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@37:40f94c634c3e, 2015-02-20 (annotated)

Committer:
manumaet
Date:
Fri Feb 20 13:21:06 2015 +0000
Revision:
37:40f94c634c3e
Parent:
36:883de6f9a73b
Child:
38:8ef3b8d8b908
implemented source/destination adresses and filtering

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 26:a65c6f26c458 4 setCallbacks(NULL, NULL);
manumaet 17:8afa5f9122da 5
manumaet 0:f50e671ffff7 6 deselect(); // Chip must be deselected first
manumaet 0:f50e671ffff7 7 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 8 spi.frequency(1000000); // with a 1MHz clock rate (worked up to 49MHz in our Test)
manumaet 7:e634eeafc4d2 9
manumaet 37:40f94c634c3e 10 resetAll(); // we do a soft reset of the DW1000 everytime the driver starts
manumaet 12:985aa9843c3c 11 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 12
manumaet 18:bbc7ca7d3a95 13 // Configuration TODO: make method for that
manumaet 12:985aa9843c3c 14 writeRegister8(DW1000_SYS_CFG, 3, 0x20); // enable auto reenabling receiver after error
manumaet 36:883de6f9a73b 15 //writeRegister8(DW1000_SYS_CFG, 2, 0x03); // enable 1024 byte frames TODO: is this really what stated in the comment?
manumaet 11:c87d37db2c6f 16
manumaet 8:7a9c61242e2f 17 irq.rise(this, &DW1000::ISR); // attach Interrupt handler to rising edge
manumaet 0:f50e671ffff7 18 }
manumaet 0:f50e671ffff7 19
manumaet 29:019ff388ed76 20 void DW1000::setCallbacks(void (*callbackRX)(void), void (*callbackTX)(void)) {
manumaet 29:019ff388ed76 21 bool RX = false;
manumaet 29:019ff388ed76 22 bool TX = false;
manumaet 29:019ff388ed76 23 if (callbackRX) {
manumaet 29:019ff388ed76 24 DW1000::callbackRX.attach(callbackRX);
manumaet 29:019ff388ed76 25 RX = true;
manumaet 29:019ff388ed76 26 }
manumaet 29:019ff388ed76 27 if (callbackTX) {
manumaet 29:019ff388ed76 28 DW1000::callbackTX.attach(callbackTX);
manumaet 29:019ff388ed76 29 TX = true;
manumaet 29:019ff388ed76 30 }
manumaet 29:019ff388ed76 31 setInterrupt(RX,TX);
manumaet 26:a65c6f26c458 32 }
manumaet 26:a65c6f26c458 33
manumaet 0:f50e671ffff7 34 uint32_t DW1000::getDeviceID() {
manumaet 0:f50e671ffff7 35 uint32_t result;
manumaet 0:f50e671ffff7 36 readRegister(DW1000_DEV_ID, 0, (uint8_t*)&result, 4);
manumaet 0:f50e671ffff7 37 return result;
manumaet 0:f50e671ffff7 38 }
manumaet 0:f50e671ffff7 39
manumaet 0:f50e671ffff7 40 uint64_t DW1000::getEUI() {
manumaet 0:f50e671ffff7 41 uint64_t result;
manumaet 0:f50e671ffff7 42 readRegister(DW1000_EUI, 0, (uint8_t*)&result, 8);
manumaet 0:f50e671ffff7 43 return result;
manumaet 0:f50e671ffff7 44 }
manumaet 0:f50e671ffff7 45
manumaet 0:f50e671ffff7 46 void DW1000::setEUI(uint64_t EUI) {
manumaet 0:f50e671ffff7 47 writeRegister(DW1000_EUI, 0, (uint8_t*)&EUI, 8);
manumaet 0:f50e671ffff7 48 }
manumaet 0:f50e671ffff7 49
manumaet 0:f50e671ffff7 50 float DW1000::getVoltage() {
manumaet 12:985aa9843c3c 51 uint8_t buffer[7] = {0x80, 0x0A, 0x0F, 0x01, 0x00}; // algorithm form User Manual p57
manumaet 0:f50e671ffff7 52 writeRegister(DW1000_RF_CONF, 0x11, buffer, 2);
manumaet 0:f50e671ffff7 53 writeRegister(DW1000_RF_CONF, 0x12, &buffer[2], 1);
manumaet 0:f50e671ffff7 54 writeRegister(DW1000_TX_CAL, 0x00, &buffer[3], 1);
manumaet 0:f50e671ffff7 55 writeRegister(DW1000_TX_CAL, 0x00, &buffer[4], 1);
manumaet 8:7a9c61242e2f 56 readRegister(DW1000_TX_CAL, 0x03, &buffer[5], 2); // get the 8-Bit readings for Voltage and Temperature
