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@38:8ef3b8d8b908, 2015-02-22 (annotated)

Committer:
manumaet
Date:
Sun Feb 22 11:41:18 2015 +0000
Revision:
38:8ef3b8d8b908
Parent:
37:40f94c634c3e
Child:
39:bb57aa77b015
new crashs after 10 secs

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 38:8ef3b8d8b908 14 writeRegister8(DW1000_SYS_CFG, 3, 0x20); // enable auto reenabling receiver after error
manumaet 38:8ef3b8d8b908 15 writeRegister8(DW1000_SYS_CFG, 2, 0x40); // enable special receiving option for 110kbps!! (0x40) see p.64 of DW1000 User Manual [DO NOT enable 1024 byte frames (0x03) becuase it generates disturbance of ranging don't know why...]
manumaet 38:8ef3b8d8b908 16 writeRegister16(DW1000_TX_FCTRL, 1, 0x2800 | 0x0100 | 0x0080); // use 2048 symbols preable (0x2800), 16MHz pulse repetition frequency (0x0100), 110kbps bit rate (0x0080) see p.69 of DW1000 User Manual
manumaet 11:c87d37db2c6f 17
manumaet 8:7a9c61242e2f 18 irq.rise(this, &DW1000::ISR); // attach Interrupt handler to rising edge
manumaet 0:f50e671ffff7 19 }
manumaet 0:f50e671ffff7 20
manumaet 29:019ff388ed76 21 void DW1000::setCallbacks(void (*callbackRX)(void), void (*callbackTX)(void)) {
manumaet 29:019ff388ed76 22 bool RX = false;
manumaet 29:019ff388ed76 23 bool TX = false;
manumaet 29:019ff388ed76 24 if (callbackRX) {
manumaet 29:019ff388ed76 25 DW1000::callbackRX.attach(callbackRX);
manumaet 29:019ff388ed76 26 RX = true;
manumaet 29:019ff388ed76 27 }
manumaet 29:019ff388ed76 28 if (callbackTX) {
manumaet 29:019ff388ed76 29 DW1000::callbackTX.attach(callbackTX);
manumaet 29:019ff388ed76 30 TX = true;
manumaet 29:019ff388ed76 31 }
manumaet 29:019ff388ed76 32 setInterrupt(RX,TX);
manumaet 26:a65c6f26c458 33 }
manumaet 26:a65c6f26c458 34
manumaet 0:f50e671ffff7 35 uint32_t DW1000::getDeviceID() {
manumaet 0:f50e671ffff7 36 uint32_t result;
manumaet 0:f50e671ffff7 37 readRegister(DW1000_DEV_ID, 0, (uint8_t*)&result, 4);
manumaet 0:f50e671ffff7 38 return result;
manumaet 0:f50e671ffff7 39 }
manumaet 0:f50e671ffff7 40
manumaet 0:f50e671ffff7 41 uint64_t DW1000::getEUI() {
manumaet 0:f50e671ffff7 42 uint64_t result;
manumaet 0:f50e671ffff7 43 readRegister(DW1000_EUI, 0, (uint8_t*)&result, 8);
manumaet 0:f50e671ffff7 44 return result;
manumaet 0:f50e671ffff7 45 }
manumaet 0:f50e671ffff7 46
manumaet 0:f50e671ffff7 47 void DW1000::setEUI(uint64_t EUI) {
manumaet 0:f50e671ffff7 48 writeRegister(DW1000_EUI, 0, (uint8_t*)&EUI, 8);
manumaet 0:f50e671ffff7 49 }
manumaet 0:f50e671ffff7 50
manumaet 0:f50e671ffff7 51 float DW1000::getVoltage() {
manumaet 12:985aa9843c3c 52 uint8_t buffer[7] = {0x80, 0x0A, 0x0F, 0x01, 0x00}; // algorithm form User Manual p57
manumaet 0:f50e671ffff7 53 writeRegister(DW1000_RF_CONF, 0x11, buffer, 2);
manumaet 0:f50e671ffff7 54 writeRegister(DW1000_RF_CONF, 0x12, &buffer[2], 1);
manumaet 0:f50e671ffff7 55 writeRegister(DW1000_TX_CAL, 0x00, &buffer[3], 1);
manumaet 0:f50e671ffff7 56 writeRegister(DW1000_TX_CAL, 0x00, &buffer[4], 1);
manumaet 8:7a9c61242e2f 57 readRegister(DW1000_TX_CAL, 0x03, &buffer[5], 2); // get the 8-Bit readings for Voltage and Temperature
manumaet 0:f50e671ffff7 58 float Voltage = buffer[5] * 0.0057 + 2.3;
manumaet 20:257d56530ae1 59 //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 60 return Voltage;
manumaet 0:f50e671ffff7 61 }
manumaet 0:f50e671ffff7 62
