read
    26  */
    27 
    28 #ifndef _DW1000_H_INCLUDED
    29 #define _DW1000_H_INCLUDED
    30 
    31 #include <stdio.h>
    32 #include <stdlib.h>
    33 #include <string.h>
    34 #include <Arduino.h>
    35 #include <SPI.h>
    36 #include "DW1000Constants.h"
    37 #include "DW1000Time.h"
    38 
    39 class DW1000Class {
    40 public:
    41  /* ##### Init ################################################################ */
    49  static void begin(uint8_t irq, uint8_t rst = 0xff);
    50 
    59  static void select(uint8_t ss);
    60 
    70  static void reselect(uint8_t ss);
    71 
    76  static void end();
    77 
    83  static void reset();
    84 
    88  static void softReset();
    89 
    90  /* ##### Print device id, address, etc. ###################################### */
    98  static void getPrintableDeviceIdentifier(char msgBuffer[]);
    99 
    106  static void getPrintableExtendedUniqueIdentifier(char msgBuffer[]);
    107 
    115  static void getPrintableNetworkIdAndShortAddress(char msgBuffer[]);
    116 
    124  static void getPrintableDeviceMode(char msgBuffer[]);
    125 
    126  /* ##### Device address management, filters ################################## */
    135  static void setNetworkId(uint16_t val);
    136 
    143  static void setDeviceAddress(uint16_t val);
    144  // TODO MAC and filters
    145 
    146  static void setEUI(char eui[]);
    147  static void setEUI(byte eui[]);
    148 
    149  /* ##### General device configuration ######################################## */
    159  static void setReceiverAutoReenable(boolean val);
    160 
    169  static void setInterruptPolarity(boolean val);
    170 
    182  static void suppressFrameCheck(boolean val);
    183 
    195  static void setDataRate(byte rate);
    196 
    211  static void setPulseFrequency(byte freq);
    212  static byte getPulseFrequency();
    213  static void setPreambleLength(byte prealen);
    214  static void setChannel(byte channel);
    215  static void setPreambleCode(byte preacode);
    216  static void useSmartPower(boolean smartPower);
    217 
    218  /* transmit and receive configuration. */
    219  static DW1000Time setDelay(const DW1000Time& delay);
    220  static void receivePermanently(boolean val);
    221  static void setData(byte data[], uint16_t n);
    222  static void setData(const String& data);
    223  static void getData(byte data[], uint16_t n);
    224  static void getData(String& data);
    225  static uint16_t getDataLength();
    226  static void getTransmitTimestamp(DW1000Time& time);
    227  static void getReceiveTimestamp(DW1000Time& time);
    228  static void getSystemTimestamp(DW1000Time& time);
    229  static void getTransmitTimestamp(byte data[]);
    230  static void getReceiveTimestamp(byte data[]);
    231  static void getSystemTimestamp(byte data[]);
    232 
    233  /* receive quality information. */
    234  static float getReceivePower();
    235  static float getFirstPathPower();
    236  static float getReceiveQuality();
    237 
    238  /* interrupt management. */
    239  static void interruptOnSent(boolean val);
    240  static void interruptOnReceived(boolean val);
    241  static void interruptOnReceiveFailed(boolean val);
    242  static void interruptOnReceiveTimeout(boolean val);
    243  static void interruptOnReceiveTimestampAvailable(boolean val);
    244  static void interruptOnAutomaticAcknowledgeTrigger(boolean val);
    245 
    246  /* callback handler management. */
    247  static void attachErrorHandler(void (* handleError)(void)) {
    248  _handleError = handleError;
    249  }
    250 
    251  static void attachSentHandler(void (* handleSent)(void)) {
    252  _handleSent = handleSent;
    253  }
    254 
    255  static void attachReceivedHandler(void (* handleReceived)(void)) {
    256  _handleReceived = handleReceived;
    257  }
    258 
    259  static void attachReceiveFailedHandler(void (* handleReceiveFailed)(void)) {
    260  _handleReceiveFailed = handleReceiveFailed;
    261  }
    262 
    263  static void attachReceiveTimeoutHandler(void (* handleReceiveTimeout)(void)) {
    264  _handleReceiveTimeout = handleReceiveTimeout;
    265  }
    266 
    267  static void attachReceiveTimestampAvailableHandler(void (* handleReceiveTimestampAvailable)(void)) {
    268  _handleReceiveTimestampAvailable = handleReceiveTimestampAvailable;
    269  }
    270 
    271  /* device state management. */
    272  // idle state
    273  static void idle();
    274 
    275  // general configuration state
    276  static void newConfiguration();
    277  static void commitConfiguration();
    278 
    279  // reception state
    280  static void newReceive();
    281  static void startReceive();
    282 
    283  // transmission state
    284  static void newTransmit();
    285  static void startTransmit();
    286 
    287  /* ##### Operation mode selection ############################################ */
    309  static void enableMode(const byte mode[]);
    310 
    311  // use RX/TX specific and general default settings
    312  static void setDefaults();
    313 
    314  /* debug pretty print registers. */
    315  static void getPrettyBytes(byte cmd, uint16_t offset, char msgBuffer[], uint16_t n);
    316  static void getPrettyBytes(byte data[], char msgBuffer[], uint16_t n);
    317 
    318  //convert from char to 4 bits (hexadecimal)
    319  static uint8_t nibbleFromChar(char c);
    320  static void convertToByte(char string[], byte* eui_byte);
    321 
    322  // host-initiated reading of temperature and battery voltage
    323  static void getTempAndVbat(float& temp, float& vbat);
    324 
    325  // transmission/reception bit rate
    326  static constexpr byte TRX_RATE_110KBPS = 0x00;
    327  static constexpr byte TRX_RATE_850KBPS = 0x01;
    328  static constexpr byte TRX_RATE_6800KBPS = 0x02;
    329 
    330  // transmission pulse frequency
    331  // 0x00 is 4MHZ, but receiver in DW1000 does not support it (!??)
    332  static constexpr byte TX_PULSE_FREQ_16MHZ = 0x01;
    333  static constexpr byte TX_PULSE_FREQ_64MHZ = 0x02;
    334 
    335  // preamble length (PE + TXPSR bits)
    336  static constexpr byte TX_PREAMBLE_LEN_64 = 0x01;
    337  static constexpr byte TX_PREAMBLE_LEN_128 = 0x05;
    338  static constexpr byte TX_PREAMBLE_LEN_256 = 0x09;
    339  static constexpr byte TX_PREAMBLE_LEN_512 = 0x0D;
    340  static constexpr byte TX_PREAMBLE_LEN_1024 = 0x02;
    341  static constexpr byte TX_PREAMBLE_LEN_1536 = 0x06;
    342  static constexpr byte TX_PREAMBLE_LEN_2048 = 0x0A;
    343  static constexpr byte TX_PREAMBLE_LEN_4096 = 0x03;
    344 
    345  // PAC size. */
    346  static constexpr byte PAC_SIZE_8 = 8;
    347  static constexpr byte PAC_SIZE_16 = 16;
    348  static constexpr byte PAC_SIZE_32 = 32;
    349  static constexpr byte PAC_SIZE_64 = 64;
    350 
    351  /* channel of operation. */
    352  static constexpr byte CHANNEL_1 = 1;
    353  static constexpr byte CHANNEL_2 = 2;
    354  static constexpr byte CHANNEL_3 = 3;
    355  static constexpr byte CHANNEL_4 = 4;
    356  static constexpr byte CHANNEL_5 = 5;
    357  static constexpr byte CHANNEL_7 = 7;
    358 
    359  /* preamble codes. */
    360  static constexpr byte PREAMBLE_CODE_16MHZ_1 = 1;
    361  static constexpr byte PREAMBLE_CODE_16MHZ_2 = 2;
    362  static constexpr byte PREAMBLE_CODE_16MHZ_3 = 3;
    363  static constexpr byte PREAMBLE_CODE_16MHZ_4 = 4;
    364  static constexpr byte PREAMBLE_CODE_16MHZ_5 = 5;
    365  static constexpr byte PREAMBLE_CODE_16MHZ_6 = 6;
    366  static constexpr byte PREAMBLE_CODE_16MHZ_7 = 7;
    367  static constexpr byte PREAMBLE_CODE_16MHZ_8 = 8;
    368  static constexpr byte PREAMBLE_CODE_64MHZ_9 = 9;
    369  static constexpr byte PREAMBLE_CODE_64MHZ_10 = 10;
    370  static constexpr byte PREAMBLE_CODE_64MHZ_11 = 11;
    371  static constexpr byte PREAMBLE_CODE_64MHZ_12 = 12;
    372  static constexpr byte PREAMBLE_CODE_64MHZ_17 = 17;
    373  static constexpr byte PREAMBLE_CODE_64MHZ_18 = 18;
    374  static constexpr byte PREAMBLE_CODE_64MHZ_19 = 19;
    375  static constexpr byte PREAMBLE_CODE_64MHZ_20 = 20;
    376 
    377  /* frame length settings. */
    378  static constexpr byte FRAME_LENGTH_NORMAL = 0x00;
    379  static constexpr byte FRAME_LENGTH_EXTENDED = 0x03;
    380 
    381  /* pre-defined modes of operation (3 bytes for data rate, pulse frequency and
    382  preamble length). */
    383  static constexpr byte MODE_LONGDATA_RANGE_LOWPOWER[] = {TRX_RATE_110KBPS, TX_PULSE_FREQ_16MHZ, TX_PREAMBLE_LEN_2048};
    384  static constexpr byte MODE_SHORTDATA_FAST_LOWPOWER[] = {TRX_RATE_6800KBPS, TX_PULSE_FREQ_16MHZ, TX_PREAMBLE_LEN_128};
    385  static constexpr byte MODE_LONGDATA_FAST_LOWPOWER[] = {TRX_RATE_6800KBPS, TX_PULSE_FREQ_16MHZ, TX_PREAMBLE_LEN_1024};
    386  static constexpr byte MODE_SHORTDATA_FAST_ACCURACY[] = {TRX_RATE_6800KBPS, TX_PULSE_FREQ_64MHZ, TX_PREAMBLE_LEN_128};
    387  static constexpr byte MODE_LONGDATA_FAST_ACCURACY[] = {TRX_RATE_6800KBPS, TX_PULSE_FREQ_64MHZ, TX_PREAMBLE_LEN_1024};
    388  static constexpr byte MODE_LONGDATA_RANGE_ACCURACY[] = {TRX_RATE_110KBPS, TX_PULSE_FREQ_64MHZ, TX_PREAMBLE_LEN_2048};
    389 
    390 //private:
    391  /* chip select, reset and interrupt pins. */
    392  static uint8_t _ss;
    393  static uint8_t _rst;
    394  static uint8_t _irq;
    395 
    396  /* callbacks. */
    397  static void (* _handleError)(void);
    398  static void (* _handleSent)(void);
    399  static void (* _handleReceived)(void);
    400  static void (* _handleReceiveFailed)(void);
    401  static void (* _handleReceiveTimeout)(void);
    402  static void (* _handleReceiveTimestampAvailable)(void);
    403 
    404  /* register caches. */
    405  static byte _syscfg[LEN_SYS_CFG];
    406  static byte _sysctrl[LEN_SYS_CTRL];
    407  static byte _sysstatus[LEN_SYS_STATUS];
    408  static byte _txfctrl[LEN_TX_FCTRL];
    409  static byte _sysmask[LEN_SYS_MASK];
    410  static byte _chanctrl[LEN_CHAN_CTRL];
    411 
    412  /* device status monitoring */
    413  static byte _vmeas3v3;
    414  static byte _tmeas23C;
    415 
    416  /* PAN and short address. */
    417  static byte _networkAndAddress[LEN_PANADR];
    418 
    419  /* internal helper that guide tuning the chip. */
    420  static boolean _smartPower;
    421  static byte _extendedFrameLength;
    422  static byte _preambleCode;
    423  static byte _channel;
    424  static byte _preambleLength;
    425  static byte _pulseFrequency;
    426  static byte _dataRate;
    427  static byte _pacSize;
    428  static DW1000Time _antennaDelay;
    429 
    430  /* internal helper to remember how to properly act. */
    431  static boolean _permanentReceive;
    432  static boolean _frameCheck;
    433 
    434  // whether RX or TX is active
    435  static uint8_t _deviceMode;
    436 
    437  /* Arduino interrupt handler */
    438  static void handleInterrupt();
    439 
    440  /* Allow MAC frame filtering . */
    441  // TODO auto-acknowledge
    442  static void setFrameFilter(boolean val);
    443  static void setFrameFilterBehaveCoordinator(boolean val);
    444  static void setFrameFilterAllowBeacon(boolean val);
    445  //data type is used in the FC_1 0x41
    446  static void setFrameFilterAllowData(boolean val);
    447  static void setFrameFilterAllowAcknowledgement(boolean val);
    448  static void setFrameFilterAllowMAC(boolean val);
    449  //Reserved is used for the Blink message
    450  static void setFrameFilterAllowReserved(boolean val);
    451 
    452  // note: not sure if going to be implemented for now
    453  static void setDoubleBuffering(boolean val);
    454  // TODO is implemented, but needs testing
    455  static void useExtendedFrameLength(boolean val);
    456  // TODO is implemented, but needs testing
    457  static void waitForResponse(boolean val);
    458 
    459  /* tuning according to mode. */
    460  static void tune();
    461 
    462  /* device status flags */
    463  static boolean isReceiveTimestampAvailable();
    464  static boolean isTransmitDone();
    465  static boolean isReceiveDone();
    466  static boolean isReceiveFailed();
    467  static boolean isReceiveTimeout();
    468  static boolean isClockProblem();
    469 
    470  /* interrupt state handling */
    471  static void clearInterrupts();
    472  static void clearAllStatus();
    473  static void clearReceiveStatus();
    474  static void clearReceiveTimestampAvailableStatus();
    475  static void clearTransmitStatus();
    476 
    477  /* internal helper to read/write system registers. */
    478  static void readSystemEventStatusRegister();
    479  static void readSystemConfigurationRegister();
    480  static void writeSystemConfigurationRegister();
    481  static void readNetworkIdAndDeviceAddress();
    482  static void writeNetworkIdAndDeviceAddress();
    483  static void readSystemEventMaskRegister();
    484  static void writeSystemEventMaskRegister();
    485  static void readChannelControlRegister();
    486  static void writeChannelControlRegister();
    487  static void readTransmitFrameControlRegister();
    488  static void writeTransmitFrameControlRegister();
    489 
    490  /* clock management. */
    491  static void enableClock(byte clock);
    492 
    493  /* LDE micro-code management. */
    494  static void manageLDE();
    495 
    496  /* timestamp correction. */
    497  static void correctTimestamp(DW1000Time& timestamp);
    498 
    499  /* reading and writing bytes from and to DW1000 module. */
    500  static void readBytes(byte cmd, uint16_t offset, byte data[], uint16_t n);
    501  static void readBytesOTP(uint16_t address, byte data[]);
    502  static void writeByte(byte cmd, uint16_t offset, byte data);
    503  static void writeBytes(byte cmd, uint16_t offset, byte data[], uint16_t n);
    504 
    505  /* writing numeric values to bytes. */
    506  static void writeValueToBytes(byte data[], int32_t val, uint16_t n);
    507 
    508  /* internal helper for bit operations on multi-bytes. */
    509  static boolean getBit(byte data[], uint16_t n, uint16_t bit);
    510  static void setBit(byte data[], uint16_t n, uint16_t bit, boolean val);
    511 
    512  /* Register is 6 bit, 7 = write, 6 = sub-adressing, 5-0 = register value
    513  * Total header with sub-adressing can be 15 bit. */
    514  static const byte WRITE = 0x80; // regular write
    515  static const byte WRITE_SUB = 0xC0; // write with sub address
    516  static const byte READ = 0x00; // regular read
    517  static const byte READ_SUB = 0x40; // read with sub address
    518  static const byte RW_SUB_EXT = 0x80; // R/W with sub address extension
    519 
    520  /* clocks available. */
    521  static const byte AUTO_CLOCK = 0x00;
    522  static const byte XTI_CLOCK = 0x01;
    523  static const byte PLL_CLOCK = 0x02;
    524 
    525  /* SPI configs. */
    526  static const SPISettings _fastSPI;
    527  static const SPISettings _slowSPI;
    528  static const SPISettings* _currentSPI;
    529 
    530  /* range bias tables (500/900 MHz band, 16/64 MHz PRF), -61 to -95 dBm. */
    531  static const byte BIAS_500_16_ZERO = 10;
    532  static const byte BIAS_500_64_ZERO = 8;
    533  static const byte BIAS_900_16_ZERO = 7;
    534  static const byte BIAS_900_64_ZERO = 7;
    535 
    536  // range bias tables (500 MHz in [mm] and 900 MHz in [2mm] - to fit into bytes)
    537  static constexpr byte BIAS_500_16[] = {198, 187, 179, 163, 143, 127, 109, 84, 59, 31, 0, 36, 65, 84, 97, 106, 110, 112};
    538  static constexpr byte BIAS_500_64[] = {110, 105, 100, 93, 82, 69, 51, 27, 0, 21, 35, 42, 49, 62, 71, 76, 81, 86};
    539  static constexpr byte BIAS_900_16[] = {137, 122, 105, 88, 69, 47, 25, 0, 21, 48, 79, 105, 127, 147, 160, 169, 178, 197};
    540  static constexpr byte BIAS_900_64[] = {147, 133, 117, 99, 75, 50, 29, 0, 24, 45, 63, 76, 87, 98, 116, 122, 132, 142};
    541 
    542 };
    543 
    544 extern DW1000Class DW1000;
    545 
    546 #endif
    DW1000Class::_handleReceived
    static void(* _handleReceived)(void)
    Definition: DW1000.h:399
    +
    DW1000Class::MODE_LONGDATA_RANGE_ACCURACY
    static constexpr byte MODE_LONGDATA_RANGE_ACCURACY[]
    Definition: DW1000.h:388
    +
    DW1000Class::setDataRate
    static void setDataRate(byte rate)
    Definition: DW1000.cpp:1041
    +
    DW1000Class::getPrintableNetworkIdAndShortAddress
    static void getPrintableNetworkIdAndShortAddress(char msgBuffer[])
    Definition: DW1000.cpp:691
    +
    DW1000Class::TX_PREAMBLE_LEN_2048
    static constexpr byte TX_PREAMBLE_LEN_2048
    Definition: DW1000.h:342
    +
    DW1000Class::suppressFrameCheck
    static void suppressFrameCheck(boolean val)
    Definition: DW1000.cpp:1008
    +
    DW1000Class::_tmeas23C
    static byte _tmeas23C
    Definition: DW1000.h:414
    +
    DW1000Class::TRX_RATE_6800KBPS
    static constexpr byte TRX_RATE_6800KBPS
    Definition: DW1000.h:328
    +
    DW1000Class::interruptOnReceiveFailed
    static void interruptOnReceiveFailed(boolean val)
    Definition: DW1000.cpp:913
    +
    DW1000Class::getSystemTimestamp
    static void getSystemTimestamp(DW1000Time &time)
    Definition: DW1000.cpp:1301
    +
    DW1000Class::_currentSPI
    static const SPISettings * _currentSPI
    Definition: DW1000.h:528
    +
    DW1000Class::TX_PREAMBLE_LEN_128
    static constexpr byte TX_PREAMBLE_LEN_128
    Definition: DW1000.h:337
    +
    DW1000Class::AUTO_CLOCK
    static const byte AUTO_CLOCK
    Definition: DW1000.h:521
    +
    DW1000Class::newReceive
    static void newReceive()
    Definition: DW1000.cpp:943
    +
    DW1000Class::writeSystemEventMaskRegister
    static void writeSystemEventMaskRegister()
    Definition: DW1000.cpp:774
    +
    DW1000Class::convertToByte
    static void convertToByte(char string[], byte *eui_byte)
    Definition: DW1000.cpp:821
    +
    DW1000Class::select
    static void select(uint8_t ss)
    Definition: DW1000.cpp:111
    +
    DW1000Class::PLL_CLOCK
    static const byte PLL_CLOCK
    Definition: DW1000.h:523
    +
    DW1000Class::BIAS_500_64
    static constexpr byte BIAS_500_64[]
    Definition: DW1000.h:538
    +
    DW1000Class::PREAMBLE_CODE_64MHZ_12
    static constexpr byte PREAMBLE_CODE_64MHZ_12
    Definition: DW1000.h:371
    +
    DW1000Class::isClockProblem
    static boolean isClockProblem()
    Definition: DW1000.cpp:1350
    +
    DW1000Class::setFrameFilter
    static void setFrameFilter(boolean val)
    Definition: DW1000.cpp:863
    +
    DW1000Class::attachErrorHandler
    static void attachErrorHandler(void(*handleError)(void))
    Definition: DW1000.h:247
    +
    DW1000Class::getPrettyBytes
    static void getPrettyBytes(byte cmd, uint16_t offset, char msgBuffer[], uint16_t n)
    Definition: DW1000.cpp:1663
    +
    LEN_SYS_CTRL
    #define LEN_SYS_CTRL
    Definition: DW1000Constants.h:70
    +
    DW1000Class::setData
    static void setData(byte data[], uint16_t n)
    Definition: DW1000.cpp:1165
    +
    DW1000Class::_pulseFrequency
    static byte _pulseFrequency
    Definition: DW1000.h:425
    +
    DW1000Class::startReceive
    static void startReceive()
    Definition: DW1000.cpp:950
    +
    DW1000Class::getReceiveTimestamp
    static void getReceiveTimestamp(DW1000Time &time)
    Definition: DW1000.cpp:1239
    +
    DW1000Class::setPulseFrequency
    static void setPulseFrequency(byte freq)
    Definition: DW1000.cpp:1073
    +
    DW1000Class::getPrintableDeviceIdentifier
    static void getPrintableDeviceIdentifier(char msgBuffer[])
    Definition: DW1000.cpp:677
    +
    DW1000Class::_sysmask
    static byte _sysmask[LEN_SYS_MASK]
    Definition: DW1000.h:409
    +
    DW1000Class::nibbleFromChar
    static uint8_t nibbleFromChar(char c)
    Definition: DW1000.cpp:808
    +
    DW1000Class::enableClock
    static void enableClock(byte clock)
    Definition: DW1000.cpp:202
    +
    DW1000Class::_handleReceiveTimeout
    static void(* _handleReceiveTimeout)(void)
    Definition: DW1000.h:401
    +
    DW1000Class::CHANNEL_7
    static constexpr byte CHANNEL_7
    Definition: DW1000.h:357
    +
    DW1000Class::getDataLength
    static uint16_t getDataLength()
