DW1000 - DW1000 UWB driver based on work of Matthias Grob …

Users » AndyA » Code » DW1000
DW1000 UWB driver based on work of Matthias Grob & Manuel Stalder - ETH Zürich - 2015
Diff: DW1000.cpp

Revision:: 4:5f1025df5530
Parent:: 3:1459d2aa6b97
Child:: 5:68ffaa5962d1
diff -r 1459d2aa6b97 -r 5f1025df5530 DW1000.cpp
--- a/DW1000.cpp	Thu Apr 07 14:31:28 2016 +0000
+++ b/DW1000.cpp	Thu Apr 07 16:25:31 2016 +0000
@@ -16,13 +16,13 @@
     switch (setup) {
         case user110k:  // values from Matthias Grob & Manuel Stalder - ETH Zürich - library
 
-            systemConfig.channel = 5;
-            systemConfig.prf = prf16MHz;
-            systemConfig.dataRate = kbps110;
-            systemConfig.sfd = standard;
-            systemConfig.preamble = pre1024;
-            systemConfig.preambleCode = 3;
-            systemConfig.enableSmartPower = true;
+            systemConfig.setChannel(5);
+            systemConfig.setPRF(DW1000Setup::prf16MHz);
+            systemConfig.setDataRate(DW1000Setup::kbps110);
+            systemConfig.setSfd(DW1000Setup::standard);
+            systemConfig.setPreambleLength(DW1000Setup::pre1024);
+            systemConfig.setPreambleCode(3);
+            systemConfig.setSmartPower(false);
 
             setupRadio();
 
@@ -35,13 +35,13 @@
         case tunedDefault:    // User Manual "2.5.5 Default Configurations that should be modified" p. 22
         default:
 
-            systemConfig.channel = 5;
-            systemConfig.prf = prf16MHz;
-            systemConfig.dataRate = kbps6800;
-            systemConfig.sfd = standard;
-            systemConfig.preamble = pre128;
-            systemConfig.preambleCode = 3;
-            systemConfig.enableSmartPower = false;;
+            systemConfig.setChannel(5);
+            systemConfig.setPRF(DW1000Setup::prf16MHz);
+            systemConfig.setDataRate(DW1000Setup::kbps6800);
+            systemConfig.setSfd(DW1000Setup::standard);
+            systemConfig.setPreambleLength(DW1000Setup::pre128);
+            systemConfig.setPreambleCode(3);
+            systemConfig.setSmartPower(false);
 
             setupRadio();
 
@@ -51,18 +51,18 @@
 
             break;
         case minPacketSize:
-            systemConfig.channel = 5;
-            systemConfig.prf = prf16MHz;
-            systemConfig.dataRate = kbps6800;
-            systemConfig.sfd = standard;
-            systemConfig.preamble = pre64;
-            systemConfig.preambleCode = 3;
-            systemConfig.enableSmartPower = true;;
+            systemConfig.setChannel(5);
+            systemConfig.setPRF(DW1000Setup::prf64MHz);
+            systemConfig.setDataRate(DW1000Setup::kbps6800);
+            systemConfig.setSfd(DW1000Setup::standard);
+            systemConfig.setPreambleLength(DW1000Setup::pre64);
+            systemConfig.setPreambleCode(10);
+            systemConfig.setSmartPower(true);
 
             setupRadio();
             uint16_t txPower = 25*10; // 25dB gain.
-            // 3 packets per ms max. So can increase TX power of 250us packets by 10log(4/3) dB and 125us packets by 10log(8/3) dB
-            setTxPower(txPower,txPower,txPower+15,txPower+45); // power = 23dB gain
+            // 2 packets per ms max. So can increase TX power of 250us packets by 10log(4/2) dB and 125us packets by 10log(8/2) dB
+            setTxPower(txPower,txPower,txPower+30,txPower+60); // power = 23dB gain
 
             setRxDelay(0);
             setTxDelay(0);
@@ -70,11 +70,64 @@
             break;
     }
 
-    writeRegister8(DW1000_SYS_CFG, 3, 0x20);    // enable auto reenabling receiver after error
 
     irq.rise(this, &DW1000::ISR);       // attach interrupt handler to rising edge of interrupt pin from DW1000
 }
 
