Diff: DW1000.cpp

Revision:

2:12a2907957b8

Parent:

0:2c8820705cdd

Child:

4:faf802b4af85

--- a/DW1000.cpp	Fri Jan 29 10:48:21 2016 +0000
+++ b/DW1000.cpp	Fri Feb 05 13:48:42 2016 +0000
@@ -1,3 +1,5 @@
+// Adapted from Matthias Grob & Manuel Stalder - ETH Zürich - 2015
+
 #include "DW1000.h"
 
 // Change this depending on whether damaged or heatlhy DWM1000 modules are used.
@@ -6,7 +8,8 @@
 //#include "PC.h"
 //static PC pc(USBTX, USBRX, 115200);           // USB UART Terminal
 
-DW1000::DW1000(SPI& spi, InterruptIn& irq, PinName CS, PinName RESET) : spi(spi), cs(CS), irq(irq), reset(RESET) {
+DW1000::DW1000(SPI& spi, InterruptIn& irq, PinName CS, PinName RESET)
+: irq(irq), spi(spi), cs(CS), reset(RESET) {
     irq.rise(this, &DW1000::ISR);
 
     setCallbacks(NULL, NULL);
@@ -65,6 +68,8 @@
     writeRegister8(DW1000_SYS_CFG, 3, 0x20);    // enable auto reenabling receiver after error
 
     irq.enable_irq();
+
+    startRX();
 }
 
 void DW1000::setCallbacks(void (*callbackRX)(void), void (*callbackTX)(void)) {
@@ -131,6 +136,10 @@
     writeRegister8(DW1000_SYS_STATUS, 0, 0xF8);                 // clearing of sending status bits
 }
 
+uint64_t DW1000::getSYSTimestamp() {
+    return readRegister40(DW1000_SYS_TIME, 0);
+}
+
 uint64_t DW1000::getRXTimestamp() {
     return readRegister40(DW1000_RX_TIME, 0);
 }
@@ -139,6 +148,18 @@
     return readRegister40(DW1000_TX_TIME, 0);
 }
 
+float DW1000::getSYSTimestampUS() {
+    return getSYSTimestamp() * TIMEUNITS_TO_US;
+}
+
+float DW1000::getRXTimestampUS() {
+    return getRXTimestamp() * TIMEUNITS_TO_US;
+}
+
+float DW1000::getTXTimestampUS() {
+    return getTXTimestamp() * TIMEUNITS_TO_US;
+}
+
 uint16_t DW1000::getStdNoise() {
     return readRegister16(DW1000_RX_FQUAL, 0x00);
 }
@@ -169,12 +190,12 @@
     return readRegister16(DW1000_RX_FQUAL, 0x06);
 }
 
-uint8_t DW1000::getPRF() {
-    uint16_t prf_mask = (0x1 << 19) | (0x1 << 18);
-    uint16_t prf = readRegister16(DW1000_CHAN_CTRL, 0x00);
-    prf >> 18;
-    prf &= 0x03;
-    return static_cast<uint8_t>(prf);
+uint8_t DW1000::getPRF()
+{
+    uint32_t prf_mask = static_cast<uint32_t>(0x1 << 19 | 0x1 << 18);
+    uint32_t prf = readRegister32(DW1000_CHAN_CTRL, 0x00);
+    prf >>= 18;
+    return static_cast<uint8_t>(prf & prf_mask);
 }
 
 void DW1000::sendString(char* message) {
@@ -201,6 +222,11 @@
 }
 
 void DW1000::sendDelayedFrame(uint8_t* message, uint16_t length, uint64_t TxTimestamp) {
+    if (TxTimestamp > CONST_2POWER40)
+    {
+        TxTimestamp -= CONST_2POWER40;
+    }
+
     //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