fixed ping pong test

thotro · Jun 19, 2015 · 1021e31 · 1021e31
1 parent ea072f8
commit 1021e31
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Showing 6 changed files with 57 additions and 51 deletions.
diff --git a/DW1000-arduino-test/DW1000-arduino-ping-pong-test/DW1000-arduino-ping-pong-test.ino b/DW1000-arduino-test/DW1000-arduino-ping-pong-test/DW1000-arduino-ping-pong-test.ino
@@ -26,6 +26,7 @@
 // NOTE: the other Arduino needs to be configured with RECEIVER
 volatile boolean trxToggle = SENDER;
 volatile boolean trxAck = false;
+volatile boolean rxError = false;
 String msg;
 // reset line to the chip
 int RST = 9;
@@ -36,7 +37,7 @@ void setup() {
   Serial.println("### DW1000-arduino-ping-pong-test ###");
   // initialize the driver
   DW1000.begin(0, RST);
-  DW1000.select(SS);;
+  DW1000.select(SS);
   Serial.println("DW1000 initialized ...");
   // general configuration
   DW1000.newConfiguration();
@@ -53,13 +54,14 @@ void setup() {
   // attach callback for (successfully) sent and received messages
   DW1000.attachSentHandler(handleSent);
   DW1000.attachReceivedHandler(handleReceived);
-  // anchor starts by transmitting a POLL message
+  DW1000.attachReceiveErrorHandler(handleReceiveError);
+  // sender starts by sending a PING message, receiver starts listening
   if(trxToggle == SENDER) {
-    msg = "Ping";
+    msg = "Ping ...";
     receiver();
     transmit();
   } else {
-    msg = "Pong";
+    msg = "... and Pong";
     receiver();
   }
 }
@@ -74,6 +76,11 @@ void handleReceived() {
   trxAck = true;
 }
 
+void handleReceiveError() {
+  // error flag
+  rxError = true;
+}
+
 void transmit() {
   DW1000.newTransmit();
   DW1000.setDefaults();
@@ -90,20 +97,26 @@ void receiver() {
 }
 
 void loop() {
+  if(rxError) {
+     Serial.println("Failed to properly receive message.");
+     rxError = false;
+     return;
+  }
   if(!trxAck) {
     return;
   }
   // continue on any success confirmation
   trxAck = false; 
+  // a sender will be a receiver and vice versa
   trxToggle = !trxToggle;
   if(trxToggle == SENDER) {
-    // fomerly in receiving mode
+    // formerly a receiver
     String rxMsg; 
     DW1000.getData(rxMsg);
-    Serial.print("Received | "); Serial.println(rxMsg);
+    Serial.print("Received: "); Serial.println(rxMsg);
     transmit();
   } else {
-    Serial.print("Transmitted | "); Serial.println(msg);
+    Serial.print("Transmitted: "); Serial.println(msg);
   }
 }
 
diff --git a/DW1000-arduino-test/DW1000-arduino-receiver-test/DW1000-arduino-receiver-test.ino b/DW1000-arduino-test/DW1000-arduino-receiver-test/DW1000-arduino-receiver-test.ino
@@ -72,18 +72,14 @@ void loop() {
       numReceived++;
       // get data as string
       DW1000.getData(message);
-      //Serial.print("Received message ... #"); Serial.println(numReceived);
-      //Serial.print("Data is ... "); Serial.println(message);
-      if(numReceived % 500 == 0) {
-        Serial.print("Received message ... #"); Serial.println(numReceived);
-        Serial.print("Data is ... "); Serial.println(message);
-      }
+      Serial.print("Received message ... #"); Serial.println(numReceived);
+      Serial.print("Data is ... "); Serial.println(message);
       received = false;
     }
     if(error) {
-      //Serial.println("Error receiving a message");
+      Serial.println("Error receiving a message");
       error = false;
       DW1000.getData(message);
-      //Serial.print("Error data is ... "); Serial.println(message);
+      Serial.print("Error data is ... "); Serial.println(message);
     }
 }
diff --git a/DW1000-arduino-test/DW1000-arduino-sender-test/DW1000-arduino-sender-test.ino b/DW1000-arduino-test/DW1000-arduino-sender-test/DW1000-arduino-sender-test.ino
@@ -56,13 +56,13 @@ void handleSent() {
 
