bsp.aun2402/source/decadriver/deca_range_tables.c

/*! ----------------------------------------------------------------------------
 *  @file    deca_range_tables.c
 *  @brief   DW1000 range correction tables
 *
 * @attention
 *
 * Copyright 2015 (c) DecaWave Ltd, Dublin, Ireland.
 *
 * All rights reserved.
 *
 */
#include <stdio.h>
#include <stdlib.h>

#include "deca_device_api.h"
#include "deca_param_types.h"

#define NUM_16M_OFFSET  (37)
#define NUM_16M_OFFSETWB  (68)
#define NUM_64M_OFFSET  (26)
#define NUM_64M_OFFSETWB  (59)

const uint8_t chan_idxnb[NUM_CH_SUPPORTED] = {0, 0, 1, 2, 0, 3, 0, 0}; //only channels 1,2,3 and 5 are in the narrow band tables
const uint8_t chan_idxwb[NUM_CH_SUPPORTED] = {0, 0, 0, 0, 0, 0, 0, 1}; //only channels 4 and 7 are in in the wide band tables

//---------------------------------------------------------------------------------------------------------------------------
// Range Bias Correction TABLES of range values in integer units of 25 CM, for 8-bit unsigned storage, MUST END IN 255 !!!!!!
//---------------------------------------------------------------------------------------------------------------------------

// offsets to nearest centimeter for index 0, all rest are +1 cm per value

#define CM_OFFSET_16M_NB    (-23)   // for normal band channels at 16 MHz PRF
#define CM_OFFSET_16M_WB    (-28)   // for wider  band channels at 16 MHz PRF
#define CM_OFFSET_64M_NB    (-17)   // for normal band channels at 64 MHz PRF
#define CM_OFFSET_64M_WB    (-30)   // for wider  band channels at 64 MHz PRF


//---------------------------------------------------------------------------------------------------------------------------
// range25cm16PRFnb: Range Bias Correction table for narrow band channels at 16 MHz PRF, NB: !!!! each MUST END IN 255 !!!!
//---------------------------------------------------------------------------------------------------------------------------

const uint8_t range25cm16PRFnb[4][NUM_16M_OFFSET] =
{
    // ch 1 - range25cm16PRFnb
    {
           1,
           3,
           4,
           5,
           7,
           9,
          11,
          12,
          13,
          15,
          18,
          20,
          23,
          25,
          28,
          30,
          33,
          36,
          40,
          43,
          47,
          50,
          54,
          58,
          63,
          66,
          71,
          76,
          82,
          89,
          98,
         109,
         127,
         155,
         222,
         255,
         255
    },

    // ch 2 - range25cm16PRFnb
    {
           1,
           2,
           4,
           5,
           6,
           8,
           9,
          10,
          12,
          13,
          15,
          18,
          20,
          22,
          24,
          27,
          29,
          32,
          35,
          38,
          41,
          44,
          47,
          51,
          55,
          58,
          62,
          66,
          71,
          78,
          85,
          96,
         111,
         135,
         194,
         240,
         255
    },

    // ch 3 - range25cm16PRFnb
    {
           1,
           2,
           3,
           4,
           5,
           7,
           8,
           9,
          10,
          12,
          14,
          16,
          18,
          20,
          22,
          24,
          26,
          28,
          31,
          33,
          36,
          39,
          42,
          45,
          49,
          52,
          55,
          59,
          63,
          69,
          76,
          85,
          98,
         120,
         173,
         213,
         255
    },

    // ch 5 - range25cm16PRFnb
    {
           1,
           1,
           2,
           3,
           4,
           5,
           6,
           6,
           7,
           8,
           9,
          11,
          12,
          14,
          15,
          16,
          18,
          20,
          21,
          23,
          25,
          27,
          29,
          31,
          34,
          36,
          38,
          41,
          44,
          48,
          53,
          59,
          68,
          83,
         120,
         148,
         255
    }
}; // end range25cm16PRFnb