    Definition: DW1000.cpp:1191
    +
    DW1000Class::manageLDE
    static void manageLDE()
    Definition: DW1000.cpp:175
    +
    DW1000Class::newConfiguration
    static void newConfiguration()
    Definition: DW1000.cpp:977
    +
    DW1000Class::CHANNEL_4
    static constexpr byte CHANNEL_4
    Definition: DW1000.h:355
    +
    DW1000Class::setDeviceAddress
    static void setDeviceAddress(uint16_t val)
    Definition: DW1000.cpp:803
    +
    DW1000Class::TX_PREAMBLE_LEN_1024
    static constexpr byte TX_PREAMBLE_LEN_1024
    Definition: DW1000.h:340
    +
    DW1000Class::begin
    static void begin(uint8_t irq, uint8_t rst=0xff)
    Definition: DW1000.cpp:157
    +
    DW1000Class::getPrintableDeviceMode
    static void getPrintableDeviceMode(char msgBuffer[])
    Definition: DW1000.cpp:698
    +
    DW1000Class::interruptOnSent
    static void interruptOnSent(boolean val)
    Definition: DW1000.cpp:904
    +
    DW1000Class::WRITE_SUB
    static const byte WRITE_SUB
    Definition: DW1000.h:515
    +
    DW1000Class::_vmeas3v3
    static byte _vmeas3v3
    Definition: DW1000.h:413
    +
    DW1000Class::setFrameFilterAllowMAC
    static void setFrameFilterAllowMAC(boolean val)
    Definition: DW1000.cpp:883
    +
    DW1000Class::_rst
    static uint8_t _rst
    Definition: DW1000.h:393
    +
    DW1000Class::BIAS_500_16_ZERO
    static const byte BIAS_500_16_ZERO
    Definition: DW1000.h:531
    +
    DW1000Class::writeNetworkIdAndDeviceAddress
    static void writeNetworkIdAndDeviceAddress()
    Definition: DW1000.cpp:766
    +
    DW1000Class::receivePermanently
    static void receivePermanently(boolean val)
    Definition: DW1000.cpp:1108
    +
    DW1000Class::setDelay
    static DW1000Time setDelay(const DW1000Time &delay)
    Definition: DW1000.cpp:1017
    +
    DW1000Class::handleInterrupt
    static void handleInterrupt()
    Definition: DW1000.cpp:632
    +
    DW1000Class::_handleReceiveTimestampAvailable
    static void(* _handleReceiveTimestampAvailable)(void)
    Definition: DW1000.h:402
    +
    DW1000Class::clearInterrupts
    static void clearInterrupts()
    Definition: DW1000.cpp:932
    +
    DW1000Class::waitForResponse
    static void waitForResponse(boolean val)
    Definition: DW1000.cpp:1004
    +
    DW1000Class::getBit
    static boolean getBit(byte data[], uint16_t n, uint16_t bit)
    Definition: DW1000.cpp:1504
    +
    DW1000Class::softReset
    static void softReset()
    Definition: DW1000.cpp:239
    +
    DW1000Class::_handleError
    static void(* _handleError)(void)
    Definition: DW1000.h:397
    +
    DW1000Class::PAC_SIZE_8
    static constexpr byte PAC_SIZE_8
    Definition: DW1000.h:346
    +
    DW1000Class::PREAMBLE_CODE_16MHZ_5
    static constexpr byte PREAMBLE_CODE_16MHZ_5
    Definition: DW1000.h:364
    +
    DW1000Class::TX_PULSE_FREQ_16MHZ
    static constexpr byte TX_PULSE_FREQ_16MHZ
    Definition: DW1000.h:332
    +
    DW1000Class::TX_PREAMBLE_LEN_4096
    static constexpr byte TX_PREAMBLE_LEN_4096
    Definition: DW1000.h:343
    +
    DW1000Class::interruptOnReceiveTimestampAvailable
    static void interruptOnReceiveTimestampAvailable(boolean val)
    Definition: DW1000.cpp:924
    +
    DW1000Class::reset
    static void reset()
    Definition: DW1000.cpp:224
    +
    DW1000Class::writeSystemConfigurationRegister
    static void writeSystemConfigurationRegister()
    Definition: DW1000.cpp:754
    +
    DW1000Class::clearReceiveStatus
    static void clearReceiveStatus()
    Definition: DW1000.cpp:1370
    +
    DW1000Class::readNetworkIdAndDeviceAddress
    static void readNetworkIdAndDeviceAddress()
    Definition: DW1000.cpp:762
    +
    DW1000Class::BIAS_900_16
    static constexpr byte BIAS_900_16[]
    Definition: DW1000.h:539
    + +
    DW1000Class::attachReceivedHandler
    static void attachReceivedHandler(void(*handleReceived)(void))
    Definition: DW1000.h:255
    +
    DW1000Class::writeTransmitFrameControlRegister
    static void writeTransmitFrameControlRegister()
    Definition: DW1000.cpp:790
    +
    DW1000Class::_txfctrl
    static byte _txfctrl[LEN_TX_FCTRL]
    Definition: DW1000.h:408
    +
    DW1000Class::_fastSPI
    static const SPISettings _fastSPI
    Definition: DW1000.h:526
    +
    DW1000Class::TRX_RATE_850KBPS
    static constexpr byte TRX_RATE_850KBPS
    Definition: DW1000.h:327
    +
    DW1000Class::attachReceiveFailedHandler
    static void attachReceiveFailedHandler(void(*handleReceiveFailed)(void))
    Definition: DW1000.h:259
    +
    LEN_TX_FCTRL
    #define LEN_TX_FCTRL
    Definition: DW1000Constants.h:154
    +
    DW1000Class::_frameCheck
    static boolean _frameCheck
    Definition: DW1000.h:432
    +
    DW1000Class::CHANNEL_3
    static constexpr byte CHANNEL_3
    Definition: DW1000.h:354
    +
    DW1000Class::_preambleLength
    static byte _preambleLength
    Definition: DW1000.h:424
    +
    DW1000Class::attachReceiveTimestampAvailableHandler
    static void attachReceiveTimestampAvailableHandler(void(*handleReceiveTimestampAvailable)(void))
    Definition: DW1000.h:267
    +
    DW1000Class::_pacSize
    static byte _pacSize
    Definition: DW1000.h:427
    +
    LEN_SYS_CFG
    #define LEN_SYS_CFG
    Definition: DW1000Constants.h:52
    +
    DW1000Class::readSystemEventStatusRegister
    static void readSystemEventStatusRegister()
    Definition: DW1000.cpp:758
    +
    DW1000Class::TX_PULSE_FREQ_64MHZ
    static constexpr byte TX_PULSE_FREQ_64MHZ
    Definition: DW1000.h:333
    +
    DW1000Class::interruptOnReceived
    static void interruptOnReceived(boolean val)
    Definition: DW1000.cpp:908
    +
    DW1000Class::TRX_RATE_110KBPS
    static constexpr byte TRX_RATE_110KBPS
    Definition: DW1000.h:326
    +
    DW1000Class::WRITE
    static const byte WRITE
    Definition: DW1000.h:514
    +
    DW1000Class::BIAS_900_64_ZERO
    static const byte BIAS_900_64_ZERO
    Definition: DW1000.h:534
    +
    DW1000Class::_irq
    static uint8_t _irq
    Definition: DW1000.h:394
    +
    DW1000Class::attachSentHandler
    static void attachSentHandler(void(*handleSent)(void))
    Definition: DW1000.h:251
    +
    DW1000Class::MODE_LONGDATA_FAST_ACCURACY
    static constexpr byte MODE_LONGDATA_FAST_ACCURACY[]
    Definition: DW1000.h:387
    +
    DW1000Class::readTransmitFrameControlRegister
    static void readTransmitFrameControlRegister()
    Definition: DW1000.cpp:786
    +
    DW1000Class::_extendedFrameLength
    static byte _extendedFrameLength
    Definition: DW1000.h:421
    +
    DW1000Class::TX_PREAMBLE_LEN_1536
    static constexpr byte TX_PREAMBLE_LEN_1536
    Definition: DW1000.h:341
    +
    DW1000Class::reselect
    static void reselect(uint8_t ss)
    Definition: DW1000.cpp:151
    +
    DW1000Class::MODE_SHORTDATA_FAST_ACCURACY
    static constexpr byte MODE_SHORTDATA_FAST_ACCURACY[]
    Definition: DW1000.h:386
    +
    DW1000Class::readSystemEventMaskRegister
    static void readSystemEventMaskRegister()
    Definition: DW1000.cpp:770
    +
    DW1000Class::PREAMBLE_CODE_64MHZ_9
    static constexpr byte PREAMBLE_CODE_64MHZ_9
    Definition: DW1000.h:368
    +
    DW1000Class::getFirstPathPower
    static float getFirstPathPower()
    Definition: DW1000.cpp:1402
    +
    DW1000Class::PAC_SIZE_16
    static constexpr byte PAC_SIZE_16
    Definition: DW1000.h:347
    +
    DW1000Class::PREAMBLE_CODE_64MHZ_18
    static constexpr byte PREAMBLE_CODE_64MHZ_18
    Definition: DW1000.h:373
    +
    DW1000
    DW1000Class DW1000
    Definition: DW1000.cpp:23
    +
    DW1000Class::PREAMBLE_CODE_64MHZ_20
    static constexpr byte PREAMBLE_CODE_64MHZ_20
    Definition: DW1000.h:375
    +
    DW1000Class::BIAS_500_16
    static constexpr byte BIAS_500_16[]
    Definition: DW1000.h:537
    +
    DW1000Class::_preambleCode
    static byte _preambleCode
    Definition: DW1000.h:422
    +
    DW1000Class::READ_SUB
    static const byte READ_SUB
    Definition: DW1000.h:517
    +
    DW1000Class::PREAMBLE_CODE_64MHZ_19
    static constexpr byte PREAMBLE_CODE_64MHZ_19
    Definition: DW1000.h:374
    +
    DW1000Class::RW_SUB_EXT
    static const byte RW_SUB_EXT
    Definition: DW1000.h:518
    +
    DW1000Class::CHANNEL_1
    static constexpr byte CHANNEL_1
    Definition: DW1000.h:352
    +
    DW1000Class::commitConfiguration
    static void commitConfiguration()
    Definition: DW1000.cpp:986
    +
    DW1000Class::PREAMBLE_CODE_64MHZ_10
    static constexpr byte PREAMBLE_CODE_64MHZ_10
    Definition: DW1000.h:369
    +
    LEN_CHAN_CTRL
    #define LEN_CHAN_CTRL
    Definition: DW1000Constants.h:158
    +
    DW1000Class::FRAME_LENGTH_EXTENDED
    static constexpr byte FRAME_LENGTH_EXTENDED
    Definition: DW1000.h:379
    +
    DW1000Class::PREAMBLE_CODE_16MHZ_4
    static constexpr byte PREAMBLE_CODE_16MHZ_4
    Definition: DW1000.h:363
    +
    DW1000Class::_sysstatus
    static byte _sysstatus[LEN_SYS_STATUS]
    Definition: DW1000.h:407
    +
    DW1000Class::getPrintableExtendedUniqueIdentifier
    static void getPrintableExtendedUniqueIdentifier(char msgBuffer[])
    Definition: DW1000.cpp:684
    +
    DW1000Class::FRAME_LENGTH_NORMAL
    static constexpr byte FRAME_LENGTH_NORMAL
    Definition: DW1000.h:378
    +
    DW1000Class::setChannel
    static void setChannel(byte channel)
    Definition: DW1000.cpp:1117
    +
    DW1000Time
    Definition: DW1000Time.h:43
    +
    DW1000Class::PREAMBLE_CODE_16MHZ_3
    static constexpr byte PREAMBLE_CODE_16MHZ_3
    Definition: DW1000.h:362
    +
    DW1000Class::isReceiveTimestampAvailable
    static boolean isReceiveTimestampAvailable()
    Definition: DW1000.cpp:1323
    +
    DW1000Class::newTransmit
    static void newTransmit()
    Definition: DW1000.cpp:956
    +
    DW1000Class::isTransmitDone
    static boolean isTransmitDone()
    Definition: DW1000.cpp:1319
    +
    DW1000Class::getReceivePower
    static float getReceivePower()
    Definition: DW1000.cpp:1434
    +
    DW1000Class::MODE_LONGDATA_FAST_LOWPOWER
    static constexpr byte MODE_LONGDATA_FAST_LOWPOWER[]
    Definition: DW1000.h:385
    +
    DW1000Class::writeBytes
    static void writeBytes(byte cmd, uint16_t offset, byte data[], uint16_t n)
    Definition: DW1000.cpp:1606
    +
    DW1000Class::_ss
    static uint8_t _ss
    Definition: DW1000.h:392
    +
    DW1000Class::attachReceiveTimeoutHandler
    static void attachReceiveTimeoutHandler(void(*handleReceiveTimeout)(void))
    Definition: DW1000.h:263
    +
    DW1000Class::PREAMBLE_CODE_16MHZ_8
    static constexpr byte PREAMBLE_CODE_16MHZ_8
    Definition: DW1000.h:367
    +
    DW1000Class::interruptOnAutomaticAcknowledgeTrigger
    static void interruptOnAutomaticAcknowledgeTrigger(boolean val)
    Definition: DW1000.cpp:928
    +
    DW1000Class::getReceiveQuality
    static float getReceiveQuality()
    Definition: DW1000.cpp:1391
    +
    DW1000Class::PREAMBLE_CODE_64MHZ_11
    static constexpr byte PREAMBLE_CODE_64MHZ_11
    Definition: DW1000.h:370
    +
    DW1000Class::CHANNEL_2
    static constexpr byte CHANNEL_2
    Definition: DW1000.h:353
    +
    DW1000Class::interruptOnReceiveTimeout
    static void interruptOnReceiveTimeout(boolean val)
    Definition: DW1000.cpp:920
    +
    DW1000Class::_sysctrl
    static byte _sysctrl[LEN_SYS_CTRL]
    Definition: DW1000.h:406
    +
    DW1000Class::BIAS_500_64_ZERO
    static const byte BIAS_500_64_ZERO
    Definition: DW1000.h:532
    +
    DW1000Class::_handleReceiveFailed
    static void(* _handleReceiveFailed)(void)
    Definition: DW1000.h:400
    +
    DW1000Class::correctTimestamp
    static void correctTimestamp(DW1000Time &timestamp)
    Definition: DW1000.cpp:1248
    +
    DW1000Class::_deviceMode
    static uint8_t _deviceMode
    Definition: DW1000.h:435
    +
    DW1000Class::getTempAndVbat
    static void getTempAndVbat(float &temp, float &vbat)
    Definition: DW1000.cpp:830
    +
    DW1000Class::PREAMBLE_CODE_16MHZ_2
    static constexpr byte PREAMBLE_CODE_16MHZ_2
    Definition: DW1000.h:361
    +
    DW1000Class::setBit
    static void setBit(byte data[], uint16_t n, uint16_t bit, boolean val)
    Definition: DW1000.cpp:1477
    +
    DW1000Class::setFrameFilterAllowReserved
    static void setFrameFilterAllowReserved(boolean val)
    Definition: DW1000.cpp:887
    +
    DW1000Class::writeByte
    static void writeByte(byte cmd, uint16_t offset, byte data)
    Definition: DW1000.cpp:1588
    +
    DW1000Class::setFrameFilterBehaveCoordinator
    static void setFrameFilterBehaveCoordinator(boolean val)
    Definition: DW1000.cpp:867
    +
    DW1000Class::setEUI
    static void setEUI(char eui[])
    Definition: DW1000.cpp:845
    +
    DW1000Class::clearAllStatus
    static void clearAllStatus()
    Definition: DW1000.cpp:1360
    +
    DW1000Class::clearReceiveTimestampAvailableStatus
    static void clearReceiveTimestampAvailableStatus()
    Definition: DW1000.cpp:1365
    +
    DW1000Class::readBytes
    static void readBytes(byte cmd, uint16_t offset, byte data[], uint16_t n)
    Definition: DW1000.cpp:1535
    +
    DW1000Class::_slowSPI
    static const SPISettings _slowSPI
    Definition: DW1000.h:527
    +
    DW1000Class::_permanentReceive
    static boolean _permanentReceive
    Definition: DW1000.h:431
    +
    DW1000Class::_channel
    static byte _channel
    Definition: DW1000.h:423
    +
    DW1000Class::MODE_LONGDATA_RANGE_LOWPOWER
    static constexpr byte MODE_LONGDATA_RANGE_LOWPOWER[]
    Definition: DW1000.h:383
    +
    DW1000Class::TX_PREAMBLE_LEN_512
    static constexpr byte TX_PREAMBLE_LEN_512
    Definition: DW1000.h:339
    +
    DW1000Class::idle
    static void idle()
    Definition: DW1000.cpp:936
    +
    DW1000Class::writeValueToBytes
    static void writeValueToBytes(byte data[], int32_t val, uint16_t n)
    Definition: DW1000.cpp:1518
    +
    DW1000Class::_handleSent
    static void(* _handleSent)(void)
    Definition: DW1000.h:398
    +
    DW1000Class::_dataRate
    static byte _dataRate
    Definition: DW1000.h:426
    +
    DW1000Class::getTransmitTimestamp
    static void getTransmitTimestamp(DW1000Time &time)
    Definition: DW1000.cpp:1233
    +
    DW1000Class::_smartPower
    static boolean _smartPower
    Definition: DW1000.h:420
    +
    DW1000Class::setInterruptPolarity
    static void setInterruptPolarity(boolean val)
    Definition: DW1000.cpp:896
    +
    DW1000Class::readChannelControlRegister
    static void readChannelControlRegister()
    Definition: DW1000.cpp:778
    +
    DW1000Class::setDefaults
    static void setDefaults()
    Definition: DW1000.cpp:1132
    +
    DW1000Class::PREAMBLE_CODE_16MHZ_1
    static constexpr byte PREAMBLE_CODE_16MHZ_1
    Definition: DW1000.h:360
    +
    DW1000Class::PAC_SIZE_64
    static constexpr byte PAC_SIZE_64
    Definition: DW1000.h:349
    +
    DW1000Class::PREAMBLE_CODE_64MHZ_17
    static constexpr byte PREAMBLE_CODE_64MHZ_17
    Definition: DW1000.h:372
    +
    DW1000Class::setNetworkId
    static void setNetworkId(uint16_t val)
    Definition: DW1000.cpp:798
    +
    DW1000Class::isReceiveDone
    static boolean isReceiveDone()
    Definition: DW1000.cpp:1327
    +
    DW1000Class::CHANNEL_5
    static constexpr byte CHANNEL_5
    Definition: DW1000.h:356
    +
    DW1000Class::setFrameFilterAllowData
    static void setFrameFilterAllowData(boolean val)
    Definition: DW1000.cpp:875
    +
    DW1000Class::getData
    static void getData(byte data[], uint16_t n)
    Definition: DW1000.cpp:1208
    +
    LEN_SYS_STATUS
    #define LEN_SYS_STATUS
    Definition: DW1000Constants.h:81
    +
    DW1000Class::isReceiveTimeout
    static boolean isReceiveTimeout()
    Definition: DW1000.cpp:1346
    +
    DW1000Class::setPreambleLength
    static void setPreambleLength(byte prealen)
    Definition: DW1000.cpp:1086
    +
    DW1000Class::setReceiverAutoReenable
    static void setReceiverAutoReenable(boolean val)
    Definition: DW1000.cpp:900
    +
    DW1000Class::_syscfg
    static byte _syscfg[LEN_SYS_CFG]
    Definition: DW1000.h:405
    +
    DW1000Class::TX_PREAMBLE_LEN_256
    static constexpr byte TX_PREAMBLE_LEN_256
    Definition: DW1000.h:338
    +
    DW1000Class::useSmartPower
    static void useSmartPower(boolean smartPower)
    Definition: DW1000.cpp:1012
    +
    DW1000Class::READ
    static const byte READ
    Definition: DW1000.h:516
    +
    DW1000Class::end
    static void end()
    Definition: DW1000.cpp:107
    +
    DW1000Class::isReceiveFailed
    static boolean isReceiveFailed()
    Definition: DW1000.cpp:1334
    +
    DW1000Class::XTI_CLOCK
    static const byte XTI_CLOCK
    Definition: DW1000.h:522
    +
    DW1000Class::enableMode
    static void enableMode(const byte mode[])
    Definition: DW1000.cpp:254
    +
    DW1000Class::_antennaDelay
    static DW1000Time _antennaDelay
    Definition: DW1000.h:428
    +
    DW1000Class::setDoubleBuffering
    static void setDoubleBuffering(boolean val)
    Definition: DW1000.cpp:892
    +
    DW1000Class::clearTransmitStatus
    static void clearTransmitStatus()
    Definition: DW1000.cpp:1382
    +
    DW1000Class::PREAMBLE_CODE_16MHZ_6
    static constexpr byte PREAMBLE_CODE_16MHZ_6
    Definition: DW1000.h:365
    +
    DW1000Class::TX_PREAMBLE_LEN_64
    static constexpr byte TX_PREAMBLE_LEN_64
    Definition: DW1000.h:336
    +
    DW1000Class::_chanctrl
    static byte _chanctrl[LEN_CHAN_CTRL]
    Definition: DW1000.h:410
    +
    LEN_SYS_MASK
    #define LEN_SYS_MASK
    Definition: DW1000Constants.h:102
    +
    DW1000Class::tune
    static void tune()
    Definition: DW1000.cpp:268
    +
    DW1000Class::startTransmit
    static void startTransmit()
    Definition: DW1000.cpp:963
    +
    LEN_PANADR
    #define LEN_PANADR
    Definition: DW1000Constants.h:48
    +
    DW1000Class::readBytesOTP
    static void readBytesOTP(uint16_t address, byte data[])
    Definition: DW1000.cpp:1569
    +
    DW1000Class::getPulseFrequency
    static byte getPulseFrequency()
    Definition: DW1000.cpp:1082
    +
    DW1000Class::readSystemConfigurationRegister
    static void readSystemConfigurationRegister()
    Definition: DW1000.cpp:750
    +
    DW1000Class::writeChannelControlRegister
    static void writeChannelControlRegister()
    Definition: DW1000.cpp:782
    + +
    DW1000Class
    Definition: DW1000.h:39
    +
    DW1000Class::setFrameFilterAllowAcknowledgement
    static void setFrameFilterAllowAcknowledgement(boolean val)
    Definition: DW1000.cpp:879
    +
    DW1000Class::setFrameFilterAllowBeacon
    static void setFrameFilterAllowBeacon(boolean val)
    Definition: DW1000.cpp:871
    +
    DW1000Class::PREAMBLE_CODE_16MHZ_7
    static constexpr byte PREAMBLE_CODE_16MHZ_7
    Definition: DW1000.h:366
    +
    DW1000Class::MODE_SHORTDATA_FAST_LOWPOWER
    static constexpr byte MODE_SHORTDATA_FAST_LOWPOWER[]
    Definition: DW1000.h:384
    +
    DW1000Class::_networkAndAddress
    static byte _networkAndAddress[LEN_PANADR]
    Definition: DW1000.h:417
    +
    DW1000Class::BIAS_900_16_ZERO
    static const byte BIAS_900_16_ZERO
    Definition: DW1000.h:533
    +
    DW1000Class::setPreambleCode
    static void setPreambleCode(byte preacode)
    Definition: DW1000.cpp:1123
    +
    DW1000Class::BIAS_900_64
    static constexpr byte BIAS_900_64[]
    Definition: DW1000.h:540
    +
    DW1000Class::useExtendedFrameLength
    static void useExtendedFrameLength(boolean val)
    Definition: DW1000.cpp:1102
    +
    DW1000Class::PAC_SIZE_32
    static constexpr byte PAC_SIZE_32
    Definition: DW1000.h:348
    +
    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/_2home_2az_2Dropbox_2work_2Arduino_2az-z_2arduino-dw1000_2src_2DW1000Time_8cpp-example.html b/lib/DW1000/extras/doc/html/_2home_2az_2Dropbox_2work_2Arduino_2az-z_2arduino-dw1000_2src_2DW1000Time_8cpp-example.html new file mode 100644 index 0000000..c93c968 --- /dev/null +++ b/lib/DW1000/extras/doc/html/_2home_2az_2Dropbox_2work_2Arduino_2az-z_2arduino-dw1000_2src_2DW1000Time_8cpp-example.html @@ -0,0 +1,55 @@ + + + + + + +Arduino driver library for Decawave DW1000: /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Time.cpp + + + + + + +
    +
    + + + + + + +
    +
    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
    +
    +
    + + + +
    +
    +
    +
    /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Time.cpp
    +
    +
    +

