Andy A
DW1000 UWB driver based on work of Matthias Grob & Manuel Stalder - ETH Zürich - 2015
Diff: DW1000.h
- Revision:
- 9:326bf149c8bc
- Parent:
- 8:0b408e77b701
- Child:
- 10:f1e3c04080d6
--- a/DW1000.h Mon Apr 18 16:58:27 2016 +0000
+++ b/DW1000.h Wed Apr 20 11:03:41 2016 +0000
@@ -15,9 +15,12 @@
#define c_mPerTick (c_mmPerTick/1000)
-typedef enum {minPacketSize, tunedDefault, user110k} UWBMode;
/** A DW1000 driver
+*
+* It is expected that the protocol implimentation above this will inherit this object.
+* If not using this structure then move the protected functions to being public.
+*
*/
class DW1000
{
@@ -25,36 +28,10 @@
/** Constructor.
*
- * @param setup The radio mode to configure the unit to use.
- *
- * Valid setup values are defaultConfig, tunedDefault, user110k
+ * The radio will default to DW1000Setup::tunedDefault until you call applySetup() with a new configuration.
*/
- DW1000(UWBMode setup, PinName MOSI, PinName MISO, PinName SCLK, PinName CS, PinName IRQ); // constructor, uses SPI class
-
- /**
- * Sets the callbacks on packet Rx and Tx
- * @param callbackRX The function to call on packet Rx complete
- * @param callbackTX The function to call on packet Tx complete
- *
- * set either or both to null to disable the appropriate interupt
- */
- void setCallbacks(void (*callbackRX)(void), void (*callbackTX)(void)); // setter for callback functions, automatically enables interrupt, if NULL is passed the coresponding interrupt gets disabled
+ DW1000(PinName MOSI, PinName MISO, PinName SCLK, PinName CS, PinName IRQ); // constructor, uses SPI class
- /**
- * c++ version of setCallbacks()
- * @param tptr object for callbacks
- * @param mptrRX method to call on packet Rx complete
- * @param mptrTX method to call on packet Tx complete
- *
- */
- template<typename T>
- void setCallbacks(T* tptr, void (T::*mptrRX)(void), void (T::*mptrTX)(void)) { // overloaded setter to treat member function pointers of objects
- callbackRX.attach(tptr, mptrRX); // possible client code: dw.setCallbacks(this, &A::callbackRX, &A::callbackTX);
- callbackTX.attach(tptr, mptrTX); // concept seen in line 100 of http://developer.mbed.org/users/mbed_official/code/mbed/docs/4fc01daae5a5/InterruptIn_8h_source.html
- setInterrupt(true,true);
- }
-
- // Device API
/** Read the device ID
* @return the device ID (0xDECA0130)
*/
@@ -97,6 +74,132 @@
*/
uint64_t getStatus(); // get the 40 bit device status
+
+ /** Set receive antenna delay
+ * @param ticks Delay in system clock cycles
+ */
+ void setRxDelay(uint16_t ticks);
+ /** Set transmit antenna delay
+ * @param ticks Delay in system clock cycles
+ */
+ void setTxDelay(uint16_t ticks);
+
+ /** Set receive antenna delay in meters
+ * @param errorDistance Delay in meters at speed of light
+ */
+ void setRxDelayDistance(double errorDistance) {
+ setRxDelay(errorDistance/c_mPerTick);
+ };
+
+ /** Set transmit antenna delay in meters
+ * @param errorDistance Delay in meters at speed of light
+ */
+ void setTxDelayDistance(double errorDistance) {
+ setTxDelay(errorDistance/c_mPerTick);
+ };
+
+ /** Read a value from the OTP memory
+ * @param word_address The OTP memory address to read.
+ * @return The 32 bit value at that address.
+ *
+ * See Section 6.3.1 of the user manual for the memory map.
+ */
+ uint32_t readOTP (uint16_t word_address);
+
+ /** Write a value to the OTP memory
+ * @param word_address The OTP memory address to read.
