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@17:8afa5f9122da, 2014-11-24 (annotated)

Committer:
manumaet
Date:
Mon Nov 24 14:09:49 2014 +0000
Revision:
17:8afa5f9122da
Parent:
15:e1fea7e2aff1
Child:
18:bbc7ca7d3a95
1021 string now works with API

Who changed what in which revision?

UserRevisionLine numberNew contents of line
manumaet 0:f50e671ffff7 1 #include "DW1000.h"
manumaet 0:f50e671ffff7 2
manumaet 8:7a9c61242e2f 3 DW1000::DW1000(PinName MOSI, PinName MISO, PinName SCLK, PinName CS, PinName IRQ) : spi(MOSI, MISO, SCLK), cs(CS), irq(IRQ) {
manumaet 17:8afa5f9122da 4 receiving = 0;
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 17:8afa5f9122da 10 resetAll(); // we can do a soft reset if we want to (only needed for debugging)
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 12:985aa9843c3c 12 writeRegister8(DW1000_SYS_CFG, 3, 0x20); // enable auto reenabling receiver after error
manumaet 15:e1fea7e2aff1 13 writeRegister8(DW1000_SYS_CFG, 2, 0x03); // enable 1024 byte frames TODO: doesn't work!!
manumaet 11:c87d37db2c6f 14
manumaet 8:7a9c61242e2f 15 irq.rise(this, &DW1000::ISR); // attach Interrupt handler to rising edge
manumaet 0:f50e671ffff7 16 }
manumaet 0:f50e671ffff7 17
manumaet 0:f50e671ffff7 18 uint32_t DW1000::getDeviceID() {
manumaet 0:f50e671ffff7 19 uint32_t result;
manumaet 0:f50e671ffff7 20 readRegister(DW1000_DEV_ID, 0, (uint8_t*)&result, 4);
manumaet 0:f50e671ffff7 21 return result;
manumaet 0:f50e671ffff7 22 }
manumaet 0:f50e671ffff7 23
manumaet 0:f50e671ffff7 24 uint64_t DW1000::getEUI() {
manumaet 0:f50e671ffff7 25 uint64_t result;
manumaet 0:f50e671ffff7 26 readRegister(DW1000_EUI, 0, (uint8_t*)&result, 8);
manumaet 0:f50e671ffff7 27 return result;
manumaet 0:f50e671ffff7 28 }
manumaet 0:f50e671ffff7 29
manumaet 0:f50e671ffff7 30 void DW1000::setEUI(uint64_t EUI) {
manumaet 0:f50e671ffff7 31 writeRegister(DW1000_EUI, 0, (uint8_t*)&EUI, 8);
manumaet 0:f50e671ffff7 32 }
manumaet 0:f50e671ffff7 33
manumaet 0:f50e671ffff7 34 float DW1000::getVoltage() {
manumaet 12:985aa9843c3c 35 uint8_t buffer[7] = {0x80, 0x0A, 0x0F, 0x01, 0x00}; // algorithm form User Manual p57
manumaet 0:f50e671ffff7 36 writeRegister(DW1000_RF_CONF, 0x11, buffer, 2);
manumaet 0:f50e671ffff7 37 writeRegister(DW1000_RF_CONF, 0x12, &buffer[2], 1);
manumaet 0:f50e671ffff7 38 writeRegister(DW1000_TX_CAL, 0x00, &buffer[3], 1);
manumaet 0:f50e671ffff7 39 writeRegister(DW1000_TX_CAL, 0x00, &buffer[4], 1);
manumaet 8:7a9c61242e2f 40 readRegister(DW1000_TX_CAL, 0x03, &buffer[5], 2); // get the 8-Bit readings for Voltage and Temperature
manumaet 0:f50e671ffff7 41 float Voltage = buffer[5] * 0.0057 + 2.3;
manumaet 8:7a9c61242e2f 42 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 43 return Voltage;
manumaet 0:f50e671ffff7 44 }
manumaet 0:f50e671ffff7 45
manumaet 10:d077bb12d259 46 void DW1000::sendString(char* message) {
manumaet 10:d077bb12d259 47 sendFrame((uint8_t*)message, strlen(message)+1);
manumaet 10:d077bb12d259 48 }
