Merge pull request #281 from F-Army/antenna-calibration

Implemented antenna calibration API with backwards compatibility
thotro · Jun 12, 2019 · cb2e64d · cb2e64d
2 parents 3734fae + 1645165
commit cb2e64d
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Showing 2 changed files with 24 additions and 6 deletions.
diff --git a/src/DW1000.cpp b/src/DW1000.cpp
@@ -61,6 +61,7 @@ byte DW1000Class::_preambleLength = TX_PREAMBLE_LEN_128;
 byte DW1000Class::_preambleCode = PREAMBLE_CODE_16MHZ_4;
 byte DW1000Class::_channel = CHANNEL_5;
 DW1000Time DW1000Class::_antennaDelay;
+boolean DW1000Class::_antennaCalibrated = false;
 boolean DW1000Class::_smartPower = false;
 
 boolean DW1000Class::_frameCheck = true;
@@ -1007,6 +1008,15 @@ void DW1000Class::interruptOnAutomaticAcknowledgeTrigger(boolean val) {
  setBit(_sysmask, LEN_SYS_MASK, AAT_BIT, val);
 }
 
+void DW1000Class::setAntennaDelay(const uint16_t value) {
+ _antennaDelay.setTimestamp(value);
+ _antennaCalibrated = true;
+}
+
+uint16_t DW1000Class::getAntennaDelay() {
+ return static_cast<uint16_t>(_antennaDelay.getTimestamp());
+}
+
 void DW1000Class::clearInterrupts() {
  memset(_sysmask, 0, LEN_SYS_MASK);
 }
@@ -1070,11 +1080,14 @@ void DW1000Class::commitConfiguration() {
  writeSystemEventMaskRegister();
  // tune according to configuration
  tune();
- // TODO clean up code + antenna delay/calibration API
- // TODO setter + check not larger two bytes integer
- byte antennaDelayBytes[LEN_STAMP];
- writeValueToBytes(antennaDelayBytes, 16384, LEN_STAMP);
- _antennaDelay.setTimestamp(antennaDelayBytes);
+ // TODO check not larger two bytes integer
+ byte antennaDelayBytes[DW1000Time::LENGTH_TIMESTAMP];
+ if( _antennaDelay.getTimestamp() == 0 && _antennaCalibrated == false) {
+ _antennaDelay.setTimestamp(16384);
+ _antennaCalibrated = true;
+ } // Compatibility with old versions.
+ _antennaDelay.getTimestamp(antennaDelayBytes);
+
  writeBytes(TX_ANTD, NO_SUB, antennaDelayBytes, LEN_TX_ANTD);
  writeBytes(LDE_IF, LDE_RXANTD_SUB, antennaDelayBytes, LEN_LDE_RXANTD);
 }

diff --git a/src/DW1000.h b/src/DW1000.h
@@ -267,7 +267,11 @@ class DW1000Class {
  static void interruptOnReceiveTimeout(boolean val);
  static void interruptOnReceiveTimestampAvailable(boolean val);
  static void interruptOnAutomaticAcknowledgeTrigger(boolean val);
-
+
+ /* Antenna delay calibration */
+ static void setAntennaDelay(const uint16_t value);
+ static uint16_t getAntennaDelay();
+
  /* callback handler management. */
  static void attachErrorHandler(void (* handleError)(void)) {
  _handleError = handleError;
@@ -451,6 +455,7 @@ class DW1000Class {
  static byte _dataRate;
  static byte _pacSize;
  static DW1000Time _antennaDelay;
+ static boolean _antennaCalibrated;
 
  /* internal helper to remember how to properly act. */
  static boolean _permanentReceive;