Andy A / DW1000

DW1000 UWB driver based on work of Matthias Grob & Manuel Stalder - ETH Zürich - 2015

Dependencies:   BurstSPI

DW1000.h@18:6c2ce1749d4a, 2017-11-13 (annotated)

Committer:
AndyA
Date:
Mon Nov 13 14:29:41 2017 +0000
Revision:
18:6c2ce1749d4a
Parent:
17:1fb08dfef237 
Auto apply crystal trim on startup

Who changed what in which revision?

UserRevisionLine numberNew contents of line
AndyA 0:bddb8cd5e7df 1 // by Matthias Grob & Manuel Stalder - ETH Zürich - 2015
AndyA 0:bddb8cd5e7df 2
AndyA 0:bddb8cd5e7df 3 #ifndef DW1000_H
AndyA 0:bddb8cd5e7df 4 #define DW1000_H
AndyA 0:bddb8cd5e7df 5
AndyA 0:bddb8cd5e7df 6 #include "mbed.h"
AndyA 7:b13881dbb09d 7 #include "BurstSPI.h"
AndyA 8:0b408e77b701 8 #include "DW1000Registers.h"
AndyA 8:0b408e77b701 9 #include "DW1000Setup.h"
AndyA 3:1459d2aa6b97 10
AndyA 8:0b408e77b701 11 #define TIMEUNITS_TO_US (1/(128*499.2)) // conversion between the decawave timeunits (ca 15.65ps) to microseconds.
AndyA 8:0b408e77b701 12 #define US_TO_TIMEUNITS ((uint32_t)(128*499.2)) // conversion between microseconds to the decawave timeunits (ca 15.65ps).
AndyA 8:0b408e77b701 13 #define c_mPerS 299792458
AndyA 8:0b408e77b701 14 #define c_mmPerTick (c_mPerS * TIMEUNITS_TO_US / 1000)
AndyA 8:0b408e77b701 15 #define c_mPerTick (c_mmPerTick/1000)
AndyA 4:5f1025df5530 16
AndyA 4:5f1025df5530 17
AndyA 0:bddb8cd5e7df 18
AndyA 4:5f1025df5530 19 /** A DW1000 driver
AndyA 9:326bf149c8bc 20 *
AndyA 9:326bf149c8bc 21 * It is expected that the protocol implimentation above this will inherit this object.
AndyA 9:326bf149c8bc 22 * If not using this structure then move the protected functions to being public.
AndyA 9:326bf149c8bc 23 *
AndyA 4:5f1025df5530 24 */
AndyA 0:bddb8cd5e7df 25 class DW1000
AndyA 0:bddb8cd5e7df 26 {
AndyA 0:bddb8cd5e7df 27 public:
AndyA 0:bddb8cd5e7df 28
AndyA 6:2c77afdf7367 29 /** Constructor.
AndyA 6:2c77afdf7367 30 *
AndyA 9:326bf149c8bc 31 * The radio will default to DW1000Setup::tunedDefault until you call applySetup() with a new configuration.
AndyA 6:2c77afdf7367 32 */
AndyA 9:326bf149c8bc 33 DW1000(PinName MOSI, PinName MISO, PinName SCLK, PinName CS, PinName IRQ); // constructor, uses SPI class
AndyA 6:2c77afdf7367 34
AndyA 15:6faab70a5b19 35 void setSPISpeed(uint32_t speed);
AndyA 15:6faab70a5b19 36
AndyA 6:2c77afdf7367 37 /** Read the device ID
AndyA 6:2c77afdf7367 38 * @return the device ID (0xDECA0130)
AndyA 6:2c77afdf7367 39 */
AndyA 0:bddb8cd5e7df 40 uint32_t getDeviceID(); // gets the Device ID which should be 0xDECA0130 (good for testing SPI!)
AndyA 6:2c77afdf7367 41
AndyA 6:2c77afdf7367 42 /** Read the Extended Unique ID
AndyA 6:2c77afdf7367 43 * @return The device EUI as stored in the system registers
AndyA 6:2c77afdf7367 44 */
AndyA 6:2c77afdf7367 45 uint64_t getEUI();
AndyA 6:2c77afdf7367 46
AndyA 6:2c77afdf7367 47 /** Set the Extended Unique ID
AndyA 6:2c77afdf7367 48 * @param EUI The EUID to use
AndyA 6:2c77afdf7367 49 *
AndyA 10:f1e3c04080d6 50 * @note ID is only valid until the next power cycle and overrides the value in the OTP memory.
