void DW1000RangingClass::transmitRange(DW1000Device *myDistantDevice) {
//transmit range need to accept broadcast for multiple anchor
transmitInit();
if(myDistantDevice==NULL)
{
//we need to set our timerDelay:
_timerDelay=DEFAULT_TIMER_DELAY+(int)(_networkDevicesNumber*3*DEFAULT_REPLY_DELAY_TIME/1000);
byte shortBroadcast[2]={0xFF, 0xFF};
_globalMac.generateShortMACFrame(data, _currentShortAddress, shortBroadcast);
data[SHORT_MAC_LEN] = RANGE;
//we enter the number of devices
data[SHORT_MAC_LEN+1]=_networkDevicesNumber;
// delay sending the message and remember expected future sent timestamp
DW1000Time deltaTime = DW1000Time(DEFAULT_REPLY_DELAY_TIME, DW_MICROSECONDS);
DW1000Time timeRangeSent = DW1000.setDelay(deltaTime);
for(short i=0; i<_networkDevicesNumber; i++)
{
//we write the short address of our device:
memcpy(data+SHORT_MAC_LEN+2+17*i, _networkDevices[i].getByteShortAddress(), 2);
//we get the device which correspond to the message which was sent (need to be filtered by MAC address)
_networkDevices[i].timeRangeSent = timeRangeSent;
_networkDevices[i].timePollSent.getTimestamp(data+SHORT_MAC_LEN+4+17*i);
_networkDevices[i].timePollAckReceived.getTimestamp(data+SHORT_MAC_LEN+9+17*i);
_networkDevices[i].timeRangeSent.getTimestamp(data+SHORT_MAC_LEN+14+17*i);
}
copyShortAddress(_lastSentToShortAddress, shortBroadcast);
}
else{
_globalMac.generateShortMACFrame(data, _currentShortAddress, myDistantDevice->getByteShortAddress());
data[SHORT_MAC_LEN] = RANGE;
// delay sending the message and remember expected future sent timestamp
DW1000Time deltaTime = DW1000Time(_replyDelayTimeUS, DW_MICROSECONDS);
//we get the device which correspond to the message which was sent (need to be filtered by MAC address)
myDistantDevice->timeRangeSent = DW1000.setDelay(deltaTime);
myDistantDevice->timePollSent.getTimestamp(data+1+SHORT_MAC_LEN);
myDistantDevice->timePollAckReceived.getTimestamp(data+6+SHORT_MAC_LEN);
myDistantDevice->timeRangeSent.getTimestamp(data+11+SHORT_MAC_LEN);
copyShortAddress(_lastSentToShortAddress,myDistantDevice->getByteShortAddress());
}
transmit(data);
}
void DW1000RangingClass::transmitPoll(DW1000Device *myDistantDevice) {
transmitInit();
if(myDistantDevice==NULL)
{
//we need to set our timerDelay:
_timerDelay=DEFAULT_TIMER_DELAY+(int)(_networkDevicesNumber*3*DEFAULT_REPLY_DELAY_TIME/1000);
byte shortBroadcast[2]={0xFF, 0xFF};
_globalMac.generateShortMACFrame(data, _currentShortAddress, shortBroadcast);
data[SHORT_MAC_LEN] = POLL;
//we enter the number of devices
data[SHORT_MAC_LEN+1]=_networkDevicesNumber;
for(short i=0; i<_networkDevicesNumber; i++)
{
//each devices have a different reply delay time.