manumaet 10:d077bb12d259 49
manumaet 10:d077bb12d259 50 char* DW1000::receiveString() {
manumaet 10:d077bb12d259 51 uint16_t framelength = 0; // get framelength
manumaet 10:d077bb12d259 52 readRegister(DW1000_RX_FINFO, 0, (uint8_t*)&framelength, 2);
manumaet 10:d077bb12d259 53 framelength = (framelength & 0x03FF) - 2; // take only the right bits and subtract the 2 CRC Bytes
manumaet 10:d077bb12d259 54 char* receive = new char[framelength]; // get data from buffer
manumaet 10:d077bb12d259 55 readRegister(DW1000_RX_BUFFER, 0, (uint8_t*)receive, framelength);
manumaet 10:d077bb12d259 56 return receive;
manumaet 10:d077bb12d259 57 }
manumaet 10:d077bb12d259 58
manumaet 11:c87d37db2c6f 59 void DW1000::sendFrame(uint8_t* message, uint16_t length) {
manumaet 17:8afa5f9122da 60 if (length >= 1021) length = 1021;
manumaet 13:b4d27bf7062a 61 writeRegister(DW1000_TX_BUFFER, 0, message, length); // fill buffer
manumaet 7:e634eeafc4d2 62
manumaet 13:b4d27bf7062a 63 uint8_t backup = readRegister8(DW1000_TX_FCTRL, 1); // put length of frame including 2 CRC Bytes
manumaet 13:b4d27bf7062a 64 length += 2;
manumaet 11:c87d37db2c6f 65 length = ((backup & 0xFC) << 8) | (length & 0x03FF);
manumaet 17:8afa5f9122da 66 writeRegister(DW1000_TX_FCTRL, 0, (uint8_t*)&length, 2);
manumaet 11:c87d37db2c6f 67
manumaet 17:8afa5f9122da 68 if (receiving) stopTRX(); // stop receiving if we are
manumaet 11:c87d37db2c6f 69 writeRegister8(DW1000_SYS_CTRL, 0, 0x02); // trigger sending process by setting the TXSTRT bit
manumaet 17:8afa5f9122da 70 if (receiving) startRX(); // enable receiver again if we need it TODO: safe to do this directly ??? only after sending ended
manumaet 8:7a9c61242e2f 71 }
manumaet 8:7a9c61242e2f 72
manumaet 17:8afa5f9122da 73 void DW1000::startRX() {
manumaet 17:8afa5f9122da 74 receiving = true;
manumaet 13:b4d27bf7062a 75 writeRegister8(DW1000_SYS_CTRL, 0x01, 0x01); // start listening for preamble by setting the RXENAB bit
manumaet 7:e634eeafc4d2 76 }
manumaet 7:e634eeafc4d2 77
manumaet 17:8afa5f9122da 78 void DW1000::stopRX() {
manumaet 17:8afa5f9122da 79 receiving = false;
manumaet 17:8afa5f9122da 80
manumaet 17:8afa5f9122da 81 }
manumaet 17:8afa5f9122da 82
manumaet 7:e634eeafc4d2 83 void DW1000::ISR() {
manumaet 12:985aa9843c3c 84 uint64_t status; // get the entire system status
manumaet 12:985aa9843c3c 85 readRegister(DW1000_SYS_STATUS, 0, (uint8_t*)&status, 5);
manumaet 12:985aa9843c3c 86 status &= 0xFFFFFFFFFF; // only 40-Bit
manumaet 12:985aa9843c3c 87 if (status & 0x4000)
manumaet 12:985aa9843c3c 88 callbackRX();
manumaet 12:985aa9843c3c 89 if (status & 0x80)
manumaet 12:985aa9843c3c 90 ;//callbackTX(); // TODO: mask TX done interrupt make TX handler
manumaet 7:e634eeafc4d2 91 }
manumaet 7:e634eeafc4d2 92
manumaet 12:985aa9843c3c 93 void DW1000::loadLDE() {
manumaet 12:985aa9843c3c 94 uint16_t ldeload[] = {0x0301, 0x8000, 0x0200}; // initialise LDE algorithm LDELOAD User Manual p22
manumaet 12:985aa9843c3c 95 writeRegister(DW1000_PMSC, 0, (uint8_t*)&ldeload[0], 2); // set clock to XTAL so OTP is reliable
