fix issue #22

pozyxLabs · Jul 13, 2016 · 9f5170c · 9f5170c
1 parent 3932940
commit 9f5170c
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Showing 2 changed files with 49 additions and 29 deletions.
diff --git a/Pozyx.h b/Pozyx.h
@@ -85,10 +85,8 @@ typedef struct __attribute__((packed))_UWB_settings {
     * See the reg:POZYX_UWB_PLEN register for more information.
     */ 
     uint8_t plen;                   
-    /** the transmit gain. The gain is given in double dBm, i.e., a gain of 2 equals 1dBm. See the reg:POZYX_UWB_GAIN register for more information.*/
-    int8_t gain;                    
-    /** The trim value for the UWB transceiver clock. The value must be lower than 32. See the reg:POZYX_UWB_XTALTRIM register for more information.*/
-    unsigned trim:8;                
+    /** The transmission gain in dB. Possible values are between 0dB and 33.5dB, with a resolution of 0.5dB. See the reg:POZYX_UWB_GAIN register for more information.*/
+    float gain_db;                                  
 }UWB_settings_t;
 
 /**
@@ -547,14 +545,14 @@ class PozyxClass
     * In order to communicate, two pozyx devices must have exactly the same UWB settings.
     * Upon reset, the default UWB settings will be loaded.
     *
-    *   @param UWB_settings the new UWB settings
+    *   @param UWB_settings reference to the new UWB settings. If the gain_db is set to 0, it will automatically load the default gain value for the given uwb paramters.
     *   @param remote_id optional parameter that determines the remote device to be used
     *
     * @retval #POZYX_SUCCESS success.
     * @retval #POZYX_FAIL function failed.
     * @retval #POZYX_TIMEOUT function timed out, no response received.
     */
-    static int setUWBSettings(UWB_settings_t UWB_settings, uint16_t remote_id = NULL);
+    static int setUWBSettings(UWB_settings_t *UWB_settings, uint16_t remote_id = NULL);
 
     /**
     * Set the Ultra-wideband frequency channel.
@@ -595,7 +593,7 @@ class PozyxClass
     * transmitter and the receiver must set the appropriate transmit power.
     * Changing the UWB channel will reset the power to the default value.
     *
-    *   @param txgain_dB the transmission gain in dB. Possible values are between 0dB and 35dB, with a resolution of 0.5dB.
+    *   @param txgain_dB the transmission gain in dB. Possible values are between 0dB and 33.5dB, with a resolution of 0.5dB.
     *   @param remote_id optional parameter that determines the remote device to be used.
     *
     * @retval #POZYX_SUCCESS success.
@@ -610,7 +608,7 @@ class PozyxClass
     * This function obtains the configured UWB transmission power gain. The default value is different for each UWB channel.
     * Changing the UWB channel will reset the TX power to the default value.
     *
-    *   @param txgain_dB the configured transmission gain in dB. Possible values are between 0dB and 35dB, with a resolution of 0.5dB.
+    *   @param txgain_dB the configured transmission gain in dB. Possible values are between 0dB and 33.5dB, with a resolution of 0.5dB.
     *   @param remote_id optional parameter that determines the remote device to be used.
     *
     * @retval #POZYX_SUCCESS success.

diff --git a/Pozyx_lib.cpp b/Pozyx_lib.cpp
@@ -364,37 +364,52 @@ int PozyxClass::getUWBSettings(UWB_settings_t *UWB_settings, uint16_t remote_id)
 {
   assert(UWB_settings != NULL);
 
+  int status;
+  uint8_t tmp[4];  
+
   if(remote_id == NULL){
-    return regRead(POZYX_UWB_CHANNEL, (uint8_t *) UWB_settings, sizeof(UWB_settings_t));
+    status = regRead(POZYX_UWB_CHANNEL, tmp, 4);
   }
   else{
-    return remoteRegRead(remote_id, POZYX_UWB_CHANNEL, (uint8_t *) UWB_settings, sizeof(UWB_settings_t));
+    status = remoteRegRead(remote_id, POZYX_UWB_CHANNEL, tmp, 4);
   }
+
+  // copy the register data in the UWB_settings structure
+  memcpy((uint8_t *) UWB_settings, tmp, 3);
+  UWB_settings->gain_db = ((float)tmp[3])*0.5f;  
+
+  return status;
 }
 
