DW1000 UWB driver based on work of Matthias Grob & Manuel Stalder - ETH Zürich - 2015
DW1000.cpp
- Committer:
- AndyA
- Date:
- 2017-03-28
- Revision:
- 13:8718966cd81e
- Parent:
- 10:f1e3c04080d6
- Child:
- 14:02f0912e4ce4
File content as of revision 13:8718966cd81e:
#include "DW1000.h" #define SPIRATE_PLL (10*1000*1000) #define SPIRATE_OSC (2*1000*1000) DW1000::DW1000(PinName MOSI, PinName MISO, PinName SCLK, PinName CS, PinName IRQ) : irq(IRQ), spi(MOSI, MISO, SCLK), cs(CS) { setCallbacks(NULL, NULL); DW1000Setup newSetup(DW1000Setup::tunedDefault); systemConfig.applyConfig(&newSetup); deselect(); // Chip must be deselected first spi.format(8,0); // Setup the spi for standard 8 bit data and SPI-Mode 0 (GPIO5, GPIO6 open circuit or ground on DW1000) spi.frequency(SPIRATE_PLL); // with a 1MHz clock rate (worked up to 49MHz in our Test) setupRadio(); setRxDelay(0); setTxDelay(0); } DW1000Setup* DW1000::getSetup() { return &systemConfig; } bool DW1000::applySetup(DW1000Setup *setup) { if (setup->check()) { systemConfig.applyConfig(setup); setupRadio(); spi.frequency(SPIRATE_PLL); // with a 1MHz clock rate (worked up to 49MHz in our Test) return true; } return false; } void DW1000::setupRadio() { irq.rise(NULL); // attach interrupt handler to rising edge of interrupt pin from DW1000 stopTRX(); resetAll(); // we do a soft reset of the DW1000 to get to a known state. Without this we lose comms. setupAGC(); setupRxConfig(); setupLDE(); setupChannel(); setupAnalogRF(); setupFreqSynth(); setupTxCalibration(); setupTxFrameCtrl(); setupSystemConfig(); setupGPIO(); setupPower(); irq.rise(this, &DW1000::ISR); // attach interrupt handler to rising edge of interrupt pin from DW1000 } void DW1000::setupGPIO() { // not done in a loop because bits 7 and 8 are the inverse, a value of 01 indicates GPIO uint32_t value = 0; uint32_t pinMask = systemConfig.getGPIO(); if (pinMask & (0x01<<0)) value |= 1<<6; if (pinMask & (0x01<<1)) value |= 1<<8; if (pinMask & (0x01<<2)) value |= 1<<10; if (pinMask & (0x01<<3)) value |= 1<<12; if (pinMask & (0x01<<4)) value |= 1<<14; if (pinMask & (0x01<<5)) value |= 1<<16; if (pinMask & (0x01<<6)) value |= 1<<18; if (!(pinMask & (0x01<<7))) value |= 1<<20; if (!(pinMask & (0x01<<8))) value |= 1<<22; writeRegister32(DW1000_GPIO_CTRL, 0, value); // set time to 400ms, enable blink and flash all LEDs if (pinMask & 0x000f) { // some LEDs are active writeRegister32(DW1000_PMSC,DWPMSC_PMSC_CTRL0,readRegister32(DW1000_PMSC,DWPMSC_PMSC_CTRL0) | 1<<23 | 1<<18); writeRegister32(DW1000_PMSC, DWPMSC_PMSC_LEDC, 0x00000120); // set time to 400ms, enable blink and flash all LEDs } } void DW1000::setupAGC() { writeRegister16(DW1000_AGC_CTRL, DWAGCCTRL_AGC_CTRL1, 0x0001); if (systemConfig.getPRF() == DW1000Setup::prf16MHz) writeRegister16(DW1000_AGC_CTRL, DWAGCCTRL_AGC_TUNE1, 0x8870); else writeRegister16(DW1000_AGC_CTRL, DWAGCCTRL_AGC_TUNE1, 0x889B); writeRegister32(DW1000_AGC_CTRL, DWAGCCTRL_AGC_TUNE2, 0x2502A907); writeRegister16(DW1000_AGC_CTRL, DWAGCCTRL_AGC_TUNE3, 0x0035); } void DW1000::setupSystemConfig() { uint32_t valueToUse = 0; valueToUse |= 1<<9; // IRQ output is active high (default) valueToUse |= 1<<12; // Disable double buffered Rx (default) // valueToUse |= 3<<16; // enable long (>125bytes data) packets if (!systemConfig.getSmartPower()) valueToUse |= 1<<18; // disable smart power if (systemConfig.getDataRate() == DW1000Setup::kbps110) valueToUse |= 1<<22; valueToUse |= 1<<29;// enable auto reenabling receiver after error writeRegister32(DW1000_SYS_CFG, 0, valueToUse); } void DW1000::setupRxConfig() { switch (systemConfig.getDataRate()) { case DW1000Setup::kbps110: if (systemConfig.getSfd() == DW1000Setup::standard) writeRegister16(DW1000_DRX_CONF, DWDRX_DRX_TUNE0B, 0x000A); else writeRegister16(DW1000_DRX_CONF, DWDRX_DRX_TUNE0B, 0x0016); break; case DW1000Setup::kbps850: if (systemConfig.getSfd() == DW1000Setup::standard) writeRegister16(DW1000_DRX_CONF, DWDRX_DRX_TUNE0B, 0x0001); else writeRegister16(DW1000_DRX_CONF, DWDRX_DRX_TUNE0B, 0x0006); break; case DW1000Setup::kbps6800: default: if (systemConfig.getSfd() == DW1000Setup::standard) writeRegister16(DW1000_DRX_CONF, DWDRX_DRX_TUNE0B, 0x0001); else writeRegister16(DW1000_DRX_CONF, DWDRX_DRX_TUNE0B, 0x0002); break; } if (systemConfig.getPRF() == DW1000Setup::prf16MHz) writeRegister16(DW1000_DRX_CONF, DWDRX_DRX_TUNE1A, 0x0087); //DRX_TUNE1a for 16MHz PRF else writeRegister16(DW1000_DRX_CONF, DWDRX_DRX_TUNE1A, 0x008D); switch (systemConfig.getPreambleLength()) { case DW1000Setup::pre1536: case DW1000Setup::pre2048: case DW1000Setup::pre4096: writeRegister16(DW1000_DRX_CONF, DWDRX_DRX_TUNE1B, 0x0064); //DRX_TUNE1b for 110kbps & > 1024 symbols break; default: // 128 to 1024 writeRegister16(DW1000_DRX_CONF, DWDRX_DRX_TUNE1B, 0x0020); //DRX_TUNE1b for 128- 1024 symbols break; case DW1000Setup::pre64: writeRegister16(DW1000_DRX_CONF, DWDRX_DRX_TUNE1B, 0x0010); //DRX_TUNE1b for 64 symbols break; } switch (systemConfig.getPreambleLength()) { case DW1000Setup::pre64: case DW1000Setup::pre128: // PAC = 8 if (systemConfig.getPRF() == DW1000Setup::prf16MHz) writeRegister32(DW1000_DRX_CONF, DWDRX_DRX_TUNE2, 0x311A002D); //DRX_TUNE2 PAC 8 for 64MHz PRF else writeRegister32(DW1000_DRX_CONF, DWDRX_DRX_TUNE2, 0x313B006B); //DRX_TUNE2 PAC 8 for 64MHz PRF break; case DW1000Setup::pre256: case DW1000Setup::pre512: // PAC = 16 if (systemConfig.getPRF() == DW1000Setup::prf16MHz) writeRegister32(DW1000_DRX_CONF, DWDRX_DRX_TUNE2, 0x331A0052); //DRX_TUNE2 PAC 16 for 64MHz PRF else writeRegister32(DW1000_DRX_CONF, DWDRX_DRX_TUNE2, 0x333B00BE); //DRX_TUNE2 PAC 16 for 64MHz PRF break; case DW1000Setup::pre1024: // PAC = 32 if (systemConfig.getPRF() == DW1000Setup::prf16MHz) writeRegister32(DW1000_DRX_CONF, DWDRX_DRX_TUNE2, 0x351A009A); //DRX_TUNE2 PAC 32 for 64MHz PRF else writeRegister32(DW1000_DRX_CONF, DWDRX_DRX_TUNE2, 0x353B015E); //DRX_TUNE2 PAC 32 for 64MHz PRF break; case DW1000Setup::pre1536: case DW1000Setup::pre2048: case DW1000Setup::pre4096: // PAC = 64 if (systemConfig.getPRF() == DW1000Setup::prf16MHz) writeRegister32(DW1000_DRX_CONF, DWDRX_DRX_TUNE2, 0x371A011D); //DRX_TUNE2 PAC 64 for 64MHz PRF else writeRegister32(DW1000_DRX_CONF, DWDRX_DRX_TUNE2, 0x373B0296); //DRX_TUNE2 PAC 64 for 64MHz PRF break; } if (systemConfig.getPreambleLength() == DW1000Setup::pre64) writeRegister16(DW1000_DRX_CONF, DWDRX_DRX_TUNE4H, 0x0010); else writeRegister16(DW1000_DRX_CONF, DWDRX_DRX_TUNE4H, 0x0028); } void DW1000::setupLDE() { writeRegister8 (DW1000_LDE_CTRL, DWLDE_LDE_CFG1, 0x13 | 0x03<<5); //NTM = 13 (12 may be better in some situations. PMULT = 3 if (systemConfig.getPRF() == DW1000Setup::prf16MHz) writeRegister16(DW1000_LDE_CTRL, DWLDE_LDE_CFG2, 0x1607); //LDE_CFG2 for 16MHz PRF else writeRegister16(DW1000_LDE_CTRL, DWLDE_LDE_CFG2, 0x0607); //LDE_CFG2 for 64MHz PRF uint16_t replicaCoeff; switch (systemConfig.getPreambleCode()) { default: case 1: case 2: replicaCoeff = 0x5998; break; case 3: replicaCoeff = 0x51EA; break; case 4: replicaCoeff = 0x428E; break; case 5: replicaCoeff = 0x451E; break; case 6: replicaCoeff = 0x2E14; break; case 7: replicaCoeff = 0x8000; break; case 8: replicaCoeff = 