Revision 38:8ef3b8d8b908, committed 2015-02-22

Comitter:

manumaet

Date:

Sun Feb 22 11:41:18 2015 +0000

Parent:

37:40f94c634c3e

Child:

39:bb57aa77b015

Commit message:

new crashs after 10 secs

Changed in this revision

--- a/DW1000/DW1000.cpp	Fri Feb 20 13:21:06 2015 +0000
+++ b/DW1000/DW1000.cpp	Sun Feb 22 11:41:18 2015 +0000
@@ -11,8 +11,9 @@
     loadLDE();                          // important everytime DW1000 initialises/awakes otherwise the LDE algorithm must be turned of or there's receiving malfunction see User Manual LDELOAD on p22 & p158
     
     // Configuration TODO: make method for that
-    writeRegister8(DW1000_SYS_CFG, 3, 0x20); // enable auto reenabling receiver after error
-    //writeRegister8(DW1000_SYS_CFG, 2, 0x03); // enable 1024 byte frames TODO: is this really what stated in the comment?
+    writeRegister8(DW1000_SYS_CFG, 3, 0x20);    // enable auto reenabling receiver after error
+    writeRegister8(DW1000_SYS_CFG, 2, 0x40);    // enable special receiving option for 110kbps!! (0x40) see p.64 of DW1000 User Manual [DO NOT enable 1024 byte frames (0x03) becuase it generates disturbance of ranging don't know why...]
+    writeRegister16(DW1000_TX_FCTRL, 1, 0x2800 | 0x0100 | 0x0080); // use 2048 symbols preable (0x2800), 16MHz pulse repetition frequency (0x0100), 110kbps bit rate (0x0080) see p.69 of DW1000 User Manual
     
     irq.rise(this, &DW1000::ISR);       // attach Interrupt handler to rising edge
 }
@@ -80,19 +81,20 @@
 }
 
 void DW1000::sendFrame(uint8_t* message, uint16_t length) {
-    if (length >= 1021) length = 1021;                              // check for maximim length a frame can have            TODO: 127 Byte mode?
+    //if (length >= 1021) length = 1021;                            // check for maximim length a frame can have with 1024 Byte frames [not used, see constructor]
+    if (length >= 125) length = 125;                                // check for maximim length a frame can have with 127 Byte frames
     writeRegister(DW1000_TX_BUFFER, 0, message, length);            // fill buffer
     
     #if 0 // switch draft for slower data rate and original working 6.8Mbps
         uint8_t backup = readRegister8(DW1000_TX_FCTRL, 1);             // put length of frame
         length += 2;                                                    // including 2 CRC Bytes
         //length = ((backup & 0xFC) << 8) | (length & 0x03FF);
-        length = ((0xA0 & 0xFC) << 8) | (length & 0x03FF); // for slower data rate and therefore more range   TODO: put in a modular configuration not a fixed value
+        length = ((0x80 & 0xFC) << 8) | (length & 0x03FF); // for slower data rate and therefore more range   TODO: put in a modular configuration not a fixed value
         writeRegister16(DW1000_TX_FCTRL, 0, length);
         
         backup = readRegister8(DW1000_TX_FCTRL, 2); // change preamble length
         uint8_t preamble_reg = (backup & 0xC0) | (0x29 & 0x3F); // for longer preamble to match slower data rate   TODO: put in a modular configuration not a fixed value
-        writeRegister8(DW1000_TX_FCTRL, 2, preamble_reg);
+        //writeRegister8(DW1000_TX_FCTRL, 2, preamble_reg);
     #else
         uint8_t backup = readRegister8(DW1000_TX_FCTRL, 1);             // put length of frame
         length += 2;                                                    // including 2 CRC Bytes

--- a/MMRanging/MMRanging.cpp	Fri Feb 20 13:21:06 2015 +0000
+++ b/MMRanging/MMRanging.cpp	Sun Feb 22 11:41:18 2015 +0000
@@ -33,14 +33,14 @@
             default : break;
         }
     
