A DW1000 driver. More...

#include <DW1000.h>

Public Member Functions
	DW1000 (PinName MOSI, PinName MISO, PinName SCLK, PinName CS, PinName IRQ)
	Constructor.
uint32_t	getDeviceID ()
	Read the device ID.
uint64_t	getEUI ()
	Read the Extended Unique ID.
void	setEUI (uint64_t EUI)
	Set the Extended Unique ID.
float	getVoltage ()
	Read voltage input.
float	getTemperature ()
	Read on board temperature sensor.
uint64_t	getStatus ()
	Get the status register.
void	setRxDelay (uint16_t ticks)
	Set receive antenna delay.
void	setTxDelay (uint16_t ticks)
	Set transmit antenna delay.
void	setRxDelayDistance (double errorDistance)
	Set receive antenna delay in meters.
void	setTxDelayDistance (double errorDistance)
	Set transmit antenna delay in meters.
uint32_t	readOTP (uint16_t word_address)
	Read a value from the OTP memory.
bool	writeOTP (uint16_t word_address, uint32_t data)
	Write a value to the OTP memory.
DW1000Setup *	getSetup ()
	get the current radio configuration
uint32_t	getTxPower (float power=NULL, float boost500=NULL, float boost250=NULL, float boost125=NULL)
	Get the current Transmit gain settings.
void	setTxPower (float normalPowerdB, float boost500=0, float boost250=0, float boost125=0)
	Set Transmit gain.
void	getRxSignalPower (float direct, float total)
	Get the rx signal power for the last packet.
uint8_t	readXTALTune ()
	Read the current crystal tuning value.
void	setXTALTune (uint8_t value)
	Set the crystal tuning value.
void	enterRFTestMode ()
	Puts the device into CW test mode.
bool	applySetup (DW1000Setup *setup)
	apply a new radio setup to the UWB system
Protected Member Functions
void	setCallbacks (void(callbackRX)(void), void(callbackTX)(void))
	Sets the callbacks on packet Rx and Tx.
template<typename T >
void	setCallbacks (T tptr, void(T::mptrRX)(void), void(T::*mptrTX)(void))
	c++ version of setCallbacks()
uint64_t	getRXTimestamp ()
	Get the last packet recieve time.
uint64_t	getTXTimestamp ()
	Get the last packet transmit time.
void	sendFrame (uint8_t *message, uint16_t length)
	Send a packet.
void	sendDelayedFrame (uint8_t *message, uint16_t length, uint64_t TxTimestamp)
	Send a packet at a certain time.
void	setupSyncedFrame (uint8_t *message, uint16_t length)
	Set up data for a transmit on sync.
void	armSyncedFrame ()
	Transmit on the next sync pulse.
uint16_t	getFramelength ()
	Get last packet size.
void	readRxBuffer (uint8_t *buffer, int length)
	Get last recieved packet.
void	startRX ()
	Enable reciever.
void	stopTRX ()
	Disable radio link.
void	resetRX ()
	Reset the reciever logic.
void	setInterrupt (bool RX, bool TX)
	Enable/Disable interrupts.
void	getFirstPath (uint16_t fp_amp2, uint16_t fp_amp3)
	Get the first path amplitude values.
uint16_t	getLDE_THRESH ()
	Get the LDE threshold value.
uint16_t	getLDE_PPAMPL ()
	Get the LDE Peak path amplitude.

Detailed Description

A DW1000 driver.

It is expected that the protocol implimentation above this will inherit this object. If not using this structure then move the protected functions to being public.

Definition at line 25 of file DW1000.h.

Constructor & Destructor Documentation

DW1000	(	PinName	MOSI,
		PinName	MISO,
		PinName	SCLK,
		PinName	CS,
		PinName	IRQ
	)

Constructor.

The radio will default to DW1000Setup::tunedDefault until you call applySetup() with a new configuration.

Definition at line 5 of file DW1000.cpp.

Member Function Documentation

bool applySetup ( DW1000Setup * setup )

apply a new radio setup to the UWB system

Parameters:

setup The new settings to use

Returns:: true if the setup was applied.

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.

Note:: This will reset the radio. You must re-enable interupts, receiver etc. after calling it.

Definition at line 55 of file DW1000.cpp.

void armSyncedFrame ( ) [protected]

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 and then re-enabled.

Definition at line 834 of file DW1000.cpp.

void enterRFTestMode ( )

Puts the device into CW test mode.

The radio will be set to output a constant wave at carrier frequency. Transmit gain will be set to the maximum of 33.5dB but can be chaged by setting the TX power register To exit test mode the radio should be reset.

