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@4:6240b9c7a033, 2014-11-18 (annotated)

Committer:
manumaet
Date:
Tue Nov 18 12:44:22 2014 +0000
Revision:
4:6240b9c7a033
Parent:
0:f50e671ffff7
Child:
7:e634eeafc4d2
managed to get multiple frames via resetRX()

Who changed what in which revision?

UserRevisionLine numberNew contents of line
manumaet 0:f50e671ffff7 1 #include "DW1000.h"
manumaet 0:f50e671ffff7 2
manumaet 0:f50e671ffff7 3 DW1000::DW1000(PinName MOSI, PinName MISO, PinName SCLK, PinName CS) : spi(MOSI, MISO, SCLK), cs(CS)
manumaet 0:f50e671ffff7 4 {
manumaet 0:f50e671ffff7 5 deselect(); // Chip must be deselected first
manumaet 0:f50e671ffff7 6 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 7 spi.frequency(1000000); // with a 1MHz clock rate (worked up to 49MHz in our Test)
manumaet 0:f50e671ffff7 8 }
manumaet 0:f50e671ffff7 9
manumaet 0:f50e671ffff7 10 uint32_t DW1000::getDeviceID() {
manumaet 0:f50e671ffff7 11 uint32_t result;
manumaet 0:f50e671ffff7 12 readRegister(DW1000_DEV_ID, 0, (uint8_t*)&result, 4);
manumaet 0:f50e671ffff7 13 return result;
manumaet 0:f50e671ffff7 14 }
manumaet 0:f50e671ffff7 15
manumaet 0:f50e671ffff7 16 uint64_t DW1000::getEUI() {
manumaet 0:f50e671ffff7 17 uint64_t result;
manumaet 0:f50e671ffff7 18 readRegister(DW1000_EUI, 0, (uint8_t*)&result, 8);
manumaet 0:f50e671ffff7 19 return result;
manumaet 0:f50e671ffff7 20 }
manumaet 0:f50e671ffff7 21
manumaet 0:f50e671ffff7 22 void DW1000::setEUI(uint64_t EUI) {
manumaet 0:f50e671ffff7 23 writeRegister(DW1000_EUI, 0, (uint8_t*)&EUI, 8);
manumaet 0:f50e671ffff7 24 }
manumaet 0:f50e671ffff7 25
manumaet 4:6240b9c7a033 26 void DW1000::sendFrame(char* message, int length) {
manumaet 4:6240b9c7a033 27 writeRegister(DW1000_TX_BUFFER, 0, (uint8_t*)message, length); // fill buffer
manumaet 4:6240b9c7a033 28
manumaet 4:6240b9c7a033 29 uint16_t framelength = length+2; // put length of frame including 2 CRC Bytes
manumaet 4:6240b9c7a033 30 writeRegister(DW1000_TX_FCTRL, 0, (uint8_t*)&framelength, 1);
manumaet 4:6240b9c7a033 31
manumaet 4:6240b9c7a033 32 uint8_t txstart = 0x02; // trigger sending process
manumaet 4:6240b9c7a033 33 writeRegister(DW1000_SYS_CTRL, 0, &txstart, 1);
manumaet 4:6240b9c7a033 34 }
manumaet 4:6240b9c7a033 35
manumaet 4:6240b9c7a033 36 void DW1000::resetRX() {
manumaet 4:6240b9c7a033 37 uint8_t resetrx = 0xE0; //set rx reset
manumaet 4:6240b9c7a033 38 writeRegister(DW1000_PMSC, 3, &resetrx, 1);
manumaet 4:6240b9c7a033 39 resetrx = 0xf0; //clear RX reset
manumaet 4:6240b9c7a033 40 writeRegister(DW1000_PMSC, 3, &resetrx, 1);
manumaet 4:6240b9c7a033 41 }
manumaet 4:6240b9c7a033 42
manumaet 0:f50e671ffff7 43 float DW1000::getVoltage() {
manumaet 4:6240b9c7a033 44 uint8_t buffer[7] = {0x80, 0x0A, 0x0F, 0x01, 0x00}; // algorithm form DW1000 User Manual p57
manumaet 0:f50e671ffff7 45 writeRegister(DW1000_RF_CONF, 0x11, buffer, 2);
