U of Calegary - Okeef / Mbed 2 deprecated 1TestDECAWAVE_plus_others

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Dependencies:   General C12832 FatFileSystemCpp mbed

Fork of MPU9150AHRS by Kris Winer

DW1000/DW1000.h@1:4523d7cda75e, 2016-06-17 (annotated)

Committer:
Kekehoho
Date:
Fri Jun 17 20:35:28 2016 +0000
Revision:
1:4523d7cda75e
2nd try

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Kekehoho 1:4523d7cda75e 1 // by Matthias Grob & Manuel Stalder - ETH Zürich - 2015
Kekehoho 1:4523d7cda75e 2
Kekehoho 1:4523d7cda75e 3 #ifndef DW1000_H
Kekehoho 1:4523d7cda75e 4 #define DW1000_H
Kekehoho 1:4523d7cda75e 5
Kekehoho 1:4523d7cda75e 6 #include "mbed.h"
Kekehoho 1:4523d7cda75e 7
Kekehoho 1:4523d7cda75e 8 // register addresses
Kekehoho 1:4523d7cda75e 9 // Mnemonic Address Bytes Description
Kekehoho 1:4523d7cda75e 10 #define DW1000_DEV_ID 0x00 // 4 Device Identifier – includes device type and revision information
Kekehoho 1:4523d7cda75e 11 #define DW1000_EUI 0x01 // 8 Extended Unique Identifier
Kekehoho 1:4523d7cda75e 12 #define DW1000_PANADR 0x03 // 4 PAN Identifier and Short Address
Kekehoho 1:4523d7cda75e 13 #define DW1000_SYS_CFG 0x04 // 4 System Configuration bitmap
Kekehoho 1:4523d7cda75e 14 #define DW1000_SYS_TIME 0x06 // 5 System Time Counter (40-bit)
Kekehoho 1:4523d7cda75e 15 #define DW1000_TX_FCTRL 0x08 // 5 Transmit Frame Control
Kekehoho 1:4523d7cda75e 16 #define DW1000_TX_BUFFER 0x09 // 1024 Transmit Data Buffer
Kekehoho 1:4523d7cda75e 17 #define DW1000_DX_TIME 0x0A // 5 Delayed Send or Receive Time (40-bit)
Kekehoho 1:4523d7cda75e 18 #define DW1000_RX_FWTO 0x0C // 2 Receive Frame Wait Timeout Period
Kekehoho 1:4523d7cda75e 19 #define DW1000_SYS_CTRL 0x0D // 4 System Control Register
Kekehoho 1:4523d7cda75e 20 #define DW1000_SYS_MASK 0x0E // 4 System Event Mask Register
Kekehoho 1:4523d7cda75e 21 #define DW1000_SYS_STATUS 0x0F // 5 System Event Status Register
Kekehoho 1:4523d7cda75e 22 #define DW1000_RX_FINFO 0x10 // 4 RX Frame Information (in double buffer set)
Kekehoho 1:4523d7cda75e 23 #define DW1000_RX_BUFFER 0x11 // 1024 Receive Data Buffer (in double buffer set)
Kekehoho 1:4523d7cda75e 24 #define DW1000_RX_FQUAL 0x12 // 8 Rx Frame Quality information (in double buffer set)
Kekehoho 1:4523d7cda75e 25 #define DW1000_RX_TTCKI 0x13 // 4 Receiver Time Tracking Interval (in double buffer set)
Kekehoho 1:4523d7cda75e 26 #define DW1000_RX_TTCKO 0x14 // 5 Receiver Time Tracking Offset (in double buffer set)
Kekehoho 1:4523d7cda75e 27 #define DW1000_RX_TIME 0x15 // 14 Receive Message Time of Arrival (in double buffer set)
Kekehoho 1:4523d7cda75e 28 #define DW1000_TX_TIME 0x17 // 10 Transmit Message Time of Sending (in double buffer set)
Kekehoho 1:4523d7cda75e 29 #define DW1000_TX_ANTD 0x18 // 2 16-bit Delay from Transmit to Antenna
Kekehoho 1:4523d7cda75e 30 #define DW1000_SYS_STATE 0x19 // 5 System State information
Kekehoho 1:4523d7cda75e 31 #define DW1000_ACK_RESP_T 0x1A // 4 Acknowledgement Time and Response Time
Kekehoho 1:4523d7cda75e 32 #define DW1000_RX_SNIFF 0x1D // 4 Pulsed Preamble Reception Configuration
Kekehoho 1:4523d7cda75e 33 #define DW1000_TX_POWER 0x1E // 4 TX Power Control
Kekehoho 1:4523d7cda75e 34 #define DW1000_CHAN_CTRL 0x1F // 4 Channel Control
Kekehoho 1:4523d7cda75e 35 #define DW1000_USR_SFD 0x21 // 41 User-specified short/long TX/RX SFD sequences
Kekehoho 1:4523d7cda75e 36 #define DW1000_AGC_CTRL 0x23 // 32 Automatic Gain Control configuration
Kekehoho 1:4523d7cda75e 37 #define DW1000_EXT_SYNC 0x24 // 12 External synchronisation control.