0x51EA; break; case 9: replicaCoeff = 0x28F4; break; case 10: replicaCoeff = 0x3332; break; case 11: replicaCoeff = 0x3AE0; break; case 12: replicaCoeff = 0x3D70; break; case 13: replicaCoeff = 0x3AE0; break; case 14: replicaCoeff = 0x35C2; break; case 15: replicaCoeff = 0x2B84; break; case 16: replicaCoeff = 0x35C2; break; case 17: replicaCoeff = 0x3332; break; case 18: replicaCoeff = 0x35C2; break; case 19: replicaCoeff = 0x35C2; break; case 20: replicaCoeff = 0x47AE; break; case 21: replicaCoeff = 0x3AE0; break; case 22: replicaCoeff = 0x3850; break; case 23: replicaCoeff = 0x30A2; break; case 24: replicaCoeff = 0x3850; break; } if (systemConfig.getDataRate() == DW1000Setup::kbps110) replicaCoeff = replicaCoeff>>3; writeRegister16(DW1000_LDE_CTRL, DWLDE_LDE_REPC, replicaCoeff); loadLDE(); } void DW1000::setupChannel() { uint32_t registerValue = 0; registerValue = systemConfig.getChannel(); // set Tx channel registerValue |= systemConfig.getChannel()<<4; // set Rx channel if (systemConfig.getPRF() == DW1000Setup::prf16MHz) // set PRF (2 bit value 01 or 10) registerValue |= 0x01 << 18; else registerValue |= 0x02 << 18; if (systemConfig.getSfd() == DW1000Setup::decaWave) registerValue |= 0x01 << 17; // enable DW own SFD if (systemConfig.getSfd() == DW1000Setup::user) { registerValue |= 0x01 << 20; // enable user set SFD Tx registerValue |= 0x01 << 21; // enable user set SFD Rx } registerValue |= systemConfig.getPreambleCode() << 22; // set Tx preamble code registerValue |= systemConfig.getPreambleCode() << 27; // set Rx preamble code writeRegister32(DW1000_CHAN_CTRL, 0, registerValue); } uint8_t DW1000::powerToRegValue(float powerdB) { // course power control - 0 = 18dB, 6 = 0dB in 3dB steps. uint8_t course = powerdB / 3; if(course > 6) course = 6; // remaining power powerdB -= course * 3; // value in reg is inverse. course = 6-course; // fine control in steps of 0.5dB uint8_t fine = powerdB / 0.5f; if (fine > 31) fine = 31; return (course << 5) | fine; } float DW1000::regToPowerValue(uint8_t powerVal) { int course = powerVal >> 5; if (course==7) // off return 0; course = (6-course)*3; int fine = (powerVal & 0x1f); return course + fine/2.0f; } void DW1000::setupPower() { const float *powerPtr = systemConfig.getTxPowers(); uint32_t powerReg = powerToRegValue(*powerPtr); powerReg |= powerToRegValue(*(powerPtr+1)) << 8; powerReg |= powerToRegValue(*(powerPtr+2)) << 16; powerReg |= powerToRegValue(*(powerPtr+3)) << 24; writeRegister32(DW1000_TX_POWER,0,powerReg); } // transmit power: 0 to 33.5 dB gain in steps of 0.5. Inputs are in 10ths of a dB (0 to 335) void DW1000::setTxPower(float normalPowerdB, float boost500, float boost250, float boost125) { if(normalPowerdB > 33.5) normalPowerdB = 33.5; if (boost500 < normalPowerdB) boost500 = normalPowerdB; if(boost500 > 33.5) boost500 = 33.5; if (boost250 < boost500) boost250 = boost500; if(boost250 > 33.5) boost250 = 33.5; if (boost125 < boost250) boost125 = boost250; if(boost125 > 33.5) boost125 = 33.5; if (systemConfig.getSmartPower() == false) { boost500 = normalPowerdB; boost250 = normalPowerdB; boost125 = normalPowerdB; } uint32_t powerReg = powerToRegValue(normalPowerdB); powerReg |= powerToRegValue(boost500) << 8; powerReg |= powerToRegValue(boost250) << 16; powerReg |= powerToRegValue(boost125) << 24; writeRegister32(DW1000_TX_POWER,0,powerReg); systemConfig.setSmartTxPower(normalPowerdB,boost500,boost250,boost125); // update the systemConfig } uint32_t DW1000::getTxPower(float *power,float *boost500, float *boost250, float*boost125) { uint32_t value = readRegister32(DW1000_TX_POWER,0); if (power) *power = regToPowerValue(value&0x000000ff); if (boost500) *boost500 = regToPowerValue((value&0x0000ff00)>>8); if (boost250) *boost250 = regToPowerValue((value&0x00ff0000)>>16); if (boost125) *boost125 = regToPowerValue((value&0xff000000)>>24); return value; } void DW1000::setupAnalogRF() { switch (systemConfig.getChannel()) { case 1: writeRegister32(DW1000_RF_CONF, DWRFCONF_RF_TXCTRL, 0x00005C40); break; case 2: writeRegister32(DW1000_RF_CONF, DWRFCONF_RF_TXCTRL, 0x00045CA0); break; case 3: writeRegister32(DW1000_RF_CONF, DWRFCONF_RF_TXCTRL, 0x00086CC0); break; case 4: writeRegister32(DW1000_RF_CONF, DWRFCONF_RF_TXCTRL, 0x00045C80); break; case 5: default: writeRegister32(DW1000_RF_CONF, DWRFCONF_RF_TXCTRL, 0x001E3FE0); break; case 7: writeRegister32(DW1000_RF_CONF, DWRFCONF_RF_TXCTRL, 0x001E7DE0); break; } switch (systemConfig.getChannel()) { case 1: case 2: case 3: case 5: default: writeRegister8(DW1000_RF_CONF, DWRFCONF_RF_RXCTRLH, 0xD8); break; case 4: case 7: writeRegister8(DW1000_RF_CONF, DWRFCONF_RF_RXCTRLH, 0xBC); break; } loadLDOTUNE(); } void DW1000::setupTxCalibration() { switch (systemConfig.getChannel()) { case 1: writeRegister8 (DW1000_TX_CAL, DWTXCAL_TC_PGDELAY, 0xC9); break; case 2: writeRegister8 (DW1000_TX_CAL, DWTXCAL_TC_PGDELAY, 0xC2); break; case 3: writeRegister8 (DW1000_TX_CAL, DWTXCAL_TC_PGDELAY, 0xC5); break; case 4: writeRegister8 (DW1000_TX_CAL, DWTXCAL_TC_PGDELAY, 0x95); break; case 5: default: writeRegister8 (DW1000_TX_CAL, DWTXCAL_TC_PGDELAY, 0xC0); break; case 7: writeRegister8 (DW1000_TX_CAL, DWTXCAL_TC_PGDELAY, 0x93); break; } } void DW1000::setupFreqSynth() { switch (systemConfig.getChannel()) { case 1: writeRegister32 (DW1000_FS_CTRL, DWFSCTRL_FS_PLLCFG, 0x09000407); //FS_PLLCFG for channel 1 writeRegister8 (DW1000_FS_CTRL, DWFSCTRL_FS_PLLTUNE, 0x1E); break; case 2: case 4: writeRegister32 (DW1000_FS_CTRL, DWFSCTRL_FS_PLLCFG, 0x08400508); //FS_PLLCFG for channel 2,4 writeRegister8 (DW1000_FS_CTRL, DWFSCTRL_FS_PLLTUNE, 0x26); break; case 3: writeRegister32 (DW1000_FS_CTRL, DWFSCTRL_FS_PLLCFG, 0x08401009); //FS_PLLCFG for channel 3 writeRegister8 (DW1000_FS_CTRL, DWFSCTRL_FS_PLLTUNE, 0x5E); break; case 5: case 7: default: writeRegister32 (DW1000_FS_CTRL, DWFSCTRL_FS_PLLCFG, 0x0800041D); //FS_PLLCFG for channel 5,7 writeRegister8 (DW1000_FS_CTRL, DWFSCTRL_FS_PLLTUNE, 0xBE); //FS_PLLTUNE for channel 5 break; } } void DW1000::setupTxFrameCtrl() { uint32_t frameCtrlValue = 0; switch (systemConfig.getDataRate()) { case DW1000Setup::kbps110: break; case DW1000Setup::kbps850: frameCtrlValue |= 0x01<<13; break; case DW1000Setup::kbps6800: default: frameCtrlValue |= 0x02<<13; break; } frameCtrlValue |= 0x01<<15; if (systemConfig.getPRF() == DW1000Setup::prf16MHz) frameCtrlValue |= 0x01<<16; else frameCtrlValue |= 0x02<<16; switch (systemConfig.getPreambleLength()) { case DW1000Setup::pre64: frameCtrlValue |= 0x01<<18; // TXPSR frameCtrlValue |= 0x00<<20; // PE break; case DW1000Setup::pre128: default: frameCtrlValue |= 0x01<<18; // TXPSR frameCtrlValue |= 0x01<<20; // PE break; case DW1000Setup::pre256: frameCtrlValue |= 0x01<<18; // TXPSR frameCtrlValue |= 0x02<<20; // PE break; case DW1000Setup::pre512: frameCtrlValue |= 0x01<<18; // TXPSR frameCtrlValue |= 0x03<<20; // PE break; case DW1000Setup::pre1024: frameCtrlValue |= 0x02<<18; // TXPSR frameCtrlValue |= 0x00<<20; // PE break; case DW1000Setup::pre1536: frameCtrlValue |= 0x02<<18; // TXPSR frameCtrlValue |= 0x01<<20; // PE break; case DW1000Setup::pre2048: frameCtrlValue |= 0x02<<18; // TXPSR frameCtrlValue |= 