    Converts negative values due overflow of one node to correct value

    +

    Maximum timesamp is 1000. Node N1 sends 999 as timesamp. N2 recieves and sends delayed and increased timestamp back. Delay is 10, so timestamp would be 1009, but due overflow 009 is sent back. Now calculate TOF: 009 - 999 = -990 -> not correct time, so wrap() Wrap calculation: -990 + 1000 = 10 -> correct time

    Returns
    +
    #include "DW1000Time.h"
    DW1000Time::DW1000Time() {
    _timestamp = 0;
    }
    DW1000Time::DW1000Time(int64_t time) {
    setTimestamp(time);
    }
    DW1000Time::DW1000Time(byte data[]) {
    setTimestamp(data);
    }
    DW1000Time::DW1000Time(const DW1000Time& copy) {
    setTimestamp(copy);
    }
    DW1000Time::DW1000Time(float timeUs) {
    setTime(timeUs);
    }
    DW1000Time::DW1000Time(int32_t value, float factorUs) {
    setTime(value, factorUs);
    }
    DW1000Time::~DW1000Time() {}
    void DW1000Time::setTimestamp(int64_t value) {
    _timestamp = value;
    }
    void DW1000Time::setTimestamp(byte data[]) {
    _timestamp = 0;
    for(uint8_t i = 0; i < LENGTH_TIMESTAMP; i++) {
    _timestamp |= ((int64_t)data[i] << (i*8));
    }
    }
    void DW1000Time::setTimestamp(const DW1000Time& copy) {
    _timestamp = copy.getTimestamp();
    }
    void DW1000Time::setTime(float timeUs) {
    _timestamp = (int64_t)(timeUs*TIME_RES_INV);
    // _timestamp %= TIME_OVERFLOW; // clean overflow
    }
    void DW1000Time::setTime(int32_t value, float factorUs) {
    //float tsValue = value*factorUs;
    //tsValue = fmod(tsValue, TIME_OVERFLOW);
    //setTime(tsValue);
    setTime(value*factorUs);
    }
    int64_t DW1000Time::getTimestamp() const {
    return _timestamp;
    }
    void DW1000Time::getTimestamp(byte data[]) const {
    memset(data, 0, LENGTH_TIMESTAMP);
    for(uint8_t i = 0; i < LENGTH_TIMESTAMP; i++) {
    data[i] = (byte)((_timestamp >> (i*8)) & 0xFF);
    }
    }
    float DW1000Time::getAsFloat() const {
    //return fmod((float)_timestamp, TIME_OVERFLOW)*TIME_RES;
    return getAsMicroSeconds();
    }
    float DW1000Time::getAsMicroSeconds() const {
    return (_timestamp%TIME_OVERFLOW)*TIME_RES;
    }
    float DW1000Time::getAsMeters() const {
    //return fmod((float)_timestamp, TIME_OVERFLOW)*DISTANCE_OF_RADIO;
    return (_timestamp%TIME_OVERFLOW)*DISTANCE_OF_RADIO;
    }
    DW1000Time& DW1000Time::wrap() {
    if(_timestamp < 0) {
    _timestamp += TIME_OVERFLOW;
    }
    return *this;
    }
    bool DW1000Time::isValidTimestamp() {
    return (0 <= _timestamp && _timestamp <= TIME_MAX);
    }
    // assign
    DW1000Time& DW1000Time::operator=(const DW1000Time& assign) {
    if(this == &assign) {
    return *this;
    }
    _timestamp = assign.getTimestamp();
    return *this;
    }
    // add
    DW1000Time& DW1000Time::operator+=(const DW1000Time& add) {
    _timestamp += add.getTimestamp();
    return *this;
    }
    DW1000Time DW1000Time::operator+(const DW1000Time& add) const {
    return DW1000Time(*this) += add;
    }
    // subtract
    DW1000Time& DW1000Time::operator-=(const DW1000Time& sub) {
    _timestamp -= sub.getTimestamp();
    return *this;
    }
    DW1000Time DW1000Time::operator-(const DW1000Time& sub) const {
    return DW1000Time(*this) -= sub;
    }
    // multiply
    DW1000Time& DW1000Time::operator*=(float factor) {
    //float tsValue = (float)_timestamp*factor;
    //_timestamp = (int64_t)tsValue;
    _timestamp *= factor;
    return *this;
    }
    DW1000Time DW1000Time::operator*(float factor) const {
    return DW1000Time(*this) *= factor;
    }
    DW1000Time& DW1000Time::operator*=(const DW1000Time& factor) {
    _timestamp *= factor.getTimestamp();
    return *this;
    }
    DW1000Time DW1000Time::operator*(const DW1000Time& factor) const {
    return DW1000Time(*this) *= factor;
    }
    // divide
    DW1000Time& DW1000Time::operator/=(float factor) {
    //_timestamp *= (1.0f/factor);
    _timestamp /= factor;
    return *this;
    }
    DW1000Time DW1000Time::operator/(float factor) const {
    return DW1000Time(*this) /= factor;
    }
    DW1000Time& DW1000Time::operator/=(const DW1000Time& factor) {
    _timestamp /= factor.getTimestamp();
    return *this;
    }
    DW1000Time DW1000Time::operator/(const DW1000Time& factor) const {
    return DW1000Time(*this) /= factor;
    }
    // compare
    boolean DW1000Time::operator==(const DW1000Time& cmp) const {
    return _timestamp == cmp.getTimestamp();
    }
    boolean DW1000Time::operator!=(const DW1000Time& cmp) const {
    //return !(*this == cmp); // seems not as intended
    return _timestamp != cmp.getTimestamp();
    }
    #ifdef DW1000TIME_H_PRINTABLE
    void DW1000Time::print() {
    Serial.print(*this);
    Serial.println();
    }
    size_t DW1000Time::printTo(Print& p) const {
    int64_t number = _timestamp;
    unsigned char buf[21];
    uint8_t i = 0;
    uint8_t printed = 0;
    // printf for arduino avr do not support int64, so we have to calculate
    if(number == 0) {
    p.print((char)'0');
    return 1;
    }
    if(number < 0) {
    p.print((char)'-');
    number = -number; // make positive
    printed++;
    }
    while(number > 0) {
    int64_t q = number/10;
    buf[i++] = number-q*10;
    number = q;
    }
    printed += i;
    for(; i > 0; i--)
    p.print((char)(buf[i-1] < 10 ? '0'+buf[i-1] : 'A'+buf[i-1]-10));
    return printed;
    }
    #endif // DW1000Time_H_PRINTABLE
    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/annotated.html b/lib/DW1000/extras/doc/html/annotated.html new file mode 100644 index 0000000..1cc471a --- /dev/null +++ b/lib/DW1000/extras/doc/html/annotated.html @@ -0,0 +1,69 @@ + + + + + + +Arduino driver library for Decawave DW1000: Class List + + + + + + +
    +
    + + + + + + +
    +
    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
    +
    +
    + + + + +
    +
    +
    +
    Class List
    +
    +
    +
    Here are the classes, structs, unions and interfaces with brief descriptions:
    + + + + + + +
     CDW1000Class
     CDW1000Device
     CDW1000Mac
     CDW1000RangingClass
     CDW1000Time
    +
    +
    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
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    +
    + + + + + + +
    +
    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
    +
    +
    + + + + +
    +
    +
    +
    DW1000Class Member List
    +
    +
    + +

    This is the complete list of members for DW1000Class, including all inherited members.

    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    _antennaDelayDW1000Classstatic
    _chanctrlDW1000Classstatic
    _channelDW1000Classstatic
    _currentSPIDW1000Classstatic
    _dataRateDW1000Classstatic
    _deviceModeDW1000Classstatic
    _extendedFrameLengthDW1000Classstatic
    _fastSPIDW1000Classstatic
    _frameCheckDW1000Classstatic
    _handleErrorDW1000Classstatic
    _handleReceivedDW1000Classstatic
    _handleReceiveFailedDW1000Classstatic
    _handleReceiveTimeoutDW1000Classstatic
    _handleReceiveTimestampAvailableDW1000Classstatic
    _handleSentDW1000Classstatic
    _irqDW1000Classstatic
    _networkAndAddressDW1000Classstatic
    _pacSizeDW1000Classstatic
    _permanentReceiveDW1000Classstatic
    _preambleCodeDW1000Classstatic
    _preambleLengthDW1000Classstatic
    _pulseFrequencyDW1000Classstatic
    _rstDW1000Classstatic
    _slowSPIDW1000Classstatic
    _smartPowerDW1000Classstatic
    _ssDW1000Classstatic
    _syscfgDW1000Classstatic
    _sysctrlDW1000Classstatic
    _sysmaskDW1000Classstatic
    _sysstatusDW1000Classstatic
    _tmeas23CDW1000Classstatic
    _txfctrlDW1000Classstatic
    _vmeas3v3DW1000Classstatic
    attachErrorHandler(void(*handleError)(void))DW1000Classinlinestatic
    attachReceivedHandler(void(*handleReceived)(void))DW1000Classinlinestatic
    attachReceiveFailedHandler(void(*handleReceiveFailed)(void))DW1000Classinlinestatic
    attachReceiveTimeoutHandler(void(*handleReceiveTimeout)(void))DW1000Classinlinestatic
    attachReceiveTimestampAvailableHandler(void(*handleReceiveTimestampAvailable)(void))DW1000Classinlinestatic
    attachSentHandler(void(*handleSent)(void))DW1000Classinlinestatic
    AUTO_CLOCKDW1000Classstatic
    begin(uint8_t irq, uint8_t rst=0xff)DW1000Classstatic
    BIAS_500_16DW1000Classstatic
    BIAS_500_16_ZERODW1000Classstatic
    BIAS_500_64DW1000Classstatic
    BIAS_500_64_ZERODW1000Classstatic
    BIAS_900_16DW1000Classstatic
    BIAS_900_16_ZERODW1000Classstatic
    BIAS_900_64DW1000Classstatic
    BIAS_900_64_ZERODW1000Classstatic
    CHANNEL_1DW1000Classstatic
    CHANNEL_2DW1000Classstatic
    CHANNEL_3DW1000Classstatic
    CHANNEL_4DW1000Classstatic
    CHANNEL_5DW1000Classstatic
    CHANNEL_7DW1000Classstatic
    clearAllStatus()DW1000Classstatic
    clearInterrupts()DW1000Classstatic
    clearReceiveStatus()DW1000Classstatic
    clearReceiveTimestampAvailableStatus()DW1000Classstatic
    clearTransmitStatus()DW1000Classstatic
    commitConfiguration()DW1000Classstatic
    convertToByte(char string[], byte *eui_byte)DW1000Classstatic
    correctTimestamp(DW1000Time &timestamp)DW1000Classstatic
    enableClock(byte clock)DW1000Classstatic
    enableMode(const byte mode[])DW1000Classstatic
    end()DW1000Classstatic
    FRAME_LENGTH_EXTENDEDDW1000Classstatic
    FRAME_LENGTH_NORMALDW1000Classstatic
    getBit(byte data[], uint16_t n, uint16_t bit)DW1000Classstatic
    getData(byte data[], uint16_t n)DW1000Classstatic
    getData(String &data)DW1000Classstatic
    getDataLength()DW1000Classstatic
    getFirstPathPower()DW1000Classstatic
    getPrettyBytes(byte cmd, uint16_t offset, char msgBuffer[], uint16_t n)DW1000Classstatic
    getPrettyBytes(byte data[], char msgBuffer[], uint16_t n)DW1000Classstatic
    getPrintableDeviceIdentifier(char msgBuffer[])DW1000Classstatic
    getPrintableDeviceMode(char msgBuffer[])DW1000Classstatic
    getPrintableExtendedUniqueIdentifier(char msgBuffer[])DW1000Classstatic
    getPrintableNetworkIdAndShortAddress(char msgBuffer[])DW1000Classstatic
    getPulseFrequency()DW1000Classstatic
    getReceivePower()DW1000Classstatic
    getReceiveQuality()DW1000Classstatic
    getReceiveTimestamp(DW1000Time &time)DW1000Classstatic
    getReceiveTimestamp(byte data[])DW1000Classstatic
    getSystemTimestamp(DW1000Time &time)DW1000Classstatic
    getSystemTimestamp(byte data[])DW1000Classstatic
    getTempAndVbat(float &temp, float &vbat)DW1000Classstatic
    getTransmitTimestamp(DW1000Time &time)DW1000Classstatic
    getTransmitTimestamp(byte data[])DW1000Classstatic
    handleInterrupt()DW1000Classstatic
    idle()DW1000Classstatic
    interruptOnAutomaticAcknowledgeTrigger(boolean val)DW1000Classstatic
    interruptOnReceived(boolean val)DW1000Classstatic
    interruptOnReceiveFailed(boolean val)DW1000Classstatic
    interruptOnReceiveTimeout(boolean val)DW1000Classstatic
    interruptOnReceiveTimestampAvailable(boolean val)DW1000Classstatic
    interruptOnSent(boolean val)DW1000Classstatic
    isClockProblem()DW1000Classstatic
    isReceiveDone()DW1000Classstatic
    isReceiveFailed()DW1000Classstatic
    isReceiveTimeout()DW1000Classstatic
    isReceiveTimestampAvailable()DW1000Classstatic
    isTransmitDone()DW1000Classstatic
    manageLDE()DW1000Classstatic
    MODE_LONGDATA_FAST_ACCURACYDW1000Classstatic
    MODE_LONGDATA_FAST_LOWPOWERDW1000Classstatic
    MODE_LONGDATA_RANGE_ACCURACYDW1000Classstatic
    MODE_LONGDATA_RANGE_LOWPOWERDW1000Classstatic
    MODE_SHORTDATA_FAST_ACCURACYDW1000Classstatic
    MODE_SHORTDATA_FAST_LOWPOWERDW1000Classstatic
    newConfiguration()DW1000Classstatic
    newReceive()DW1000Classstatic
    newTransmit()DW1000Classstatic
    nibbleFromChar(char c)DW1000Classstatic
    PAC_SIZE_16DW1000Classstatic
    PAC_SIZE_32DW1000Classstatic
    PAC_SIZE_64DW1000Classstatic
    PAC_SIZE_8DW1000Classstatic
    PLL_CLOCKDW1000Classstatic
    PREAMBLE_CODE_16MHZ_1DW1000Classstatic
    PREAMBLE_CODE_16MHZ_2DW1000Classstatic
    PREAMBLE_CODE_16MHZ_3DW1000Classstatic
    PREAMBLE_CODE_16MHZ_4DW1000Classstatic
    PREAMBLE_CODE_16MHZ_5DW1000Classstatic
    PREAMBLE_CODE_16MHZ_6DW1000Classstatic
    PREAMBLE_CODE_16MHZ_7DW1000Classstatic
    PREAMBLE_CODE_16MHZ_8DW1000Classstatic
    PREAMBLE_CODE_64MHZ_10DW1000Classstatic
    PREAMBLE_CODE_64MHZ_11DW1000Classstatic
    PREAMBLE_CODE_64MHZ_12DW1000Classstatic
    PREAMBLE_CODE_64MHZ_17DW1000Classstatic
    PREAMBLE_CODE_64MHZ_18DW1000Classstatic
    PREAMBLE_CODE_64MHZ_19DW1000Classstatic
    PREAMBLE_CODE_64MHZ_20DW1000Classstatic
    PREAMBLE_CODE_64MHZ_9DW1000Classstatic
    READDW1000Classstatic
    READ_SUBDW1000Classstatic
    readBytes(byte cmd, uint16_t offset, byte data[], uint16_t n)DW1000Classstatic
    readBytesOTP(uint16_t address, byte data[])DW1000Classstatic
    readChannelControlRegister()DW1000Classstatic
    readNetworkIdAndDeviceAddress()DW1000Classstatic
    readSystemConfigurationRegister()DW1000Classstatic
    readSystemEventMaskRegister()DW1000Classstatic
    readSystemEventStatusRegister()DW1000Classstatic
    readTransmitFrameControlRegister()DW1000Classstatic
    receivePermanently(boolean val)DW1000Classstatic
    reselect(uint8_t ss)DW1000Classstatic
    reset()DW1000Classstatic
    RW_SUB_EXTDW1000Classstatic
    select(uint8_t ss)DW1000Classstatic
    setBit(byte data[], uint16_t n, uint16_t bit, boolean val)DW1000Classstatic
    setChannel(byte channel)DW1000Classstatic
    setData(byte data[], uint16_t n)DW1000Classstatic
    setData(const String &data)DW1000Classstatic
    setDataRate(byte rate)DW1000Classstatic
    setDefaults()DW1000Classstatic
    setDelay(const DW1000Time &delay)DW1000Classstatic
    setDeviceAddress(uint16_t val)DW1000Classstatic
    setDoubleBuffering(boolean val)DW1000Classstatic
    setEUI(char eui[])DW1000Classstatic
    setEUI(byte eui[])DW1000Classstatic
    setFrameFilter(boolean val)DW1000Classstatic
    setFrameFilterAllowAcknowledgement(boolean val)DW1000Classstatic
    setFrameFilterAllowBeacon(boolean val)DW1000Classstatic
    setFrameFilterAllowData(boolean val)DW1000Classstatic
    setFrameFilterAllowMAC(boolean val)DW1000Classstatic
    setFrameFilterAllowReserved(boolean val)DW1000Classstatic
    setFrameFilterBehaveCoordinator(boolean val)DW1000Classstatic
    setInterruptPolarity(boolean val)DW1000Classstatic
    setNetworkId(uint16_t val)DW1000Classstatic
    setPreambleCode(byte preacode)DW1000Classstatic
    setPreambleLength(byte prealen)DW1000Classstatic
    setPulseFrequency(byte freq)DW1000Classstatic
    setReceiverAutoReenable(boolean val)DW1000Classstatic
    softReset()DW1000Classstatic
    startReceive()DW1000Classstatic
    startTransmit()DW1000Classstatic
    suppressFrameCheck(boolean val)DW1000Classstatic
    TRX_RATE_110KBPSDW1000Classstatic
    TRX_RATE_6800KBPSDW1000Classstatic
    TRX_RATE_850KBPSDW1000Classstatic
    tune()DW1000Classstatic
    TX_PREAMBLE_LEN_1024DW1000Classstatic
    TX_PREAMBLE_LEN_128DW1000Classstatic
    TX_PREAMBLE_LEN_1536DW1000Classstatic
    TX_PREAMBLE_LEN_2048DW1000Classstatic
    TX_PREAMBLE_LEN_256DW1000Classstatic
    TX_PREAMBLE_LEN_4096DW1000Classstatic
    TX_PREAMBLE_LEN_512DW1000Classstatic
    TX_PREAMBLE_LEN_64DW1000Classstatic
    TX_PULSE_FREQ_16MHZDW1000Classstatic
    TX_PULSE_FREQ_64MHZDW1000Classstatic
    useExtendedFrameLength(boolean val)DW1000Classstatic
    useSmartPower(boolean smartPower)DW1000Classstatic
    waitForResponse(boolean val)DW1000Classstatic
    WRITEDW1000Classstatic
    WRITE_SUBDW1000Classstatic
    writeByte(byte cmd, uint16_t offset, byte data)DW1000Classstatic
    writeBytes(byte cmd, uint16_t offset, byte data[], uint16_t n)DW1000Classstatic
    writeChannelControlRegister()DW1000Classstatic
    writeNetworkIdAndDeviceAddress()DW1000Classstatic
    writeSystemConfigurationRegister()DW1000Classstatic
    writeSystemEventMaskRegister()DW1000Classstatic
    writeTransmitFrameControlRegister()DW1000Classstatic
    writeValueToBytes(byte data[], int32_t val, uint16_t n)DW1000Classstatic
    XTI_CLOCKDW1000Classstatic
    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/classDW1000Class.html b/lib/DW1000/extras/doc/html/classDW1000Class.html new file mode 100644 index 0000000..a1c5b44 --- /dev/null +++ b/lib/DW1000/extras/doc/html/classDW1000Class.html @@ -0,0 +1,5354 @@ + + + + + + +Arduino driver library for Decawave DW1000: DW1000Class Class Reference + + + + + + +
    +
    + + + + + + +
    +
    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
    +
    +
    + + + + +
    +
    +
    +Static Public Member Functions | +Static Public Attributes | +List of all members
    +
    +
    DW1000Class Class Reference
    +
    +
    + +

