DW1000 UWB driver based on work of Matthias Grob & Manuel Stalder - ETH Zürich - 2015
DW1000.cpp@5:68ffaa5962d1, 2016-04-07 (annotated)
- Committer:
- AndyA
- Date:
- Thu Apr 07 16:27:51 2016 +0000
- Revision:
- 5:68ffaa5962d1
- Parent:
- 4:5f1025df5530
- Parent:
- 2:ebbb05cbc417
- Child:
- 6:2c77afdf7367
merged
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
AndyA | 0:bddb8cd5e7df | 1 | #include "DW1000.h" |
AndyA | 0:bddb8cd5e7df | 2 | |
AndyA | 0:bddb8cd5e7df | 3 | #define SPIRATE_PLL (5*1000*1000) |
AndyA | 0:bddb8cd5e7df | 4 | #define SPIRATE_OSC (2*1000*1000) |
AndyA | 0:bddb8cd5e7df | 5 | |
AndyA | 0:bddb8cd5e7df | 6 | DW1000::DW1000(UWBMode setup, PinName MOSI, PinName MISO, PinName SCLK, PinName CS, PinName IRQ) : irq(IRQ), spi(MOSI, MISO, SCLK), cs(CS) |
AndyA | 0:bddb8cd5e7df | 7 | { |
AndyA | 0:bddb8cd5e7df | 8 | setCallbacks(NULL, NULL); |
AndyA | 0:bddb8cd5e7df | 9 | |
AndyA | 0:bddb8cd5e7df | 10 | deselect(); // Chip must be deselected first |
AndyA | 0:bddb8cd5e7df | 11 | spi.format(8,0); // Setup the spi for standard 8 bit data and SPI-Mode 0 (GPIO5, GPIO6 open circuit or ground on DW1000) |
AndyA | 0:bddb8cd5e7df | 12 | spi.frequency(SPIRATE_PLL); // with a 1MHz clock rate (worked up to 49MHz in our Test) |
AndyA | 0:bddb8cd5e7df | 13 | |
AndyA | 0:bddb8cd5e7df | 14 | resetAll(); // we do a soft reset of the DW1000 everytime the driver starts |
AndyA | 0:bddb8cd5e7df | 15 | |
AndyA | 0:bddb8cd5e7df | 16 | switch (setup) { |
AndyA | 0:bddb8cd5e7df | 17 | case user110k: // values from Matthias Grob & Manuel Stalder - ETH Zürich - library |
AndyA | 0:bddb8cd5e7df | 18 | |
AndyA | 4:5f1025df5530 | 19 | systemConfig.setChannel(5); |
AndyA | 4:5f1025df5530 | 20 | systemConfig.setPRF(DW1000Setup::prf16MHz); |
AndyA | 4:5f1025df5530 | 21 | systemConfig.setDataRate(DW1000Setup::kbps110); |
AndyA | 4:5f1025df5530 | 22 | systemConfig.setSfd(DW1000Setup::standard); |
AndyA | 4:5f1025df5530 | 23 | systemConfig.setPreambleLength(DW1000Setup::pre1024); |
AndyA | 4:5f1025df5530 | 24 | systemConfig.setPreambleCode(3); |
AndyA | 4:5f1025df5530 | 25 | systemConfig.setSmartPower(false); |
AndyA | 0:bddb8cd5e7df | 26 | |
AndyA | 3:1459d2aa6b97 | 27 | setupRadio(); |
AndyA | 0:bddb8cd5e7df | 28 | |
AndyA | 3:1459d2aa6b97 | 29 | setTxPower(230); // power = 23dB gain |
AndyA | 0:bddb8cd5e7df | 30 | |
AndyA | 3:1459d2aa6b97 | 31 | setRxDelay(1<<14); // set delays to 2^14 (1/4 of max) |
AndyA | 3:1459d2aa6b97 | 32 | setTxDelay(1<<14); |
AndyA | 0:bddb8cd5e7df | 33 | break; |
AndyA | 0:bddb8cd5e7df | 34 | |
AndyA | 0:bddb8cd5e7df | 35 | case tunedDefault: // User Manual "2.5.5 Default Configurations that should be modified" p. 22 |
AndyA | 3:1459d2aa6b97 | 36 | default: |
AndyA | 3:1459d2aa6b97 | 37 | |
AndyA | 4:5f1025df5530 | 38 | systemConfig.setChannel(5); |
AndyA | 4:5f1025df5530 | 39 | systemConfig.setPRF(DW1000Setup::prf16MHz); |
AndyA | 4:5f1025df5530 | 40 | systemConfig.setDataRate(DW1000Setup::kbps6800); |
AndyA | 4:5f1025df5530 | 41 | systemConfig.setSfd(DW1000Setup::standard); |
AndyA | 4:5f1025df5530 | 42 | systemConfig.setPreambleLength(DW1000Setup::pre128); |
AndyA | 4:5f1025df5530 | 43 | systemConfig.setPreambleCode(3); |
AndyA | 4:5f1025df5530 | 44 | systemConfig.setSmartPower(false); |
AndyA | 3:1459d2aa6b97 | 45 | |
AndyA | 3:1459d2aa6b97 | 46 | setupRadio(); |
AndyA | 0:bddb8cd5e7df | 47 | |
AndyA | 3:1459d2aa6b97 | 48 | setTxPower(230,260,290); // power = 23dB gain |
AndyA | 3:1459d2aa6b97 | 49 | setRxDelay(0); |
AndyA | 3:1459d2aa6b97 | 50 | setTxDelay(0); |
AndyA | 0:bddb8cd5e7df | 51 | |
AndyA | 3:1459d2aa6b97 | 52 | break; |
AndyA | 3:1459d2aa6b97 | 53 | case minPacketSize: |
AndyA | 4:5f1025df5530 | 54 | systemConfig.setChannel(5); |
AndyA | 4:5f1025df5530 | 55 | systemConfig.setPRF(DW1000Setup::prf64MHz); |
AndyA | 4:5f1025df5530 | 56 | systemConfig.setDataRate(DW1000Setup::kbps6800); |
AndyA | 4:5f1025df5530 | 57 | systemConfig.setSfd(DW1000Setup::standard); |
AndyA | 4:5f1025df5530 | 58 | systemConfig.setPreambleLength(DW1000Setup::pre64); |
AndyA | 4:5f1025df5530 | 59 | systemConfig.setPreambleCode(10); |
AndyA | 4:5f1025df5530 | 60 | systemConfig.setSmartPower(true); |
AndyA | 0:bddb8cd5e7df | 61 | |
AndyA | 3:1459d2aa6b97 | 62 | setupRadio(); |
AndyA | 3:1459d2aa6b97 | 63 | uint16_t txPower = 25*10; // 25dB gain. |
AndyA | 4:5f1025df5530 | 64 | // 2 packets per ms max. So can increase TX power of 250us packets by 10log(4/2) dB and 125us packets by 10log(8/2) dB |
AndyA | 4:5f1025df5530 | 65 | setTxPower(txPower,txPower,txPower+30,txPower+60); // power = 23dB gain |
AndyA | 0:bddb8cd5e7df | 66 | |
AndyA | 0:bddb8cd5e7df | 67 | setRxDelay(0); |
AndyA | 0:bddb8cd5e7df | 68 | setTxDelay(0); |
AndyA | 0:bddb8cd5e7df | 69 | |
AndyA | 0:bddb8cd5e7df | 70 | break; |
AndyA | 0:bddb8cd5e7df | 71 | } |
AndyA | 0:bddb8cd5e7df | 72 | |
AndyA | 0:bddb8cd5e7df | 73 | |
AndyA | 0:bddb8cd5e7df | 74 | irq.rise(this, &DW1000::ISR); // attach interrupt handler to rising edge of interrupt pin from DW1000 |
AndyA | 0:bddb8cd5e7df | 75 | } |
AndyA | 0:bddb8cd5e7df | 76 | |
AndyA | 4:5f1025df5530 | 77 | void DW1000::getSetup(char *buffer, int len) |
AndyA | 4:5f1025df5530 | 78 | { |
AndyA | 4:5f1025df5530 | 79 | |
AndyA | 4:5f1025df5530 | 80 | char dataRateString[10]; |
AndyA | 4:5f1025df5530 | 81 | if (systemConfig.getDataRate() == DW1000Setup::kbps6800) |
AndyA | 4:5f1025df5530 | 82 | strcpy(dataRateString,"6.8 Mbps"); |
AndyA | 4:5f1025df5530 | 83 | else if (systemConfig.getDataRate() == DW1000Setup::kbps850) |
AndyA | 4:5f1025df5530 | 84 | strcpy(dataRateString,"850 kbps"); |
AndyA | 4:5f1025df5530 | 85 | else |
AndyA | 4:5f1025df5530 | 86 | strcpy(dataRateString,"110 kbps"); |
AndyA | 4:5f1025df5530 | 87 | |
AndyA | 4:5f1025df5530 | 88 | char preambleString[8]; |
AndyA | 4:5f1025df5530 | 89 | switch (systemConfig.getPreambleLength()) { |
AndyA | 0:bddb8cd5e7df | 90 | default: |
AndyA | 4:5f1025df5530 | 91 | strcpy(preambleString,"error"); |
AndyA | 4:5f1025df5530 | 92 | break; |
AndyA | 4:5f1025df5530 | 93 | case DW1000Setup::pre64: |
AndyA | 4:5f1025df5530 | 94 | strcpy(preambleString,"64"); |
AndyA | 4:5f1025df5530 | 95 | break; |
AndyA | 4:5f1025df5530 | 96 | case DW1000Setup::pre128: |
AndyA | 4:5f1025df5530 | 97 | strcpy(preambleString,"128"); |
AndyA | 4:5f1025df5530 | 98 | break; |
AndyA | 4:5f1025df5530 | 99 | case DW1000Setup::pre256: |
AndyA | 4:5f1025df5530 | 100 | strcpy(preambleString,"256"); |
AndyA | 4:5f1025df5530 | 101 | break; |
AndyA | 4:5f1025df5530 | 102 | case DW1000Setup::pre512: |
AndyA | 4:5f1025df5530 | 103 | strcpy(preambleString,"512"); |
AndyA | 4:5f1025df5530 | 104 | break; |
AndyA | 4:5f1025df5530 | 105 | case DW1000Setup::pre1024: |
AndyA | 4:5f1025df5530 | 106 | strcpy(preambleString,"1024"); |
AndyA | 4:5f1025df5530 | 107 | break; |
AndyA | 4:5f1025df5530 | 108 | case DW1000Setup::pre1536: |
AndyA | 4:5f1025df5530 | 109 | strcpy(preambleString,"1536"); |
AndyA | 4:5f1025df5530 | 110 | break; |
AndyA | 4:5f1025df5530 | 111 | case DW1000Setup::pre2048: |
AndyA | 4:5f1025df5530 | 112 | strcpy(preambleString,"2048"); |
AndyA | 4:5f1025df5530 | 113 | break; |
AndyA | 4:5f1025df5530 | 114 | case DW1000Setup::pre4096: |
AndyA | 4:5f1025df5530 | 115 | strcpy(preambleString,"4096"); |
AndyA | 4:5f1025df5530 | 116 | break; |
AndyA | 4:5f1025df5530 | 117 | } |
AndyA | 4:5f1025df5530 | 118 | |
AndyA | 4:5f1025df5530 | 119 | snprintf(buffer,len,"Channel:\t%u\r\nPRF:\t%s\r\nData Rate:\t%s\r\nPreamble length:\t%s\r\nPreamble code:\t%u\r\nSmart power:\t%s\r\nSFD:\t%s\r\n", |