manumaet 0:f50e671ffff7 57 float Voltage = buffer[5] * 0.0057 + 2.3;
manumaet 20:257d56530ae1 58 //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 59 return Voltage;
manumaet 0:f50e671ffff7 60 }
manumaet 0:f50e671ffff7 61
manumaet 18:bbc7ca7d3a95 62 uint64_t DW1000::getStatus() {
manumaet 18:bbc7ca7d3a95 63 return readRegister40(DW1000_SYS_STATUS, 0);
manumaet 18:bbc7ca7d3a95 64 }
manumaet 18:bbc7ca7d3a95 65
manumaet 26:a65c6f26c458 66 uint64_t DW1000::getRXTimestamp() {
manumaet 26:a65c6f26c458 67 return readRegister40(DW1000_RX_TIME, 0);
manumaet 26:a65c6f26c458 68 }
manumaet 26:a65c6f26c458 69
manumaet 26:a65c6f26c458 70 uint64_t DW1000::getTXTimestamp() {
manumaet 26:a65c6f26c458 71 return readRegister40(DW1000_TX_TIME, 0);
manumaet 26:a65c6f26c458 72 }
manumaet 26:a65c6f26c458 73
manumaet 10:d077bb12d259 74 void DW1000::sendString(char* message) {
manumaet 10:d077bb12d259 75 sendFrame((uint8_t*)message, strlen(message)+1);
manumaet 10:d077bb12d259 76 }
manumaet 10:d077bb12d259 77
manumaet 24:6f25ba679490 78 void DW1000::receiveString(char* message) {
manumaet 31:6f76f3d518ac 79 readRegister(DW1000_RX_BUFFER, 0, (uint8_t*)message, getFramelength()); // get data from buffer
manumaet 10:d077bb12d259 80 }
manumaet 10:d077bb12d259 81
manumaet 11:c87d37db2c6f 82 void DW1000::sendFrame(uint8_t* message, uint16_t length) {
manumaet 20:257d56530ae1 83 if (length >= 1021) length = 1021; // check for maximim length a frame can have TODO: 127 Byte mode?
manumaet 13:b4d27bf7062a 84 writeRegister(DW1000_TX_BUFFER, 0, message, length); // fill buffer
manumaet 7:e634eeafc4d2 85
manumaet 37:40f94c634c3e 86 #if 0 // switch draft for slower data rate and original working 6.8Mbps
manumaet 37:40f94c634c3e 87 uint8_t backup = readRegister8(DW1000_TX_FCTRL, 1); // put length of frame
manumaet 37:40f94c634c3e 88 length += 2; // including 2 CRC Bytes
manumaet 37:40f94c634c3e 89 //length = ((backup & 0xFC) << 8) | (length & 0x03FF);
manumaet 37:40f94c634c3e 90 length = ((0xA0 & 0xFC) << 8) | (length & 0x03FF); // for slower data rate and therefore more range TODO: put in a modular configuration not a fixed value
manumaet 37:40f94c634c3e 91 writeRegister16(DW1000_TX_FCTRL, 0, length);
manumaet 37:40f94c634c3e 92
manumaet 37:40f94c634c3e 93 backup = readRegister8(DW1000_TX_FCTRL, 2); // change preamble length
manumaet 37:40f94c634c3e 94 uint8_t preamble_reg = (backup & 0xC0) | (0x29 & 0x3F); // for longer preamble to match slower data rate TODO: put in a modular configuration not a fixed value
manumaet 37:40f94c634c3e 95 writeRegister8(DW1000_TX_FCTRL, 2, preamble_reg);
manumaet 37:40f94c634c3e 96 #else
manumaet 37:40f94c634c3e 97 uint8_t backup = readRegister8(DW1000_TX_FCTRL, 1); // put length of frame
manumaet 37:40f94c634c3e 98 length += 2; // including 2 CRC Bytes
manumaet 37:40f94c634c3e 99 length = ((backup & 0xFC) << 8) | (length & 0x03FF);
manumaet 37:40f94c634c3e 100 writeRegister16(DW1000_TX_FCTRL, 0, length);
manumaet 37:40f94c634c3e 101 #endif
manumaet 11:c87d37db2c6f 102
manumaet 25:d58b0595b300 103 stopTRX(); // stop receiving
manumaet 23:661a79e56208 104 writeRegister8(DW1000_SYS_CTRL, 0, 0x02); // trigger sending process by setting the TXSTRT bit
manumaet 25:d58b0595b300 105 startRX(); // enable receiver again
manumaet 8:7a9c61242e2f 106 }
manumaet 8:7a9c61242e2f 107
manumaet 17:8afa5f9122da 108 void DW1000::startRX() {