    #include <DW1000.h>

    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

    +Static Public Member Functions

    static void begin (uint8_t irq, uint8_t rst=0xff)
     
    static void select (uint8_t ss)
     
    static void reselect (uint8_t ss)
     
    static void end ()
     
    static void reset ()
     
    static void softReset ()
     
    static void getPrintableDeviceIdentifier (char msgBuffer[])
     
    static void getPrintableExtendedUniqueIdentifier (char msgBuffer[])
     
    static void getPrintableNetworkIdAndShortAddress (char msgBuffer[])
     
    static void getPrintableDeviceMode (char msgBuffer[])
     
    static void setNetworkId (uint16_t val)
     
    static void setDeviceAddress (uint16_t val)
     
    static void setEUI (char eui[])
     
    static void setEUI (byte eui[])
     
    static void setReceiverAutoReenable (boolean val)
     
    static void setInterruptPolarity (boolean val)
     
    static void suppressFrameCheck (boolean val)
     
    static void setDataRate (byte rate)
     
    static void setPulseFrequency (byte freq)
     
    static byte getPulseFrequency ()
     
    static void setPreambleLength (byte prealen)
     
    static void setChannel (byte channel)
     
    static void setPreambleCode (byte preacode)
     
    static void useSmartPower (boolean smartPower)
     
    static DW1000Time setDelay (const DW1000Time &delay)
     
    static void receivePermanently (boolean val)
     
    static void setData (byte data[], uint16_t n)
     
    static void setData (const String &data)
     
    static void getData (byte data[], uint16_t n)
     
    static void getData (String &data)
     
    static uint16_t getDataLength ()
     
    static void getTransmitTimestamp (DW1000Time &time)
     
    static void getReceiveTimestamp (DW1000Time &time)
     
    static void getSystemTimestamp (DW1000Time &time)
     
    static void getTransmitTimestamp (byte data[])
     
    static void getReceiveTimestamp (byte data[])
     
    static void getSystemTimestamp (byte data[])
     
    static float getReceivePower ()
     
    static float getFirstPathPower ()
     
    static float getReceiveQuality ()
     
    static void interruptOnSent (boolean val)
     
    static void interruptOnReceived (boolean val)
     
    static void interruptOnReceiveFailed (boolean val)
     
    static void interruptOnReceiveTimeout (boolean val)
     
    static void interruptOnReceiveTimestampAvailable (boolean val)
     
    static void interruptOnAutomaticAcknowledgeTrigger (boolean val)
     
    static void attachErrorHandler (void(*handleError)(void))
     
    static void attachSentHandler (void(*handleSent)(void))
     
    static void attachReceivedHandler (void(*handleReceived)(void))
     
    static void attachReceiveFailedHandler (void(*handleReceiveFailed)(void))
     
    static void attachReceiveTimeoutHandler (void(*handleReceiveTimeout)(void))
     
    static void attachReceiveTimestampAvailableHandler (void(*handleReceiveTimestampAvailable)(void))
     
    static void idle ()
     
    static void newConfiguration ()
     
    static void commitConfiguration ()
     
    static void newReceive ()
     
    static void startReceive ()
     
    static void newTransmit ()
     
    static void startTransmit ()
     
    static void enableMode (const byte mode[])
     
    static void setDefaults ()
     
    static void getPrettyBytes (byte cmd, uint16_t offset, char msgBuffer[], uint16_t n)
     
    static void getPrettyBytes (byte data[], char msgBuffer[], uint16_t n)
     
    static uint8_t nibbleFromChar (char c)
     
    static void convertToByte (char string[], byte *eui_byte)
     
    static void getTempAndVbat (float &temp, float &vbat)
     
    static void handleInterrupt ()
     
    static void setFrameFilter (boolean val)
     
    static void setFrameFilterBehaveCoordinator (boolean val)
     
    static void setFrameFilterAllowBeacon (boolean val)
     
    static void setFrameFilterAllowData (boolean val)
     
    static void setFrameFilterAllowAcknowledgement (boolean val)
     
    static void setFrameFilterAllowMAC (boolean val)
     
    static void setFrameFilterAllowReserved (boolean val)
     
    static void setDoubleBuffering (boolean val)
     
    static void useExtendedFrameLength (boolean val)
     
    static void waitForResponse (boolean val)
     
    static void tune ()
     
    static boolean isReceiveTimestampAvailable ()
     
    static boolean isTransmitDone ()
     
    static boolean isReceiveDone ()
     
    static boolean isReceiveFailed ()
     
    static boolean isReceiveTimeout ()
     
    static boolean isClockProblem ()
     
    static void clearInterrupts ()
     
    static void clearAllStatus ()
     
    static void clearReceiveStatus ()
     
    static void clearReceiveTimestampAvailableStatus ()
     
    static void clearTransmitStatus ()
     
    static void readSystemEventStatusRegister ()
     
    static void readSystemConfigurationRegister ()
     
    static void writeSystemConfigurationRegister ()
     
    static void readNetworkIdAndDeviceAddress ()
     
    static void writeNetworkIdAndDeviceAddress ()
     
    static void readSystemEventMaskRegister ()
     
    static void writeSystemEventMaskRegister ()
     
    static void readChannelControlRegister ()
     
    static void writeChannelControlRegister ()
     
    static void readTransmitFrameControlRegister ()
     
    static void writeTransmitFrameControlRegister ()
     
    static void enableClock (byte clock)
     
    static void manageLDE ()
     
    static void correctTimestamp (DW1000Time &timestamp)
     
    static void readBytes (byte cmd, uint16_t offset, byte data[], uint16_t n)
     
    static void readBytesOTP (uint16_t address, byte data[])
     
    static void writeByte (byte cmd, uint16_t offset, byte data)
     
    static void writeBytes (byte cmd, uint16_t offset, byte data[], uint16_t n)
     
    static void writeValueToBytes (byte data[], int32_t val, uint16_t n)
     
    static boolean getBit (byte data[], uint16_t n, uint16_t bit)
     
    static void setBit (byte data[], uint16_t n, uint16_t bit, boolean val)
     
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

    +Static Public Attributes

    static constexpr byte TRX_RATE_110KBPS = 0x00
     
    static constexpr byte TRX_RATE_850KBPS = 0x01
     
    static constexpr byte TRX_RATE_6800KBPS = 0x02
     
    static constexpr byte TX_PULSE_FREQ_16MHZ = 0x01
     
    static constexpr byte TX_PULSE_FREQ_64MHZ = 0x02
     
    static constexpr byte TX_PREAMBLE_LEN_64 = 0x01
     
    static constexpr byte TX_PREAMBLE_LEN_128 = 0x05
     
    static constexpr byte TX_PREAMBLE_LEN_256 = 0x09
     
    static constexpr byte TX_PREAMBLE_LEN_512 = 0x0D
     
    static constexpr byte TX_PREAMBLE_LEN_1024 = 0x02
     
    static constexpr byte TX_PREAMBLE_LEN_1536 = 0x06
     
    static constexpr byte TX_PREAMBLE_LEN_2048 = 0x0A
     
    static constexpr byte TX_PREAMBLE_LEN_4096 = 0x03
     
    static constexpr byte PAC_SIZE_8 = 8
     
    static constexpr byte PAC_SIZE_16 = 16
     
    static constexpr byte PAC_SIZE_32 = 32
     
    static constexpr byte PAC_SIZE_64 = 64
     
    static constexpr byte CHANNEL_1 = 1
     
    static constexpr byte CHANNEL_2 = 2
     
    static constexpr byte CHANNEL_3 = 3
     
    static constexpr byte CHANNEL_4 = 4
     
    static constexpr byte CHANNEL_5 = 5
     
    static constexpr byte CHANNEL_7 = 7
     
    static constexpr byte PREAMBLE_CODE_16MHZ_1 = 1
     
    static constexpr byte PREAMBLE_CODE_16MHZ_2 = 2
     
    static constexpr byte PREAMBLE_CODE_16MHZ_3 = 3
     
    static constexpr byte PREAMBLE_CODE_16MHZ_4 = 4
     
    static constexpr byte PREAMBLE_CODE_16MHZ_5 = 5
     
    static constexpr byte PREAMBLE_CODE_16MHZ_6 = 6
     
    static constexpr byte PREAMBLE_CODE_16MHZ_7 = 7
     
    static constexpr byte PREAMBLE_CODE_16MHZ_8 = 8
     
    static constexpr byte PREAMBLE_CODE_64MHZ_9 = 9
     
    static constexpr byte PREAMBLE_CODE_64MHZ_10 = 10
     
    static constexpr byte PREAMBLE_CODE_64MHZ_11 = 11
     
    static constexpr byte PREAMBLE_CODE_64MHZ_12 = 12
     
    static constexpr byte PREAMBLE_CODE_64MHZ_17 = 17
     
    static constexpr byte PREAMBLE_CODE_64MHZ_18 = 18
     
    static constexpr byte PREAMBLE_CODE_64MHZ_19 = 19
     
    static constexpr byte PREAMBLE_CODE_64MHZ_20 = 20
     
    static constexpr byte FRAME_LENGTH_NORMAL = 0x00
     
    static constexpr byte FRAME_LENGTH_EXTENDED = 0x03
     
    static constexpr byte MODE_LONGDATA_RANGE_LOWPOWER [] = {TRX_RATE_110KBPS, TX_PULSE_FREQ_16MHZ, TX_PREAMBLE_LEN_2048}
     
    static constexpr byte MODE_SHORTDATA_FAST_LOWPOWER [] = {TRX_RATE_6800KBPS, TX_PULSE_FREQ_16MHZ, TX_PREAMBLE_LEN_128}
     
    static constexpr byte MODE_LONGDATA_FAST_LOWPOWER [] = {TRX_RATE_6800KBPS, TX_PULSE_FREQ_16MHZ, TX_PREAMBLE_LEN_1024}
     
    static constexpr byte MODE_SHORTDATA_FAST_ACCURACY [] = {TRX_RATE_6800KBPS, TX_PULSE_FREQ_64MHZ, TX_PREAMBLE_LEN_128}
     
    static constexpr byte MODE_LONGDATA_FAST_ACCURACY [] = {TRX_RATE_6800KBPS, TX_PULSE_FREQ_64MHZ, TX_PREAMBLE_LEN_1024}
     
    static constexpr byte MODE_LONGDATA_RANGE_ACCURACY [] = {TRX_RATE_110KBPS, TX_PULSE_FREQ_64MHZ, TX_PREAMBLE_LEN_2048}
     
    static uint8_t _ss
     
    static uint8_t _rst
     
    static uint8_t _irq
     
    static void(* _handleError )(void)
     
    static void(* _handleSent )(void)
     
    static void(* _handleReceived )(void)
     
    static void(* _handleReceiveFailed )(void)
     
    static void(* _handleReceiveTimeout )(void)
     
    static void(* _handleReceiveTimestampAvailable )(void)
     
    static byte _syscfg [LEN_SYS_CFG]
     
    static byte _sysctrl [LEN_SYS_CTRL]
     
    static byte _sysstatus [LEN_SYS_STATUS]
     
    static byte _txfctrl [LEN_TX_FCTRL]
     
    static byte _sysmask [LEN_SYS_MASK]
     
    static byte _chanctrl [LEN_CHAN_CTRL]
     
    static byte _vmeas3v3 = 0
     
    static byte _tmeas23C = 0
     
    static byte _networkAndAddress [LEN_PANADR]
     
    static boolean _smartPower = false
     
    static byte _extendedFrameLength = FRAME_LENGTH_NORMAL
     
    static byte _preambleCode = PREAMBLE_CODE_16MHZ_4
     
    static byte _channel = CHANNEL_5
     
    static byte _preambleLength = TX_PREAMBLE_LEN_128
     
    static byte _pulseFrequency = TX_PULSE_FREQ_16MHZ
     
    static byte _dataRate = TRX_RATE_6800KBPS
     
    static byte _pacSize = PAC_SIZE_8
     
    static DW1000Time _antennaDelay
     
    static boolean _permanentReceive = false
     
    static boolean _frameCheck = true
     
    static uint8_t _deviceMode = IDLE_MODE
     
    static const byte WRITE = 0x80
     
    static const byte WRITE_SUB = 0xC0
     
    static const byte READ = 0x00
     
    static const byte READ_SUB = 0x40
     
    static const byte RW_SUB_EXT = 0x80
     
    static const byte AUTO_CLOCK = 0x00
     
    static const byte XTI_CLOCK = 0x01
     
    static const byte PLL_CLOCK = 0x02
     
    static const SPISettings _fastSPI = SPISettings(16000000L, MSBFIRST, SPI_MODE0)
     
    static const SPISettings _slowSPI = SPISettings(2000000L, MSBFIRST, SPI_MODE0)
     
    static const SPISettings * _currentSPI = &_fastSPI
     
    static const byte BIAS_500_16_ZERO = 10
     
    static const byte BIAS_500_64_ZERO = 8
     
    static const byte BIAS_900_16_ZERO = 7
     
    static const byte BIAS_900_64_ZERO = 7
     
    static constexpr byte BIAS_500_16 [] = {198, 187, 179, 163, 143, 127, 109, 84, 59, 31, 0, 36, 65, 84, 97, 106, 110, 112}
     
    static constexpr byte BIAS_500_64 [] = {110, 105, 100, 93, 82, 69, 51, 27, 0, 21, 35, 42, 49, 62, 71, 76, 81, 86}
     
    static constexpr byte BIAS_900_16 [] = {137, 122, 105, 88, 69, 47, 25, 0, 21, 48, 79, 105, 127, 147, 160, 169, 178, 197}
     
    static constexpr byte BIAS_900_64 [] = {147, 133, 117, 99, 75, 50, 29, 0, 24, 45, 63, 76, 87, 98, 116, 122, 132, 142}
     
    +

    Member Function Documentation

    + +
    +
    + + + + + +
    + + + + + + + + +
    static void DW1000Class::attachErrorHandler (void(*)(void) handleError)
    +     		+inlinestatic
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    static void DW1000Class::attachReceivedHandler (void(*)(void) handleReceived)
    +     		+inlinestatic
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    static void DW1000Class::attachReceiveFailedHandler (void(*)(void) handleReceiveFailed)
    +     		+inlinestatic
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    static void DW1000Class::attachReceiveTimeoutHandler (void(*)(void) handleReceiveTimeout)
    +     		+inlinestatic
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    static void DW1000Class::attachReceiveTimestampAvailableHandler (void(*)(void) handleReceiveTimestampAvailable)
    +     		+inlinestatic
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    static void DW1000Class::attachSentHandler (void(*)(void) handleSent)
    +     		+inlinestatic
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + + + + + + + + + + + +
    void DW1000Class::begin (uint8_t irq,
    uint8_t rst = 0xff 
    )
    +     		+static
    +
    +

    Initiates and starts a sessions with one or more DW1000. If rst is not set or value 0xff, a soft resets (i.e. command triggered) are used and it is assumed that no reset line is wired.

    +
    Parameters
    + + + +
    [in]irqThe interrupt line/pin that connects the Arduino.
    [in]rstThe reset line/pin for hard resets of ICs that connect to the Arduino. Value 0xff means soft reset.
    +
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    void DW1000Class::clearAllStatus ()
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    void DW1000Class::clearInterrupts ()
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    void DW1000Class::clearReceiveStatus ()
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    void DW1000Class::clearReceiveTimestampAvailableStatus ()
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    void DW1000Class::clearTransmitStatus ()
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    void DW1000Class::commitConfiguration ()
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + + + + + + + + + + + +
    void DW1000Class::convertToByte (char string[],
    byte * eui_byte 
    )
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::correctTimestamp (DW1000Time & timestamp)
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::enableClock (byte clock)
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::enableMode (const byte mode[])
    +     		+static
    +
    +

    Specifies the mode of operation for the DW1000. Modes of operation are pre-defined combinations of data rate, pulse repetition frequency, preamble and channel settings that properly go together. If you simply want the chips to work, choosing a mode is preferred over manual configuration.

    +

    The following modes are pre-configured and one of them needs to be chosen:

      +
    • MODE_LONGDATA_RANGE_LOWPOWER (basically this is 110 kb/s data rate, 16 MHz PRF and long preambles)
      • +
    • MODE_SHORTDATA_FAST_LOWPOWER (basically this is 6.8 Mb/s data rate, 16 MHz PRF and short preambles)
      • +
    • MODE_LONGDATA_FAST_LOWPOWER (basically this is 6.8 Mb/s data rate, 16 MHz PRF and long preambles)
      • +
    • MODE_SHORTDATA_FAST_ACCURACY (basically this is 6.8 Mb/s data rate, 64 MHz PRF and short preambles)
      • +
    • MODE_LONGDATA_FAST_ACCURACY (basically this is 6.8 Mb/s data rate, 64 MHz PRF and long preambles)
      • +
    • MODE_LONGDATA_RANGE_ACCURACY (basically this is 110 kb/s data rate, 64 MHz PRF and long preambles)
      • +
    +

    Note that LOWPOWER and ACCURACY refers to the better power efficiency and improved transmission performance of 16 MHZ and 64 MHZ PRF respectively (see setPulseFrequency()).

    +

    The default setting that is selected by setDefaults() is MODE_LONGDATA_RANGE_LOWPOWER.

    +
    Parameters
    + + +
    [in]modeThe mode of operation, encoded by the above defined constants.
    +
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    void DW1000Class::end ()
    +     		+static
    +
    +

    Tells the driver library that no communication to a DW1000 will be required anymore. This basically just frees SPI and the previously used pins.

    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + + + + + + + + + + + + + + + + + +
    boolean DW1000Class::getBit (byte data[],
    uint16_t n,
    uint16_t bit 
    )
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + + + + + + + + + + + +
    void DW1000Class::getData (byte data[],
    uint16_t n 
    )
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::getData (String & data)
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    uint16_t DW1000Class::getDataLength ()
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    float DW1000Class::getFirstPathPower ()
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    void DW1000Class::getPrettyBytes (byte cmd,
    uint16_t offset,
    char msgBuffer[],
    uint16_t n 
    )
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + + + + + + + + + + + + + + + + + +
    void DW1000Class::getPrettyBytes (byte data[],
    char msgBuffer[],
    uint16_t n 
    )
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::getPrintableDeviceIdentifier (char msgBuffer[])
    +     		+static
    +
    +

    Generates a String representation of the device identifier of the chip. That usually are the letters "DECA" plus the version and revision numbers of the chip.

    +
    Parameters
    + + +
    [out]msgBufferThe String buffer to be filled with printable device information. Provide 128 bytes, this should be sufficient.
    +
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::getPrintableDeviceMode (char msgBuffer[])
    +     		+static
    +
    +

    Generates a String representation of the main operational settings of the chip. This includes data rate, pulse repetition frequency, preamble and channel settings.

    +
    Parameters
    + + +
    [out]msgBufferThe String buffer to be filled with printable device information. Provide 128 bytes, this should be sufficient.
    +
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::getPrintableExtendedUniqueIdentifier (char msgBuffer[])
    +     		+static
    +
    +

    Generates a String representation of the extended unique identifier (EUI) of the chip.

    +
    Parameters
    + + +
    [out]msgBufferThe String buffer to be filled with printable device information. Provide 128 bytes, this should be sufficient.
    +
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::getPrintableNetworkIdAndShortAddress (char msgBuffer[])
    +     		+static
    +
    +

    Generates a String representation of the short address and network identifier currently defined for the respective chip.

    +
    Parameters
    + + +
    [out]msgBufferThe String buffer to be filled with printable device information. Provide 128 bytes, this should be sufficient.
    +
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    byte DW1000Class::getPulseFrequency ()
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    float DW1000Class::getReceivePower ()
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    float DW1000Class::getReceiveQuality ()
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::getReceiveTimestamp (DW1000Time & time)
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::getReceiveTimestamp (byte data[])
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::getSystemTimestamp (DW1000Time & time)
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::getSystemTimestamp (byte data[])
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + + + + + + + + + + + +
    void DW1000Class::getTempAndVbat (float & temp,
    float & vbat 
    )
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::getTransmitTimestamp (DW1000Time & time)
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::getTransmitTimestamp (byte data[])
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    void DW1000Class::handleInterrupt ()
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    void DW1000Class::idle ()
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::interruptOnAutomaticAcknowledgeTrigger (boolean val)
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::interruptOnReceived (boolean val)
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::interruptOnReceiveFailed (boolean val)
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::interruptOnReceiveTimeout (boolean val)
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::interruptOnReceiveTimestampAvailable (boolean val)
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::interruptOnSent (boolean val)
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    boolean DW1000Class::isClockProblem ()
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    boolean DW1000Class::isReceiveDone ()
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    boolean DW1000Class::isReceiveFailed ()
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    boolean DW1000Class::isReceiveTimeout ()
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    boolean DW1000Class::isReceiveTimestampAvailable ()
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    boolean DW1000Class::isTransmitDone ()
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    void DW1000Class::manageLDE ()
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    void DW1000Class::newConfiguration ()
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    void DW1000Class::newReceive ()
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    void DW1000Class::newTransmit ()
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    uint8_t DW1000Class::nibbleFromChar (char c)
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    void DW1000Class::readBytes (byte cmd,
    uint16_t offset,
    byte data[],
    uint16_t n 
    )
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + + + + + + + + + + + +
    void DW1000Class::readBytesOTP (uint16_t address,
    byte data[] 
    )
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    void DW1000Class::readChannelControlRegister ()
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    void DW1000Class::readNetworkIdAndDeviceAddress ()
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    void DW1000Class::readSystemConfigurationRegister ()
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    void DW1000Class::readSystemEventMaskRegister ()
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    void DW1000Class::readSystemEventStatusRegister ()
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    void DW1000Class::readTransmitFrameControlRegister ()
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::receivePermanently (boolean val)
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::reselect (uint8_t ss)
    +     		+static
    +
    +

    (Re-)selects a specific DW1000 chip for communication. In case of a single DW1000 chip in use this call is not needed; only a call to select() has to be performed once at start up. Other than a call to select() this function does not perform an initial setup of the (again-)selected chips and assumes it to have a valid configuration loaded.

    +
    Parameters
    + + +
    [in]ssThe chip select line/pin that connects the to-be-selected chip with the Arduino.
    +
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    void DW1000Class::reset ()
    +     		+static
    +
    +

    Resets all connected or the currently selected DW1000 chip. A hard reset of all chips is preferred, although a soft reset of the currently selected one is executed if no reset pin has been specified (when using begin(int), instead of begin(int, int)).

    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::select (uint8_t ss)
    +     		+static
    +
    +

    Selects a specific DW1000 chip for communication. In case of a single DW1000 chip in use this call only needs to be done once at start up, but is still mandatory. Other than a call to reselect() this function performs an initial setup of the now-selected chip.

