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@26:a65c6f26c458, 2014-11-27 (annotated)

Committer:
manumaet
Date:
Thu Nov 27 19:19:35 2014 +0000
Revision:
26:a65c6f26c458
Parent:
25:d58b0595b300
Child:
28:a830131560e8
problems with last publish solved, first simple really working driver :)

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 19:e94bc88c1eb0 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 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 26:a65c6f26c458 15 writeRegister8(DW1000_SYS_CFG, 2, 0x03); // enable 1024 byte frames
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 26:a65c6f26c458 20 void DW1000::setCallbacks(void (*callbackRX)(int framelength), void (*callbackTX)()) {
manumaet 26:a65c6f26c458 21 DW1000::callbackRX = callbackRX;
manumaet 26:a65c6f26c458 22 DW1000::callbackTX = callbackTX;
manumaet 26:a65c6f26c458 23 }
manumaet 26:a65c6f26c458 24
manumaet 0:f50e671ffff7 25 uint32_t DW1000::getDeviceID() {
manumaet 0:f50e671ffff7 26 uint32_t result;
manumaet 0:f50e671ffff7 27 readRegister(DW1000_DEV_ID, 0, (uint8_t*)&result, 4);
manumaet 0:f50e671ffff7 28 return result;
manumaet 0:f50e671ffff7 29 }
manumaet 0:f50e671ffff7 30
manumaet 0:f50e671ffff7 31 uint64_t DW1000::getEUI() {
manumaet 0:f50e671ffff7 32 uint64_t result;
manumaet 0:f50e671ffff7 33 readRegister(DW1000_EUI, 0, (uint8_t*)&result, 8);
manumaet 0:f50e671ffff7 34 return result;
manumaet 0:f50e671ffff7 35 }
manumaet 0:f50e671ffff7 36
manumaet 0:f50e671ffff7 37 void DW1000::setEUI(uint64_t EUI) {
manumaet 0:f50e671ffff7 38 writeRegister(DW1000_EUI, 0, (uint8_t*)&EUI, 8);
manumaet 0:f50e671ffff7 39 }
manumaet 0:f50e671ffff7 40
manumaet 0:f50e671ffff7 41 float DW1000::getVoltage() {
manumaet 12:985aa9843c3c 42 uint8_t buffer[7] = {0x80, 0x0A, 0x0F, 0x01, 0x00}; // algorithm form User Manual p57
manumaet 0:f50e671ffff7 43 writeRegister(DW1000_RF_CONF, 0x11, buffer, 2);
manumaet 0:f50e671ffff7 44 writeRegister(DW1000_RF_CONF, 0x12, &buffer[2], 1);
manumaet 0:f50e671ffff7 45 writeRegister(DW1000_TX_CAL, 0x00, &buffer[3], 1);
manumaet 0:f50e671ffff7 46 writeRegister(DW1000_TX_CAL, 0x00, &buffer[4], 1);
manumaet 8:7a9c61242e2f 47 readRegister(DW1000_TX_CAL, 0x03, &buffer[5], 2); // get the 8-Bit readings for Voltage and Temperature
manumaet 0:f50e671ffff7 48 float Voltage = buffer[5] * 0.0057 + 2.3;
manumaet 20:257d56530ae1 49 //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 50 return Voltage;
manumaet 0:f50e671ffff7 51 }
manumaet 0:f50e671ffff7 52
manumaet 18:bbc7ca7d3a95 53 uint64_t DW1000::getStatus() {
manumaet 18:bbc7ca7d3a95 54 return readRegister40(DW1000_SYS_STATUS, 0);
manumaet 18:bbc7ca7d3a95 55 }
manumaet 18:bbc7ca7d3a95 56
manumaet 26:a65c6f26c458 57 void DW1000::setInterrupt(bool RX, bool TX) {
manumaet 26:a65c6f26c458 58 writeRegister16(DW1000_SYS_MASK, 0, RX*0x4000 | TX*0x0080); // RX good frame 0x4000, TX done 0x0080
manumaet 26:a65c6f26c458 59 }
manumaet 26:a65c6f26c458 60