-    event[event_i][0] = '!';
+    /*event[event_i][0] = '!';
     event[event_i][1] = 'R';
     event[event_i][2] = ' ';
     sprintf(&event[event_i][3], "%d>%d / %d %d", RX.source, RX.destination, RX.sequence_number, RX.type);
     if (event_i == 8)
         event_i = 0;
     else
-        event_i++;
+        event_i++;*/
     
     dw.startRX();
 }
@@ -57,14 +57,14 @@
         default: break;
     }
     
-    event[event_i][0] = '!';
+    /*event[event_i][0] = '!';
     event[event_i][1] = 'S';
     event[event_i][2] = ' ';
     sprintf(&event[event_i][3], "%d>%d / %d %d", TX.source, TX.destination, TX.sequence_number, TX.type);
     if (event_i == 8)
         event_i = 0;
     else
-        event_i++;
+        event_i++;*/
 }
 
 void MMRanging::requestRanging(uint8_t destination) {

--- a/main.cpp	Fri Feb 20 13:21:06 2015 +0000
+++ b/main.cpp	Sun Feb 22 11:41:18 2015 +0000
@@ -15,16 +15,17 @@
     dw.setEUI(0xFAEDCD01FAEDCD01);                                  // basic methods called to check if we have a working SPI connection
     pc.printf("DEVICE_ID register: 0x%X\r\n", dw.getDeviceID());
     pc.printf("EUI register: %016llX\r\n", dw.getEUI());
-    pc.printf("Voltage: %f\r\n", dw.getVoltage());
-    pc.printf("Size of Frame: %d\r\n", sizeof(r.TX));
+    pc.printf("Voltage: %fV\r\n", dw.getVoltage());
+    pc.printf("System Configuration: %llX\r\n", dw.readRegister40(DW1000_SYS_CFG, 0));
+    pc.printf("Size of Rangingframe: %d\r\n", sizeof(r.TX));
     
-    uint16_t setdelay = 32768; // TODO: = 2^15
+    uint16_t setdelay = 32300;//768; // TODO: = 2^15
     dw.writeRegister16(DW1000_TX_ANTD, 0, setdelay);
     pc.printf("Antenna Delay TX: %d\r\n", dw.readRegister16(DW1000_TX_ANTD, 0));
     pc.printf("Antenna Delay RX: %d\r\n", dw.readRegister16(DW1000_LDE_CTRL, 0x1804));
     r.receiver = true;
     if (r.receiver)
-        r.address = 1;
+        r.address = 2;
     else
         r.address = 0; // sender node has address 0
     pc.printf("Address: %d\r\n", r.address);
@@ -34,17 +35,23 @@
         if (!r.receiver) {                  // Request ranging
             r.requestRanging(1);            // TODO: ask all available nodes!
             wait(0.005);
+            r.requestRanging(2);
+            wait(0.005);
         }
         
-        // Output bar on console
-        for(int j = 0; j < 1; j++)
-            //pc.printf("%f ", r.tofs[j]*MMRANGING_TIMEUNIT_NS);
-            pc.printf("%lld [", r.tofs[1]);
-        int dots = r.tofs[1]*70/1400;
-        if (abs(dots) < 100000)
-            for(int j = 0; j < dots; j++)
-                pc.printf("=");
-        pc.printf("]\r\n");
+        //pc.printf("%lld\r\n", r.tofs[2]); // logging output
+        
+        #if 1 // Output bars on console
+            for(int i = 1; i < 3; i++) {
+                //pc.printf("%f ", r.tofs[j]*MMRANGING_TIMEUNIT_NS);
+                pc.printf("%lld [", r.tofs[i]);
+                int dots = r.tofs[i]*70/1400;
+                if (abs(dots) < 10000)
+                    for(int j = 0; j < dots; j++)
+                        pc.printf("=");
+                pc.printf("]\r\n");
+            }
+        #endif
         
         #if 1   // Output events for debugging
             for(int j = 0; j < 10; j++)
@@ -56,8 +63,8 @@
         #endif
         pc.printf("Status: %llX\r\n", dw.getStatus());
         pc.printf("TX Control: %llX\r\n", dw.readRegister40(DW1000_TX_FCTRL, 0));
-        
-        wait(0.01);
+        //pc.printf("\r\n");
+        //wait(0.05);
         wait(0.2);
     }
 }
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