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code cleanup
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@thotro
thotro committed Jun 15, 2015
1 parent f34fea1 commit f26bb61
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Showing 2 changed files with 47 additions and 64 deletions.
38 changes: 14 additions & 24 deletions DW1000/DW1000.cpp
View file
Expand Up @@ -627,6 +627,8 @@ void DW1000Class::newReceive() {
}

void DW1000Class::startReceive() {
_sysctrl[3] |= _extendedFrameLength;
setBit(_sysctrl, LEN_SYS_CTRL, SFCST_BIT, !_frameCheck);
setBit(_sysctrl, LEN_SYS_CTRL, RXENAB_BIT, true);
writeBytes(SYS_CTRL, NO_SUB, _sysctrl, LEN_SYS_CTRL);
}
Expand All @@ -639,6 +641,8 @@ void DW1000Class::newTransmit() {
}

void DW1000Class::startTransmit() {
_sysctrl[3] |= _extendedFrameLength;
setBit(_sysctrl, LEN_SYS_CTRL, SFCST_BIT, !_frameCheck);
setBit(_sysctrl, LEN_SYS_CTRL, TXSTRT_BIT, true);
writeBytes(SYS_CTRL, NO_SUB, _sysctrl, LEN_SYS_CTRL);
if(_permanentReceive) {
Expand Down Expand Up @@ -671,11 +675,7 @@ void DW1000Class::waitForResponse(boolean val) {
}

void DW1000Class::suppressFrameCheck(boolean val) {
setBit(_sysctrl, LEN_SYS_CTRL, SFCST_BIT, val);
}

boolean DW1000Class::isSuppressFrameCheck() {
return getBit(_sysctrl, LEN_SYS_CTRL, SFCST_BIT);
_frameCheck = false;
}

float DW1000Class::setDelay(unsigned int value, unsigned long factorUs) {
Expand Down Expand Up @@ -751,49 +751,39 @@ void DW1000Class::receivePermanently(boolean val) {

void DW1000Class::setChannel(byte channel) {
_channel = channel;
// TODO channel ctrl !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
}

void DW1000Class::setPreambleCode(byte preacode) {
_preambleCode = preacode;
// TODO channel ctrl !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
}

void DW1000Class::setDefaults() {
if(_deviceMode == TX_MODE) {
interruptOnSent(true);
// frame length setting
_sysctrl[3] |= _extendedFrameLength;
suppressFrameCheck(false);

} else if(_deviceMode == RX_MODE) {
// frame length setting
_sysctrl[3] |= _extendedFrameLength;
suppressFrameCheck(false);
//permanentReceive(true); // includes RX auto reenable

} else if(_deviceMode == IDLE_MODE) {
/*dataRate(TRX_RATE_6800KBPS);
pulseFrequency(TX_PULSE_FREQ_16MHZ);
preambleLength(TX_PREAMBLE_LEN_1024);*/
suppressFrameCheck(false);
interruptOnSent(true);
interruptOnReceived(true);
writeSystemEventMaskRegister();
interruptOnAutomaticAcknowledgeTrigger(true);
setReceiverAutoReenable(true);
// TODO enableMode(MODE_2) + impl all other modes !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
}
}

void DW1000Class::setData(byte data[], int n) {
if(!isSuppressFrameCheck()) {
if(_frameCheck) {
n+=2; // two bytes CRC-16
}
if(n > LEN_TX_BUFFER) {
return; // TODO proper error handling: frame/buffer size
}
if(n > LEN_EXT_UWB_FRAMES) {
return; // TODO proper error handling: frame/buffer size
}
if(n > LEN_UWB_FRAMES) {
_extendedFrameLength = true;
} else {
_extendedFrameLength = false;
if(n > LEN_UWB_FRAMES && !_extendedFrameLength) {
return; // TODO proper error handling: frame/buffer size
}
// transmit data and length
writeBytes(TX_BUFFER, NO_SUB, data, n);
Expand Down
73 changes: 33 additions & 40 deletions DW1000/DW1000.h
View file
Expand Up @@ -137,7 +137,6 @@
#define LEN_PMSC_CTRL0 2

// AGC_TUNE1/2 (for re-tuning only)
// TODO AGC_TUNE1 needs to be adjusted with PRF (see Table 22)
#define AGC_TUNE 0x23
#define AGC_TUNE1_SUB 0x04
#define AGC_TUNE2_SUB 0x0C
Expand All @@ -147,7 +146,6 @@
#define LEN_AGC_TUNE3 2

// DRX_TUNE2 (for re-tuning only)
// TODO needs to be adjusted with preamble len and PRF (see Table 31)
#define DRX_TUNE 0x27
#define DRX_TUNE0b_SUB 0x02
#define DRX_TUNE1a_SUB 0x04
Expand All @@ -161,7 +159,6 @@
#define LEN_DRX_TUNE4H 2

// LDE_CFG1 (for re-tuning only)
// TODO LDE_CFG2 needs to be adjusted with PRF (see Table 47)
#define LDE_CFG 0x2E
#define LDE_CFG1_SUB 0x0806
#define LDE_CFG2_SUB 0x1806
Expand All @@ -175,21 +172,18 @@
#define LEN_TX_POWER 4

// RF_CONF (for re-tuning only)
// TODO RX_TXCTRL needs to be adjusted with channel (see Table 35)
#define RF_CONF 0x28
#define RF_RXCTRLH_SUB 0x0B
#define RF_TXCTRL_SUB 0x0C
#define LEN_RF_RXCTRLH 1
#define LEN_RF_TXCTRL 4

// TX_CAL (for re-tuning only)
// TODO TC_PGDELAY needs to be adjusted with channel (see Table 37)
#define TX_CAL 0x2A
#define TC_PGDELAY_SUB 0x0B
#define LEN_TC_PGDELAY 1