manumaet 26:a65c6f26c458 61 uint64_t DW1000::getRXTimestamp() {
manumaet 26:a65c6f26c458 62 return readRegister40(DW1000_RX_TIME, 0);
manumaet 26:a65c6f26c458 63 }
manumaet 26:a65c6f26c458 64
manumaet 26:a65c6f26c458 65 uint64_t DW1000::getTXTimestamp() {
manumaet 26:a65c6f26c458 66 return readRegister40(DW1000_TX_TIME, 0);
manumaet 26:a65c6f26c458 67 }
manumaet 26:a65c6f26c458 68
manumaet 10:d077bb12d259 69 void DW1000::sendString(char* message) {
manumaet 10:d077bb12d259 70 sendFrame((uint8_t*)message, strlen(message)+1);
manumaet 10:d077bb12d259 71 }
manumaet 10:d077bb12d259 72
manumaet 24:6f25ba679490 73 void DW1000::receiveString(char* message) {
manumaet 20:257d56530ae1 74 uint16_t framelength = getFramelength();
manumaet 24:6f25ba679490 75 readRegister(DW1000_RX_BUFFER, 0, (uint8_t*)message, framelength); // get data from buffer
manumaet 10:d077bb12d259 76 }
manumaet 10:d077bb12d259 77
manumaet 11:c87d37db2c6f 78 void DW1000::sendFrame(uint8_t* message, uint16_t length) {
manumaet 20:257d56530ae1 79 if (length >= 1021) length = 1021; // check for maximim length a frame can have TODO: 127 Byte mode?
manumaet 13:b4d27bf7062a 80 writeRegister(DW1000_TX_BUFFER, 0, message, length); // fill buffer
manumaet 7:e634eeafc4d2 81
manumaet 21:23bf4399020d 82 uint8_t backup = readRegister8(DW1000_TX_FCTRL, 1); // put length of frame
manumaet 21:23bf4399020d 83 length += 2; // including 2 CRC Bytes
manumaet 11:c87d37db2c6f 84 length = ((backup & 0xFC) << 8) | (length & 0x03FF);
manumaet 21:23bf4399020d 85 writeRegister16(DW1000_TX_FCTRL, 0, length);
manumaet 11:c87d37db2c6f 86
manumaet 25:d58b0595b300 87 stopTRX(); // stop receiving
manumaet 23:661a79e56208 88 writeRegister8(DW1000_SYS_CTRL, 0, 0x02); // trigger sending process by setting the TXSTRT bit
manumaet 25:d58b0595b300 89 startRX(); // enable receiver again
manumaet 8:7a9c61242e2f 90 }
manumaet 8:7a9c61242e2f 91
manumaet 17:8afa5f9122da 92 void DW1000::startRX() {
manumaet 20:257d56530ae1 93 writeRegister8(DW1000_SYS_CTRL, 0x01, 0x01); // start listening for preamble by setting the RXENAB bit
manumaet 7:e634eeafc4d2 94 }
manumaet 7:e634eeafc4d2 95
manumaet 25:d58b0595b300 96 void DW1000::stopTRX() {
manumaet 25:d58b0595b300 97 writeRegister8(DW1000_SYS_CTRL, 0, 0x40); // disable tranceiver go back to idle mode
manumaet 17:8afa5f9122da 98 }
manumaet 17:8afa5f9122da 99
manumaet 20:257d56530ae1 100 // PRIVATE Methods ------------------------------------------------------------------------------------
manumaet 18:bbc7ca7d3a95 101 void DW1000::loadLDE() { // initialise LDE algorithm LDELOAD User Manual p22
manumaet 18:bbc7ca7d3a95 102 writeRegister16(DW1000_PMSC, 0, 0x0301); // set clock to XTAL so OTP is reliable
manumaet 20:257d56530ae1 103 writeRegister16(DW1000_OTP_IF, 0x06, 0x8000); // set LDELOAD bit in OTP
manumaet 12:985aa9843c3c 104 wait_us(150);
manumaet 18:bbc7ca7d3a95 105 writeRegister16(DW1000_PMSC, 0, 0x0200); // recover to PLL clock