0x02<<20; // PE break; case DW1000Setup::pre4096: frameCtrlValue |= 0x03<<18; // TXPSR frameCtrlValue |= 0x00<<20; // PE break; } writeRegister32(DW1000_TX_FCTRL,0,frameCtrlValue); } void DW1000::getFullQualityMetrics(uint16_t *std_noise, uint16_t *fp_amp1, uint16_t *fp_amp2, uint16_t *fp_amp3, uint16_t *cir_pwr, uint16_t *preAmbleAcc, uint16_t *preAmbleAcc_NoSat) { *fp_amp1 = readRegister16(DW1000_RX_TIME,7); *std_noise = readRegister16(DW1000_RX_FQUAL,0); *fp_amp2 = readRegister16(DW1000_RX_FQUAL,2); *fp_amp3 = readRegister16(DW1000_RX_FQUAL,4); *cir_pwr = readRegister16(DW1000_RX_FQUAL,6); *preAmbleAcc = readRegister16(DW1000_RX_FINFO,4) >> 4; *preAmbleAcc_NoSat = readRegister16(DW1000_DRX_CONF,DWDRX_RXPAC_NOSAT); } void getFullLEDMetrics(uint16_t *led_thresh, uint16_t *led_ppindx, uint16_t *led_ppampl) { *led_thresh = readRegister16(DW1000_LDE_CTRL,DWLDE_LDE_THRESH); *led_ppindx = readRegister16(DW1000_LDE_CTRL,DWLDE_LDE_PPINDX); *led_ppampl = readRegister16(DW1000_LDE_CTRL,DWLDE_LDE_PPAMPL); } #define SQR(x) ((float)(x) * (float)(x)) void DW1000::getRxSignalPower(float *direct, float *total) { uint16_t firstPathAmp1 = readRegister16(DW1000_RX_TIME,7); uint16_t firstPathAmp2 = readRegister16(DW1000_RX_FQUAL,2); uint16_t firstPathAmp3 = readRegister16(DW1000_RX_FQUAL,4); uint16_t preambleAcc = readRegister16(DW1000_RX_FINFO,4) >> 4; uint16_t preambleAccNoSat = readRegister16(DW1000_DRX_CONF,DWDRX_RXPAC_NOSAT); uint16_t channelImpulse = readRegister16(DW1000_RX_FQUAL,6); if (preambleAcc == preambleAccNoSat) { if (systemConfig.getSfd() == DW1000Setup::standard) { if (systemConfig.getDataRate() == DW1000Setup::kbps110) preambleAcc += -64; else preambleAcc += -5; } else { if (systemConfig.getDataRate() == DW1000Setup::kbps110) preambleAcc += -82; else preambleAcc += -10; } } float directPower = 10*log10( (SQR(firstPathAmp1) + SQR(firstPathAmp2) + SQR(firstPathAmp3))/SQR(preambleAcc)); float rxSignalPower = 10*log10( ((float)channelImpulse * (1<<17))/SQR(preambleAcc) ); if (systemConfig.getPRF() == DW1000Setup::prf16MHz) { directPower -= 113.77; rxSignalPower -= 113.77; } else { directPower -= 121.74; rxSignalPower -= 121.74; } *direct = directPower; *total = rxSignalPower; } #undef SQR void DW1000::getFirstPath(uint16_t *fp_amp2,uint16_t *fp_amp3) { *fp_amp2 = readRegister16(DW1000_RX_FQUAL,2); *fp_amp3 = readRegister16(DW1000_RX_FQUAL,4); } void DW1000::setRxDelay(uint16_t ticks) { writeRegister16(DW1000_LDE_CTRL, DWLDE_LDE_RXANTD, ticks); } void DW1000::setTxDelay(uint16_t ticks) { writeRegister16(DW1000_TX_ANTD, 0, ticks); } void DW1000::setCallbacks(void (*callbackRX)(void), void (*callbackTX)(void)) { bool RX = false; bool TX = false; if (callbackRX) { DW1000::callbackRX.attach(callbackRX); RX = true; } if (callbackTX) { DW1000::callbackTX.attach(callbackTX); TX = true; } setInterrupt(RX,TX); } uint32_t DW1000::getDeviceID() { uint32_t result; readRegister(DW1000_DEV_ID, 0, (uint8_t*)&result, 4); return result; } uint64_t DW1000::getEUI() { uint64_t result; readRegister(DW1000_EUI, 0, (uint8_t*)&result, 8); return result; } void DW1000::setEUI(uint64_t EUI) { writeRegister(DW1000_EUI, 0, (uint8_t*)&EUI, 8); } float DW1000::getVoltage() { uint8_t data; writeRegister8(DW1000_RF_CONF, 0x11, 0x80); writeRegister8(DW1000_RF_CONF, 0x12, 0x0A); writeRegister8(DW1000_RF_CONF, 0x12, 0x0F); writeRegister8(DW1000_TX_CAL, 0x00, 0x01); writeRegister8(DW1000_TX_CAL, 0x00, 0x00); data = readRegister8(DW1000_TX_CAL, 0x03); // get the 8-Bit reading for Voltage float Voltage = (float)(data - (readOTP(0x08)&0x00ff)) *0.00578 + 