//---------------------------------------------------------------------------------------------------------------------------
// range25cm16PRFwb: Range Bias Correction table for wide band channels at 16 MHz PRF, NB: !!!! each MUST END IN 255 !!!!
//---------------------------------------------------------------------------------------------------------------------------

const uint8_t range25cm16PRFwb[2][NUM_16M_OFFSETWB] =
{
    // ch 4 - range25cm16PRFwb
    {
           7,
           7,
           8,
           9,
           9,
          10,
          11,
          11,
          12,
          13,
          14,
          15,
          16,
          17,
          18,
          19,
          20,
          21,
          22,
          23,
          24,
          26,
          27,
          28,
          30,
          31,
          32,
          34,
          36,
          38,
          40,
          42,
          44,
          46,
          48,
          50,
          52,
          55,
          57,
          59,
          61,
          63,
          66,
          68,
          71,
          74,
          78,
          81,
          85,
          89,
          94,
          99,
         104,
         110,
         116,
         123,
         130,
         139,
         150,
         164,
         182,
         207,
         238,
         255,
         255,
         255,
         255,
         255
    },

    // ch 7 - range25cm16PRFwb
    {
           4,
           5,
           5,
           5,
           6,
           6,
           7,
           7,
           7,
           8,
           9,
           9,
          10,
          10,
          11,
          11,
          12,
          13,
          13,
          14,
          15,
          16,
          17,
          17,
          18,
          19,
          20,
          21,
          22,
          23,
          25,
          26,
          27,
          29,
          30,
          31,
          32,
          34,
          35,
          36,
          38,
          39,
          40,
          42,
          44,
          46,
          48,
          50,
          52,
          55,
          58,
          61,
          64,
          68,
          72,
          75,
          80,
          85,
          92,
         101,
         112,
         127,
         147,
         168,
         182,
         194,
         205,
         255
    }
}; // end range25cm16PRFwb

//---------------------------------------------------------------------------------------------------------------------------
// range25cm64PRFnb: Range Bias Correction table for narrow band channels at 64 MHz PRF, NB: !!!! each MUST END IN 255 !!!!
//---------------------------------------------------------------------------------------------------------------------------

const uint8_t range25cm64PRFnb[4][NUM_64M_OFFSET] =
{
    // ch 1 - range25cm64PRFnb
    {
           1,
           2,
           2,
           3,
           4,
           5,
           7,
          10,
          13,
          16,
          19,
          22,
          24,
          27,
          30,
          32,
          35,
          38,
          43,
          48,
          56,
          78,
         101,
         120,
         157,
         255
    },

    // ch 2 - range25cm64PRFnb
    {
           1,
           2,
           2,
           3,
           4,
           4,
           6,
           9,
          12,
          14,
          17,
          19,
          21,
          24,
          26,
          28,
          31,
          33,
          37,
          42,
          49,
          68,
          89,
         105,
         138,
         255
    },

    // ch 3 - range25cm64PRFnb
    {
           1,
           1,
           2,
           3,
           3,
           4,
           5,
           8,
          10,
          13,
          15,
          17,
          19,
          21,
          23,
          25,
          27,
          30,
          33,
          37,
          44,
          60,
          79,
          93,
         122,
         255
    },

    // ch 5 - range25cm64PRFnb
    {
           1,
           1,
           1,
           2,
           2,
           3,
           4,
           6,
           7,
           9,
          10,
          12,
          13,
          15,
          16,
          17,
          19,
          21,
          23,
          26,
          30,
          42,
          55,
          65,
          85,
         255
    }
}; // end range25cm64PRFnb

