init
Dependencies: aconno_I2C Lis2dh12 WatchdogTimer
DW1000/DW1000.cpp@58:8d4a354816b1, 2020-02-17 (annotated)
- Committer:
- pathfindr
- Date:
- Mon Feb 17 23:24:52 2020 +0000
- Revision:
- 58:8d4a354816b1
usb
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
pathfindr | 58:8d4a354816b1 | 1 | // Adapted from Matthias Grob & Manuel Stalder - ETH Zürich - 2015 |
pathfindr | 58:8d4a354816b1 | 2 | #include "DW1000.h" |
pathfindr | 58:8d4a354816b1 | 3 | #include "NRFuart.h" |
pathfindr | 58:8d4a354816b1 | 4 | |
pathfindr | 58:8d4a354816b1 | 5 | // Change this depending on whether damaged or heatlhy DWM1000 modules are used. |
pathfindr | 58:8d4a354816b1 | 6 | const bool DWM1000_DAMAGED = false; |
pathfindr | 58:8d4a354816b1 | 7 | //const bool DWM1000_DAMAGED = false; |
pathfindr | 58:8d4a354816b1 | 8 | |
pathfindr | 58:8d4a354816b1 | 9 | /*DW1000::DW1000(PinName MOSI, PinName MISO, PinName SCLK, PinName CS, PinName IRQ, PinName RESET) : irq(IRQ), spi(MOSI, MISO, SCLK), cs(CS), reset(RESET) { |
pathfindr | 58:8d4a354816b1 | 10 | irq.rise(this, &DW1000::ISR); |
pathfindr | 58:8d4a354816b1 | 11 | */ |
pathfindr | 58:8d4a354816b1 | 12 | |
pathfindr | 58:8d4a354816b1 | 13 | DW1000::DW1000(PinName MOSI, PinName MISO, PinName SCLK, PinName CS, PinName IRQ, PinName RESET) : irq(IRQ), spi(MOSI, MISO, SCLK), cs(CS), reset(RESET) { |
pathfindr | 58:8d4a354816b1 | 14 | //irq.rise(this, &DW1000::ISR); |
pathfindr | 58:8d4a354816b1 | 15 | |
pathfindr | 58:8d4a354816b1 | 16 | //setCallbacks(NULL, NULL); |
pathfindr | 58:8d4a354816b1 | 17 | |
pathfindr | 58:8d4a354816b1 | 18 | select(); |
pathfindr | 58:8d4a354816b1 | 19 | deselect(); // Chip must be deselected first |
pathfindr | 58:8d4a354816b1 | 20 | resetAll(); // we do a soft reset of the DW1000 everytime the driver starts |
pathfindr | 58:8d4a354816b1 | 21 | |
pathfindr | 58:8d4a354816b1 | 22 | // Configuration TODO: make method for that |
pathfindr | 58:8d4a354816b1 | 23 | // User Manual "2.5.5 Default Configurations that should be modified" p. 22 |
pathfindr | 58:8d4a354816b1 | 24 | //Those values are for the standard mode (6.8Mbps, 5, 16Mhz, 32 Symbols) and are INCOMPLETE! |
pathfindr | 58:8d4a354816b1 | 25 | // writeRegister16(DW1000_AGC_CTRL, 0x04, 0x8870); |
pathfindr | 58:8d4a354816b1 | 26 | // writeRegister32(DW1000_AGC_CTRL, 0x0C, 0x2502A907); |
pathfindr | 58:8d4a354816b1 | 27 | // writeRegister32(DW1000_DRX_CONF, 0x08, 0x311A002D); |
pathfindr | 58:8d4a354816b1 | 28 | // writeRegister8 (DW1000_LDE_CTRL, 0x0806, 0xD); |
pathfindr | 58:8d4a354816b1 | 29 | // writeRegister16(DW1000_LDE_CTRL, 0x1806, 0x1607); |
pathfindr | 58:8d4a354816b1 | 30 | // writeRegister32(DW1000_TX_POWER, 0, 0x0E082848); |
pathfindr | 58:8d4a354816b1 | 31 | // writeRegister32(DW1000_RF_CONF, 0x0C, 0x001E3FE0); |
pathfindr | 58:8d4a354816b1 | 32 | // writeRegister8 (DW1000_TX_CAL, 0x0B, 0xC0); |
pathfindr | 58:8d4a354816b1 | 33 | // writeRegister8 (DW1000_FS_CTRL, 0x0B, 0xA6); |
pathfindr | 58:8d4a354816b1 | 34 | |
pathfindr | 58:8d4a354816b1 | 35 | |
pathfindr | 58:8d4a354816b1 | 36 | //Those values are for the 110kbps mode (5, 16MHz, 1024 Symbols) and are quite complete |
pathfindr | 58:8d4a354816b1 | 37 | writeRegister16(DW1000_AGC_CTRL, 0x04, 0x8870); //AGC_TUNE1 for 16MHz PRF |
pathfindr | 58:8d4a354816b1 | 38 | writeRegister32(DW1000_AGC_CTRL, 0x0C, 0x2502A907); //AGC_TUNE2 (Universal) |
pathfindr | 58:8d4a354816b1 | 39 | writeRegister16(DW1000_AGC_CTRL, 0x12, 0x0055); //AGC_TUNE3 (Universal) |
pathfindr | 58:8d4a354816b1 | 40 | |
pathfindr | 58:8d4a354816b1 | 41 | writeRegister16(DW1000_DRX_CONF, 0x02, 0x000A); //DRX_TUNE0b for 110kbps |
pathfindr | 58:8d4a354816b1 | 42 | writeRegister16(DW1000_DRX_CONF, 0x04, 0x0087); //DRX_TUNE1a for 16MHz PRF |
pathfindr | 58:8d4a354816b1 | 43 | writeRegister16(DW1000_DRX_CONF, 0x06, 0x0064); //DRX_TUNE1b for 110kbps & > 1024 symbols |