manumaet 18:bbc7ca7d3a95 63 uint64_t DW1000::getStatus() {
manumaet 18:bbc7ca7d3a95 64 return readRegister40(DW1000_SYS_STATUS, 0);
manumaet 18:bbc7ca7d3a95 65 }
manumaet 18:bbc7ca7d3a95 66
manumaet 26:a65c6f26c458 67 uint64_t DW1000::getRXTimestamp() {
manumaet 26:a65c6f26c458 68 return readRegister40(DW1000_RX_TIME, 0);
manumaet 26:a65c6f26c458 69 }
manumaet 26:a65c6f26c458 70
manumaet 26:a65c6f26c458 71 uint64_t DW1000::getTXTimestamp() {
manumaet 26:a65c6f26c458 72 return readRegister40(DW1000_TX_TIME, 0);
manumaet 26:a65c6f26c458 73 }
manumaet 26:a65c6f26c458 74
manumaet 10:d077bb12d259 75 void DW1000::sendString(char* message) {
manumaet 10:d077bb12d259 76 sendFrame((uint8_t*)message, strlen(message)+1);
manumaet 10:d077bb12d259 77 }
manumaet 10:d077bb12d259 78
manumaet 24:6f25ba679490 79 void DW1000::receiveString(char* message) {
manumaet 31:6f76f3d518ac 80 readRegister(DW1000_RX_BUFFER, 0, (uint8_t*)message, getFramelength()); // get data from buffer
manumaet 10:d077bb12d259 81 }
manumaet 10:d077bb12d259 82
manumaet 11:c87d37db2c6f 83 void DW1000::sendFrame(uint8_t* message, uint16_t length) {
manumaet 38:8ef3b8d8b908 84 //if (length >= 1021) length = 1021; // check for maximim length a frame can have with 1024 Byte frames [not used, see constructor]
manumaet 38:8ef3b8d8b908 85 if (length >= 125) length = 125; // check for maximim length a frame can have with 127 Byte frames
manumaet 13:b4d27bf7062a 86 writeRegister(DW1000_TX_BUFFER, 0, message, length); // fill buffer
manumaet 7:e634eeafc4d2 87
manumaet 37:40f94c634c3e 88 #if 0 // switch draft for slower data rate and original working 6.8Mbps
manumaet 37:40f94c634c3e 89 uint8_t backup = readRegister8(DW1000_TX_FCTRL, 1); // put length of frame
manumaet 37:40f94c634c3e 90 length += 2; // including 2 CRC Bytes
manumaet 37:40f94c634c3e 91 //length = ((backup & 0xFC) << 8) | (length & 0x03FF);
manumaet 38:8ef3b8d8b908 92 length = ((0x80 & 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 93 writeRegister16(DW1000_TX_FCTRL, 0, length);
manumaet 37:40f94c634c3e 94
manumaet 37:40f94c634c3e 95 backup = readRegister8(DW1000_TX_FCTRL, 2); // change preamble length
manumaet 37:40f94c634c3e 96 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 38:8ef3b8d8b908 97 //writeRegister8(DW1000_TX_FCTRL, 2, preamble_reg);
manumaet 37:40f94c634c3e 98 #else
manumaet 37:40f94c634c3e 99 uint8_t backup = readRegister8(DW1000_TX_FCTRL, 1); // put length of frame
manumaet 37:40f94c634c3e 100 length += 2; // including 2 CRC Bytes
manumaet 37:40f94c634c3e 101 length = ((backup & 0xFC) << 8) | (length & 0x03FF);
manumaet 37:40f94c634c3e 102 writeRegister16(DW1000_TX_FCTRL, 0, length);
manumaet 37:40f94c634c3e 103 #endif
manumaet 11:c87d37db2c6f 104
manumaet 25:d58b0595b300 105 stopTRX(); // stop receiving
manumaet 23:661a79e56208 106 writeRegister8(DW1000_SYS_CTRL, 0, 0x02); // trigger sending process by setting the TXSTRT bit
manumaet 25:d58b0595b300 107 startRX(); // enable receiver again
manumaet 8:7a9c61242e2f 108 }
manumaet 8:7a9c61242e2f 109
manumaet 17:8afa5f9122da 110 void DW1000::startRX() {
manumaet 20:257d56530ae1 111 writeRegister8(DW1000_SYS_CTRL, 0x01, 0x01); // start listening for preamble by setting the RXENAB bit
manumaet 7:e634eeafc4d2 112 }
manumaet 7:e634eeafc4d2 113
manumaet 25:d58b0595b300 114 void DW1000::stopTRX() {