AndyA 6:2c77afdf7367 51 * To set a value that is automatically loaded on startup set OTP memory addresses 0 and 1.
AndyA 6:2c77afdf7367 52 */
AndyA 0:bddb8cd5e7df 53 void setEUI(uint64_t EUI); // sets 64 bit Extended Unique Identifier according to IEEE standard
AndyA 6:2c77afdf7367 54
AndyA 6:2c77afdf7367 55 /** Read voltage input
AndyA 6:2c77afdf7367 56
AndyA 6:2c77afdf7367 57 @return the current device voltage
AndyA 6:2c77afdf7367 58
AndyA 6:2c77afdf7367 59 For accurate ranging the voltage of the device should be taken into account.
AndyA 6:2c77afdf7367 60 User manual give variation as ~5.35cm / V
AndyA 6:2c77afdf7367 61 */
AndyA 0:bddb8cd5e7df 62 float getVoltage(); // gets the current chip voltage measurement form the A/D converter
AndyA 6:2c77afdf7367 63
AndyA 6:2c77afdf7367 64 /** Read on board temperature sensor
AndyA 6:2c77afdf7367 65 @return The temperature in C
AndyA 6:2c77afdf7367 66
AndyA 6:2c77afdf7367 67 For accurate ranging the temperature of the device should be taken into account.
AndyA 6:2c77afdf7367 68 User manual give variation as ~2.15mm / C
AndyA 6:2c77afdf7367 69 */
AndyA 0:bddb8cd5e7df 70 float getTemperature(); // gets the current chip temperature measurement form the A/D converter
AndyA 6:2c77afdf7367 71
AndyA 6:2c77afdf7367 72 /** Get the status register
AndyA 6:2c77afdf7367 73 * @return The system status register
AndyA 6:2c77afdf7367 74 *
AndyA 6:2c77afdf7367 75 * See user manual section 7.2.17 for details
AndyA 6:2c77afdf7367 76 */
AndyA 0:bddb8cd5e7df 77 uint64_t getStatus(); // get the 40 bit device status
AndyA 6:2c77afdf7367 78
AndyA 9:326bf149c8bc 79
AndyA 9:326bf149c8bc 80 /** Set receive antenna delay
AndyA 9:326bf149c8bc 81 * @param ticks Delay in system clock cycles
AndyA 9:326bf149c8bc 82 */
AndyA 9:326bf149c8bc 83 void setRxDelay(uint16_t ticks);
AndyA 9:326bf149c8bc 84 /** Set transmit antenna delay
AndyA 9:326bf149c8bc 85 * @param ticks Delay in system clock cycles
AndyA 9:326bf149c8bc 86 */
AndyA 9:326bf149c8bc 87 void setTxDelay(uint16_t ticks);
AndyA 9:326bf149c8bc 88
AndyA 9:326bf149c8bc 89 /** Set receive antenna delay in meters
AndyA 9:326bf149c8bc 90 * @param errorDistance Delay in meters at speed of light
AndyA 9:326bf149c8bc 91 */
AndyA 9:326bf149c8bc 92 void setRxDelayDistance(double errorDistance) {
AndyA 9:326bf149c8bc 93 setRxDelay(errorDistance/c_mPerTick);
AndyA 9:326bf149c8bc 94 };
AndyA 9:326bf149c8bc 95
AndyA 9:326bf149c8bc 96 /** Set transmit antenna delay in meters
AndyA 9:326bf149c8bc 97 * @param errorDistance Delay in meters at speed of light
AndyA 9:326bf149c8bc 98 */
AndyA 9:326bf149c8bc 99 void setTxDelayDistance(double errorDistance) {
AndyA 9:326bf149c8bc 100 setTxDelay(errorDistance/c_mPerTick);
AndyA 9:326bf149c8bc 101 };
AndyA 9:326bf149c8bc 102
AndyA 9:326bf149c8bc 103 /** Read a value from the OTP memory
AndyA 9:326bf149c8bc 104 * @param word_address The OTP memory address to read.
AndyA 9:326bf149c8bc 105 * @return The 32 bit value at that address.
AndyA 9:326bf149c8bc 106 *
AndyA 9:326bf149c8bc 107 * See Section 6.3.1 of the user manual for the memory map.
AndyA 9:326bf149c8bc 108 */
AndyA 9:326bf149c8bc 109 uint32_t readOTP (uint16_t word_address);
AndyA 9:326bf149c8bc 110
AndyA 9:326bf149c8bc 111 /** Write a value to the OTP memory
AndyA 9:326bf149c8bc 112 * @param word_address The OTP memory address to read.