+void DW1000::getSetup(char *buffer, int len)
+{
+
+    char dataRateString[10];
+    if (systemConfig.getDataRate() == DW1000Setup::kbps6800)
+        strcpy(dataRateString,"6.8 Mbps");
+    else if (systemConfig.getDataRate() == DW1000Setup::kbps850)
+        strcpy(dataRateString,"850 kbps");
+    else
+        strcpy(dataRateString,"110 kbps");
+
+    char preambleString[8];
+    switch (systemConfig.getPreambleLength()) {
+        default:
+            strcpy(preambleString,"error");
+            break;
+        case DW1000Setup::pre64:
+            strcpy(preambleString,"64");
+            break;
+        case DW1000Setup::pre128:
+            strcpy(preambleString,"128");
+            break;
+        case DW1000Setup::pre256:
+            strcpy(preambleString,"256");
+            break;
+        case DW1000Setup::pre512:
+            strcpy(preambleString,"512");
+            break;
+        case DW1000Setup::pre1024:
+            strcpy(preambleString,"1024");
+            break;
+        case DW1000Setup::pre1536:
+            strcpy(preambleString,"1536");
+            break;
+        case DW1000Setup::pre2048:
+            strcpy(preambleString,"2048");
+            break;
+        case DW1000Setup::pre4096:
+            strcpy(preambleString,"4096");
+            break;
+    }
+
+    snprintf(buffer,len,"Channel:\t%u\r\nPRF:\t%s\r\nData Rate:\t%s\r\nPreamble length:\t%s\r\nPreamble code:\t%u\r\nSmart power:\t%s\r\nSFD:\t%s\r\n",
+             systemConfig.getChannel(),
+             (systemConfig.getPRF() == DW1000Setup::prf16MHz)?"16 MHz":"64 MHz",
+             dataRateString,
+             preambleString,
+             systemConfig.getPreambleCode(),
+             systemConfig.getSmartPower()?"Enabled":"Disabled",
+             (systemConfig.getSfd() == DW1000Setup::standard)?"Standard":"Non-standard");
+
+}
+
+
 void DW1000::setupRadio()
 {
     setupAGC();
@@ -93,7 +146,7 @@
 {
 
     writeRegister16(DW1000_AGC_CTRL, DWAGCCTRL_AGC_CTRL1, 0x0001);
-    if (systemConfig.prf == prf16MHz)
+    if (systemConfig.getPRF() == DW1000Setup::prf16MHz)
         writeRegister16(DW1000_AGC_CTRL, DWAGCCTRL_AGC_TUNE1, 0x8870);
     else
         writeRegister16(DW1000_AGC_CTRL, DWAGCCTRL_AGC_TUNE1, 0x889B);
@@ -110,84 +163,86 @@
 
 //    valueToUse |= 3<<16; // enable long (>125bytes data) packets
 
-    if (!systemConfig.enableSmartPower)
+    if (!systemConfig.getSmartPower())
         valueToUse |= 1<<18; // disable smart power
 
-    if (systemConfig.dataRate == kbps110)
+    if (systemConfig.getDataRate() == DW1000Setup::kbps110)
         valueToUse |= 1<<22;
 
-    writeRegister8(DW1000_SYS_CFG, 0, valueToUse);
+    valueToUse |= 1<<29;// enable auto reenabling receiver after error
+
+    writeRegister32(DW1000_SYS_CFG, 0, valueToUse);
 }
 
 void DW1000::setupRxConfig()
 {
 
-    switch (systemConfig.dataRate) {
-        case kbps110:
-            if (systemConfig.sfd == standard)
+    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 kbps850:
-            if (systemConfig.sfd == standard)
+        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 kbps6800:
+        case DW1000Setup::kbps6800:
         default:
-            if (systemConfig.sfd == standard)
+            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.prf == prf16MHz)
+    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.preamble) {
-        case pre1536:
-        case pre2048:
-        case pre4096:
+    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 pre64:
+        case DW1000Setup::pre64:
             writeRegister16(DW1000_DRX_CONF, DWDRX_DRX_TUNE1B, 0x0010);             //DRX_TUNE1b for 64 symbols
             break;
     }
 