AndyA | 4:5f1025df5530 | 120 | systemConfig.getChannel(), |
AndyA | 4:5f1025df5530 | 121 | (systemConfig.getPRF() == DW1000Setup::prf16MHz)?"16 MHz":"64 MHz", |
AndyA | 4:5f1025df5530 | 122 | dataRateString, |
AndyA | 4:5f1025df5530 | 123 | preambleString, |
AndyA | 4:5f1025df5530 | 124 | systemConfig.getPreambleCode(), |
AndyA | 4:5f1025df5530 | 125 | systemConfig.getSmartPower()?"Enabled":"Disabled", |
AndyA | 4:5f1025df5530 | 126 | (systemConfig.getSfd() == DW1000Setup::standard)?"Standard":"Non-standard"); |
AndyA | 4:5f1025df5530 | 127 | |
AndyA | 4:5f1025df5530 | 128 | } |
AndyA | 4:5f1025df5530 | 129 | |
AndyA | 4:5f1025df5530 | 130 | |
AndyA | 3:1459d2aa6b97 | 131 | void DW1000::setupRadio() |
AndyA | 3:1459d2aa6b97 | 132 | { |
AndyA | 3:1459d2aa6b97 | 133 | setupAGC(); |
AndyA | 3:1459d2aa6b97 | 134 | setupRxConfig(); |
AndyA | 3:1459d2aa6b97 | 135 | setupLDE(); |
AndyA | 3:1459d2aa6b97 | 136 | setupChannel(); |
AndyA | 3:1459d2aa6b97 | 137 | setupAnalogRF(); |
AndyA | 3:1459d2aa6b97 | 138 | setupFreqSynth(); |
AndyA | 3:1459d2aa6b97 | 139 | setupTxCalibration(); |
AndyA | 3:1459d2aa6b97 | 140 | setupTxFrameCtrl(); |
AndyA | 3:1459d2aa6b97 | 141 | setupSystemConfig(); |
AndyA | 3:1459d2aa6b97 | 142 | |
AndyA | 3:1459d2aa6b97 | 143 | } |
AndyA | 3:1459d2aa6b97 | 144 | |
AndyA | 3:1459d2aa6b97 | 145 | void DW1000::setupAGC() |
AndyA | 3:1459d2aa6b97 | 146 | { |
AndyA | 3:1459d2aa6b97 | 147 | |
AndyA | 3:1459d2aa6b97 | 148 | writeRegister16(DW1000_AGC_CTRL, DWAGCCTRL_AGC_CTRL1, 0x0001); |
AndyA | 4:5f1025df5530 | 149 | if (systemConfig.getPRF() == DW1000Setup::prf16MHz) |
AndyA | 3:1459d2aa6b97 | 150 | writeRegister16(DW1000_AGC_CTRL, DWAGCCTRL_AGC_TUNE1, 0x8870); |
AndyA | 3:1459d2aa6b97 | 151 | else |
AndyA | 3:1459d2aa6b97 | 152 | writeRegister16(DW1000_AGC_CTRL, DWAGCCTRL_AGC_TUNE1, 0x889B); |
AndyA | 3:1459d2aa6b97 | 153 | |
AndyA | 3:1459d2aa6b97 | 154 | writeRegister32(DW1000_AGC_CTRL, DWAGCCTRL_AGC_TUNE2, 0x2502A907); |
AndyA | 3:1459d2aa6b97 | 155 | writeRegister16(DW1000_AGC_CTRL, DWAGCCTRL_AGC_TUNE3, 0x0035); |
AndyA | 3:1459d2aa6b97 | 156 | } |
AndyA | 3:1459d2aa6b97 | 157 | |
AndyA | 3:1459d2aa6b97 | 158 | void DW1000::setupSystemConfig() |
AndyA | 3:1459d2aa6b97 | 159 | { |
AndyA | 3:1459d2aa6b97 | 160 | uint32_t valueToUse = 0; |
AndyA | 3:1459d2aa6b97 | 161 | valueToUse |= 1<<9; // IRQ output is active high (default) |
AndyA | 3:1459d2aa6b97 | 162 | valueToUse |= 1<<12; // Disable double buffered Rx (default) |
AndyA | 3:1459d2aa6b97 | 163 | |
AndyA | 3:1459d2aa6b97 | 164 | // valueToUse |= 3<<16; // enable long (>125bytes data) packets |
AndyA | 3:1459d2aa6b97 | 165 | |
AndyA | 4:5f1025df5530 | 166 | if (!systemConfig.getSmartPower()) |
AndyA | 3:1459d2aa6b97 | 167 | valueToUse |= 1<<18; // disable smart power |
AndyA | 3:1459d2aa6b97 | 168 | |
AndyA | 4:5f1025df5530 | 169 | if (systemConfig.getDataRate() == DW1000Setup::kbps110) |
AndyA | 3:1459d2aa6b97 | 170 | valueToUse |= 1<<22; |
AndyA | 3:1459d2aa6b97 | 171 | |
AndyA | 4:5f1025df5530 | 172 | valueToUse |= 1<<29;// enable auto reenabling receiver after error |
AndyA | 4:5f1025df5530 | 173 | |
AndyA | 4:5f1025df5530 | 174 | writeRegister32(DW1000_SYS_CFG, 0, valueToUse); |
AndyA | 3:1459d2aa6b97 | 175 | } |
AndyA | 3:1459d2aa6b97 | 176 | |
AndyA | 3:1459d2aa6b97 | 177 | void DW1000::setupRxConfig() |
AndyA | 3:1459d2aa6b97 | 178 | { |
AndyA | 3:1459d2aa6b97 | 179 | |
AndyA | 4:5f1025df5530 | 180 | switch (systemConfig.getDataRate()) { |
AndyA | 4:5f1025df5530 | 181 | case DW1000Setup::kbps110: |
AndyA | 4:5f1025df5530 | 182 | if (systemConfig.getSfd() == DW1000Setup::standard) |
AndyA | 3:1459d2aa6b97 | 183 | writeRegister16(DW1000_DRX_CONF, DWDRX_DRX_TUNE0B, 0x000A); |
AndyA | 3:1459d2aa6b97 | 184 | else |
AndyA | 3:1459d2aa6b97 | 185 | writeRegister16(DW1000_DRX_CONF, DWDRX_DRX_TUNE0B, 0x0016); |
AndyA | 3:1459d2aa6b97 | 186 | break; |
AndyA | 4:5f1025df5530 | 187 | case DW1000Setup::kbps850: |
AndyA | 4:5f1025df5530 | 188 | if (systemConfig.getSfd() == DW1000Setup::standard) |
AndyA | 3:1459d2aa6b97 | 189 | writeRegister16(DW1000_DRX_CONF, DWDRX_DRX_TUNE0B, 0x0001); |
AndyA | 3:1459d2aa6b97 | 190 | else |
AndyA | 3:1459d2aa6b97 | 191 | writeRegister16(DW1000_DRX_CONF, DWDRX_DRX_TUNE0B, 0x0006); |
AndyA | 3:1459d2aa6b97 | 192 | break; |
AndyA | 4:5f1025df5530 | 193 | case DW1000Setup::kbps6800: |
AndyA | 3:1459d2aa6b97 | 194 | default: |
AndyA | 4:5f1025df5530 | 195 | if (systemConfig.getSfd() == DW1000Setup::standard) |
AndyA | 3:1459d2aa6b97 | 196 | writeRegister16(DW1000_DRX_CONF, DWDRX_DRX_TUNE0B, 0x0001); |
AndyA | 3:1459d2aa6b97 | 197 | else |
AndyA | 3:1459d2aa6b97 | 198 | writeRegister16(DW1000_DRX_CONF, DWDRX_DRX_TUNE0B, 0x0002); |
AndyA | 3:1459d2aa6b97 | 199 | break; |
AndyA | 3:1459d2aa6b97 | 200 | } |
AndyA | 3:1459d2aa6b97 | 201 | |
AndyA | 4:5f1025df5530 | 202 | if (systemConfig.getPRF() == DW1000Setup::prf16MHz) |
AndyA | 3:1459d2aa6b97 | 203 | writeRegister16(DW1000_DRX_CONF, DWDRX_DRX_TUNE1A, 0x0087); //DRX_TUNE1a for 16MHz PRF |
AndyA | 3:1459d2aa6b97 | 204 | else |
AndyA | 3:1459d2aa6b97 | 205 | writeRegister16(DW1000_DRX_CONF, DWDRX_DRX_TUNE1A, 0x008D); |
AndyA | 3:1459d2aa6b97 | 206 | |
AndyA | 4:5f1025df5530 | 207 | switch (systemConfig.getPreambleLength()) { |
AndyA | 4:5f1025df5530 | 208 | case DW1000Setup::pre1536: |
AndyA | 4:5f1025df5530 | 209 | case DW1000Setup::pre2048: |
AndyA | 4:5f1025df5530 | 210 | case DW1000Setup::pre4096: |
AndyA | 3:1459d2aa6b97 | 211 | writeRegister16(DW1000_DRX_CONF, DWDRX_DRX_TUNE1B, 0x0064); //DRX_TUNE1b for 110kbps & > 1024 symbols |
AndyA | 3:1459d2aa6b97 | 212 | break; |
AndyA | 3:1459d2aa6b97 | 213 | default: // 128 to 1024 |
AndyA | 3:1459d2aa6b97 | 214 | writeRegister16(DW1000_DRX_CONF, DWDRX_DRX_TUNE1B, 0x0020); //DRX_TUNE1b for 128- 1024 symbols |
AndyA | 3:1459d2aa6b97 | 215 | break; |
AndyA | 4:5f1025df5530 | 216 | case DW1000Setup::pre64: |
AndyA | 3:1459d2aa6b97 | 217 | writeRegister16(DW1000_DRX_CONF, DWDRX_DRX_TUNE1B, 0x0010); //DRX_TUNE1b for 64 symbols |
AndyA | 3:1459d2aa6b97 | 218 | break; |
AndyA | 3:1459d2aa6b97 | 219 | } |
AndyA | 3:1459d2aa6b97 | 220 | |
AndyA | 4:5f1025df5530 | 221 | switch (systemConfig.getPreambleLength()) { |
AndyA | 4:5f1025df5530 | 222 | case DW1000Setup::pre64: |
AndyA | 4:5f1025df5530 | 223 | case DW1000Setup::pre128: // PAC = 8 |
AndyA | 4:5f1025df5530 | 224 | if (systemConfig.getPRF() == DW1000Setup::prf16MHz) |
AndyA | 3:1459d2aa6b97 | 225 | writeRegister32(DW1000_DRX_CONF, DWDRX_DRX_TUNE2, 0x311A002D); //DRX_TUNE2 PAC 8 for 64MHz PRF |
AndyA | 3:1459d2aa6b97 | 226 | else |
AndyA | 3:1459d2aa6b97 | 227 | writeRegister32(DW1000_DRX_CONF, DWDRX_DRX_TUNE2, 0x313B006B); //DRX_TUNE2 PAC 8 for 64MHz PRF |
AndyA | 3:1459d2aa6b97 | 228 | break; |
AndyA | 4:5f1025df5530 | 229 | case DW1000Setup::pre256: |
AndyA | 4:5f1025df5530 | 230 | case DW1000Setup::pre512: // PAC = 16 |
AndyA | 4:5f1025df5530 | 231 | if (systemConfig.getPRF() == DW1000Setup::prf16MHz) |
AndyA | 3:1459d2aa6b97 | 232 | writeRegister32(DW1000_DRX_CONF, DWDRX_DRX_TUNE2, 0x331A0052); //DRX_TUNE2 PAC 16 for 64MHz PRF |
AndyA | 3:1459d2aa6b97 | 233 | else |
AndyA | 3:1459d2aa6b97 | 234 | writeRegister32(DW1000_DRX_CONF, DWDRX_DRX_TUNE2, 0x333B00BE); //DRX_TUNE2 PAC 16 for 64MHz PRF |
AndyA | 3:1459d2aa6b97 | 235 | break; |
AndyA | 4:5f1025df5530 | 236 | case DW1000Setup::pre1024: // PAC = 32 |