pathfindr | 58:8d4a354816b1 | 44 | writeRegister32(DW1000_DRX_CONF, 0x08, 0x351A009A); //PAC size for 1024 symbols preamble & 16MHz PRF |
pathfindr | 58:8d4a354816b1 | 45 | //writeRegister32(DW1000_DRX_CONF, 0x08, 0x371A011D); //PAC size for 2048 symbols preamble |
pathfindr | 58:8d4a354816b1 | 46 | |
pathfindr | 58:8d4a354816b1 | 47 | writeRegister8 (DW1000_LDE_CTRL, 0x0806, 0xD); //LDE_CFG1 |
pathfindr | 58:8d4a354816b1 | 48 | writeRegister16(DW1000_LDE_CTRL, 0x1806, 0x1607); //LDE_CFG2 for 16MHz PRF |
pathfindr | 58:8d4a354816b1 | 49 | |
pathfindr | 58:8d4a354816b1 | 50 | writeRegister32(DW1000_TX_POWER, 0, 0x28282828); //Power for channel 5 |
pathfindr | 58:8d4a354816b1 | 51 | |
pathfindr | 58:8d4a354816b1 | 52 | writeRegister8(DW1000_RF_CONF, 0x0B, 0xD8); //RF_RXCTRLH for channel 5 |
pathfindr | 58:8d4a354816b1 | 53 | writeRegister32(DW1000_RF_CONF, 0x0C, 0x001E3FE0); //RF_TXCTRL for channel 5 |
pathfindr | 58:8d4a354816b1 | 54 | |
pathfindr | 58:8d4a354816b1 | 55 | writeRegister8 (DW1000_TX_CAL, 0x0B, 0xC0); //TC_PGDELAY for channel 5 |
pathfindr | 58:8d4a354816b1 | 56 | |
pathfindr | 58:8d4a354816b1 | 57 | writeRegister32 (DW1000_FS_CTRL, 0x07, 0x0800041D); //FS_PLLCFG for channel 5 |
pathfindr | 58:8d4a354816b1 | 58 | writeRegister8 (DW1000_FS_CTRL, 0x0B, 0xA6); //FS_PLLTUNE for channel 5 |
pathfindr | 58:8d4a354816b1 | 59 | |
pathfindr | 58:8d4a354816b1 | 60 | loadLDE(); // important everytime DW1000 initialises/awakes otherwise the LDE algorithm must be turned off or there's receiving malfunction see User Manual LDELOAD on p22 & p158 |
pathfindr | 58:8d4a354816b1 | 61 | |
pathfindr | 58:8d4a354816b1 | 62 | // 110kbps CAUTION: a lot of other registers have to be set for an optimized operation on 110kbps |
pathfindr | 58:8d4a354816b1 | 63 | writeRegister16(DW1000_TX_FCTRL, 1, 0x0800 | 0x0100 | 0x0080); // use 1024 symbols preamble (0x0800) (previously 2048 - 0x2800), 16MHz pulse repetition frequency (0x0100), 110kbps bit rate (0x0080) see p.69 of DW1000 User Manual |
pathfindr | 58:8d4a354816b1 | 64 | writeRegister8(DW1000_SYS_CFG, 2, 0x44); // enable special receiving option for 110kbps (disable smartTxPower)!! (0x44) see p.64 of DW1000 User Manual [DO NOT enable 1024 byte frames (0x03) becuase it generates disturbance of ranging don't know why...] |
pathfindr | 58:8d4a354816b1 | 65 | |
pathfindr | 58:8d4a354816b1 | 66 | writeRegister16(DW1000_TX_ANTD, 0, 16384); // set TX and RX Antenna delay to neutral because we calibrate afterwards |
pathfindr | 58:8d4a354816b1 | 67 | writeRegister16(DW1000_LDE_CTRL, 0x1804, 16384); // = 2^14 a quarter of the range of the 16-Bit register which corresponds to zero calibration in a round trip (TX1+RX2+TX2+RX1) |
pathfindr | 58:8d4a354816b1 | 68 | |
pathfindr | 58:8d4a354816b1 | 69 | writeRegister8(DW1000_SYS_CFG, 3, 0x20); // enable auto reenabling receiver after error |
pathfindr | 58:8d4a354816b1 | 70 | |
pathfindr | 58:8d4a354816b1 | 71 | //irq.enable_irq(); |
pathfindr | 58:8d4a354816b1 | 72 | } |
pathfindr | 58:8d4a354816b1 | 73 | |
pathfindr | 58:8d4a354816b1 | 74 | /* |
pathfindr | 58:8d4a354816b1 | 75 | void DW1000::setCallbacks(void (*callbackRX)(void), void (*callbackTX)(void)) { |
pathfindr | 58:8d4a354816b1 | 76 | bool RX = false; |
pathfindr | 58:8d4a354816b1 | 77 | bool TX = false; |
pathfindr | 58:8d4a354816b1 | 78 | if (callbackRX) { |
pathfindr | 58:8d4a354816b1 | 79 | this->callbackRX.attach(callbackRX); |
pathfindr | 58:8d4a354816b1 | 80 | RX = true; |
pathfindr | 58:8d4a354816b1 | 81 | } |
pathfindr | 58:8d4a354816b1 | 82 | if (callbackTX) { |
pathfindr | 58:8d4a354816b1 | 83 | this->callbackTX.attach(callbackTX); |
pathfindr | 58:8d4a354816b1 | 84 | TX = true; |
pathfindr | 58:8d4a354816b1 | 85 | } |
pathfindr | 58:8d4a354816b1 | 86 | setInterrupt(RX, TX); |
pathfindr | 58:8d4a354816b1 | 87 | } |
pathfindr | 58:8d4a354816b1 | 88 | */ |
pathfindr | 58:8d4a354816b1 | 89 | |
pathfindr | 58:8d4a354816b1 | 90 | uint32_t DW1000::getDeviceID() { |
pathfindr | 58:8d4a354816b1 | 91 | uint32_t result; |