    +
    Parameters
    + + +
    [in]ssThe chip select line/pin that connects the to-be-selected chip with the Arduino.
    +
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    void DW1000Class::setBit (byte data[],
    uint16_t n,
    uint16_t bit,
    boolean val 
    )
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::setChannel (byte channel)
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + + + + + + + + + + + +
    void DW1000Class::setData (byte data[],
    uint16_t n 
    )
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::setData (const String & data)
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::setDataRate (byte rate)
    +     		+static
    +
    +

    Specifies the data transmission rate of the DW1000 chip. One of the values

      +
    • TRX_RATE_110KBPS (i.e. 110 kb/s)
      • +
    • TRX_RATE_850KBPS (i.e. 850 kb/s)
      • +
    • TRX_RATE_6800KBPS (i.e. 6.8 Mb/s) has to be provided.
      • +
    +

    See setDefaults() and enableMode() for additional information on data rate settings.

    +
    Parameters
    + + +
    [in]rateThe data transmission rate, encoded by the above defined constants.
    +
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    void DW1000Class::setDefaults ()
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    DW1000Time DW1000Class::setDelay (const DW1000Time & delay)
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::setDeviceAddress (uint16_t val)
    +     		+static
    +
    +

    (Re-)set the device address (i.e. short address) for the currently selected chip. This setting is important for certain MAC address filtering rules.

    +
    Parameters
    + + +
    [in]valAn arbitrary numeric device address.
    +
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::setDoubleBuffering (boolean val)
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::setEUI (char eui[])
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::setEUI (byte eui[])
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::setFrameFilter (boolean val)
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::setFrameFilterAllowAcknowledgement (boolean val)
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::setFrameFilterAllowBeacon (boolean val)
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::setFrameFilterAllowData (boolean val)
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::setFrameFilterAllowMAC (boolean val)
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::setFrameFilterAllowReserved (boolean val)
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::setFrameFilterBehaveCoordinator (boolean val)
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::setInterruptPolarity (boolean val)
    +     		+static
    +
    +

    Specifies the interrupt polarity of the DW1000 chip.

    +

    As part of setDefaults() if the device is in idle mode, interrupt polarity is set to active high.

    +
    Parameters
    + + +
    [in]valtrue for active high interrupts, false for active low interrupts.
    +
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::setNetworkId (uint16_t val)
    +     		+static
    +
    +

    (Re-)set the network identifier which the selected chip should be associated with. This setting is important for certain MAC address filtering rules.

    +
    Parameters
    + + +
    [in]valAn arbitrary numeric network identifier.
    +
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::setPreambleCode (byte preacode)
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::setPreambleLength (byte prealen)
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::setPulseFrequency (byte freq)
    +     		+static
    +
    +

    Specifies the pulse repetition frequency (PRF) of data transmissions with the DW1000. Either

      +
    • TX_PULSE_FREQ_16MHZ (i.e. 16 MHz)
      • +
    • TX_PULSE_FREQ_64MHZ (i.e. 64 MHz) has to be chosen.
      • +
    +

    Note that the 16 MHz setting is more power efficient, while the 64 MHz setting requires more power, but also delivers slightly better transmission performance (i.e. on communication range and timestamp accuracy) (see DWM1000 User Manual, section 9.3).

    +

    See setDefaults() and enableMode() for additional information on PRF settings.

    +
    Parameters
    + + +
    [in]freqThe PRF, encoded by the above defined constants.
    +
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::setReceiverAutoReenable (boolean val)
    +     		+static
    +
    +

    Specifies whether the DW1000 chip should, again, turn on its receiver in case that the last reception failed.

    +

    This setting is enabled as part of setDefaults() if the device is in idle mode.

    +
    Parameters
    + + +
    [in]valtrue to enable, false to disable receiver auto-reenable.
    +
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    void DW1000Class::softReset ()
    +     		+static
    +
    +

    Resets the currently selected DW1000 chip programmatically (via corresponding commands).

    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    void DW1000Class::startReceive ()
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    void DW1000Class::startTransmit ()
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::suppressFrameCheck (boolean val)
    +     		+static
    +
    +

    Specifies whether to suppress any frame check measures while sending or receiving messages. If suppressed, no 2-byte checksum is appended to the message before sending and this checksum is also not expected at receiver side. Note that when suppressing frame checks, the error event handler (attached via attachReceiveErrorHandler()) will not be triggered if received data is corrupted.

    +

    Frame checks are enabled as part of setDefaults() if the device is in idle mode.

    +
    Parameters
    + + +
    [in]valtrue to suppress frame check on sender and receiver side, false otherwise.
    +
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    void DW1000Class::tune ()
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::useExtendedFrameLength (boolean val)
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::useSmartPower (boolean smartPower)
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Class::waitForResponse (boolean val)
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + + + + + + + + + + + + + + + + + +
    void DW1000Class::writeByte (byte cmd,
    uint16_t offset,
    byte data 
    )
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    void DW1000Class::writeBytes (byte cmd,
    uint16_t offset,
    byte data[],
    uint16_t n 
    )
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    void DW1000Class::writeChannelControlRegister ()
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    void DW1000Class::writeNetworkIdAndDeviceAddress ()
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    void DW1000Class::writeSystemConfigurationRegister ()
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    void DW1000Class::writeSystemEventMaskRegister ()
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    void DW1000Class::writeTransmitFrameControlRegister ()
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + + + + + + + + + + + + + + + + + +
    void DW1000Class::writeValueToBytes (byte data[],
    int32_t val,
    uint16_t n 
    )
    +     		+static
    +
    + +
    +
    +

    Member Data Documentation

    + +
    +
    + + + + + +
    + + + + +
    DW1000Time DW1000Class::_antennaDelay
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    byte DW1000Class::_chanctrl
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    byte DW1000Class::_channel = CHANNEL_5
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    const SPISettings * DW1000Class::_currentSPI = &_fastSPI
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    byte DW1000Class::_dataRate = TRX_RATE_6800KBPS
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    uint8_t DW1000Class::_deviceMode = IDLE_MODE
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    byte DW1000Class::_extendedFrameLength = FRAME_LENGTH_NORMAL
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    const SPISettings DW1000Class::_fastSPI = SPISettings(16000000L, MSBFIRST, SPI_MODE0)
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    boolean DW1000Class::_frameCheck = true
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    void(* DW1000Class::_handleError)(void)=0
    +     		+static
    +
    + +
    +
    + +
    +
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    + + + + +
    void(* DW1000Class::_handleReceived)(void)=0
    +     		+static
    +
    + +
    +
    + +
    +
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    + + + + +
    void(* DW1000Class::_handleReceiveFailed)(void)=0
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    void(* DW1000Class::_handleReceiveTimeout)(void)=0
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    void(* DW1000Class::_handleReceiveTimestampAvailable)(void)=0
    +     		+static
    +
    + +
    +
    + +
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    + + + + +
    void(* DW1000Class::_handleSent)(void)=0
    +     		+static
    +
    + +
    +
    + +
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    + + + + + +
    + + + + +
    uint8_t DW1000Class::_irq
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    byte DW1000Class::_networkAndAddress
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    byte DW1000Class::_pacSize = PAC_SIZE_8
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    boolean DW1000Class::_permanentReceive = false
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    byte DW1000Class::_preambleCode = PREAMBLE_CODE_16MHZ_4
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    byte DW1000Class::_preambleLength = TX_PREAMBLE_LEN_128
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    byte DW1000Class::_pulseFrequency = TX_PULSE_FREQ_16MHZ
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    uint8_t DW1000Class::_rst
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    const SPISettings DW1000Class::_slowSPI = SPISettings(2000000L, MSBFIRST, SPI_MODE0)
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    boolean DW1000Class::_smartPower = false
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    uint8_t DW1000Class::_ss
    +     		+static
    +
    + +
    +
    + +
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    + + + + + +
    + + + + +
    byte DW1000Class::_syscfg
    +     		+static
    +
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    byte DW1000Class::_sysctrl
    +     		+static
    +
    + +
    +
    + +
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    + + + + +
    byte DW1000Class::_sysmask
    +     		+static
    +
    + +
    +
    + +
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    + + + + + +
    + + + + +
    byte DW1000Class::_sysstatus
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    byte DW1000Class::_tmeas23C = 0
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    byte DW1000Class::_txfctrl
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    byte DW1000Class::_vmeas3v3 = 0
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    const byte DW1000Class::AUTO_CLOCK = 0x00
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::BIAS_500_16 = {198, 187, 179, 163, 143, 127, 109, 84, 59, 31, 0, 36, 65, 84, 97, 106, 110, 112}
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    const byte DW1000Class::BIAS_500_16_ZERO = 10
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::BIAS_500_64 = {110, 105, 100, 93, 82, 69, 51, 27, 0, 21, 35, 42, 49, 62, 71, 76, 81, 86}
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    const byte DW1000Class::BIAS_500_64_ZERO = 8
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::BIAS_900_16 = {137, 122, 105, 88, 69, 47, 25, 0, 21, 48, 79, 105, 127, 147, 160, 169, 178, 197}
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    const byte DW1000Class::BIAS_900_16_ZERO = 7
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::BIAS_900_64 = {147, 133, 117, 99, 75, 50, 29, 0, 24, 45, 63, 76, 87, 98, 116, 122, 132, 142}
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    const byte DW1000Class::BIAS_900_64_ZERO = 7
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::CHANNEL_1 = 1
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::CHANNEL_2 = 2
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::CHANNEL_3 = 3
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::CHANNEL_4 = 4
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::CHANNEL_5 = 5
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::CHANNEL_7 = 7
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::FRAME_LENGTH_EXTENDED = 0x03
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::FRAME_LENGTH_NORMAL = 0x00
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::MODE_LONGDATA_FAST_ACCURACY = {TRX_RATE_6800KBPS, TX_PULSE_FREQ_64MHZ, TX_PREAMBLE_LEN_1024}
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::MODE_LONGDATA_FAST_LOWPOWER = {TRX_RATE_6800KBPS, TX_PULSE_FREQ_16MHZ, TX_PREAMBLE_LEN_1024}
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::MODE_LONGDATA_RANGE_ACCURACY = {TRX_RATE_110KBPS, TX_PULSE_FREQ_64MHZ, TX_PREAMBLE_LEN_2048}
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::MODE_LONGDATA_RANGE_LOWPOWER = {TRX_RATE_110KBPS, TX_PULSE_FREQ_16MHZ, TX_PREAMBLE_LEN_2048}
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::MODE_SHORTDATA_FAST_ACCURACY = {TRX_RATE_6800KBPS, TX_PULSE_FREQ_64MHZ, TX_PREAMBLE_LEN_128}
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::MODE_SHORTDATA_FAST_LOWPOWER = {TRX_RATE_6800KBPS, TX_PULSE_FREQ_16MHZ, TX_PREAMBLE_LEN_128}
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::PAC_SIZE_16 = 16
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::PAC_SIZE_32 = 32
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::PAC_SIZE_64 = 64
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::PAC_SIZE_8 = 8
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    const byte DW1000Class::PLL_CLOCK = 0x02
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::PREAMBLE_CODE_16MHZ_1 = 1
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::PREAMBLE_CODE_16MHZ_2 = 2
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::PREAMBLE_CODE_16MHZ_3 = 3
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::PREAMBLE_CODE_16MHZ_4 = 4
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::PREAMBLE_CODE_16MHZ_5 = 5
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::PREAMBLE_CODE_16MHZ_6 = 6
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::PREAMBLE_CODE_16MHZ_7 = 7
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::PREAMBLE_CODE_16MHZ_8 = 8
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::PREAMBLE_CODE_64MHZ_10 = 10
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::PREAMBLE_CODE_64MHZ_11 = 11
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::PREAMBLE_CODE_64MHZ_12 = 12
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::PREAMBLE_CODE_64MHZ_17 = 17
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::PREAMBLE_CODE_64MHZ_18 = 18
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::PREAMBLE_CODE_64MHZ_19 = 19
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::PREAMBLE_CODE_64MHZ_20 = 20
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::PREAMBLE_CODE_64MHZ_9 = 9
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    const byte DW1000Class::READ = 0x00
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    const byte DW1000Class::READ_SUB = 0x40
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    const byte DW1000Class::RW_SUB_EXT = 0x80
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::TRX_RATE_110KBPS = 0x00
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::TRX_RATE_6800KBPS = 0x02
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::TRX_RATE_850KBPS = 0x01
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::TX_PREAMBLE_LEN_1024 = 0x02
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::TX_PREAMBLE_LEN_128 = 0x05
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::TX_PREAMBLE_LEN_1536 = 0x06
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::TX_PREAMBLE_LEN_2048 = 0x0A
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::TX_PREAMBLE_LEN_256 = 0x09
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::TX_PREAMBLE_LEN_4096 = 0x03
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::TX_PREAMBLE_LEN_512 = 0x0D
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::TX_PREAMBLE_LEN_64 = 0x01
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::TX_PULSE_FREQ_16MHZ = 0x01
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr byte DW1000Class::TX_PULSE_FREQ_64MHZ = 0x02
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    const byte DW1000Class::WRITE = 0x80
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    const byte DW1000Class::WRITE_SUB = 0xC0
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    const byte DW1000Class::XTI_CLOCK = 0x01
    +     		+static
    +
    + +
    +
    +
    The documentation for this class was generated from the following files:
      +
    • /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000.h
      • +
    • /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000.cpp
      • +
    +
    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/classDW1000Device-members.html b/lib/DW1000/extras/doc/html/classDW1000Device-members.html new file mode 100644 index 0000000..7f324fa --- /dev/null +++ b/lib/DW1000/extras/doc/html/classDW1000Device-members.html @@ -0,0 +1,96 @@ + + + + + + +Arduino driver library for Decawave DW1000: Member List + + + + + + +
    +
    + + + + + + +
    +
    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
    +
    +
    + + + + +
    +
    +
    +
    DW1000Device Member List
    +
    +
    + +

    This is the complete list of members for DW1000Device, including all inherited members.

    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    DW1000Device()DW1000Device
    DW1000Device(byte address[], byte shortAddress[])DW1000Device
    DW1000Device(byte address[], boolean shortOne=false)DW1000Device
    getByteAddress()DW1000Device
    getByteShortAddress()DW1000Device
    getFPPower()DW1000Device
    getIndex()DW1000Deviceinline
    getQuality()DW1000Device
    getRange()DW1000Device
    getReplyTime()DW1000Deviceinline
    getRXPower()DW1000Device
    getShortAddress()DW1000Device
    isAddressEqual(DW1000Device *device)DW1000Device
    isInactive()DW1000Device
    isShortAddressEqual(DW1000Device *device)DW1000Device
    noteActivity()DW1000Device
    setAddress(char address[])DW1000Device
    setAddress(byte *address)DW1000Device
    setFPPower(float power)DW1000Device
    setIndex(int8_t index)DW1000Deviceinline
    setQuality(float quality)DW1000Device
    setRange(float range)DW1000Device
    setReplyDelayTime(int16_t time)DW1000Deviceinline
    setReplyTime(uint16_t replyDelayTimeUs)DW1000Device
    setRXPower(float power)DW1000Device
    setShortAddress(byte address[])DW1000Device
    timePollAckReceivedDW1000Device
    timePollAckSentDW1000Device
    timePollReceivedDW1000Device
    timePollSentDW1000Device
    timeRangeReceivedDW1000Device
    timeRangeSentDW1000Device
    ~DW1000Device()DW1000Device
    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/classDW1000Device.html b/lib/DW1000/extras/doc/html/classDW1000Device.html new file mode 100644 index 0000000..286c82a --- /dev/null +++ b/lib/DW1000/extras/doc/html/classDW1000Device.html @@ -0,0 +1,689 @@ + + + + + + +Arduino driver library for Decawave DW1000: DW1000Device Class Reference + + + + + + +
    +
    + + + + + + +
    +
    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
    +
    +
    + + + + +
    +
    +
    +Public Member Functions | +Public Attributes | +List of all members
    +
    +
    DW1000Device Class Reference
    +
    +
    + +

    #include <DW1000Device.h>

    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

    +Public Member Functions

     DW1000Device ()
     
     DW1000Device (byte address[], byte shortAddress[])
     
     DW1000Device (byte address[], boolean shortOne=false)
     
     ~DW1000Device ()
     
    void setReplyTime (uint16_t replyDelayTimeUs)
     
    void setAddress (char address[])
     
    void setAddress (byte *address)
     
    void setShortAddress (byte address[])
     
    void setRange (float range)
     
    void setRXPower (float power)
     
    void setFPPower (float power)
     
    void setQuality (float quality)
     
    void setReplyDelayTime (int16_t time)
     
    void setIndex (int8_t index)
     
    uint16_t getReplyTime ()
     
    byte * getByteAddress ()
     
    int8_t getIndex ()
     
    byte * getByteShortAddress ()
     
    uint16_t getShortAddress ()
     
    float getRange ()
     
    float getRXPower ()
     
    float getFPPower ()
     
    float getQuality ()
     
    boolean isAddressEqual (DW1000Device *device)
     
    boolean isShortAddressEqual (DW1000Device *device)
     
    void noteActivity ()
     
    boolean isInactive ()
     
    + + + + + + + + + + + + + +

    +Public Attributes

    DW1000Time timePollSent
     
    DW1000Time timePollReceived
     
    DW1000Time timePollAckSent
     
    DW1000Time timePollAckReceived
     
    DW1000Time timeRangeSent
     
    DW1000Time timeRangeReceived
     
    +

    Constructor & Destructor Documentation

    + +
    +
    + + + + + + + +
    DW1000Device::DW1000Device ()
    +
    + +
    +
    + +
    +
    + + + + + + + + + + + + + + + + + + +
    DW1000Device::DW1000Device (byte address[],
    byte shortAddress[] 
    )
    +
    + +
    +
    + +
    +
    + + + + + + + + + + + + + + + + + + +
    DW1000Device::DW1000Device (byte address[],
    boolean shortOne = false 
    )
    +
    + +
    +
    + +
    +
    + + + + + + + +
    DW1000Device::~DW1000Device ()
    +
    + +
    +
    +

    Member Function Documentation

    + +
    +
    + + + + + + + +
    byte * DW1000Device::getByteAddress ()
    +
    + +
    +
    + +
    +
    + + + + + + + +
    byte * DW1000Device::getByteShortAddress ()
    +
    + +
    +
    + +
    +
    + + + + + + + +
    float DW1000Device::getFPPower ()
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    int8_t DW1000Device::getIndex ()
    +     		+inline
    +
    + +
    +
    + +
    +
    + + + + + + + +
    float DW1000Device::getQuality ()
    +
    + +
    +
    + +
    +
    + + + + + + + +
    float DW1000Device::getRange ()
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    uint16_t DW1000Device::getReplyTime ()
    +     		+inline
    +
    + +
    +
    + +
    +
    + + + + + + + +
    float DW1000Device::getRXPower ()
    +
    + +
    +
    + +
    +
    + + + + + + + +
    uint16_t DW1000Device::getShortAddress ()
    +
    + +
    +
    + +
    +
    + + + + + + + + +
    boolean DW1000Device::isAddressEqual (DW1000Device * device)
    +
    + +
    +
    + +
    +
    + + + + + + + +
    boolean DW1000Device::isInactive ()
    +
    + +
    +
    + +
    +
    + + + + + + + + +
    boolean DW1000Device::isShortAddressEqual (DW1000Device * device)
    +
    + +
    +
    + +
    +
    + + + + + + + +
    void DW1000Device::noteActivity ()
    +
    + +
    +
    + +
    +
    + + + + + + + + +
    void DW1000Device::setAddress (char address[])
    +
    + +
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    +
    + + + + + + + + +
    void DW1000Device::setAddress (byte * address)
    +
    + +
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    + + + + + + + + +
    void DW1000Device::setFPPower (float power)
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Device::setIndex (int8_t index)
    +     		+inline
    +
    + +
    +
    + +
    +
    + + + + + + + + +
    void DW1000Device::setQuality (float quality)
    +
    + +
    +
    + +
    +
    + + + + + + + + +
    void DW1000Device::setRange (float range)
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000Device::setReplyDelayTime (int16_t time)
    +     		+inline
    +
    + +
    +
    + +
    +
    + + + + + + + + +
    void DW1000Device::setReplyTime (uint16_t replyDelayTimeUs)
    +
    + +
    +
    + +
    +
    + + + + + + + + +
    void DW1000Device::setRXPower (float power)
    +
    + +
    +
    + +
    +
    + + + + + + + + +
    void DW1000Device::setShortAddress (byte address[])
    +
    + +
    +
    +

    Member Data Documentation

    + +
    +
    + + + + +
    DW1000Time DW1000Device::timePollAckReceived
    +
    + +
    +
    + +
    +
    + + + + +
    DW1000Time DW1000Device::timePollAckSent
    +
    + +
    +
    + +
    +
    + + + + +
    DW1000Time DW1000Device::timePollReceived
    +
    + +
    +
    + +
    +
    + + + + +
    DW1000Time DW1000Device::timePollSent
    +
    + +
    +
    + +
    +
    + + + + +
    DW1000Time DW1000Device::timeRangeReceived
    +
    + +
    +
    + +
    +
    + + + + +
    DW1000Time DW1000Device::timeRangeSent
    +
    + +
    +
    +
    The documentation for this class was generated from the following files: +
    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/classDW1000Mac-members.html b/lib/DW1000/extras/doc/html/classDW1000Mac-members.html new file mode 100644 index 0000000..2f9b1dd --- /dev/null +++ b/lib/DW1000/extras/doc/html/classDW1000Mac-members.html @@ -0,0 +1,77 @@ + + + + + + +Arduino driver library for Decawave DW1000: Member List + + + + + + +
    +
    + + + + + + +
    +
    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
    +
    +
    + + + + +
    +
    +
    +
    DW1000Mac Member List
    +
    +
    + +

    This is the complete list of members for DW1000Mac, including all inherited members.

