Diff: DW1000/DW1000.cpp

Revision:

22:576ee999b004

Parent:

21:23bf4399020d

Child:

23:661a79e56208

diff -r 23bf4399020d -r 576ee999b004 DW1000/DW1000.cpp
--- a/DW1000/DW1000.cpp	Wed Nov 26 12:10:09 2014 +0000
+++ b/DW1000/DW1000.cpp	Thu Nov 27 13:28:18 2014 +0000
@@ -72,22 +72,21 @@
     length = ((backup & 0xFC) << 8) | (length & 0x03FF);
     writeRegister16(DW1000_TX_FCTRL, 0, length);
     
-    /*if (receiving)*/ stopTRX();                                       // stop receiving if we are in this state
-    //sending = true;
-    wait(0.01);
-    writeRegister8(DW1000_SYS_CTRL, 0, 0x02);                       // trigger sending process by setting the TXSTRT bit
-    wait(0.01);
+    if (receiving) stopTRX();                                       // stop receiving if we are in this state
+    sending = true;
+    //writeRegister8(DW1000_SYS_CTRL, 0, 0x02);                       // trigger sending process by setting the TXSTRT bit
+    //if (receiving) startRX();
 }
 
 void DW1000::startRX() {
     //while(sending);                                                 // block until sending finished                         TODO: the right way??
-    //receiving = true;
+    receiving = true;
     writeRegister8(DW1000_SYS_CTRL, 0x01, 0x01);                    // start listening for preamble by setting the RXENAB bit
 }
 
 void DW1000::stopRX() {
+    receiving = false;
     stopTRX();
-    //receiving = false;
 }
 
 // PRIVATE Methods ------------------------------------------------------------------------------------
@@ -116,18 +115,18 @@
 
 void DW1000::ISR() {
     uint64_t status = getStatus();
-    if (status & 0x4000) {
+    if (status & 0x4000) {                                          // a frame was received
         if (callbackRX != NULL)
             callbackRX(getFramelength());
+        writeRegister16(DW1000_SYS_STATUS, 0, 0x6F00);              // clearing of receiving status bits
     }
-    if (status & 0x80) {
+    if (status & 0x80) {                                            // sending complete
         sending = false;
-        wait(0.1);
-        /*if (receiving)*/ startRX();                                  // enable receiver again if we need to preserve state          TODO: have to do it here??
+        if (receiving) startRX();                                  // enable receiver again if we need to preserve state          TODO: have to do it here??
         if (callbackTX != NULL)
             callbackTX();
+        writeRegister8(DW1000_SYS_STATUS, 0, 0xF8);                 // clearing of sending status bits
     }
-    //writeRegister16(DW1000_SYS_STATUS, 0, 0x1111);  // TODO: clearing status bits not necessary?
 }
 
 uint16_t DW1000::getFramelength() {