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Fork of MPU9150AHRS by
DW1000/DW1000.cpp@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?
User | Revision | Line number | New contents of line |
---|---|---|---|
Kekehoho | 1:4523d7cda75e | 1 | #include "DW1000.h" |
Kekehoho | 1:4523d7cda75e | 2 | |
Kekehoho | 1:4523d7cda75e | 3 | DW1000::DW1000(PinName MOSI, PinName MISO, PinName SCLK, PinName CS, PinName IRQ) : irq(IRQ), spi(MOSI, MISO, SCLK), cs(CS) { |
Kekehoho | 1:4523d7cda75e | 4 | setCallbacks(NULL, NULL); |
Kekehoho | 1:4523d7cda75e | 5 | |
Kekehoho | 1:4523d7cda75e | 6 | deselect(); // Chip must be deselected first |
Kekehoho | 1:4523d7cda75e | 7 | spi.format(8,0); // Setup the spi for standard 8 bit data and SPI-Mode 0 (GPIO5, GPIO6 open circuit or ground on DW1000) |
Kekehoho | 1:4523d7cda75e | 8 | spi.frequency(5000000); // with a 1MHz clock rate (worked up to 49MHz in our Test) |
Kekehoho | 1:4523d7cda75e | 9 | |
Kekehoho | 1:4523d7cda75e | 10 | resetAll(); // we do a soft reset of the DW1000 everytime the driver starts |
Kekehoho | 1:4523d7cda75e | 11 | |
Kekehoho | 1:4523d7cda75e | 12 | // Configuration TODO: make method for that |
Kekehoho | 1:4523d7cda75e | 13 | // User Manual "2.5.5 Default Configurations that should be modified" p. 22 |
Kekehoho | 1:4523d7cda75e | 14 | //Those values are for the standard mode (6.8Mbps, 5, 16Mhz, 32 Symbols) and are INCOMPLETE! |
Kekehoho | 1:4523d7cda75e | 15 | // writeRegister16(DW1000_AGC_CTRL, 0x04, 0x8870); |
Kekehoho | 1:4523d7cda75e | 16 | // writeRegister32(DW1000_AGC_CTRL, 0x0C, 0x2502A907); |
Kekehoho | 1:4523d7cda75e | 17 | // writeRegister32(DW1000_DRX_CONF, 0x08, 0x311A002D); |
Kekehoho | 1:4523d7cda75e | 18 | // writeRegister8 (DW1000_LDE_CTRL, 0x0806, 0xD); |
Kekehoho | 1:4523d7cda75e | 19 | // writeRegister16(DW1000_LDE_CTRL, 0x1806, 0x1607); |
Kekehoho | 1:4523d7cda75e | 20 | // writeRegister32(DW1000_TX_POWER, 0, 0x0E082848); |
Kekehoho | 1:4523d7cda75e | 21 | // writeRegister32(DW1000_RF_CONF, 0x0C, 0x001E3FE0); |
Kekehoho | 1:4523d7cda75e | 22 | // writeRegister8 (DW1000_TX_CAL, 0x0B, 0xC0); |
Kekehoho | 1:4523d7cda75e | 23 | // writeRegister8 (DW1000_FS_CTRL, 0x0B, 0xA6); |
Kekehoho | 1:4523d7cda75e | 24 | |
Kekehoho | 1:4523d7cda75e | 25 | |
Kekehoho | 1:4523d7cda75e | 26 | //Those values are for the 110kbps mode (5, 16MHz, 1024 Symbols) and are quite complete |
Kekehoho | 1:4523d7cda75e | 27 | writeRegister16(DW1000_AGC_CTRL, 0x04, 0x8870); //AGC_TUNE1 for 16MHz PRF |
Kekehoho | 1:4523d7cda75e | 28 | writeRegister32(DW1000_AGC_CTRL, 0x0C, 0x2502A907); //AGC_TUNE2 (Universal) |
Kekehoho | 1:4523d7cda75e | 29 | writeRegister16(DW1000_AGC_CTRL, 0x12, 0x0055); //AGC_TUNE3 (Universal) |
