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@24:6f25ba679490, 2014-11-27 (annotated)

Committer:
manumaet
Date:
Thu Nov 27 16:26:42 2014 +0000
Revision:
24:6f25ba679490
Parent:
23:661a79e56208
Child:
25:d58b0595b300
no more printfs and heap in interrupt, ack of every frame works

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 24:6f25ba679490 59 void DW1000::receiveString(char* message) {
manumaet 20:257d56530ae1 60 uint16_t framelength = getFramelength();
manumaet 24:6f25ba679490 61 readRegister(DW1000_RX_BUFFER, 0, (uint8_t*)message, framelength); // get data from buffer
manumaet 10:d077bb12d259 62 }
manumaet 10:d077bb12d259 63
manumaet 11:c87d37db2c6f 64 void DW1000::sendFrame(uint8_t* message, uint16_t length) {
manumaet 20:257d56530ae1 65 if (length >= 1021) length = 1021; // check for maximim length a frame can have TODO: 127 Byte mode?
manumaet 13:b4d27bf7062a 66 writeRegister(DW1000_TX_BUFFER, 0, message, length); // fill buffer
manumaet 7:e634eeafc4d2 67
manumaet 21:23bf4399020d 68 uint8_t backup = readRegister8(DW1000_TX_FCTRL, 1); // put length of frame
manumaet 21:23bf4399020d 69 length += 2; // including 2 CRC Bytes
manumaet 11:c87d37db2c6f 70 length = ((backup & 0xFC) << 8) | (length & 0x03FF);
manumaet 21:23bf4399020d 71 writeRegister16(DW1000_TX_FCTRL, 0, length);
manumaet 11:c87d37db2c6f 72
manumaet 22:576ee999b004 73 if (receiving) stopTRX(); // stop receiving if we are in this state
manumaet 22:576ee999b004 74 sending = true;
manumaet 23:661a79e56208 75 writeRegister8(DW1000_SYS_CTRL, 0, 0x02); // trigger sending process by setting the TXSTRT bit
manumaet 24:6f25ba679490 76 if (receiving) startRX();
manumaet 8:7a9c61242e2f 77 }
manumaet 8:7a9c61242e2f 78
manumaet 17:8afa5f9122da 79 void DW1000::startRX() {
manumaet 21:23bf4399020d 80 //while(sending); // block until sending finished TODO: the right way??
manumaet 22:576ee999b004 81 receiving = true;
manumaet 20:257d56530ae1 82 writeRegister8(DW1000_SYS_CTRL, 0x01, 0x01); // start listening for preamble by setting the RXENAB bit
manumaet 7:e634eeafc4d2 83 }
manumaet 7:e634eeafc4d2 84
manumaet 17:8afa5f9122da 85 void DW1000::stopRX() {
manumaet 22:576ee999b004 86 receiving = false;
manumaet 19:e94bc88c1eb0 87 stopTRX();
manumaet 17:8afa5f9122da 88 }
manumaet 17:8afa5f9122da 89
manumaet 20:257d56530ae1 90 // PRIVATE Methods ------------------------------------------------------------------------------------
manumaet 18:bbc7ca7d3a95 91 void DW1000::loadLDE() { // initialise LDE algorithm LDELOAD User Manual p22
manumaet 18:bbc7ca7d3a95 92 writeRegister16(DW1000_PMSC, 0, 0x0301); // set clock to XTAL so OTP is reliable
manumaet 20:257d56530ae1 93 writeRegister16(DW1000_OTP_IF, 0x06, 0x8000); // set LDELOAD bit in OTP
manumaet 12:985aa9843c3c 94 wait_us(150);
manumaet 18:bbc7ca7d3a95 95 writeRegister16(DW1000_PMSC, 0, 0x0200); // recover to PLL clock
manumaet 12:985aa9843c3c 96 }
manumaet 12:985aa9843c3c 97
manumaet 17:8afa5f9122da 98 void DW1000::stopTRX() {
