Revision 11:b4ea3e12f15e, committed 2016-04-21

Comitter:

AndyA

Date:

Thu Apr 21 16:31:15 2016 +0000

Parent:

9:326bf149c8bc

Commit message:

removed LEDs;

Changed in this revision

--- a/DW1000.cpp	Wed Apr 20 11:03:41 2016 +0000
+++ b/DW1000.cpp	Thu Apr 21 16:31:15 2016 +0000
@@ -9,7 +9,7 @@
     DW1000Setup newSetup(DW1000Setup::tunedDefault);
     systemConfig.applyConfig(&newSetup);
 
-    deselect();                         // Chip must be deselected first
+    cs.write(1);                         // 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)
     spi.frequency(SPIRATE_PLL);             // with a 1MHz clock rate (worked up to 49MHz in our Test)
 
@@ -387,7 +387,7 @@
 // transmit power: 0 to 33.5 dB gain in steps of 0.5. Inputs are in 10ths of a dB (0 to 335)
 void DW1000::setTxPower(float normalPowerdB, float boost500, float boost250, float boost125)
 {
-   
+
     if(normalPowerdB > 33.5)
         normalPowerdB = 33.5;
 
@@ -417,7 +417,7 @@
     powerReg |= powerToRegValue(boost250) << 16;
     powerReg |= powerToRegValue(boost125) << 24;
     writeRegister32(DW1000_TX_POWER,0,powerReg);
-    
+
     systemConfig.setSmartTxPower(normalPowerdB,boost500,boost250,boost125); // update the systemConfig
 }
 
@@ -741,23 +741,13 @@
 
 void DW1000::sendFrame(uint8_t* message, uint16_t length)
 {
-    //if (length >= 1021) length = 1021;                            // check for maximim length a frame can have with 1024 Byte frames [not used, see constructor]
     if (length >= 125) length = 125;                                // check for maximim length a frame can have with 127 Byte frames
-    uint8_t len_7bit = length;
-    writeRegister(DW1000_TX_BUFFER, 0, message, len_7bit);            // fill buffer
+    writeRegister(DW1000_TX_BUFFER, 0, message, length);            // fill buffer
 
-    /* support for frames over 127 bytes
-        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);
-    */
-    len_7bit += 2;                                                    // including 2 CRC Bytes
-    writeRegister8(DW1000_TX_FCTRL, 0, len_7bit);
+    writeRegister8(DW1000_TX_FCTRL, 0, length+2);
 
     stopTRX();                                                      // stop receiving
     writeRegister8(DW1000_SYS_CTRL, 0, 0x02 | 0x80);                       // trigger sending process by setting the TXSTRT bit
-//    startRX();                                                      // enable receiver again
 }
 
 void DW1000::setupSyncedFrame(uint8_t* message, uint16_t length)
@@ -991,24 +981,29 @@
 
 void DW1000::readRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length)
 {
+    __disable_irq();
+    cs.write(0);
     setupTransaction(reg, subaddress, false);
     for(int i=0; i<length; i++)                             // get data
         buffer[i] = spi.write(0x00);
-    deselect();
+    cs.write(1);
+    __enable_irq();
 }
 
 void DW1000::writeRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length)
 {
+    __disable_irq();
+    cs.write(0);
     setupTransaction(reg, subaddress, true);
     for(int i=0; i<length; i++)                             // put data
         spi.write(buffer[i]);
-    deselect();
+    cs.write(1);
+    __enable_irq();
 }
 
 void DW1000::setupTransaction(uint8_t reg, uint16_t subaddress, bool write)
 {
     reg |=  (write * DW1000_WRITE_FLAG);                                        // set read/write flag
-    select();
     if (subaddress > 0) {                                                       // there's a subadress, we need to set flag and send second header byte
         spi.write(reg | DW1000_SUBADDRESS_FLAG);
         if (subaddress > 0x7F) {                                                // sub address too long, we need to set flag and send third header byte
@@ -1020,16 +1015,4 @@
     } else {
         spi.write(reg);                                                         // say which register address we want to access
     }
-}
-
-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
-}
+}
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