+ * @param data The value to write
+ * @return True if the write was sucessful.
+ *
+ * Writes the supplied data to the OTP memory and then reads it back to verify it was sucessfully programmed.
+ * WARNING - this is a one time operation for each memory address.
+ * See Section 6.3.1 of the user manual for the memory map.
+ * It is recommened that the device is reset or power cycled after programing.
+ */
+ bool writeOTP(uint16_t word_address,uint32_t data); // program a value in the OTP. It is recommended to reset afterwards.
+
+ /** get the current radio configuration
+ * @return A pointer to a DW1000Setup object of the current setup.
+ *
+ * Note to change the setup you must make a copy of the current setup and then pass that to applySetup().
+ */
+ DW1000Setup *getSetup();
+
+ /** Get the current Transmit gain settings.
+ *
+ * @param power Optional, is set to the first power in dBm
+ * @param boost500 Optional, is set to the second power in dBm
+ * @param boost250 Optional, is set to the third power in dBm
+ * @param boost125 Optional, is set to the forth power in dBm
+ * @return The raw transmit gain register value
+ *
+ * If smart power is on then power represents the normal transmit power,
+ * boost500-boost125 indicates the power used for packets of that number of us or less.
+ *
+ * If smart power is off then boost500 represents the gain for the PHY header, boost250 the gain for the main message.
+ * power and boost125 are not used.
+ */
+ uint32_t getTxPower(float *power = NULL, float *boost500 = NULL, float *boost250 = NULL, float *boost125 = NULL);
+
+ /** Set Transmit gain
+ *
+ * @param normalPowercB Normal transmit gain to use.
+ * @param boost500 Gain to use for 6.8Mb/s packets of under 500ms.
+ * @param boost250 Gain to use for 6.8Mb/s packets of under 250ms.
+ * @param boost125 Gain to use for 6.8Mb/s packets of under 125ms.
+ *
+ * All gains are in dB. Gains can be between 0 and 33.5dB.
+ * 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).
+ * If smart power is disabled then the normal gain is used for all settings.
+ * The values in the internal DW1000Setup are updated to reflect the configured powers.
+ */
+ void setTxPower(float normalPowerdB, float boost500 = 0, float boost250 = 0, float boost125 = 0);
+
+ /** Get the rx signal power for the last packet
+ *
+ * @param direct Is set to the direct path Rx power in dBm
+ * @param total Is set to the total Rx power in dBm
+ *
+ * According to the DW1000 manual if the direct path power is within 6dB of the total then it was probably a LoS measurment.
+ * If there is more than 10dB difference then it's probably an indirect path.
+ */
+ void getRxSignalPower(float *direct, float *total);
+
+ /** Get a metric of timestamp accuracy
+ *
+ * @param sigAmp Optional location to return the raw signal amplitude
+ * @param noiseAmp Optional location to return the raw channel noise level
+ * @return Timestamp quality metric
+ *
+ * The quality metric is a somewhat arbitary number based on channel noise and direct path strength
+ */
+ float getRxQuality(uint16_t *sigAmp = NULL, uint16_t *noiseAmp = NULL);
+
+protected:
+
+ /**
+ * Sets the callbacks on packet Rx and Tx
+ * @param callbackRX The function to call on packet Rx complete
+ * @param callbackTX The function to call on packet Tx complete
+ *
+ * set either or both to null to disable the appropriate interupt
+ */
+ void setCallbacks(void (*callbackRX)(void), void (*callbackTX)(void)); // setter for callback functions, automatically enables interrupt, if NULL is passed the coresponding interrupt gets disabled
+
+ /**
+ * c++ version of setCallbacks()
+ * @param tptr object for callbacks
+ * @param mptrRX method to call on packet Rx complete
+ * @param mptrTX method to call on packet Tx complete
+ *
+ */
+ template<typename T>
+ void setCallbacks(T* tptr, void (T::*mptrRX)(void), void (T::*mptrTX)(void)) { // overloaded setter to treat member function pointers of objects
+ callbackRX.attach(tptr, mptrRX); // possible client code: dw.setCallbacks(this, &A::callbackRX, &A::callbackTX);
+ callbackTX.attach(tptr, mptrTX); // concept seen in line 100 of http://developer.mbed.org/users/mbed_official/code/mbed/docs/4fc01daae5a5/InterruptIn_8h_source.html
+ setInterrupt(true,true);
+ }
+
/** Get the last packet recieve time
* @return the internal time stamp for the last packet Rx
*
@@ -119,6 +222,8 @@
*
* The supplied packet is transmitted as soon as possible and the reciever re-enabled once transmission is complete.