Definition at line 28 of file DW1000.cpp.

uint32_t getDeviceID ( )

Read the device ID.

Returns:: the device ID (0xDECA0130)

Definition at line 736 of file DW1000.cpp.

uint64_t getEUI ( )

Read the Extended Unique ID.

Returns:: The device EUI as stored in the system registers

Definition at line 743 of file DW1000.cpp.

void getFirstPath	(	uint16_t *	fp_amp2,
		uint16_t *	fp_amp3
	)		`[protected]`

Get the first path amplitude values.

Parameters:

fp_amp2	Will be set to first path second peak amplitude
fp_amp3	Will be set to first path third peak amplitude

Reads the two registers for the last packet recieved. Used for quality metrics.

Definition at line 704 of file DW1000.cpp.

uint16_t getFramelength ( ) [protected]

Get last packet size.

Returns:: The length in bytes of the last packet received

Definition at line 990 of file DW1000.cpp.

uint16_t getLDE_PPAMPL ( ) [protected]

Get the LDE Peak path amplitude.

Returns:: the Leading edge detection peak path amplitude value

Definition at line 367 of file DW1000.h.

uint16_t getLDE_THRESH ( ) [protected]

Get the LDE threshold value.

Returns:: the Leading edge detection threshold register value

Definition at line 360 of file DW1000.h.

void getRxSignalPower	(	float *	direct,
		float *	total
	)

Get the rx signal power for the last packet.

Parameters:

direct	Is set to the direct path Rx power in dBm
total	Is set to the total Rx power in dBm

According to the DW1000 manual if the direct path power is within 6dB of the total then it was probably a LoS measurment. If there is more than 10dB difference then it's probably an indirect path.

Definition at line 660 of file DW1000.cpp.

uint64_t getRXTimestamp ( ) [protected]

Get the last packet recieve time.

Returns:: 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.

Definition at line 790 of file DW1000.cpp.

DW1000Setup * getSetup ( )

get the current radio configuration

Returns:: A pointer to a DW1000Setup object of the current setup.

Note to change the setup you must make a copy of the current setup and then pass that to applySetup().

Definition at line 50 of file DW1000.cpp.

uint64_t getStatus ( )

Get the status register.

Returns:: The system status register

See user manual section 7.2.17 for details

Definition at line 785 of file DW1000.cpp.

float getTemperature ( )

Read on board temperature sensor.

Returns:: 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

Definition at line 770 of file DW1000.cpp.

uint32_t getTxPower	(	float *	power = `NULL`,
		float *	boost500 = `NULL`,
		float *	boost250 = `NULL`,
		float *	boost125 = `NULL`
	)

Get the current Transmit gain settings.

Parameters:

power	Optional, is set to the first power in dBm
boost500	Optional, is set to the second power in dBm
boost250	Optional, is set to the third power in dBm
boost125	Optional, is set to the forth power in dBm

Returns:: The raw transmit gain register value

If smart power is on then power represents the normal transmit power, boost500-boost125 indicates the power used for packets of that number of us or less.

If smart power is off then boost500 represents the gain for the PHY header, boost250 the gain for the main message. power and boost125 are not used.

Definition at line 471 of file DW1000.cpp.

uint64_t getTXTimestamp ( ) [protected]

Get the last packet transmit time.

Returns:: 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.

Definition at line 795 of file DW1000.cpp.

float getVoltage ( )

Read voltage input.

Returns:: 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

Definition at line 756 of file DW1000.cpp.

uint32_t readOTP ( uint16_t word_address )

Read a value from the OTP memory.

Parameters:

word_address The OTP memory address to read.

Returns:: The 32 bit value at that address.

See Section 6.3.1 of the user manual for the memory map.

Definition at line 960 of file DW1000.cpp.

void readRxBuffer	(	uint8_t *	buffer,
		int	length
	)		`[protected]`

Get last recieved packet.

Parameters:

buffer	The location to put the received data
length	The number of bytes to read

Definition at line 315 of file DW1000.h.

uint8_t readXTALTune ( )

Read the current crystal tuning value.

Reads the current FX_XTALT value from 0 to 0x1f. See section 8.1 of the manual for details.

Returns:: The current value.

Definition at line 373 of file DW1000.cpp.

void resetRX ( ) [protected]

Reset the reciever logic.

This should be done after any receive errors

Definition at line 892 of file DW1000.cpp.

void sendDelayedFrame	(	uint8_t *	message,
		uint16_t	length,
		uint64_t	TxTimestamp
	)		`[protected]`

Send a packet at a certain time.

Parameters:

message	A buffer containing the data to send
length	The length of the data in bytes.
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.

The receiver is re-activated as soon as packet transmission is complete.