AndyA 9:326bf149c8bc 113 * @param data The value to write
AndyA 9:326bf149c8bc 114 * @return True if the write was sucessful.
AndyA 9:326bf149c8bc 115 *
AndyA 9:326bf149c8bc 116 * Writes the supplied data to the OTP memory and then reads it back to verify it was sucessfully programmed.
AndyA 10:f1e3c04080d6 117 * @warning This is a one time operation for each memory address.
AndyA 9:326bf149c8bc 118 * See Section 6.3.1 of the user manual for the memory map.
AndyA 10:f1e3c04080d6 119 *
AndyA 10:f1e3c04080d6 120 * @note It is recommened that the device is reset or power cycled after programing.
AndyA 9:326bf149c8bc 121 */
AndyA 9:326bf149c8bc 122 bool writeOTP(uint16_t word_address,uint32_t data); // program a value in the OTP. It is recommended to reset afterwards.
AndyA 9:326bf149c8bc 123
AndyA 9:326bf149c8bc 124 /** get the current radio configuration
AndyA 9:326bf149c8bc 125 * @return A pointer to a DW1000Setup object of the current setup.
AndyA 9:326bf149c8bc 126 *
AndyA 9:326bf149c8bc 127 * Note to change the setup you must make a copy of the current setup and then pass that to applySetup().
AndyA 9:326bf149c8bc 128 */
AndyA 9:326bf149c8bc 129 DW1000Setup *getSetup();
AndyA 9:326bf149c8bc 130
AndyA 9:326bf149c8bc 131 /** Get the current Transmit gain settings.
AndyA 9:326bf149c8bc 132 *
AndyA 9:326bf149c8bc 133 * @param power Optional, is set to the first power in dBm
AndyA 9:326bf149c8bc 134 * @param boost500 Optional, is set to the second power in dBm
AndyA 9:326bf149c8bc 135 * @param boost250 Optional, is set to the third power in dBm
AndyA 9:326bf149c8bc 136 * @param boost125 Optional, is set to the forth power in dBm
AndyA 9:326bf149c8bc 137 * @return The raw transmit gain register value
AndyA 9:326bf149c8bc 138 *
AndyA 9:326bf149c8bc 139 * If smart power is on then power represents the normal transmit power,
AndyA 9:326bf149c8bc 140 * boost500-boost125 indicates the power used for packets of that number of us or less.
AndyA 9:326bf149c8bc 141 *
AndyA 9:326bf149c8bc 142 * If smart power is off then boost500 represents the gain for the PHY header, boost250 the gain for the main message.
AndyA 9:326bf149c8bc 143 * power and boost125 are not used.
AndyA 9:326bf149c8bc 144 */
AndyA 9:326bf149c8bc 145 uint32_t getTxPower(float *power = NULL, float *boost500 = NULL, float *boost250 = NULL, float *boost125 = NULL);
AndyA 9:326bf149c8bc 146
AndyA 9:326bf149c8bc 147 /** Set Transmit gain
AndyA 9:326bf149c8bc 148 *
AndyA 9:326bf149c8bc 149 * @param normalPowercB Normal transmit gain to use.
AndyA 9:326bf149c8bc 150 * @param boost500 Gain to use for 6.8Mb/s packets of under 500ms.
AndyA 9:326bf149c8bc 151 * @param boost250 Gain to use for 6.8Mb/s packets of under 250ms.
AndyA 9:326bf149c8bc 152 * @param boost125 Gain to use for 6.8Mb/s packets of under 125ms.
AndyA 9:326bf149c8bc 153 *
AndyA 9:326bf149c8bc 154 * All gains are in dB. Gains can be between 0 and 33.5dB.
AndyA 9:326bf149c8bc 155 * Boost gains are optional, if not specified boost gains are set to the power for the lower rate (e.g. boost125 is set to the boost250 level).
AndyA 9:326bf149c8bc 156 * If smart power is disabled then the normal gain is used for all settings.
AndyA 9:326bf149c8bc 157 * The values in the internal DW1000Setup are updated to reflect the configured powers.