manumaet 12:985aa9843c3c 106 }
manumaet 12:985aa9843c3c 107
manumaet 12:985aa9843c3c 108 void DW1000::resetRX() {
manumaet 12:985aa9843c3c 109 writeRegister8(DW1000_PMSC, 3, 0xE0); // set RX reset
manumaet 12:985aa9843c3c 110 writeRegister8(DW1000_PMSC, 3, 0xF0); // clear RX reset
manumaet 12:985aa9843c3c 111 }
manumaet 12:985aa9843c3c 112
manumaet 12:985aa9843c3c 113 void DW1000::resetAll() {
manumaet 12:985aa9843c3c 114 writeRegister8(DW1000_PMSC, 0, 0x01); // set clock to XTAL
manumaet 12:985aa9843c3c 115 writeRegister8(DW1000_PMSC, 3, 0x00); // set All reset
manumaet 12:985aa9843c3c 116 wait_us(10); // wait for PLL to lock
manumaet 12:985aa9843c3c 117 writeRegister8(DW1000_PMSC, 3, 0xF0); // clear All reset
manumaet 7:e634eeafc4d2 118 }
manumaet 0:f50e671ffff7 119
manumaet 20:257d56530ae1 120 void DW1000::ISR() {
manumaet 20:257d56530ae1 121 uint64_t status = getStatus();
manumaet 22:576ee999b004 122 if (status & 0x4000) { // a frame was received
manumaet 21:23bf4399020d 123 if (callbackRX != NULL)
manumaet 21:23bf4399020d 124 callbackRX(getFramelength());
manumaet 22:576ee999b004 125 writeRegister16(DW1000_SYS_STATUS, 0, 0x6F00); // clearing of receiving status bits
manumaet 20:257d56530ae1 126 }
manumaet 22:576ee999b004 127 if (status & 0x80) { // sending complete
manumaet 25:d58b0595b300 128 //startRX(); // enable receiver again if we need to preserve state TODO: have to do it here??
manumaet 21:23bf4399020d 129 if (callbackTX != NULL)
manumaet 21:23bf4399020d 130 callbackTX();
manumaet 22:576ee999b004 131 writeRegister8(DW1000_SYS_STATUS, 0, 0xF8); // clearing of sending status bits
manumaet 20:257d56530ae1 132 }
manumaet 20:257d56530ae1 133 }
manumaet 20:257d56530ae1 134
manumaet 20:257d56530ae1 135 uint16_t DW1000::getFramelength() {
manumaet 20:257d56530ae1 136 uint16_t framelength = readRegister16(DW1000_RX_FINFO, 0); // get framelength
manumaet 20:257d56530ae1 137 framelength = (framelength & 0x03FF) - 2; // take only the right bits and subtract the 2 CRC Bytes
manumaet 20:257d56530ae1 138 return framelength;
manumaet 20:257d56530ae1 139 }
manumaet 20:257d56530ae1 140
manumaet 0:f50e671ffff7 141 // SPI Interface ------------------------------------------------------------------------------------
manumaet 10:d077bb12d259 142 uint8_t DW1000::readRegister8(uint8_t reg, uint16_t subaddress) {
manumaet 10:d077bb12d259 143 uint8_t result;
manumaet 10:d077bb12d259 144 readRegister(reg, subaddress, &result, 1);
manumaet 10:d077bb12d259 145 return result;
manumaet 10:d077bb12d259 146 }
manumaet 10:d077bb12d259 147
manumaet 18:bbc7ca7d3a95 148 uint16_t DW1000::readRegister16(uint8_t reg, uint16_t subaddress) {
manumaet 18:bbc7ca7d3a95 149 uint16_t result;
manumaet 18:bbc7ca7d3a95 150 readRegister(reg, subaddress, (uint8_t*)&result, 2);
manumaet 18:bbc7ca7d3a95 151 return result;
manumaet 18:bbc7ca7d3a95 152 }
manumaet 18:bbc7ca7d3a95 153
