DW1000 UWB driver based on work of Matthias Grob & Manuel Stalder - ETH Zürich - 2015
DW1000.h
- Committer:
- AndyA
- Date:
- 2016-04-11
- Revision:
- 6:2c77afdf7367
- Parent:
- 5:68ffaa5962d1
- Child:
- 7:b13881dbb09d
File content as of revision 6:2c77afdf7367:
// by Matthias Grob & Manuel Stalder - ETH Zürich - 2015 #ifndef DW1000_H #define DW1000_H #include "mbed.h" // register addresses // Mnemonic Address Bytes Description #define DW1000_DEV_ID 0x00 // 4 Device Identifier – includes device type and revision information #define DW1000_EUI 0x01 // 8 Extended Unique Identifier #define DW1000_PANADR 0x03 // 4 PAN Identifier and Short Address #define DW1000_SYS_CFG 0x04 // 4 System Configuration bitmap #define DW1000_SYS_TIME 0x06 // 5 System Time Counter (40-bit) #define DW1000_TX_FCTRL 0x08 // 5 Transmit Frame Control #define DW1000_TX_BUFFER 0x09 // 1024 Transmit Data Buffer #define DW1000_DX_TIME 0x0A // 5 Delayed Send or Receive Time (40-bit) #define DW1000_RX_FWTO 0x0C // 2 Receive Frame Wait Timeout Period #define DW1000_SYS_CTRL 0x0D // 4 System Control Register #define DW1000_SYS_MASK 0x0E // 4 System Event Mask Register #define DW1000_SYS_STATUS 0x0F // 5 System Event Status Register #define DW1000_RX_FINFO 0x10 // 4 RX Frame Information (in double buffer set) #define DW1000_RX_BUFFER 0x11 // 1024 Receive Data Buffer (in double buffer set) #define DW1000_RX_FQUAL 0x12 // 8 Rx Frame Quality information (in double buffer set) #define DW1000_RX_TTCKI 0x13 // 4 Receiver Time Tracking Interval (in double buffer set) #define DW1000_RX_TTCKO 0x14 // 5 Receiver Time Tracking Offset (in double buffer set) #define DW1000_RX_TIME 0x15 // 14 Receive Message Time of Arrival (in double buffer set) #define DW1000_TX_TIME 0x17 // 10 Transmit Message Time of Sending (in double buffer set) #define DW1000_TX_ANTD 0x18 // 2 16-bit Delay from Transmit to Antenna #define DW1000_SYS_STATE 0x19 // 5 System State information #define DW1000_ACK_RESP_T 0x1A // 4 Acknowledgement Time and Response Time #define DW1000_RX_SNIFF 0x1D // 4 Pulsed Preamble Reception Configuration #define DW1000_TX_POWER 0x1E // 4 TX Power Control #define DW1000_CHAN_CTRL 0x1F // 4 Channel Control #define DW1000_USR_SFD 0x21 // 41 User-specified short/long TX/RX SFD sequences #define DW1000_AGC_CTRL 0x23 // 32 Automatic Gain Control configuration #define DW1000_EXT_SYNC 0x24 // 12 External synchronisation control. #define DW1000_ACC_MEM 0x25 // 4064 Read access to accumulator data #define DW1000_GPIO_CTRL 0x26 // 44 Peripheral register bus 1 access - GPIO control #define DW1000_DRX_CONF 0x27 // 44 Digital Receiver configuration #define DW1000_RF_CONF 0x28 // 58 Analog RF Configuration #define DW1000_TX_CAL 0x2A // 52 Transmitter calibration block #define DW1000_FS_CTRL 0x2B // 21 Frequency synthesiser control block #define DW1000_AON 0x2C // 12 Always-On register set #define DW1000_OTP_IF 0x2D // 18 One Time Programmable Memory Interface #define DW1000_LDE_CTRL 0x2E // - Leading edge detection control block #define DW1000_DIG_DIAG 0x2F // 41 Digital Diagnostics Interface #define DW1000_PMSC 0x36 // 48 Power Management System Control Block // AGC_CTRL sub registers #define DWAGCCTRL_AGC_CTRL1 0x02 #define DWAGCCTRL_AGC_TUNE1 0x04 #define DWAGCCTRL_AGC_TUNE2 0x0C #define DWAGCCTRL_AGC_TUNE3 0x12 // EXT_SYNC sub registers #define DWEXTSYNC_EC_CTRL 0x00 #define DWEXTSYNC_EC_RXTC 0x04 #define DWEXTSYNC_EC_GOLP 0x08 // GPIO sub registers #define DWGPIO_GPIO_MODE 0x00 #define DWGPIO_GPIO_DIR 0x08 #define DWGPIO_GPIO_DOUT 0x0C #define DWGPIO_GPIO_IRQE 0x10 #define DWGPIO_GPIO_ISEN 0x14 #define DWGPIO_GPIO_IMODE 0x18 #define DWGPIO_GPIO_IBES 0x1C #define DWGPIO_GPIO_ICLR 0x20 #define DWGPIO_GPIO_IDBE 0x24 #define DWGPIO_GPIO_RAW 0x28 // DRX sub registers #define DWDRX_DRX_TUNE0B 0x02 #define DWDRX_DRX_TUNE1A 0x04 #define DWDRX_DRX_TUNE1B 0x06 #define DWDRX_DRX_TUNE2 0x08 #define DWDRX_DRX_SFDTOC 0x20 #define DWDRX_DRX_PRETOC 0x24 #define DWDRX_DRX_TUNE4H 0x26 //RF conf sub registers #define DWRFCONF_RF_CONF 0x00 #define DWRFCONF_RF_RXCTRLH 0x0B #define DWRFCONF_RF_TXCTRL 