manumaet 25:d58b0595b300 115 writeRegister8(DW1000_SYS_CTRL, 0, 0x40); // disable tranceiver go back to idle mode
manumaet 17:8afa5f9122da 116 }
manumaet 17:8afa5f9122da 117
manumaet 20:257d56530ae1 118 // PRIVATE Methods ------------------------------------------------------------------------------------
manumaet 18:bbc7ca7d3a95 119 void DW1000::loadLDE() { // initialise LDE algorithm LDELOAD User Manual p22
manumaet 18:bbc7ca7d3a95 120 writeRegister16(DW1000_PMSC, 0, 0x0301); // set clock to XTAL so OTP is reliable
manumaet 20:257d56530ae1 121 writeRegister16(DW1000_OTP_IF, 0x06, 0x8000); // set LDELOAD bit in OTP
manumaet 12:985aa9843c3c 122 wait_us(150);
manumaet 18:bbc7ca7d3a95 123 writeRegister16(DW1000_PMSC, 0, 0x0200); // recover to PLL clock
manumaet 12:985aa9843c3c 124 }
manumaet 12:985aa9843c3c 125
manumaet 12:985aa9843c3c 126 void DW1000::resetRX() {
manumaet 12:985aa9843c3c 127 writeRegister8(DW1000_PMSC, 3, 0xE0); // set RX reset
manumaet 12:985aa9843c3c 128 writeRegister8(DW1000_PMSC, 3, 0xF0); // clear RX reset
manumaet 12:985aa9843c3c 129 }
manumaet 12:985aa9843c3c 130
manumaet 12:985aa9843c3c 131 void DW1000::resetAll() {
manumaet 12:985aa9843c3c 132 writeRegister8(DW1000_PMSC, 0, 0x01); // set clock to XTAL
manumaet 12:985aa9843c3c 133 writeRegister8(DW1000_PMSC, 3, 0x00); // set All reset
manumaet 12:985aa9843c3c 134 wait_us(10); // wait for PLL to lock
manumaet 12:985aa9843c3c 135 writeRegister8(DW1000_PMSC, 3, 0xF0); // clear All reset
manumaet 7:e634eeafc4d2 136 }
manumaet 0:f50e671ffff7 137
manumaet 29:019ff388ed76 138
manumaet 29:019ff388ed76 139 void DW1000::setInterrupt(bool RX, bool TX) {
manumaet 29:019ff388ed76 140 writeRegister16(DW1000_SYS_MASK, 0, RX*0x4000 | TX*0x0080); // RX good frame 0x4000, TX done 0x0080
manumaet 29:019ff388ed76 141 }
manumaet 29:019ff388ed76 142
manumaet 20:257d56530ae1 143 void DW1000::ISR() {
manumaet 20:257d56530ae1 144 uint64_t status = getStatus();
manumaet 22:576ee999b004 145 if (status & 0x4000) { // a frame was received
manumaet 29:019ff388ed76 146 callbackRX.call();
manumaet 22:576ee999b004 147 writeRegister16(DW1000_SYS_STATUS, 0, 0x6F00); // clearing of receiving status bits
manumaet 20:257d56530ae1 148 }
manumaet 22:576ee999b004 149 if (status & 0x80) { // sending complete
manumaet 29:019ff388ed76 150 callbackTX.call();
manumaet 22:576ee999b004 151 writeRegister8(DW1000_SYS_STATUS, 0, 0xF8); // clearing of sending status bits
manumaet 20:257d56530ae1 152 }
manumaet 20:257d56530ae1 153 }
manumaet 20:257d56530ae1 154
manumaet 20:257d56530ae1 155 uint16_t DW1000::getFramelength() {
manumaet 20:257d56530ae1 156 uint16_t framelength = readRegister16(DW1000_RX_FINFO, 0); // get framelength
manumaet 20:257d56530ae1 157 framelength = (framelength & 0x03FF) - 2; // take only the right bits and subtract the 2 CRC Bytes
manumaet 20:257d56530ae1 158 return framelength;
manumaet 20:257d56530ae1 159 }
manumaet 20:257d56530ae1 160
manumaet 0:f50e671ffff7 161 // SPI Interface ------------------------------------------------------------------------------------
manumaet 10:d077bb12d259 162 uint8_t DW1000::readRegister8(uint8_t reg, uint16_t subaddress) {
manumaet 10:d077bb12d259 163 uint8_t result;
manumaet 10:d077bb12d259 164 readRegister(reg, subaddress, &result, 1);
manumaet 10:d077bb12d259 165 return result;