3.3; return Voltage; } float DW1000::getTemperature() { uint8_t data; writeRegister8(DW1000_RF_CONF, 0x11, 0x80); writeRegister8(DW1000_RF_CONF, 0x12, 0x0A); writeRegister8(DW1000_RF_CONF, 0x12, 0x0F); writeRegister8(DW1000_TX_CAL, 0x00, 0x01); writeRegister8(DW1000_TX_CAL, 0x00, 0x00); data = readRegister16(DW1000_TX_CAL, 0x04); // get the 8-Bit reading for Temperature float temperature = (float)(data - (readOTP(0x09) & 0x00ff))*0.9 + 23; return temperature; } uint64_t DW1000::getStatus() { return readRegister40(DW1000_SYS_STATUS, 0); } uint64_t DW1000::getRXTimestamp() { return readRegister40(DW1000_RX_TIME, 0); } uint64_t DW1000::getTXTimestamp() { return readRegister40(DW1000_TX_TIME, 0); } void DW1000::sendFrame(uint8_t* message, uint16_t length) { //if (length >= 1021) length = 1021; // check for maximim length a frame can have with 1024 Byte frames [not used, see constructor] if (length >= 125) length = 125; // check for maximim length a frame can have with 127 Byte frames uint8_t len_7bit = length; writeRegister(DW1000_TX_BUFFER, 0, message, len_7bit); // fill buffer /* support for frames over 127 bytes uint8_t backup = readRegister8(DW1000_TX_FCTRL, 1); // put length of frame length += 2; // including 2 CRC Bytes length = ((backup & 0xFC) << 8) | (length & 0x03FF); writeRegister16(DW1000_TX_FCTRL, 0, length); */ len_7bit += 2; // including 2 CRC Bytes writeRegister8(DW1000_TX_FCTRL, 0, len_7bit); stopTRX(); // stop receiving writeRegister8(DW1000_SYS_CTRL, 0, 0x02 | 0x80); // trigger sending process by setting the TXSTRT bit // startRX(); // enable receiver again } void DW1000::setupSyncedFrame(uint8_t* message, uint16_t length) { //if (length >= 1021) length = 1021; // check for maximim length a frame can have with 1024 Byte frames [not used, see constructor] if (length >= 125) length = 125; // check for maximim length a frame can have with 127 Byte frames writeRegister(DW1000_TX_BUFFER, 0, message, length); // fill buffer uint8_t backup = readRegister8(DW1000_TX_FCTRL, 1); // put length of frame length += 2; // including 2 CRC Bytes length = ((backup & 0xFC) << 8) | (length & 0x03FF); writeRegister16(DW1000_TX_FCTRL, 0, length); } void DW1000::armSyncedFrame() { stopTRX(); // stop receiving 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) } void DW1000::sendDelayedFrame(uint8_t* message, uint16_t length, uint64_t TxTimestamp) { //if (length >= 1021) length = 1021; // check for maximim length a frame can have with 1024 Byte frames [not used, see constructor] if (length >= 125) length = 125; // check for maximim length a frame can have with 127 Byte frames writeRegister(DW1000_TX_BUFFER, 0, message, length); // fill buffer uint8_t backup = readRegister8(DW1000_TX_FCTRL, 1); // put length of frame length += 2; // including 2 CRC Bytes length = ((backup & 0xFC) << 8) | (length & 0x03FF); writeRegister16(DW1000_TX_FCTRL, 0, length); writeRegister40(DW1000_DX_TIME, 0, TxTimestamp); //write the timestamp on which to send the message stopTRX(); // stop receiving 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. } void DW1000::startRX() { writeRegister8(DW1000_SYS_CTRL, 0x01, 0x01); // start listening for preamble by setting the RXENAB bit } void DW1000::stopTRX() { writeRegister8(DW1000_SYS_CTRL, 0, 0x40); // disable tranceiver go back to idle mode } // PRIVATE Methods ------------------------------------------------------------------------------------ void DW1000::loadLDE() // initialise LDE algorithm LDELOAD User Manual p22 { spi.frequency(SPIRATE_OSC); // with a 1MHz clock rate (worked up to 49MHz in our