0x0C #define DWRFCONF_RF_STATUS 0x2C #define DWRFCONF_RF_LDOTUNE 0x30 // TX cal sub registers #define DWTXCAL_TC_SARC 0x00 #define DWTXCAL_TC_SARL 0x03 #define DWTXCAL_TC_SARW 0x06 #define DWTXCAL_TC_PGDELAY 0x0B #define DWTXCAL_TC_PGTEST 0x0C // Freq synth sub registers #define DWFSCTRL_FS_PLLCFG 0x07 #define DWFSCTRL_FS_PLLTUNE 0x0B #define DWFSCTRL_FS_XTALT 0x0E // Always on sub registers #define DWAON_AON_WCFG 0x00 #define DWAON_AON_CTRL 0x02 #define DWAON_AON_RDAT 0x03 #define DWAON_AON_ADDR 0x04 #define DWAON_AON_CFG0 0x06 #define DWAON_AON_CFG1 0x0A // OTP sub registers #define DWOTP_OTP_WDAT 0x00 #define DWOTP_OTP_ADDR 0x04 #define DWOTP_OTP_CTRL 0x06 #define DWOTP_OTP_STAT 0x08 #define DWOTP_OTP_RDAT 0x0A #define DWOTP_OTP_SRDAT 0x0E #define DWOTP_OTP_SF 0x12 //LDE_IF sub registers #define DWLDE_LDE_THRESH 0x0000 #define DWLDE_LDE_CFG1 0x0806 #define DWLDE_LDE_PPINDX 0x1000 #define DWLDE_LDE_PPAMPL 0x1002 #define DWLDE_LDE_RXANTD 0x1804 #define DWLDE_LDE_CFG2 0x1806 #define DWLDE_LDE_REPC 0x2804 // Dig Diag sub registers #define DWDIAG_EVC_CTRL 0x00 #define DWDIAG_EVC_PHE 0x04 #define DWDIAG_EVC_RSE 0x06 #define DWDIAG_EVC_FCG 0x08 #define DWDIAG_EVC_FCE 0x0A #define DWDIAG_EVC_FFR 0x0C #define DWDIAG_EVC_OVR 0x0E #define DWDIAG_EVC_STO 0x10 #define DWDIAG_EVC_PTO 0x12 #define DWDIAG_EVC_FWTO 0x14 #define DWDIAG_EVC_TXFS 0x16 #define DWDIAG_EVC_HPW 0x18 #define DWDIAG_EVC_TPW 0x1A #define DWDIAG_DIAG_TMC 0x24 // power control sub registers #define DWPMSC_PMSC_CTRL0 0x00 #define DWPMSC_PMSC_CTRL1 0x04 #define DWPMSC_PMSC_SNOZT 0x0C #define DWPMSC_PMSC_TXFSEQ 0x26 #define DWPMSC_PMSC_LEDC 0x28 #define DW1000_WRITE_FLAG 0x80 // First Bit of the address has to be 1 to indicate we want to write #define DW1000_SUBADDRESS_FLAG 0x40 // if we have a sub address second Bit has to be 1 #define DW1000_2_SUBADDRESS_FLAG 0x80 // if we have a long sub adress (more than 7 Bit) we set this Bit in the first part /* From user manual 10.5 Table 59: DW1000 supported UWB channels and recommended preamble codes channel 16MHzPrf 64MHzPrf 1 1,2 9, 10, 11, 12 2 3, 4 9, 10, 11, 12 3 5, 6 9, 10, 11, 12 4 7, 8 17, 18, 19, 20 5 3, 4 9, 10, 11, 12 7 7, 8 17, 18, 19, 20 */ /** Class for holding DW1000 config options * */ class DW1000Setup { public: /// Constructor - default settings are close to hardware defaults. DW1000Setup() { channel = 5; prf =prf16MHz; dataRate = kbps850; sfd = standard; preamble = pre128; preambleCode = 3; enableSmartPower = true; } /// enum for PRF options enum prf_e {prf16MHz, ///< PRF rate of 16MHz. Lower power prf64MHz ///< PRF rate of 64MHz. Higher power but more accurate timing. }; /// enum for data rate options enum dataRate_e {kbps110, ///< Data rate of 110kb/s (non-standard) kbps850,///< Data rate of 850kb/s kbps6800///< Data rate of 6.8Mb/s }; /// enum for SFD options enum sfd_e {standard, ///< IEEE standard SFD decaWave, ///< Decawave defined SFD user ///< user defined SFD }; /// enum for preamble length options enum preamble_e { pre64,///< Preamble is 64 symbols pre128,///< Preamble is 128 symbols (non-standard) pre256,///< Preamble is 256 symbols (non-standard) pre512,///< Preamble is 512 symbols (non-standard) pre1024,///< Preamble is 1024 symbols pre1536,///< Preamble is 1536 symbols (non-standard) pre2048, ///< Preamble is 2048 symbols (non-standard) pre4096///< Preamble is 4096 symbols }; /** Set the PRF * @return true if a valid option */ bool setPRF(enum prf_e newSetting) { prf = newSetting; return true; }; /** Set the Channel * @return true if a valid option */ bool setChannel(unsigned char newChannel) { if ((channel > 0) && ((channel <= 5) || (channel == 7))) { channel = newChannel; return true; } return false; }; /** Set the SFD * @return true if a valid option */ bool setSfd(enum sfd_e newSetting) { sfd = newSetting; return true; }; /** Set the Preamble length * @return true if a valid option */ bool setPreambleLength(enum preamble_e newSetting) { preamble = newSetting; return true; }; /** Set the Data rate * @return true if a valid option */ bool setDataRate(enum dataRate_e newSetting) { dataRate = newSetting; return true; }; /** Set the Preamble code * @return true if a valid option * * note - not all codes are valid for all channels. Set the channel first. * TODO - enforce code restrictions */ bool setPreambleCode(unsigned char newCode) { if ((newCode > 0) && (newCode <= 24)) { preambleCode = newCode; return true; } return false; }; /** Set the smartpower state * @return true if a valid option * * only takes effect at 6.8Mb/s */ bool setSmartPower(bool enable) { enableSmartPower = enable; return true; }; /** Get the current channel * @return the channel number */ unsigned char getChannel() { return channel; }; /** Get the current PRF * @return the PRF */ enum prf_e getPRF() { return prf; }; /** Get the current data rate * @return the data rate */ enum dataRate_e getDataRate() { return dataRate; }; /** Get the current SFD mode * @return the SFD */ enum sfd_e getSfd() { return sfd; }; /** Get the current preamble length * @return the preamble length */ enum preamble_e getPreambleLength() { return preamble; }; /** Get the current preamble code * @return the preamble code */ unsigned char getPreambleCode() { return preambleCode; }; /** Get the current smart power mode * @return true if smartpower is on */ bool getSmartPower() { return enableSmartPower; }; private: unsigned char channel; // 1-5 , 7 enum prf_e prf; enum dataRate_e dataRate; enum sfd_e sfd; enum preamble_e preamble; unsigned char preambleCode; // 1-24. See section 10.5 of user manual for details. bool enableSmartPower; }; typedef enum {minPacketSize, tunedDefault, user110k} UWBMode; /** A DW1000 driver */ class DW1000 { public: /** Constructor. * * @param setup The radio mode to configure the unit to use. * * Valid setup values are defaultConfig, tunedDefault, user110k */ 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 /** * 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) */ uint32_t getDeviceID(); // gets the Device ID which should be 0xDECA0130 (good for testing SPI!) /** Read the Extended Unique ID * @return The device EUI as stored in the system registers */ uint64_t getEUI(); /** Set the Extended Unique ID * @param EUI The EUID to use * * Note - ID is only valid until the next power cycle and overrides the value in the OTP memory. * To set a value that is automatically loaded on startup set OTP memory addresses 0 and 1. */ void setEUI(uint64_t EUI); // sets 64 bit Extended Unique Identifier according to IEEE standard /** Read voltage input @return the current device voltage For accurate ranging the voltage of the device should be taken into account. User manual give variation as ~5.35cm / V */ float getVoltage(); // gets the current chip voltage measurement form the A/D converter /** Read on board temperature sensor @return The temperature in C For accurate ranging the temperature of the device should be taken into account. User manual give variation as ~2.15mm / C */ float getTemperature(); // gets the current chip temperature measurement form the A/D converter /** Get the status register * @return The system status register * * See user manual section 7.2.17 for details */ uint64_t getStatus(); // get the 40 bit device status /** Get the last packet recieve time * @return the internal time stamp for the last packet Rx * * Time is counted on a clock running at 499.2MHz * 128 (~15.65ps) * This value is raw time minus user set Rx antenna delay. */ uint64_t getRXTimestamp(); /** Get the last packet transmit time * @return the internal time stamp for the last packet Tx * * Time is counted on a clock running at 499.2MHz * 128 (~15.65ps) * This value is raw time plus user set Tx antenna delay to give time at the antenna. */ uint64_t getTXTimestamp(); /** Send a packet * @param message A buffer containing the data to send * @param length The length of the data in bytes. * * The supplied packet is transmitted as soon as possible and the reciever re-enabled once transmission is complete. * Maximum packet size is 125 bytes. */ void sendFrame(uint8_t* message, uint16_t length); // send a raw frame (length in bytes) /** Send a packet