pathfindr | 58:8d4a354816b1 | 92 | readRegister(DW1000_DEV_ID, 0, (uint8_t*)&result, 4); |
pathfindr | 58:8d4a354816b1 | 93 | return result; |
pathfindr | 58:8d4a354816b1 | 94 | } |
pathfindr | 58:8d4a354816b1 | 95 | |
pathfindr | 58:8d4a354816b1 | 96 | uint64_t DW1000::getEUI() { |
pathfindr | 58:8d4a354816b1 | 97 | uint64_t result; |
pathfindr | 58:8d4a354816b1 | 98 | readRegister(DW1000_EUI, 0, (uint8_t*)&result, 8); |
pathfindr | 58:8d4a354816b1 | 99 | return result; |
pathfindr | 58:8d4a354816b1 | 100 | } |
pathfindr | 58:8d4a354816b1 | 101 | |
pathfindr | 58:8d4a354816b1 | 102 | void DW1000::setEUI(uint64_t EUI) { |
pathfindr | 58:8d4a354816b1 | 103 | writeRegister(DW1000_EUI, 0, (uint8_t*)&EUI, 8); |
pathfindr | 58:8d4a354816b1 | 104 | } |
pathfindr | 58:8d4a354816b1 | 105 | |
pathfindr | 58:8d4a354816b1 | 106 | float DW1000::getVoltage() { |
pathfindr | 58:8d4a354816b1 | 107 | uint8_t buffer[7] = {0x80, 0x0A, 0x0F, 0x01, 0x00}; // algorithm form User Manual p57 |
pathfindr | 58:8d4a354816b1 | 108 | writeRegister(DW1000_RF_CONF, 0x11, buffer, 2); |
pathfindr | 58:8d4a354816b1 | 109 | writeRegister(DW1000_RF_CONF, 0x12, &buffer[2], 1); |
pathfindr | 58:8d4a354816b1 | 110 | writeRegister(DW1000_TX_CAL, 0x00, &buffer[3], 1); |
pathfindr | 58:8d4a354816b1 | 111 | writeRegister(DW1000_TX_CAL, 0x00, &buffer[4], 1); |
pathfindr | 58:8d4a354816b1 | 112 | readRegister(DW1000_TX_CAL, 0x03, &buffer[5], 2); // get the 8-Bit readings for Voltage and Temperature |
pathfindr | 58:8d4a354816b1 | 113 | float Voltage = buffer[5] * 0.0057 + 2.3; |
pathfindr | 58:8d4a354816b1 | 114 | //float Temperature = buffer[6] * 1.13 - 113.0; // TODO: getTemperature was always ~35 degree with better formula/calibration |
pathfindr | 58:8d4a354816b1 | 115 | return Voltage; |
pathfindr | 58:8d4a354816b1 | 116 | } |
pathfindr | 58:8d4a354816b1 | 117 | |
pathfindr | 58:8d4a354816b1 | 118 | uint64_t DW1000::getStatus() { |
pathfindr | 58:8d4a354816b1 | 119 | return readRegister40(DW1000_SYS_STATUS, 0); |
pathfindr | 58:8d4a354816b1 | 120 | } |
pathfindr | 58:8d4a354816b1 | 121 | |
pathfindr | 58:8d4a354816b1 | 122 | bool DW1000::hasReceivedFrame() { |
pathfindr | 58:8d4a354816b1 | 123 | uint64_t status = getStatus(); |
pathfindr | 58:8d4a354816b1 | 124 | return status & 0x4000; |
pathfindr | 58:8d4a354816b1 | 125 | } |
pathfindr | 58:8d4a354816b1 | 126 | |
pathfindr | 58:8d4a354816b1 | 127 | void DW1000::clearReceivedFlag() { |
pathfindr | 58:8d4a354816b1 | 128 | writeRegister16(DW1000_SYS_STATUS, 0, 0x6F00); // clearing of receiving status bits |
pathfindr | 58:8d4a354816b1 | 129 | } |
pathfindr | 58:8d4a354816b1 | 130 | |
pathfindr | 58:8d4a354816b1 | 131 | bool DW1000::hasTransmissionStarted() { |
pathfindr | 58:8d4a354816b1 | 132 | uint64_t status = getStatus(); |
pathfindr | 58:8d4a354816b1 | 133 | return status & 0x10; |
pathfindr | 58:8d4a354816b1 | 134 | } |
pathfindr | 58:8d4a354816b1 | 135 | |
pathfindr | 58:8d4a354816b1 | 136 | bool DW1000::hasSentPreamble() { |
pathfindr | 58:8d4a354816b1 | 137 | uint64_t status = getStatus(); |
pathfindr | 58:8d4a354816b1 | 138 | return status & 0x20; |
pathfindr | 58:8d4a354816b1 | 139 | } |
pathfindr | 58:8d4a354816b1 | 140 | |
pathfindr | 58:8d4a354816b1 | 141 | bool DW1000::hasSentPHYHeader() { |
pathfindr | 58:8d4a354816b1 | 142 | uint64_t status = getStatus(); |
pathfindr | 58:8d4a354816b1 | 143 | return status & 0x40; |
pathfindr | 58:8d4a354816b1 | 144 | } |
pathfindr | 58:8d4a354816b1 | 145 | |
pathfindr | 58:8d4a354816b1 | 146 | bool DW1000::hasSentFrame() { |
pathfindr | 58:8d4a354816b1 | 147 | uint64_t status = getStatus(); |
pathfindr | 58:8d4a354816b1 | 148 | return status & 0x80; |
pathfindr | 58:8d4a354816b1 | 149 | } |
pathfindr | 58:8d4a354816b1 | 150 | |
pathfindr | 58:8d4a354816b1 | 151 | void DW1000::clearSentFlag() { |
pathfindr | 58:8d4a354816b1 | 152 | writeRegister8(DW1000_SYS_STATUS, 0, 0xF8); // clearing of sending status bits |
