Matthias Grob & Manuel Stalder / Mbed 2 deprecated DecaWave

This is the DW1000 driver and our self developed distance measurement application based on it. We do this as a semester thesis at ETH Zürich under the Automatic Control Laboratory in the Department of electrical engineering.

Dependencies:   mbed

DW1000/DW1000.cpp@21:23bf4399020d, 2014-11-26 (annotated)

Committer:
manumaet
Date:
Wed Nov 26 12:10:09 2014 +0000
Revision:
21:23bf4399020d
Parent:
20:257d56530ae1
Child:
22:576ee999b004
first publish, be aware that:; - receiving and sending on the same node is currently broke; - the code is not encapsulated yet

Who changed what in which revision?

UserRevisionLine numberNew contents of line
manumaet 0:f50e671ffff7 1 #include "DW1000.h"
manumaet 0:f50e671ffff7 2
manumaet 20:257d56530ae1 3 DW1000::DW1000(PinName MOSI, PinName MISO, PinName SCLK, PinName CS, PinName IRQ) : irq(IRQ), spi(MOSI, MISO, SCLK), cs(CS) {
manumaet 20:257d56530ae1 4 receiving = false; // state in the beginning is not listening for frames
manumaet 20:257d56530ae1 5 sending = false; // state in the beginning is not sending anything
manumaet 21:23bf4399020d 6 callbackRX = NULL; // TODO: setter
manumaet 21:23bf4399020d 7 callbackTX = NULL;
manumaet 17:8afa5f9122da 8
manumaet 0:f50e671ffff7 9 deselect(); // Chip must be deselected first
manumaet 0:f50e671ffff7 10 spi.format(8,0); // Setup the spi for standard 8 bit data and SPI-Mode 0 (GPIO5, GPIO6 open circuit or ground on DW1000)
manumaet 0:f50e671ffff7 11 spi.frequency(1000000); // with a 1MHz clock rate (worked up to 49MHz in our Test)
manumaet 7:e634eeafc4d2 12
manumaet 19:e94bc88c1eb0 13 resetAll(); // we can do a soft reset if we want to (only needed for debugging)
manumaet 12:985aa9843c3c 14 loadLDE(); // important everytime DW1000 initialises/awakes otherwise the LDE algorithm must be turned of or there's receiving malfunction see User Manual LDELOAD on p22 & p158
manumaet 18:bbc7ca7d3a95 15
manumaet 18:bbc7ca7d3a95 16 // Configuration TODO: make method for that
manumaet 12:985aa9843c3c 17 writeRegister8(DW1000_SYS_CFG, 3, 0x20); // enable auto reenabling receiver after error
manumaet 15:e1fea7e2aff1 18 writeRegister8(DW1000_SYS_CFG, 2, 0x03); // enable 1024 byte frames TODO: doesn't work!!
manumaet 11:c87d37db2c6f 19
manumaet 8:7a9c61242e2f 20 irq.rise(this, &DW1000::ISR); // attach Interrupt handler to rising edge
manumaet 0:f50e671ffff7 21 }
manumaet 0:f50e671ffff7 22
manumaet 0:f50e671ffff7 23 uint32_t DW1000::getDeviceID() {
manumaet 0:f50e671ffff7 24 uint32_t result;
manumaet 0:f50e671ffff7 25 readRegister(DW1000_DEV_ID, 0, (uint8_t*)&result, 4);
manumaet 0:f50e671ffff7 26 return result;
manumaet 0:f50e671ffff7 27 }
manumaet 0:f50e671ffff7 28
manumaet 0:f50e671ffff7 29 uint64_t DW1000::getEUI() {
manumaet 0:f50e671ffff7 30 uint64_t result;
manumaet 0:f50e671ffff7 31 readRegister(DW1000_EUI, 0, (uint8_t*)&result, 8);
manumaet 0:f50e671ffff7 32 return result;
manumaet 0:f50e671ffff7 33 }
manumaet 0:f50e671ffff7 34
manumaet 0:f50e671ffff7 35 void DW1000::setEUI(uint64_t EUI) {
manumaet 0:f50e671ffff7 36 writeRegister(DW1000_EUI, 0, (uint8_t*)&EUI, 8);