manumaet 17:8afa5f9122da 99 writeRegister8(DW1000_SYS_CTRL, 0, 0x40); // disable tranceiver go back to idle mode
manumaet 17:8afa5f9122da 100 }
manumaet 17:8afa5f9122da 101
manumaet 12:985aa9843c3c 102 void DW1000::resetRX() {
manumaet 12:985aa9843c3c 103 writeRegister8(DW1000_PMSC, 3, 0xE0); // set RX reset
manumaet 12:985aa9843c3c 104 writeRegister8(DW1000_PMSC, 3, 0xF0); // clear RX reset
manumaet 12:985aa9843c3c 105 }
manumaet 12:985aa9843c3c 106
manumaet 12:985aa9843c3c 107 void DW1000::resetAll() {
manumaet 12:985aa9843c3c 108 writeRegister8(DW1000_PMSC, 0, 0x01); // set clock to XTAL
manumaet 12:985aa9843c3c 109 writeRegister8(DW1000_PMSC, 3, 0x00); // set All reset
manumaet 12:985aa9843c3c 110 wait_us(10); // wait for PLL to lock
manumaet 12:985aa9843c3c 111 writeRegister8(DW1000_PMSC, 3, 0xF0); // clear All reset
manumaet 7:e634eeafc4d2 112 }
manumaet 0:f50e671ffff7 113
manumaet 20:257d56530ae1 114 void DW1000::ISR() {
manumaet 20:257d56530ae1 115 uint64_t status = getStatus();
manumaet 22:576ee999b004 116 if (status & 0x4000) { // a frame was received
manumaet 21:23bf4399020d 117 if (callbackRX != NULL)
manumaet 21:23bf4399020d 118 callbackRX(getFramelength());
manumaet 22:576ee999b004 119 writeRegister16(DW1000_SYS_STATUS, 0, 0x6F00); // clearing of receiving status bits
manumaet 20:257d56530ae1 120 }
manumaet 22:576ee999b004 121 if (status & 0x80) { // sending complete
manumaet 20:257d56530ae1 122 sending = false;
manumaet 22:576ee999b004 123 if (receiving) startRX(); // enable receiver again if we need to preserve state TODO: have to do it here??
manumaet 21:23bf4399020d 124 if (callbackTX != NULL)
manumaet 21:23bf4399020d 125 callbackTX();
manumaet 22:576ee999b004 126 writeRegister8(DW1000_SYS_STATUS, 0, 0xF8); // clearing of sending status bits
manumaet 20:257d56530ae1 127 }
manumaet 20:257d56530ae1 128 }
manumaet 20:257d56530ae1 129
manumaet 20:257d56530ae1 130 uint16_t DW1000::getFramelength() {
manumaet 20:257d56530ae1 131 uint16_t framelength = readRegister16(DW1000_RX_FINFO, 0); // get framelength
manumaet 20:257d56530ae1 132 framelength = (framelength & 0x03FF) - 2; // take only the right bits and subtract the 2 CRC Bytes
manumaet 20:257d56530ae1 133 return framelength;
manumaet 20:257d56530ae1 134 }
manumaet 20:257d56530ae1 135
manumaet 0:f50e671ffff7 136 // SPI Interface ------------------------------------------------------------------------------------
manumaet 10:d077bb12d259 137 uint8_t DW1000::readRegister8(uint8_t reg, uint16_t subaddress) {
manumaet 10:d077bb12d259 138 uint8_t result;
manumaet 10:d077bb12d259 139 readRegister(reg, subaddress, &result, 1);
manumaet 10:d077bb12d259 140 return result;
manumaet 10:d077bb12d259 141 }
manumaet 10:d077bb12d259 142
manumaet 18:bbc7ca7d3a95 143 uint16_t DW1000::readRegister16(uint8_t reg, uint16_t subaddress) {
manumaet 18:bbc7ca7d3a95 144 uint16_t result;
manumaet 18:bbc7ca7d3a95 145 readRegister(reg, subaddress, (uint8_t*)&result, 2);
manumaet 18:bbc7ca7d3a95 146 return result;