at a certain time * @param message A buffer containing the data to send * @param length The length of the data in bytes. * @param TxTimestamp The timestamp to send the packet. * * The supplied packet is transmitted once the internal clock reaches the specified timestamp. * Maximum packet size is 125 bytes. * 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. */ void sendDelayedFrame(uint8_t* message, uint16_t length, uint64_t TxTimestamp); /** Set up data for a transmit on sync * @param message A buffer containing the data to send * @param length The length of the data in bytes. * * Data is loaded into the transmit buffer but the transmission is not started. * Maximum packet size is 125 bytes. */ void setupSyncedFrame(uint8_t* message, uint16_t length); /** Transmit on the next sync pulse * * 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. */ void armSyncedFrame(); /** Enable reciever * * This is automatically done after each Tx completes but can also be forced manually */ void startRX(); // start listening for frames /** Disable radio link * * Disables both the recieve and transmit systems. * Any transmissions waiting for a delayed time or sync pulse will be canceled. */ 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); /** 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 setup description * * @param buffer Data buffer to place description in * @param len Length of data buffer * * Places a text string describing the current setup into the suppled buffer. */ void getSetup(char *buffer, int len); protected: /** Reset the reciever logic * * This should be done after any receive errors */ void resetRX(); // soft reset only the tranciever part of DW1000 /** Enable/Disable interrupts * @param RX true to enable recieve interrupts * @param TX true to enable transmit interrupts * * For c style callbacks simply set the callback to null to disable it. * When using c++ style callbacks both are enabled as default, this allows a method to disabled one or both. */ 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. * * 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). */ void setTxPower(uint16_t normalPowercB, uint16_t boost500 = 0, uint16_t boost250 = 0, uint16_t boost125 = 0); private: void resetAll(); // soft reset the entire DW1000 (some registers stay as they were see User Manual) void setupRadio(); // system register setup functions void setupAGC(); void setupRxConfig(); void setupLDE(); void setupChannel(); void setupTxFrameCtrl(); void setupAnalogRF(); void setupFreqSynth(); void setupTxCalibration(); void setupSystemConfig(); 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); 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 FunctionPointer callbackTX; // function pointer to callback which is called when successfull TX took place void ISR(); // interrupt handling method (also calls according callback methods) // SPI Inteface SPI spi; // SPI Bus DigitalOut cs; // Slave selector for SPI-Bus (here explicitly needed to start and end SPI transactions also usable to wake up DW1000) uint8_t readRegister8(uint8_t reg, uint16_t subaddress); // expressive methods to read or write the number of bits written in the name uint16_t readRegister16(uint8_t reg, uint16_t subaddress); 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); void writeRegister16(uint8_t reg, uint16_t subaddress, uint16_t buffer); void writeRegister32(uint8_t reg, uint16_t subaddress, uint32_t buffer); void writeRegister40(uint8_t reg, uint16_t subaddress, uint64_t buffer); void readRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length); // reads the selected part of a slave register into the buffer memory void writeRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length); // writes the buffer memory to the selected slave register void setupTransaction(uint8_t reg, uint16_t subaddress, bool write); // sets up an SPI read or write transaction with correct register address and offset void select(); // selects the only slave for a transaction void deselect(); // deselects the only slave after transaction }; #endif