Kekehoho | 1:4523d7cda75e | 30 | |
Kekehoho | 1:4523d7cda75e | 31 | writeRegister16(DW1000_DRX_CONF, 0x02, 0x000A); //DRX_TUNE0b for 110kbps |
Kekehoho | 1:4523d7cda75e | 32 | writeRegister16(DW1000_DRX_CONF, 0x04, 0x0087); //DRX_TUNE1a for 16MHz PRF |
Kekehoho | 1:4523d7cda75e | 33 | writeRegister16(DW1000_DRX_CONF, 0x06, 0x0064); //DRX_TUNE1b for 110kbps & > 1024 symbols |
Kekehoho | 1:4523d7cda75e | 34 | writeRegister32(DW1000_DRX_CONF, 0x08, 0x351A009A); //PAC size for 1024 symbols preamble & 16MHz PRF |
Kekehoho | 1:4523d7cda75e | 35 | //writeRegister32(DW1000_DRX_CONF, 0x08, 0x371A011D); //PAC size for 2048 symbols preamble |
Kekehoho | 1:4523d7cda75e | 36 | |
Kekehoho | 1:4523d7cda75e | 37 | writeRegister8 (DW1000_LDE_CTRL, 0x0806, 0xD); //LDE_CFG1 |
Kekehoho | 1:4523d7cda75e | 38 | writeRegister16(DW1000_LDE_CTRL, 0x1806, 0x1607); //LDE_CFG2 for 16MHz PRF |
Kekehoho | 1:4523d7cda75e | 39 | |
Kekehoho | 1:4523d7cda75e | 40 | writeRegister32(DW1000_TX_POWER, 0, 0x28282828); //Power for channel 5 |
Kekehoho | 1:4523d7cda75e | 41 | |
Kekehoho | 1:4523d7cda75e | 42 | writeRegister8(DW1000_RF_CONF, 0x0B, 0xD8); //RF_RXCTRLH for channel 5 |
Kekehoho | 1:4523d7cda75e | 43 | writeRegister32(DW1000_RF_CONF, 0x0C, 0x001E3FE0); //RF_TXCTRL for channel 5 |
Kekehoho | 1:4523d7cda75e | 44 | |
Kekehoho | 1:4523d7cda75e | 45 | writeRegister8 (DW1000_TX_CAL, 0x0B, 0xC0); //TC_PGDELAY for channel 5 |
Kekehoho | 1:4523d7cda75e | 46 | |
Kekehoho | 1:4523d7cda75e | 47 | writeRegister32 (DW1000_FS_CTRL, 0x07, 0x0800041D); //FS_PLLCFG for channel 5 |
Kekehoho | 1:4523d7cda75e | 48 | writeRegister8 (DW1000_FS_CTRL, 0x0B, 0xA6); //FS_PLLTUNE for channel 5 |
Kekehoho | 1:4523d7cda75e | 49 | |
Kekehoho | 1:4523d7cda75e | 50 | 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 |
Kekehoho | 1:4523d7cda75e | 51 | |
Kekehoho | 1:4523d7cda75e | 52 | // 110kbps CAUTION: a lot of other registers have to be set for an optimized operation on 110kbps |
Kekehoho | 1:4523d7cda75e | 53 | 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 |
Kekehoho | 1:4523d7cda75e | 54 | 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...] |
Kekehoho | 1:4523d7cda75e | 55 | |
Kekehoho | 1:4523d7cda75e | 56 | writeRegister16(DW1000_TX_ANTD, 0, 16384); // set TX and RX Antenna delay to neutral because we calibrate afterwards |
Kekehoho | 1:4523d7cda75e | 57 | 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) |
Kekehoho | 1:4523d7cda75e | 58 | |
Kekehoho | 1:4523d7cda75e | 59 | writeRegister8(DW1000_SYS_CFG, 3, 0x20); // enable auto reenabling receiver after error |
Kekehoho | 1:4523d7cda75e | 60 | |
Kekehoho | 1:4523d7cda75e | 61 | irq.rise(this, &DW1000::ISR); // attach interrupt handler to rising edge of interrupt pin from DW1000 |
