Diff: DW1000/DW1000.cpp

Revision:

21:23bf4399020d

Parent:

20:257d56530ae1

Child:

22:576ee999b004

--- a/DW1000/DW1000.cpp	Tue Nov 25 15:22:53 2014 +0000
+++ b/DW1000/DW1000.cpp	Wed Nov 26 12:10:09 2014 +0000
@@ -3,6 +3,8 @@
 DW1000::DW1000(PinName MOSI, PinName MISO, PinName SCLK, PinName CS, PinName IRQ) : irq(IRQ), spi(MOSI, MISO, SCLK), cs(CS) {
     receiving = false;                  // state in the beginning is not listening for frames
     sending = false;                    // state in the beginning is not sending anything
+    callbackRX = NULL;        // TODO: setter
+    callbackTX = 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)
@@ -65,25 +67,27 @@
     if (length >= 1021) length = 1021;                              // check for maximim length a frame can have            TODO: 127 Byte mode?
     writeRegister(DW1000_TX_BUFFER, 0, message, length);            // fill buffer
     
-    uint8_t backup = readRegister8(DW1000_TX_FCTRL, 1);             // put length of frame including 2 CRC Bytes
-    length += 2;
+    uint8_t backup = readRegister8(DW1000_TX_FCTRL, 1);             // put length of frame
+    length += 2;                                                    // including 2 CRC Bytes
     length = ((backup & 0xFC) << 8) | (length & 0x03FF);
-    writeRegister(DW1000_TX_FCTRL, 0, (uint8_t*)&length, 2);
+    writeRegister16(DW1000_TX_FCTRL, 0, length);
     
-    if (receiving) stopTRX();                                       // stop receiving if we are in this state
-    sending = true;
+    /*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);
 }
 
 void DW1000::startRX() {
-    while(sending);                                                 // block until sending finished                         TODO: the right way??
-    receiving = true;
+    //while(sending);                                                 // block until sending finished                         TODO: the right way??
+    //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 ------------------------------------------------------------------------------------
@@ -113,13 +117,17 @@
 void DW1000::ISR() {
     uint64_t status = getStatus();
     if (status & 0x4000) {
-        callbackRX(getFramelength());
+        if (callbackRX != NULL)
+            callbackRX(getFramelength());
     }
     if (status & 0x80) {
         sending = false;
-        if (receiving) startRX();                                   // enable receiver again if we need to preserve state          TODO: have to do it here??
-        callbackTX();
+        wait(0.1);
+        /*if (receiving)*/ startRX();                                  // enable receiver again if we need to preserve state          TODO: have to do it here??
+        if (callbackTX != NULL)
+            callbackTX();
     }
+    //writeRegister16(DW1000_SYS_STATUS, 0, 0x1111);  // TODO: clearing status bits not necessary?
 }
 
 uint16_t DW1000::getFramelength() {