Kekehoho 1:4523d7cda75e 38 #define DW1000_ACC_MEM 0x25 // 4064 Read access to accumulator data
Kekehoho 1:4523d7cda75e 39 #define DW1000_GPIO_CTRL 0x26 // 44 Peripheral register bus 1 access - GPIO control
Kekehoho 1:4523d7cda75e 40 #define DW1000_DRX_CONF 0x27 // 44 Digital Receiver configuration
Kekehoho 1:4523d7cda75e 41 #define DW1000_RF_CONF 0x28 // 58 Analog RF Configuration
Kekehoho 1:4523d7cda75e 42 #define DW1000_TX_CAL 0x2A // 52 Transmitter calibration block
Kekehoho 1:4523d7cda75e 43 #define DW1000_FS_CTRL 0x2B // 21 Frequency synthesiser control block
Kekehoho 1:4523d7cda75e 44 #define DW1000_AON 0x2C // 12 Always-On register set
Kekehoho 1:4523d7cda75e 45 #define DW1000_OTP_IF 0x2D // 18 One Time Programmable Memory Interface
Kekehoho 1:4523d7cda75e 46 #define DW1000_LDE_CTRL 0x2E // - Leading edge detection control block
Kekehoho 1:4523d7cda75e 47 #define DW1000_DIG_DIAG 0x2F // 41 Digital Diagnostics Interface
Kekehoho 1:4523d7cda75e 48 #define DW1000_PMSC 0x36 // 48 Power Management System Control Block
Kekehoho 1:4523d7cda75e 49
Kekehoho 1:4523d7cda75e 50 #define DW1000_WRITE_FLAG 0x80 // First Bit of the address has to be 1 to indicate we want to write
Kekehoho 1:4523d7cda75e 51 #define DW1000_SUBADDRESS_FLAG 0x40 // if we have a sub address second Bit has to be 1
Kekehoho 1:4523d7cda75e 52 #define DW1000_2_SUBADDRESS_FLAG 0x80 // if we have a long sub adress (more than 7 Bit) we set this Bit in the first part
Kekehoho 1:4523d7cda75e 53
Kekehoho 1:4523d7cda75e 54 class DW1000 {
Kekehoho 1:4523d7cda75e 55 public:
Kekehoho 1:4523d7cda75e 56 DW1000(PinName MOSI, PinName MISO, PinName SCLK, PinName CS, PinName IRQ); // constructor, uses SPI class
Kekehoho 1:4523d7cda75e 57 void setCallbacks(void (*callbackRX)(void), void (*callbackTX)(void)); // setter for callback functions, automatically enables interrupt, if NULL is passed the coresponding interrupt gets disabled
Kekehoho 1:4523d7cda75e 58 template<typename T>
Kekehoho 1:4523d7cda75e 59 void setCallbacks(T* tptr, void (T::*mptrRX)(void), void (T::*mptrTX)(void)) { // overloaded setter to treat member function pointers of objects
Kekehoho 1:4523d7cda75e 60 callbackRX.attach(tptr, mptrRX); // possible client code: dw.setCallbacks(this, &A::callbackRX, &A::callbackTX);
Kekehoho 1:4523d7cda75e 61 callbackTX.attach(tptr, mptrTX); // concept seen in line 100 of http://developer.mbed.org/users/mbed_official/code/mbed/docs/4fc01daae5a5/InterruptIn_8h_source.html
Kekehoho 1:4523d7cda75e 62 setInterrupt(true,true);
Kekehoho 1:4523d7cda75e 63 }
Kekehoho 1:4523d7cda75e 64
Kekehoho 1:4523d7cda75e 65 // Device API
Kekehoho 1:4523d7cda75e 66 uint32_t getDeviceID(); // gets the Device ID which should be 0xDECA0130 (good for testing SPI!)
Kekehoho 1:4523d7cda75e 67 uint64_t getEUI(); // gets 64 bit Extended Unique Identifier according to IEEE standard
Kekehoho 1:4523d7cda75e 68 void setEUI(uint64_t EUI);
Kekehoho 1:4523d7cda75e 69 uint64_t getCIR_PWR();
Kekehoho 1:4523d7cda75e 70 uint32_t getRXPACC(); // sets 64 bit Extended Unique Identifier according to IEEE standard
Kekehoho 1:4523d7cda75e 71 float getVoltage(); // gets the current chip voltage measurement form the A/D converter
Kekehoho 1:4523d7cda75e 72 uint64_t getStatus(); // get the 40 bit device status
Kekehoho 1:4523d7cda75e 73 uint64_t getRXTimestamp();
Kekehoho 1:4523d7cda75e 74 uint64_t getTXTimestamp();
Kekehoho 1:4523d7cda75e 75
Kekehoho 1:4523d7cda75e 76 void sendString(char* message); // to send String with arbitrary length
Kekehoho 1:4523d7cda75e 77 void receiveString(char* message); // to receive char string (length of the buffer must be 1021 to be safe)