pathfindr | 58:8d4a354816b1 | 153 | } |
pathfindr | 58:8d4a354816b1 | 154 | |
pathfindr | 58:8d4a354816b1 | 155 | uint64_t DW1000::getSYSTimestamp() { |
pathfindr | 58:8d4a354816b1 | 156 | return readRegister40(DW1000_SYS_TIME, 0); |
pathfindr | 58:8d4a354816b1 | 157 | } |
pathfindr | 58:8d4a354816b1 | 158 | |
pathfindr | 58:8d4a354816b1 | 159 | uint64_t DW1000::getRXTimestamp() { |
pathfindr | 58:8d4a354816b1 | 160 | return readRegister40(DW1000_RX_TIME, 0); |
pathfindr | 58:8d4a354816b1 | 161 | } |
pathfindr | 58:8d4a354816b1 | 162 | |
pathfindr | 58:8d4a354816b1 | 163 | uint64_t DW1000::getTXTimestamp() { |
pathfindr | 58:8d4a354816b1 | 164 | return readRegister40(DW1000_TX_TIME, 0); |
pathfindr | 58:8d4a354816b1 | 165 | } |
pathfindr | 58:8d4a354816b1 | 166 | |
pathfindr | 58:8d4a354816b1 | 167 | float DW1000::getSYSTimestampUS() { |
pathfindr | 58:8d4a354816b1 | 168 | return getSYSTimestamp() * TIMEUNITS_TO_US; |
pathfindr | 58:8d4a354816b1 | 169 | } |
pathfindr | 58:8d4a354816b1 | 170 | |
pathfindr | 58:8d4a354816b1 | 171 | float DW1000::getRXTimestampUS() { |
pathfindr | 58:8d4a354816b1 | 172 | return getRXTimestamp() * TIMEUNITS_TO_US; |
pathfindr | 58:8d4a354816b1 | 173 | } |
pathfindr | 58:8d4a354816b1 | 174 | |
pathfindr | 58:8d4a354816b1 | 175 | float DW1000::getTXTimestampUS() { |
pathfindr | 58:8d4a354816b1 | 176 | return getTXTimestamp() * TIMEUNITS_TO_US; |
pathfindr | 58:8d4a354816b1 | 177 | } |
pathfindr | 58:8d4a354816b1 | 178 | |
pathfindr | 58:8d4a354816b1 | 179 | uint16_t DW1000::getStdNoise() { |
pathfindr | 58:8d4a354816b1 | 180 | return readRegister16(DW1000_RX_FQUAL, 0x00); |
pathfindr | 58:8d4a354816b1 | 181 | } |
pathfindr | 58:8d4a354816b1 | 182 | |
pathfindr | 58:8d4a354816b1 | 183 | uint16_t DW1000::getPACC() { |
pathfindr | 58:8d4a354816b1 | 184 | uint32_t v = readRegister32(DW1000_RX_FINFO, 0x00); |
pathfindr | 58:8d4a354816b1 | 185 | v >>= 20; |
pathfindr | 58:8d4a354816b1 | 186 | return static_cast<uint16_t>(v); |
pathfindr | 58:8d4a354816b1 | 187 | } |
pathfindr | 58:8d4a354816b1 | 188 | |
pathfindr | 58:8d4a354816b1 | 189 | uint16_t DW1000::getFPINDEX() { |
pathfindr | 58:8d4a354816b1 | 190 | return readRegister16(DW1000_RX_TIME, 0x05); |
pathfindr | 58:8d4a354816b1 | 191 | } |
pathfindr | 58:8d4a354816b1 | 192 | |
pathfindr | 58:8d4a354816b1 | 193 | uint16_t DW1000::getFPAMPL1() { |
pathfindr | 58:8d4a354816b1 | 194 | return readRegister16(DW1000_RX_TIME, 0x07); |
pathfindr | 58:8d4a354816b1 | 195 | } |
pathfindr | 58:8d4a354816b1 | 196 | |
pathfindr | 58:8d4a354816b1 | 197 | uint16_t DW1000::getFPAMPL2() { |
pathfindr | 58:8d4a354816b1 | 198 | return readRegister16(DW1000_RX_FQUAL, 0x02); |
pathfindr | 58:8d4a354816b1 | 199 | } |
pathfindr | 58:8d4a354816b1 | 200 | |
pathfindr | 58:8d4a354816b1 | 201 | uint16_t DW1000::getFPAMPL3() { |
pathfindr | 58:8d4a354816b1 | 202 | return readRegister16(DW1000_RX_FQUAL, 0x04); |
pathfindr | 58:8d4a354816b1 | 203 | } |
pathfindr | 58:8d4a354816b1 | 204 | |
pathfindr | 58:8d4a354816b1 | 205 | uint16_t DW1000::getCIRPWR() { |
pathfindr | 58:8d4a354816b1 | 206 | return readRegister16(DW1000_RX_FQUAL, 0x06); |
pathfindr | 58:8d4a354816b1 | 207 | } |
pathfindr | 58:8d4a354816b1 | 208 | |
pathfindr | 58:8d4a354816b1 | 209 | uint8_t DW1000::getPRF() |
pathfindr | 58:8d4a354816b1 | 210 | { |
pathfindr | 58:8d4a354816b1 | 211 | uint32_t prf_mask = static_cast<uint32_t>(0x1 << 19 | 0x1 << 18); |
pathfindr | 58:8d4a354816b1 | 212 | uint32_t prf = readRegister32(DW1000_CHAN_CTRL, 0x00); |
pathfindr | 58:8d4a354816b1 | 213 | prf >>= 18; |
pathfindr | 58:8d4a354816b1 | 214 | return static_cast<uint8_t>(prf & prf_mask); |
pathfindr | 58:8d4a354816b1 | 215 | } |
pathfindr | 58:8d4a354816b1 | 216 | |
pathfindr | 58:8d4a354816b1 | 217 | void DW1000::sendString(char* message) { |
pathfindr | 58:8d4a354816b1 | 218 | sendFrame((uint8_t*)message, strlen(message)+1); |