AndyA | 4:5f1025df5530 | 237 | if (systemConfig.getPRF() == DW1000Setup::prf16MHz) |
AndyA | 3:1459d2aa6b97 | 238 | writeRegister32(DW1000_DRX_CONF, DWDRX_DRX_TUNE2, 0x351A009A); //DRX_TUNE2 PAC 32 for 64MHz PRF |
AndyA | 3:1459d2aa6b97 | 239 | else |
AndyA | 3:1459d2aa6b97 | 240 | writeRegister32(DW1000_DRX_CONF, DWDRX_DRX_TUNE2, 0x353B015E); //DRX_TUNE2 PAC 32 for 64MHz PRF |
AndyA | 3:1459d2aa6b97 | 241 | break; |
AndyA | 4:5f1025df5530 | 242 | case DW1000Setup::pre1536: |
AndyA | 4:5f1025df5530 | 243 | case DW1000Setup::pre2048: |
AndyA | 4:5f1025df5530 | 244 | case DW1000Setup::pre4096: // PAC = 64 |
AndyA | 4:5f1025df5530 | 245 | if (systemConfig.getPRF() == DW1000Setup::prf16MHz) |
AndyA | 3:1459d2aa6b97 | 246 | writeRegister32(DW1000_DRX_CONF, DWDRX_DRX_TUNE2, 0x371A011D); //DRX_TUNE2 PAC 64 for 64MHz PRF |
AndyA | 3:1459d2aa6b97 | 247 | else |
AndyA | 3:1459d2aa6b97 | 248 | writeRegister32(DW1000_DRX_CONF, DWDRX_DRX_TUNE2, 0x373B0296); //DRX_TUNE2 PAC 64 for 64MHz PRF |
AndyA | 0:bddb8cd5e7df | 249 | break; |
AndyA | 0:bddb8cd5e7df | 250 | } |
AndyA | 0:bddb8cd5e7df | 251 | |
AndyA | 3:1459d2aa6b97 | 252 | |
AndyA | 4:5f1025df5530 | 253 | if (systemConfig.getPreambleLength() == DW1000Setup::pre64) |
AndyA | 3:1459d2aa6b97 | 254 | writeRegister16(DW1000_DRX_CONF, DWDRX_DRX_TUNE4H, 0x0010); |
AndyA | 3:1459d2aa6b97 | 255 | else |
AndyA | 3:1459d2aa6b97 | 256 | writeRegister16(DW1000_DRX_CONF, DWDRX_DRX_TUNE4H, 0x0028); |
AndyA | 3:1459d2aa6b97 | 257 | |
AndyA | 3:1459d2aa6b97 | 258 | } |
AndyA | 3:1459d2aa6b97 | 259 | |
AndyA | 3:1459d2aa6b97 | 260 | |
AndyA | 3:1459d2aa6b97 | 261 | void DW1000::setupLDE() |
AndyA | 3:1459d2aa6b97 | 262 | { |
AndyA | 3:1459d2aa6b97 | 263 | |
AndyA | 3:1459d2aa6b97 | 264 | writeRegister8 (DW1000_LDE_CTRL, DWLDE_LDE_CFG1, 0x13 | 0x03<<5); //NTM = 13 (12 may be better in some situations. PMULT = 3 |
AndyA | 3:1459d2aa6b97 | 265 | |
AndyA | 4:5f1025df5530 | 266 | if (systemConfig.getPRF() == DW1000Setup::prf16MHz) |
AndyA | 3:1459d2aa6b97 | 267 | writeRegister16(DW1000_LDE_CTRL, DWLDE_LDE_CFG2, 0x1607); //LDE_CFG2 for 16MHz PRF |
AndyA | 3:1459d2aa6b97 | 268 | else |
AndyA | 3:1459d2aa6b97 | 269 | writeRegister16(DW1000_LDE_CTRL, DWLDE_LDE_CFG2, 0x0607); //LDE_CFG2 for 64MHz PRF |
AndyA | 3:1459d2aa6b97 | 270 | |
AndyA | 3:1459d2aa6b97 | 271 | uint16_t replicaCoeff; |
AndyA | 4:5f1025df5530 | 272 | switch (systemConfig.getPreambleCode()) { |
AndyA | 3:1459d2aa6b97 | 273 | default: |
AndyA | 3:1459d2aa6b97 | 274 | case 1: |
AndyA | 3:1459d2aa6b97 | 275 | case 2: |
AndyA | 3:1459d2aa6b97 | 276 | replicaCoeff = 0x5998; |
AndyA | 3:1459d2aa6b97 | 277 | break; |
AndyA | 3:1459d2aa6b97 | 278 | case 3: |
AndyA | 3:1459d2aa6b97 | 279 | replicaCoeff = 0x51EA; |
AndyA | 3:1459d2aa6b97 | 280 | break; |
AndyA | 3:1459d2aa6b97 | 281 | case 4: |
AndyA | 3:1459d2aa6b97 | 282 | replicaCoeff = 0x428E; |
AndyA | 3:1459d2aa6b97 | 283 | break; |
AndyA | 3:1459d2aa6b97 | 284 | case 5: |
AndyA | 3:1459d2aa6b97 | 285 | replicaCoeff = 0x451E; |
AndyA | 3:1459d2aa6b97 | 286 | break; |
AndyA | 3:1459d2aa6b97 | 287 | case 6: |
AndyA | 3:1459d2aa6b97 | 288 | replicaCoeff = 0x2E14; |
AndyA | 3:1459d2aa6b97 | 289 | break; |
AndyA | 3:1459d2aa6b97 | 290 | case 7: |
AndyA | 3:1459d2aa6b97 | 291 | replicaCoeff = 0x8000; |
AndyA | 3:1459d2aa6b97 | 292 | break; |
AndyA | 3:1459d2aa6b97 | 293 | case 8: |
AndyA | 3:1459d2aa6b97 | 294 | replicaCoeff = 0x51EA; |
AndyA | 3:1459d2aa6b97 | 295 | break; |
AndyA | 3:1459d2aa6b97 | 296 | case 9: |
AndyA | 3:1459d2aa6b97 | 297 | replicaCoeff = 0x28F4; |
AndyA | 3:1459d2aa6b97 | 298 | break; |
AndyA | 3:1459d2aa6b97 | 299 | case 10: |
AndyA | 3:1459d2aa6b97 | 300 | replicaCoeff = 0x3332; |
AndyA | 3:1459d2aa6b97 | 301 | break; |
AndyA | 3:1459d2aa6b97 | 302 | case 11: |
AndyA | 3:1459d2aa6b97 | 303 | replicaCoeff = 0x3AE0; |
AndyA | 3:1459d2aa6b97 | 304 | break; |
AndyA | 3:1459d2aa6b97 | 305 | case 12: |
AndyA | 3:1459d2aa6b97 | 306 | replicaCoeff = 0x3D70; |
AndyA | 3:1459d2aa6b97 | 307 | break; |
AndyA | 3:1459d2aa6b97 | 308 | case 13: |
AndyA | 3:1459d2aa6b97 | 309 | replicaCoeff = 0x3AE0; |
AndyA | 3:1459d2aa6b97 | 310 | break; |
AndyA | 3:1459d2aa6b97 | 311 | case 14: |
AndyA | 3:1459d2aa6b97 | 312 | replicaCoeff = 0x35C2; |
AndyA | 3:1459d2aa6b97 | 313 | break; |
AndyA | 3:1459d2aa6b97 | 314 | case 15: |
AndyA | 3:1459d2aa6b97 | 315 | replicaCoeff = 0x2B84; |
AndyA | 3:1459d2aa6b97 | 316 | break; |
AndyA | 3:1459d2aa6b97 | 317 | case 16: |
AndyA | 3:1459d2aa6b97 | 318 | replicaCoeff = 0x35C2; |
AndyA | 3:1459d2aa6b97 | 319 | break; |
AndyA | 3:1459d2aa6b97 | 320 | case 17: |
AndyA | 3:1459d2aa6b97 | 321 | replicaCoeff = 0x3332; |
AndyA | 3:1459d2aa6b97 | 322 | break; |
AndyA | 3:1459d2aa6b97 | 323 | case 18: |
AndyA | 3:1459d2aa6b97 | 324 | replicaCoeff = 0x35C2; |
AndyA | 3:1459d2aa6b97 | 325 | break; |
AndyA | 3:1459d2aa6b97 | 326 | case 19: |
AndyA | 3:1459d2aa6b97 | 327 | replicaCoeff = 0x35C2; |
AndyA | 3:1459d2aa6b97 | 328 | break; |
AndyA | 3:1459d2aa6b97 | 329 | case 20: |
AndyA | 3:1459d2aa6b97 | 330 | replicaCoeff = 0x47AE; |
AndyA | 3:1459d2aa6b97 | 331 | break; |
AndyA | 3:1459d2aa6b97 | 332 | case 21: |
AndyA | 3:1459d2aa6b97 | 333 | replicaCoeff = 0x3AE0; |
AndyA | 3:1459d2aa6b97 | 334 | break; |
AndyA | 3:1459d2aa6b97 | 335 | case 22: |
AndyA | 3:1459d2aa6b97 | 336 | replicaCoeff = 0x3850; |
AndyA | 3:1459d2aa6b97 | 337 | break; |
AndyA | 3:1459d2aa6b97 | 338 | case 23: |
AndyA | 3:1459d2aa6b97 | 339 | replicaCoeff = 0x30A2; |
AndyA | 3:1459d2aa6b97 | 340 | break; |
AndyA | 3:1459d2aa6b97 | 341 | case 24: |
AndyA | 3:1459d2aa6b97 | 342 | replicaCoeff = 0x3850; |
AndyA | 3:1459d2aa6b97 | 343 | break; |
AndyA | 3:1459d2aa6b97 | 344 | } |
AndyA | 3:1459d2aa6b97 | 345 | |
AndyA | 4:5f1025df5530 | 346 | if (systemConfig.getDataRate() == DW1000Setup::kbps110) |
AndyA | 3:1459d2aa6b97 | 347 | replicaCoeff = replicaCoeff>>3; |
AndyA | 3:1459d2aa6b97 | 348 | |
AndyA | 3:1459d2aa6b97 | 349 | writeRegister16(DW1000_LDE_CTRL, DWLDE_LDE_REPC, replicaCoeff); |
AndyA | 3:1459d2aa6b97 | 350 | |
AndyA | 3:1459d2aa6b97 | 351 | loadLDE(); |
AndyA | 3:1459d2aa6b97 | 352 | } |
AndyA | 3:1459d2aa6b97 | 353 | |
AndyA | 3:1459d2aa6b97 | 354 | void DW1000::setupChannel() |
AndyA | 3:1459d2aa6b97 | 355 | { |
AndyA | 4:5f1025df5530 | 356 | uint32_t registerValue = 0; |
AndyA | 3:1459d2aa6b97 | 357 | |
AndyA | 4:5f1025df5530 | 358 | registerValue = systemConfig.getChannel(); // set Tx channel |
AndyA | 4:5f1025df5530 | 359 | registerValue |= systemConfig.getChannel()<<4; // set Rx channel |
AndyA | 3:1459d2aa6b97 | 360 | |
AndyA | 4:5f1025df5530 | 361 | if (systemConfig.getPRF() == DW1000Setup::prf16MHz) // set PRF (2 bit value 01 or 10) |
AndyA | 3:1459d2aa6b97 | 362 | registerValue |= 0x01 << 18; |
AndyA | 3:1459d2aa6b97 | 363 | else |
AndyA | 3:1459d2aa6b97 | 364 | registerValue |= 0x02 << 18; |
AndyA | 3:1459d2aa6b97 | 365 | |
AndyA | 4:5f1025df5530 | 366 | if (systemConfig.getSfd() == DW1000Setup::decaWave) |
AndyA | 3:1459d2aa6b97 | 367 | registerValue |= 0x01 << 17; // enable DW own SFD |
AndyA | 4:5f1025df5530 | 368 | |
AndyA | 4:5f1025df5530 | 369 | if (systemConfig.getSfd() == DW1000Setup::user) { |
AndyA | 4:5f1025df5530 | 370 | registerValue |= 0x01 << 20; // enable user set SFD Tx |
AndyA | 4:5f1025df5530 | 371 | registerValue |= 0x01 << 21; // enable user set SFD Rx |
AndyA | 3:1459d2aa6b97 | 372 | } |
AndyA | 3:1459d2aa6b97 | 373 | |
AndyA | 4:5f1025df5530 | 374 | registerValue |= systemConfig.getPreambleCode() << 22; // set Tx preamble code |