_networkDevices[i].setReplyTime((2*i+1)*DEFAULT_REPLY_DELAY_TIME);
//we write the short address of our device:
memcpy(data+SHORT_MAC_LEN+2+4*i, _networkDevices[i].getByteShortAddress(), 2);
//we add the replyTime
unsigned int replyTime=_networkDevices[i].getReplyTime();
memcpy(data+SHORT_MAC_LEN+2+2+4*i, &replyTime, 2);
}
copyShortAddress(_lastSentToShortAddress,shortBroadcast);
}
else{
//we redefine our default_timer_delay for just 1 device;
_timerDelay=DEFAULT_TIMER_DELAY;
_globalMac.generateShortMACFrame(data, _currentShortAddress, myDistantDevice->getByteShortAddress());
data[SHORT_MAC_LEN] = POLL;
data[SHORT_MAC_LEN+1]=1;
unsigned int replyTime=myDistantDevice->getReplyTime();
memcpy(data+SHORT_MAC_LEN+2, &replyTime, sizeof(int));
copyShortAddress(_lastSentToShortAddress,myDistantDevice->getByteShortAddress());
}
transmit(data);
}
void DW1000RangingClass::transmitRangeFailed(DW1000Device *myDistantDevice) {
transmitInit();
_globalMac.generateShortMACFrame(data, _currentShortAddress, myDistantDevice->getByteShortAddress());
data[SHORT_MAC_LEN] = RANGE_FAILED;
copyShortAddress(_lastSentToShortAddress,myDistantDevice->getByteShortAddress());
transmit(data);
}
void DW1000RangingClass::transmitPoll(DW1000Device *myDistantDevice) {
transmitInit();
//we generate the mac frame for a Poll message
_globalMac.generateShortMACFrame(data, _currentShortAddress, myDistantDevice->getByteShortAddress());
data[SHORT_MAC_LEN] = POLL;
copyShortAddress(_lastSentToShortAddress,myDistantDevice->getByteShortAddress());
transmit(data);
}
void DW1000RangingClass::transmitPollAck(DW1000Device *myDistantDevice) {
transmitInit();
_globalMac.generateShortMACFrame(data, _currentShortAddress, myDistantDevice->getByteShortAddress());
data[SHORT_MAC_LEN] = POLL_ACK;
// delay the same amount as ranging tag
DW1000Time deltaTime = DW1000Time(_replyDelayTimeUS, DW_MICROSECONDS);
copyShortAddress(_lastSentToShortAddress,myDistantDevice->getByteShortAddress());
transmit(data, deltaTime);
}
void DW1000RangingClass::transmitRangingInit(DW1000Device *myDistantDevice){
transmitInit();
//we generate the mac frame for a ranging init message
_globalMac.generateLongMACFrame(data, _currentShortAddress, myDistantDevice->getByteAddress());
//we define the function code
data[LONG_MAC_LEN]=RANGING_INIT;
copyShortAddress(_lastSentToShortAddress,myDistantDevice->getByteShortAddress());
transmit(data);
}
void DW1000RangingClass::transmitRangeReport(DW1000Device *myDistantDevice) {
transmitInit();
_globalMac.generateShortMACFrame(data, _currentShortAddress, myDistantDevice->getByteShortAddress());
data[SHORT_MAC_LEN] = RANGE_REPORT;
// write final ranging result
float curRange=myDistantDevice->getRange();
float curRXPower=myDistantDevice->getRXPower();
//We add the Range and then the RXPower
memcpy(data+1+SHORT_MAC_LEN, &curRange, 4);
memcpy(data+5+SHORT_MAC_LEN, &curRXPower, 4);
copyShortAddress(_lastSentToShortAddress,myDistantDevice->getByteShortAddress());
transmit(data);
}
void DW1000RangingClass::transmitRange(DW1000Device *myDistantDevice) {
transmitInit();
_globalMac.generateShortMACFrame(data, _currentShortAddress, myDistantDevice->getByteShortAddress());
data[SHORT_MAC_LEN] = RANGE;
// delay sending the message and remember expected future sent timestamp
DW1000Time deltaTime = DW1000Time(_replyDelayTimeUS, DW_MICROSECONDS);
//we get the device which correspond to the message which was sent (need to be filtered by MAC address)
myDistantDevice->timeRangeSent = DW1000.setDelay(deltaTime);
myDistantDevice->timePollSent.getTimestamp(data+1+SHORT_MAC_LEN);
myDistantDevice->timePollAckReceived.getTimestamp(data+6+SHORT_MAC_LEN);
myDistantDevice->timeRangeSent.getTimestamp(data+11+SHORT_MAC_LEN);
copyShortAddress(_lastSentToShortAddress,myDistantDevice->getByteShortAddress());
transmit(data);
//Serial.print("Expect RANGE to be sent @ "); Serial.println(timeRangeSent.getAsFloat());
}