AndyA 9:326bf149c8bc 158 */
AndyA 9:326bf149c8bc 159 void setTxPower(float normalPowerdB, float boost500 = 0, float boost250 = 0, float boost125 = 0);
AndyA 9:326bf149c8bc 160
AndyA 9:326bf149c8bc 161 /** Get the rx signal power for the last packet
AndyA 9:326bf149c8bc 162 *
AndyA 9:326bf149c8bc 163 * @param direct Is set to the direct path Rx power in dBm
AndyA 9:326bf149c8bc 164 * @param total Is set to the total Rx power in dBm
AndyA 9:326bf149c8bc 165 *
AndyA 9:326bf149c8bc 166 * According to the DW1000 manual if the direct path power is within 6dB of the total then it was probably a LoS measurment.
AndyA 9:326bf149c8bc 167 * If there is more than 10dB difference then it's probably an indirect path.
AndyA 9:326bf149c8bc 168 */
AndyA 9:326bf149c8bc 169 void getRxSignalPower(float *direct, float *total);
AndyA 9:326bf149c8bc 170
AndyA 10:f1e3c04080d6 171
AndyA 10:f1e3c04080d6 172 void getFullQualityMetrics(uint16_t *std_noise, uint16_t *fp_amp1, uint16_t *fp_amp2, uint16_t *fp_amp3,
AndyA 10:f1e3c04080d6 173 uint16_t *cir_pwr, uint16_t *preAmbleAcc, uint16_t *preAmbleAcc_NoSat);
AndyA 10:f1e3c04080d6 174
AndyA 13:8718966cd81e 175 void getFullLEDMetrics(uint16_t *led_thresh, uint16_t *led_ppindx, uint16_t *led_ppampl);
AndyA 9:326bf149c8bc 176
AndyA 15:6faab70a5b19 177 void getRxClockInfo(int32_t *offset, uint8_t* phase, uint8_t* delta);
AndyA 15:6faab70a5b19 178
AndyA 15:6faab70a5b19 179 /** Read the current crystal tuning value
AndyA 15:6faab70a5b19 180 *
AndyA 15:6faab70a5b19 181 * Reads the current FX_XTALT value from 0 to 0x1f.
AndyA 15:6faab70a5b19 182 * See section 8.1 of the manual for details.
AndyA 15:6faab70a5b19 183 *
AndyA 15:6faab70a5b19 184 * @return The current value.
AndyA 15:6faab70a5b19 185 */
AndyA 15:6faab70a5b19 186 uint8_t readXTALTune();
AndyA 15:6faab70a5b19 187
AndyA 15:6faab70a5b19 188
AndyA 15:6faab70a5b19 189 /** Set the crystal tuning value
AndyA 15:6faab70a5b19 190 *
AndyA 15:6faab70a5b19 191 * Sets the value of the FX_XTALT register.
AndyA 15:6faab70a5b19 192 * See section 8.1 of the manual for details.
AndyA 15:6faab70a5b19 193 *
AndyA 15:6faab70a5b19 194 * Values will be lost on reset, consider programming the final value
AndyA 15:6faab70a5b19 195 * into the OTP memory to store perminently.
AndyA 15:6faab70a5b19 196 *
AndyA 15:6faab70a5b19 197 * @value The value to use from 0 to 0x1f
AndyA 15:6faab70a5b19 198 */
AndyA 15:6faab70a5b19 199 void setXTALTune(uint8_t value);
AndyA 15:6faab70a5b19 200
AndyA 15:6faab70a5b19 201 /** Puts the device into CW test mode
AndyA 15:6faab70a5b19 202 *
AndyA 15:6faab70a5b19 203 * The radio will be set to output a constant wave at carrier frequency.
AndyA 15:6faab70a5b19 204 * Transmit gain will be set to the maximum of 33.5dB but can be chaged by
AndyA 15:6faab70a5b19 205 * setting the TX power register
AndyA 15:6faab70a5b19 206 * To exit test mode the radio should be reset.
AndyA 15:6faab70a5b19 207 */
AndyA 15:6faab70a5b19 208 void enterRFTestMode();
AndyA 15:6faab70a5b19 209
AndyA 17:1fb08dfef237 210 /** apply a new radio setup to the UWB system
AndyA 17:1fb08dfef237 211 * @param setup The new settings to use
AndyA 17:1fb08dfef237 212 * @return true if the setup was applied.
AndyA 17:1fb08dfef237 213 *
AndyA 17:1fb08dfef237 214 * The setup object supplied is copied and can be disposed of after the call.
AndyA 17:1fb08dfef237 215 * If the supplied setup fails DW1000Setup::check() then it is ignored and the function returns false.