manumaet 18:bbc7ca7d3a95 154 uint64_t DW1000::readRegister40(uint8_t reg, uint16_t subaddress) {
manumaet 18:bbc7ca7d3a95 155 uint64_t result;
manumaet 18:bbc7ca7d3a95 156 readRegister(reg, subaddress, (uint8_t*)&result, 5);
manumaet 18:bbc7ca7d3a95 157 result &= 0xFFFFFFFFFF; // only 40-Bit
manumaet 18:bbc7ca7d3a95 158 return result;
manumaet 18:bbc7ca7d3a95 159 }
manumaet 18:bbc7ca7d3a95 160
manumaet 8:7a9c61242e2f 161 void DW1000::writeRegister8(uint8_t reg, uint16_t subaddress, uint8_t buffer) {
manumaet 8:7a9c61242e2f 162 writeRegister(reg, subaddress, &buffer, 1);
manumaet 8:7a9c61242e2f 163 }
manumaet 8:7a9c61242e2f 164
manumaet 18:bbc7ca7d3a95 165 void DW1000::writeRegister16(uint8_t reg, uint16_t subaddress, uint16_t buffer) {
manumaet 18:bbc7ca7d3a95 166 writeRegister(reg, subaddress, (uint8_t*)&buffer, 2);
manumaet 18:bbc7ca7d3a95 167 }
manumaet 18:bbc7ca7d3a95 168
manumaet 8:7a9c61242e2f 169 void DW1000::readRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length) {
manumaet 0:f50e671ffff7 170 setupTransaction(reg, subaddress, false);
manumaet 18:bbc7ca7d3a95 171 for(int i=0; i<length; i++) // get data
manumaet 0:f50e671ffff7 172 buffer[i] = spi.write(0x00);
manumaet 0:f50e671ffff7 173 deselect();
manumaet 0:f50e671ffff7 174 }
manumaet 0:f50e671ffff7 175
manumaet 8:7a9c61242e2f 176 void DW1000::writeRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length) {
manumaet 0:f50e671ffff7 177 setupTransaction(reg, subaddress, true);
manumaet 18:bbc7ca7d3a95 178 for(int i=0; i<length; i++) // put data
manumaet 0:f50e671ffff7 179 spi.write(buffer[i]);
manumaet 0:f50e671ffff7 180 deselect();
manumaet 0:f50e671ffff7 181 }
manumaet 0:f50e671ffff7 182
manumaet 8:7a9c61242e2f 183 void DW1000::setupTransaction(uint8_t reg, uint16_t subaddress, bool write) {
manumaet 18:bbc7ca7d3a95 184 reg |= (write * DW1000_WRITE_FLAG); // set read/write flag
manumaet 0:f50e671ffff7 185 select();
manumaet 0:f50e671ffff7 186 if (subaddress > 0) { // there's a subadress, we need to set flag and send second header byte
manumaet 0:f50e671ffff7 187 spi.write(reg | DW1000_SUBADDRESS_FLAG);
manumaet 18:bbc7ca7d3a95 188 if (subaddress > 0x7F) { // sub address too long, we need to set flag and send third header byte
manumaet 18:bbc7ca7d3a95 189 spi.write((uint8_t)(subaddress & 0x7F) | DW1000_2_SUBADDRESS_FLAG); // and
manumaet 0:f50e671ffff7 190 spi.write((uint8_t)(subaddress >> 7));
manumaet 0:f50e671ffff7 191 } else {
manumaet 0:f50e671ffff7 192 spi.write((uint8_t)subaddress);
manumaet 0:f50e671ffff7 193 }
manumaet 0:f50e671ffff7 194 } else {
manumaet 18:bbc7ca7d3a95 195 spi.write(reg); // say which register address we want to access
manumaet 0:f50e671ffff7 196 }
manumaet 0:f50e671ffff7 197 }
manumaet 0:f50e671ffff7 198
manumaet 18:bbc7ca7d3a95 199 void DW1000::select() { cs = 0; } // set CS low to start transmission
manumaet 18:bbc7ca7d3a95 200 void DW1000::deselect() { cs = 1; } // set CS high to stop transmission