-    switch (systemConfig.preamble) {
-        case pre64:
-        case pre128:  // PAC = 8
-            if (systemConfig.prf == prf16MHz)
+    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 pre256:
-        case pre512:
-            if (systemConfig.prf == prf16MHz)
+        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 pre1024:
-            if (systemConfig.prf == prf16MHz)
+        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 pre1536:
-        case pre2048:
-        case pre4096:
-            if (systemConfig.prf == prf16MHz)
+        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
@@ -195,7 +250,7 @@
     }
 
 
-    if (systemConfig.preamble == pre64)
+    if (systemConfig.getPreambleLength() == DW1000Setup::pre64)
         writeRegister16(DW1000_DRX_CONF, DWDRX_DRX_TUNE4H, 0x0010);
     else
         writeRegister16(DW1000_DRX_CONF, DWDRX_DRX_TUNE4H, 0x0028);
@@ -208,13 +263,13 @@
 
     writeRegister8 (DW1000_LDE_CTRL, DWLDE_LDE_CFG1, 0x13 | 0x03<<5);  //NTM = 13 (12 may be better in some situations. PMULT = 3
 
-    if (systemConfig.prf == prf16MHz)
+    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.preambleCode) {
+    switch (systemConfig.getPreambleCode()) {
         default:
         case 1:
         case 2:
@@ -288,7 +343,7 @@
             break;
     }
 
-    if (systemConfig.dataRate == kbps110)
+    if (systemConfig.getDataRate() == DW1000Setup::kbps110)
         replicaCoeff = replicaCoeff>>3;
 
     writeRegister16(DW1000_LDE_CTRL, DWLDE_LDE_REPC, replicaCoeff);
@@ -298,26 +353,28 @@
 
 void DW1000::setupChannel()
 {
-    uint16_t registerValue = 0;
+    uint32_t registerValue = 0;
 
-    registerValue = systemConfig.channel; // set Tx channel
-    registerValue |= systemConfig.channel<<4; // set Rx channel
+    registerValue = systemConfig.getChannel(); // set Tx channel
+    registerValue |= systemConfig.getChannel()<<4; // set Rx channel
 
-    if (    systemConfig.prf == prf16MHz) // set PRF (2 bit value 01 or 10)
+    if (systemConfig.getPRF() == DW1000Setup::prf16MHz) // set PRF (2 bit value 01 or 10)
         registerValue |= 0x01 << 18;
     else
         registerValue |= 0x02 << 18;
 
-    if (systemConfig.sfd == nonStandard)  {
+    if (systemConfig.getSfd() == DW1000Setup::decaWave) 
         registerValue |= 0x01 << 17; // enable DW own SFD
-//    registerValue |= 0x01 << 20; // enable user set SFD Tx
-//    registerValue |= 0x01 << 21; // enable user set SFD Rx
+
+    if (systemConfig.getSfd() == DW1000Setup::user) {     
+        registerValue |= 0x01 << 20; // enable user set SFD Tx
+        registerValue |= 0x01 << 21; // enable user set SFD Rx
     }
 
-    registerValue |= systemConfig.preambleCode << 22; // set Tx preamble code
-    registerValue |= systemConfig.preambleCode << 27; // set Rx preamble code
+    registerValue |= systemConfig.getPreambleCode() << 22; // set Tx preamble code
+    registerValue |= systemConfig.getPreambleCode() << 27; // set Rx preamble code
 
-    writeRegister16(DW1000_CHAN_CTRL, 0, registerValue);
+    writeRegister32(DW1000_CHAN_CTRL, 0, registerValue);
 }
 
 
@@ -349,6 +406,7 @@
 // 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(uint16_t normalPowercB, uint16_t boost500, uint16_t boost250, uint16_t boost125)
 {
+
     if(normalPowercB > 335)
         normalPowercB = 335;
 
@@ -367,6 +425,12 @@
     if(boost125 > 335)
         boost125 = 335;
 