Definition at line 840 of file DW1000.cpp.

void sendFrame	(	uint8_t *	message,
		uint16_t	length
	)		`[protected]`

Send a packet.

Parameters:

message	A buffer containing the data to send
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.

The receiver is re-activated as soon as packet transmission is complete.

Definition at line 801 of file DW1000.cpp.

void setCallbacks	(	void(*)(void)	callbackRX,
		void(*)(void)	callbackTX
	)		`[protected]`

Sets the callbacks on packet Rx and Tx.

Parameters:

callbackRX	The function to call on packet Rx complete
callbackTX	The function to call on packet Tx complete

set either or both to null to disable the appropriate interupt

Definition at line 721 of file DW1000.cpp.

void setCallbacks	(	T *	tptr,
		void(T::*)(void)	mptrRX,
		void(T::*)(void)	mptrTX
	)		`[protected]`

c++ version of setCallbacks()

Parameters:

tptr	object for callbacks
mptrRX	method to call on packet Rx complete
mptrTX	method to call on packet Tx complete

Definition at line 239 of file DW1000.h.

void setEUI ( uint64_t EUI )

Set the Extended Unique ID.

Parameters:

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.

Definition at line 750 of file DW1000.cpp.

void setInterrupt	(	bool	RX,
		bool	TX
	)		`[protected]`

Enable/Disable interrupts.

Parameters:

RX	true to enable recieve interrupts
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.

Definition at line 970 of file DW1000.cpp.

void setRxDelay ( uint16_t ticks )

Set receive antenna delay.

Parameters:

ticks Delay in system clock cycles

Definition at line 712 of file DW1000.cpp.

void setRxDelayDistance ( double errorDistance )

Set receive antenna delay in meters.

Parameters:

errorDistance Delay in meters at speed of light

Definition at line 92 of file DW1000.h.

void setTxDelay ( uint16_t ticks )

Set transmit antenna delay.

Parameters:

ticks Delay in system clock cycles

Definition at line 716 of file DW1000.cpp.

void setTxDelayDistance ( double errorDistance )

Set transmit antenna delay in meters.

Parameters:

errorDistance Delay in meters at speed of light

Definition at line 99 of file DW1000.h.

void setTxPower	(	float	normalPowerdB,
		float	boost500 = `0`,
		float	boost250 = `0`,
		float	boost125 = `0`
	)

Set Transmit gain.

Parameters:

normalPowercB	Normal transmit gain to use.
boost500	Gain to use for 6.8Mb/s packets of under 500ms.
boost250	Gain to use for 6.8Mb/s packets of under 250ms.
boost125	Gain to use for 6.8Mb/s packets of under 125ms.

All gains are in dB. Gains can be between 0 and 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). If smart power is disabled then the normal gain is used for all settings. The values in the internal DW1000Setup are updated to reflect the configured powers.

Definition at line 435 of file DW1000.cpp.

void setupSyncedFrame	(	uint8_t *	message,
		uint16_t	length
	)		`[protected]`

Set up data for a transmit on sync.

Parameters:

message	A buffer containing the data to send
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.

Definition at line 822 of file DW1000.cpp.

void setXTALTune ( uint8_t value )

Set the crystal tuning value.

Sets the value of the FX_XTALT register. See section 8.1 of the manual for details.

Values will be lost on reset, consider programming the final value into the OTP memory to store perminently.

The value to use from 0 to 0x1f

Definition at line 378 of file DW1000.cpp.

void startRX ( ) [protected]

Enable reciever.

This is automatically done after each Tx completes but can also be forced manually

Definition at line 857 of file DW1000.cpp.

void stopTRX ( ) [protected]

Disable radio link.

Disables both the recieve and transmit systems. Any transmissions waiting for a delayed time or sync pulse will be canceled.

Definition at line 862 of file DW1000.cpp.

bool writeOTP	(	uint16_t	word_address,
		uint32_t	data
	)

Write a value to the OTP memory.

After writes have been completed reset the device.

Parameters:

word_address	The OTP memory address to read.
data	The value to write

Returns:: 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.

Warning:: This is a one time operation for each memory address. See Section 6.3.1 of the user manual for the memory map.

Note:: It is recommened that the device is reset or power cycled after programing.

Definition at line 913 of file DW1000.cpp.

Type:	Library
Created:	05 Apr 2016
Imports:	4
Forks:	0
Commits:	19
Dependents:	0
Dependencies:	1
Followers:	2

DW1000 Class Reference

Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Repository toolbox

Repository details

Important Information for this Arm website

DW1000 Class Reference

Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Repository toolbox

Repository details

Important Information for this Arm website

Access Warning