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Dependencies: aconno_I2C Lis2dh12 WatchdogTimer
Diff: DW1000/DW1000.cpp
- Revision:
- 58:8d4a354816b1
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/DW1000/DW1000.cpp Mon Feb 17 23:24:52 2020 +0000
@@ -0,0 +1,446 @@
+// Adapted from Matthias Grob & Manuel Stalder - ETH Zürich - 2015
+#include "DW1000.h"
+#include "NRFuart.h"
+
+// Change this depending on whether damaged or heatlhy DWM1000 modules are used.
+const bool DWM1000_DAMAGED = false;
+//const bool DWM1000_DAMAGED = false;
+
+/*DW1000::DW1000(PinName MOSI, PinName MISO, PinName SCLK, PinName CS, PinName IRQ, PinName RESET) : irq(IRQ), spi(MOSI, MISO, SCLK), cs(CS), reset(RESET) {
+ irq.rise(this, &DW1000::ISR);
+ */
+
+DW1000::DW1000(PinName MOSI, PinName MISO, PinName SCLK, PinName CS, PinName IRQ, PinName RESET) : irq(IRQ), spi(MOSI, MISO, SCLK), cs(CS), reset(RESET) {
+ //irq.rise(this, &DW1000::ISR);
+
+ //setCallbacks(NULL, NULL);
+
+ select();
+ deselect(); // Chip must be deselected first
+ resetAll(); // we do a soft reset of the DW1000 everytime the driver starts
+
+ // Configuration TODO: make method for that
+ // User Manual "2.5.5 Default Configurations that should be modified" p. 22
+ //Those values are for the standard mode (6.8Mbps, 5, 16Mhz, 32 Symbols) and are INCOMPLETE!
+// writeRegister16(DW1000_AGC_CTRL, 0x04, 0x8870);
+// writeRegister32(DW1000_AGC_CTRL, 0x0C, 0x2502A907);
+// writeRegister32(DW1000_DRX_CONF, 0x08, 0x311A002D);
+// writeRegister8 (DW1000_LDE_CTRL, 0x0806, 0xD);
+// writeRegister16(DW1000_LDE_CTRL, 0x1806, 0x1607);
+// writeRegister32(DW1000_TX_POWER, 0, 0x0E082848);
+// writeRegister32(DW1000_RF_CONF, 0x0C, 0x001E3FE0);
+// writeRegister8 (DW1000_TX_CAL, 0x0B, 0xC0);
+// writeRegister8 (DW1000_FS_CTRL, 0x0B, 0xA6);
+
+
+ //Those values are for the 110kbps mode (5, 16MHz, 1024 Symbols) and are quite complete
+ writeRegister16(DW1000_AGC_CTRL, 0x04, 0x8870); //AGC_TUNE1 for 16MHz PRF
+ writeRegister32(DW1000_AGC_CTRL, 0x0C, 0x2502A907); //AGC_TUNE2 (Universal)
+ writeRegister16(DW1000_AGC_CTRL, 0x12, 0x0055); //AGC_TUNE3 (Universal)
+
+ writeRegister16(DW1000_DRX_CONF, 0x02, 0x000A); //DRX_TUNE0b for 110kbps
+ writeRegister16(DW1000_DRX_CONF, 0x04, 0x0087); //DRX_TUNE1a for 16MHz PRF
+ writeRegister16(DW1000_DRX_CONF, 0x06, 0x0064); //DRX_TUNE1b for 110kbps & > 1024 symbols
+ writeRegister32(DW1000_DRX_CONF, 0x08, 0x351A009A); //PAC size for 1024 symbols preamble & 16MHz PRF
+ //writeRegister32(DW1000_DRX_CONF, 0x08, 0x371A011D); //PAC size for 2048 symbols preamble
+
+ writeRegister8 (DW1000_LDE_CTRL, 0x0806, 0xD); //LDE_CFG1
+ writeRegister16(DW1000_LDE_CTRL, 0x1806, 0x1607); //LDE_CFG2 for 16MHz PRF
+
+ writeRegister32(DW1000_TX_POWER, 0, 0x28282828); //Power for channel 5
+
+ writeRegister8(DW1000_RF_CONF, 0x0B, 0xD8); //RF_RXCTRLH for channel 5
+ writeRegister32(DW1000_RF_CONF, 0x0C, 0x001E3FE0); //RF_TXCTRL for channel 5
+
+ writeRegister8 (DW1000_TX_CAL, 0x0B, 0xC0); //TC_PGDELAY for channel 5
+
+ writeRegister32 (DW1000_FS_CTRL, 0x07, 0x0800041D); //FS_PLLCFG for channel 5
+ writeRegister8 (DW1000_FS_CTRL, 0x0B, 0xA6); //FS_PLLTUNE for channel 5
+
+ 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
+
+ // 110kbps CAUTION: a lot of other registers have to be set for an optimized operation on 110kbps
+ 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
+ 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...]