pathfindr | 58:8d4a354816b1 | 219 | } |
pathfindr | 58:8d4a354816b1 | 220 | |
pathfindr | 58:8d4a354816b1 | 221 | void DW1000::receiveString(char* message) { |
pathfindr | 58:8d4a354816b1 | 222 | readRegister(DW1000_RX_BUFFER, 0, (uint8_t*)message, getFramelength()); // get data from buffer |
pathfindr | 58:8d4a354816b1 | 223 | } |
pathfindr | 58:8d4a354816b1 | 224 | |
pathfindr | 58:8d4a354816b1 | 225 | void DW1000::sendFrame(uint8_t* message, uint16_t length) { |
pathfindr | 58:8d4a354816b1 | 226 | //if (length >= 1021) length = 1021; // check for maximim length a frame can have with 1024 Byte frames [not used, see constructor] |
pathfindr | 58:8d4a354816b1 | 227 | if (length >= 125) length = 125; // check for maximim length a frame can have with 127 Byte frames |
pathfindr | 58:8d4a354816b1 | 228 | |
pathfindr | 58:8d4a354816b1 | 229 | Timer timer; |
pathfindr | 58:8d4a354816b1 | 230 | timer.start(); |
pathfindr | 58:8d4a354816b1 | 231 | writeRegister(DW1000_TX_BUFFER, 0, message, length); // fill buffer |
pathfindr | 58:8d4a354816b1 | 232 | |
pathfindr | 58:8d4a354816b1 | 233 | uint8_t backup = readRegister8(DW1000_TX_FCTRL, 1); // put length of frame |
pathfindr | 58:8d4a354816b1 | 234 | length += 2; // including 2 CRC Bytes |
pathfindr | 58:8d4a354816b1 | 235 | length = ((backup & 0xFC) << 8) | (length & 0x03FF); |
pathfindr | 58:8d4a354816b1 | 236 | writeRegister16(DW1000_TX_FCTRL, 0, length); |
pathfindr | 58:8d4a354816b1 | 237 | |
pathfindr | 58:8d4a354816b1 | 238 | stopTRX(); // stop receiving |
pathfindr | 58:8d4a354816b1 | 239 | writeRegister8(DW1000_SYS_CTRL, 0, 0x02); // trigger sending process by setting the TXSTRT bit |
pathfindr | 58:8d4a354816b1 | 240 | } |
pathfindr | 58:8d4a354816b1 | 241 | |
pathfindr | 58:8d4a354816b1 | 242 | void DW1000::sendDelayedFrame(uint8_t* message, uint16_t length, uint64_t TxTimestamp) { |
pathfindr | 58:8d4a354816b1 | 243 | clearSentFlag(); // This is necessary, otherwise we pick up the transmission time of the previous send |
pathfindr | 58:8d4a354816b1 | 244 | |
pathfindr | 58:8d4a354816b1 | 245 | if (TxTimestamp > CONST_2POWER40) { |
pathfindr | 58:8d4a354816b1 | 246 | TxTimestamp -= CONST_2POWER40; |
pathfindr | 58:8d4a354816b1 | 247 | } |
pathfindr | 58:8d4a354816b1 | 248 | |
pathfindr | 58:8d4a354816b1 | 249 | //if (length >= 1021) length = 1021; // check for maximim length a frame can have with 1024 Byte frames [not used, see constructor] |
pathfindr | 58:8d4a354816b1 | 250 | if (length >= 125) length = 125; // check for maximim length a frame can have with 127 Byte frames |
pathfindr | 58:8d4a354816b1 | 251 | writeRegister(DW1000_TX_BUFFER, 0, message, length); // fill buffer |
pathfindr | 58:8d4a354816b1 | 252 | |
pathfindr | 58:8d4a354816b1 | 253 | uint8_t backup = readRegister8(DW1000_TX_FCTRL, 1); // put length of frame |
pathfindr | 58:8d4a354816b1 | 254 | length += 2; // including 2 CRC Bytes |
pathfindr | 58:8d4a354816b1 | 255 | length = ((backup & 0xFC) << 8) | (length & 0x03FF); |
pathfindr | 58:8d4a354816b1 | 256 | writeRegister16(DW1000_TX_FCTRL, 0, length); |
pathfindr | 58:8d4a354816b1 | 257 | |
pathfindr | 58:8d4a354816b1 | 258 | writeRegister40(DW1000_DX_TIME, 0, TxTimestamp); //write the timestamp on which to send the message |
pathfindr | 58:8d4a354816b1 | 259 | |
pathfindr | 58:8d4a354816b1 | 260 | stopTRX(); // stop receiving |
pathfindr | 58:8d4a354816b1 | 261 | writeRegister8(DW1000_SYS_CTRL, 0, 0x02 | 0x04); // trigger sending process by setting the TXSTRT and TXDLYS bit |
pathfindr | 58:8d4a354816b1 | 262 | } |
pathfindr | 58:8d4a354816b1 | 263 | |
pathfindr | 58:8d4a354816b1 | 264 | void DW1000::startRX() { |
pathfindr | 58:8d4a354816b1 | 265 | writeRegister8(DW1000_SYS_CTRL, 0x01, 0x01); // start listening for preamble by setting the RXENAB bit |
pathfindr | 58:8d4a354816b1 | 266 | wait_us(16); // According to page 81 in the user manual (RXENAB bit) |
pathfindr | 58:8d4a354816b1 | 267 | } |