AndyA 17:1fb08dfef237 216 * @note This will reset the radio. You must re-enable interupts, receiver etc. after calling it.
AndyA 17:1fb08dfef237 217 */
AndyA 17:1fb08dfef237 218 bool applySetup(DW1000Setup *setup);
AndyA 15:6faab70a5b19 219
AndyA 9:326bf149c8bc 220 protected:
AndyA 9:326bf149c8bc 221
AndyA 9:326bf149c8bc 222 /**
AndyA 9:326bf149c8bc 223 * Sets the callbacks on packet Rx and Tx
AndyA 9:326bf149c8bc 224 * @param callbackRX The function to call on packet Rx complete
AndyA 9:326bf149c8bc 225 * @param callbackTX The function to call on packet Tx complete
AndyA 9:326bf149c8bc 226 *
AndyA 9:326bf149c8bc 227 * set either or both to null to disable the appropriate interupt
AndyA 9:326bf149c8bc 228 */
AndyA 9:326bf149c8bc 229 void setCallbacks(void (*callbackRX)(void), void (*callbackTX)(void)); // setter for callback functions, automatically enables interrupt, if NULL is passed the coresponding interrupt gets disabled
AndyA 9:326bf149c8bc 230
AndyA 9:326bf149c8bc 231 /**
AndyA 9:326bf149c8bc 232 * c++ version of setCallbacks()
AndyA 9:326bf149c8bc 233 * @param tptr object for callbacks
AndyA 9:326bf149c8bc 234 * @param mptrRX method to call on packet Rx complete
AndyA 9:326bf149c8bc 235 * @param mptrTX method to call on packet Tx complete
AndyA 9:326bf149c8bc 236 *
AndyA 9:326bf149c8bc 237 */
AndyA 9:326bf149c8bc 238 template<typename T>
AndyA 9:326bf149c8bc 239 void setCallbacks(T* tptr, void (T::*mptrRX)(void), void (T::*mptrTX)(void)) { // overloaded setter to treat member function pointers of objects
AndyA 9:326bf149c8bc 240 callbackRX.attach(tptr, mptrRX); // possible client code: dw.setCallbacks(this, &A::callbackRX, &A::callbackTX);
AndyA 9:326bf149c8bc 241 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
AndyA 9:326bf149c8bc 242 setInterrupt(true,true);
AndyA 9:326bf149c8bc 243 }
AndyA 9:326bf149c8bc 244
AndyA 6:2c77afdf7367 245 /** Get the last packet recieve time
AndyA 6:2c77afdf7367 246 * @return the internal time stamp for the last packet Rx
AndyA 6:2c77afdf7367 247 *
AndyA 6:2c77afdf7367 248 * Time is counted on a clock running at 499.2MHz * 128 (~15.65ps)
AndyA 6:2c77afdf7367 249 * This value is raw time minus user set Rx antenna delay.
AndyA 6:2c77afdf7367 250 */
AndyA 0:bddb8cd5e7df 251 uint64_t getRXTimestamp();
AndyA 6:2c77afdf7367 252
AndyA 6:2c77afdf7367 253 /** Get the last packet transmit time
AndyA 6:2c77afdf7367 254 * @return the internal time stamp for the last packet Tx
AndyA 6:2c77afdf7367 255 *
AndyA 6:2c77afdf7367 256 * Time is counted on a clock running at 499.2MHz * 128 (~15.65ps)
AndyA 6:2c77afdf7367 257 * This value is raw time plus user set Tx antenna delay to give time at the antenna.
AndyA 6:2c77afdf7367 258 */
AndyA 0:bddb8cd5e7df 259 uint64_t getTXTimestamp();
AndyA 0:bddb8cd5e7df 260
AndyA 6:2c77afdf7367 261 /** Send a packet
AndyA 6:2c77afdf7367 262 * @param message A buffer containing the data to send
AndyA 6:2c77afdf7367 263 * @param length The length of the data in bytes.
AndyA 6:2c77afdf7367 264 *
AndyA 6:2c77afdf7367 265 * The supplied packet is transmitted as soon as possible and the reciever re-enabled once transmission is complete.
AndyA 6:2c77afdf7367 266 * Maximum packet size is 125 bytes.
AndyA 9:326bf149c8bc 267 *
AndyA 9:326bf149c8bc 268 * The receiver is re-activated as soon as packet transmission is complete.