Kekehoho | 1:4523d7cda75e | 62 | } |
Kekehoho | 1:4523d7cda75e | 63 | |
Kekehoho | 1:4523d7cda75e | 64 | void DW1000::setCallbacks(void (*callbackRX)(void), void (*callbackTX)(void)) { |
Kekehoho | 1:4523d7cda75e | 65 | bool RX = false; |
Kekehoho | 1:4523d7cda75e | 66 | bool TX = false; |
Kekehoho | 1:4523d7cda75e | 67 | if (callbackRX) { |
Kekehoho | 1:4523d7cda75e | 68 | DW1000::callbackRX.attach(callbackRX); |
Kekehoho | 1:4523d7cda75e | 69 | RX = true; |
Kekehoho | 1:4523d7cda75e | 70 | } |
Kekehoho | 1:4523d7cda75e | 71 | if (callbackTX) { |
Kekehoho | 1:4523d7cda75e | 72 | DW1000::callbackTX.attach(callbackTX); |
Kekehoho | 1:4523d7cda75e | 73 | TX = true; |
Kekehoho | 1:4523d7cda75e | 74 | } |
Kekehoho | 1:4523d7cda75e | 75 | setInterrupt(RX,TX); |
Kekehoho | 1:4523d7cda75e | 76 | } |
Kekehoho | 1:4523d7cda75e | 77 | |
Kekehoho | 1:4523d7cda75e | 78 | uint32_t DW1000::getDeviceID() { |
Kekehoho | 1:4523d7cda75e | 79 | uint32_t result; |
Kekehoho | 1:4523d7cda75e | 80 | readRegister(DW1000_DEV_ID, 0, (uint8_t*)&result, 4); |
Kekehoho | 1:4523d7cda75e | 81 | return result; |
Kekehoho | 1:4523d7cda75e | 82 | } |
Kekehoho | 1:4523d7cda75e | 83 | |
Kekehoho | 1:4523d7cda75e | 84 | uint64_t DW1000::getEUI() { |
Kekehoho | 1:4523d7cda75e | 85 | uint64_t result; |
Kekehoho | 1:4523d7cda75e | 86 | readRegister(DW1000_EUI, 0, (uint8_t*)&result, 8); |
Kekehoho | 1:4523d7cda75e | 87 | return result; |
Kekehoho | 1:4523d7cda75e | 88 | } |
Kekehoho | 1:4523d7cda75e | 89 | |
Kekehoho | 1:4523d7cda75e | 90 | void DW1000::setEUI(uint64_t EUI) { |
Kekehoho | 1:4523d7cda75e | 91 | writeRegister(DW1000_EUI, 0, (uint8_t*)&EUI, 8); |
Kekehoho | 1:4523d7cda75e | 92 | } |
Kekehoho | 1:4523d7cda75e | 93 | |
Kekehoho | 1:4523d7cda75e | 94 | uint64_t DW1000::getCIR_PWR() { |
Kekehoho | 1:4523d7cda75e | 95 | uint64_t result; |
Kekehoho | 1:4523d7cda75e | 96 | readRegister(DW1000_RX_FQUAL, 0,(uint8_t*)&result, 8); |
Kekehoho | 1:4523d7cda75e | 97 | return result; |
Kekehoho | 1:4523d7cda75e | 98 | } |
Kekehoho | 1:4523d7cda75e | 99 | |
Kekehoho | 1:4523d7cda75e | 100 | uint32_t DW1000::getRXPACC() { |
Kekehoho | 1:4523d7cda75e | 101 | uint32_t result; |
Kekehoho | 1:4523d7cda75e | 102 | readRegister(DW1000_RX_FINFO, 0, (uint8_t*)&result, 8); |
Kekehoho | 1:4523d7cda75e | 103 | return result; |
Kekehoho | 1:4523d7cda75e | 104 | } |
Kekehoho | 1:4523d7cda75e | 105 | |
Kekehoho | 1:4523d7cda75e | 106 | float DW1000::getVoltage() { |
Kekehoho | 1:4523d7cda75e | 107 | uint8_t buffer[7] = {0x80, 0x0A, 0x0F, 0x01, 0x00}; // algorithm form User Manual p57 |
Kekehoho | 1:4523d7cda75e | 108 | writeRegister(DW1000_RF_CONF, 0x11, buffer, 2); |
Kekehoho | 1:4523d7cda75e | 109 | writeRegister(DW1000_RF_CONF, 0x12, &buffer[2], 1); |