* Maximum packet size is 125 bytes.
+ *
+ * The receiver is re-activated as soon as packet transmission is complete.
*/
void sendFrame(uint8_t* message, uint16_t length); // send a raw frame (length in bytes)
@@ -132,6 +237,9 @@
* Rx is disabled as soon as this command is issued and re-enabled once transmission is complete.
* Note - 9 LSBs are ignored so timings are only accurate to ~8ns. For more accurate timing check the
* tx timestamp after transmission is complete.
+ *
+ * The receiver is re-activated as soon as packet transmission is complete.
+ *
*/
void sendDelayedFrame(uint8_t* message, uint16_t length, uint64_t TxTimestamp);
@@ -149,10 +257,23 @@
* On the next rising edge of the sync line the transmitter will be activated.
* The packet must have previously been set up using setupSyncedFrame()
*
- * Rx is disabled until transmission is complete.
+ * Rx is disabled until transmission is complete and then re-enabled.
*/
void armSyncedFrame();
+ /** Get last packet size
+ * @return The length in bytes of the last packet received
+ */
+ uint16_t getFramelength(); // to get the framelength of the received frame from the PHY header
+
+ /** Get last recieved packet
+ * @param buffer The location to put the received data
+ * @param length The number of bytes to read
+ */
+ void readRxBuffer( uint8_t *buffer, int length ) {
+ readRegister(DW1000_RX_BUFFER, 0, buffer, length);
+ }
+
/** Enable reciever
*
* This is automatically done after each Tx completes but can also be forced manually
@@ -166,84 +287,6 @@
*/
void stopTRX(); // disable tranceiver go back to idle mode
- /** Set receive antenna delay
- * @param ticks Delay in system clock cycles
- */
- void setRxDelay(uint16_t ticks);
- /** Set transmit antenna delay
- * @param ticks Delay in system clock cycles
- */
- void setTxDelay(uint16_t ticks);
-
-
- /** Set receive antenna delay in meters
- * @param errorDistance Delay in meters at speed of light
- */
- void setRxDelayDistance(double errorDistance) {
- setRxDelay(errorDistance/c_mPerTick);
- };
-
- /** Set transmit antenna delay in meters
- * @param errorDistance Delay in meters at speed of light
- */
- void setTxDelayDistance(double errorDistance) {
- setTxDelay(errorDistance/c_mPerTick);
- };
-
- /** Get last packet size
- * @return The length in bytes of the last packet received
- */
- uint16_t getFramelength(); // to get the framelength of the received frame from the PHY header
-
- /** Get last recieved packet
- * @param buffer The location to put the received data
- * @param length The number of bytes to read
- */
- void readRxBuffer( uint8_t *buffer, int length ) {
- readRegister(DW1000_RX_BUFFER, 0, buffer, length);
- }
-
- /** Read a value from the OTP memory
- * @param word_address The OTP memory address to read.
- * @return The 32 bit value at that address.
- *
- * See Section 6.3.1 of the user manual for the memory map.
- */
- uint32_t readOTP (uint16_t word_address);
-
- /** Write a value to the OTP memory
- * @param word_address The OTP memory address to read.
- * @param data The value to write
- * @return True if the write was sucessful.
- *
- * Writes the supplied data to the OTP memory and then reads it back to verify it was sucessfully programmed.
- * Note - this is a one time operation for each memory address.
- * See Section 6.3.1 of the user manual for the memory map.