manumaet 18:bbc7ca7d3a95 147 }
manumaet 18:bbc7ca7d3a95 148
manumaet 18:bbc7ca7d3a95 149 uint64_t DW1000::readRegister40(uint8_t reg, uint16_t subaddress) {
manumaet 18:bbc7ca7d3a95 150 uint64_t result;
manumaet 18:bbc7ca7d3a95 151 readRegister(reg, subaddress, (uint8_t*)&result, 5);
manumaet 18:bbc7ca7d3a95 152 result &= 0xFFFFFFFFFF; // only 40-Bit
manumaet 18:bbc7ca7d3a95 153 return result;
manumaet 18:bbc7ca7d3a95 154 }
manumaet 18:bbc7ca7d3a95 155
manumaet 8:7a9c61242e2f 156 void DW1000::writeRegister8(uint8_t reg, uint16_t subaddress, uint8_t buffer) {
manumaet 8:7a9c61242e2f 157 writeRegister(reg, subaddress, &buffer, 1);
manumaet 8:7a9c61242e2f 158 }
manumaet 8:7a9c61242e2f 159
manumaet 18:bbc7ca7d3a95 160 void DW1000::writeRegister16(uint8_t reg, uint16_t subaddress, uint16_t buffer) {
manumaet 18:bbc7ca7d3a95 161 writeRegister(reg, subaddress, (uint8_t*)&buffer, 2);
manumaet 18:bbc7ca7d3a95 162 }
manumaet 18:bbc7ca7d3a95 163
manumaet 8:7a9c61242e2f 164 void DW1000::readRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length) {
manumaet 0:f50e671ffff7 165 setupTransaction(reg, subaddress, false);
manumaet 18:bbc7ca7d3a95 166 for(int i=0; i<length; i++) // get data
manumaet 0:f50e671ffff7 167 buffer[i] = spi.write(0x00);
manumaet 0:f50e671ffff7 168 deselect();
manumaet 0:f50e671ffff7 169 }
manumaet 0:f50e671ffff7 170
manumaet 8:7a9c61242e2f 171 void DW1000::writeRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length) {
manumaet 0:f50e671ffff7 172 setupTransaction(reg, subaddress, true);
manumaet 18:bbc7ca7d3a95 173 for(int i=0; i<length; i++) // put data
manumaet 0:f50e671ffff7 174 spi.write(buffer[i]);
manumaet 0:f50e671ffff7 175 deselect();
manumaet 0:f50e671ffff7 176 }
manumaet 0:f50e671ffff7 177
manumaet 8:7a9c61242e2f 178 void DW1000::setupTransaction(uint8_t reg, uint16_t subaddress, bool write) {
manumaet 18:bbc7ca7d3a95 179 reg |= (write * DW1000_WRITE_FLAG); // set read/write flag
manumaet 0:f50e671ffff7 180 select();
manumaet 0:f50e671ffff7 181 if (subaddress > 0) { // there's a subadress, we need to set flag and send second header byte
manumaet 0:f50e671ffff7 182 spi.write(reg | DW1000_SUBADDRESS_FLAG);
manumaet 18:bbc7ca7d3a95 183 if (subaddress > 0x7F) { // sub address too long, we need to set flag and send third header byte
manumaet 18:bbc7ca7d3a95 184 spi.write((uint8_t)(subaddress & 0x7F) | DW1000_2_SUBADDRESS_FLAG); // and
manumaet 0:f50e671ffff7 185 spi.write((uint8_t)(subaddress >> 7));
manumaet 0:f50e671ffff7 186 } else {
manumaet 0:f50e671ffff7 187 spi.write((uint8_t)subaddress);
manumaet 0:f50e671ffff7 188 }
manumaet 0:f50e671ffff7 189 } else {
manumaet 18:bbc7ca7d3a95 190 spi.write(reg); // say which register address we want to access
manumaet 0:f50e671ffff7 191 }
manumaet 0:f50e671ffff7 192 }
manumaet 0:f50e671ffff7 193
manumaet 18:bbc7ca7d3a95 194 void DW1000::select() { cs = 0; } // set CS low to start transmission
manumaet 18:bbc7ca7d3a95 195 void DW1000::deselect() { cs = 1; } // set CS high to stop transmission