manumaet 20:257d56530ae1 109 writeRegister8(DW1000_SYS_CTRL, 0x01, 0x01); // start listening for preamble by setting the RXENAB bit
manumaet 7:e634eeafc4d2 110 }
manumaet 7:e634eeafc4d2 111
manumaet 25:d58b0595b300 112 void DW1000::stopTRX() {
manumaet 25:d58b0595b300 113 writeRegister8(DW1000_SYS_CTRL, 0, 0x40); // disable tranceiver go back to idle mode
manumaet 17:8afa5f9122da 114 }
manumaet 17:8afa5f9122da 115
manumaet 20:257d56530ae1 116 // PRIVATE Methods ------------------------------------------------------------------------------------
manumaet 18:bbc7ca7d3a95 117 void DW1000::loadLDE() { // initialise LDE algorithm LDELOAD User Manual p22
manumaet 18:bbc7ca7d3a95 118 writeRegister16(DW1000_PMSC, 0, 0x0301); // set clock to XTAL so OTP is reliable
manumaet 20:257d56530ae1 119 writeRegister16(DW1000_OTP_IF, 0x06, 0x8000); // set LDELOAD bit in OTP
manumaet 12:985aa9843c3c 120 wait_us(150);
manumaet 18:bbc7ca7d3a95 121 writeRegister16(DW1000_PMSC, 0, 0x0200); // recover to PLL clock
manumaet 12:985aa9843c3c 122 }
manumaet 12:985aa9843c3c 123
manumaet 12:985aa9843c3c 124 void DW1000::resetRX() {
manumaet 12:985aa9843c3c 125 writeRegister8(DW1000_PMSC, 3, 0xE0); // set RX reset
manumaet 12:985aa9843c3c 126 writeRegister8(DW1000_PMSC, 3, 0xF0); // clear RX reset
manumaet 12:985aa9843c3c 127 }
manumaet 12:985aa9843c3c 128
manumaet 12:985aa9843c3c 129 void DW1000::resetAll() {
manumaet 12:985aa9843c3c 130 writeRegister8(DW1000_PMSC, 0, 0x01); // set clock to XTAL
manumaet 12:985aa9843c3c 131 writeRegister8(DW1000_PMSC, 3, 0x00); // set All reset
manumaet 12:985aa9843c3c 132 wait_us(10); // wait for PLL to lock
manumaet 12:985aa9843c3c 133 writeRegister8(DW1000_PMSC, 3, 0xF0); // clear All reset
manumaet 7:e634eeafc4d2 134 }
manumaet 0:f50e671ffff7 135
manumaet 29:019ff388ed76 136
manumaet 29:019ff388ed76 137 void DW1000::setInterrupt(bool RX, bool TX) {
manumaet 29:019ff388ed76 138 writeRegister16(DW1000_SYS_MASK, 0, RX*0x4000 | TX*0x0080); // RX good frame 0x4000, TX done 0x0080
manumaet 29:019ff388ed76 139 }
manumaet 29:019ff388ed76 140
manumaet 20:257d56530ae1 141 void DW1000::ISR() {
manumaet 20:257d56530ae1 142 uint64_t status = getStatus();
manumaet 22:576ee999b004 143 if (status & 0x4000) { // a frame was received
manumaet 29:019ff388ed76 144 callbackRX.call();
manumaet 22:576ee999b004 145 writeRegister16(DW1000_SYS_STATUS, 0, 0x6F00); // clearing of receiving status bits
manumaet 20:257d56530ae1 146 }
manumaet 22:576ee999b004 147 if (status & 0x80) { // sending complete
manumaet 29:019ff388ed76 148 callbackTX.call();
manumaet 22:576ee999b004 149 writeRegister8(DW1000_SYS_STATUS, 0, 0xF8); // clearing of sending status bits
manumaet 20:257d56530ae1 150 }
manumaet 20:257d56530ae1 151 }
manumaet 20:257d56530ae1 152
manumaet 20:257d56530ae1 153 uint16_t DW1000::getFramelength() {
manumaet 20:257d56530ae1 154 uint16_t framelength = readRegister16(DW1000_RX_FINFO, 0); // get framelength
manumaet 20:257d56530ae1 155 framelength = (framelength & 0x03FF) - 2; // take only the right bits and subtract the 2 CRC Bytes
manumaet 20:257d56530ae1 156 return framelength;
manumaet 20:257d56530ae1 157 }
manumaet 20:257d56530ae1 158
manumaet 0:f50e671ffff7 159 // SPI Interface ------------------------------------------------------------------------------------
manumaet 10:d077bb12d259 160 uint8_t DW1000::readRegister8(uint8_t reg, uint16_t subaddress) {
manumaet 10:d077bb12d259 161 uint8_t result;
