Diff: nodes/nodes.cpp

Revision:

2:5adf0b785944

Parent:

1:346279def7ac

Child:

3:8bee1711d186

--- a/nodes/nodes.cpp	Sat Dec 09 16:02:58 2017 +0000
+++ b/nodes/nodes.cpp	Wed Jan 10 16:14:49 2018 +0000
@@ -87,10 +87,11 @@
                                  
                     acknowledgement[1] = true;
                   
-                    //dw.turnonrx();   // start listening again
+                   // dw.turnonrx();   // start listening again
                     break;
                 }
-                default : break;
+                default : dw.turnonrx();
+                break;
             }
         }
         else{
@@ -131,8 +132,7 @@
  */
 void BeaconNode::requestRanging(uint8_t destination) {
     if(noRec[destination] <= MAX_TRIES){
-        
-        
+        pc.printf(" max try %d\n\r",MAX_TRIES);
         float time_before = LocalTimer.read();
         
         while(!acknowledgement[2] && LocalTimer.read() < time_before + 0.001f); // Wait until previous StreamFrame is sent 
@@ -152,10 +152,15 @@
             // Stream Data to Basestation                
             sendStreamFrame(destination);         
         } else {
+            acknowledgement[1]=1;
             distances[destination] = -10;
-            noRec[destination]++;
+            noRec[destination] = 0;
+            sendStreamFrame(destination);
+
+
         }     
     }     
+        pc.printf("no rec dest %d\n\r",noRec[destination]);
 }
 
 #pragma Otime // Compiler optimize Runtime at the cost of image size
@@ -459,6 +464,8 @@
                 ack = true;
                 break;
                 
+
+                
             
                 
         }
@@ -478,18 +485,18 @@
 void BaseStationNode::sendOrder(uint8_t beacon_destination, uint8_t anchor_destination, uint8_t action, uint16_t repetitions, uint8_t type) {
     ExtendedRangingFrame orderFrame;
     ack = false;
-        
+
     orderFrame.source = address;
     orderFrame.destination = beacon_destination;
     orderFrame.type = type;
     orderFrame.signedTime =  action << 24 | anchor_destination << 16 | repetitions;           
  
     int i = 0;     
-    //for(i = 0; i < 10 && !ack; i++){
+    for(i = 0; i < 3 && !ack; i++){
         float time_before = LocalTimer.read(); 
         dw.sendFrame((uint8_t*)&orderFrame, sizeof(orderFrame), 0, 0);
         while(!ack && (LocalTimer.read() < time_before + 0.010 + 0.01*i)); // One Ranging normaly takes less than 1.5 miliseconds
-    //}
+    }
     if(!ack)
     {
         pc.printf("ERROR: Tag #%d did not respond \r\n", beacon_destination);