AndyA 6:2c77afdf7367 269 */
AndyA 0:bddb8cd5e7df 270 void sendFrame(uint8_t* message, uint16_t length); // send a raw frame (length in bytes)
AndyA 6:2c77afdf7367 271
AndyA 6:2c77afdf7367 272 /** Send a packet at a certain time
AndyA 6:2c77afdf7367 273 * @param message A buffer containing the data to send
AndyA 6:2c77afdf7367 274 * @param length The length of the data in bytes.
AndyA 6:2c77afdf7367 275 * @param TxTimestamp The timestamp to send the packet.
AndyA 6:2c77afdf7367 276 *
AndyA 6:2c77afdf7367 277 * The supplied packet is transmitted once the internal clock reaches the specified timestamp.
AndyA 6:2c77afdf7367 278 * Maximum packet size is 125 bytes.
AndyA 6:2c77afdf7367 279 * Rx is disabled as soon as this command is issued and re-enabled once transmission is complete.
AndyA 6:2c77afdf7367 280 * Note - 9 LSBs are ignored so timings are only accurate to ~8ns. For more accurate timing check the
AndyA 6:2c77afdf7367 281 * tx timestamp after transmission is complete.
AndyA 9:326bf149c8bc 282 *
AndyA 9:326bf149c8bc 283 * The receiver is re-activated as soon as packet transmission is complete.
AndyA 9:326bf149c8bc 284 *
AndyA 6:2c77afdf7367 285 */
AndyA 0:bddb8cd5e7df 286 void sendDelayedFrame(uint8_t* message, uint16_t length, uint64_t TxTimestamp);
AndyA 0:bddb8cd5e7df 287
AndyA 6:2c77afdf7367 288 /** Set up data for a transmit on sync
AndyA 6:2c77afdf7367 289 * @param message A buffer containing the data to send
AndyA 6:2c77afdf7367 290 * @param length The length of the data in bytes.
AndyA 6:2c77afdf7367 291 *
AndyA 6:2c77afdf7367 292 * Data is loaded into the transmit buffer but the transmission is not started.
AndyA 6:2c77afdf7367 293 * Maximum packet size is 125 bytes.
AndyA 6:2c77afdf7367 294 */
AndyA 0:bddb8cd5e7df 295 void setupSyncedFrame(uint8_t* message, uint16_t length);
AndyA 6:2c77afdf7367 296
AndyA 6:2c77afdf7367 297 /** Transmit on the next sync pulse
AndyA 6:2c77afdf7367 298 *
AndyA 6:2c77afdf7367 299 * On the next rising edge of the sync line the transmitter will be activated.
AndyA 6:2c77afdf7367 300 * The packet must have previously been set up using setupSyncedFrame()
AndyA 6:2c77afdf7367 301 *
AndyA 9:326bf149c8bc 302 * Rx is disabled until transmission is complete and then re-enabled.
AndyA 6:2c77afdf7367 303 */
AndyA 0:bddb8cd5e7df 304 void armSyncedFrame();
AndyA 0:bddb8cd5e7df 305
AndyA 9:326bf149c8bc 306 /** Get last packet size
AndyA 9:326bf149c8bc 307 * @return The length in bytes of the last packet received
AndyA 9:326bf149c8bc 308 */
AndyA 9:326bf149c8bc 309 uint16_t getFramelength(); // to get the framelength of the received frame from the PHY header
AndyA 9:326bf149c8bc 310
AndyA 9:326bf149c8bc 311 /** Get last recieved packet
AndyA 9:326bf149c8bc 312 * @param buffer The location to put the received data
AndyA 9:326bf149c8bc 313 * @param length The number of bytes to read
AndyA 9:326bf149c8bc 314 */
AndyA 9:326bf149c8bc 315 void readRxBuffer( uint8_t *buffer, int length ) {
AndyA 9:326bf149c8bc 316 readRegister(DW1000_RX_BUFFER, 0, buffer, length);
AndyA 9:326bf149c8bc 317 }
AndyA 9:326bf149c8bc 318
AndyA 6:2c77afdf7367 319 /** Enable reciever
AndyA 6:2c77afdf7367 320 *
AndyA 6:2c77afdf7367 321 * This is automatically done after each Tx completes but can also be forced manually
AndyA 6:2c77afdf7367 322 */
AndyA 0:bddb8cd5e7df 323 void startRX(); // start listening for frames
AndyA 6:2c77afdf7367 324
AndyA 6:2c77afdf7367 325 /** Disable radio link
AndyA 6:2c77afdf7367 326 *
AndyA 6:2c77afdf7367 327 * Disables both the recieve and transmit systems.