Test) writeRegister16(DW1000_PMSC, 0, 0x0301); // set clock to XTAL so OTP is reliable writeRegister16(DW1000_OTP_IF, DWOTP_OTP_CTRL, 0x8000); // set LDELOAD bit in OTP wait_us(150); writeRegister16(DW1000_PMSC, 0, 0x0200); // recover to PLL clock wait_ms(1); spi.frequency(SPIRATE_PLL); // with a 1MHz clock rate (worked up to 49MHz in our Test) } void DW1000::loadLDOTUNE() { uint64_t LDOTuningValue = readOTP(0x0004); if (LDOTuningValue != 0) { LDOTuningValue = LDOTuningValue | ((uint64_t)(readOTP(0x0005) & 0x00ff) << 32); writeRegister40(DW1000_RF_CONF,DWRFCONF_RF_LDOTUNE,LDOTuningValue); } } void DW1000::resetRX() { writeRegister8(DW1000_PMSC, 3, 0xE0); // set RX reset writeRegister8(DW1000_PMSC, 3, 0xF0); // clear RX reset } void DW1000::resetAll() { spi.frequency(SPIRATE_OSC); // with a 1MHz clock rate (worked up to 49MHz in our Test) writeRegister8(DW1000_PMSC, 0, 0x01); // set clock to XTAL writeRegister8(DW1000_PMSC, 3, 0x00); // set All reset wait_us(10); // wait for PLL to lock writeRegister8(DW1000_PMSC, 3, 0xF0); // clear All reset wait_ms(1); spi.frequency(SPIRATE_PLL); // with a 1MHz clock rate (worked up to 49MHz in our Test) } /// After writes have been completed reset the device. bool DW1000::writeOTP(uint16_t word_address,uint32_t data) { spi.frequency(SPIRATE_OSC); // with a 1MHz clock rate (worked up to 49MHz in our Test) writeRegister8(DW1000_PMSC, 0, 0x01); // set clock to XTAL writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL+1,0x03); // writeRegister16(DW1000_OTP_IF,DWOTP_OTP_WDAT,0x9220); // writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x08); // wait_ms(1); writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL+1,0x02); // writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x88); // writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x80); // writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x00); // writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL+1,0x05); // writeRegister16(DW1000_OTP_IF,DWOTP_OTP_WDAT,0x000E); // writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x08); // wait_ms(1); writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL+1,0x04); // writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x88); // writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x80); // writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x00); // writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL+1,0x01); // writeRegister16(DW1000_OTP_IF,DWOTP_OTP_WDAT,0x1024); // writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x08); // wait_ms(1); writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL+1,0x00); // writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x00); // writeRegister32(DW1000_OTP_IF,DWOTP_OTP_WDAT,data); // writeRegister16(DW1000_OTP_IF,DWOTP_OTP_ADDR,word_address); // writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x40); // writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x00); // wait_ms(1); for (int i=0; i<10; i++) { if (readOTP(word_address) == data) return true; writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x40); // retry writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x00); wait_ms(1); } return false; } uint32_t DW1000::readOTP(uint16_t word_address) { writeRegister16(DW1000_OTP_IF,DWOTP_OTP_ADDR,word_address); // write address writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x03); // read address load writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x01); // read uint32_t data = readRegister32(DW1000_OTP_IF,DWOTP_OTP_RDAT); writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x00); // OTP