pathfindr | 58:8d4a354816b1 | 268 | |
pathfindr | 58:8d4a354816b1 | 269 | void DW1000::stopTRX() { |
pathfindr | 58:8d4a354816b1 | 270 | writeRegister8(DW1000_SYS_CTRL, 0, 0x40); // disable tranceiver go back to idle mode by setting the TRXOFF bit |
pathfindr | 58:8d4a354816b1 | 271 | } |
pathfindr | 58:8d4a354816b1 | 272 | |
pathfindr | 58:8d4a354816b1 | 273 | // PRIVATE Methods ------------------------------------------------------------------------------------ |
pathfindr | 58:8d4a354816b1 | 274 | void DW1000::loadLDE() { // initialise LDE algorithm LDELOAD User Manual p22 |
pathfindr | 58:8d4a354816b1 | 275 | writeRegister16(DW1000_PMSC, 0, 0x0301); // set clock to XTAL so OTP is reliable |
pathfindr | 58:8d4a354816b1 | 276 | writeRegister16(DW1000_OTP_IF, 0x06, 0x8000); // set LDELOAD bit in OTP |
pathfindr | 58:8d4a354816b1 | 277 | wait_us(150); |
pathfindr | 58:8d4a354816b1 | 278 | writeRegister16(DW1000_PMSC, 0, 0x0200); // recover to PLL clock |
pathfindr | 58:8d4a354816b1 | 279 | } |
pathfindr | 58:8d4a354816b1 | 280 | |
pathfindr | 58:8d4a354816b1 | 281 | void DW1000::resetRX() { |
pathfindr | 58:8d4a354816b1 | 282 | writeRegister8(DW1000_PMSC, 3, 0xE0); // set RX reset |
pathfindr | 58:8d4a354816b1 | 283 | writeRegister8(DW1000_PMSC, 3, 0xF0); // clear RX reset |
pathfindr | 58:8d4a354816b1 | 284 | } |
pathfindr | 58:8d4a354816b1 | 285 | |
pathfindr | 58:8d4a354816b1 | 286 | void DW1000::hardwareReset(PinName reset_pin) { |
pathfindr | 58:8d4a354816b1 | 287 | DigitalInOut reset(reset_pin); |
pathfindr | 58:8d4a354816b1 | 288 | hardwareReset(reset); |
pathfindr | 58:8d4a354816b1 | 289 | } |
pathfindr | 58:8d4a354816b1 | 290 | |
pathfindr | 58:8d4a354816b1 | 291 | void DW1000::hardwareReset(DigitalInOut& reset) { |
pathfindr | 58:8d4a354816b1 | 292 | if (reset.is_connected()) { |
pathfindr | 58:8d4a354816b1 | 293 | // DWM1000 RESET logic. |
pathfindr | 58:8d4a354816b1 | 294 | if (DWM1000_DAMAGED) { |
pathfindr | 58:8d4a354816b1 | 295 | /* |
pathfindr | 58:8d4a354816b1 | 296 | // The following code works for damaged DWM1000 modules. |
pathfindr | 58:8d4a354816b1 | 297 | // IMPORTANT: This will damage healthy DWM1000 modules! |
pathfindr | 58:8d4a354816b1 | 298 | reset.output(); |
pathfindr | 58:8d4a354816b1 | 299 | reset = 1; |
pathfindr | 58:8d4a354816b1 | 300 | wait_ms(100); |
pathfindr | 58:8d4a354816b1 | 301 | reset = 0; |
pathfindr | 58:8d4a354816b1 | 302 | wait_ms(100); |
pathfindr | 58:8d4a354816b1 | 303 | reset = 1; |
pathfindr | 58:8d4a354816b1 | 304 | wait_ms(100); |
pathfindr | 58:8d4a354816b1 | 305 | */ |
pathfindr | 58:8d4a354816b1 | 306 | } else { |
pathfindr | 58:8d4a354816b1 | 307 | // The following code works for healthy DWM1000 modules |
pathfindr | 58:8d4a354816b1 | 308 | reset.output(); |
pathfindr | 58:8d4a354816b1 | 309 | reset = 0; |
pathfindr | 58:8d4a354816b1 | 310 | wait_ms(100); |
pathfindr | 58:8d4a354816b1 | 311 | reset.input(); |
pathfindr | 58:8d4a354816b1 | 312 | } |
pathfindr | 58:8d4a354816b1 | 313 | } |
pathfindr | 58:8d4a354816b1 | 314 | } |
pathfindr | 58:8d4a354816b1 | 315 | |
pathfindr | 58:8d4a354816b1 | 316 | void DW1000::softwareReset() { |
pathfindr | 58:8d4a354816b1 | 317 | stopTRX(); |
pathfindr | 58:8d4a354816b1 | 318 | clearReceivedFlag(); |
pathfindr | 58:8d4a354816b1 | 319 | clearSentFlag(); |
pathfindr | 58:8d4a354816b1 | 320 | } |
pathfindr | 58:8d4a354816b1 | 321 | |
pathfindr | 58:8d4a354816b1 | 322 | void DW1000::resetAll() { |
pathfindr | 58:8d4a354816b1 | 323 | hardwareReset(reset); |
pathfindr | 58:8d4a354816b1 | 324 | |
pathfindr | 58:8d4a354816b1 | 325 | writeRegister8(DW1000_PMSC, 0, 0x01); // set clock to XTAL |
pathfindr | 58:8d4a354816b1 | 326 | writeRegister8(DW1000_PMSC, 3, 0x00); // set All reset |
pathfindr | 58:8d4a354816b1 | 327 | wait_us(10); // wait for PLL to lock |
pathfindr | 58:8d4a354816b1 | 328 | writeRegister8(DW1000_PMSC, 3, 0xF0); // clear All reset |
pathfindr | 58:8d4a354816b1 | 329 | } |