manumaet 0:f50e671ffff7 37 }
manumaet 0:f50e671ffff7 38
manumaet 0:f50e671ffff7 39 float DW1000::getVoltage() {
manumaet 12:985aa9843c3c 40 uint8_t buffer[7] = {0x80, 0x0A, 0x0F, 0x01, 0x00}; // algorithm form User Manual p57
manumaet 0:f50e671ffff7 41 writeRegister(DW1000_RF_CONF, 0x11, buffer, 2);
manumaet 0:f50e671ffff7 42 writeRegister(DW1000_RF_CONF, 0x12, &buffer[2], 1);
manumaet 0:f50e671ffff7 43 writeRegister(DW1000_TX_CAL, 0x00, &buffer[3], 1);
manumaet 0:f50e671ffff7 44 writeRegister(DW1000_TX_CAL, 0x00, &buffer[4], 1);
manumaet 8:7a9c61242e2f 45 readRegister(DW1000_TX_CAL, 0x03, &buffer[5], 2); // get the 8-Bit readings for Voltage and Temperature
manumaet 0:f50e671ffff7 46 float Voltage = buffer[5] * 0.0057 + 2.3;
manumaet 20:257d56530ae1 47 //float Temperature = buffer[6] * 1.13 - 113.0; // TODO: getTemperature was always ~35 degree with better formula/calibration see instance_common.c row 391
manumaet 0:f50e671ffff7 48 return Voltage;
manumaet 0:f50e671ffff7 49 }
manumaet 0:f50e671ffff7 50
manumaet 18:bbc7ca7d3a95 51 uint64_t DW1000::getStatus() {
manumaet 18:bbc7ca7d3a95 52 return readRegister40(DW1000_SYS_STATUS, 0);
manumaet 18:bbc7ca7d3a95 53 }
manumaet 18:bbc7ca7d3a95 54
manumaet 10:d077bb12d259 55 void DW1000::sendString(char* message) {
manumaet 10:d077bb12d259 56 sendFrame((uint8_t*)message, strlen(message)+1);
manumaet 10:d077bb12d259 57 }
manumaet 10:d077bb12d259 58
manumaet 10:d077bb12d259 59 char* DW1000::receiveString() {
manumaet 20:257d56530ae1 60 uint16_t framelength = getFramelength();
manumaet 20:257d56530ae1 61 char* receive = new char[framelength]; // prepare memory for the string on the heap
manumaet 20:257d56530ae1 62 readRegister(DW1000_RX_BUFFER, 0, (uint8_t*)receive, framelength); // get data from buffer
manumaet 10:d077bb12d259 63 return receive;
manumaet 10:d077bb12d259 64 }
manumaet 10:d077bb12d259 65
manumaet 11:c87d37db2c6f 66 void DW1000::sendFrame(uint8_t* message, uint16_t length) {
manumaet 20:257d56530ae1 67 if (length >= 1021) length = 1021; // check for maximim length a frame can have TODO: 127 Byte mode?
manumaet 13:b4d27bf7062a 68 writeRegister(DW1000_TX_BUFFER, 0, message, length); // fill buffer
manumaet 7:e634eeafc4d2 69
manumaet 21:23bf4399020d 70 uint8_t backup = readRegister8(DW1000_TX_FCTRL, 1); // put length of frame
manumaet 21:23bf4399020d 71 length += 2; // including 2 CRC Bytes
manumaet 11:c87d37db2c6f 72 length = ((backup & 0xFC) << 8) | (length & 0x03FF);
manumaet 21:23bf4399020d 73 writeRegister16(DW1000_TX_FCTRL, 0, length);
manumaet 11:c87d37db2c6f 74
manumaet 21:23bf4399020d 75 /*if (receiving)*/ stopTRX(); // stop receiving if we are in this state
manumaet 21:23bf4399020d 76 //sending = true;
manumaet 21:23bf4399020d 77 wait(0.01);
manumaet 11:c87d37db2c6f 78 writeRegister8(DW1000_SYS_CTRL, 0, 0x02); // trigger sending process by setting the TXSTRT bit
manumaet 21:23bf4399020d 79 wait(0.01);
manumaet 8:7a9c61242e2f 80 }
manumaet 8:7a9c61242e2f 81
manumaet 17:8afa5f9122da 82 void DW1000::startRX() {
manumaet 21:23bf4399020d 83 //while(sending); // block until sending finished TODO: the right way??
