File content as of revision 0:bb732ce5e423:

#include "dwm_uart.h"
//pour compter le temps entre 2 envoies de commande
// le temps maximum le dwm1001 peut attendre est de 700us
// ici, on met le temps timeout = 600us
//dans le cas de reception, si il n'y a pas de reponse pendant 100ms, 
//c'est un echec
Timer timer; 


dwm::dwm(PinName tx_pin, PinName rx_pin, int baudrate):
    dwm_uart(tx_pin, rx_pin, baudrate)
{
    flushSerialBuffer();
}

int dwm::uart_write(uint8_t* tx_buffer, uint8_t len)
{
    
    int i, begin, end;
    timer.start();
    
    for(i=0; i<len; i++)
    {
        begin = timer.read_us();
        //while(dwm_uart.writeable() == false){}
        while(dwm_uart.writeable())
        {
            dwm_uart.putc(tx_buffer[i]);
        }
        end = timer.read_us();
        wait_us(50);
        if((end-begin)>DWM_WRITE_TIMEOUT) return RV_ERR; //echec
    }
    timer.stop();
    return RV_OK; //reussi
}

void dwm::flushSerialBuffer(void) 
{ 
    while (dwm_uart.readable()) 
    { 
        dwm_uart.getc(); 
    }
}

int dwm::uart_read(uint8_t* rx_buffer, int len_prevu)
{
    int i, len=0;
    int begin, end;
    timer.start();
    begin = timer.read_ms();
    //recuperer le type et la longeur des donnees
    for(i=0; i<3; i++)
    {
        while(dwm_uart.readable() == false)
        {
            
            end = timer.read_ms();
            //wait_us(2);
            if((end-begin)>DWM_READ_TIMEOUT) return RV_TIME; //echec
                   
        }
        while(dwm_uart.readable())
        {
            rx_buffer[i] = dwm_uart.getc();
            len = len + 1;
        }
    }
    //recuperer des donnees si rx_buffer[2] == 0
    if(rx_buffer[2] == 0)
    {
        for(int i=3; i<len_prevu; i++)
        {
            while(dwm_uart.readable() == false)
            {
                
                end = timer.read_ms();
                //wait_us(2);
                if((end-begin)>DWM_READ_TIMEOUT) return RV_TIME; //echec
                  
            }
            while(dwm_uart.readable())
            {
                rx_buffer[i] = dwm_uart.getc(); 
                len = len + 1;
            }
        }
    }
    
    timer.stop();
    if(len != len_prevu) return RV_ERR; 
    return RV_OK; 
}

int dwm::dwm_gpio_cfg_output()
{
    uint8_t tx_buffer[4];
    uint8_t rx_buffer[255];
    int rx_len;
    //dwm_gpio_cfg_output
    tx_buffer[0] = 0x28;
    tx_buffer[1] = 0x02;
    tx_buffer[2] = 0x0d;
    tx_buffer[3] = 0x01;
    uart_write(tx_buffer, 4);
    wait_us(50);
    rx_len = uart_read(rx_buffer,3);
    if(rx_len == 0)
    {
        if(rx_buffer[0] != 0x40) return -1;
        if(rx_buffer[1] != 0x01) return -2;
        if(rx_buffer[2] != 0x00) return -3;
    }
    else return -1*rx_len;
    return 0;
}

int dwm::dwm_pos_get()
{
    uint8_t TXbuffer[2];
    uint8_t rx_buffer[255];
    int i, ret;
    //dwm_gpio_cfg_output
    TXbuffer[0] = 0x02;
    TXbuffer[1] = 0x00;
    uart_write(TXbuffer, 2);
    
    ret = uart_read(rx_buffer, 18);
    if(ret == RV_OK)
    { 
        i = 5;
        node_pos.x =    rx_buffer[i]
                  +(rx_buffer[i+1]<<8)
                  +(rx_buffer[i+2]<<16)
                  +(rx_buffer[i+3]<<24);
        i += 4;
        node_pos.y =    rx_buffer[i]
                  +(rx_buffer[i+1]<<8)
                  +(rx_buffer[i+2]<<16)
                  +(rx_buffer[i+3]<<24);
        i += 4;
        node_pos.z =    rx_buffer[i]
                  +(rx_buffer[i+1]<<8)
                  +(rx_buffer[i+2]<<16)
                  +(rx_buffer[i+3]<<24);
        i += 4;
        node_pos.qf =    rx_buffer[i];
    }
    else return ret;//***
    
    return ret;//****
}