pathfindr | 58:8d4a354816b1 | 330 | |
pathfindr | 58:8d4a354816b1 | 331 | |
pathfindr | 58:8d4a354816b1 | 332 | void DW1000::setInterrupt(bool RX, bool TX) { |
pathfindr | 58:8d4a354816b1 | 333 | writeRegister16(DW1000_SYS_MASK, 0, RX*0x4000 | TX*0x0080); // RX good frame 0x4000, TX done 0x0080 |
pathfindr | 58:8d4a354816b1 | 334 | } |
pathfindr | 58:8d4a354816b1 | 335 | |
pathfindr | 58:8d4a354816b1 | 336 | /* |
pathfindr | 58:8d4a354816b1 | 337 | void DW1000::ISR() { |
pathfindr | 58:8d4a354816b1 | 338 | uint64_t status = getStatus(); |
pathfindr | 58:8d4a354816b1 | 339 | if (status & 0x4000) { // a frame was received |
pathfindr | 58:8d4a354816b1 | 340 | callbackRX.call(); |
pathfindr | 58:8d4a354816b1 | 341 | writeRegister16(DW1000_SYS_STATUS, 0, 0x6F00); // clearing of receiving status bits |
pathfindr | 58:8d4a354816b1 | 342 | } |
pathfindr | 58:8d4a354816b1 | 343 | if (status & 0x80) { // sending complete |
pathfindr | 58:8d4a354816b1 | 344 | callbackTX.call(); |
pathfindr | 58:8d4a354816b1 | 345 | writeRegister8(DW1000_SYS_STATUS, 0, 0xF8); // clearing of sending status bits |
pathfindr | 58:8d4a354816b1 | 346 | } |
pathfindr | 58:8d4a354816b1 | 347 | } |
pathfindr | 58:8d4a354816b1 | 348 | */ |
pathfindr | 58:8d4a354816b1 | 349 | |
pathfindr | 58:8d4a354816b1 | 350 | uint16_t DW1000::getFramelength() { |
pathfindr | 58:8d4a354816b1 | 351 | uint16_t framelength = readRegister16(DW1000_RX_FINFO, 0); // get framelength |
pathfindr | 58:8d4a354816b1 | 352 | framelength = (framelength & 0x03FF) - 2; // take only the right bits and subtract the 2 CRC Bytes |
pathfindr | 58:8d4a354816b1 | 353 | return framelength; |
pathfindr | 58:8d4a354816b1 | 354 | } |
pathfindr | 58:8d4a354816b1 | 355 | |
pathfindr | 58:8d4a354816b1 | 356 | // SPI Interface ------------------------------------------------------------------------------------ |
pathfindr | 58:8d4a354816b1 | 357 | uint8_t DW1000::readRegister8(uint8_t reg, uint16_t subaddress) { |
pathfindr | 58:8d4a354816b1 | 358 | uint8_t result; |
pathfindr | 58:8d4a354816b1 | 359 | readRegister(reg, subaddress, &result, 1); |
pathfindr | 58:8d4a354816b1 | 360 | return result; |
pathfindr | 58:8d4a354816b1 | 361 | } |
pathfindr | 58:8d4a354816b1 | 362 | |
pathfindr | 58:8d4a354816b1 | 363 | uint16_t DW1000::readRegister16(uint8_t reg, uint16_t subaddress) { |
pathfindr | 58:8d4a354816b1 | 364 | uint16_t result; |
pathfindr | 58:8d4a354816b1 | 365 | readRegister(reg, subaddress, (uint8_t*)&result, 2); |
pathfindr | 58:8d4a354816b1 | 366 | return result; |
pathfindr | 58:8d4a354816b1 | 367 | } |
pathfindr | 58:8d4a354816b1 | 368 | |
pathfindr | 58:8d4a354816b1 | 369 | uint32_t DW1000::readRegister32(uint8_t reg, uint16_t subaddress) { |
pathfindr | 58:8d4a354816b1 | 370 | uint32_t result; |
pathfindr | 58:8d4a354816b1 | 371 | readRegister(reg, subaddress, (uint8_t*)&result, 4); |
pathfindr | 58:8d4a354816b1 | 372 | return result; |
pathfindr | 58:8d4a354816b1 | 373 | } |
pathfindr | 58:8d4a354816b1 | 374 | |
pathfindr | 58:8d4a354816b1 | 375 | uint64_t DW1000::readRegister40(uint8_t reg, uint16_t subaddress) { |
pathfindr | 58:8d4a354816b1 | 376 | uint64_t result; |
pathfindr | 58:8d4a354816b1 | 377 | readRegister(reg, subaddress, (uint8_t*)&result, 5); |
pathfindr | 58:8d4a354816b1 | 378 | result &= 0xFFFFFFFFFF; // only 40-Bit |
pathfindr | 58:8d4a354816b1 | 379 | return result; |
pathfindr | 58:8d4a354816b1 | 380 | } |
pathfindr | 58:8d4a354816b1 | 381 | |
pathfindr | 58:8d4a354816b1 | 382 | void DW1000::writeRegister8(uint8_t reg, uint16_t subaddress, uint8_t buffer) { |
pathfindr | 58:8d4a354816b1 | 383 | writeRegister(reg, subaddress, &buffer, 1); |
pathfindr | 58:8d4a354816b1 | 384 | } |
pathfindr | 58:8d4a354816b1 | 385 | |
pathfindr | 58:8d4a354816b1 | 386 | void DW1000::writeRegister16(uint8_t reg, uint16_t subaddress, uint16_t buffer) { |
pathfindr | 58:8d4a354816b1 | 387 | writeRegister(reg, subaddress, (uint8_t*)&buffer, 2); |