Kekehoho | 1:4523d7cda75e | 110 | writeRegister(DW1000_TX_CAL, 0x00, &buffer[3], 1); |
Kekehoho | 1:4523d7cda75e | 111 | writeRegister(DW1000_TX_CAL, 0x00, &buffer[4], 1); |
Kekehoho | 1:4523d7cda75e | 112 | readRegister(DW1000_TX_CAL, 0x03, &buffer[5], 2); // get the 8-Bit readings for Voltage and Temperature |
Kekehoho | 1:4523d7cda75e | 113 | float Voltage = buffer[5] * 0.0057 + 2.3; |
Kekehoho | 1:4523d7cda75e | 114 | //float Temperature = buffer[6] * 1.13 - 113.0; // TODO: getTemperature was always ~35 degree with better formula/calibration |
Kekehoho | 1:4523d7cda75e | 115 | return Voltage; |
Kekehoho | 1:4523d7cda75e | 116 | } |
Kekehoho | 1:4523d7cda75e | 117 | |
Kekehoho | 1:4523d7cda75e | 118 | uint64_t DW1000::getStatus() { |
Kekehoho | 1:4523d7cda75e | 119 | return readRegister40(DW1000_SYS_STATUS, 0); |
Kekehoho | 1:4523d7cda75e | 120 | } |
Kekehoho | 1:4523d7cda75e | 121 | |
Kekehoho | 1:4523d7cda75e | 122 | uint64_t DW1000::getRXTimestamp() { |
Kekehoho | 1:4523d7cda75e | 123 | return readRegister40(DW1000_RX_TIME, 0); |
Kekehoho | 1:4523d7cda75e | 124 | } |
Kekehoho | 1:4523d7cda75e | 125 | |
Kekehoho | 1:4523d7cda75e | 126 | uint64_t DW1000::getTXTimestamp() { |
Kekehoho | 1:4523d7cda75e | 127 | return readRegister40(DW1000_TX_TIME, 0); |
Kekehoho | 1:4523d7cda75e | 128 | } |
Kekehoho | 1:4523d7cda75e | 129 | |
Kekehoho | 1:4523d7cda75e | 130 | void DW1000::sendString(char* message) { |
Kekehoho | 1:4523d7cda75e | 131 | sendFrame((uint8_t*)message, strlen(message)+1); |
Kekehoho | 1:4523d7cda75e | 132 | } |
Kekehoho | 1:4523d7cda75e | 133 | |
Kekehoho | 1:4523d7cda75e | 134 | void DW1000::receiveString(char* message) { |
Kekehoho | 1:4523d7cda75e | 135 | readRegister(DW1000_RX_BUFFER, 0, (uint8_t*)message, getFramelength()); // get data from buffer |
Kekehoho | 1:4523d7cda75e | 136 | } |
Kekehoho | 1:4523d7cda75e | 137 | |
Kekehoho | 1:4523d7cda75e | 138 | void DW1000::sendFrame(uint8_t* message, uint16_t length) { |
Kekehoho | 1:4523d7cda75e | 139 | //if (length >= 1021) length = 1021; // check for maximim length a frame can have with 1024 Byte frames [not used, see constructor] |
Kekehoho | 1:4523d7cda75e | 140 | if (length >= 125) length = 125; // check for maximim length a frame can have with 127 Byte frames |
Kekehoho | 1:4523d7cda75e | 141 | writeRegister(DW1000_TX_BUFFER, 0, message, length); // fill buffer |
Kekehoho | 1:4523d7cda75e | 142 | |
Kekehoho | 1:4523d7cda75e | 143 | uint8_t backup = readRegister8(DW1000_TX_FCTRL, 1); // put length of frame |
Kekehoho | 1:4523d7cda75e | 144 | length += 2; // including 2 CRC Bytes |
Kekehoho | 1:4523d7cda75e | 145 | length = ((backup & 0xFC) << 8) | (length & 0x03FF); |