+
+ writeRegister16(DW1000_TX_ANTD, 0, 16384); // set TX and RX Antenna delay to neutral because we calibrate afterwards
+ 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)
+
+ writeRegister8(DW1000_SYS_CFG, 3, 0x20); // enable auto reenabling receiver after error
+
+ //irq.enable_irq();
+}
+
+/*
+void DW1000::setCallbacks(void (*callbackRX)(void), void (*callbackTX)(void)) {
+ bool RX = false;
+ bool TX = false;
+ if (callbackRX) {
+ this->callbackRX.attach(callbackRX);
+ RX = true;
+ }
+ if (callbackTX) {
+ this->callbackTX.attach(callbackTX);
+ TX = true;
+ }
+ setInterrupt(RX, TX);
+}
+*/
+
+uint32_t DW1000::getDeviceID() {
+ uint32_t result;
+ readRegister(DW1000_DEV_ID, 0, (uint8_t*)&result, 4);
+ return result;
+}
+
+uint64_t DW1000::getEUI() {
+ uint64_t result;
+ readRegister(DW1000_EUI, 0, (uint8_t*)&result, 8);
+ return result;
+}
+
+void DW1000::setEUI(uint64_t EUI) {
+ writeRegister(DW1000_EUI, 0, (uint8_t*)&EUI, 8);
+}
+
+float DW1000::getVoltage() {
+ uint8_t buffer[7] = {0x80, 0x0A, 0x0F, 0x01, 0x00}; // algorithm form User Manual p57
+ writeRegister(DW1000_RF_CONF, 0x11, buffer, 2);
+ writeRegister(DW1000_RF_CONF, 0x12, &buffer[2], 1);
+ writeRegister(DW1000_TX_CAL, 0x00, &buffer[3], 1);
+ writeRegister(DW1000_TX_CAL, 0x00, &buffer[4], 1);
+ readRegister(DW1000_TX_CAL, 0x03, &buffer[5], 2); // get the 8-Bit readings for Voltage and Temperature
+ float Voltage = buffer[5] * 0.0057 + 2.3;
+ //float Temperature = buffer[6] * 1.13 - 113.0; // TODO: getTemperature was always ~35 degree with better formula/calibration
+ return Voltage;
+}
+
+uint64_t DW1000::getStatus() {
+ return readRegister40(DW1000_SYS_STATUS, 0);
+}
+
+bool DW1000::hasReceivedFrame() {
+ uint64_t status = getStatus();
+ return status & 0x4000;
+}
+
+void DW1000::clearReceivedFlag() {
+ writeRegister16(DW1000_SYS_STATUS, 0, 0x6F00); // clearing of receiving status bits
+}
+
+bool DW1000::hasTransmissionStarted() {
+ uint64_t status = getStatus();
+ return status & 0x10;
+}
+
+bool DW1000::hasSentPreamble() {
+ uint64_t status = getStatus();
+ return status & 0x20;
+}
+
+bool DW1000::hasSentPHYHeader() {
+ uint64_t status = getStatus();
+ return status & 0x40;
+}
+
+bool DW1000::hasSentFrame() {
+ uint64_t status = getStatus();
+ return status & 0x80;
+}
+
+void DW1000::clearSentFlag() {
+ writeRegister8(DW1000_SYS_STATUS, 0, 0xF8); // clearing of sending status bits
+}
+
+uint64_t DW1000::getSYSTimestamp() {
+ return readRegister40(DW1000_SYS_TIME, 0);
+}
+
+uint64_t DW1000::getRXTimestamp() {
+ return readRegister40(DW1000_RX_TIME, 0);
+}
+
+uint64_t DW1000::getTXTimestamp() {
+ return readRegister40(DW1000_TX_TIME, 0);
+}
+
+float DW1000::getSYSTimestampUS() {
+ return getSYSTimestamp() * TIMEUNITS_TO_US;
+}
+
+float DW1000::getRXTimestampUS() {
+ return getRXTimestamp() * TIMEUNITS_TO_US;
+}
+
+float DW1000::getTXTimestampUS() {