manumaet 21:23bf4399020d 84 //receiving = true;
manumaet 20:257d56530ae1 85 writeRegister8(DW1000_SYS_CTRL, 0x01, 0x01); // start listening for preamble by setting the RXENAB bit
manumaet 7:e634eeafc4d2 86 }
manumaet 7:e634eeafc4d2 87
manumaet 17:8afa5f9122da 88 void DW1000::stopRX() {
manumaet 19:e94bc88c1eb0 89 stopTRX();
manumaet 21:23bf4399020d 90 //receiving = false;
manumaet 17:8afa5f9122da 91 }
manumaet 17:8afa5f9122da 92
manumaet 20:257d56530ae1 93 // PRIVATE Methods ------------------------------------------------------------------------------------
manumaet 18:bbc7ca7d3a95 94 void DW1000::loadLDE() { // initialise LDE algorithm LDELOAD User Manual p22
manumaet 18:bbc7ca7d3a95 95 writeRegister16(DW1000_PMSC, 0, 0x0301); // set clock to XTAL so OTP is reliable
manumaet 20:257d56530ae1 96 writeRegister16(DW1000_OTP_IF, 0x06, 0x8000); // set LDELOAD bit in OTP
manumaet 12:985aa9843c3c 97 wait_us(150);
manumaet 18:bbc7ca7d3a95 98 writeRegister16(DW1000_PMSC, 0, 0x0200); // recover to PLL clock
manumaet 12:985aa9843c3c 99 }
manumaet 12:985aa9843c3c 100
manumaet 17:8afa5f9122da 101 void DW1000::stopTRX() {
manumaet 17:8afa5f9122da 102 writeRegister8(DW1000_SYS_CTRL, 0, 0x40); // disable tranceiver go back to idle mode
manumaet 17:8afa5f9122da 103 }
manumaet 17:8afa5f9122da 104
manumaet 12:985aa9843c3c 105 void DW1000::resetRX() {
manumaet 12:985aa9843c3c 106 writeRegister8(DW1000_PMSC, 3, 0xE0); // set RX reset
manumaet 12:985aa9843c3c 107 writeRegister8(DW1000_PMSC, 3, 0xF0); // clear RX reset
manumaet 12:985aa9843c3c 108 }
manumaet 12:985aa9843c3c 109
manumaet 12:985aa9843c3c 110 void DW1000::resetAll() {
manumaet 12:985aa9843c3c 111 writeRegister8(DW1000_PMSC, 0, 0x01); // set clock to XTAL
manumaet 12:985aa9843c3c 112 writeRegister8(DW1000_PMSC, 3, 0x00); // set All reset
manumaet 12:985aa9843c3c 113 wait_us(10); // wait for PLL to lock
manumaet 12:985aa9843c3c 114 writeRegister8(DW1000_PMSC, 3, 0xF0); // clear All reset
manumaet 7:e634eeafc4d2 115 }
manumaet 0:f50e671ffff7 116
manumaet 20:257d56530ae1 117 void DW1000::ISR() {
manumaet 20:257d56530ae1 118 uint64_t status = getStatus();
manumaet 20:257d56530ae1 119 if (status & 0x4000) {
manumaet 21:23bf4399020d 120 if (callbackRX != NULL)
manumaet 21:23bf4399020d 121 callbackRX(getFramelength());
manumaet 20:257d56530ae1 122 }
manumaet 20:257d56530ae1 123 if (status & 0x80) {
manumaet 20:257d56530ae1 124 sending = false;
manumaet 21:23bf4399020d 125 wait(0.1);
manumaet 21:23bf4399020d 126 /*if (receiving)*/ startRX(); // enable receiver again if we need to preserve state TODO: have to do it here??
manumaet 21:23bf4399020d 127 if (callbackTX != NULL)
manumaet 21:23bf4399020d 128 callbackTX();
manumaet 20:257d56530ae1 129 }
manumaet 21:23bf4399020d 130 //writeRegister16(DW1000_SYS_STATUS, 0, 0x1111); // TODO: clearing status bits not necessary?
