U of Calegary - Okeef
d
Dependencies: General C12832 FatFileSystemCpp mbed
Fork of
MPU9150AHRS
by 
Kris Winer
Diff: DW1000/DW1000.h
- Revision:
- 1:4523d7cda75e
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/DW1000/DW1000.h Fri Jun 17 20:35:28 2016 +0000
@@ -0,0 +1,115 @@
+// by Matthias Grob & Manuel Stalder - ETH Zürich - 2015
+
+#ifndef DW1000_H
+#define DW1000_H
+
+#include "mbed.h"
+
+// register addresses
+// Mnemonic Address Bytes Description
+#define DW1000_DEV_ID 0x00 // 4 Device Identifier – includes device type and revision information
+#define DW1000_EUI 0x01 // 8 Extended Unique Identifier
+#define DW1000_PANADR 0x03 // 4 PAN Identifier and Short Address
+#define DW1000_SYS_CFG 0x04 // 4 System Configuration bitmap
+#define DW1000_SYS_TIME 0x06 // 5 System Time Counter (40-bit)
+#define DW1000_TX_FCTRL 0x08 // 5 Transmit Frame Control
+#define DW1000_TX_BUFFER 0x09 // 1024 Transmit Data Buffer
+#define DW1000_DX_TIME 0x0A // 5 Delayed Send or Receive Time (40-bit)
+#define DW1000_RX_FWTO 0x0C // 2 Receive Frame Wait Timeout Period
+#define DW1000_SYS_CTRL 0x0D // 4 System Control Register
+#define DW1000_SYS_MASK 0x0E // 4 System Event Mask Register
+#define DW1000_SYS_STATUS 0x0F // 5 System Event Status Register
+#define DW1000_RX_FINFO 0x10 // 4 RX Frame Information (in double buffer set)
+#define DW1000_RX_BUFFER 0x11 // 1024 Receive Data Buffer (in double buffer set)
+#define DW1000_RX_FQUAL 0x12 // 8 Rx Frame Quality information (in double buffer set)
+#define DW1000_RX_TTCKI 0x13 // 4 Receiver Time Tracking Interval (in double buffer set)
+#define DW1000_RX_TTCKO 0x14 // 5 Receiver Time Tracking Offset (in double buffer set)
+#define DW1000_RX_TIME 0x15 // 14 Receive Message Time of Arrival (in double buffer set)
+#define DW1000_TX_TIME 0x17 // 10 Transmit Message Time of Sending (in double buffer set)
+#define DW1000_TX_ANTD 0x18 // 2 16-bit Delay from Transmit to Antenna
+#define DW1000_SYS_STATE 0x19 // 5 System State information
+#define DW1000_ACK_RESP_T 0x1A // 4 Acknowledgement Time and Response Time
+#define DW1000_RX_SNIFF 0x1D // 4 Pulsed Preamble Reception Configuration
+#define DW1000_TX_POWER 0x1E // 4 TX Power Control
+#define DW1000_CHAN_CTRL 0x1F // 4 Channel Control
+#define DW1000_USR_SFD 0x21 // 41 User-specified short/long TX/RX SFD sequences
+#define DW1000_AGC_CTRL 0x23 // 32 Automatic Gain Control configuration
+#define DW1000_EXT_SYNC 0x24 // 12 External synchronisation control.
