Diff: MMRanging/MMRanging.cpp

Revision:

35:95d838d33bf5

Parent:

34:f56962030c5c

Child:

36:883de6f9a73b

--- a/MMRanging/MMRanging.cpp	Sat Dec 27 14:37:12 2014 +0000
+++ b/MMRanging/MMRanging.cpp	Tue Feb 17 10:58:58 2015 +0000
@@ -1,15 +1,8 @@
 #include "MMRanging.h"
 
 MMRanging::MMRanging(DW1000& DW) : dw(DW) {
-    MMRanging::dw = dw;
-    
-    ranging_i = 0;
-    
-    message[0] = '\0';
-    messageRX[0] = '\0';
     event_i = 0;
     counter = 0;
-    
     dw.setCallbacks(this, &MMRanging::callbackRX, &MMRanging::callbackTX);
     dw.startRX();
 }
@@ -24,23 +17,16 @@
     switch (RX.type) {
         case 1:
             rangingtimingsReceiver[Index][0] = dw.getRXTimestamp();
-            TX.type = 2;
-            TX.sequence_number = RX.sequence_number;
-            TX.time_difference_receiver = 0;
-            dw.sendFrame((uint8_t*)&TX, sizeof(TX));
+            sendRangingframe(2, RX.sequence_number, 0);
             break;
         case 2:
             rangingtimingsSender[Index][1] = dw.getRXTimestamp();
             break;
         case 3:
-            TX.type = 4;
-            TX.time_difference_receiver = rangingtimingsReceiver[Index][1] - rangingtimingsReceiver[Index][0];
-            dw.sendFrame((uint8_t*)&TX, sizeof(TX));
+            sendRangingframe(4, TX.sequence_number, rangingtimingsReceiver[Index][1] - rangingtimingsReceiver[Index][0]); // TODO: sequence number???
             break;
         case 4:
-            //tofs[Index] = RX.time_difference_receiver;
-            tofs[Index] = (rangingtimingsSender[Index][1] - rangingtimingsSender[Index][0] - RX.time_difference_receiver);// - 65536;
-            //tofs[RX->sequence_number] = (rangingtimingsSender[RX->sequence_number][1] - rangingtimingsSender[RX->sequence_number][0] - RX->time_difference_receiver) >> 1;
+            tofs = (rangingtimingsSender[Index][1] - rangingtimingsSender[Index][0] - RX.time_difference_receiver);// - 65536;
             break;
         default : break;
     }
@@ -83,21 +69,15 @@
 }
 
 void MMRanging::requestRanging() {
-    TX.type = 1;
-    TX.sequence_number = counter;
-    TX.time_difference_receiver = 0;
-    dw.sendFrame((uint8_t*)&TX, sizeof(TX));
+    sendRangingframe(1, counter, 0);
 }
 
 void MMRanging::requestTime() {
-    TX.type = 3;
-    TX.sequence_number = counter;
-    TX.time_difference_receiver = 0;
-    dw.sendFrame((uint8_t*)&TX, sizeof(TX));
+    sendRangingframe(3, counter, 0);
     counter++;
 }
 
-void MMRanging::sendRangingframe(uint8_t type, uint8_t sequence_number, uint64_t time_difference_receiver, uint16_t dummy) {
+void MMRanging::sendRangingframe(uint8_t type, uint8_t sequence_number, uint64_t time_difference_receiver) {
     TX.type = type;
     TX.sequence_number = sequence_number;
     TX.time_difference_receiver = time_difference_receiver;