-int PozyxClass::setUWBSettings(UWB_settings_t UWB_settings, uint16_t remote_id)
+int PozyxClass::setUWBSettings(UWB_settings_t *UWB_settings, uint16_t remote_id)
 {
+  assert(UWB_settings->channel >= 1);
+  assert(UWB_settings->channel <= 7);
+  assert(UWB_settings->channel != 6);
+
   int status;
 
+  // first set the uwb channel, bitrate, prf and plen, this will set gain to the default gain computed for these settings
   if(remote_id == NULL){
-    status = regWrite(POZYX_UWB_CHANNEL, (uint8_t *) &UWB_settings, sizeof(UWB_settings_t));
-    delay(2 * POZYX_DELAY_LOCAL_WRITE);
-    if (status == POZYX_FAILURE){
-      return status;
-    }
-    status = regWrite(POZYX_UWB_GAIN, (uint8_t *) &(UWB_settings.gain), 1);
-    delay(POZYX_DELAY_LOCAL_WRITE);
-  }
-  else{
-    status = remoteRegWrite(remote_id, POZYX_UWB_CHANNEL, (uint8_t *) &UWB_settings, sizeof(UWB_settings_t));
+    status = regWrite(POZYX_UWB_CHANNEL, (uint8_t *) UWB_settings, 3);
+    delay(2 * POZYX_DELAY_LOCAL_WRITE);    
+  }else{
+    status = remoteRegWrite(remote_id, POZYX_UWB_CHANNEL, (uint8_t *) UWB_settings, 3);
     delay(2 * POZYX_DELAY_REMOTE_WRITE);
-    if (status == POZYX_FAILURE){
-      return status;
-    }
-    status = remoteRegWrite(remote_id, POZYX_UWB_GAIN, (uint8_t *) &(UWB_settings.gain), 1);
-    delay(POZYX_DELAY_REMOTE_WRITE);
   }
 
+  if (status == POZYX_FAILURE){
+    return status;
+  }  
+
+  // afterwards, it is possible to set the gain to a custom value
+  if(UWB_settings->gain_db > 0.1){
+    Serial.println(UWB_settings->channel);
+    Serial.println(UWB_settings->gain_db );
+    status = setTxPower(UWB_settings->gain_db, remote_id);
+  }else
+    getTxPower(&(UWB_settings->gain_db), remote_id);
+
   return status;  
 }
 
@@ -428,17 +443,24 @@ int PozyxClass::getUWBChannel(int* channel_num, uint16_t remote_id)
 int PozyxClass::setTxPower(float txgain_dB, uint16_t remote_id)
 {
   assert(txgain_dB >= 0.0f);
-  assert(txgain_dB <= 35.0f);
+  assert(txgain_dB <= 33.5f);
 
   // convert to an int where one unit is 0.5dB
   uint8_t doublegain_dB = (int)(2.0*txgain_dB + 0.5f);
+  int status;
 
   if(remote_id == NULL){
-    return regWrite(POZYX_UWB_GAIN, &doublegain_dB, 1);
+    status = regWrite(POZYX_UWB_GAIN, &doublegain_dB, 1);
   }
   else{
-    return remoteRegWrite(remote_id, POZYX_UWB_GAIN, &doublegain_dB, 1);
+    status = remoteRegWrite(remote_id, POZYX_UWB_GAIN, &doublegain_dB, 1);
   }
+
+  // give the pozyx system some time to change the power
+  if(status == POZYX_SUCCESS)
+    delay(1);
+
+  return status;
 }
 
 int PozyxClass::getTxPower(float* txgain_dB, uint16_t remote_id)