    + + + + + + + + + + + + + + + +
    decodeBlinkFrame(byte frame[], byte address[], byte shortAddress[])DW1000Mac
    decodeLongMACFrame(byte frame[], byte address[])DW1000Mac
    decodeShortMACFrame(byte frame[], byte address[])DW1000Mac
    DW1000Mac(DW1000Device *parent)DW1000Mac
    DW1000Mac()DW1000Mac
    generateBlinkFrame(byte frame[], byte sourceAddress[], byte sourceShortAddress[])DW1000Mac
    generateLongMACFrame(byte frame[], byte sourceShortAddress[], byte destinationAddress[])DW1000Mac
    generateShortMACFrame(byte frame[], byte sourceShortAddress[], byte destinationShortAddress[])DW1000Mac
    incrementSeqNumber()DW1000Mac
    setDestinationAddress(byte *destinationAddress)DW1000Mac
    setDestinationAddressShort(byte *shortDestinationAddress)DW1000Mac
    setSourceAddress(byte *sourceAddress)DW1000Mac
    setSourceAddressShort(byte *shortSourceAddress)DW1000Mac
    ~DW1000Mac()DW1000Mac
    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/classDW1000Mac.html b/lib/DW1000/extras/doc/html/classDW1000Mac.html new file mode 100644 index 0000000..4a9c181 --- /dev/null +++ b/lib/DW1000/extras/doc/html/classDW1000Mac.html @@ -0,0 +1,408 @@ + + + + + + +Arduino driver library for Decawave DW1000: DW1000Mac Class Reference + + + + + + +
    +
    + + + + + + +
    +
    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
    +
    +
    + + + + +
    +
    +
    +Public Member Functions | +List of all members
    +
    +
    DW1000Mac Class Reference
    +
    +
    + +

    #include <DW1000Mac.h>

    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

    +Public Member Functions

     DW1000Mac (DW1000Device *parent)
     
     DW1000Mac ()
     
     ~DW1000Mac ()
     
    void setDestinationAddress (byte *destinationAddress)
     
    void setDestinationAddressShort (byte *shortDestinationAddress)
     
    void setSourceAddress (byte *sourceAddress)
     
    void setSourceAddressShort (byte *shortSourceAddress)
     
    void generateBlinkFrame (byte frame[], byte sourceAddress[], byte sourceShortAddress[])
     
    void generateShortMACFrame (byte frame[], byte sourceShortAddress[], byte destinationShortAddress[])
     
    void generateLongMACFrame (byte frame[], byte sourceShortAddress[], byte destinationAddress[])
     
    void decodeBlinkFrame (byte frame[], byte address[], byte shortAddress[])
     
    void decodeShortMACFrame (byte frame[], byte address[])
     
    void decodeLongMACFrame (byte frame[], byte address[])
     
    void incrementSeqNumber ()
     
    +

    Constructor & Destructor Documentation

    + +
    +
    + + + + + + + + +
    DW1000Mac::DW1000Mac (DW1000Device * parent)
    +
    + +
    +
    + +
    +
    + + + + + + + +
    DW1000Mac::DW1000Mac ()
    +
    + +
    +
    + +
    +
    + + + + + + + +
    DW1000Mac::~DW1000Mac ()
    +
    + +
    +
    +

    Member Function Documentation

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + +
    void DW1000Mac::decodeBlinkFrame (byte frame[],
    byte address[],
    byte shortAddress[] 
    )
    +
    + +
    +
    + +
    +
    + + + + + + + + + + + + + + + + + + +
    void DW1000Mac::decodeLongMACFrame (byte frame[],
    byte address[] 
    )
    +
    + +
    +
    + +
    +
    + + + + + + + + + + + + + + + + + + +
    void DW1000Mac::decodeShortMACFrame (byte frame[],
    byte address[] 
    )
    +
    + +
    +
    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + +
    void DW1000Mac::generateBlinkFrame (byte frame[],
    byte sourceAddress[],
    byte sourceShortAddress[] 
    )
    +
    + +
    +
    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + +
    void DW1000Mac::generateLongMACFrame (byte frame[],
    byte sourceShortAddress[],
    byte destinationAddress[] 
    )
    +
    + +
    +
    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + +
    void DW1000Mac::generateShortMACFrame (byte frame[],
    byte sourceShortAddress[],
    byte destinationShortAddress[] 
    )
    +
    + +
    +
    + +
    +
    + + + + + + + +
    void DW1000Mac::incrementSeqNumber ()
    +
    + +
    +
    + +
    +
    + + + + + + + + +
    void DW1000Mac::setDestinationAddress (byte * destinationAddress)
    +
    + +
    +
    + +
    +
    + + + + + + + + +
    void DW1000Mac::setDestinationAddressShort (byte * shortDestinationAddress)
    +
    + +
    +
    + +
    +
    + + + + + + + + +
    void DW1000Mac::setSourceAddress (byte * sourceAddress)
    +
    + +
    +
    + +
    +
    + + + + + + + + +
    void DW1000Mac::setSourceAddressShort (byte * shortSourceAddress)
    +
    + +
    +
    +
    The documentation for this class was generated from the following files:
      +
    • /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Mac.h
      • +
    • /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Mac.cpp
      • +
    +
    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/classDW1000RangingClass-members.html b/lib/DW1000/extras/doc/html/classDW1000RangingClass-members.html new file mode 100644 index 0000000..06f8775 --- /dev/null +++ b/lib/DW1000/extras/doc/html/classDW1000RangingClass-members.html @@ -0,0 +1,88 @@ + + + + + + +Arduino driver library for Decawave DW1000: Member List + + + + + + +
    +
    + + + + + + +
    +
    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
    +
    +
    + + + + +
    +
    +
    +
    DW1000RangingClass Member List
    +
    +
    + +

    This is the complete list of members for DW1000RangingClass, including all inherited members.

    + + + + + + + + + + + + + + + + + + + + + + + + + + +
    addNetworkDevices(DW1000Device *device, boolean shortAddress)DW1000RangingClassstatic
    addNetworkDevices(DW1000Device *device)DW1000RangingClassstatic
    attachBlinkDevice(void(*handleBlinkDevice)(DW1000Device *))DW1000RangingClassinlinestatic
    attachInactiveDevice(void(*handleInactiveDevice)(DW1000Device *))DW1000RangingClassinlinestatic
    attachNewDevice(void(*handleNewDevice)(DW1000Device *))DW1000RangingClassinlinestatic
    attachNewRange(void(*handleNewRange)(void))DW1000RangingClassinlinestatic
    configureNetwork(uint16_t deviceAddress, uint16_t networkId, const byte mode[])DW1000RangingClassstatic
    dataDW1000RangingClassstatic
    detectMessageType(byte datas[])DW1000RangingClassstatic
    generalStart()DW1000RangingClassstatic
    getCurrentAddress()DW1000RangingClassinlinestatic
    getCurrentShortAddress()DW1000RangingClassinlinestatic
    getDistantDevice()DW1000RangingClassstatic
    getNetworkDevicesNumber()DW1000RangingClassinlinestatic
    initCommunication(uint8_t myRST=DEFAULT_RST_PIN, uint8_t mySS=DEFAULT_SPI_SS_PIN, uint8_t myIRQ=2)DW1000RangingClassstatic
    loop()DW1000RangingClassstatic
    removeNetworkDevices(int16_t index)DW1000RangingClassstatic
    searchDistantDevice(byte shortAddress[])DW1000RangingClassstatic
    setRangeFilterValue(uint16_t newValue)DW1000RangingClassstatic
    setReplyTime(uint16_t replyDelayTimeUs)DW1000RangingClassstatic
    setResetPeriod(uint32_t resetPeriod)DW1000RangingClassstatic
    startAsAnchor(char address[], const byte mode[])DW1000RangingClassstatic
    startAsTag(char address[], const byte mode[])DW1000RangingClassstatic
    useRangeFilter(boolean enabled)DW1000RangingClassstatic
    visualizeDatas(byte datas[])DW1000RangingClassstatic
    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/classDW1000RangingClass.html b/lib/DW1000/extras/doc/html/classDW1000RangingClass.html new file mode 100644 index 0000000..13bdc0f --- /dev/null +++ b/lib/DW1000/extras/doc/html/classDW1000RangingClass.html @@ -0,0 +1,781 @@ + + + + + + +Arduino driver library for Decawave DW1000: DW1000RangingClass Class Reference + + + + + + +
    +
    + + + + + + +
    +
    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
    +
    +
    + + + + +
    +
    +
    +Static Public Member Functions | +Static Public Attributes | +List of all members
    +
    +
    DW1000RangingClass Class Reference
    +
    +
    + +

    #include <DW1000Ranging.h>

    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

    +Static Public Member Functions

    static void initCommunication (uint8_t myRST=DEFAULT_RST_PIN, uint8_t mySS=DEFAULT_SPI_SS_PIN, uint8_t myIRQ=2)
     
    static void configureNetwork (uint16_t deviceAddress, uint16_t networkId, const byte mode[])
     
    static void generalStart ()
     
    static void startAsAnchor (char address[], const byte mode[])
     
    static void startAsTag (char address[], const byte mode[])
     
    static boolean addNetworkDevices (DW1000Device *device, boolean shortAddress)
     
    static boolean addNetworkDevices (DW1000Device *device)
     
    static void removeNetworkDevices (int16_t index)
     
    static void setReplyTime (uint16_t replyDelayTimeUs)
     
    static void setResetPeriod (uint32_t resetPeriod)
     
    static byte * getCurrentAddress ()
     
    static byte * getCurrentShortAddress ()
     
    static uint8_t getNetworkDevicesNumber ()
     
    static int16_t detectMessageType (byte datas[])
     
    static void loop ()
     
    static void useRangeFilter (boolean enabled)
     
    static void setRangeFilterValue (uint16_t newValue)
     
    static void attachNewRange (void(*handleNewRange)(void))
     
    static void attachBlinkDevice (void(*handleBlinkDevice)(DW1000Device *))
     
    static void attachNewDevice (void(*handleNewDevice)(DW1000Device *))
     
    static void attachInactiveDevice (void(*handleInactiveDevice)(DW1000Device *))
     
    static DW1000Device * getDistantDevice ()
     
    static DW1000Device * searchDistantDevice (byte shortAddress[])
     
    static void visualizeDatas (byte datas[])
     
    + + + +

    +Static Public Attributes

    static byte data [LEN_DATA]
     
    +

    Member Function Documentation

    + +
    +
    + + + + + +
    + + + + + + + + + + + + + + + + + + +
    boolean DW1000RangingClass::addNetworkDevices (DW1000Device * device,
    boolean shortAddress 
    )
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    boolean DW1000RangingClass::addNetworkDevices (DW1000Device * device)
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    static void DW1000RangingClass::attachBlinkDevice (void(*)(DW1000Device *) handleBlinkDevice)
    +     		+inlinestatic
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    static void DW1000RangingClass::attachInactiveDevice (void(*)(DW1000Device *) handleInactiveDevice)
    +     		+inlinestatic
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    static void DW1000RangingClass::attachNewDevice (void(*)(DW1000Device *) handleNewDevice)
    +     		+inlinestatic
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    static void DW1000RangingClass::attachNewRange (void(*)(void) handleNewRange)
    +     		+inlinestatic
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + + + + + + + + + + + + + + + + + +
    void DW1000RangingClass::configureNetwork (uint16_t deviceAddress,
    uint16_t networkId,
    const byte mode[] 
    )
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    int16_t DW1000RangingClass::detectMessageType (byte datas[])
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    void DW1000RangingClass::generalStart ()
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    static byte* DW1000RangingClass::getCurrentAddress ()
    +     		+inlinestatic
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    static byte* DW1000RangingClass::getCurrentShortAddress ()
    +     		+inlinestatic
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    DW1000Device * DW1000RangingClass::getDistantDevice ()
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    static uint8_t DW1000RangingClass::getNetworkDevicesNumber ()
    +     		+inlinestatic
    +
    + +
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    + +
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    + + + + + +
    + + + + + + + + + + + + + + + + + + + + + + + + +
    void DW1000RangingClass::initCommunication (uint8_t myRST = DEFAULT_RST_PIN,
    uint8_t mySS = DEFAULT_SPI_SS_PIN,
    uint8_t myIRQ = 2 
    )
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + +
    void DW1000RangingClass::loop ()
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000RangingClass::removeNetworkDevices (int16_t index)
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    DW1000Device * DW1000RangingClass::searchDistantDevice (byte shortAddress[])
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000RangingClass::setRangeFilterValue (uint16_t newValue)
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000RangingClass::setReplyTime (uint16_t replyDelayTimeUs)
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000RangingClass::setResetPeriod (uint32_t resetPeriod)
    +     		+static
    +
    + +
    +
    + +
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    + + + + + +
    + + + + + + + + + + + + + + + + + + +
    void DW1000RangingClass::startAsAnchor (char address[],
    const byte mode[] 
    )
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + + + + + + + + + + + +
    void DW1000RangingClass::startAsTag (char address[],
    const byte mode[] 
    )
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000RangingClass::useRangeFilter (boolean enabled)
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + + + + + +
    void DW1000RangingClass::visualizeDatas (byte datas[])
    +     		+static
    +
    + +
    +
    +

    Member Data Documentation

    + +
    +
    + + + + + +
    + + + + +
    byte DW1000RangingClass::data
    +     		+static
    +
    + +
    +
    +
    The documentation for this class was generated from the following files: +
    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/classDW1000Time-members.html b/lib/DW1000/extras/doc/html/classDW1000Time-members.html new file mode 100644 index 0000000..9f45cbc --- /dev/null +++ b/lib/DW1000/extras/doc/html/classDW1000Time-members.html @@ -0,0 +1,110 @@ + + + + + + +Arduino driver library for Decawave DW1000: Member List + + + + + + +
    +
    + + + + + + +
    +
    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
    +
    +
    + + + + +
    +
    +
    +
    DW1000Time Member List
    +
    +
    + +

    This is the complete list of members for DW1000Time, including all inherited members.

    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    DISTANCE_OF_RADIODW1000Timestatic
    DISTANCE_OF_RADIO_INVDW1000Timestatic
    DW1000Time()DW1000Time
    DW1000Time(int64_t time)DW1000Time
    DW1000Time(byte data[])DW1000Time
    DW1000Time(const DW1000Time &copy)DW1000Time
    DW1000Time(float timeUs)DW1000Time
    DW1000Time(int32_t value, float factorUs)DW1000Time
    getAsFloat() const DW1000Time
    getAsMeters() const DW1000Time
    getAsMicroSeconds() const DW1000Time
    getTimestamp() const DW1000Time
    getTimestamp(byte data[]) const DW1000Time
    isValidTimestamp()DW1000Time
    LENGTH_TIMESTAMPDW1000Timestatic
    MICROSECONDSDW1000Timestatic
    MILLISECONDSDW1000Timestatic
    NANOSECONDSDW1000Timestatic
    operator!=(const DW1000Time &cmp) const DW1000Time
    operator*(float factor) const DW1000Time
    operator*(const DW1000Time &factor) const DW1000Time
    operator*=(float factor)DW1000Time
    operator*=(const DW1000Time &factor)DW1000Time
    operator+(const DW1000Time &add) const DW1000Time
    operator+=(const DW1000Time &add)DW1000Time
    operator-(const DW1000Time &sub) const DW1000Time
    operator-=(const DW1000Time &sub)DW1000Time
    operator/(float factor) const DW1000Time
    operator/(const DW1000Time &factor) const DW1000Time
    operator/=(float factor)DW1000Time
    operator/=(const DW1000Time &factor)DW1000Time
    operator=(const DW1000Time &assign)DW1000Time
    operator==(const DW1000Time &cmp) const DW1000Time
    print()DW1000Time
    printTo(Print &p) const DW1000Time
    SECONDSDW1000Timestatic
    setTime(float timeUs)DW1000Time
    setTime(int32_t value, float factorUs)DW1000Time
    setTimestamp(int64_t value)DW1000Time
    setTimestamp(byte data[])DW1000Time
    setTimestamp(const DW1000Time &copy)DW1000Time
    TIME_MAXDW1000Timestatic
    TIME_OVERFLOWDW1000Timestatic
    TIME_RESDW1000Timestatic
    TIME_RES_INVDW1000Timestatic
    wrap()DW1000Time
    ~DW1000Time()DW1000Time
    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/classDW1000Time.html b/lib/DW1000/extras/doc/html/classDW1000Time.html new file mode 100644 index 0000000..9adae76 --- /dev/null +++ b/lib/DW1000/extras/doc/html/classDW1000Time.html @@ -0,0 +1,1100 @@ + + + + + + +Arduino driver library for Decawave DW1000: DW1000Time Class Reference + + + + + + +
    +
    + + + + + + +
    +
    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
    +
    +
    + + + + +
    +
    +
    +Public Member Functions | +Static Public Attributes | +List of all members
    +
    +
    DW1000Time Class Reference
    +
    +
    + +

    #include <DW1000Time.h>

    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

    +Public Member Functions

     DW1000Time ()
     
     DW1000Time (int64_t time)
     
     DW1000Time (byte data[])
     
     DW1000Time (const DW1000Time &copy)
     
     DW1000Time (float timeUs)
     
     DW1000Time (int32_t value, float factorUs)
     
     ~DW1000Time ()
     
    void setTimestamp (int64_t value)
     
    void setTimestamp (byte data[])
     
    void setTimestamp (const DW1000Time &copy)
     
    void setTime (float timeUs)
     
    void setTime (int32_t value, float factorUs)
     
    int64_t getTimestamp () const
     
    void getTimestamp (byte data[]) const
     
    float getAsFloat () const
     
    float getAsMicroSeconds () const
     
    float getAsMeters () const
     
    DW1000Time & wrap ()
     
    bool isValidTimestamp ()
     
    DW1000Time & operator= (const DW1000Time &assign)
     
    DW1000Time & operator+= (const DW1000Time &add)
     
    DW1000Time operator+ (const DW1000Time &add) const
     
    DW1000Time & operator-= (const DW1000Time &sub)
     
    DW1000Time operator- (const DW1000Time &sub) const
     
    DW1000Time & operator*= (float factor)
     
    DW1000Time operator* (float factor) const
     
    DW1000Time & operator*= (const DW1000Time &factor)
     
    DW1000Time operator* (const DW1000Time &factor) const
     
    DW1000Time & operator/= (float factor)
     
    DW1000Time operator/ (float factor) const
     
    DW1000Time & operator/= (const DW1000Time &factor)
     
    DW1000Time operator/ (const DW1000Time &factor) const
     
    boolean operator== (const DW1000Time &cmp) const
     
    boolean operator!= (const DW1000Time &cmp) const
     
    void print ()
     
    size_t printTo (Print &p) const
     
    + + + + + + + + + + + + + + + + + + + + + + + +

    +Static Public Attributes

    static constexpr float TIME_RES = 0.000015650040064103f
     
    static constexpr float TIME_RES_INV = 63897.6f
     
    static constexpr float DISTANCE_OF_RADIO = 0.0046917639786159f
     
    static constexpr float DISTANCE_OF_RADIO_INV = 213.139451293f
     
    static constexpr uint8_t LENGTH_TIMESTAMP = 5
     
    static constexpr int64_t TIME_OVERFLOW = 0x10000000000
     
    static constexpr int64_t TIME_MAX = 0xffffffffff
     
    static constexpr float SECONDS = 1e6
     
    static constexpr float MILLISECONDS = 1e3
     
    static constexpr float MICROSECONDS = 1
     
    static constexpr float NANOSECONDS = 1e-3
     
    +

    Detailed Description

    +
    Examples:
    /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Time.cpp.
    +

    Constructor & Destructor Documentation

    + +
    +
    + + + + + + + +
    DW1000Time::DW1000Time ()
    +
    +

    Initiates DW1000Time with 0

    +
    Examples:
    /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Time.cpp.
    +
    +
    +
    + +
    +
    + + + + + + + + +
    DW1000Time::DW1000Time (int64_t time)
    +
    +

    Initiates DW1000Time with timestamp

    Parameters
    + + +
    timetimestamp with intervall 1 is approx. 15ps
    +
    +
    + +
    +
    + +
    +
    + + + + + + + + +
    DW1000Time::DW1000Time (byte data[])
    +
    +

    Initiates DW1000Time with timestamp

    Parameters
    + + +
    datatimestamp as byte array
    +
    +
    + +
    +
    + +
    +
    + + + + + + + + +
    DW1000Time::DW1000Time (const DW1000Time & copy)
    +
    +

    Initiates DW100Time with another instance

    Parameters
    + + +
    copyother instance
    +
    +
    + +
    +
    + +
    +
    + + + + + + + + +
    DW1000Time::DW1000Time (float timeUs)
    +
    +

    Initiates DW100Time with micro seconds

    Parameters
    + + +
    timeUstime in micro seconds
    +
    +
    +
    Todo:
    maybe replace by better function without float
    + +
    +
    + +
    +
    + + + + + + + + + + + + + + + + + + +
    DW1000Time::DW1000Time (int32_t value,
    float factorUs 
    )
    +
    +

    Initiates DW100Time with time and factor

    Parameters
    + + + +
    valuetime
    factorUsmultiply factor for time
    +
    +
    +
    Todo:
    maybe replace by better function without float
    + +
    +
    + +
    +
    + + + + + + + +
    DW1000Time::~DW1000Time ()
    +
    +

    Empty

    +
    Examples:
    /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Time.cpp.
    +
    +
    +
    +

    Member Function Documentation

    + +
    +
    + + + + + + + +
    float DW1000Time::getAsFloat () const
    +
    +

    Return real time in micro seconds

    Returns
    time in micro seconds
    +
    Deprecated:
    use getAsMicroSeconds()
    +
    Examples:
    /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Time.cpp.
    +
    +
    +
    + +
    +
    + + + + + + + +
    float DW1000Time::getAsMeters () const
    +
    +

    Return time as distance in meter, d=c*t this is useful for e.g. time of flight

    Returns
    distance in meters
    +
    Examples:
    /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Time.cpp.
    +
    +
    +
    + +
    +
    + + + + + + + +
    float DW1000Time::getAsMicroSeconds () const
    +
    +

    Return real time in micro seconds

    Returns
    time in micro seconds
    +
    Examples:
    /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Time.cpp.
    +
    +
    +
    + +
    +
    + + + + + + + +
    int64_t DW1000Time::getTimestamp () const
    +
    +

    Get timestamp as integer

    Returns
    timestamp as integer
    +
    Examples:
    /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Time.cpp.
    +
    +
    +
    + +
    +
    + + + + + + + + +
    void DW1000Time::getTimestamp (byte data[]) const
    +
    +

    Get timestamp as byte array

    Parameters
    + + +
    datavar where data should be written
    +
    +
    + +
    +
    + +
    +
    + + + + + + + +
    bool DW1000Time::isValidTimestamp ()
    +
    +