- * It is recommened that the device is reset or power cycled after programing.
- */
- bool writeOTP(uint16_t word_address,uint32_t data); // program a value in the OTP. It is recommended to reset afterwards.
-
- /** get the current radio configuration
- * @return A pointer to a DW1000Setup object of the current setup.
- *
- * Note to change the setup you must make a copy of the current setup and then pass that to applySetup().
- */
- DW1000Setup *getSetup();
-
- /** apply a new radio setup to the UWB system
- * @param setup The new settings to use
- * @return true if the setup was applied.
- *
- * The setup object supplied is copied and can be disposed of after the call.
- * If the supplied setup fails DW1000Setup::check() then it is ignored and the function returns false.
- */
-// bool applySetup(DW1000Setup *setup);
-
-
- uint32_t readRegister32(uint8_t reg, uint16_t subaddress);
- void setTxPower(uint16_t normalPowercB, uint16_t boost500 = 0, uint16_t boost250 = 0, uint16_t boost125 = 0);
-
-protected:
/** Reset the reciever logic
*
* This should be done after any receive errors
@@ -259,19 +302,16 @@
*/
void setInterrupt(bool RX, bool TX); // set Interrupt for received a good frame (CRC ok) or transmission done
- /** Set Transmit gain
- *
- * @param normalPowercB Normal transmit gain to use.
- * @param boost500 Gain to use for 6.8Mb/s packets of under 500ms.
- * @param boost250 Gain to use for 6.8Mb/s packets of under 250ms.
- * @param boost125 Gain to use for 6.8Mb/s packets of under 125ms.
+
+ /** apply a new radio setup to the UWB system
+ * @param setup The new settings to use
+ * @return true if the setup was applied.
*
- * All gains are in cB (dB * 10). Gains can be between 0 and 335 (33.5dB).
- * 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).
+ * The setup object supplied is copied and can be disposed of after the call.
+ * If the supplied setup fails DW1000Setup::check() then it is ignored and the function returns false.
+ * Note - this will reset the radio. You must re-enable interupts, receiver etc. after calling it.
*/
-// void setTxPower(uint16_t normalPowercB, uint16_t boost500 = 0, uint16_t boost250 = 0, uint16_t boost125 = 0);
-
-
+ bool applySetup(DW1000Setup *setup);
private:
void resetAll(); // soft reset the entire DW1000 (some registers stay as they were see User Manual)
@@ -279,6 +319,7 @@
void setupRadio();
// system register setup functions
+ void setupGPIO();
void setupAGC();
void setupRxConfig();
void setupLDE();
@@ -288,15 +329,16 @@
void setupFreqSynth();
void setupTxCalibration();
void setupSystemConfig();
+ void setupPower();
+
void loadLDE(); // load the leading edge detection algorithm to RAM, [IMPORTANT because receiving malfunction may occur] see User Manual LDELOAD on p22 & p158
void loadLDOTUNE(); // load the LDO tuning as set in the factory
- uint8_t powerToRegValue(uint16_t powercB);
+ uint8_t powerToRegValue(float powerdB);
+ float regToPowerValue(uint8_t powerVal);
DW1000Setup systemConfig;
-
-
// Interrupt
InterruptIn irq; // Pin used to handle Events from DW1000 by an Interrupthandler
FunctionPointer callbackRX; // function pointer to callback which is called when successfull RX took place
@@ -309,7 +351,7 @@
uint8_t readRegister8(uint8_t reg, uint16_t subaddress); // expressive methods to read or write the number of bits written in the name
uint16_t readRegister16(uint8_t reg, uint16_t subaddress);
-// uint32_t readRegister32(uint8_t reg, uint16_t subaddress);
+ uint32_t readRegister32(uint8_t reg, uint16_t subaddress);
uint64_t readRegister40(uint8_t reg, uint16_t subaddress);
uint64_t readRegister64(uint8_t reg, uint16_t subaddress);
void writeRegister8(uint8_t reg, uint16_t subaddress, uint8_t buffer);