Diff: DW1000/DW1000.cpp

Revision:

39:bb57aa77b015

Parent:

38:8ef3b8d8b908

Child:

40:5ce51b7e3118

--- a/DW1000/DW1000.cpp	Sun Feb 22 11:41:18 2015 +0000
+++ b/DW1000/DW1000.cpp	Sun Feb 22 17:40:38 2015 +0000
@@ -12,10 +12,10 @@
     
     // Configuration TODO: make method for that
     writeRegister8(DW1000_SYS_CFG, 3, 0x20);    // enable auto reenabling receiver after error
+    writeRegister16(DW1000_TX_FCTRL, 1, 0x2800 | 0x0100 | 0x0080); // use 2048 symbols preable (0x2800), 16MHz pulse repetition frequency (0x0100), 110kbps bit rate (0x0080) see p.69 of DW1000 User Manual
     writeRegister8(DW1000_SYS_CFG, 2, 0x40);    // enable special receiving option for 110kbps!! (0x40) see p.64 of DW1000 User Manual [DO NOT enable 1024 byte frames (0x03) becuase it generates disturbance of ranging don't know why...]
-    writeRegister16(DW1000_TX_FCTRL, 1, 0x2800 | 0x0100 | 0x0080); // use 2048 symbols preable (0x2800), 16MHz pulse repetition frequency (0x0100), 110kbps bit rate (0x0080) see p.69 of DW1000 User Manual
     
-    irq.rise(this, &DW1000::ISR);       // attach Interrupt handler to rising edge
+    irq.rise(this, &DW1000::ISR);       // attach interrupt handler to rising edge of interrupt pin from DW1000
 }
 
 void DW1000::setCallbacks(void (*callbackRX)(void), void (*callbackTX)(void)) {
@@ -85,22 +85,10 @@
     if (length >= 125) length = 125;                                // check for maximim length a frame can have with 127 Byte frames
     writeRegister(DW1000_TX_BUFFER, 0, message, length);            // fill buffer
     
-    #if 0 // switch draft for slower data rate and original working 6.8Mbps
-        uint8_t backup = readRegister8(DW1000_TX_FCTRL, 1);             // put length of frame
-        length += 2;                                                    // including 2 CRC Bytes
-        //length = ((backup & 0xFC) << 8) | (length & 0x03FF);
-        length = ((0x80 & 0xFC) << 8) | (length & 0x03FF); // for slower data rate and therefore more range   TODO: put in a modular configuration not a fixed value
-        writeRegister16(DW1000_TX_FCTRL, 0, length);
-        
-        backup = readRegister8(DW1000_TX_FCTRL, 2); // change preamble length
-        uint8_t preamble_reg = (backup & 0xC0) | (0x29 & 0x3F); // for longer preamble to match slower data rate   TODO: put in a modular configuration not a fixed value
-        //writeRegister8(DW1000_TX_FCTRL, 2, preamble_reg);
-    #else
-        uint8_t backup = readRegister8(DW1000_TX_FCTRL, 1);             // put length of frame
-        length += 2;                                                    // including 2 CRC Bytes
-        length = ((backup & 0xFC) << 8) | (length & 0x03FF);
-        writeRegister16(DW1000_TX_FCTRL, 0, length);
-    #endif
+    uint8_t backup = readRegister8(DW1000_TX_FCTRL, 1);             // put length of frame
+    length += 2;                                                    // including 2 CRC Bytes
+    length = ((backup & 0xFC) << 8) | (length & 0x03FF);
+    writeRegister16(DW1000_TX_FCTRL, 0, length);
     
     stopTRX();                                                      // stop receiving
     writeRegister8(DW1000_SYS_CTRL, 0, 0x02);                       // trigger sending process by setting the TXSTRT bit
@@ -216,5 +204,11 @@
     }
 }
 
-void DW1000::select() { cs = 0; }   // set CS low to start transmission
-void DW1000::deselect() { cs = 1; } // set CS high to stop transmission
\ No newline at end of file
+void DW1000::select() {     // always called to start an SPI transmission
+    irq.disable_irq();      // disable interrupts from DW1000 during SPI becaus this leads to crashes!      TODO: if you have other interrupt handlers attached on the micro controller, they could also interfere.
+    cs = 0;                 // set Cable Select pin low to start transmission
+}
+void DW1000::deselect() {   // always called to end an SPI transmission
+    cs = 1;                 // set Cable Select pin high to stop transmission
+    irq.enable_irq();       // reenable the interrupt handler
+}
\ No newline at end of file