Andy A
DW1000 UWB driver based on work of Matthias Grob & Manuel Stalder - ETH Zürich - 2015
Diff: DW1000.h
- Revision:
- 8:0b408e77b701
- Parent:
- 7:b13881dbb09d
- Child:
- 9:326bf149c8bc
diff -r b13881dbb09d -r 0b408e77b701 DW1000.h
--- a/DW1000.h Wed Apr 13 09:07:14 2016 +0000
+++ b/DW1000.h Mon Apr 18 16:58:27 2016 +0000
@@ -5,328 +5,14 @@
#include "mbed.h"
#include "BurstSPI.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
+#include "DW1000Registers.h"
+#include "DW1000Setup.h"
-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;
-};
+#define TIMEUNITS_TO_US (1/(128*499.2)) // conversion between the decawave timeunits (ca 15.65ps) to microseconds.
+#define US_TO_TIMEUNITS ((uint32_t)(128*499.2)) // conversion between microseconds to the decawave timeunits (ca 15.65ps).
+#define c_mPerS 299792458
+#define c_mmPerTick (c_mPerS * TIMEUNITS_TO_US / 1000)
+#define c_mPerTick (c_mmPerTick/1000)
typedef enum {minPacketSize, tunedDefault, user110k} UWBMode;
@@ -489,6 +175,21 @@
*/
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
*/
@@ -522,15 +223,25 @@
*/
bool writeOTP(uint16_t word_address,uint32_t data); // program a value in the OTP. It is recommended to reset afterwards.
-
- /** Get setup description
+ /** get the current radio configuration
+ * @return A pointer to a DW1000Setup object of the current setup.
*
- * @param buffer Data buffer to place description in
- * @param len Length of data buffer
+ * 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.
*
- * Places a text string describing the current setup into the suppled buffer.
+ * 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.
*/
- void getSetup(char *buffer, int len);
+// 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
@@ -558,8 +269,9 @@
* 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);
+// 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)
@@ -597,7 +309,7 @@
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);