Kekehoho | 1:4523d7cda75e | 146 | writeRegister16(DW1000_TX_FCTRL, 0, length); |
Kekehoho | 1:4523d7cda75e | 147 | |
Kekehoho | 1:4523d7cda75e | 148 | stopTRX(); // stop receiving |
Kekehoho | 1:4523d7cda75e | 149 | writeRegister8(DW1000_SYS_CTRL, 0, 0x02); // trigger sending process by setting the TXSTRT bit |
Kekehoho | 1:4523d7cda75e | 150 | startRX(); // enable receiver again |
Kekehoho | 1:4523d7cda75e | 151 | } |
Kekehoho | 1:4523d7cda75e | 152 | |
Kekehoho | 1:4523d7cda75e | 153 | void DW1000::sendDelayedFrame(uint8_t* message, uint16_t length, uint64_t TxTimestamp) { |
Kekehoho | 1:4523d7cda75e | 154 | //if (length >= 1021) length = 1021; // check for maximim length a frame can have with 1024 Byte frames [not used, see constructor] |
Kekehoho | 1:4523d7cda75e | 155 | if (length >= 125) length = 125; // check for maximim length a frame can have with 127 Byte frames |
Kekehoho | 1:4523d7cda75e | 156 | writeRegister(DW1000_TX_BUFFER, 0, message, length); // fill buffer |
Kekehoho | 1:4523d7cda75e | 157 | |
Kekehoho | 1:4523d7cda75e | 158 | uint8_t backup = readRegister8(DW1000_TX_FCTRL, 1); // put length of frame |
Kekehoho | 1:4523d7cda75e | 159 | length += 2; // including 2 CRC Bytes |
Kekehoho | 1:4523d7cda75e | 160 | length = ((backup & 0xFC) << 8) | (length & 0x03FF); |
Kekehoho | 1:4523d7cda75e | 161 | writeRegister16(DW1000_TX_FCTRL, 0, length); |
Kekehoho | 1:4523d7cda75e | 162 | |
Kekehoho | 1:4523d7cda75e | 163 | writeRegister40(DW1000_DX_TIME, 0, TxTimestamp); //write the timestamp on which to send the message |
Kekehoho | 1:4523d7cda75e | 164 | |
Kekehoho | 1:4523d7cda75e | 165 | stopTRX(); // stop receiving |
Kekehoho | 1:4523d7cda75e | 166 | writeRegister8(DW1000_SYS_CTRL, 0, 0x02 | 0x04); // trigger sending process by setting the TXSTRT and TXDLYS bit |
Kekehoho | 1:4523d7cda75e | 167 | startRX(); // enable receiver again |
Kekehoho | 1:4523d7cda75e | 168 | } |
Kekehoho | 1:4523d7cda75e | 169 | |
Kekehoho | 1:4523d7cda75e | 170 | void DW1000::startRX() { |
Kekehoho | 1:4523d7cda75e | 171 | writeRegister8(DW1000_SYS_CTRL, 0x01, 0x01); // start listening for preamble by setting the RXENAB bit |
Kekehoho | 1:4523d7cda75e | 172 | } |
Kekehoho | 1:4523d7cda75e | 173 | |
Kekehoho | 1:4523d7cda75e | 174 | void DW1000::stopTRX() { |
Kekehoho | 1:4523d7cda75e | 175 | writeRegister8(DW1000_SYS_CTRL, 0, 0x40); // disable tranceiver go back to idle mode |
Kekehoho | 1:4523d7cda75e | 176 | } |
Kekehoho | 1:4523d7cda75e | 177 | |
Kekehoho | 1:4523d7cda75e | 178 | // PRIVATE Methods ------------------------------------------------------------------------------------ |
Kekehoho | 1:4523d7cda75e | 179 | void DW1000::loadLDE() { // initialise LDE algorithm LDELOAD User Manual p22 |
