dw1000: added transmitFrame and writeFrameIntoBuffer

Inc/dw1000.h

@@ -144,6 +144,8 @@ int dw1000_init(uint16_t config, BaseType_t (*sendCallback)(),
 		BaseType_t (*receiveCallback)(uint32_t bufferLength, uint8_t ts_valid));
 int dw1000_configure(dwt_config_t *config, uint8_t use_otpconfigvalues);
 int dw1000_sendFrame(uint8_t *payload, uint16_t len);
+int dw1000_writeFrameIntoBuffer(uint16_t txBufferOffset, uint8_t *payload, uint16_t len);
+int dw1000_transmitFrame(uint16_t txBufferOffset, uint16_t len);
 int dw_1000_receiveFrameFromIsr(uint8_t * buffer, uint32_t length);
 void dw1000_extiCallback(void);
 void vTaskGlobalTimeIncrement(void *pvParameters);

Src/dw1000.c

@@ -15,6 +15,8 @@
 
 volatile uint32_t global_time = 0;
 
+uint16_t maximum_message_length = 1024; //Fixme: put right message length
+
 
 int dw1000_init(uint16_t config, BaseType_t (*sendCallback)(),
 		BaseType_t (*receiveCallback)(uint32_t bufferlength, uint8_t ts_valid)) {
@@ -349,44 +351,43 @@ int dw1000_configure(dwt_config_t *config, uint8_t use_otpconfigvalues) {
 	return 0;
 }
 
-uint16_t txBufferOffset = 0;
-
-// sends a frame and blocks until finished
 int dw1000_sendFrame(uint8_t *payload, uint16_t len) {
+	//Write payload to the buffer with no offset
+	int ret = dw1000_writeFrameIntoBuffer(0, payload, len);
+	if(ret != DW1000_RET_OK){
+		return ret;
+	}
+	//Invoke transmission
+	return dw1000_transmitFrame(0,len);
 
+}
+
+int dw1000_writeFrameIntoBuffer(uint16_t txBufferOffset, uint8_t *payload, uint16_t len){
+	if ((len + 2) > maximum_message_length){
+		// Message + CRC is longer than the allowed msg length (usually 127, but decawave
+		return DW1000_RET_MSG_TO_LONG;
+	}
 	if ((txBufferOffset + len + 2) > 1024){
-		return -1; //FIXME: ERRORCODE
+		return DW1000_RET_TX_BUFFER_OVERFLOW;
 	}
 
-	//Write payload
+	//Write payload into tx buffer
 	dw1000Hal_writeRegister(TX_BUFFER_ID + txBufferOffset, payload, len);
 
+	return DW1000_RET_OK;
+}
 
+int dw1000_transmitFrame(uint16_t txBufferOffset, uint16_t len){
 	//Set length and offset
     uint32_t reg32 = dw1000local.txFCTRL | len+2 | (txBufferOffset << 22);
 	dw1000Hal_writeSubRegister(TX_FCTRL_ID, 0, (uint8_t *) &reg32,  TX_FCTRL_LEN-1);
-
-	txBufferOffset += len + 2;
-
-	txBufferOffset = 0; //FIXME: Löschen, wenn anständige Offsetbehandlung.
-
-
-//	/* WITHOUT THE NEXT PART: SECOND TIME NO SENDING POSSIBLE, BUT CAN'T BE FOUND IN ORIGINAL DRIVER */
-//	uint32_t sys_ctrl = 0;
-//	dw1000Hal_readRegister(SYS_CTRL_ID, (uint8_t *)&sys_ctrl, 4);
-//	//trace_printf("sys_ctrl: %x\n", sys_ctrl);
-//	sys_ctrl |= SYS_CTRL_TRXOFF;//  Immediately cancel all RX and TX operations, bring radio to IDLE state
-////	trace_printf("sys_ctrl: %x\n", sys_ctrl);
-//	dw1000Hal_writeRegister(SYS_CTRL_ID, (uint8_t *)&sys_ctrl, 4);
-//	sys_ctrl = 0;
-dw1000Util_forceTrxOff();
+	/* WITHOUT THE NEXT PART: SECOND TIME NO SENDING POSSIBLE, BUT CAN'T BE FOUND IN ORIGINAL DRIVER */
+	dw1000Util_forceTrxOff();
 
     uint8_t temp = (uint8_t) SYS_CTRL_TXSTRT;
     dw1000Hal_writeRegister(SYS_CTRL_ID, (uint8_t *)&temp,1);
 
-
-	return 0;
-
+	return DW1000_RET_OK;
 }
 
 void vTaskGlobalTimeIncrement(void *pvParameters) {