Diff: MMRanging/MMRanging.cpp

Revision:

32:041dd02e0e3b

Parent:

31:6f76f3d518ac

Child:

33:6ea4c3dd504d

--- a/MMRanging/MMRanging.cpp	Mon Dec 01 13:04:18 2014 +0000
+++ b/MMRanging/MMRanging.cpp	Tue Dec 02 13:32:34 2014 +0000
@@ -17,27 +17,27 @@
 void MMRanging::callbackRX() {
     RX_timestamp = dw.getRXTimestamp();
     
-    dw.receiveString(messageRX);
+    rangingframe RX;
+    dw.readRegister(DW1000_RX_BUFFER, 0, (uint8_t*)&RX, dw.getFramelength());  // get data from buffer
     
-    rangingframe* RX = (rangingframe*)messageRX;
-    switch (RX->type) {
+    switch (RX.type) {
         case 1:
-            rangingtimingsReceiver[RX->sequence_number][0] = dw.getRXTimestamp();
+            rangingtimingsReceiver[RX.sequence_number][0] = dw.getRXTimestamp();
             TX.type = 2;
-            TX.sequence_number = RX->sequence_number;
+            TX.sequence_number = RX.sequence_number;
             TX.time_difference_receiver = 0;
             dw.sendFrame((uint8_t*)&TX, 10);
             break;
         case 2:
-            rangingtimingsSender[RX->sequence_number][1] = dw.getRXTimestamp();
+            rangingtimingsSender[RX.sequence_number][1] = dw.getRXTimestamp();
             break;
         case 3:
             TX.type = 4;
-            TX.time_difference_receiver = rangingtimingsReceiver[TX.sequence_number][1] - rangingtimingsReceiver[TX.sequence_number][0];
+            TX.time_difference_receiver = 0;//rangingtimingsReceiver[TX.sequence_number][1] - rangingtimingsReceiver[TX.sequence_number][0];
             dw.sendFrame((uint8_t*)&TX, 10);
             break;
         case 4:
-            tofs[RX->sequence_number] = rangingtimingsSender[RX->sequence_number][1] - rangingtimingsSender[RX->sequence_number][0] - RX->time_difference_receiver;
+            tofs[RX.sequence_number] = /*rangingtimingsSender[RX.sequence_number][1] - rangingtimingsSender[RX.sequence_number][0] - */RX.time_difference_receiver;
             //tofs[RX->sequence_number] = (rangingtimingsSender[RX->sequence_number][1] - rangingtimingsSender[RX->sequence_number][0] - RX->time_difference_receiver) >> 1;
             break;
         default : break;
@@ -47,8 +47,7 @@
     event[event_i][0] = '!';
     event[event_i][1] = 'R';
     event[event_i][2] = ' ';
-    for(int i = 0; i < 10; i++)
-        event[event_i][i+3] = messageRX[i];
+    sprintf(&event[event_i][3], "%d %d", RX.sequence_number, RX.type);
     if (event_i == 8)
         event_i = 0;
     else
@@ -75,8 +74,6 @@
     event[event_i][1] = 'S';
     event[event_i][2] = ' ';
     sprintf(&event[event_i][3], "%d %d", TX.sequence_number, TX.type);
-    //for(int i = 0; i < 10; i++)
-    //    event[event_i][i+3] = message[i];
     if (event_i == 8)
         event_i = 0;
     else