manumaet 10:d077bb12d259 162 readRegister(reg, subaddress, &result, 1);
manumaet 10:d077bb12d259 163 return result;
manumaet 10:d077bb12d259 164 }
manumaet 10:d077bb12d259 165
manumaet 18:bbc7ca7d3a95 166 uint16_t DW1000::readRegister16(uint8_t reg, uint16_t subaddress) {
manumaet 18:bbc7ca7d3a95 167 uint16_t result;
manumaet 18:bbc7ca7d3a95 168 readRegister(reg, subaddress, (uint8_t*)&result, 2);
manumaet 18:bbc7ca7d3a95 169 return result;
manumaet 18:bbc7ca7d3a95 170 }
manumaet 18:bbc7ca7d3a95 171
manumaet 18:bbc7ca7d3a95 172 uint64_t DW1000::readRegister40(uint8_t reg, uint16_t subaddress) {
manumaet 18:bbc7ca7d3a95 173 uint64_t result;
manumaet 18:bbc7ca7d3a95 174 readRegister(reg, subaddress, (uint8_t*)&result, 5);
manumaet 18:bbc7ca7d3a95 175 result &= 0xFFFFFFFFFF; // only 40-Bit
manumaet 18:bbc7ca7d3a95 176 return result;
manumaet 18:bbc7ca7d3a95 177 }
manumaet 18:bbc7ca7d3a95 178
manumaet 8:7a9c61242e2f 179 void DW1000::writeRegister8(uint8_t reg, uint16_t subaddress, uint8_t buffer) {
manumaet 8:7a9c61242e2f 180 writeRegister(reg, subaddress, &buffer, 1);
manumaet 8:7a9c61242e2f 181 }
manumaet 8:7a9c61242e2f 182
manumaet 18:bbc7ca7d3a95 183 void DW1000::writeRegister16(uint8_t reg, uint16_t subaddress, uint16_t buffer) {
manumaet 18:bbc7ca7d3a95 184 writeRegister(reg, subaddress, (uint8_t*)&buffer, 2);
manumaet 18:bbc7ca7d3a95 185 }
manumaet 18:bbc7ca7d3a95 186
manumaet 8:7a9c61242e2f 187 void DW1000::readRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length) {
manumaet 0:f50e671ffff7 188 setupTransaction(reg, subaddress, false);
manumaet 18:bbc7ca7d3a95 189 for(int i=0; i<length; i++) // get data
manumaet 0:f50e671ffff7 190 buffer[i] = spi.write(0x00);
manumaet 0:f50e671ffff7 191 deselect();
manumaet 0:f50e671ffff7 192 }
manumaet 0:f50e671ffff7 193
manumaet 8:7a9c61242e2f 194 void DW1000::writeRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length) {
manumaet 0:f50e671ffff7 195 setupTransaction(reg, subaddress, true);
manumaet 18:bbc7ca7d3a95 196 for(int i=0; i<length; i++) // put data
manumaet 0:f50e671ffff7 197 spi.write(buffer[i]);
manumaet 0:f50e671ffff7 198 deselect();
manumaet 0:f50e671ffff7 199 }
manumaet 0:f50e671ffff7 200
manumaet 8:7a9c61242e2f 201 void DW1000::setupTransaction(uint8_t reg, uint16_t subaddress, bool write) {
manumaet 18:bbc7ca7d3a95 202 reg |= (write * DW1000_WRITE_FLAG); // set read/write flag
manumaet 0:f50e671ffff7 203 select();
manumaet 0:f50e671ffff7 204 if (subaddress > 0) { // there's a subadress, we need to set flag and send second header byte
manumaet 0:f50e671ffff7 205 spi.write(reg | DW1000_SUBADDRESS_FLAG);
manumaet 18:bbc7ca7d3a95 206 if (subaddress > 0x7F) { // sub address too long, we need to set flag and send third header byte
manumaet 18:bbc7ca7d3a95 207 spi.write((uint8_t)(subaddress & 0x7F) | DW1000_2_SUBADDRESS_FLAG); // and
manumaet 0:f50e671ffff7 208 spi.write((uint8_t)(subaddress >> 7));
manumaet 0:f50e671ffff7 209 } else {
manumaet 0:f50e671ffff7 210 spi.write((uint8_t)subaddress);
manumaet 0:f50e671ffff7 211 }
manumaet 0:f50e671ffff7 212 } else {
manumaet 18:bbc7ca7d3a95 213 spi.write(reg); // say which register address we want to access
manumaet 0:f50e671ffff7 214 }
manumaet 0:f50e671ffff7 215 }
manumaet 0:f50e671ffff7 216
manumaet 18:bbc7ca7d3a95 217 void DW1000::select() { cs = 0; } // set CS low to start transmission
manumaet 18:bbc7ca7d3a95 218 void DW1000::deselect() { cs = 1; } // set CS high to stop transmission