idle return data; } void DW1000::setInterrupt(bool RX, bool TX) { writeRegister16(DW1000_SYS_MASK, 0, RX*0x4000 | TX*0x0080); // RX good frame 0x4000, TX done 0x0080 } void DW1000::ISR() { uint64_t status = getStatus(); if (status & 0x4000) { // a frame was received callbackRX.call(); writeRegister16(DW1000_SYS_STATUS, 0, 0x6F00); // clearing of receiving status bits } if (status & 0x80) { // sending complete callbackTX.call(); writeRegister8(DW1000_SYS_STATUS, 0, 0xF8); // clearing of sending status bits } } uint16_t DW1000::getFramelength() { uint16_t framelength = readRegister16(DW1000_RX_FINFO, 0); // get framelength framelength = (framelength & 0x03FF) - 2; // take only the right bits and subtract the 2 CRC Bytes return framelength; } // SPI Interface ------------------------------------------------------------------------------------ uint8_t DW1000::readRegister8(uint8_t reg, uint16_t subaddress) { uint8_t result; readRegister(reg, subaddress, &result, 1); return result; } uint16_t DW1000::readRegister16(uint8_t reg, uint16_t subaddress) { uint16_t result; readRegister(reg, subaddress, (uint8_t*)&result, 2); return result; } uint32_t DW1000::readRegister32(uint8_t reg, uint16_t subaddress) { uint32_t result; readRegister(reg, subaddress, (uint8_t*)&result, 4); return result; } uint64_t DW1000::readRegister40(uint8_t reg, uint16_t subaddress) { uint64_t result = 0; readRegister(reg, subaddress, (uint8_t*)&result, 5); return result; } uint64_t DW1000::readRegister64(uint8_t reg, uint16_t subaddress) { uint64_t result; readRegister(reg, subaddress, (uint8_t*)&result, 8); return result; } void DW1000::writeRegister8(uint8_t reg, uint16_t subaddress, uint8_t buffer) { writeRegister(reg, subaddress, &buffer, 1); } void DW1000::writeRegister16(uint8_t reg, uint16_t subaddress, uint16_t buffer) { writeRegister(reg, subaddress, (uint8_t*)&buffer, 2); } void DW1000::writeRegister32(uint8_t reg, uint16_t subaddress, uint32_t buffer) { writeRegister(reg, subaddress, (uint8_t*)&buffer, 4); } void DW1000::writeRegister40(uint8_t reg, uint16_t subaddress, uint64_t buffer) { writeRegister(reg, subaddress, (uint8_t*)&buffer, 5); } void DW1000::readRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length) { setupTransaction(reg, subaddress, false); for(int i=0; i<length; i++) // get data buffer[i] = spi.write(0x00); deselect(); } void DW1000::writeRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length) { setupTransaction(reg, subaddress, true); for(int i=0; i<length; i++) // put data spi.write(buffer[i]); deselect(); } void DW1000::setupTransaction(uint8_t reg, uint16_t subaddress, bool write) { reg |= (write * DW1000_WRITE_FLAG); // set read/write flag select(); if (subaddress > 0) { // there's a subadress, we need to set flag and send second header byte spi.write(reg | DW1000_SUBADDRESS_FLAG); if (subaddress > 0x7F) { // sub address too long, we need to set flag and send third header byte spi.write((uint8_t)(subaddress & 0x7F) | DW1000_2_SUBADDRESS_FLAG); // and spi.write((uint8_t)(subaddress >> 7)); } else { spi.write((uint8_t)subaddress); } } else { spi.write(reg); // say which register address we want to access } } void DW1000::select() // always called to start an SPI transmission { 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. cs = 0; // set Cable Select pin low to start transmission } void DW1000::deselect() // always called to end an SPI transmission { cs = 1; // set Cable Select pin high to stop transmission irq.enable_irq(); // reenable the interrupt handler }