AndyA | 4:5f1025df5530 | 375 | registerValue |= systemConfig.getPreambleCode() << 27; // set Rx preamble code |
AndyA | 3:1459d2aa6b97 | 376 | |
AndyA | 4:5f1025df5530 | 377 | writeRegister32(DW1000_CHAN_CTRL, 0, registerValue); |
AndyA | 3:1459d2aa6b97 | 378 | } |
AndyA | 3:1459d2aa6b97 | 379 | |
AndyA | 3:1459d2aa6b97 | 380 | |
AndyA | 3:1459d2aa6b97 | 381 | uint8_t DW1000::powerToRegValue(uint16_t powercB) |
AndyA | 3:1459d2aa6b97 | 382 | { |
AndyA | 3:1459d2aa6b97 | 383 | |
AndyA | 3:1459d2aa6b97 | 384 | // course power control - 0 = 18dB, 6 = 0dB in 3dB steps. |
AndyA | 3:1459d2aa6b97 | 385 | uint8_t course = powercB / 30; |
AndyA | 3:1459d2aa6b97 | 386 | |
AndyA | 3:1459d2aa6b97 | 387 | if(course > 6) |
AndyA | 3:1459d2aa6b97 | 388 | course = 6; |
AndyA | 3:1459d2aa6b97 | 389 | |
AndyA | 3:1459d2aa6b97 | 390 | // remaining power |
AndyA | 3:1459d2aa6b97 | 391 | powercB -= course * 30; |
AndyA | 3:1459d2aa6b97 | 392 | |
AndyA | 3:1459d2aa6b97 | 393 | // value in reg is inverse. |
AndyA | 3:1459d2aa6b97 | 394 | course = 6-course; |
AndyA | 3:1459d2aa6b97 | 395 | |
AndyA | 3:1459d2aa6b97 | 396 | // fine control in steps of 0.5dB |
AndyA | 3:1459d2aa6b97 | 397 | uint8_t fine = powercB / 5; |
AndyA | 3:1459d2aa6b97 | 398 | if (fine > 31) |
AndyA | 3:1459d2aa6b97 | 399 | fine = 31; |
AndyA | 3:1459d2aa6b97 | 400 | |
AndyA | 3:1459d2aa6b97 | 401 | |
AndyA | 3:1459d2aa6b97 | 402 | return (course << 5) | fine; |
AndyA | 3:1459d2aa6b97 | 403 | |
AndyA | 3:1459d2aa6b97 | 404 | } |
AndyA | 3:1459d2aa6b97 | 405 | |
AndyA | 3:1459d2aa6b97 | 406 | // transmit power: 0 to 33.5 dB gain in steps of 0.5. Inputs are in 10ths of a dB (0 to 335) |
AndyA | 3:1459d2aa6b97 | 407 | void DW1000::setTxPower(uint16_t normalPowercB, uint16_t boost500, uint16_t boost250, uint16_t boost125) |
AndyA | 3:1459d2aa6b97 | 408 | { |
AndyA | 4:5f1025df5530 | 409 | |
AndyA | 3:1459d2aa6b97 | 410 | if(normalPowercB > 335) |
AndyA | 3:1459d2aa6b97 | 411 | normalPowercB = 335; |
AndyA | 3:1459d2aa6b97 | 412 | |
AndyA | 3:1459d2aa6b97 | 413 | if (boost500 < normalPowercB) |
AndyA | 3:1459d2aa6b97 | 414 | boost500 = normalPowercB; |
AndyA | 3:1459d2aa6b97 | 415 | if(boost500 > 335) |
AndyA | 3:1459d2aa6b97 | 416 | boost500 = 335; |
AndyA | 0:bddb8cd5e7df | 417 | |
AndyA | 3:1459d2aa6b97 | 418 | if (boost250 < boost500) |
AndyA | 3:1459d2aa6b97 | 419 | boost250 = boost500; |
AndyA | 3:1459d2aa6b97 | 420 | if(boost250 > 335) |
AndyA | 3:1459d2aa6b97 | 421 | boost250 = 335; |
AndyA | 3:1459d2aa6b97 | 422 | |
AndyA | 3:1459d2aa6b97 | 423 | if (boost125 < boost250) |
AndyA | 3:1459d2aa6b97 | 424 | boost125 = boost250; |
AndyA | 3:1459d2aa6b97 | 425 | if(boost125 > 335) |
AndyA | 3:1459d2aa6b97 | 426 | boost125 = 335; |
AndyA | 3:1459d2aa6b97 | 427 | |
AndyA | 4:5f1025df5530 | 428 | if (systemConfig.getSmartPower() == false) { |
AndyA | 4:5f1025df5530 | 429 | boost500 = normalPowercB; |
AndyA | 4:5f1025df5530 | 430 | boost250 = normalPowercB; |
AndyA | 4:5f1025df5530 | 431 | boost125 = normalPowercB; |
AndyA | 4:5f1025df5530 | 432 | } |
AndyA | 4:5f1025df5530 | 433 | |
AndyA | 3:1459d2aa6b97 | 434 | uint32_t powerReg = powerToRegValue(normalPowercB); |
AndyA | 3:1459d2aa6b97 | 435 | powerReg |= powerToRegValue(boost500) << 8; |
AndyA | 3:1459d2aa6b97 | 436 | powerReg |= powerToRegValue(boost250) << 16; |
AndyA | 3:1459d2aa6b97 | 437 | powerReg |= powerToRegValue(boost125) << 24; |
AndyA | 3:1459d2aa6b97 | 438 | } |
AndyA | 3:1459d2aa6b97 | 439 | |
AndyA | 3:1459d2aa6b97 | 440 | void DW1000::setupAnalogRF() |
AndyA | 3:1459d2aa6b97 | 441 | { |
AndyA | 4:5f1025df5530 | 442 | switch (systemConfig.getChannel()) { |
AndyA | 3:1459d2aa6b97 | 443 | case 1: |
AndyA | 3:1459d2aa6b97 | 444 | writeRegister32(DW1000_RF_CONF, DWRFCONF_RF_TXCTRL, 0x00005C40); |
AndyA | 3:1459d2aa6b97 | 445 | break; |
AndyA | 3:1459d2aa6b97 | 446 | case 2: |
AndyA | 3:1459d2aa6b97 | 447 | writeRegister32(DW1000_RF_CONF, DWRFCONF_RF_TXCTRL, 0x00045CA0); |
AndyA | 3:1459d2aa6b97 | 448 | break; |
AndyA | 3:1459d2aa6b97 | 449 | case 3: |
AndyA | 3:1459d2aa6b97 | 450 | writeRegister32(DW1000_RF_CONF, DWRFCONF_RF_TXCTRL, 0x00086CC0); |
AndyA | 3:1459d2aa6b97 | 451 | break; |
AndyA | 3:1459d2aa6b97 | 452 | case 4: |
AndyA | 3:1459d2aa6b97 | 453 | writeRegister32(DW1000_RF_CONF, DWRFCONF_RF_TXCTRL, 0x00045C80); |
AndyA | 3:1459d2aa6b97 | 454 | break; |
AndyA | 3:1459d2aa6b97 | 455 | case 5: |
AndyA | 3:1459d2aa6b97 | 456 | default: |
AndyA | 3:1459d2aa6b97 | 457 | writeRegister32(DW1000_RF_CONF, DWRFCONF_RF_TXCTRL, 0x001E3FE0); |
AndyA | 3:1459d2aa6b97 | 458 | break; |
AndyA | 3:1459d2aa6b97 | 459 | case 7: |
AndyA | 3:1459d2aa6b97 | 460 | writeRegister32(DW1000_RF_CONF, DWRFCONF_RF_TXCTRL, 0x001E7DE0); |
AndyA | 3:1459d2aa6b97 | 461 | break; |
AndyA | 3:1459d2aa6b97 | 462 | } |
AndyA | 3:1459d2aa6b97 | 463 | |
AndyA | 4:5f1025df5530 | 464 | switch (systemConfig.getChannel()) { |
AndyA | 3:1459d2aa6b97 | 465 | case 1: |
AndyA | 3:1459d2aa6b97 | 466 | case 2: |
AndyA | 3:1459d2aa6b97 | 467 | case 3: |
AndyA | 3:1459d2aa6b97 | 468 | case 5: |
AndyA | 3:1459d2aa6b97 | 469 | default: |
AndyA | 3:1459d2aa6b97 | 470 | writeRegister8(DW1000_RF_CONF, DWRFCONF_RF_RXCTRLH, 0xD8); |
AndyA | 3:1459d2aa6b97 | 471 | break; |
AndyA | 3:1459d2aa6b97 | 472 | case 4: |
AndyA | 3:1459d2aa6b97 | 473 | case 7: |
AndyA | 3:1459d2aa6b97 | 474 | writeRegister8(DW1000_RF_CONF, DWRFCONF_RF_RXCTRLH, 0xBC); |
AndyA | 3:1459d2aa6b97 | 475 | break; |
AndyA | 3:1459d2aa6b97 | 476 | } |
AndyA | 3:1459d2aa6b97 | 477 | |
AndyA | 3:1459d2aa6b97 | 478 | loadLDOTUNE(); |
AndyA | 3:1459d2aa6b97 | 479 | |
AndyA | 3:1459d2aa6b97 | 480 | } |
AndyA | 3:1459d2aa6b97 | 481 | |
AndyA | 3:1459d2aa6b97 | 482 | void DW1000::setupTxCalibration() |
AndyA | 3:1459d2aa6b97 | 483 | { |
AndyA | 4:5f1025df5530 | 484 | switch (systemConfig.getChannel()) { |
AndyA | 3:1459d2aa6b97 | 485 | case 1: |
AndyA | 3:1459d2aa6b97 | 486 | writeRegister8 (DW1000_TX_CAL, DWTXCAL_TC_PGDELAY, 0xC9); |
AndyA | 3:1459d2aa6b97 | 487 | break; |
AndyA | 3:1459d2aa6b97 | 488 | case 2: |
AndyA | 3:1459d2aa6b97 | 489 | writeRegister8 (DW1000_TX_CAL, DWTXCAL_TC_PGDELAY, 0xC2); |
AndyA | 3:1459d2aa6b97 | 490 | break; |
AndyA | 3:1459d2aa6b97 | 491 | case 3: |
AndyA | 3:1459d2aa6b97 | 492 | writeRegister8 (DW1000_TX_CAL, DWTXCAL_TC_PGDELAY, 0xC5); |
AndyA | 3:1459d2aa6b97 | 493 | break; |
AndyA | 3:1459d2aa6b97 | 494 | case 4: |
AndyA | 3:1459d2aa6b97 | 495 | writeRegister8 (DW1000_TX_CAL, DWTXCAL_TC_PGDELAY, 0x95); |
AndyA | 3:1459d2aa6b97 | 496 | break; |
AndyA | 3:1459d2aa6b97 | 497 | case 5: |
AndyA | 3:1459d2aa6b97 | 498 | default: |
AndyA | 3:1459d2aa6b97 | 499 | writeRegister8 (DW1000_TX_CAL, DWTXCAL_TC_PGDELAY, 0xC0); |
AndyA | 3:1459d2aa6b97 | 500 | break; |
AndyA | 3:1459d2aa6b97 | 501 | case 7: |
AndyA | 3:1459d2aa6b97 | 502 | writeRegister8 (DW1000_TX_CAL, DWTXCAL_TC_PGDELAY, 0x93); |
AndyA | 3:1459d2aa6b97 | 503 | break; |
AndyA | 3:1459d2aa6b97 | 504 | } |
AndyA | 3:1459d2aa6b97 | 505 | } |
AndyA | 3:1459d2aa6b97 | 506 | |
AndyA | 3:1459d2aa6b97 | 507 | void DW1000::setupFreqSynth() |
AndyA | 3:1459d2aa6b97 | 508 | { |
AndyA | 3:1459d2aa6b97 | 509 | |
AndyA | 4:5f1025df5530 | 510 | switch (systemConfig.getChannel()) { |
AndyA | 3:1459d2aa6b97 | 511 | case 1: |
AndyA | 3:1459d2aa6b97 | 512 | writeRegister32 (DW1000_FS_CTRL, DWFSCTRL_FS_PLLCFG, 0x09000407); //FS_PLLCFG for channel 1 |
AndyA | 3:1459d2aa6b97 | 513 | writeRegister8 (DW1000_FS_CTRL, DWFSCTRL_FS_PLLTUNE, 0x1E); |
