Diff: DW1000/DW1000.cpp

Revision:

8:7a9c61242e2f

Parent:

7:e634eeafc4d2

Child:

10:d077bb12d259

--- a/DW1000/DW1000.cpp	Tue Nov 18 14:06:48 2014 +0000
+++ b/DW1000/DW1000.cpp	Tue Nov 18 15:41:33 2014 +0000
@@ -1,12 +1,12 @@
 #include "DW1000.h"
 
-DW1000::DW1000(PinName MOSI, PinName MISO, PinName SCLK, PinName CS, PinName IRQ) : spi(MOSI, MISO, SCLK), cs(CS), irq(IRQ)
-{
+DW1000::DW1000(PinName MOSI, PinName MISO, PinName SCLK, PinName CS, PinName IRQ) : spi(MOSI, MISO, SCLK), cs(CS), irq(IRQ) {
     deselect();                         // Chip must be deselected first
     spi.format(8,0);                    // Setup the spi for standard 8 bit data and SPI-Mode 0 (GPIO5, GPIO6 open circuit or ground on DW1000)
     spi.frequency(1000000);             // with a 1MHz clock rate (worked up to 49MHz in our Test)
     
-    irq.rise(this, &DW1000::ISR);
+    irq.rise(this, &DW1000::ISR);       // attach Interrupt handler to rising edge
+    resetRX();
 }
 
 uint32_t DW1000::getDeviceID() {
@@ -26,14 +26,14 @@
 }
 
 float DW1000::getVoltage() {
-    uint8_t buffer[7] = {0x80, 0x0A, 0x0F, 0x01, 0x00}; // algorithm form DW1000 User Manual p57
+    uint8_t buffer[7] = {0x80, 0x0A, 0x0F, 0x01, 0x00};             // algorithm form DW1000 User Manual p57
     writeRegister(DW1000_RF_CONF, 0x11, buffer, 2);
     writeRegister(DW1000_RF_CONF, 0x12, &buffer[2], 1);
     writeRegister(DW1000_TX_CAL, 0x00, &buffer[3], 1);
     writeRegister(DW1000_TX_CAL, 0x00, &buffer[4], 1);
-    readRegister(DW1000_TX_CAL, 0x03, &buffer[5], 2);   // get the 8-Bit readings for Voltage and Temperature
+    readRegister(DW1000_TX_CAL, 0x03, &buffer[5], 2);               // get the 8-Bit readings for Voltage and Temperature
     float Voltage = buffer[5] * 0.0057 + 2.3;
-    float Temperature = buffer[6] * 1.13 - 113.0;       // TODO: getTemperature was always ~35 degree with better formula/calibration see instance_common.c row 391
+    float Temperature = buffer[6] * 1.13 - 113.0;                   // TODO: getTemperature was always ~35 degree with better formula/calibration see instance_common.c row 391
     return Voltage;
 }
 
@@ -43,8 +43,11 @@
     uint16_t framelength = length+2;                                // put length of frame including 2 CRC Bytes
     writeRegister(DW1000_TX_FCTRL, 0, (uint8_t*)&framelength, 1);
     
-    uint8_t txstart = 0x02;                                         // trigger sending process
-    writeRegister(DW1000_SYS_CTRL, 0, &txstart, 1);
+    writeRegister8(DW1000_SYS_CTRL, 0, 0x02);                       // trigger sending process by setting the TXSTRT bit
+}
+
+void DW1000::receiveFrame() {
+    writeRegister8(DW1000_SYS_CTRL, 1, 0x01);                       // start listening for preamble by setting the RXENAB bit
 }
 
 void DW1000::ISR() {
@@ -59,28 +62,27 @@
 }
 
 // SPI Interface ------------------------------------------------------------------------------------
-void DW1000::readRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length)
-{
+void DW1000::writeRegister8(uint8_t reg, uint16_t subaddress, uint8_t buffer) {
+    writeRegister(reg, subaddress, &buffer, 1);
+}
+
+void DW1000::readRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length) {
     setupTransaction(reg, subaddress, false);
     
-    // get data
-    for(int i=0; i<length; i++)
+    for(int i=0; i<length; i++)     // get data
         buffer[i] = spi.write(0x00);
     deselect();
 }
 
-void DW1000::writeRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length)
-{
+void DW1000::writeRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length) {
     setupTransaction(reg, subaddress, true);
     
-    // put data
-    for(int i=0; i<length; i++)
+    for(int i=0; i<length; i++)     // put data
         spi.write(buffer[i]);
     deselect();
 }
 
-void DW1000::setupTransaction(uint8_t reg, uint16_t subaddress, bool write)
-{
+void DW1000::setupTransaction(uint8_t reg, uint16_t subaddress, bool write) {
     reg |=  (write * DW1000_WRITE_FLAG);
     select();
     if (subaddress > 0) {                                                       // there's a subadress, we need to set flag and send second header byte