+ return getTXTimestamp() * TIMEUNITS_TO_US;
+}
+
+uint16_t DW1000::getStdNoise() {
+ return readRegister16(DW1000_RX_FQUAL, 0x00);
+}
+
+uint16_t DW1000::getPACC() {
+ uint32_t v = readRegister32(DW1000_RX_FINFO, 0x00);
+ v >>= 20;
+ return static_cast<uint16_t>(v);
+}
+
+uint16_t DW1000::getFPINDEX() {
+ return readRegister16(DW1000_RX_TIME, 0x05);
+}
+
+uint16_t DW1000::getFPAMPL1() {
+ return readRegister16(DW1000_RX_TIME, 0x07);
+}
+
+uint16_t DW1000::getFPAMPL2() {
+ return readRegister16(DW1000_RX_FQUAL, 0x02);
+}
+
+uint16_t DW1000::getFPAMPL3() {
+ return readRegister16(DW1000_RX_FQUAL, 0x04);
+}
+
+uint16_t DW1000::getCIRPWR() {
+ return readRegister16(DW1000_RX_FQUAL, 0x06);
+}
+
+uint8_t DW1000::getPRF()
+{
+ uint32_t prf_mask = static_cast<uint32_t>(0x1 << 19 | 0x1 << 18);
+ uint32_t prf = readRegister32(DW1000_CHAN_CTRL, 0x00);
+ prf >>= 18;
+ return static_cast<uint8_t>(prf & prf_mask);
+}
+
+void DW1000::sendString(char* message) {
+ sendFrame((uint8_t*)message, strlen(message)+1);
+}
+
+void DW1000::receiveString(char* message) {
+ readRegister(DW1000_RX_BUFFER, 0, (uint8_t*)message, getFramelength()); // get data from buffer
+}
+
+void DW1000::sendFrame(uint8_t* message, uint16_t length) {
+ //if (length >= 1021) length = 1021; // check for maximim length a frame can have with 1024 Byte frames [not used, see constructor]
+ if (length >= 125) length = 125; // check for maximim length a frame can have with 127 Byte frames
+
+ Timer timer;
+ timer.start();
+ writeRegister(DW1000_TX_BUFFER, 0, message, length); // fill buffer
+
+ uint8_t backup = readRegister8(DW1000_TX_FCTRL, 1); // put length of frame
+ length += 2; // including 2 CRC Bytes
+ length = ((backup & 0xFC) << 8) | (length & 0x03FF);
+ writeRegister16(DW1000_TX_FCTRL, 0, length);
+
+ stopTRX(); // stop receiving
+ writeRegister8(DW1000_SYS_CTRL, 0, 0x02); // trigger sending process by setting the TXSTRT bit
+}
+
+void DW1000::sendDelayedFrame(uint8_t* message, uint16_t length, uint64_t TxTimestamp) {
+ clearSentFlag(); // This is necessary, otherwise we pick up the transmission time of the previous send
+
+ if (TxTimestamp > CONST_2POWER40) {
+ TxTimestamp -= CONST_2POWER40;
+ }
+
+ //if (length >= 1021) length = 1021; // check for maximim length a frame can have with 1024 Byte frames [not used, see constructor]
+ if (length >= 125) length = 125; // check for maximim length a frame can have with 127 Byte frames
+ writeRegister(DW1000_TX_BUFFER, 0, message, length); // fill buffer
+
+ uint8_t backup = readRegister8(DW1000_TX_FCTRL, 1); // put length of frame
+ length += 2; // including 2 CRC Bytes
+ length = ((backup & 0xFC) << 8) | (length & 0x03FF);
+ writeRegister16(DW1000_TX_FCTRL, 0, length);
+
+ writeRegister40(DW1000_DX_TIME, 0, TxTimestamp); //write the timestamp on which to send the message
+
+ stopTRX(); // stop receiving