AndyA | 3:1459d2aa6b97 | 514 | break; |
AndyA | 3:1459d2aa6b97 | 515 | case 2: |
AndyA | 3:1459d2aa6b97 | 516 | case 4: |
AndyA | 3:1459d2aa6b97 | 517 | writeRegister32 (DW1000_FS_CTRL, DWFSCTRL_FS_PLLCFG, 0x08400508); //FS_PLLCFG for channel 2,4 |
AndyA | 3:1459d2aa6b97 | 518 | writeRegister8 (DW1000_FS_CTRL, DWFSCTRL_FS_PLLTUNE, 0x26); |
AndyA | 3:1459d2aa6b97 | 519 | break; |
AndyA | 3:1459d2aa6b97 | 520 | case 3: |
AndyA | 3:1459d2aa6b97 | 521 | writeRegister32 (DW1000_FS_CTRL, DWFSCTRL_FS_PLLCFG, 0x08401009); //FS_PLLCFG for channel 3 |
AndyA | 3:1459d2aa6b97 | 522 | writeRegister8 (DW1000_FS_CTRL, DWFSCTRL_FS_PLLTUNE, 0x5E); |
AndyA | 3:1459d2aa6b97 | 523 | break; |
AndyA | 3:1459d2aa6b97 | 524 | case 5: |
AndyA | 3:1459d2aa6b97 | 525 | case 7: |
AndyA | 3:1459d2aa6b97 | 526 | default: |
AndyA | 3:1459d2aa6b97 | 527 | writeRegister32 (DW1000_FS_CTRL, DWFSCTRL_FS_PLLCFG, 0x0800041D); //FS_PLLCFG for channel 5,7 |
AndyA | 3:1459d2aa6b97 | 528 | writeRegister8 (DW1000_FS_CTRL, DWFSCTRL_FS_PLLTUNE, 0xBE); //FS_PLLTUNE for channel 5 |
AndyA | 3:1459d2aa6b97 | 529 | break; |
AndyA | 3:1459d2aa6b97 | 530 | } |
AndyA | 3:1459d2aa6b97 | 531 | } |
AndyA | 3:1459d2aa6b97 | 532 | |
AndyA | 3:1459d2aa6b97 | 533 | void DW1000::setupTxFrameCtrl() |
AndyA | 3:1459d2aa6b97 | 534 | { |
AndyA | 4:5f1025df5530 | 535 | uint32_t frameCtrlValue = 0; |
AndyA | 4:5f1025df5530 | 536 | switch (systemConfig.getDataRate()) { |
AndyA | 4:5f1025df5530 | 537 | case DW1000Setup::kbps110: |
AndyA | 3:1459d2aa6b97 | 538 | break; |
AndyA | 4:5f1025df5530 | 539 | case DW1000Setup::kbps850: |
AndyA | 3:1459d2aa6b97 | 540 | frameCtrlValue |= 0x01<<13; |
AndyA | 3:1459d2aa6b97 | 541 | break; |
AndyA | 4:5f1025df5530 | 542 | case DW1000Setup::kbps6800: |
AndyA | 3:1459d2aa6b97 | 543 | default: |
AndyA | 3:1459d2aa6b97 | 544 | frameCtrlValue |= 0x02<<13; |
AndyA | 3:1459d2aa6b97 | 545 | break; |
AndyA | 3:1459d2aa6b97 | 546 | } |
AndyA | 3:1459d2aa6b97 | 547 | frameCtrlValue |= 0x01<<15; |
AndyA | 3:1459d2aa6b97 | 548 | |
AndyA | 4:5f1025df5530 | 549 | if (systemConfig.getPRF() == DW1000Setup::prf16MHz) |
AndyA | 3:1459d2aa6b97 | 550 | frameCtrlValue |= 0x01<<16; |
AndyA | 3:1459d2aa6b97 | 551 | else |
AndyA | 3:1459d2aa6b97 | 552 | frameCtrlValue |= 0x02<<16; |
AndyA | 3:1459d2aa6b97 | 553 | |
AndyA | 4:5f1025df5530 | 554 | switch (systemConfig.getPreambleLength()) { |
AndyA | 4:5f1025df5530 | 555 | case DW1000Setup::pre64: |
AndyA | 3:1459d2aa6b97 | 556 | frameCtrlValue |= 0x01<<18; // TXPSR |
AndyA | 3:1459d2aa6b97 | 557 | frameCtrlValue |= 0x00<<20; // PE |
AndyA | 3:1459d2aa6b97 | 558 | break; |
AndyA | 4:5f1025df5530 | 559 | case DW1000Setup::pre128: |
AndyA | 3:1459d2aa6b97 | 560 | default: |
AndyA | 3:1459d2aa6b97 | 561 | frameCtrlValue |= 0x01<<18; // TXPSR |
AndyA | 3:1459d2aa6b97 | 562 | frameCtrlValue |= 0x01<<20; // PE |
AndyA | 3:1459d2aa6b97 | 563 | break; |
AndyA | 4:5f1025df5530 | 564 | case DW1000Setup::pre256: |
AndyA | 3:1459d2aa6b97 | 565 | frameCtrlValue |= 0x01<<18; // TXPSR |
AndyA | 3:1459d2aa6b97 | 566 | frameCtrlValue |= 0x02<<20; // PE |
AndyA | 3:1459d2aa6b97 | 567 | break; |
AndyA | 4:5f1025df5530 | 568 | case DW1000Setup::pre512: |
AndyA | 3:1459d2aa6b97 | 569 | frameCtrlValue |= 0x01<<18; // TXPSR |
AndyA | 3:1459d2aa6b97 | 570 | frameCtrlValue |= 0x03<<20; // PE |
AndyA | 3:1459d2aa6b97 | 571 | break; |
AndyA | 4:5f1025df5530 | 572 | case DW1000Setup::pre1024: |
AndyA | 3:1459d2aa6b97 | 573 | frameCtrlValue |= 0x02<<18; // TXPSR |
AndyA | 3:1459d2aa6b97 | 574 | frameCtrlValue |= 0x00<<20; // PE |
AndyA | 3:1459d2aa6b97 | 575 | break; |
AndyA | 4:5f1025df5530 | 576 | case DW1000Setup::pre1536: |
AndyA | 3:1459d2aa6b97 | 577 | frameCtrlValue |= 0x02<<18; // TXPSR |
AndyA | 3:1459d2aa6b97 | 578 | frameCtrlValue |= 0x01<<20; // PE |
AndyA | 3:1459d2aa6b97 | 579 | break; |
AndyA | 4:5f1025df5530 | 580 | case DW1000Setup::pre2048: |
AndyA | 3:1459d2aa6b97 | 581 | frameCtrlValue |= 0x02<<18; // TXPSR |
AndyA | 3:1459d2aa6b97 | 582 | frameCtrlValue |= 0x02<<20; // PE |
AndyA | 3:1459d2aa6b97 | 583 | break; |
AndyA | 4:5f1025df5530 | 584 | case DW1000Setup::pre4096: |
AndyA | 3:1459d2aa6b97 | 585 | frameCtrlValue |= 0x03<<18; // TXPSR |
AndyA | 3:1459d2aa6b97 | 586 | frameCtrlValue |= 0x00<<20; // PE |
AndyA | 3:1459d2aa6b97 | 587 | break; |
AndyA | 3:1459d2aa6b97 | 588 | } |
AndyA | 4:5f1025df5530 | 589 | writeRegister32(DW1000_TX_FCTRL,0,frameCtrlValue); |
AndyA | 0:bddb8cd5e7df | 590 | } |
AndyA | 0:bddb8cd5e7df | 591 | |
AndyA | 0:bddb8cd5e7df | 592 | void DW1000::setRxDelay(uint16_t ticks) |
AndyA | 0:bddb8cd5e7df | 593 | { |
AndyA | 0:bddb8cd5e7df | 594 | writeRegister16(DW1000_LDE_CTRL, DWLDE_LDE_RXANTD, ticks); |
AndyA | 0:bddb8cd5e7df | 595 | } |
AndyA | 0:bddb8cd5e7df | 596 | void DW1000::setTxDelay(uint16_t ticks) |
AndyA | 0:bddb8cd5e7df | 597 | { |
AndyA | 0:bddb8cd5e7df | 598 | writeRegister16(DW1000_TX_ANTD, 0, ticks); |
AndyA | 0:bddb8cd5e7df | 599 | } |
AndyA | 0:bddb8cd5e7df | 600 | |
AndyA | 0:bddb8cd5e7df | 601 | void DW1000::setCallbacks(void (*callbackRX)(void), void (*callbackTX)(void)) |
AndyA | 0:bddb8cd5e7df | 602 | { |
AndyA | 0:bddb8cd5e7df | 603 | bool RX = false; |
AndyA | 0:bddb8cd5e7df | 604 | bool TX = false; |
AndyA | 0:bddb8cd5e7df | 605 | if (callbackRX) { |
AndyA | 0:bddb8cd5e7df | 606 | DW1000::callbackRX.attach(callbackRX); |
AndyA | 0:bddb8cd5e7df | 607 | RX = true; |
AndyA | 0:bddb8cd5e7df | 608 | } |
AndyA | 0:bddb8cd5e7df | 609 | if (callbackTX) { |
AndyA | 0:bddb8cd5e7df | 610 | DW1000::callbackTX.attach(callbackTX); |
AndyA | 0:bddb8cd5e7df | 611 | TX = true; |
AndyA | 0:bddb8cd5e7df | 612 | } |
AndyA | 0:bddb8cd5e7df | 613 | setInterrupt(RX,TX); |
AndyA | 0:bddb8cd5e7df | 614 | } |
AndyA | 0:bddb8cd5e7df | 615 | |
AndyA | 0:bddb8cd5e7df | 616 | uint32_t DW1000::getDeviceID() |
AndyA | 0:bddb8cd5e7df | 617 | { |
AndyA | 0:bddb8cd5e7df | 618 | uint32_t result; |
AndyA | 0:bddb8cd5e7df | 619 | readRegister(DW1000_DEV_ID, 0, (uint8_t*)&result, 4); |
AndyA | 0:bddb8cd5e7df | 620 | return result; |
AndyA | 0:bddb8cd5e7df | 621 | } |
AndyA | 0:bddb8cd5e7df | 622 | |
AndyA | 0:bddb8cd5e7df | 623 | uint64_t DW1000::getEUI() |
AndyA | 0:bddb8cd5e7df | 624 | { |
AndyA | 0:bddb8cd5e7df | 625 | uint64_t result; |
AndyA | 0:bddb8cd5e7df | 626 | readRegister(DW1000_EUI, 0, (uint8_t*)&result, 8); |
AndyA | 0:bddb8cd5e7df | 627 | return result; |
AndyA | 0:bddb8cd5e7df | 628 | } |
AndyA | 0:bddb8cd5e7df | 629 | |
AndyA | 0:bddb8cd5e7df | 630 | void DW1000::setEUI(uint64_t EUI) |
AndyA | 0:bddb8cd5e7df | 631 | { |
AndyA | 0:bddb8cd5e7df | 632 | writeRegister(DW1000_EUI, 0, (uint8_t*)&EUI, 8); |
AndyA | 0:bddb8cd5e7df | 633 | } |
AndyA | 0:bddb8cd5e7df | 634 | |
AndyA | 0:bddb8cd5e7df | 635 | |
AndyA | 0:bddb8cd5e7df | 636 | float DW1000::getVoltage() |
AndyA | 0:bddb8cd5e7df | 637 | { |
AndyA | 0:bddb8cd5e7df | 638 | uint8_t data; |
AndyA | 0:bddb8cd5e7df | 639 | |
AndyA | 0:bddb8cd5e7df | 640 | writeRegister8(DW1000_RF_CONF, 0x11, 0x80); |
AndyA | 0:bddb8cd5e7df | 641 | writeRegister8(DW1000_RF_CONF, 0x12, 0x0A); |
AndyA | 0:bddb8cd5e7df | 642 | writeRegister8(DW1000_RF_CONF, 0x12, 0x0F); |
AndyA | 0:bddb8cd5e7df | 643 | writeRegister8(DW1000_TX_CAL, 0x00, 0x01); |
AndyA | 0:bddb8cd5e7df | 644 | writeRegister8(DW1000_TX_CAL, 0x00, 0x00); |
AndyA | 0:bddb8cd5e7df | 645 | data = readRegister8(DW1000_TX_CAL, 0x03); // get the 8-Bit reading for Voltage |
