Diff: DW1000/DW1000.cpp

Revision:

26:a65c6f26c458

Parent:

25:d58b0595b300

Child:

28:a830131560e8

diff -r d58b0595b300 -r a65c6f26c458 DW1000/DW1000.cpp
--- a/DW1000/DW1000.cpp	Thu Nov 27 17:51:54 2014 +0000
+++ b/DW1000/DW1000.cpp	Thu Nov 27 19:19:35 2014 +0000
@@ -1,8 +1,7 @@
 #include "DW1000.h"
 
 DW1000::DW1000(PinName MOSI, PinName MISO, PinName SCLK, PinName CS, PinName IRQ) : irq(IRQ), spi(MOSI, MISO, SCLK), cs(CS) {
-    callbackRX = NULL;        // TODO: setter
-    callbackTX = NULL;
+    setCallbacks(NULL, NULL);
     
     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)
@@ -13,11 +12,16 @@
     
     // Configuration TODO: make method for that
     writeRegister8(DW1000_SYS_CFG, 3, 0x20); // enable auto reenabling receiver after error
-    writeRegister8(DW1000_SYS_CFG, 2, 0x03); // enable 1024 byte frames TODO: doesn't work!!
+    writeRegister8(DW1000_SYS_CFG, 2, 0x03); // enable 1024 byte frames
     
     irq.rise(this, &DW1000::ISR);       // attach Interrupt handler to rising edge
 }
 
+void DW1000::setCallbacks(void (*callbackRX)(int framelength), void (*callbackTX)()) {
+    DW1000::callbackRX = callbackRX;
+    DW1000::callbackTX = callbackTX;
+}
+
 uint32_t DW1000::getDeviceID() {
     uint32_t result;
     readRegister(DW1000_DEV_ID, 0, (uint8_t*)&result, 4);
@@ -50,6 +54,18 @@
     return readRegister40(DW1000_SYS_STATUS, 0);
 }
 
+void DW1000::setInterrupt(bool RX, bool TX) {
+    writeRegister16(DW1000_SYS_MASK, 0, RX*0x4000 | TX*0x0080);  // RX good frame 0x4000, TX done 0x0080
+}
+
+uint64_t DW1000::getRXTimestamp() {
+    return readRegister40(DW1000_RX_TIME, 0);
+}
+
+uint64_t DW1000::getTXTimestamp() {
+    return readRegister40(DW1000_TX_TIME, 0);
+}
+
 void DW1000::sendString(char* message) {
     sendFrame((uint8_t*)message, strlen(message)+1);
 }
@@ -74,7 +90,6 @@
 }
 
 void DW1000::startRX() {
-    //while(sending);                                                 // block until sending finished                         TODO: the right way??
     writeRegister8(DW1000_SYS_CTRL, 0x01, 0x01);                    // start listening for preamble by setting the RXENAB bit
 }