+ writeRegister8(DW1000_SYS_CTRL, 0, 0x02 | 0x04); // trigger sending process by setting the TXSTRT and TXDLYS bit
+}
+
+void DW1000::startRX() {
+ writeRegister8(DW1000_SYS_CTRL, 0x01, 0x01); // start listening for preamble by setting the RXENAB bit
+ wait_us(16); // According to page 81 in the user manual (RXENAB bit)
+}
+
+void DW1000::stopTRX() {
+ writeRegister8(DW1000_SYS_CTRL, 0, 0x40); // disable tranceiver go back to idle mode by setting the TRXOFF bit
+}
+
+// PRIVATE Methods ------------------------------------------------------------------------------------
+void DW1000::loadLDE() { // initialise LDE algorithm LDELOAD User Manual p22
+ writeRegister16(DW1000_PMSC, 0, 0x0301); // set clock to XTAL so OTP is reliable
+ writeRegister16(DW1000_OTP_IF, 0x06, 0x8000); // set LDELOAD bit in OTP
+ wait_us(150);
+ writeRegister16(DW1000_PMSC, 0, 0x0200); // recover to PLL clock
+}
+
+void DW1000::resetRX() {
+ writeRegister8(DW1000_PMSC, 3, 0xE0); // set RX reset
+ writeRegister8(DW1000_PMSC, 3, 0xF0); // clear RX reset
+}
+
+void DW1000::hardwareReset(PinName reset_pin) {
+ DigitalInOut reset(reset_pin);
+ hardwareReset(reset);
+}
+
+void DW1000::hardwareReset(DigitalInOut& reset) {
+ if (reset.is_connected()) {
+ // DWM1000 RESET logic.
+ if (DWM1000_DAMAGED) {
+ /*
+ // The following code works for damaged DWM1000 modules.
+ // IMPORTANT: This will damage healthy DWM1000 modules!
+ reset.output();
+ reset = 1;
+ wait_ms(100);
+ reset = 0;
+ wait_ms(100);
+ reset = 1;
+ wait_ms(100);
+ */
+ } else {
+ // The following code works for healthy DWM1000 modules
+ reset.output();
+ reset = 0;
+ wait_ms(100);
+ reset.input();
+ }
+ }
+}
+
+void DW1000::softwareReset() {
+ stopTRX();
+ clearReceivedFlag();
+ clearSentFlag();
+}
+
+void DW1000::resetAll() {
+ hardwareReset(reset);
+
+ writeRegister8(DW1000_PMSC, 0, 0x01); // set clock to XTAL
+ writeRegister8(DW1000_PMSC, 3, 0x00); // set All reset
+ wait_us(10); // wait for PLL to lock
+ writeRegister8(DW1000_PMSC, 3, 0xF0); // clear All reset
+}
+
+
+void DW1000::setInterrupt(bool RX, bool TX) {
+ writeRegister16(DW1000_SYS_MASK, 0, RX*0x4000 | TX*0x0080); // RX good frame 0x4000, TX done 0x0080
+}
+
+/*
+void DW1000::ISR() {
+ uint64_t status = getStatus();
+ if (status & 0x4000) { // a frame was received
+ callbackRX.call();
+ writeRegister16(DW1000_SYS_STATUS, 0, 0x6F00); // clearing of receiving status bits
+ }
+ if (status & 0x80) { // sending complete
+ callbackTX.call();
+ writeRegister8(DW1000_SYS_STATUS, 0, 0xF8); // clearing of sending status bits
+ }
+}
+*/
+
+uint16_t DW1000::getFramelength() {
+ uint16_t framelength = readRegister16(DW1000_RX_FINFO, 0); // get framelength
+ framelength = (framelength & 0x03FF) - 2; // take only the right bits and subtract the 2 CRC Bytes
+ return framelength;
+}
+