manumaet 12:985aa9843c3c 96 writeRegister(DW1000_OTP_IF, 0x06, (uint8_t*)&ldeload[1], 2); // set LDELOAD bit in OTP
manumaet 12:985aa9843c3c 97 wait_us(150);
manumaet 12:985aa9843c3c 98 writeRegister(DW1000_PMSC, 0, (uint8_t*)&ldeload[2], 2); // 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 0:f50e671ffff7 117 // SPI Interface ------------------------------------------------------------------------------------
manumaet 10:d077bb12d259 118 uint8_t DW1000::readRegister8(uint8_t reg, uint16_t subaddress) {
manumaet 10:d077bb12d259 119 uint8_t result;
manumaet 10:d077bb12d259 120 readRegister(reg, subaddress, &result, 1);
manumaet 10:d077bb12d259 121 return result;
manumaet 10:d077bb12d259 122 }
manumaet 10:d077bb12d259 123
manumaet 8:7a9c61242e2f 124 void DW1000::writeRegister8(uint8_t reg, uint16_t subaddress, uint8_t buffer) {
manumaet 8:7a9c61242e2f 125 writeRegister(reg, subaddress, &buffer, 1);
manumaet 8:7a9c61242e2f 126 }
manumaet 8:7a9c61242e2f 127
manumaet 8:7a9c61242e2f 128 void DW1000::readRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length) {
manumaet 0:f50e671ffff7 129 setupTransaction(reg, subaddress, false);
manumaet 8:7a9c61242e2f 130 for(int i=0; i<length; i++) // get data
manumaet 0:f50e671ffff7 131 buffer[i] = spi.write(0x00);
manumaet 0:f50e671ffff7 132 deselect();
manumaet 0:f50e671ffff7 133 }
manumaet 0:f50e671ffff7 134
manumaet 8:7a9c61242e2f 135 void DW1000::writeRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length) {
manumaet 0:f50e671ffff7 136 setupTransaction(reg, subaddress, true);
manumaet 8:7a9c61242e2f 137 for(int i=0; i<length; i++) // put data
manumaet 0:f50e671ffff7 138 spi.write(buffer[i]);
manumaet 0:f50e671ffff7 139 deselect();
manumaet 0:f50e671ffff7 140 }
manumaet 0:f50e671ffff7 141
manumaet 8:7a9c61242e2f 142 void DW1000::setupTransaction(uint8_t reg, uint16_t subaddress, bool write) {
manumaet 0:f50e671ffff7 143 reg |= (write * DW1000_WRITE_FLAG);
manumaet 0:f50e671ffff7 144 select();
manumaet 0:f50e671ffff7 145 if (subaddress > 0) { // there's a subadress, we need to set flag and send second header byte
manumaet 0:f50e671ffff7 146 spi.write(reg | DW1000_SUBADDRESS_FLAG);
manumaet 0:f50e671ffff7 147 if (subaddress > 127) { // sub address too long, we need to set flag and send third header byte
manumaet 0:f50e671ffff7 148 spi.write((uint8_t)(subaddress & 0x7F) | DW1000_2_SUBADDRESS_FLAG);
manumaet 0:f50e671ffff7 149 spi.write((uint8_t)(subaddress >> 7));
manumaet 0:f50e671ffff7 150 } else {
manumaet 0:f50e671ffff7 151 spi.write((uint8_t)subaddress);
manumaet 0:f50e671ffff7 152 }
manumaet 0:f50e671ffff7 153 } else {
manumaet 0:f50e671ffff7 154 spi.write(reg);
manumaet 0:f50e671ffff7 155 }
manumaet 0:f50e671ffff7 156 }
manumaet 0:f50e671ffff7 157
manumaet 12:985aa9843c3c 158 void DW1000::select() { cs = 0; } // set CS low to start transmission
manumaet 12:985aa9843c3c 159 void DW1000::deselect() { cs = 1; } // set CS high to stop transmission