tdoa-device.h

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#pragma once
 
#include <pin_config.h>
#include <datatypes.h>
#include <dw3000.h>
#include <dw3000_mac_802_15_4.h>
 
#define DEST_PAN_ID 0x4321
 
/* Index to access to sequence number of the blink frame in the tx_msg array. */
#define BLINK_FRAME_SN_IDX 1
 
#define FRAME_LENGTH (sizeof(tx_msg) + FCS_LEN) // The real length that is going to be transmitted
 
/* Inter-frame delay period, in milliseconds. */
#define RNG_DELAY_TDOA 500 /* Inter-ranging delay period, in milliseconds. */
 
#ifndef TX_ANT_DLY
#define TX_ANT_DLY 16400
#endif
 
#ifndef RX_ANT_DLY
#define RX_ANT_DLY 16400
#endif
 
/* Values for the PG_DELAY and TX_POWER registers reflect the bandwidth and power of the spectrum at the current
 * temperature. These values can be calibrated prior to taking reference measurements.*/
extern dwt_txconfig_t txconfig_options;
 
class TdoaDevice
{
public:
    TdoaDevice(uwb_addr src);
 
    ~TdoaDevice(){};
 
    virtual void setup();
 
    void enable_leds();
 
    virtual void loop();
 
    char* get_type() {return const_cast<char*>(this->type.c_str());};
    
protected:
    /*defining the own source addresse*/
    uwb_addr src_address;
 
    String type;
 
    /* The frame sent in this code is an 802.15.4e standard blink. It is a 12-byte frame composed of the following fields:
    *     - byte 0: frame type (0xC5 for a blink).
    *     - byte 1: sequence number, incremented for each new frame.
    *     - byte 2 -> 9: device ID.
    */
    uint8_t tx_msg[10];
 
    /* Buffer to store received response message.
     * Its size is adjusted to longest frame that the code can handle. */
    uint8_t rx_buffer[FRAME_LENGTH];
 
    uint32_t status_reg;
 
    int8_t status;
 
    dwt_config_t config;
};