+// SPI Interface ------------------------------------------------------------------------------------
+uint8_t DW1000::readRegister8(uint8_t reg, uint16_t subaddress) {
+ uint8_t result;
+ readRegister(reg, subaddress, &result, 1);
+ return result;
+}
+
+uint16_t DW1000::readRegister16(uint8_t reg, uint16_t subaddress) {
+ uint16_t result;
+ readRegister(reg, subaddress, (uint8_t*)&result, 2);
+ return result;
+}
+
+uint32_t DW1000::readRegister32(uint8_t reg, uint16_t subaddress) {
+ uint32_t result;
+ readRegister(reg, subaddress, (uint8_t*)&result, 4);
+ return result;
+}
+
+uint64_t DW1000::readRegister40(uint8_t reg, uint16_t subaddress) {
+ uint64_t result;
+ readRegister(reg, subaddress, (uint8_t*)&result, 5);
+ result &= 0xFFFFFFFFFF; // only 40-Bit
+ return result;
+}
+
+void DW1000::writeRegister8(uint8_t reg, uint16_t subaddress, uint8_t buffer) {
+ writeRegister(reg, subaddress, &buffer, 1);
+}
+
+void DW1000::writeRegister16(uint8_t reg, uint16_t subaddress, uint16_t buffer) {
+ writeRegister(reg, subaddress, (uint8_t*)&buffer, 2);
+}
+
+void DW1000::writeRegister32(uint8_t reg, uint16_t subaddress, uint32_t buffer) {
+ writeRegister(reg, subaddress, (uint8_t*)&buffer, 4);
+}
+
+void DW1000::writeRegister40(uint8_t reg, uint16_t subaddress, uint64_t buffer) {
+ writeRegister(reg, subaddress, (uint8_t*)&buffer, 5);
+}
+
+void DW1000::readRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length) {
+ setupTransaction(reg, subaddress, false);
+ for(int i=0; i<length; i++) // get data
+ buffer[i] = spi.write(0x00);
+ deselect();
+}
+
+void DW1000::writeRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length) {
+ setupTransaction(reg, subaddress, true);
+ for(int i=0; i<length; i++) // put data
+ spi.write(buffer[i]);
+ deselect();
+}
+
+void DW1000::setupTransaction(uint8_t reg, uint16_t subaddress, bool write) {
+ reg |= (write * DW1000_WRITE_FLAG); // set read/write flag
+ select();
+ if (subaddress > 0) { // there's a subadress, we need to set flag and send second header byte
+ spi.write(reg | DW1000_SUBADDRESS_FLAG);
+ if (subaddress > 0x7F) { // sub address too long, we need to set flag and send third header byte
+ spi.write((uint8_t)(subaddress & 0x7F) | DW1000_2_SUBADDRESS_FLAG); // and
+ spi.write((uint8_t)(subaddress >> 7));
+ } else {
+ spi.write((uint8_t)subaddress);
+ }
+ } else {
+ spi.write(reg); // say which register address we want to access
+ }
+}
+
+void DW1000::select() { // always called to start an SPI transmission
+ /*
+ if (irq != NULL) {
+ //irq->disable_irq();
+ irq.disable_irq();
+ }
+ */
+ cs = 0; // set Cable Select pin low to start transmission
+}
+
+void DW1000::deselect() { // always called to end an SPI transmission
+ cs = 1; // set Cable Select pin high to stop transmission
+ /*
+ if (irq != NULL) {
+ //irq->enable_irq();
+ irq.enable_irq();
+ }
+ */
+}
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