Kekehoho | 1:4523d7cda75e | 180 | writeRegister16(DW1000_PMSC, 0, 0x0301); // set clock to XTAL so OTP is reliable |
Kekehoho | 1:4523d7cda75e | 181 | writeRegister16(DW1000_OTP_IF, 0x06, 0x8000); // set LDELOAD bit in OTP |
Kekehoho | 1:4523d7cda75e | 182 | wait_us(150); |
Kekehoho | 1:4523d7cda75e | 183 | writeRegister16(DW1000_PMSC, 0, 0x0200); // recover to PLL clock |
Kekehoho | 1:4523d7cda75e | 184 | } |
Kekehoho | 1:4523d7cda75e | 185 | |
Kekehoho | 1:4523d7cda75e | 186 | void DW1000::resetRX() { |
Kekehoho | 1:4523d7cda75e | 187 | writeRegister8(DW1000_PMSC, 3, 0xE0); // set RX reset |
Kekehoho | 1:4523d7cda75e | 188 | writeRegister8(DW1000_PMSC, 3, 0xF0); // clear RX reset |
Kekehoho | 1:4523d7cda75e | 189 | } |
Kekehoho | 1:4523d7cda75e | 190 | |
Kekehoho | 1:4523d7cda75e | 191 | void DW1000::resetAll() { |
Kekehoho | 1:4523d7cda75e | 192 | writeRegister8(DW1000_PMSC, 0, 0x01); // set clock to XTAL |
Kekehoho | 1:4523d7cda75e | 193 | writeRegister8(DW1000_PMSC, 3, 0x00); // set All reset |
Kekehoho | 1:4523d7cda75e | 194 | wait_us(10); // wait for PLL to lock |
Kekehoho | 1:4523d7cda75e | 195 | writeRegister8(DW1000_PMSC, 3, 0xF0); // clear All reset |
Kekehoho | 1:4523d7cda75e | 196 | } |
Kekehoho | 1:4523d7cda75e | 197 | |
Kekehoho | 1:4523d7cda75e | 198 | |
Kekehoho | 1:4523d7cda75e | 199 | void DW1000::setInterrupt(bool RX, bool TX) { |
Kekehoho | 1:4523d7cda75e | 200 | writeRegister16(DW1000_SYS_MASK, 0, RX*0x4000 | TX*0x0080); // RX good frame 0x4000, TX done 0x0080 |
Kekehoho | 1:4523d7cda75e | 201 | } |
Kekehoho | 1:4523d7cda75e | 202 | |
Kekehoho | 1:4523d7cda75e | 203 | void DW1000::ISR() { |
Kekehoho | 1:4523d7cda75e | 204 | uint64_t status = getStatus(); |
Kekehoho | 1:4523d7cda75e | 205 | if (status & 0x4000) { // a frame was received |
Kekehoho | 1:4523d7cda75e | 206 | callbackRX.call(); |
Kekehoho | 1:4523d7cda75e | 207 | writeRegister16(DW1000_SYS_STATUS, 0, 0x6F00); // clearing of receiving status bits |
Kekehoho | 1:4523d7cda75e | 208 | } |
Kekehoho | 1:4523d7cda75e | 209 | if (status & 0x80) { // sending complete |
Kekehoho | 1:4523d7cda75e | 210 | callbackTX.call(); |
Kekehoho | 1:4523d7cda75e | 211 | writeRegister8(DW1000_SYS_STATUS, 0, 0xF8); // clearing of sending status bits |
Kekehoho | 1:4523d7cda75e | 212 | } |
Kekehoho | 1:4523d7cda75e | 213 | } |
Kekehoho | 1:4523d7cda75e | 214 | |
Kekehoho | 1:4523d7cda75e | 215 | uint16_t DW1000::getFramelength() { |
Kekehoho | 1:4523d7cda75e | 216 | uint16_t framelength = readRegister16(DW1000_RX_FINFO, 0); // get framelength |
Kekehoho | 1:4523d7cda75e | 217 | framelength = (framelength & 0x03FF) - 2; // take only the right bits and subtract the 2 CRC Bytes |
Kekehoho | 1:4523d7cda75e | 218 | return framelength; |