Kekehoho 1:4523d7cda75e 78 void sendFrame(uint8_t* message, uint16_t length); // send a raw frame (length in bytes)
Kekehoho 1:4523d7cda75e 79 void sendDelayedFrame(uint8_t* message, uint16_t length, uint64_t TxTimestamp);
Kekehoho 1:4523d7cda75e 80 void startRX(); // start listening for frames
Kekehoho 1:4523d7cda75e 81 void stopTRX(); // disable tranceiver go back to idle mode
Kekehoho 1:4523d7cda75e 82
Kekehoho 1:4523d7cda75e 83 //private:
Kekehoho 1:4523d7cda75e 84 void loadLDE(); // load the leading edge detection algorithm to RAM, [IMPORTANT because receiving malfunction may occur] see User Manual LDELOAD on p22 & p158
Kekehoho 1:4523d7cda75e 85 void resetRX(); // soft reset only the tranciever part of DW1000
Kekehoho 1:4523d7cda75e 86 void resetAll(); // soft reset the entire DW1000 (some registers stay as they were see User Manual)
Kekehoho 1:4523d7cda75e 87
Kekehoho 1:4523d7cda75e 88 // Interrupt
Kekehoho 1:4523d7cda75e 89 InterruptIn irq; // Pin used to handle Events from DW1000 by an Interrupthandler
Kekehoho 1:4523d7cda75e 90 FunctionPointer callbackRX; // function pointer to callback which is called when successfull RX took place
Kekehoho 1:4523d7cda75e 91 FunctionPointer callbackTX; // function pointer to callback which is called when successfull TX took place
Kekehoho 1:4523d7cda75e 92 void setInterrupt(bool RX, bool TX); // set Interrupt for received a good frame (CRC ok) or transmission done
Kekehoho 1:4523d7cda75e 93 void ISR(); // interrupt handling method (also calls according callback methods)
Kekehoho 1:4523d7cda75e 94 uint16_t getFramelength(); // to get the framelength of the received frame from the PHY header
Kekehoho 1:4523d7cda75e 95
Kekehoho 1:4523d7cda75e 96 // SPI Inteface
Kekehoho 1:4523d7cda75e 97 SPI spi; // SPI Bus
Kekehoho 1:4523d7cda75e 98 DigitalOut cs; // Slave selector for SPI-Bus (here explicitly needed to start and end SPI transactions also usable to wake up DW1000)
Kekehoho 1:4523d7cda75e 99
Kekehoho 1:4523d7cda75e 100 uint8_t readRegister8(uint8_t reg, uint16_t subaddress); // expressive methods to read or write the number of bits written in the name
Kekehoho 1:4523d7cda75e 101 uint16_t readRegister16(uint8_t reg, uint16_t subaddress);
Kekehoho 1:4523d7cda75e 102 uint64_t readRegister40(uint8_t reg, uint16_t subaddress);
Kekehoho 1:4523d7cda75e 103 void writeRegister8(uint8_t reg, uint16_t subaddress, uint8_t buffer);
Kekehoho 1:4523d7cda75e 104 void writeRegister16(uint8_t reg, uint16_t subaddress, uint16_t buffer);
Kekehoho 1:4523d7cda75e 105 void writeRegister32(uint8_t reg, uint16_t subaddress, uint32_t buffer);
Kekehoho 1:4523d7cda75e 106 void writeRegister40(uint8_t reg, uint16_t subaddress, uint64_t buffer);
Kekehoho 1:4523d7cda75e 107
Kekehoho 1:4523d7cda75e 108 void readRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length); // reads the selected part of a slave register into the buffer memory
Kekehoho 1:4523d7cda75e 109 void writeRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length); // writes the buffer memory to the selected slave register
Kekehoho 1:4523d7cda75e 110 void setupTransaction(uint8_t reg, uint16_t subaddress, bool write); // sets up an SPI read or write transaction with correct register address and offset
Kekehoho 1:4523d7cda75e 111 void select(); // selects the only slave for a transaction
Kekehoho 1:4523d7cda75e 112 void deselect(); // deselects the only slave after transaction
Kekehoho 1:4523d7cda75e 113 };
Kekehoho 1:4523d7cda75e 114
Kekehoho 1:4523d7cda75e 115 #endif