 void transmitter() {
   // transmit some data
-  //Serial.print("Transmitting packet ... #"); Serial.println(sentNum);
+  Serial.print("Transmitting packet ... #"); Serial.println(sentNum);
   DW1000.newTransmit();
   DW1000.setDefaults();
   String msg = "Hello DW1000, it's #"; msg += sentNum;
   DW1000.setData(msg);
   // delay sending the message for the given amount
-  //DW1000.setDelay(500, DW1000.MILLISECONDS);
+  DW1000.setDelay(500, DW1000.MILLISECONDS);
   DW1000.startTransmit();
   delaySent = millis();
 }
@@ -75,12 +75,12 @@ void loop() {
   // (we are here after the given amount of send delay time has passed)
   sentAck = false;
   // update and print some information about the sent message
-  //Serial.print("Delay sent [ms] ... "); Serial.println(millis() - delaySent);
+  Serial.print("Delay sent [ms] ... "); Serial.println(millis() - delaySent);
   unsigned long newSentTime = DW1000.getTransmitTimestamp();
-  //Serial.print("Processed packet ... #"); Serial.println(sentNum);
-  //Serial.print("Sent timestamp ... "); Serial.println(newSentTime);
+  Serial.print("Processed packet ... #"); Serial.println(sentNum);
+  Serial.print("Sent timestamp ... "); Serial.println(newSentTime);
   // note: delta is just for simple demo as not correct on system time counter wrap-around
-  //Serial.print("Delta send time [s] ... "); Serial.println((newSentTime - sentTime) * 1.0e-6);
+  Serial.print("Delta send time [s] ... "); Serial.println((newSentTime - sentTime) * 1.0e-6);
   sentTime = newSentTime;
   sentNum++;
   // again, transmit some data

diff --git a/DW1000/DW1000.cpp b/DW1000/DW1000.cpp
@@ -521,32 +521,28 @@ void DW1000Class::tune() {
 void DW1000Class::handleInterrupt() {
 	// read current status and handle via callbacks
 	readSystemEventStatusRegister();
-	if(isTransmitDone() && _handleSent != 0) {
+	if(isTransmitDone() &&_handleSent != 0) {
 		(*_handleSent)();
 		clearTransmitStatus();
 	}
 	if(isReceiveError() && _handleReceiveError != 0) {
 		(*_handleReceiveError)();
 		clearReceiveStatus();
 		if(_permanentReceive) {
-			memset(_sysctrl, 0, LEN_SYS_CTRL);
-			_deviceMode = RX_MODE;
+			/*memset(_sysctrl, 0, LEN_SYS_CTRL);
+			_deviceMode = RX_MODE;*/
 			startReceive();
 		}
 	} else if(isReceiveTimeout() && _handleReceiveTimeout != 0) {
 		(*_handleReceiveTimeout)();
 		clearReceiveStatus();
 		if(_permanentReceive) {
-			memset(_sysctrl, 0, LEN_SYS_CTRL);
-			_deviceMode = RX_MODE;
 			startReceive();
 		}
 	} else if(isReceiveDone() && _handleReceived != 0) {
 		(*_handleReceived)();
 		clearReceiveStatus();
 		if(_permanentReceive) {
-			memset(_sysctrl, 0, LEN_SYS_CTRL);
-			_deviceMode = RX_MODE;
 			startReceive();
 		}
 	} 
@@ -727,7 +723,8 @@ void DW1000Class::startTransmit() {
 	setBit(_sysctrl, LEN_SYS_CTRL, TXSTRT_BIT, true);
 	writeBytes(SYS_CTRL, NO_SUB, _sysctrl, LEN_SYS_CTRL);
 	if(_permanentReceive) {
-		//memset(_sysctrl, 0, LEN_SYS_CTRL);
+		memset(_sysctrl, 0, LEN_SYS_CTRL);
+		_deviceMode = RX_MODE;
 		startReceive();
 	} else {
 		_deviceMode = IDLE_MODE;

diff --git a/DW1000/DW1000.h b/DW1000/DW1000.h
@@ -252,26 +252,6 @@ class DW1000Class {
 	static float getReceiveTimestamp();
 	static float getSystemTimestamp();
 
-	// device status flags
-	static boolean isReceiveTimestampAvailable();
-	static boolean isTransmitDone();
-	static boolean isReceiveDone();
-	static boolean isReceiveError();
-	static boolean isReceiveTimeout();
-
-	// 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();
-	static void clearAllStatus();
-	static void clearReceiveStatus();
-	static void clearReceiveTimestampAvailableStatus();
-	static void clearTransmitStatus();
-
 	// callback handler management
 	static void attachSentHandler(void (*handleSent)(void)) {
 		_handleSent = handleSent;
@@ -442,9 +422,29 @@ class DW1000Class {
 	// whether RX or TX is active
 	static int _deviceMode;
 
-	/* ISR. */
+	/* Arduino interrupt handler */
 	static void handleInterrupt();
 
+	/* device status flags */
+	static boolean isReceiveTimestampAvailable();
+	static boolean isTransmitDone();
+	static boolean isReceiveDone();
+	static boolean isReceiveError();
+	static boolean isReceiveTimeout();
+
+	/* interrupt configuration and 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();
+	static void clearAllStatus();
+	static void clearReceiveStatus();
+	static void clearReceiveTimestampAvailableStatus();
+	static void clearTransmitStatus();
+
 	/* internal helper to read/write system registers. */
 	static void readSystemEventStatusRegister();
 	static void readSystemConfigurationRegister();

diff --git a/README.md b/README.md
@@ -51,7 +51,7 @@ DW1000.newTransmit();
 // configure specific aspects and/or choose defaults
 DW1000.setDefaults();
 DW1000.setData(some_data);
-DW1000.setDelay(100, DW1000.MILLISECONDS);
+[float futureTimestamp = ]DW1000.setDelay(100, DW1000.MILLISECONDS);
 // ... and other stuff - finally start the transmission
 DW1000.startTransmit();
 ...