manumaet 10:d077bb12d259 166 }
manumaet 10:d077bb12d259 167
manumaet 18:bbc7ca7d3a95 168 uint16_t DW1000::readRegister16(uint8_t reg, uint16_t subaddress) {
manumaet 18:bbc7ca7d3a95 169 uint16_t result;
manumaet 18:bbc7ca7d3a95 170 readRegister(reg, subaddress, (uint8_t*)&result, 2);
manumaet 18:bbc7ca7d3a95 171 return result;
manumaet 18:bbc7ca7d3a95 172 }
manumaet 18:bbc7ca7d3a95 173
manumaet 18:bbc7ca7d3a95 174 uint64_t DW1000::readRegister40(uint8_t reg, uint16_t subaddress) {
manumaet 18:bbc7ca7d3a95 175 uint64_t result;
manumaet 18:bbc7ca7d3a95 176 readRegister(reg, subaddress, (uint8_t*)&result, 5);
manumaet 18:bbc7ca7d3a95 177 result &= 0xFFFFFFFFFF; // only 40-Bit
manumaet 18:bbc7ca7d3a95 178 return result;
manumaet 18:bbc7ca7d3a95 179 }
manumaet 18:bbc7ca7d3a95 180
manumaet 8:7a9c61242e2f 181 void DW1000::writeRegister8(uint8_t reg, uint16_t subaddress, uint8_t buffer) {
manumaet 8:7a9c61242e2f 182 writeRegister(reg, subaddress, &buffer, 1);
manumaet 8:7a9c61242e2f 183 }
manumaet 8:7a9c61242e2f 184
manumaet 18:bbc7ca7d3a95 185 void DW1000::writeRegister16(uint8_t reg, uint16_t subaddress, uint16_t buffer) {
manumaet 18:bbc7ca7d3a95 186 writeRegister(reg, subaddress, (uint8_t*)&buffer, 2);
manumaet 18:bbc7ca7d3a95 187 }
manumaet 18:bbc7ca7d3a95 188
manumaet 8:7a9c61242e2f 189 void DW1000::readRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length) {
manumaet 0:f50e671ffff7 190 setupTransaction(reg, subaddress, false);
manumaet 18:bbc7ca7d3a95 191 for(int i=0; i<length; i++) // get data
manumaet 0:f50e671ffff7 192 buffer[i] = spi.write(0x00);
manumaet 0:f50e671ffff7 193 deselect();
manumaet 0:f50e671ffff7 194 }
manumaet 0:f50e671ffff7 195
manumaet 8:7a9c61242e2f 196 void DW1000::writeRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length) {
manumaet 0:f50e671ffff7 197 setupTransaction(reg, subaddress, true);
manumaet 18:bbc7ca7d3a95 198 for(int i=0; i<length; i++) // put data
manumaet 0:f50e671ffff7 199 spi.write(buffer[i]);
manumaet 0:f50e671ffff7 200 deselect();
manumaet 0:f50e671ffff7 201 }
manumaet 0:f50e671ffff7 202
manumaet 8:7a9c61242e2f 203 void DW1000::setupTransaction(uint8_t reg, uint16_t subaddress, bool write) {
manumaet 18:bbc7ca7d3a95 204 reg |= (write * DW1000_WRITE_FLAG); // set read/write flag
manumaet 0:f50e671ffff7 205 select();
manumaet 0:f50e671ffff7 206 if (subaddress > 0) { // there's a subadress, we need to set flag and send second header byte
manumaet 0:f50e671ffff7 207 spi.write(reg | DW1000_SUBADDRESS_FLAG);
manumaet 18:bbc7ca7d3a95 208 if (subaddress > 0x7F) { // sub address too long, we need to set flag and send third header byte
manumaet 18:bbc7ca7d3a95 209 spi.write((uint8_t)(subaddress & 0x7F) | DW1000_2_SUBADDRESS_FLAG); // and
manumaet 0:f50e671ffff7 210 spi.write((uint8_t)(subaddress >> 7));
manumaet 0:f50e671ffff7 211 } else {
manumaet 0:f50e671ffff7 212 spi.write((uint8_t)subaddress);
manumaet 0:f50e671ffff7 213 }
manumaet 0:f50e671ffff7 214 } else {
manumaet 18:bbc7ca7d3a95 215 spi.write(reg); // say which register address we want to access
manumaet 0:f50e671ffff7 216 }
manumaet 0:f50e671ffff7 217 }
manumaet 0:f50e671ffff7 218
manumaet 18:bbc7ca7d3a95 219 void DW1000::select() { cs = 0; } // set CS low to start transmission
manumaet 18:bbc7ca7d3a95 220 void DW1000::deselect() { cs = 1; } // set CS high to stop transmission