manumaet 0:f50e671ffff7 46 writeRegister(DW1000_RF_CONF, 0x12, &buffer[2], 1);
manumaet 0:f50e671ffff7 47 writeRegister(DW1000_TX_CAL, 0x00, &buffer[3], 1);
manumaet 0:f50e671ffff7 48 writeRegister(DW1000_TX_CAL, 0x00, &buffer[4], 1);
manumaet 0:f50e671ffff7 49 readRegister(DW1000_TX_CAL, 0x03, &buffer[5], 2); // get the 8-Bit readings for Voltage and Temperature
manumaet 0:f50e671ffff7 50 float Voltage = buffer[5] * 0.0057 + 2.3;
manumaet 4:6240b9c7a033 51 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 52 return Voltage;
manumaet 0:f50e671ffff7 53 }
manumaet 0:f50e671ffff7 54
manumaet 0:f50e671ffff7 55
manumaet 0:f50e671ffff7 56 // SPI Interface ------------------------------------------------------------------------------------
manumaet 0:f50e671ffff7 57 void DW1000::readRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length)
manumaet 0:f50e671ffff7 58 {
manumaet 0:f50e671ffff7 59 setupTransaction(reg, subaddress, false);
manumaet 0:f50e671ffff7 60
manumaet 0:f50e671ffff7 61 // get data
manumaet 0:f50e671ffff7 62 for(int i=0; i<length; i++)
manumaet 0:f50e671ffff7 63 buffer[i] = spi.write(0x00);
manumaet 0:f50e671ffff7 64 deselect();
manumaet 0:f50e671ffff7 65 }
manumaet 0:f50e671ffff7 66
manumaet 0:f50e671ffff7 67 void DW1000::writeRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length)
manumaet 0:f50e671ffff7 68 {
manumaet 0:f50e671ffff7 69 setupTransaction(reg, subaddress, true);
manumaet 0:f50e671ffff7 70
manumaet 0:f50e671ffff7 71 // put data
manumaet 0:f50e671ffff7 72 for(int i=0; i<length; i++)
manumaet 0:f50e671ffff7 73 spi.write(buffer[i]);
manumaet 0:f50e671ffff7 74 deselect();
manumaet 0:f50e671ffff7 75 }
manumaet 0:f50e671ffff7 76
manumaet 0:f50e671ffff7 77 void DW1000::setupTransaction(uint8_t reg, uint16_t subaddress, bool write)
manumaet 0:f50e671ffff7 78 {
manumaet 0:f50e671ffff7 79 reg |= (write * DW1000_WRITE_FLAG);
manumaet 0:f50e671ffff7 80 select();
manumaet 0:f50e671ffff7 81 if (subaddress > 0) { // there's a subadress, we need to set flag and send second header byte
manumaet 0:f50e671ffff7 82 spi.write(reg | DW1000_SUBADDRESS_FLAG);
manumaet 0:f50e671ffff7 83 if (subaddress > 127) { // sub address too long, we need to set flag and send third header byte
manumaet 0:f50e671ffff7 84 spi.write((uint8_t)(subaddress & 0x7F) | DW1000_2_SUBADDRESS_FLAG);
manumaet 0:f50e671ffff7 85 spi.write((uint8_t)(subaddress >> 7));
manumaet 0:f50e671ffff7 86 } else {
manumaet 0:f50e671ffff7 87 spi.write((uint8_t)subaddress);
manumaet 0:f50e671ffff7 88 }
manumaet 0:f50e671ffff7 89 } else {
manumaet 0:f50e671ffff7 90 spi.write(reg);
manumaet 0:f50e671ffff7 91 }
manumaet 0:f50e671ffff7 92 }
manumaet 0:f50e671ffff7 93
manumaet 0:f50e671ffff7 94 void DW1000::select() { cs = 0; } //Set CS low to start transmission
manumaet 0:f50e671ffff7 95 void DW1000::deselect() { cs = 1; } //Set CS high to stop transmission