+#define DW1000_ACC_MEM 0x25 // 4064 Read access to accumulator data
+#define DW1000_GPIO_CTRL 0x26 // 44 Peripheral register bus 1 access - GPIO control
+#define DW1000_DRX_CONF 0x27 // 44 Digital Receiver configuration
+#define DW1000_RF_CONF 0x28 // 58 Analog RF Configuration
+#define DW1000_TX_CAL 0x2A // 52 Transmitter calibration block
+#define DW1000_FS_CTRL 0x2B // 21 Frequency synthesiser control block
+#define DW1000_AON 0x2C // 12 Always-On register set
+#define DW1000_OTP_IF 0x2D // 18 One Time Programmable Memory Interface
+#define DW1000_LDE_CTRL 0x2E // - Leading edge detection control block
+#define DW1000_DIG_DIAG 0x2F // 41 Digital Diagnostics Interface
+#define DW1000_PMSC 0x36 // 48 Power Management System Control Block
+
+#define DW1000_WRITE_FLAG 0x80 // First Bit of the address has to be 1 to indicate we want to write
+#define DW1000_SUBADDRESS_FLAG 0x40 // if we have a sub address second Bit has to be 1
+#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
+
+class DW1000 {
+ public:
+ DW1000(PinName MOSI, PinName MISO, PinName SCLK, PinName CS, PinName IRQ); // constructor, uses SPI class
+ void setCallbacks(void (*callbackRX)(void), void (*callbackTX)(void)); // setter for callback functions, automatically enables interrupt, if NULL is passed the coresponding interrupt gets disabled
+ template<typename T>
+ void setCallbacks(T* tptr, void (T::*mptrRX)(void), void (T::*mptrTX)(void)) { // overloaded setter to treat member function pointers of objects
+ callbackRX.attach(tptr, mptrRX); // possible client code: dw.setCallbacks(this, &A::callbackRX, &A::callbackTX);
+ 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
+ setInterrupt(true,true);
+ }
+
+ // Device API
+ uint32_t getDeviceID(); // gets the Device ID which should be 0xDECA0130 (good for testing SPI!)
+ uint64_t getEUI(); // gets 64 bit Extended Unique Identifier according to IEEE standard
+ void setEUI(uint64_t EUI);
+ uint64_t getCIR_PWR();
+ uint32_t getRXPACC(); // sets 64 bit Extended Unique Identifier according to IEEE standard
+ float getVoltage(); // gets the current chip voltage measurement form the A/D converter
+ uint64_t getStatus(); // get the 40 bit device status
+ uint64_t getRXTimestamp();
+ uint64_t getTXTimestamp();
+
+ void sendString(char* message); // to send String with arbitrary length
+ void receiveString(char* message); // to receive char string (length of the buffer must be 1021 to be safe)
+ void sendFrame(uint8_t* message, uint16_t length); // send a raw frame (length in bytes)
+ void sendDelayedFrame(uint8_t* message, uint16_t length, uint64_t TxTimestamp);
+ void startRX(); // start listening for frames
+ void stopTRX(); // disable tranceiver go back to idle mode
+
+ //private:
+ void loadLDE(); // load the leading edge detection algorithm to RAM, [IMPORTANT because receiving malfunction may occur] see User Manual LDELOAD on p22 & p158
+ void resetRX(); // soft reset only the tranciever part of DW1000
+ void resetAll(); // soft reset the entire DW1000 (some registers stay as they were see User Manual)
+
+ // Interrupt
+ InterruptIn irq; // Pin used to handle Events from DW1000 by an Interrupthandler
+ FunctionPointer callbackRX; // function pointer to callback which is called when successfull RX took place
+ FunctionPointer callbackTX; // function pointer to callback which is called when successfull TX took place
+ void setInterrupt(bool RX, bool TX); // set Interrupt for received a good frame (CRC ok) or transmission done
+ void ISR(); // interrupt handling method (also calls according callback methods)
+ uint16_t getFramelength(); // to get the framelength of the received frame from the PHY header
+
+ // SPI Inteface
+ SPI spi; // SPI Bus
+ DigitalOut cs; // Slave selector for SPI-Bus (here explicitly needed to start and end SPI transactions also usable to wake up DW1000)
+
+ uint8_t readRegister8(uint8_t reg, uint16_t subaddress); // expressive methods to read or write the number of bits written in the name
+ uint16_t readRegister16(uint8_t reg, uint16_t subaddress);
+ uint64_t readRegister40(uint8_t reg, uint16_t subaddress);
+ void writeRegister8(uint8_t reg, uint16_t subaddress, uint8_t buffer);
+ void writeRegister16(uint8_t reg, uint16_t subaddress, uint16_t buffer);
+ void writeRegister32(uint8_t reg, uint16_t subaddress, uint32_t buffer);
+ void writeRegister40(uint8_t reg, uint16_t subaddress, uint64_t buffer);
+
+ 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
+ void writeRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length); // writes the buffer memory to the selected slave register
+ void setupTransaction(uint8_t reg, uint16_t subaddress, bool write); // sets up an SPI read or write transaction with correct register address and offset
+ void select(); // selects the only slave for a transaction
+ void deselect(); // deselects the only slave after transaction
+};
+
+#endif
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