AndyA 6:2c77afdf7367 328 * Any transmissions waiting for a delayed time or sync pulse will be canceled.
AndyA 6:2c77afdf7367 329 */
AndyA 0:bddb8cd5e7df 330 void stopTRX(); // disable tranceiver go back to idle mode
AndyA 0:bddb8cd5e7df 331
AndyA 6:2c77afdf7367 332 /** Reset the reciever logic
AndyA 6:2c77afdf7367 333 *
AndyA 6:2c77afdf7367 334 * This should be done after any receive errors
AndyA 6:2c77afdf7367 335 */
AndyA 0:bddb8cd5e7df 336 void resetRX(); // soft reset only the tranciever part of DW1000
AndyA 6:2c77afdf7367 337
AndyA 6:2c77afdf7367 338 /** Enable/Disable interrupts
AndyA 6:2c77afdf7367 339 * @param RX true to enable recieve interrupts
AndyA 6:2c77afdf7367 340 * @param TX true to enable transmit interrupts
AndyA 6:2c77afdf7367 341 *
AndyA 6:2c77afdf7367 342 * For c style callbacks simply set the callback to null to disable it.
AndyA 6:2c77afdf7367 343 * When using c++ style callbacks both are enabled as default, this allows a method to disabled one or both.
AndyA 6:2c77afdf7367 344 */
AndyA 0:bddb8cd5e7df 345 void setInterrupt(bool RX, bool TX); // set Interrupt for received a good frame (CRC ok) or transmission done
AndyA 0:bddb8cd5e7df 346
AndyA 10:f1e3c04080d6 347
AndyA 10:f1e3c04080d6 348 /** Get the first path amplitude values
AndyA 10:f1e3c04080d6 349 * @param fp_amp2 Will be set to first path second peak amplitude
AndyA 10:f1e3c04080d6 350 * @param fp_amp3 Will be set to first path third peak amplitude
AndyA 10:f1e3c04080d6 351 *
AndyA 10:f1e3c04080d6 352 * Reads the two registers for the last packet recieved. Used for quality metrics.
AndyA 10:f1e3c04080d6 353 */
AndyA 10:f1e3c04080d6 354 void getFirstPath(uint16_t *fp_amp2,uint16_t *fp_amp3);
AndyA 10:f1e3c04080d6 355
AndyA 12:da4b09aff6af 356
AndyA 12:da4b09aff6af 357 /** Get the LDE threshold value
AndyA 12:da4b09aff6af 358 * @return the Leading edge detection threshold register value
AndyA 12:da4b09aff6af 359 */
AndyA 12:da4b09aff6af 360 inline uint16_t getLDE_THRESH() {
AndyA 12:da4b09aff6af 361 return readRegister16(DW1000_LDE_CTRL,DWLDE_LDE_THRESH);
AndyA 12:da4b09aff6af 362 }
AndyA 12:da4b09aff6af 363
AndyA 12:da4b09aff6af 364 /** Get the LDE Peak path amplitude
AndyA 12:da4b09aff6af 365 * @return the Leading edge detection peak path amplitude value
AndyA 12:da4b09aff6af 366 */
AndyA 12:da4b09aff6af 367 inline uint16_t getLDE_PPAMPL() {
AndyA 12:da4b09aff6af 368 return readRegister16(DW1000_LDE_CTRL,DWLDE_LDE_PPAMPL);
AndyA 12:da4b09aff6af 369 }
AndyA 12:da4b09aff6af 370
AndyA 15:6faab70a5b19 371
AndyA 15:6faab70a5b19 372
AndyA 15:6faab70a5b19 373 #define DW1000_RX_TTCKO 0x14 // 5 Receiver Time Tracking Offset (in double buffer set)
AndyA 15:6faab70a5b19 374
AndyA 0:bddb8cd5e7df 375 private:
AndyA 15:6faab70a5b19 376
AndyA 0:bddb8cd5e7df 377 void resetAll(); // soft reset the entire DW1000 (some registers stay as they were see User Manual)
AndyA 3:1459d2aa6b97 378
AndyA 3:1459d2aa6b97 379 void setupRadio();
AndyA 3:1459d2aa6b97 380
AndyA 4:5f1025df5530 381 // system register setup functions
AndyA 9:326bf149c8bc 382 void setupGPIO();
AndyA 3:1459d2aa6b97 383 void setupAGC();
AndyA 3:1459d2aa6b97 384 void setupRxConfig();
AndyA 3:1459d2aa6b97 385 void setupLDE();
AndyA 3:1459d2aa6b97 386 void setupChannel();