+    if (systemConfig.getSmartPower() == false) {
+        boost500 = normalPowercB;
+        boost250 = normalPowercB;
+        boost125 = normalPowercB;
+    }
+
     uint32_t powerReg = powerToRegValue(normalPowercB);
     powerReg |= powerToRegValue(boost500) << 8;
     powerReg |= powerToRegValue(boost250) << 16;
@@ -375,7 +439,7 @@
 
 void DW1000::setupAnalogRF()
 {
-    switch (systemConfig.channel) {
+    switch (systemConfig.getChannel()) {
         case 1:
             writeRegister32(DW1000_RF_CONF, DWRFCONF_RF_TXCTRL, 0x00005C40);
             break;
@@ -397,7 +461,7 @@
             break;
     }
 
-    switch (systemConfig.channel) {
+    switch (systemConfig.getChannel()) {
         case 1:
         case 2:
         case 3:
@@ -417,7 +481,7 @@
 
 void DW1000::setupTxCalibration()
 {
-    switch (systemConfig.channel) {
+    switch (systemConfig.getChannel()) {
         case 1:
             writeRegister8 (DW1000_TX_CAL, DWTXCAL_TC_PGDELAY, 0xC9);
             break;
@@ -443,7 +507,7 @@
 void DW1000::setupFreqSynth()
 {
 
-    switch (systemConfig.channel) {
+    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);
@@ -468,60 +532,61 @@
 
 void DW1000::setupTxFrameCtrl()
 {
-    uint16_t frameCtrlValue = 0;
-    switch (systemConfig.dataRate) {
-        case kbps110:
+    uint32_t frameCtrlValue = 0;
+    switch (systemConfig.getDataRate()) {
+        case DW1000Setup::kbps110:
             break;
-        case kbps850:
+        case DW1000Setup::kbps850:
             frameCtrlValue |= 0x01<<13;
             break;
-        case kbps6800:
+        case DW1000Setup::kbps6800:
         default:
             frameCtrlValue |= 0x02<<13;
             break;
     }
     frameCtrlValue |= 0x01<<15;
 
-    if (systemConfig.prf == prf16MHz)
+    if (systemConfig.getPRF() == DW1000Setup::prf16MHz)
         frameCtrlValue |= 0x01<<16;
     else
         frameCtrlValue |= 0x02<<16;
 
-    switch    (systemConfig.preamble)            {
-        case pre64:
+    switch    (systemConfig.getPreambleLength())            {
+        case DW1000Setup::pre64:
             frameCtrlValue |= 0x01<<18; // TXPSR
             frameCtrlValue |= 0x00<<20; // PE
             break;
-        case pre128:
+        case DW1000Setup::pre128:
         default:
             frameCtrlValue |= 0x01<<18; // TXPSR
             frameCtrlValue |= 0x01<<20; // PE
             break;
-        case pre256:
+        case DW1000Setup::pre256:
             frameCtrlValue |= 0x01<<18; // TXPSR
             frameCtrlValue |= 0x02<<20; // PE
             break;
-        case pre512:
+        case DW1000Setup::pre512:
             frameCtrlValue |= 0x01<<18; // TXPSR
             frameCtrlValue |= 0x03<<20; // PE
             break;
-        case pre1024:
+        case DW1000Setup::pre1024:
             frameCtrlValue |= 0x02<<18; // TXPSR
             frameCtrlValue |= 0x00<<20; // PE
             break;
-        case pre1536:
+        case DW1000Setup::pre1536:
             frameCtrlValue |= 0x02<<18; // TXPSR
             frameCtrlValue |= 0x01<<20; // PE
             break;
-        case pre2048:
+        case DW1000Setup::pre2048:
             frameCtrlValue |= 0x02<<18; // TXPSR
             frameCtrlValue |= 0x02<<20; // PE
             break;
-        case pre4096:
+        case DW1000Setup::pre4096:
             frameCtrlValue |= 0x03<<18; // TXPSR
             frameCtrlValue |= 0x00<<20; // PE
             break;
     }
+    writeRegister32(DW1000_TX_FCTRL,0,frameCtrlValue);
 }
 
 void DW1000::setRxDelay(uint16_t ticks)
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Type:	Library
Created:	05 Apr 2016
Imports:	4
Forks:	0
Commits:	19
Dependents:	0
Dependencies:	1
Followers:	2
Diff: DW1000.cpp

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