AndyA | 1:dcbd071f38d5 | 646 | float Voltage = (float)(data - (readOTP(0x08)&0x00ff)) *0.00578 + 3.3; |
AndyA | 0:bddb8cd5e7df | 647 | return Voltage; |
AndyA | 0:bddb8cd5e7df | 648 | } |
AndyA | 0:bddb8cd5e7df | 649 | |
AndyA | 0:bddb8cd5e7df | 650 | float DW1000::getTemperature() |
AndyA | 0:bddb8cd5e7df | 651 | { |
AndyA | 0:bddb8cd5e7df | 652 | uint8_t data; |
AndyA | 0:bddb8cd5e7df | 653 | |
AndyA | 0:bddb8cd5e7df | 654 | writeRegister8(DW1000_RF_CONF, 0x11, 0x80); |
AndyA | 0:bddb8cd5e7df | 655 | writeRegister8(DW1000_RF_CONF, 0x12, 0x0A); |
AndyA | 0:bddb8cd5e7df | 656 | writeRegister8(DW1000_RF_CONF, 0x12, 0x0F); |
AndyA | 0:bddb8cd5e7df | 657 | writeRegister8(DW1000_TX_CAL, 0x00, 0x01); |
AndyA | 0:bddb8cd5e7df | 658 | writeRegister8(DW1000_TX_CAL, 0x00, 0x00); |
AndyA | 0:bddb8cd5e7df | 659 | data = readRegister16(DW1000_TX_CAL, 0x04); // get the 8-Bit reading for Temperature |
AndyA | 1:dcbd071f38d5 | 660 | float temperature = (float)(data - (readOTP(0x09) & 0x00ff))*0.9 + 23; |
AndyA | 0:bddb8cd5e7df | 661 | return temperature; |
AndyA | 0:bddb8cd5e7df | 662 | } |
AndyA | 0:bddb8cd5e7df | 663 | |
AndyA | 0:bddb8cd5e7df | 664 | |
AndyA | 0:bddb8cd5e7df | 665 | uint64_t DW1000::getStatus() |
AndyA | 0:bddb8cd5e7df | 666 | { |
AndyA | 0:bddb8cd5e7df | 667 | return readRegister40(DW1000_SYS_STATUS, 0); |
AndyA | 0:bddb8cd5e7df | 668 | } |
AndyA | 0:bddb8cd5e7df | 669 | |
AndyA | 0:bddb8cd5e7df | 670 | uint64_t DW1000::getRXTimestamp() |
AndyA | 0:bddb8cd5e7df | 671 | { |
AndyA | 0:bddb8cd5e7df | 672 | return readRegister40(DW1000_RX_TIME, 0); |
AndyA | 0:bddb8cd5e7df | 673 | } |
AndyA | 0:bddb8cd5e7df | 674 | |
AndyA | 0:bddb8cd5e7df | 675 | uint64_t DW1000::getTXTimestamp() |
AndyA | 0:bddb8cd5e7df | 676 | { |
AndyA | 0:bddb8cd5e7df | 677 | return readRegister40(DW1000_TX_TIME, 0); |
AndyA | 0:bddb8cd5e7df | 678 | } |
AndyA | 0:bddb8cd5e7df | 679 | |
AndyA | 0:bddb8cd5e7df | 680 | void DW1000::sendString(char* message) |
AndyA | 0:bddb8cd5e7df | 681 | { |
AndyA | 0:bddb8cd5e7df | 682 | sendFrame((uint8_t*)message, strlen(message)+1); |
AndyA | 0:bddb8cd5e7df | 683 | } |
AndyA | 0:bddb8cd5e7df | 684 | |
AndyA | 0:bddb8cd5e7df | 685 | void DW1000::receiveString(char* message) |
AndyA | 0:bddb8cd5e7df | 686 | { |
AndyA | 0:bddb8cd5e7df | 687 | readRegister(DW1000_RX_BUFFER, 0, (uint8_t*)message, getFramelength()); // get data from buffer |
AndyA | 0:bddb8cd5e7df | 688 | } |
AndyA | 0:bddb8cd5e7df | 689 | |
AndyA | 0:bddb8cd5e7df | 690 | void DW1000::sendFrame(uint8_t* message, uint16_t length) |
AndyA | 0:bddb8cd5e7df | 691 | { |
AndyA | 0:bddb8cd5e7df | 692 | //if (length >= 1021) length = 1021; // check for maximim length a frame can have with 1024 Byte frames [not used, see constructor] |
AndyA | 0:bddb8cd5e7df | 693 | if (length >= 125) length = 125; // check for maximim length a frame can have with 127 Byte frames |
AndyA | 0:bddb8cd5e7df | 694 | uint8_t len_7bit = length; |
AndyA | 0:bddb8cd5e7df | 695 | writeRegister(DW1000_TX_BUFFER, 0, message, len_7bit); // fill buffer |
AndyA | 0:bddb8cd5e7df | 696 | |
AndyA | 3:1459d2aa6b97 | 697 | /* support for frames over 127 bytes |
AndyA | 3:1459d2aa6b97 | 698 | uint8_t backup = readRegister8(DW1000_TX_FCTRL, 1); // put length of frame |
AndyA | 3:1459d2aa6b97 | 699 | length += 2; // including 2 CRC Bytes |
AndyA | 3:1459d2aa6b97 | 700 | length = ((backup & 0xFC) << 8) | (length & 0x03FF); |
AndyA | 3:1459d2aa6b97 | 701 | writeRegister16(DW1000_TX_FCTRL, 0, length); |
AndyA | 3:1459d2aa6b97 | 702 | */ |
AndyA | 0:bddb8cd5e7df | 703 | len_7bit += 2; // including 2 CRC Bytes |
AndyA | 0:bddb8cd5e7df | 704 | writeRegister8(DW1000_TX_FCTRL, 0, len_7bit); |
AndyA | 0:bddb8cd5e7df | 705 | |
AndyA | 0:bddb8cd5e7df | 706 | stopTRX(); // stop receiving |
AndyA | 0:bddb8cd5e7df | 707 | writeRegister8(DW1000_SYS_CTRL, 0, 0x02 | 0x80); // trigger sending process by setting the TXSTRT bit |
AndyA | 0:bddb8cd5e7df | 708 | // startRX(); // enable receiver again |
AndyA | 0:bddb8cd5e7df | 709 | } |
AndyA | 0:bddb8cd5e7df | 710 | |
AndyA | 3:1459d2aa6b97 | 711 | void DW1000::setupSyncedFrame(uint8_t* message, uint16_t length) |
AndyA | 3:1459d2aa6b97 | 712 | { |
AndyA | 0:bddb8cd5e7df | 713 | //if (length >= 1021) length = 1021; // check for maximim length a frame can have with 1024 Byte frames [not used, see constructor] |
AndyA | 0:bddb8cd5e7df | 714 | if (length >= 125) length = 125; // check for maximim length a frame can have with 127 Byte frames |
AndyA | 0:bddb8cd5e7df | 715 | writeRegister(DW1000_TX_BUFFER, 0, message, length); // fill buffer |
AndyA | 0:bddb8cd5e7df | 716 | |
AndyA | 0:bddb8cd5e7df | 717 | uint8_t backup = readRegister8(DW1000_TX_FCTRL, 1); // put length of frame |
AndyA | 0:bddb8cd5e7df | 718 | length += 2; // including 2 CRC Bytes |
AndyA | 0:bddb8cd5e7df | 719 | length = ((backup & 0xFC) << 8) | (length & 0x03FF); |
AndyA | 0:bddb8cd5e7df | 720 | writeRegister16(DW1000_TX_FCTRL, 0, length); |
AndyA | 0:bddb8cd5e7df | 721 | } |
AndyA | 0:bddb8cd5e7df | 722 | |
AndyA | 3:1459d2aa6b97 | 723 | void DW1000::armSyncedFrame() |
AndyA | 3:1459d2aa6b97 | 724 | { |
AndyA | 0:bddb8cd5e7df | 725 | stopTRX(); // stop receiving |
AndyA | 0:bddb8cd5e7df | 726 | writeRegister16(DW1000_EXT_SYNC, DWEXTSYNC_EC_CTRL, 33<<3 | 0x01); // Sync register = TX start with a wait of 33 (recomended, value must fulfill wait % 4 = 1) |
AndyA | 3:1459d2aa6b97 | 727 | } |
AndyA | 0:bddb8cd5e7df | 728 | |
AndyA | 0:bddb8cd5e7df | 729 | void DW1000::sendDelayedFrame(uint8_t* message, uint16_t length, uint64_t TxTimestamp) |
AndyA | 0:bddb8cd5e7df | 730 | { |
AndyA | 0:bddb8cd5e7df | 731 | //if (length >= 1021) length = 1021; // check for maximim length a frame can have with 1024 Byte frames [not used, see constructor] |
AndyA | 0:bddb8cd5e7df | 732 | if (length >= 125) length = 125; // check for maximim length a frame can have with 127 Byte frames |
AndyA | 0:bddb8cd5e7df | 733 | writeRegister(DW1000_TX_BUFFER, 0, message, length); // fill buffer |
AndyA | 0:bddb8cd5e7df | 734 | |
AndyA | 0:bddb8cd5e7df | 735 | uint8_t backup = readRegister8(DW1000_TX_FCTRL, 1); // put length of frame |
AndyA | 0:bddb8cd5e7df | 736 | length += 2; // including 2 CRC Bytes |
AndyA | 0:bddb8cd5e7df | 737 | length = ((backup & 0xFC) << 8) | (length & 0x03FF); |
AndyA | 0:bddb8cd5e7df | 738 | writeRegister16(DW1000_TX_FCTRL, 0, length); |
AndyA | 0:bddb8cd5e7df | 739 | |
AndyA | 0:bddb8cd5e7df | 740 | writeRegister40(DW1000_DX_TIME, 0, TxTimestamp); //write the timestamp on which to send the message |
AndyA | 0:bddb8cd5e7df | 741 | |
AndyA | 0:bddb8cd5e7df | 742 | stopTRX(); // stop receiving |
AndyA | 0:bddb8cd5e7df | 743 | writeRegister8(DW1000_SYS_CTRL, 0, 0x02 | 0x04 | 0x80); // trigger sending process by setting the TXSTRT and TXDLYS bit. Set Wait4resp to automatically enter RX mode after tx. |
AndyA | 0:bddb8cd5e7df | 744 | } |
AndyA | 0:bddb8cd5e7df | 745 | |
AndyA | 0:bddb8cd5e7df | 746 | void DW1000::startRX() |
AndyA | 0:bddb8cd5e7df | 747 | { |
AndyA | 0:bddb8cd5e7df | 748 | writeRegister8(DW1000_SYS_CTRL, 0x01, 0x01); // start listening for preamble by setting the RXENAB bit |
AndyA | 0:bddb8cd5e7df | 749 | } |
AndyA | 0:bddb8cd5e7df | 750 | |
AndyA | 0:bddb8cd5e7df | 751 | void DW1000::stopTRX() |
AndyA | 0:bddb8cd5e7df | 752 | { |
AndyA | 0:bddb8cd5e7df | 753 | writeRegister8(DW1000_SYS_CTRL, 0, 0x40); // disable tranceiver go back to idle mode |
AndyA | 0:bddb8cd5e7df | 754 | } |
AndyA | 0:bddb8cd5e7df | 755 | |