AndyA 3:1459d2aa6b97 387 void setupTxFrameCtrl();
AndyA 3:1459d2aa6b97 388 void setupAnalogRF();
AndyA 3:1459d2aa6b97 389 void setupFreqSynth();
AndyA 3:1459d2aa6b97 390 void setupTxCalibration();
AndyA 3:1459d2aa6b97 391 void setupSystemConfig();
AndyA 9:326bf149c8bc 392 void setupPower();
AndyA 18:6c2ce1749d4a 393 void setupXtalTrim();
AndyA 18:6c2ce1749d4a 394
AndyA 0:bddb8cd5e7df 395 void loadLDE(); // load the leading edge detection algorithm to RAM, [IMPORTANT because receiving malfunction may occur] see User Manual LDELOAD on p22 & p158
AndyA 0:bddb8cd5e7df 396 void loadLDOTUNE(); // load the LDO tuning as set in the factory
AndyA 0:bddb8cd5e7df 397
AndyA 9:326bf149c8bc 398 uint8_t powerToRegValue(float powerdB);
AndyA 9:326bf149c8bc 399 float regToPowerValue(uint8_t powerVal);
AndyA 3:1459d2aa6b97 400
AndyA 4:5f1025df5530 401 DW1000Setup systemConfig;
AndyA 3:1459d2aa6b97 402
AndyA 0:bddb8cd5e7df 403 // Interrupt
AndyA 0:bddb8cd5e7df 404 InterruptIn irq; // Pin used to handle Events from DW1000 by an Interrupthandler
AndyA 0:bddb8cd5e7df 405 FunctionPointer callbackRX; // function pointer to callback which is called when successfull RX took place
AndyA 0:bddb8cd5e7df 406 FunctionPointer callbackTX; // function pointer to callback which is called when successfull TX took place
AndyA 0:bddb8cd5e7df 407 void ISR(); // interrupt handling method (also calls according callback methods)
AndyA 0:bddb8cd5e7df 408
AndyA 0:bddb8cd5e7df 409 // SPI Inteface
AndyA 7:b13881dbb09d 410 BurstSPI spi; // SPI Bus
AndyA 0:bddb8cd5e7df 411 DigitalOut cs; // Slave selector for SPI-Bus (here explicitly needed to start and end SPI transactions also usable to wake up DW1000)
AndyA 0:bddb8cd5e7df 412
AndyA 0:bddb8cd5e7df 413 uint8_t readRegister8(uint8_t reg, uint16_t subaddress); // expressive methods to read or write the number of bits written in the name
AndyA 0:bddb8cd5e7df 414 uint16_t readRegister16(uint8_t reg, uint16_t subaddress);
AndyA 9:326bf149c8bc 415 uint32_t readRegister32(uint8_t reg, uint16_t subaddress);
AndyA 0:bddb8cd5e7df 416 uint64_t readRegister40(uint8_t reg, uint16_t subaddress);
AndyA 0:bddb8cd5e7df 417 uint64_t readRegister64(uint8_t reg, uint16_t subaddress);
AndyA 0:bddb8cd5e7df 418 void writeRegister8(uint8_t reg, uint16_t subaddress, uint8_t buffer);
AndyA 0:bddb8cd5e7df 419 void writeRegister16(uint8_t reg, uint16_t subaddress, uint16_t buffer);
AndyA 0:bddb8cd5e7df 420 void writeRegister32(uint8_t reg, uint16_t subaddress, uint32_t buffer);
AndyA 0:bddb8cd5e7df 421 void writeRegister40(uint8_t reg, uint16_t subaddress, uint64_t buffer);
AndyA 0:bddb8cd5e7df 422
AndyA 0:bddb8cd5e7df 423 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
AndyA 0:bddb8cd5e7df 424 void writeRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length); // writes the buffer memory to the selected slave register
AndyA 0:bddb8cd5e7df 425 void setupTransaction(uint8_t reg, uint16_t subaddress, bool write); // sets up an SPI read or write transaction with correct register address and offset
AndyA 0:bddb8cd5e7df 426 void select(); // selects the only slave for a transaction
AndyA 0:bddb8cd5e7df 427 void deselect(); // deselects the only slave after transaction
AndyA 0:bddb8cd5e7df 428 };
AndyA 0:bddb8cd5e7df 429
AndyA 0:bddb8cd5e7df 430 #endif