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send frames of correct length instead of default 90 bytes #21

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send frames of correct length instead of default 90 bytes #21

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38 changes: 25 additions & 13 deletions DW1000_library/src/DW1000Ranging.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -760,23 +760,29 @@ void DW1000RangingClass::transmitInit() {
DW1000.setDefaults();
}


void DW1000RangingClass::transmit(byte datas[]) {
DW1000.setData(datas, LEN_DATA);
void DW1000RangingClass::transmit(byte datas[], uint16_t len) {
DW1000.setData(datas, len);
DW1000.startTransmit();
}

void DW1000RangingClass::transmit(byte datas[], uint16_t len, DW1000Time time) {
DW1000.setDelay(time);
transmit(datas, len);
}

void DW1000RangingClass::transmit(byte datas[]) {
transmit(datas, LEN_DATA);
}

void DW1000RangingClass::transmit(byte datas[], DW1000Time time) {
DW1000.setDelay(time);
DW1000.setData(data, LEN_DATA);
DW1000.startTransmit();
transmit(datas, LEN_DATA);
}

void DW1000RangingClass::transmitBlink() {
transmitInit();
_globalMac.generateBlinkFrame(data, _currentAddress, _currentShortAddress);
transmit(data);
transmit(data, 12);
}

void DW1000RangingClass::transmitRangingInit(DW1000Device* myDistantDevice) {
Expand Down Expand Up @@ -818,6 +824,8 @@ void DW1000RangingClass::transmitPoll(DW1000Device* myDistantDevice) {
}

copyShortAddress(_lastSentToShortAddress, shortBroadcast);

transmit(data, SHORT_MAC_LEN+2+4*_networkDevicesNumber);

}
else {
Expand All @@ -832,9 +840,11 @@ void DW1000RangingClass::transmitPoll(DW1000Device* myDistantDevice) {
memcpy(data+SHORT_MAC_LEN+2, &replyTime, sizeof(uint16_t)); // todo is code correct?

copyShortAddress(_lastSentToShortAddress, myDistantDevice->getByteShortAddress());

transmit(data, SHORT_MAC_LEN+2+4);

}

transmit(data);
}


Expand All @@ -845,7 +855,7 @@ void DW1000RangingClass::transmitPollAck(DW1000Device* myDistantDevice) {
// delay the same amount as ranging tag
DW1000Time deltaTime = DW1000Time(_replyDelayTimeUS, DW1000Time::MICROSECONDS);
copyShortAddress(_lastSentToShortAddress, myDistantDevice->getByteShortAddress());
transmit(data, deltaTime);
transmit(data, SHORT_MAC_LEN+1, deltaTime);
}

void DW1000RangingClass::transmitRange(DW1000Device* myDistantDevice) {
Expand Down Expand Up @@ -881,6 +891,8 @@ void DW1000RangingClass::transmitRange(DW1000Device* myDistantDevice) {
}

copyShortAddress(_lastSentToShortAddress, shortBroadcast);

transmit(data, SHORT_MAC_LEN+2+17*_networkDevicesNumber);

}
else {
Expand All @@ -894,10 +906,10 @@ void DW1000RangingClass::transmitRange(DW1000Device* myDistantDevice) {
myDistantDevice->timePollAckReceived.getTimestamp(data+6+SHORT_MAC_LEN);
myDistantDevice->timeRangeSent.getTimestamp(data+11+SHORT_MAC_LEN);
copyShortAddress(_lastSentToShortAddress, myDistantDevice->getByteShortAddress());

transmit(data, SHORT_MAC_LEN+2+17);
}


transmit(data);

}


Expand All @@ -912,7 +924,7 @@ void DW1000RangingClass::transmitRangeReport(DW1000Device* myDistantDevice) {
memcpy(data+1+SHORT_MAC_LEN, &curRange, 4);
memcpy(data+5+SHORT_MAC_LEN, &curRXPower, 4);
copyShortAddress(_lastSentToShortAddress, myDistantDevice->getByteShortAddress());
transmit(data, DW1000Time(_replyDelayTimeUS, DW1000Time::MICROSECONDS));
transmit(data, SHORT_MAC_LEN+9, DW1000Time(_replyDelayTimeUS, DW1000Time::MICROSECONDS));
}

void DW1000RangingClass::transmitRangeFailed(DW1000Device* myDistantDevice) {
Expand All @@ -921,7 +933,7 @@ void DW1000RangingClass::transmitRangeFailed(DW1000Device* myDistantDevice) {
data[SHORT_MAC_LEN] = RANGE_FAILED;

copyShortAddress(_lastSentToShortAddress, myDistantDevice->getByteShortAddress());
transmit(data);
transmit(data, SHORT_MAC_LEN+1);
}

void DW1000RangingClass::receiver() {
Expand Down
2 changes: 2 additions & 0 deletions DW1000_library/src/DW1000Ranging.h
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Original file line number Diff line number Diff line change
Expand Up @@ -188,8 +188,10 @@ class DW1000RangingClass {

//for ranging protocole (ANCHOR)
static void transmitInit();
static void transmit(byte datas[], uint16_t len);
static void transmit(byte datas[]);
static void transmit(byte datas[], DW1000Time time);
static void transmit(byte datas[], uint16_t len, DW1000Time time);
static void transmitBlink();
static void transmitRangingInit(DW1000Device* myDistantDevice);
static void transmitPollAck(DW1000Device* myDistantDevice);
Expand Down