pathfindr | 58:8d4a354816b1 | 388 | } |
pathfindr | 58:8d4a354816b1 | 389 | |
pathfindr | 58:8d4a354816b1 | 390 | void DW1000::writeRegister32(uint8_t reg, uint16_t subaddress, uint32_t buffer) { |
pathfindr | 58:8d4a354816b1 | 391 | writeRegister(reg, subaddress, (uint8_t*)&buffer, 4); |
pathfindr | 58:8d4a354816b1 | 392 | } |
pathfindr | 58:8d4a354816b1 | 393 | |
pathfindr | 58:8d4a354816b1 | 394 | void DW1000::writeRegister40(uint8_t reg, uint16_t subaddress, uint64_t buffer) { |
pathfindr | 58:8d4a354816b1 | 395 | writeRegister(reg, subaddress, (uint8_t*)&buffer, 5); |
pathfindr | 58:8d4a354816b1 | 396 | } |
pathfindr | 58:8d4a354816b1 | 397 | |
pathfindr | 58:8d4a354816b1 | 398 | void DW1000::readRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length) { |
pathfindr | 58:8d4a354816b1 | 399 | setupTransaction(reg, subaddress, false); |
pathfindr | 58:8d4a354816b1 | 400 | for(int i=0; i<length; i++) // get data |
pathfindr | 58:8d4a354816b1 | 401 | buffer[i] = spi.write(0x00); |
pathfindr | 58:8d4a354816b1 | 402 | deselect(); |
pathfindr | 58:8d4a354816b1 | 403 | } |
pathfindr | 58:8d4a354816b1 | 404 | |
pathfindr | 58:8d4a354816b1 | 405 | void DW1000::writeRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length) { |
pathfindr | 58:8d4a354816b1 | 406 | setupTransaction(reg, subaddress, true); |
pathfindr | 58:8d4a354816b1 | 407 | for(int i=0; i<length; i++) // put data |
pathfindr | 58:8d4a354816b1 | 408 | spi.write(buffer[i]); |
pathfindr | 58:8d4a354816b1 | 409 | deselect(); |
pathfindr | 58:8d4a354816b1 | 410 | } |
pathfindr | 58:8d4a354816b1 | 411 | |
pathfindr | 58:8d4a354816b1 | 412 | void DW1000::setupTransaction(uint8_t reg, uint16_t subaddress, bool write) { |
pathfindr | 58:8d4a354816b1 | 413 | reg |= (write * DW1000_WRITE_FLAG); // set read/write flag |
pathfindr | 58:8d4a354816b1 | 414 | select(); |
pathfindr | 58:8d4a354816b1 | 415 | if (subaddress > 0) { // there's a subadress, we need to set flag and send second header byte |
pathfindr | 58:8d4a354816b1 | 416 | spi.write(reg | DW1000_SUBADDRESS_FLAG); |
pathfindr | 58:8d4a354816b1 | 417 | if (subaddress > 0x7F) { // sub address too long, we need to set flag and send third header byte |
pathfindr | 58:8d4a354816b1 | 418 | spi.write((uint8_t)(subaddress & 0x7F) | DW1000_2_SUBADDRESS_FLAG); // and |
pathfindr | 58:8d4a354816b1 | 419 | spi.write((uint8_t)(subaddress >> 7)); |
pathfindr | 58:8d4a354816b1 | 420 | } else { |
pathfindr | 58:8d4a354816b1 | 421 | spi.write((uint8_t)subaddress); |
pathfindr | 58:8d4a354816b1 | 422 | } |
pathfindr | 58:8d4a354816b1 | 423 | } else { |
pathfindr | 58:8d4a354816b1 | 424 | spi.write(reg); // say which register address we want to access |
pathfindr | 58:8d4a354816b1 | 425 | } |
pathfindr | 58:8d4a354816b1 | 426 | } |
pathfindr | 58:8d4a354816b1 | 427 | |
pathfindr | 58:8d4a354816b1 | 428 | void DW1000::select() { // always called to start an SPI transmission |
pathfindr | 58:8d4a354816b1 | 429 | /* |
pathfindr | 58:8d4a354816b1 | 430 | if (irq != NULL) { |
pathfindr | 58:8d4a354816b1 | 431 | //irq->disable_irq(); |
pathfindr | 58:8d4a354816b1 | 432 | irq.disable_irq(); |
pathfindr | 58:8d4a354816b1 | 433 | } |
pathfindr | 58:8d4a354816b1 | 434 | */ |
pathfindr | 58:8d4a354816b1 | 435 | cs = 0; // set Cable Select pin low to start transmission |
pathfindr | 58:8d4a354816b1 | 436 | } |
pathfindr | 58:8d4a354816b1 | 437 | |
pathfindr | 58:8d4a354816b1 | 438 | void DW1000::deselect() { // always called to end an SPI transmission |
pathfindr | 58:8d4a354816b1 | 439 | cs = 1; // set Cable Select pin high to stop transmission |
pathfindr | 58:8d4a354816b1 | 440 | /* |
pathfindr | 58:8d4a354816b1 | 441 | if (irq != NULL) { |
pathfindr | 58:8d4a354816b1 | 442 | //irq->enable_irq(); |
pathfindr | 58:8d4a354816b1 | 443 | irq.enable_irq(); |
pathfindr | 58:8d4a354816b1 | 444 | } |
pathfindr | 58:8d4a354816b1 | 445 | */ |
pathfindr | 58:8d4a354816b1 | 446 | } |