//---------------------------------------------------------------------------------------------------------------------------
// range25cm64PRFwb: Range Bias Correction table for wide band channels at 64 MHz PRF, NB: !!!! each MUST END IN 255 !!!!
//---------------------------------------------------------------------------------------------------------------------------

const uint8_t range25cm64PRFwb[2][NUM_64M_OFFSETWB] =
{
    // ch 4 - range25cm64PRFwb
    {
           7,
           8,
           8,
           9,
           9,
          10,
          11,
          12,
          13,
          13,
          14,
          15,
          16,
          16,
          17,
          18,
          19,
          19,
          20,
          21,
          22,
          24,
          25,
          27,
          28,
          29,
          30,
          32,
          33,
          34,
          35,
          37,
          39,
          41,
          43,
          45,
          48,
          50,
          53,
          56,
          60,
          64,
          68,
          74,
          81,
          89,
          98,
         109,
         122,
         136,
         146,
         154,
         162,
         178,
         220,
         249,
         255,
         255,
         255
    },

    // ch 7 - range25cm64PRFwb
    {
           4,
           5,
           5,
           5,
           6,
           6,
           7,
           7,
           8,
           8,
           9,
           9,
          10,
          10,
          10,
          11,
          11,
          12,
          13,
          13,
          14,
          15,
          16,
          16,
          17,
          18,
          19,
          19,
          20,
          21,
          22,
          23,
          24,
          25,
          26,
          28,
          29,
          31,
          33,
          35,
          37,
          39,
          42,
          46,
          50,
          54,
          60,
          67,
          75,
          83,
          90,
          95,
         100,
         110,
         135,
         153,
         172,
         192,
         255
    }
}; // end range25cm64PRFwb


/*! ------------------------------------------------------------------------------------------------------------------
 * Function: dwt_getrangebias()
 *
 * Description: This function is used to return the range bias correction need for TWR with DW1000 units.
 *
 * input parameters:	
 * @param chan  - specifies the operating channel (e.g. 1, 2, 3, 4, 5, 6 or 7) 
 * @param range - the calculated distance before correction
 * @param prf	- this is the PRF e.g. DWT_PRF_16M or DWT_PRF_64M
 *
 * output parameters
 *
 * returns correction needed in meters
 */
double dwt_getrangebias(uint8_t chan, float range, uint8_t prf)
{
    //first get the lookup index that corresponds to given range for a particular channel at 16M PRF
    int i = 0 ;
    int chanIdx ;
    int cmoffseti ;                                 // integer number of CM offset

    double mOffset ;                                // final offset result in metres

    // NB: note we may get some small negitive values e.g. up to -50 cm.

    int rangeint25cm = (int) (range * 4.00) ;       // convert range to integer number of 25cm values.

    if (rangeint25cm > 255) rangeint25cm = 255 ;    // make sure it matches largest value in table (all tables end in 255 !!!!)

    if (prf == DWT_PRF_16M)
    {
        switch(chan)
        {
            case 4:
            case 7:
            {
                chanIdx = chan_idxwb[chan];
                while (rangeint25cm > range25cm16PRFwb[chanIdx][i]) i++ ;       // find index in table corresponding to range
                cmoffseti = i + CM_OFFSET_16M_WB ;                              // nearest centimeter correction
            }
            break;
            default:
            {
                chanIdx = chan_idxnb[chan];
                while (rangeint25cm > range25cm16PRFnb[chanIdx][i]) i++ ;       // find index in table corresponding to range
                cmoffseti = i + CM_OFFSET_16M_NB ;                              // nearest centimeter correction
            }
        }//end of switch
    }
    else // 64M PRF
    {
        switch(chan)
        {
            case 4:
            case 7:
            {
                chanIdx = chan_idxwb[chan];
                while (rangeint25cm > range25cm64PRFwb[chanIdx][i]) i++ ;       // find index in table corresponding to range
                cmoffseti = i + CM_OFFSET_64M_WB ;                              // nearest centimeter correction
            }
            break;
            default:
            {
                chanIdx = chan_idxnb[chan];
                while (rangeint25cm > range25cm64PRFnb[chanIdx][i]) i++ ;       // find index in table corresponding to range
                cmoffseti = i + CM_OFFSET_64M_NB ;                              // nearest centimeter correction
            }
        }//end of switch
    } // end else


    mOffset = (float) cmoffseti ;                                       // offset result in centimmetres

    mOffset *= 0.01 ;                                                   // convert to metres

    return (mOffset) ;
}