AndyA | 0:bddb8cd5e7df | 756 | // PRIVATE Methods ------------------------------------------------------------------------------------ |
AndyA | 0:bddb8cd5e7df | 757 | void DW1000::loadLDE() // initialise LDE algorithm LDELOAD User Manual p22 |
AndyA | 0:bddb8cd5e7df | 758 | { |
AndyA | 0:bddb8cd5e7df | 759 | spi.frequency(SPIRATE_OSC); // with a 1MHz clock rate (worked up to 49MHz in our Test) |
AndyA | 0:bddb8cd5e7df | 760 | |
AndyA | 0:bddb8cd5e7df | 761 | writeRegister16(DW1000_PMSC, 0, 0x0301); // set clock to XTAL so OTP is reliable |
AndyA | 0:bddb8cd5e7df | 762 | writeRegister16(DW1000_OTP_IF, DWOTP_OTP_CTRL, 0x8000); // set LDELOAD bit in OTP |
AndyA | 0:bddb8cd5e7df | 763 | wait_us(150); |
AndyA | 0:bddb8cd5e7df | 764 | writeRegister16(DW1000_PMSC, 0, 0x0200); // recover to PLL clock |
AndyA | 0:bddb8cd5e7df | 765 | |
AndyA | 0:bddb8cd5e7df | 766 | wait_ms(1); |
AndyA | 0:bddb8cd5e7df | 767 | |
AndyA | 0:bddb8cd5e7df | 768 | spi.frequency(SPIRATE_PLL); // with a 1MHz clock rate (worked up to 49MHz in our Test) |
AndyA | 0:bddb8cd5e7df | 769 | |
AndyA | 0:bddb8cd5e7df | 770 | } |
AndyA | 0:bddb8cd5e7df | 771 | |
AndyA | 0:bddb8cd5e7df | 772 | void DW1000::loadLDOTUNE() |
AndyA | 0:bddb8cd5e7df | 773 | { |
AndyA | 1:dcbd071f38d5 | 774 | uint64_t LDOTuningValue = readOTP(0x0004); |
AndyA | 1:dcbd071f38d5 | 775 | if (LDOTuningValue != 0) { |
AndyA | 1:dcbd071f38d5 | 776 | LDOTuningValue = LDOTuningValue | ((uint64_t)(readOTP(0x0005) & 0x00ff) << 32); |
AndyA | 0:bddb8cd5e7df | 777 | writeRegister40(DW1000_RF_CONF,DWRFCONF_RF_LDOTUNE,LDOTuningValue); |
AndyA | 1:dcbd071f38d5 | 778 | } |
AndyA | 0:bddb8cd5e7df | 779 | } |
AndyA | 0:bddb8cd5e7df | 780 | |
AndyA | 0:bddb8cd5e7df | 781 | void DW1000::resetRX() |
AndyA | 0:bddb8cd5e7df | 782 | { |
AndyA | 0:bddb8cd5e7df | 783 | writeRegister8(DW1000_PMSC, 3, 0xE0); // set RX reset |
AndyA | 0:bddb8cd5e7df | 784 | writeRegister8(DW1000_PMSC, 3, 0xF0); // clear RX reset |
AndyA | 0:bddb8cd5e7df | 785 | } |
AndyA | 0:bddb8cd5e7df | 786 | |
AndyA | 0:bddb8cd5e7df | 787 | void DW1000::resetAll() |
AndyA | 0:bddb8cd5e7df | 788 | { |
AndyA | 0:bddb8cd5e7df | 789 | spi.frequency(SPIRATE_OSC); // with a 1MHz clock rate (worked up to 49MHz in our Test) |
AndyA | 0:bddb8cd5e7df | 790 | |
AndyA | 0:bddb8cd5e7df | 791 | writeRegister8(DW1000_PMSC, 0, 0x01); // set clock to XTAL |
AndyA | 0:bddb8cd5e7df | 792 | writeRegister8(DW1000_PMSC, 3, 0x00); // set All reset |
AndyA | 0:bddb8cd5e7df | 793 | wait_us(10); // wait for PLL to lock |
AndyA | 0:bddb8cd5e7df | 794 | writeRegister8(DW1000_PMSC, 3, 0xF0); // clear All reset |
AndyA | 0:bddb8cd5e7df | 795 | |
AndyA | 0:bddb8cd5e7df | 796 | wait_ms(1); |
AndyA | 0:bddb8cd5e7df | 797 | |
AndyA | 0:bddb8cd5e7df | 798 | spi.frequency(SPIRATE_PLL); // with a 1MHz clock rate (worked up to 49MHz in our Test) |
AndyA | 0:bddb8cd5e7df | 799 | } |
AndyA | 0:bddb8cd5e7df | 800 | |
AndyA | 0:bddb8cd5e7df | 801 | /// After writes have been completed reset the device. |
AndyA | 1:dcbd071f38d5 | 802 | bool DW1000::writeOTP(uint16_t word_address,uint32_t data) |
AndyA | 0:bddb8cd5e7df | 803 | { |
AndyA | 0:bddb8cd5e7df | 804 | spi.frequency(SPIRATE_OSC); // with a 1MHz clock rate (worked up to 49MHz in our Test) |
AndyA | 0:bddb8cd5e7df | 805 | |
AndyA | 0:bddb8cd5e7df | 806 | writeRegister8(DW1000_PMSC, 0, 0x01); // set clock to XTAL |
AndyA | 0:bddb8cd5e7df | 807 | writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL+1,0x03); // |
AndyA | 0:bddb8cd5e7df | 808 | writeRegister16(DW1000_OTP_IF,DWOTP_OTP_WDAT,0x9220); // |
AndyA | 0:bddb8cd5e7df | 809 | writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x08); // |
AndyA | 0:bddb8cd5e7df | 810 | wait_ms(1); |
AndyA | 0:bddb8cd5e7df | 811 | writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL+1,0x02); // |
AndyA | 0:bddb8cd5e7df | 812 | writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x88); // |
AndyA | 0:bddb8cd5e7df | 813 | writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x80); // |
AndyA | 0:bddb8cd5e7df | 814 | writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x00); // |
AndyA | 0:bddb8cd5e7df | 815 | |
AndyA | 0:bddb8cd5e7df | 816 | writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL+1,0x05); // |
AndyA | 0:bddb8cd5e7df | 817 | writeRegister16(DW1000_OTP_IF,DWOTP_OTP_WDAT,0x000E); // |
AndyA | 0:bddb8cd5e7df | 818 | writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x08); // |
AndyA | 0:bddb8cd5e7df | 819 | wait_ms(1); |
AndyA | 0:bddb8cd5e7df | 820 | writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL+1,0x04); // |
AndyA | 0:bddb8cd5e7df | 821 | writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x88); // |
AndyA | 0:bddb8cd5e7df | 822 | writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x80); // |
AndyA | 0:bddb8cd5e7df | 823 | writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x00); // |
AndyA | 0:bddb8cd5e7df | 824 | |
AndyA | 0:bddb8cd5e7df | 825 | writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL+1,0x01); // |
AndyA | 0:bddb8cd5e7df | 826 | writeRegister16(DW1000_OTP_IF,DWOTP_OTP_WDAT,0x1024); // |
AndyA | 0:bddb8cd5e7df | 827 | writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x08); // |
AndyA | 0:bddb8cd5e7df | 828 | wait_ms(1); |
AndyA | 0:bddb8cd5e7df | 829 | writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL+1,0x00); // |
AndyA | 0:bddb8cd5e7df | 830 | |
AndyA | 0:bddb8cd5e7df | 831 | writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x00); // |
AndyA | 0:bddb8cd5e7df | 832 | writeRegister32(DW1000_OTP_IF,DWOTP_OTP_WDAT,data); // |
AndyA | 1:dcbd071f38d5 | 833 | writeRegister16(DW1000_OTP_IF,DWOTP_OTP_ADDR,word_address); // |
AndyA | 0:bddb8cd5e7df | 834 | writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x40); // |
AndyA | 0:bddb8cd5e7df | 835 | writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x00); // |
AndyA | 0:bddb8cd5e7df | 836 | wait_ms(1); |
AndyA | 0:bddb8cd5e7df | 837 | |
AndyA | 0:bddb8cd5e7df | 838 | for (int i=0; i<10; i++) { |
AndyA | 1:dcbd071f38d5 | 839 | if (readOTP(word_address) == data) |
AndyA | 0:bddb8cd5e7df | 840 | return true; |
AndyA | 0:bddb8cd5e7df | 841 | writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x40); // retry |
AndyA | 0:bddb8cd5e7df | 842 | writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x00); |
AndyA | 0:bddb8cd5e7df | 843 | wait_ms(1); |
AndyA | 0:bddb8cd5e7df | 844 | } |
AndyA | 0:bddb8cd5e7df | 845 | return false; |
AndyA | 0:bddb8cd5e7df | 846 | } |
AndyA | 0:bddb8cd5e7df | 847 | |
AndyA | 0:bddb8cd5e7df | 848 | |
AndyA | 1:dcbd071f38d5 | 849 | uint32_t DW1000::readOTP(uint16_t word_address) |
AndyA | 0:bddb8cd5e7df | 850 | { |
AndyA | 1:dcbd071f38d5 | 851 | writeRegister16(DW1000_OTP_IF,DWOTP_OTP_ADDR,word_address); // write address |
AndyA | 0:bddb8cd5e7df | 852 | writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x03); // read address load |
AndyA | 0:bddb8cd5e7df | 853 | writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x01); // read |
AndyA | 0:bddb8cd5e7df | 854 | uint32_t data = readRegister32(DW1000_OTP_IF,DWOTP_OTP_RDAT); |
AndyA | 0:bddb8cd5e7df | 855 | writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x00); // OTP idle |
AndyA | 0:bddb8cd5e7df | 856 | return data; |
AndyA | 0:bddb8cd5e7df | 857 | } |
AndyA | 0:bddb8cd5e7df | 858 | |
AndyA | 0:bddb8cd5e7df | 859 | void DW1000::setInterrupt(bool RX, bool TX) |
AndyA | 0:bddb8cd5e7df | 860 | { |