    Check if timestamp is valid for usage with DW1000 device

    Returns
    true if valid, false if negative or overflow (maybe after calculation)
    +
    Examples:
    /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Time.cpp.
    +
    +
    +
    + +
    +
    + + + + + + + + +
    boolean DW1000Time::operator!= (const DW1000Time & cmp) const
    +
    +
    Examples:
    /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Time.cpp.
    +
    +
    +
    + +
    +
    + + + + + + + + +
    DW1000Time DW1000Time::operator* (float factor) const
    +
    +
    Examples:
    /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Time.cpp.
    +
    +
    +
    + +
    +
    + + + + + + + + +
    DW1000Time DW1000Time::operator* (const DW1000Time & factor) const
    +
    + +
    +
    + +
    +
    + + + + + + + + +
    DW1000Time & DW1000Time::operator*= (float factor)
    +
    +
    Examples:
    /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Time.cpp.
    +
    +
    +
    + +
    +
    + + + + + + + + +
    DW1000Time & DW1000Time::operator*= (const DW1000Time & factor)
    +
    + +
    +
    + +
    +
    + + + + + + + + +
    DW1000Time DW1000Time::operator+ (const DW1000Time & add) const
    +
    +
    Examples:
    /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Time.cpp.
    +
    +
    +
    + +
    +
    + + + + + + + + +
    DW1000Time & DW1000Time::operator+= (const DW1000Time & add)
    +
    +
    Examples:
    /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Time.cpp.
    +
    +
    +
    + +
    +
    + + + + + + + + +
    DW1000Time DW1000Time::operator- (const DW1000Time & sub) const
    +
    +
    Examples:
    /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Time.cpp.
    +
    +
    +
    + +
    +
    + + + + + + + + +
    DW1000Time & DW1000Time::operator-= (const DW1000Time & sub)
    +
    +
    Examples:
    /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Time.cpp.
    +
    +
    +
    + +
    +
    + + + + + + + + +
    DW1000Time DW1000Time::operator/ (float factor) const
    +
    +
    Examples:
    /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Time.cpp.
    +
    +
    +
    + +
    +
    + + + + + + + + +
    DW1000Time DW1000Time::operator/ (const DW1000Time & factor) const
    +
    + +
    +
    + +
    +
    + + + + + + + + +
    DW1000Time & DW1000Time::operator/= (float factor)
    +
    +
    Examples:
    /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Time.cpp.
    +
    +
    +
    + +
    +
    + + + + + + + + +
    DW1000Time & DW1000Time::operator/= (const DW1000Time & factor)
    +
    + +
    +
    + +
    +
    + + + + + + + + +
    DW1000Time & DW1000Time::operator= (const DW1000Time & assign)
    +
    +
    Examples:
    /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Time.cpp.
    +
    +
    +
    + +
    +
    + + + + + + + + +
    boolean DW1000Time::operator== (const DW1000Time & cmp) const
    +
    +
    Examples:
    /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Time.cpp.
    +
    +
    +
    + +
    +
    + + + + + + + +
    void DW1000Time::print ()
    +
    +

    For debuging, print timestamp pretty as integer with arduinos serial

    Deprecated:
    use Serial.print(object)
    +
    Examples:
    /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Time.cpp.
    +
    +
    +
    + +
    +
    + + + + + + + + +
    size_t DW1000Time::printTo (Print & p) const
    +
    +

    Print timestamp of instance as integer with e.g. Serial.print()

    Parameters
    + + +
    pprinter instance
    +
    +
    +
    Returns
    size of printed chars
    +
    Examples:
    /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Time.cpp.
    +
    +
    +
    + +
    +
    + + + + + + + + +
    void DW1000Time::setTime (float timeUs)
    +
    +

    Initiates DW100Time with micro seconds

    Parameters
    + + +
    timeUstime in micro seconds
    +
    +
    +
    Todo:
    maybe replace by better function without float
    +
    Examples:
    /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Time.cpp.
    +
    +
    +
    + +
    +
    + + + + + + + + + + + + + + + + + + +
    void DW1000Time::setTime (int32_t value,
    float factorUs 
    )
    +
    +

    Set DW100Time with time and factor

    Parameters
    + + + +
    valuetime
    factorUsmultiply factor for time
    +
    +
    +
    Todo:
    maybe replace by better function without float
    + +
    +
    + +
    +
    + + + + + + + + +
    void DW1000Time::setTimestamp (int64_t value)
    +
    +

    Set timestamp

    Parameters
    + + +
    value- timestamp with intervall 1 is approx. 15ps
    +
    +
    +
    Examples:
    /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Time.cpp.
    +
    +
    +
    + +
    +
    + + + + + + + + +
    void DW1000Time::setTimestamp (byte data[])
    +
    +

    Set timestamp

    Parameters
    + + +
    datatimestamp as byte array
    +
    +
    + +
    +
    + +
    +
    + + + + + + + + +
    void DW1000Time::setTimestamp (const DW1000Time & copy)
    +
    +

    Set timestamp from other instance

    Parameters
    + + +
    copyinstance where the timestamp should be copied
    +
    +
    + +
    +
    + +
    +
    + + + + + + + +
    DW1000Time & DW1000Time::wrap ()
    +
    +
    Examples:
    /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Time.cpp.
    +
    +
    +
    +

    Member Data Documentation

    + +
    +
    + + + + + +
    + + + + +
    constexpr float DW1000Time::DISTANCE_OF_RADIO = 0.0046917639786159f
    +     		+static
    +
    +
    Examples:
    /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Time.cpp.
    +
    +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr float DW1000Time::DISTANCE_OF_RADIO_INV = 213.139451293f
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr uint8_t DW1000Time::LENGTH_TIMESTAMP = 5
    +     		+static
    +
    +
    Examples:
    /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Time.cpp.
    +
    +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr float DW1000Time::MICROSECONDS = 1
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr float DW1000Time::MILLISECONDS = 1e3
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr float DW1000Time::NANOSECONDS = 1e-3
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr float DW1000Time::SECONDS = 1e6
    +     		+static
    +
    + +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr int64_t DW1000Time::TIME_MAX = 0xffffffffff
    +     		+static
    +
    +
    Examples:
    /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Time.cpp.
    +
    +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr int64_t DW1000Time::TIME_OVERFLOW = 0x10000000000
    +     		+static
    +
    +
    Examples:
    /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Time.cpp.
    +
    +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr float DW1000Time::TIME_RES = 0.000015650040064103f
    +     		+static
    +
    +
    Examples:
    /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Time.cpp.
    +
    +
    +
    + +
    +
    + + + + + +
    + + + + +
    constexpr float DW1000Time::TIME_RES_INV = 63897.6f
    +     		+static
    +
    +
    Examples:
    /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Time.cpp.
    +
    +
    +
    +
    The documentation for this class was generated from the following files:
      +
    • /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Time.h
      • +
    • /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/DW1000Time.cpp
      • +
    +
    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/classes.html b/lib/DW1000/extras/doc/html/classes.html new file mode 100644 index 0000000..253cd24 --- /dev/null +++ b/lib/DW1000/extras/doc/html/classes.html @@ -0,0 +1,69 @@ + + + + + + +Arduino driver library for Decawave DW1000: Class Index + + + + + + +
    +
    + + + + + + +
    +
    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
    +
    +
    + + + + +
    +
    +
    +
    Class Index
    +
    +
    +
    D
    + + + + + +
      D  
    +    		DW1000Device   DW1000RangingClass   
    DW1000Mac   DW1000Time   
    DW1000Class   
    +
    D
    +
    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/closed.png b/lib/DW1000/extras/doc/html/closed.png new file mode 100644 index 0000000000000000000000000000000000000000..98cc2c909da37a6df914fbf67780eebd99c597f5 GIT binary patch literal 132 zcmeAS@N?(olHy`uVBq!ia0vp^oFL4>1|%O$WD@{V-kvUwAr*{o@8{^CZMh(5KoB^r_<4^zF@3)Cp&&t3hdujKf f*?bjBoY!V+E))@{xMcbjXe@)LtDnm{r-UW|*e5JT literal 0 HcmV?d00001 diff --git a/lib/DW1000/extras/doc/html/deprecated.html b/lib/DW1000/extras/doc/html/deprecated.html new file mode 100644 index 0000000..7b9f723 --- /dev/null +++ b/lib/DW1000/extras/doc/html/deprecated.html @@ -0,0 +1,59 @@ + + + + + + +Arduino driver library for Decawave DW1000: Deprecated List + + + + + + +
    +
    + + + + + + +
    +
    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
    +
    +
    + + + +
    +
    +
    +
    Deprecated List
    +
    +
    +
    +
    Member DW1000Time::getAsFloat () const
    +
    use getAsMicroSeconds()
    +
    Member DW1000Time::print ()
    +
    use Serial.print(object)
    +
    +
    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/deprecated_8h.html b/lib/DW1000/extras/doc/html/deprecated_8h.html new file mode 100644 index 0000000..18b64d5 --- /dev/null +++ b/lib/DW1000/extras/doc/html/deprecated_8h.html @@ -0,0 +1,105 @@ + + + + + + +Arduino driver library for Decawave DW1000: /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/deprecated.h File Reference + + + + + + +
    +
    + + + + + + +
    +
    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
    +
    +
    + + + + + +
    +
    +
    +Macros
    +
    +
    deprecated.h File Reference
    +
    +
    + +

    Go to the source code of this file.

    + + + + + + +

    +Macros

    #define DEPRECATED   __attribute__((deprecated))
     
    #define DEPRECATED_MSG(msg)   __attribute__((deprecated(msg)))
     
    +

    Macro Definition Documentation

    + +
    +
    + + + + +
    #define DEPRECATED   __attribute__((deprecated))
    +
    +

    Copyright (c) 2016 by Ludwig Grill (www.rotzbua.de) Simple deprecated workaround for Arduino IDE IDE 1.6.8 use gcc 4.8 which do not support c++14 [[deprecated]] Later versions should support c++14, then use c++14 syntax

    + +
    +
    + +
    +
    + + + + + + + + +
    #define DEPRECATED_MSG( msg)   __attribute__((deprecated(msg)))
    +
    + +
    +
    +
    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/deprecated_8h_source.html b/lib/DW1000/extras/doc/html/deprecated_8h_source.html new file mode 100644 index 0000000..f1eed70 --- /dev/null +++ b/lib/DW1000/extras/doc/html/deprecated_8h_source.html @@ -0,0 +1,63 @@ + + + + + + +Arduino driver library for Decawave DW1000: /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src/deprecated.h Source File + + + + + + +
    +
    + + + + + + +
    +
    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
    +
    +
    + + + + + +
    +
    +
    +
    deprecated.h
    +
    +
    +Go to the documentation of this file.
    1 
    7 #ifndef DEPRECATED_H
    8 #define DEPRECATED_H
    9 
    10 #ifdef __has_cpp_attribute
    11 #if __has_cpp_attribute(deprecated)
    12 #define DEPRECATED [[deprecated]]
    13 #define DEPRECATED_MSG(msg) [[deprecated(msg)]]
    14 #endif // __has_cpp_attribute(deprecated)
    15 #else
    16 #define DEPRECATED __attribute__((deprecated))
    17 #define DEPRECATED_MSG(msg) __attribute__((deprecated(msg)))
    18 #endif // __has_cpp_attribute
    19 
    20 #endif // DEPRECATED_H
    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/dir_68267d1309a1af8e8297ef4c3efbcdba.html b/lib/DW1000/extras/doc/html/dir_68267d1309a1af8e8297ef4c3efbcdba.html new file mode 100644 index 0000000..203e7a5 --- /dev/null +++ b/lib/DW1000/extras/doc/html/dir_68267d1309a1af8e8297ef4c3efbcdba.html @@ -0,0 +1,95 @@ + + + + + + +Arduino driver library for Decawave DW1000: /home/az/Dropbox/work/Arduino/az-z/arduino-dw1000/src Directory Reference + + + + + + +
    +
    + + + + + + +
    +
    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
    +
    +
    + + + + + +
    +
    +
    +
    src Directory Reference
    +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

    +Files

    file  deprecated.h [code]
     
    file  DW1000.cpp
     
    file  DW1000.h [code]
     
    file  DW1000CompileOptions.h [code]
     
    file  DW1000Constants.h [code]
     
    file  DW1000Device.cpp
     
    file  DW1000Device.h [code]
     
    file  DW1000Mac.cpp
     
    file  DW1000Mac.h [code]
     
    file  DW1000Ranging.cpp
     
    file  DW1000Ranging.h [code]
     
    file  DW1000Time.cpp
     
    file  DW1000Time.h [code]
     
    file  require_cpp11.h [code]
     
    +
    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
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+ -moz-border-radius-bottomright: 4px; + -moz-box-shadow: rgba(0, 0, 0, 0.15) 5px 5px 5px; + /* webkit specific markup */ + -webkit-border-bottom-left-radius: 4px; + -webkit-border-bottom-right-radius: 4px; + -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15); +} + +dl.reflist dt { + padding: 5px; +} + +dl.reflist dd { + margin: 0px 0px 10px 0px; + padding: 5px; +} + +.paramkey { + text-align: right; +} + +.paramtype { + white-space: nowrap; +} + +.paramname { + color: #602020; + white-space: nowrap; +} +.paramname em { + font-style: normal; +} +.paramname code { + line-height: 14px; +} + +.params, .retval, .exception, .tparams { + margin-left: 0px; + padding-left: 0px; +} + +.params .paramname, .retval .paramname { + font-weight: bold; + vertical-align: top; +} + +.params .paramtype { + font-style: italic; + vertical-align: top; +} + +.params .paramdir { + font-family: "courier new",courier,monospace; + vertical-align: top; +} + +table.mlabels { + border-spacing: 0px; +} + +td.mlabels-left { + width: 100%; + padding: 0px; +} + +td.mlabels-right { + vertical-align: bottom; + padding: 0px; + white-space: nowrap; +} + +span.mlabels { + margin-left: 8px; +} + +span.mlabel { + background-color: #728DC1; + border-top:1px solid #5373B4; + border-left:1px solid #5373B4; + border-right:1px solid #C4CFE5; + border-bottom:1px solid #C4CFE5; + text-shadow: none; + color: white; + margin-right: 4px; + padding: 2px 3px; + border-radius: 3px; + font-size: 7pt; + white-space: nowrap; + vertical-align: middle; +} + + + +/* @end */ + +/* these are for tree view inside a (index) page */ + +div.directory { + margin: 10px 0px; + border-top: 1px solid #9CAFD4; + border-bottom: 1px solid #9CAFD4; + width: 100%; +} + +.directory table { + border-collapse:collapse; +} + +.directory td { + margin: 0px; + padding: 0px; + vertical-align: top; +} + +.directory td.entry { + white-space: nowrap; + padding-right: 6px; + padding-top: 3px; +} + +.directory td.entry a { + outline:none; +} + +.directory td.entry a img { + border: none; +} + +.directory td.desc { + width: 100%; + padding-left: 6px; + padding-right: 6px; + padding-top: 3px; + border-left: 1px solid rgba(0,0,0,0.05); +} + +.directory tr.even { + padding-left: 6px; + background-color: #F7F8FB; +} + +.directory img { + vertical-align: -30%; +} + +.directory .levels { + white-space: nowrap; + width: 100%; + text-align: right; + font-size: 9pt; +} + +.directory .levels span { + cursor: pointer; + padding-left: 2px; + padding-right: 2px; + color: #3D578C; +} + +.arrow { + color: #9CAFD4; + -webkit-user-select: none; + -khtml-user-select: none; + -moz-user-select: none; + -ms-user-select: none; + user-select: none; + cursor: pointer; + font-size: 80%; + display: inline-block; + width: 16px; + height: 22px; +} + +.icon { + font-family: Arial, Helvetica; + font-weight: bold; + font-size: 12px; + height: 14px; + width: 16px; + display: inline-block; + background-color: #728DC1; + color: white; + text-align: center; + border-radius: 4px; + margin-left: 2px; + margin-right: 2px; +} + +.icona { + width: 24px; + height: 22px; + display: inline-block; +} + +.iconfopen { + width: 24px; + height: 18px; + margin-bottom: 4px; + background-image:url('folderopen.png'); + background-position: 0px -4px; + background-repeat: repeat-y; + vertical-align:top; + display: inline-block; +} + +.iconfclosed { + width: 24px; + height: 18px; + margin-bottom: 4px; + background-image:url('folderclosed.png'); + background-position: 0px -4px; + background-repeat: repeat-y; + vertical-align:top; + display: inline-block; +} + +.icondoc { + width: 24px; + height: 18px; + margin-bottom: 4px; + background-image:url('doc.png'); + background-position: 0px -4px; + background-repeat: repeat-y; + vertical-align:top; + display: inline-block; +} + +table.directory { + font: 400 14px Roboto,sans-serif; +} + +/* @end */ + +div.dynheader { + margin-top: 8px; + -webkit-touch-callout: none; + -webkit-user-select: none; + -khtml-user-select: none; + -moz-user-select: none; + -ms-user-select: none; + user-select: none; +} + +address { + font-style: normal; + color: #2A3D61; +} + +table.doxtable caption { + caption-side: top; +} + +table.doxtable { + border-collapse:collapse; + margin-top: 4px; + margin-bottom: 4px; +} + +table.doxtable td, table.doxtable th { + border: 1px solid #2D4068; + padding: 3px 7px 2px; +} + +table.doxtable th { + background-color: #374F7F; + color: #FFFFFF; + font-size: 110%; + padding-bottom: 4px; + padding-top: 5px; +} + +table.fieldtable { + /*width: 100%;*/ + margin-bottom: 10px; + border: 1px solid #A8B8D9; + border-spacing: 0px; + -moz-border-radius: 4px; + -webkit-border-radius: 4px; + border-radius: 4px; + -moz-box-shadow: rgba(0, 0, 0, 0.15) 2px 2px 2px; + -webkit-box-shadow: 2px 2px 2px rgba(0, 0, 0, 0.15); + box-shadow: 2px 2px 2px rgba(0, 0, 0, 0.15); +} + +.fieldtable td, .fieldtable th { + padding: 3px 7px 2px; +} + +.fieldtable td.fieldtype, .fieldtable td.fieldname { + white-space: nowrap; + border-right: 1px solid #A8B8D9; + border-bottom: 1px solid #A8B8D9; 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+ background-image:url('tab_b.png'); + background-repeat:repeat-x; + background-position: 0 -5px; + height:30px; + line-height:30px; + color:#8AA0CC; + border:solid 1px #C2CDE4; + overflow:hidden; + margin:0px; + padding:0px; +} + +.navpath li +{ + list-style-type:none; + float:left; + padding-left:10px; + padding-right:15px; + background-image:url('bc_s.png'); + background-repeat:no-repeat; + background-position:right; + color:#364D7C; +} + +.navpath li.navelem a +{ + height:32px; + display:block; + text-decoration: none; + outline: none; + color: #283A5D; + font-family: 'Lucida Grande',Geneva,Helvetica,Arial,sans-serif; + text-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9); + text-decoration: none; +} + +.navpath li.navelem a:hover +{ + color:#6884BD; +} + +.navpath li.footer +{ + list-style-type:none; + float:right; + padding-left:10px; + padding-right:15px; + background-image:none; + background-repeat:no-repeat; + background-position:right; + color:#364D7C; + font-size: 8pt; +} + + +div.summary +{ + float: right; + font-size: 8pt; + padding-right: 5px; + width: 50%; + text-align: right; +} + +div.summary a +{ + white-space: nowrap; +} + +table.classindex +{ + margin: 10px; + white-space: nowrap; + margin-left: 3%; + margin-right: 3%; + width: 94%; + border: 0; + border-spacing: 0; + padding: 0; +} + +div.ingroups +{ + font-size: 8pt; + width: 50%; + text-align: left; +} + +div.ingroups a +{ + white-space: nowrap; +} + +div.header +{ + background-image:url('nav_h.png'); + background-repeat:repeat-x; + background-color: #F9FAFC; + margin: 0px; + border-bottom: 1px solid #C4CFE5; +} + +div.headertitle +{ + padding: 5px 5px 5px 10px; +} + +dl +{ + padding: 0 0 0 10px; +} + +/* dl.note, dl.warning, dl.attention, dl.pre, dl.post, dl.invariant, dl.deprecated, dl.todo, dl.test, dl.bug */ +dl.section +{ + margin-left: 0px; + padding-left: 0px; +} + +dl.note +{ + margin-left:-7px; + padding-left: 3px; + border-left:4px solid; + border-color: #D0C000; +} + +dl.warning, dl.attention +{ + margin-left:-7px; 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+ background-color: white; + border: 1px solid gray; + border-radius: 4px 4px 4px 4px; + box-shadow: 1px 1px 7px gray; + display: none; + font-size: smaller; + max-width: 80%; + opacity: 0.9; + padding: 1ex 1em 1em; + position: absolute; + z-index: 2147483647; +} + +#powerTip div.ttdoc { + color: grey; + font-style: italic; +} + +#powerTip div.ttname a { + font-weight: bold; +} + +#powerTip div.ttname { + font-weight: bold; +} + +#powerTip div.ttdeci { + color: #006318; +} + +#powerTip div { + margin: 0px; + padding: 0px; + font: 12px/16px Roboto,sans-serif; +} + +#powerTip:before, #powerTip:after { + content: ""; + position: absolute; + margin: 0px; +} + +#powerTip.n:after, #powerTip.n:before, +#powerTip.s:after, #powerTip.s:before, +#powerTip.w:after, #powerTip.w:before, +#powerTip.e:after, #powerTip.e:before, +#powerTip.ne:after, #powerTip.ne:before, +#powerTip.se:after, #powerTip.se:before, +#powerTip.nw:after, #powerTip.nw:before, +#powerTip.sw:after, #powerTip.sw:before { + border: solid transparent; 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+ var summary = $('#'+base+'-summary'); + var content = $('#'+base+'-content'); + var trigger = $('#'+base+'-trigger'); + var src=$(trigger).attr('src'); + if (content.is(':visible')===true) { + content.hide(); + summary.show(); + $(linkObj).addClass('closed').removeClass('opened'); + $(trigger).attr('src',src.substring(0,src.length-8)+'closed.png'); + } else { + content.show(); + summary.hide(); + $(linkObj).removeClass('closed').addClass('opened'); + $(trigger).attr('src',src.substring(0,src.length-10)+'open.png'); + } + return false; +} + +function updateStripes() +{ + $('table.directory tr'). + removeClass('even').filter(':visible:even').addClass('even'); +} + +function toggleLevel(level) +{ + $('table.directory tr').each(function() { + var l = this.id.split('_').length-1; + var i = $('#img'+this.id.substring(3)); + var a = $('#arr'+this.id.substring(3)); + if (l + + + + + +Arduino driver library for Decawave DW1000: Examples + + + + + + +
    +
    + + + + + + +
    +
    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
    +
    +
    + + + +
    +
    +
    +
    Examples
    +
    +
    +
    Here is a list of all examples:
    +
    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/files.html b/lib/DW1000/extras/doc/html/files.html new file mode 100644 index 0000000..25b8819 --- /dev/null +++ b/lib/DW1000/extras/doc/html/files.html @@ -0,0 +1,78 @@ + + + + + + +Arduino driver library for Decawave DW1000: File List + + + + + + +
    +
    + + + + + + +
    +
    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
    +
    +
    + + + + +
    +
    +
    +
    File List
    +
    +
    +
    Here is a list of all files with brief descriptions:
    +
    [detail level 12]
    + + + + + + + + + + + + + + + +
     ▼ src
     deprecated.h
     DW1000.cpp
     DW1000.h
     DW1000CompileOptions.h
     DW1000Constants.h
     DW1000Device.cpp
     DW1000Device.h
     DW1000Mac.cpp
     DW1000Mac.h
     DW1000Ranging.cpp
     DW1000Ranging.h
     DW1000Time.cpp
     DW1000Time.h
     require_cpp11.h
    +
    +
    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
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    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
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    + + + + + + +
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    - ~ -