Kekehoho | 1:4523d7cda75e | 219 | } |
Kekehoho | 1:4523d7cda75e | 220 | |
Kekehoho | 1:4523d7cda75e | 221 | // SPI Interface ------------------------------------------------------------------------------------ |
Kekehoho | 1:4523d7cda75e | 222 | uint8_t DW1000::readRegister8(uint8_t reg, uint16_t subaddress) { |
Kekehoho | 1:4523d7cda75e | 223 | uint8_t result; |
Kekehoho | 1:4523d7cda75e | 224 | readRegister(reg, subaddress, &result, 1); |
Kekehoho | 1:4523d7cda75e | 225 | return result; |
Kekehoho | 1:4523d7cda75e | 226 | } |
Kekehoho | 1:4523d7cda75e | 227 | |
Kekehoho | 1:4523d7cda75e | 228 | uint16_t DW1000::readRegister16(uint8_t reg, uint16_t subaddress) { |
Kekehoho | 1:4523d7cda75e | 229 | uint16_t result; |
Kekehoho | 1:4523d7cda75e | 230 | readRegister(reg, subaddress, (uint8_t*)&result, 2); |
Kekehoho | 1:4523d7cda75e | 231 | return result; |
Kekehoho | 1:4523d7cda75e | 232 | } |
Kekehoho | 1:4523d7cda75e | 233 | |
Kekehoho | 1:4523d7cda75e | 234 | uint64_t DW1000::readRegister40(uint8_t reg, uint16_t subaddress) { |
Kekehoho | 1:4523d7cda75e | 235 | uint64_t result; |
Kekehoho | 1:4523d7cda75e | 236 | readRegister(reg, subaddress, (uint8_t*)&result, 5); |
Kekehoho | 1:4523d7cda75e | 237 | result &= 0xFFFFFFFFFF; // only 40-Bit |
Kekehoho | 1:4523d7cda75e | 238 | return result; |
Kekehoho | 1:4523d7cda75e | 239 | } |
Kekehoho | 1:4523d7cda75e | 240 | |
Kekehoho | 1:4523d7cda75e | 241 | void DW1000::writeRegister8(uint8_t reg, uint16_t subaddress, uint8_t buffer) { |
Kekehoho | 1:4523d7cda75e | 242 | writeRegister(reg, subaddress, &buffer, 1); |
Kekehoho | 1:4523d7cda75e | 243 | } |
Kekehoho | 1:4523d7cda75e | 244 | |
Kekehoho | 1:4523d7cda75e | 245 | void DW1000::writeRegister16(uint8_t reg, uint16_t subaddress, uint16_t buffer) { |
Kekehoho | 1:4523d7cda75e | 246 | writeRegister(reg, subaddress, (uint8_t*)&buffer, 2); |
Kekehoho | 1:4523d7cda75e | 247 | } |
Kekehoho | 1:4523d7cda75e | 248 | |
Kekehoho | 1:4523d7cda75e | 249 | void DW1000::writeRegister32(uint8_t reg, uint16_t subaddress, uint32_t buffer) { |
Kekehoho | 1:4523d7cda75e | 250 | writeRegister(reg, subaddress, (uint8_t*)&buffer, 4); |
Kekehoho | 1:4523d7cda75e | 251 | } |
Kekehoho | 1:4523d7cda75e | 252 | |
Kekehoho | 1:4523d7cda75e | 253 | void DW1000::writeRegister40(uint8_t reg, uint16_t subaddress, uint64_t buffer) { |
Kekehoho | 1:4523d7cda75e | 254 | writeRegister(reg, subaddress, (uint8_t*)&buffer, 5); |
Kekehoho | 1:4523d7cda75e | 255 | } |
Kekehoho | 1:4523d7cda75e | 256 | |
Kekehoho | 1:4523d7cda75e | 257 | void DW1000::readRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length) { |
Kekehoho | 1:4523d7cda75e | 258 | setupTransaction(reg, subaddress, false); |
