Diff: DW1000.cpp

Revision:

18:6c2ce1749d4a

Parent:

17:1fb08dfef237

diff -r 1fb08dfef237 -r 6c2ce1749d4a DW1000.cpp
--- a/DW1000.cpp	Wed Nov 08 11:15:47 2017 +0000
+++ b/DW1000.cpp	Mon Nov 13 14:29:41 2017 +0000
@@ -19,29 +19,31 @@
 }
 
 
-void DW1000::setSPISpeed(uint32_t speed) {
+void DW1000::setSPISpeed(uint32_t speed)
+{
     spi.frequency(speed);
-    }
+}
 
 
-void DW1000::enterRFTestMode() {
-        writeRegister32(DW1000_RF_CONF,0,0x0009A000);
-        wait_ms(1);
-        writeRegister16(DW1000_PMSC,DWPMSC_PMSC_CTRL1,0x0000);
-        wait_ms(1);
-        writeRegister32(DW1000_TX_POWER,0,0x1f1f1f1f);
-        wait_ms(1);
-        uint32_t config = readRegister32(DW1000_SYS_CFG,0);
-        config |= 1<<18;
-        writeRegister32(DW1000_SYS_CFG,0,config);
-        wait_ms(1);
-        writeRegister16(DW1000_PMSC,DWPMSC_PMSC_CTRL0,0x0222);
-        wait_ms(1);
-        writeRegister32(DW1000_PMSC,DWPMSC_PMSC_TXFSEQ,0x00000000);
-        wait_ms(1);
-        writeRegister32(DW1000_RF_CONF,0,0x005fff00);
-        wait_ms(1);
-        writeRegister8(DW1000_TX_CAL,DWTXCAL_TC_PGTEST,0x13);
+void DW1000::enterRFTestMode()
+{
+    writeRegister32(DW1000_RF_CONF,0,0x0009A000);
+    wait_ms(1);
+    writeRegister16(DW1000_PMSC,DWPMSC_PMSC_CTRL1,0x0000);
+    wait_ms(1);
+    writeRegister32(DW1000_TX_POWER,0,0x1f1f1f1f);
+    wait_ms(1);
+    uint32_t config = readRegister32(DW1000_SYS_CFG,0);
+    config |= 1<<18;
+    writeRegister32(DW1000_SYS_CFG,0,config);
+    wait_ms(1);
+    writeRegister16(DW1000_PMSC,DWPMSC_PMSC_CTRL0,0x0222);
+    wait_ms(1);
+    writeRegister32(DW1000_PMSC,DWPMSC_PMSC_TXFSEQ,0x00000000);
+    wait_ms(1);
+    writeRegister32(DW1000_RF_CONF,0,0x005fff00);
+    wait_ms(1);
+    writeRegister8(DW1000_TX_CAL,DWTXCAL_TC_PGTEST,0x13);
 }
 
 
@@ -68,6 +70,7 @@
 
     stopTRX();
     resetAll();                         // we do a soft reset of the DW1000 to get to a known state. Without this we lose comms.
+    setupXtalTrim();
     setupAGC();
     setupRxConfig();
     setupLDE();
@@ -83,6 +86,14 @@
     irq.rise(this, &DW1000::ISR);       // attach interrupt handler to rising edge of interrupt pin from DW1000
 }
 
+void DW1000::setupXtalTrim()
+{
+    uint32_t xtal = readOTP(0x1E) & 0x0ff;
+    if (xtal == 0)
+        xtal=0x0f; // assume that crystal trim value hasn't been set rather than being right on the limit.
+    setXTALTune(xtal);
+}
+
 
 void DW1000::setupGPIO()
 {
@@ -359,15 +370,17 @@
     writeRegister32(DW1000_CHAN_CTRL, 0, registerValue);
 }
 
-uint8_t DW1000::readXTALTune() {
-  return readRegister8 (DW1000_FS_CTRL, DWFSCTRL_FS_XTALT);               
-    }
+uint8_t DW1000::readXTALTune()
+{
+    return readRegister8 (DW1000_FS_CTRL, DWFSCTRL_FS_XTALT);
+}
 
-void DW1000::setXTALTune(uint8_t value) {
-  value &= 0x1f; // mask reserved bits
-  value |= 0x60; // set reserved bits
-  writeRegister8 (DW1000_FS_CTRL, DWFSCTRL_FS_XTALT,value);                 
-    }
+void DW1000::setXTALTune(uint8_t value)
+{
+    value &= 0x1f; // mask reserved bits
+    value |= 0x60; // set reserved bits
+    writeRegister8 (DW1000_FS_CTRL, DWFSCTRL_FS_XTALT,value);
+}
 
 uint8_t DW1000::powerToRegValue(float powerdB)
 {
@@ -1089,7 +1102,7 @@
     *delta = data >> 24 & 0x0ff;
     int32_t RXTofs = data &0x07ffff;
     if (RXTofs & 0x040000)
-      RXTofs |= 0xfff80000;
+        RXTofs |= 0xfff80000;
     *offset =  RXTofs;
 
 //    uint32_t RXTTCKI =  0x01FC0000;