// FS_CTRL (for re-tuning only)
// TODO FS_PLLTUNE needs to be adjusted with channel (see Table 40)
#define FS_CTRL 0x2B
#define FS_PLLCFG_SUB 0x07
#define FS_PLLTUNE_SUB 0x0B
Expand Down Expand Up @@ -220,30 +214,30 @@ class DW1000Class {
static void end();
static void reset();

// device id, address, etc.
// print device id, address, etc.
static char* getPrintableDeviceIdentifier();
static char* getPrintableExtendedUniqueIdentifier();
static char* getPrintableNetworkIdAndShortAddress();

// PAN_ID, SHORT_ADDR, device address management
// device address management
static void setNetworkId(unsigned int val);
static void setDeviceAddress(unsigned int val);

// SYS_CFG, general device configuration
// general device configuration
static void setFrameFilter(boolean val);
static void setDoubleBuffering(boolean val); // NOTE should be set to false
static void setReceiverAutoReenable(boolean val);
static void setInterruptPolarity(boolean val);

// SYS_CTRL, TX/RX_FCTRL, transmit and receive configuration
static void suppressFrameCheck(boolean val);
static float setDelay(unsigned int value, unsigned long factorUs);
static void setDataRate(byte rate);
static void setPulseFrequency(byte freq);
static void setPreambleLength(byte prealen);
static void setChannel(byte channel);
static void setPreambleCode(byte preacode);
static void useExtendedFrameLength(boolean val);

// transmit and receive configuration
static float setDelay(unsigned int value, unsigned long factorUs);
static void receivePermanently(boolean val);
static void waitForResponse(boolean val);
static void setData(byte data[], int n);
Expand All @@ -254,36 +248,28 @@ class DW1000Class {
static float getTransmitTimestamp();
static float getReceiveTimestamp();
static float getSystemTimestamp();
static boolean isSuppressFrameCheck();

// chip tuning
static void tune();

// RX/TX default settings
void setDefaults();

// SYS_STATUS, device status flags
// device status flags
static boolean isReceiveTimestampAvailable();
static boolean isTransmitDone();
static boolean isReceiveDone();
static boolean isReceiveError();
static boolean isReceiveTimeout();

// SYS_MASK, interrupt handling
// interrupt handling
static void interruptOnSent(boolean val);
static void interruptOnReceived(boolean val);
static void interruptOnReceiveError(boolean val);
static void interruptOnReceiveTimeout(boolean val);
static void interruptOnReceiveTimestampAvailable(boolean val);
static void interruptOnAutomaticAcknowledgeTrigger(boolean val);
static void clearInterrupts();

// Interrupt and status handling
static void clearAllStatus();
static void clearReceiveStatus();
static void clearReceiveTimestampAvailableStatus();
static void clearTransmitStatus(); // TODO impl
static void clearTransmitStatus();

// callback handler management
static void attachSentHandler(void (*handleSent)(void)) {
_handleSent = handleSent;
}
Expand All @@ -300,29 +286,45 @@ class DW1000Class {
_handleReceiveTimestampAvailable = handleReceiveTimestampAvailable;
}

// idle
// idle state
static void idle();

// general configuration
// general configuration state
static void newConfiguration();
static void commitConfiguration();

// reception
// reception state
static void newReceive();
static void startReceive();

// transmission
// transmission state
static void newTransmit();
static void startTransmit();

// helpers, converting DW1000 timestamp values to and from float. */
// chip tuning
static void tune();
// TODO impl modes

// use RX/TX specific and general default settings
void setDefaults();

// helpers, converting DW1000 timestamp values to and from float
static float readTimestampAsFloatUs(byte ts[]);
static void writeFloatUsToTimestamp(float tsValue, byte ts[]);

// debug pretty print registers
static char* getPrettyBytes(byte cmd, word offset, int n);
static char* getPrettyBytes(byte data[], int n);

// time factors (relative to [us]) for setting delayed transceive
static const unsigned long SECONDS = 1e6;
static const unsigned long MILLISECONDS = 1e3;
static const unsigned long MICROSECONDS = 1;
static const unsigned long NANOSECONDS = 1e-3;

// timer/counter overflow (40 bits)
static const float TIME_OVERFLOW = 1099511627776.0f;

// transmission/reception bit rate
static const byte TRX_RATE_110KBPS = 0x00;
static const byte TRX_RATE_850KBPS = 0x01;
Expand All @@ -349,15 +351,6 @@ class DW1000Class {
static const byte PAC_SIZE_32 = 32;
static const byte PAC_SIZE_64 = 64;

/* time factors (relative to [us]) for setting delayed transceive. */
static const unsigned long SECONDS = 1e6;
static const unsigned long MILLISECONDS = 1e3;
static const unsigned long MICROSECONDS = 1;
static const unsigned long NANOSECONDS = 1e-3;

/* timer/counter overflow (40 bits). */
static const float TIME_OVERFLOW = 1099511627776.0f;

/* channel of operation. */
static const byte CHANNEL_1 = 1;
static const byte CHANNEL_2 = 2;
Expand Down Expand Up @@ -388,7 +381,6 @@ class DW1000Class {
static const byte FRAME_LENGTH_NORMAL = 0x00;
static const byte FRAME_LENGTH_EXTENDED = 0x03;


private:
/* chip select, reset and interrupt pins. */
static unsigned int _ss;
Expand Down Expand Up @@ -425,8 +417,9 @@ class DW1000Class {
static byte _dataRate;
static byte _pacSize;

/* internal helper to remember whether to act as a permanent receiver. */
/* internal helper to remember how to properly act. */
static boolean _permanentReceive;
static boolean _frameCheck;

// whether RX or TX is active
static int _deviceMode;
Expand Down

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