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    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
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    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
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    + + diff --git a/lib/DW1000/extras/doc/html/functions_func_d.html b/lib/DW1000/extras/doc/html/functions_func_d.html new file mode 100644 index 0000000..8f71a28 --- /dev/null +++ b/lib/DW1000/extras/doc/html/functions_func_d.html @@ -0,0 +1,112 @@ + + + + + + +Arduino driver library for Decawave DW1000: Class Members - Functions + + + + + + +
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    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
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    + + diff --git a/lib/DW1000/extras/doc/html/functions_func_e.html b/lib/DW1000/extras/doc/html/functions_func_e.html new file mode 100644 index 0000000..07fb6e2 --- /dev/null +++ b/lib/DW1000/extras/doc/html/functions_func_e.html @@ -0,0 +1,100 @@ + + + + + + +Arduino driver library for Decawave DW1000: Class Members - Functions + + + + + + +
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    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
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    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/functions_func_g.html b/lib/DW1000/extras/doc/html/functions_func_g.html new file mode 100644 index 0000000..9f19208 --- /dev/null +++ b/lib/DW1000/extras/doc/html/functions_func_g.html @@ -0,0 +1,202 @@ + + + + + + +Arduino driver library for Decawave DW1000: Class Members - Functions + + + + + + +
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    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
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    + + diff --git a/lib/DW1000/extras/doc/html/functions_func_h.html b/lib/DW1000/extras/doc/html/functions_func_h.html new file mode 100644 index 0000000..f705851 --- /dev/null +++ b/lib/DW1000/extras/doc/html/functions_func_h.html @@ -0,0 +1,94 @@ + + + + + + +Arduino driver library for Decawave DW1000: Class Members - Functions + + + + + + +
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    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
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    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/functions_func_i.html b/lib/DW1000/extras/doc/html/functions_func_i.html new file mode 100644 index 0000000..4b46fd9 --- /dev/null +++ b/lib/DW1000/extras/doc/html/functions_func_i.html @@ -0,0 +1,148 @@ + + + + + + +Arduino driver library for Decawave DW1000: Class Members - Functions + + + + + + +
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    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
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    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/functions_func_l.html b/lib/DW1000/extras/doc/html/functions_func_l.html new file mode 100644 index 0000000..2f297b0 --- /dev/null +++ b/lib/DW1000/extras/doc/html/functions_func_l.html @@ -0,0 +1,94 @@ + + + + + + +Arduino driver library for Decawave DW1000: Class Members - Functions + + + + + + +
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    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
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    + + + + + + +
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    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/functions_func_m.html b/lib/DW1000/extras/doc/html/functions_func_m.html new file mode 100644 index 0000000..66fd0fa --- /dev/null +++ b/lib/DW1000/extras/doc/html/functions_func_m.html @@ -0,0 +1,94 @@ + + + + + + +Arduino driver library for Decawave DW1000: Class Members - Functions + + + + + + +
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    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
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    +
    + + + + + + +
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    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/functions_func_n.html b/lib/DW1000/extras/doc/html/functions_func_n.html new file mode 100644 index 0000000..87f1f98 --- /dev/null +++ b/lib/DW1000/extras/doc/html/functions_func_n.html @@ -0,0 +1,106 @@ + + + + + + +Arduino driver library for Decawave DW1000: Class Members - Functions + + + + + + +
    +
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    +
    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
    +
    +
    + + + + + + +
    +
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    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/functions_func_o.html b/lib/DW1000/extras/doc/html/functions_func_o.html new file mode 100644 index 0000000..2ce0a15 --- /dev/null +++ b/lib/DW1000/extras/doc/html/functions_func_o.html @@ -0,0 +1,124 @@ + + + + + + +Arduino driver library for Decawave DW1000: Class Members - Functions + + + + + + +
    +
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    +
    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
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    +
    + + + + + + +
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    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/functions_func_p.html b/lib/DW1000/extras/doc/html/functions_func_p.html new file mode 100644 index 0000000..3537c52 --- /dev/null +++ b/lib/DW1000/extras/doc/html/functions_func_p.html @@ -0,0 +1,97 @@ + + + + + + +Arduino driver library for Decawave DW1000: Class Members - Functions + + + + + + +
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    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
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    +
    + + + + + + +
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    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/functions_func_r.html b/lib/DW1000/extras/doc/html/functions_func_r.html new file mode 100644 index 0000000..a773fc3 --- /dev/null +++ b/lib/DW1000/extras/doc/html/functions_func_r.html @@ -0,0 +1,127 @@ + + + + + + +Arduino driver library for Decawave DW1000: Class Members - Functions + + + + + + +
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    + + + + + + +
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    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
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    +
    + + + + + + +
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    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/functions_func_s.html b/lib/DW1000/extras/doc/html/functions_func_s.html new file mode 100644 index 0000000..07a86a0 --- /dev/null +++ b/lib/DW1000/extras/doc/html/functions_func_s.html @@ -0,0 +1,233 @@ + + + + + + +Arduino driver library for Decawave DW1000: Class Members - Functions + + + + + + +
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    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
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    +
    + + + + + + +
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    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/functions_func_t.html b/lib/DW1000/extras/doc/html/functions_func_t.html new file mode 100644 index 0000000..06a4208 --- /dev/null +++ b/lib/DW1000/extras/doc/html/functions_func_t.html @@ -0,0 +1,94 @@ + + + + + + +Arduino driver library for Decawave DW1000: Class Members - Functions + + + + + + +
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    + + + + + + +
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    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
    +
    +
    + + + + + + +
    +
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    - t -

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    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/functions_func_u.html b/lib/DW1000/extras/doc/html/functions_func_u.html new file mode 100644 index 0000000..e19b22d --- /dev/null +++ b/lib/DW1000/extras/doc/html/functions_func_u.html @@ -0,0 +1,100 @@ + + + + + + +Arduino driver library for Decawave DW1000: Class Members - Functions + + + + + + +
    +
    + + + + + + +
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    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
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    +
    + + + + + + +
    +
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    - u -

    +
    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/functions_func_v.html b/lib/DW1000/extras/doc/html/functions_func_v.html new file mode 100644 index 0000000..9b29b6c --- /dev/null +++ b/lib/DW1000/extras/doc/html/functions_func_v.html @@ -0,0 +1,94 @@ + + + + + + +Arduino driver library for Decawave DW1000: Class Members - Functions + + + + + + +
    +
    + + + + + + +
    +
    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
    +
    +
    + + + + + + +
    +
    +  + +

    - v -

    +
    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/functions_func_w.html b/lib/DW1000/extras/doc/html/functions_func_w.html new file mode 100644 index 0000000..1c8ad71 --- /dev/null +++ b/lib/DW1000/extras/doc/html/functions_func_w.html @@ -0,0 +1,121 @@ + + + + + + +Arduino driver library for Decawave DW1000: Class Members - Functions + + + + + + +
    +
    + + + + + + +
    +
    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
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    +
    + + + + + + +
    +
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    - w -

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    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/functions_g.html b/lib/DW1000/extras/doc/html/functions_g.html new file mode 100644 index 0000000..372bb20 --- /dev/null +++ b/lib/DW1000/extras/doc/html/functions_g.html @@ -0,0 +1,205 @@ + + + + + + +Arduino driver library for Decawave DW1000: Class Members + + + + + + +
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    + + + + + + +
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    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
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    +
    + + + + + + +
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    +
    Here is a list of all class members with links to the classes they belong to:
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    - g -

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    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/functions_h.html b/lib/DW1000/extras/doc/html/functions_h.html new file mode 100644 index 0000000..548e030 --- /dev/null +++ b/lib/DW1000/extras/doc/html/functions_h.html @@ -0,0 +1,97 @@ + + + + + + +Arduino driver library for Decawave DW1000: Class Members + + + + + + +
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    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
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    +
    + + + + + + +
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    +
    Here is a list of all class members with links to the classes they belong to:
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    - h -

    +
    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/functions_i.html b/lib/DW1000/extras/doc/html/functions_i.html new file mode 100644 index 0000000..1a1f48a --- /dev/null +++ b/lib/DW1000/extras/doc/html/functions_i.html @@ -0,0 +1,151 @@ + + + + + + +Arduino driver library for Decawave DW1000: Class Members + + + + + + +
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    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
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    + + + + + + +
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    +
    Here is a list of all class members with links to the classes they belong to:
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    - i -

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    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/functions_l.html b/lib/DW1000/extras/doc/html/functions_l.html new file mode 100644 index 0000000..3c844c0 --- /dev/null +++ b/lib/DW1000/extras/doc/html/functions_l.html @@ -0,0 +1,100 @@ + + + + + + +Arduino driver library for Decawave DW1000: Class Members + + + + + + +
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    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
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    Here is a list of all class members with links to the classes they belong to:
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    - l -

    +
    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/functions_m.html b/lib/DW1000/extras/doc/html/functions_m.html new file mode 100644 index 0000000..c2509f7 --- /dev/null +++ b/lib/DW1000/extras/doc/html/functions_m.html @@ -0,0 +1,121 @@ + + + + + + +Arduino driver library for Decawave DW1000: Class Members + + + + + + +
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    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
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    + + + + + + +
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    +
    Here is a list of all class members with links to the classes they belong to:
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    - m -

    +
    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/functions_n.html b/lib/DW1000/extras/doc/html/functions_n.html new file mode 100644 index 0000000..45c9957 --- /dev/null +++ b/lib/DW1000/extras/doc/html/functions_n.html @@ -0,0 +1,112 @@ + + + + + + +Arduino driver library for Decawave DW1000: Class Members + + + + + + +
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    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
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    + + + + + + +
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    +
    Here is a list of all class members with links to the classes they belong to:
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    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/functions_o.html b/lib/DW1000/extras/doc/html/functions_o.html new file mode 100644 index 0000000..cbf847b --- /dev/null +++ b/lib/DW1000/extras/doc/html/functions_o.html @@ -0,0 +1,127 @@ + + + + + + +Arduino driver library for Decawave DW1000: Class Members + + + + + + +
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    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
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    +
    Here is a list of all class members with links to the classes they belong to:
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    - o -

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    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/functions_p.html b/lib/DW1000/extras/doc/html/functions_p.html new file mode 100644 index 0000000..ce09c24 --- /dev/null +++ b/lib/DW1000/extras/doc/html/functions_p.html @@ -0,0 +1,163 @@ + + + + + + +Arduino driver library for Decawave DW1000: Class Members + + + + + + +
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    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
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    Here is a list of all class members with links to the classes they belong to:
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    - p -

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    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
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    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
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    Here is a list of all class members with links to the classes they belong to:
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    - r -

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    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/functions_s.html b/lib/DW1000/extras/doc/html/functions_s.html new file mode 100644 index 0000000..a94c6e2 --- /dev/null +++ b/lib/DW1000/extras/doc/html/functions_s.html @@ -0,0 +1,239 @@ + + + + + + +Arduino driver library for Decawave DW1000: Class Members + + + + + + +
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    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
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    + + + + + + +
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    Here is a list of all class members with links to the classes they belong to:
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    - s -

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    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/functions_t.html b/lib/DW1000/extras/doc/html/functions_t.html new file mode 100644 index 0000000..e7dabe0 --- /dev/null +++ b/lib/DW1000/extras/doc/html/functions_t.html @@ -0,0 +1,166 @@ + + + + + + +Arduino driver library for Decawave DW1000: Class Members + + + + + + +
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    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
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    +
    + + + + + + +
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    +
    Here is a list of all class members with links to the classes they belong to:
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    - t -

    +
    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/functions_u.html b/lib/DW1000/extras/doc/html/functions_u.html new file mode 100644 index 0000000..1f91421 --- /dev/null +++ b/lib/DW1000/extras/doc/html/functions_u.html @@ -0,0 +1,103 @@ + + + + + + +Arduino driver library for Decawave DW1000: Class Members + + + + + + +
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    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
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    +
    + + + + + + +
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    +
    Here is a list of all class members with links to the classes they belong to:
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    - u -

    +
    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/functions_v.html b/lib/DW1000/extras/doc/html/functions_v.html new file mode 100644 index 0000000..7bac988 --- /dev/null +++ b/lib/DW1000/extras/doc/html/functions_v.html @@ -0,0 +1,97 @@ + + + + + + +Arduino driver library for Decawave DW1000: Class Members + + + + + + +
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    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
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    + + + + + + +
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    +
    Here is a list of all class members with links to the classes they belong to:
    + +

    - v -

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    + +
    +Generated on Tue Dec 20 2016 01:32:18 for Arduino driver library for Decawave DW1000 by   +doxygen + 1.8.11 +
    + + diff --git a/lib/DW1000/extras/doc/html/functions_vars.html b/lib/DW1000/extras/doc/html/functions_vars.html new file mode 100644 index 0000000..566179a --- /dev/null +++ b/lib/DW1000/extras/doc/html/functions_vars.html @@ -0,0 +1,484 @@ + + + + + + +Arduino driver library for Decawave DW1000: Class Members - Variables + + + + + + +
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    Arduino driver library for Decawave DW1000 +  Dec 20 2016 +
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    Arduino driver library for Decawave DW1000 Documentation
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n={width:(m.helper.width()-k),height:(m.helper.height()-f)},j=(parseInt(m.element.css("left"),10)+(m.position.left-m.originalPosition.left))||null,l=(parseInt(m.element.css("top"),10)+(m.position.top-m.originalPosition.top))||null;if(!i.animate){this.element.css(c.extend(n,{top:l,left:j}))}m.helper.height(m.size.height);m.helper.width(m.size.width);if(this._helper&&!i.animate){this._proportionallyResize()}}c("body").css("cursor","auto");this.element.removeClass("ui-resizable-resizing");this._propagate("stop",h);if(this._helper){this.helper.remove()}return false},_updateVirtualBoundaries:function(g){var j=this.options,i,h,f,k,e;e={minWidth:a(j.minWidth)?j.minWidth:0,maxWidth:a(j.maxWidth)?j.maxWidth:Infinity,minHeight:a(j.minHeight)?j.minHeight:0,maxHeight:a(j.maxHeight)?j.maxHeight:Infinity};if(this._aspectRatio||g){i=e.minHeight*this.aspectRatio;f=e.minWidth/this.aspectRatio;h=e.maxHeight*this.aspectRatio;k=e.maxWidth/this.aspectRatio;if(i>e.minWidth){e.minWidth=i}if(f>e.minHeight){e.minHeight=f}if(hl.width),s=a(l.height)&&i.minHeight&&(i.minHeight>l.height);if(h){l.width=i.minWidth}if(s){l.height=i.minHeight}if(t){l.width=i.maxWidth}if(m){l.height=i.maxHeight}var f=this.originalPosition.left+this.originalSize.width,p=this.position.top+this.size.height;var k=/sw|nw|w/.test(q),e=/nw|ne|n/.test(q);if(h&&k){l.left=f-i.minWidth}if(t&&k){l.left=f-i.maxWidth}if(s&&e){l.top=p-i.minHeight}if(m&&e){l.top=p-i.maxHeight}var n=!l.width&&!l.height;if(n&&!l.left&&l.top){l.top=null}else{if(n&&!l.top&&l.left){l.left=null}}return l},_proportionallyResize:function(){var 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c.extend(this._change.s.apply(this,arguments),this._change.w.apply(this,[g,f,e]))},ne:function(g,f,e){return c.extend(this._change.n.apply(this,arguments),this._change.e.apply(this,[g,f,e]))},nw:function(g,f,e){return c.extend(this._change.n.apply(this,arguments),this._change.w.apply(this,[g,f,e]))}},_propagate:function(f,e){c.ui.plugin.call(this,f,[e,this.ui()]);(f!="resize"&&this._trigger(f,e,this.ui()))},plugins:{},ui:function(){return{originalElement:this.originalElement,element:this.element,helper:this.helper,position:this.position,size:this.size,originalSize:this.originalSize,originalPosition:this.originalPosition}}});c.extend(c.ui.resizable,{version:"1.8.18"});c.ui.plugin.add("resizable","alsoResize",{start:function(f,g){var e=c(this).data("resizable"),i=e.options;var h=function(j){c(j).each(function(){var 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t=(r[u]||0)+(k[u]||0);if(t&&t>=0){p[u]=t||null}});q.css(p)})};if(typeof(j.alsoResize)=="object"&&!j.alsoResize.nodeType){c.each(j.alsoResize,function(m,n){e(m,n)})}else{e(j.alsoResize)}},stop:function(e,f){c(this).removeData("resizable-alsoresize")}});c.ui.plugin.add("resizable","animate",{stop:function(i,n){var p=c(this).data("resizable"),j=p.options;var h=p._proportionallyResizeElements,e=h.length&&(/textarea/i).test(h[0].nodeName),f=e&&c.ui.hasScroll(h[0],"left")?0:p.sizeDiff.height,l=e?0:p.sizeDiff.width;var g={width:(p.size.width-l),height:(p.size.height-f)},k=(parseInt(p.element.css("left"),10)+(p.position.left-p.originalPosition.left))||null,m=(parseInt(p.element.css("top"),10)+(p.position.top-p.originalPosition.top))||null;p.element.animate(c.extend(g,m&&k?{top:m,left:k}:{}),{duration:j.animateDuration,easing:j.animateEasing,step:function(){var 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t=c(this).data("resizable"),i=t.options,f=t.containerSize,p=t.containerOffset,m=t.size,n=t.position,r=t._aspectRatio||g.shiftKey,e={top:0,left:0},h=t.containerElement;if(h[0]!=document&&(/static/).test(h.css("position"))){e=p}if(n.left<(t._helper?p.left:0)){t.size.width=t.size.width+(t._helper?(t.position.left-p.left):(t.position.left-e.left));if(r){t.size.height=t.size.width/i.aspectRatio}t.position.left=i.helper?p.left:0}if(n.top<(t._helper?p.top:0)){t.size.height=t.size.height+(t._helper?(t.position.top-p.top):t.position.top);if(r){t.size.width=t.size.height*i.aspectRatio}t.position.top=t._helper?p.top:0}t.offset.left=t.parentData.left+t.position.left;t.offset.top=t.parentData.top+t.position.top;var l=Math.abs((t._helper?t.offset.left-e.left:(t.offset.left-e.left))+t.sizeDiff.width),s=Math.abs((t._helper?t.offset.top-e.top:(t.offset.top-p.top))+t.sizeDiff.height);var k=t.containerElement.get(0)==t.element.parent().get(0),j=/relative|absolute/.test(t.containerElement.css("position"));if(k&&j){l-=t.parentData.left}if(l+t.size.width>=t.parentData.width){t.size.width=t.parentData.width-l;if(r){t.size.height=t.size.width/t.aspectRatio}}if(s+t.size.height>=t.parentData.height){t.size.height=t.parentData.height-s;if(r){t.size.width=t.size.height*t.aspectRatio}}},stop:function(f,n){var q=c(this).data("resizable"),g=q.options,l=q.position,m=q.containerOffset,e=q.containerPosition,i=q.containerElement;var j=c(q.helper),r=j.offset(),p=j.outerWidth()-q.sizeDiff.width,k=j.outerHeight()-q.sizeDiff.height;if(q._helper&&!g.animate&&(/relative/).test(i.css("position"))){c(this).css({left:r.left-e.left-m.left,width:p,height:k})}if(q._helper&&!g.animate&&(/static/).test(i.css("position"))){c(this).css({left:r.left-e.left-m.left,width:p,height:k})}}});c.ui.plugin.add("resizable","ghost",{start:function(g,h){var e=c(this).data("resizable"),i=e.options,f=e.size;e.ghost=e.originalElement.clone();e.ghost.css({opacity:0.25,display:"block",position:"relative",height:f.height,width:f.width,margin:0,left:0,top:0}).addClass("ui-resizable-ghost").addClass(typeof i.ghost=="string"?i.ghost:"");e.ghost.appendTo(e.helper)},resize:function(f,g){var e=c(this).data("resizable"),h=e.options;if(e.ghost){e.ghost.css({position:"relative",height:e.size.height,width:e.size.width})}},stop:function(f,g){var e=c(this).data("resizable"),h=e.options;if(e.ghost&&e.helper){e.helper.get(0).removeChild(e.ghost.get(0))}}});c.ui.plugin.add("resizable","grid",{resize:function(e,m){var p=c(this).data("resizable"),h=p.options,k=p.size,i=p.originalSize,j=p.originalPosition,n=p.axis,l=h._aspectRatio||e.shiftKey;h.grid=typeof h.grid=="number"?[h.grid,h.grid]:h.grid;var g=Math.round((k.width-i.width)/(h.grid[0]||1))*(h.grid[0]||1),f=Math.round((k.height-i.height)/(h.grid[1]||1))*(h.grid[1]||1);if(/^(se|s|e)$/.test(n)){p.size.width=i.width+g;p.size.height=i.height+f}else{if(/^(ne)$/.test(n)){p.size.width=i.width+g;p.size.height=i.height+f;p.position.top=j.top-f}else{if(/^(sw)$/.test(n)){p.size.width=i.width+g;p.size.height=i.height+f;p.position.left=j.left-g}else{p.size.width=i.width+g;p.size.height=i.height+f;p.position.top=j.top-f;p.position.left=j.left-g}}}}});var b=function(e){return parseInt(e,10)||0};var a=function(e){return !isNaN(parseInt(e,10))}})(jQuery);/*! + * jQuery hashchange event - v1.3 - 7/21/2010 + * http://benalman.com/projects/jquery-hashchange-plugin/ + * + * Copyright (c) 2010 "Cowboy" Ben Alman + * Dual licensed under the MIT and GPL licenses. + * http://benalman.com/about/license/ + */ +(function($,e,b){var c="hashchange",h=document,f,g=$.event.special,i=h.documentMode,d="on"+c in e&&(i===b||i>7);function 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