AndyA | 0:bddb8cd5e7df | 861 | writeRegister16(DW1000_SYS_MASK, 0, RX*0x4000 | TX*0x0080); // RX good frame 0x4000, TX done 0x0080 |
AndyA | 0:bddb8cd5e7df | 862 | } |
AndyA | 0:bddb8cd5e7df | 863 | |
AndyA | 0:bddb8cd5e7df | 864 | void DW1000::ISR() |
AndyA | 0:bddb8cd5e7df | 865 | { |
AndyA | 0:bddb8cd5e7df | 866 | uint64_t status = getStatus(); |
AndyA | 0:bddb8cd5e7df | 867 | if (status & 0x4000) { // a frame was received |
AndyA | 0:bddb8cd5e7df | 868 | callbackRX.call(); |
AndyA | 0:bddb8cd5e7df | 869 | writeRegister16(DW1000_SYS_STATUS, 0, 0x6F00); // clearing of receiving status bits |
AndyA | 0:bddb8cd5e7df | 870 | } |
AndyA | 0:bddb8cd5e7df | 871 | if (status & 0x80) { // sending complete |
AndyA | 0:bddb8cd5e7df | 872 | callbackTX.call(); |
AndyA | 0:bddb8cd5e7df | 873 | writeRegister8(DW1000_SYS_STATUS, 0, 0xF8); // clearing of sending status bits |
AndyA | 0:bddb8cd5e7df | 874 | } |
AndyA | 0:bddb8cd5e7df | 875 | } |
AndyA | 0:bddb8cd5e7df | 876 | |
AndyA | 0:bddb8cd5e7df | 877 | uint16_t DW1000::getFramelength() |
AndyA | 0:bddb8cd5e7df | 878 | { |
AndyA | 0:bddb8cd5e7df | 879 | uint16_t framelength = readRegister16(DW1000_RX_FINFO, 0); // get framelength |
AndyA | 0:bddb8cd5e7df | 880 | framelength = (framelength & 0x03FF) - 2; // take only the right bits and subtract the 2 CRC Bytes |
AndyA | 0:bddb8cd5e7df | 881 | return framelength; |
AndyA | 0:bddb8cd5e7df | 882 | } |
AndyA | 0:bddb8cd5e7df | 883 | |
AndyA | 0:bddb8cd5e7df | 884 | // SPI Interface ------------------------------------------------------------------------------------ |
AndyA | 0:bddb8cd5e7df | 885 | uint8_t DW1000::readRegister8(uint8_t reg, uint16_t subaddress) |
AndyA | 0:bddb8cd5e7df | 886 | { |
AndyA | 0:bddb8cd5e7df | 887 | uint8_t result; |
AndyA | 0:bddb8cd5e7df | 888 | readRegister(reg, subaddress, &result, 1); |
AndyA | 0:bddb8cd5e7df | 889 | return result; |
AndyA | 0:bddb8cd5e7df | 890 | } |
AndyA | 0:bddb8cd5e7df | 891 | |
AndyA | 0:bddb8cd5e7df | 892 | uint16_t DW1000::readRegister16(uint8_t reg, uint16_t subaddress) |
AndyA | 0:bddb8cd5e7df | 893 | { |
AndyA | 0:bddb8cd5e7df | 894 | uint16_t result; |
AndyA | 0:bddb8cd5e7df | 895 | readRegister(reg, subaddress, (uint8_t*)&result, 2); |
AndyA | 0:bddb8cd5e7df | 896 | return result; |
AndyA | 0:bddb8cd5e7df | 897 | } |
AndyA | 0:bddb8cd5e7df | 898 | |
AndyA | 0:bddb8cd5e7df | 899 | uint32_t DW1000::readRegister32(uint8_t reg, uint16_t subaddress) |
AndyA | 0:bddb8cd5e7df | 900 | { |
AndyA | 0:bddb8cd5e7df | 901 | uint32_t result; |
AndyA | 0:bddb8cd5e7df | 902 | readRegister(reg, subaddress, (uint8_t*)&result, 4); |
AndyA | 0:bddb8cd5e7df | 903 | return result; |
AndyA | 0:bddb8cd5e7df | 904 | } |
AndyA | 0:bddb8cd5e7df | 905 | |
AndyA | 0:bddb8cd5e7df | 906 | |
AndyA | 0:bddb8cd5e7df | 907 | uint64_t DW1000::readRegister40(uint8_t reg, uint16_t subaddress) |
AndyA | 0:bddb8cd5e7df | 908 | { |
AndyA | 0:bddb8cd5e7df | 909 | uint64_t result = 0; |
AndyA | 0:bddb8cd5e7df | 910 | readRegister(reg, subaddress, (uint8_t*)&result, 5); |
AndyA | 0:bddb8cd5e7df | 911 | return result; |
AndyA | 0:bddb8cd5e7df | 912 | } |
AndyA | 0:bddb8cd5e7df | 913 | uint64_t DW1000::readRegister64(uint8_t reg, uint16_t subaddress) |
AndyA | 0:bddb8cd5e7df | 914 | { |
AndyA | 0:bddb8cd5e7df | 915 | uint64_t result; |
AndyA | 0:bddb8cd5e7df | 916 | readRegister(reg, subaddress, (uint8_t*)&result, 8); |
AndyA | 0:bddb8cd5e7df | 917 | return result; |
AndyA | 0:bddb8cd5e7df | 918 | } |
AndyA | 0:bddb8cd5e7df | 919 | |
AndyA | 0:bddb8cd5e7df | 920 | void DW1000::writeRegister8(uint8_t reg, uint16_t subaddress, uint8_t buffer) |
AndyA | 0:bddb8cd5e7df | 921 | { |
AndyA | 0:bddb8cd5e7df | 922 | writeRegister(reg, subaddress, &buffer, 1); |
AndyA | 0:bddb8cd5e7df | 923 | } |
AndyA | 0:bddb8cd5e7df | 924 | |
AndyA | 0:bddb8cd5e7df | 925 | void DW1000::writeRegister16(uint8_t reg, uint16_t subaddress, uint16_t buffer) |
AndyA | 0:bddb8cd5e7df | 926 | { |
AndyA | 0:bddb8cd5e7df | 927 | writeRegister(reg, subaddress, (uint8_t*)&buffer, 2); |
AndyA | 0:bddb8cd5e7df | 928 | } |
AndyA | 0:bddb8cd5e7df | 929 | |
AndyA | 0:bddb8cd5e7df | 930 | void DW1000::writeRegister32(uint8_t reg, uint16_t subaddress, uint32_t buffer) |
AndyA | 0:bddb8cd5e7df | 931 | { |
AndyA | 0:bddb8cd5e7df | 932 | writeRegister(reg, subaddress, (uint8_t*)&buffer, 4); |
AndyA | 0:bddb8cd5e7df | 933 | } |
AndyA | 0:bddb8cd5e7df | 934 | |
AndyA | 0:bddb8cd5e7df | 935 | void DW1000::writeRegister40(uint8_t reg, uint16_t subaddress, uint64_t buffer) |
AndyA | 0:bddb8cd5e7df | 936 | { |
AndyA | 0:bddb8cd5e7df | 937 | writeRegister(reg, subaddress, (uint8_t*)&buffer, 5); |
AndyA | 0:bddb8cd5e7df | 938 | } |
AndyA | 0:bddb8cd5e7df | 939 | |
AndyA | 0:bddb8cd5e7df | 940 | void DW1000::readRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length) |
AndyA | 0:bddb8cd5e7df | 941 | { |
AndyA | 0:bddb8cd5e7df | 942 | setupTransaction(reg, subaddress, false); |
AndyA | 0:bddb8cd5e7df | 943 | for(int i=0; i<length; i++) // get data |
AndyA | 0:bddb8cd5e7df | 944 | buffer[i] = spi.write(0x00); |
AndyA | 0:bddb8cd5e7df | 945 | deselect(); |
AndyA | 0:bddb8cd5e7df | 946 | } |
AndyA | 0:bddb8cd5e7df | 947 | |
AndyA | 0:bddb8cd5e7df | 948 | void DW1000::writeRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length) |
AndyA | 0:bddb8cd5e7df | 949 | { |
AndyA | 0:bddb8cd5e7df | 950 | setupTransaction(reg, subaddress, true); |
AndyA | 0:bddb8cd5e7df | 951 | for(int i=0; i<length; i++) // put data |
AndyA | 0:bddb8cd5e7df | 952 | spi.write(buffer[i]); |
AndyA | 0:bddb8cd5e7df | 953 | deselect(); |
AndyA | 0:bddb8cd5e7df | 954 | } |
AndyA | 0:bddb8cd5e7df | 955 | |
AndyA | 0:bddb8cd5e7df | 956 | void DW1000::setupTransaction(uint8_t reg, uint16_t subaddress, bool write) |
AndyA | 0:bddb8cd5e7df | 957 | { |
AndyA | 0:bddb8cd5e7df | 958 | reg |= (write * DW1000_WRITE_FLAG); // set read/write flag |
AndyA | 0:bddb8cd5e7df | 959 | select(); |
AndyA | 0:bddb8cd5e7df | 960 | if (subaddress > 0) { // there's a subadress, we need to set flag and send second header byte |
AndyA | 0:bddb8cd5e7df | 961 | spi.write(reg | DW1000_SUBADDRESS_FLAG); |
AndyA | 0:bddb8cd5e7df | 962 | if (subaddress > 0x7F) { // sub address too long, we need to set flag and send third header byte |
AndyA | 0:bddb8cd5e7df | 963 | spi.write((uint8_t)(subaddress & 0x7F) | DW1000_2_SUBADDRESS_FLAG); // and |
AndyA | 0:bddb8cd5e7df | 964 | spi.write((uint8_t)(subaddress >> 7)); |
AndyA | 0:bddb8cd5e7df | 965 | } else { |
AndyA | 0:bddb8cd5e7df | 966 | spi.write((uint8_t)subaddress); |
AndyA | 0:bddb8cd5e7df | 967 | } |
AndyA | 0:bddb8cd5e7df | 968 | } else { |
AndyA | 0:bddb8cd5e7df | 969 | spi.write(reg); // say which register address we want to access |
AndyA | 0:bddb8cd5e7df | 970 | } |
AndyA | 0:bddb8cd5e7df | 971 | } |
AndyA | 0:bddb8cd5e7df | 972 | |
AndyA | 0:bddb8cd5e7df | 973 | void DW1000::select() // always called to start an SPI transmission |
AndyA | 0:bddb8cd5e7df | 974 | { |
AndyA | 0:bddb8cd5e7df | 975 | 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. |
AndyA | 0:bddb8cd5e7df | 976 | cs = 0; // set Cable Select pin low to start transmission |
AndyA | 0:bddb8cd5e7df | 977 | } |
AndyA | 0:bddb8cd5e7df | 978 | |
AndyA | 0:bddb8cd5e7df | 979 | void DW1000::deselect() // always called to end an SPI transmission |
AndyA | 0:bddb8cd5e7df | 980 | { |
AndyA | 0:bddb8cd5e7df | 981 | cs = 1; // set Cable Select pin high to stop transmission |
AndyA | 0:bddb8cd5e7df | 982 | irq.enable_irq(); // reenable the interrupt handler |
AndyA | 0:bddb8cd5e7df | 983 | } |