Tobias Naegeli / Mbed 2 deprecated AIT_UWB_Range

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Dependencies:   mavlink_bridge mbed

Fork of AIT_UWB_Range by Benjamin Hepp

Diff: MMRanging/MMRanging.cpp

Revision:
33:6ea4c3dd504d
Parent:
32:041dd02e0e3b
Child:
34:f56962030c5c
--- a/MMRanging/MMRanging.cpp	Tue Dec 02 13:32:34 2014 +0000
+++ b/MMRanging/MMRanging.cpp	Tue Dec 02 13:55:01 2014 +0000
@@ -26,18 +26,20 @@
             TX.type = 2;
             TX.sequence_number = RX.sequence_number;
             TX.time_difference_receiver = 0;
-            dw.sendFrame((uint8_t*)&TX, 10);
+            TX.dummy = 1;
+            dw.sendFrame((uint8_t*)&TX, 12);
             break;
         case 2:
             rangingtimingsSender[RX.sequence_number][1] = dw.getRXTimestamp();
             break;
         case 3:
             TX.type = 4;
-            TX.time_difference_receiver = 0;//rangingtimingsReceiver[TX.sequence_number][1] - rangingtimingsReceiver[TX.sequence_number][0];
-            dw.sendFrame((uint8_t*)&TX, 10);
+            TX.time_difference_receiver = rangingtimingsReceiver[TX.sequence_number][1] - rangingtimingsReceiver[TX.sequence_number][0];
+            TX.dummy = 1;
+            dw.sendFrame((uint8_t*)&TX, 12);
             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 % 10] = rangingtimingsSender[RX.sequence_number][1] - rangingtimingsSender[RX.sequence_number][0] - (uint32_t)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;
@@ -84,13 +86,15 @@
     TX.type = 1;
     TX.sequence_number = counter;
     TX.time_difference_receiver = 0;
-    dw.sendFrame((uint8_t*)&TX, 10);
+    TX.dummy = 1;
+    dw.sendFrame((uint8_t*)&TX, 12);
 }
 
 void MMRanging::requestTime() {
     TX.type = 3;
     TX.sequence_number = counter;
     TX.time_difference_receiver = 0;
-    dw.sendFrame((uint8_t*)&TX, 10);
+    TX.dummy = 1;
+    dw.sendFrame((uint8_t*)&TX, 12);
     counter++;
 }
\ No newline at end of file