manumaet 20:257d56530ae1 131 }
manumaet 20:257d56530ae1 132
manumaet 20:257d56530ae1 133 uint16_t DW1000::getFramelength() {
manumaet 20:257d56530ae1 134 uint16_t framelength = readRegister16(DW1000_RX_FINFO, 0); // get framelength
manumaet 20:257d56530ae1 135 framelength = (framelength & 0x03FF) - 2; // take only the right bits and subtract the 2 CRC Bytes
manumaet 20:257d56530ae1 136 return framelength;
manumaet 20:257d56530ae1 137 }
manumaet 20:257d56530ae1 138
manumaet 0:f50e671ffff7 139 // SPI Interface ------------------------------------------------------------------------------------
manumaet 10:d077bb12d259 140 uint8_t DW1000::readRegister8(uint8_t reg, uint16_t subaddress) {
manumaet 10:d077bb12d259 141 uint8_t result;
manumaet 10:d077bb12d259 142 readRegister(reg, subaddress, &result, 1);
manumaet 10:d077bb12d259 143 return result;
manumaet 10:d077bb12d259 144 }
manumaet 10:d077bb12d259 145
manumaet 18:bbc7ca7d3a95 146 uint16_t DW1000::readRegister16(uint8_t reg, uint16_t subaddress) {
manumaet 18:bbc7ca7d3a95 147 uint16_t result;
manumaet 18:bbc7ca7d3a95 148 readRegister(reg, subaddress, (uint8_t*)&result, 2);
manumaet 18:bbc7ca7d3a95 149 return result;
manumaet 18:bbc7ca7d3a95 150 }
manumaet 18:bbc7ca7d3a95 151
manumaet 18:bbc7ca7d3a95 152 uint64_t DW1000::readRegister40(uint8_t reg, uint16_t subaddress) {
manumaet 18:bbc7ca7d3a95 153 uint64_t result;
manumaet 18:bbc7ca7d3a95 154 readRegister(reg, subaddress, (uint8_t*)&result, 5);
manumaet 18:bbc7ca7d3a95 155 result &= 0xFFFFFFFFFF; // only 40-Bit
manumaet 18:bbc7ca7d3a95 156 return result;
manumaet 18:bbc7ca7d3a95 157 }
manumaet 18:bbc7ca7d3a95 158
manumaet 8:7a9c61242e2f 159 void DW1000::writeRegister8(uint8_t reg, uint16_t subaddress, uint8_t buffer) {
manumaet 8:7a9c61242e2f 160 writeRegister(reg, subaddress, &buffer, 1);
manumaet 8:7a9c61242e2f 161 }
manumaet 8:7a9c61242e2f 162
manumaet 18:bbc7ca7d3a95 163 void DW1000::writeRegister16(uint8_t reg, uint16_t subaddress, uint16_t buffer) {
manumaet 18:bbc7ca7d3a95 164 writeRegister(reg, subaddress, (uint8_t*)&buffer, 2);
manumaet 18:bbc7ca7d3a95 165 }
manumaet 18:bbc7ca7d3a95 166
manumaet 8:7a9c61242e2f 167 void DW1000::readRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length) {
manumaet 0:f50e671ffff7 168 setupTransaction(reg, subaddress, false);
manumaet 18:bbc7ca7d3a95 169 for(int i=0; i<length; i++) // get data
manumaet 0:f50e671ffff7 170 buffer[i] = spi.write(0x00);
manumaet 0:f50e671ffff7 171 deselect();
manumaet 0:f50e671ffff7 172 }
manumaet 0:f50e671ffff7 173
manumaet 8:7a9c61242e2f 174 void DW1000::writeRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length) {
manumaet 0:f50e671ffff7 175 setupTransaction(reg, subaddress, true);
manumaet 18:bbc7ca7d3a95 176 for(int i=0; i<length; i++) // put data
manumaet 0:f50e671ffff7 177 spi.write(buffer[i]);
manumaet 0:f50e671ffff7 178 deselect();
manumaet 0:f50e671ffff7 179 }
manumaet 0:f50e671ffff7 180
manumaet 8:7a9c61242e2f 181 void DW1000::setupTransaction(uint8_t reg, uint16_t subaddress, bool write) {
manumaet 18:bbc7ca7d3a95 182 reg |= (write * DW1000_WRITE_FLAG); // set read/write flag
manumaet 0:f50e671ffff7 183 select();
manumaet 0:f50e671ffff7 184 if (subaddress > 0) { // there's a subadress, we need to set flag and send second header byte
manumaet 0:f50e671ffff7 185 spi.write(reg | DW1000_SUBADDRESS_FLAG);
manumaet 18:bbc7ca7d3a95 186 if (subaddress > 0x7F) { // sub address too long, we need to set flag and send third header byte
manumaet 18:bbc7ca7d3a95 187 spi.write((uint8_t)(subaddress & 0x7F) | DW1000_2_SUBADDRESS_FLAG); // and
manumaet 0:f50e671ffff7 188 spi.write((uint8_t)(subaddress >> 7));
manumaet 0:f50e671ffff7 189 } else {
manumaet 0:f50e671ffff7 190 spi.write((uint8_t)subaddress);
manumaet 0:f50e671ffff7 191 }
manumaet 0:f50e671ffff7 192 } else {
manumaet 18:bbc7ca7d3a95 193 spi.write(reg); // say which register address we want to access
manumaet 0:f50e671ffff7 194 }
manumaet 0:f50e671ffff7 195 }
manumaet 0:f50e671ffff7 196
manumaet 18:bbc7ca7d3a95 197 void DW1000::select() { cs = 0; } // set CS low to start transmission
manumaet 18:bbc7ca7d3a95 198 void DW1000::deselect() { cs = 1; } // set CS high to stop transmission