Diff: MMRanging/MMRanging.cpp

Revision:

28:a830131560e8

Parent:

27:71178fdb78e1

Child:

29:019ff388ed76

--- a/MMRanging/MMRanging.cpp	Fri Nov 28 07:44:36 2014 +0000
+++ b/MMRanging/MMRanging.cpp	Fri Nov 28 14:40:03 2014 +0000
@@ -1,5 +1,55 @@
 #include "MMRanging.h"
 
-MMRanging::MMRanging(DW1000* dw) {
+MMRanging::MMRanging(DW1000& DW) : dw(DW){
     MMRanging::dw = dw;
+    
+    message[0] = '\0';
+    messageRX[0] = '\0';
+    event_i = 0;
+    counter = 0;
+    
+    dw.setInterrupt(true, true);
+    dw.startRX();
 }
+
+void MMRanging::callbackRX() {
+    RX_timestamp = dw.getRXTimestamp();
+    dw.receiveString(messageRX);
+    if (receiver) {
+        message[0] = 'A';                               // acknowledge messages
+        for(int i = 0; i < 10; i++)
+            message[i+1] = messageRX[i];
+        dw.sendString(message);
+    }
+    eventtimes[event_i] = RX_timestamp - TX_timestamp;                      // TODO: can give some wrong values because of timer reset after 17 seconds
+    event[event_i][0] = '!';
+    event[event_i][1] = 'R';
+    event[event_i][2] = ' ';
+    for(int i = 0; i < 10; i++)
+        event[event_i][i+3] = messageRX[i];
+    if (event_i == 8)
+        event_i = 0;
+    else
+        event_i++;
+    dw.startRX();
+}
+
+void MMRanging::callbackTX() {
+    TX_timestamp = dw.getTXTimestamp();
+    eventtimes[event_i] = 0;
+    event[event_i][0] = '!';
+    event[event_i][1] = 'S';
+    event[event_i][2] = ' ';
+    for(int i = 0; i < 10; i++)
+        event[event_i][i+3] = message[i];
+    if (event_i == 8)
+        event_i = 0;
+    else
+        event_i++;
+}
+
+void MMRanging::requestRanging() {
+    sprintf(message, "%d", counter);                  // send numbers to acknowledge
+    counter++;
+    dw.sendString(message);
+}
\ No newline at end of file