Kekehoho | 1:4523d7cda75e | 259 | for(int i=0; i<length; i++) // get data |
Kekehoho | 1:4523d7cda75e | 260 | buffer[i] = spi.write(0x00); |
Kekehoho | 1:4523d7cda75e | 261 | deselect(); |
Kekehoho | 1:4523d7cda75e | 262 | } |
Kekehoho | 1:4523d7cda75e | 263 | |
Kekehoho | 1:4523d7cda75e | 264 | void DW1000::writeRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length) { |
Kekehoho | 1:4523d7cda75e | 265 | setupTransaction(reg, subaddress, true); |
Kekehoho | 1:4523d7cda75e | 266 | for(int i=0; i<length; i++) // put data |
Kekehoho | 1:4523d7cda75e | 267 | spi.write(buffer[i]); |
Kekehoho | 1:4523d7cda75e | 268 | deselect(); |
Kekehoho | 1:4523d7cda75e | 269 | } |
Kekehoho | 1:4523d7cda75e | 270 | |
Kekehoho | 1:4523d7cda75e | 271 | void DW1000::setupTransaction(uint8_t reg, uint16_t subaddress, bool write) { |
Kekehoho | 1:4523d7cda75e | 272 | reg |= (write * DW1000_WRITE_FLAG); // set read/write flag |
Kekehoho | 1:4523d7cda75e | 273 | select(); |
Kekehoho | 1:4523d7cda75e | 274 | if (subaddress > 0) { // there's a subadress, we need to set flag and send second header byte |
Kekehoho | 1:4523d7cda75e | 275 | spi.write(reg | DW1000_SUBADDRESS_FLAG); |
Kekehoho | 1:4523d7cda75e | 276 | if (subaddress > 0x7F) { // sub address too long, we need to set flag and send third header byte |
Kekehoho | 1:4523d7cda75e | 277 | spi.write((uint8_t)(subaddress & 0x7F) |
Kekehoho | 1:4523d7cda75e | 278 | | DW1000_2_SUBADDRESS_FLAG); // and |
Kekehoho | 1:4523d7cda75e | 279 | spi.write((uint8_t)(subaddress >> 7)); |
Kekehoho | 1:4523d7cda75e | 280 | } else { |
Kekehoho | 1:4523d7cda75e | 281 | spi.write((uint8_t)subaddress); |
Kekehoho | 1:4523d7cda75e | 282 | } |
Kekehoho | 1:4523d7cda75e | 283 | } else { |
Kekehoho | 1:4523d7cda75e | 284 | spi.write(reg); // say which register address we want to access |
Kekehoho | 1:4523d7cda75e | 285 | } |
Kekehoho | 1:4523d7cda75e | 286 | } |
Kekehoho | 1:4523d7cda75e | 287 | |
Kekehoho | 1:4523d7cda75e | 288 | void DW1000::select() { // always called to start an SPI transmission |
Kekehoho | 1:4523d7cda75e | 289 | irq.disable_irq(); // disable interrupts from DW1000 during SPI becaus this leads to crashes! TODO: if you have other interrupt handlers attached on the micro controller, they could also interfere. |
Kekehoho | 1:4523d7cda75e | 290 | cs = 0; // set Cable Select pin low to start transmission |
Kekehoho | 1:4523d7cda75e | 291 | } |
Kekehoho | 1:4523d7cda75e | 292 | void DW1000::deselect() { // always called to end an SPI transmission |
Kekehoho | 1:4523d7cda75e | 293 | cs = 1; // set Cable Select pin high to stop transmission |
Kekehoho | 1:4523d7cda75e | 294 | irq.enable_irq(); // reenable the interrupt handler |
Kekehoho | 1:4523d7cda75e | 295 | } |