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@39:bb57aa77b015, 2015-02-22 (annotated)

Committer:
manumaet
Date:
Sun Feb 22 17:40:38 2015 +0000
Revision:
39:bb57aa77b015
Parent:
38:8ef3b8d8b908
Child:
40:5ce51b7e3118
setup to find the 40 bit overflow in the timestamps, seems to be fixed

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 39:bb57aa77b015 15 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 38:8ef3b8d8b908 16 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 11:c87d37db2c6f 17
manumaet 39:bb57aa77b015 18 irq.rise(this, &DW1000::ISR); // attach interrupt handler to rising edge of interrupt pin from DW1000
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 39:bb57aa77b015 88 uint8_t backup = readRegister8(DW1000_TX_FCTRL, 1); // put length of frame
manumaet 39:bb57aa77b015 89 length += 2; // including 2 CRC Bytes
manumaet 39:bb57aa77b015 90 length = ((backup & 0xFC) << 8) | (length & 0x03FF);
manumaet 39:bb57aa77b015 91 writeRegister16(DW1000_TX_FCTRL, 0, length);
manumaet 11:c87d37db2c6f 92
manumaet 25:d58b0595b300 93 stopTRX(); // stop receiving
manumaet 23:661a79e56208 94 writeRegister8(DW1000_SYS_CTRL, 0, 0x02); // trigger sending process by setting the TXSTRT bit
manumaet 25:d58b0595b300 95 startRX(); // enable receiver again
manumaet 8:7a9c61242e2f 96 }
manumaet 8:7a9c61242e2f 97
manumaet 17:8afa5f9122da 98 void DW1000::startRX() {
manumaet 20:257d56530ae1 99 writeRegister8(DW1000_SYS_CTRL, 0x01, 0x01); // start listening for preamble by setting the RXENAB bit
manumaet 7:e634eeafc4d2 100 }
manumaet 7:e634eeafc4d2 101
manumaet 25:d58b0595b300 102 void DW1000::stopTRX() {
manumaet 25:d58b0595b300 103 writeRegister8(DW1000_SYS_CTRL, 0, 0x40); // disable tranceiver go back to idle mode
manumaet 17:8afa5f9122da 104 }
manumaet 17:8afa5f9122da 105
manumaet 20:257d56530ae1 106 // PRIVATE Methods ------------------------------------------------------------------------------------
manumaet 18:bbc7ca7d3a95 107 void DW1000::loadLDE() { // initialise LDE algorithm LDELOAD User Manual p22
manumaet 18:bbc7ca7d3a95 108 writeRegister16(DW1000_PMSC, 0, 0x0301); // set clock to XTAL so OTP is reliable
manumaet 20:257d56530ae1 109 writeRegister16(DW1000_OTP_IF, 0x06, 0x8000); // set LDELOAD bit in OTP
manumaet 12:985aa9843c3c 110 wait_us(150);
manumaet 18:bbc7ca7d3a95 111 writeRegister16(DW1000_PMSC, 0, 0x0200); // recover to PLL clock
manumaet 12:985aa9843c3c 112 }
manumaet 12:985aa9843c3c 113
manumaet 12:985aa9843c3c 114 void DW1000::resetRX() {
manumaet 12:985aa9843c3c 115 writeRegister8(DW1000_PMSC, 3, 0xE0); // set RX reset
manumaet 12:985aa9843c3c 116 writeRegister8(DW1000_PMSC, 3, 0xF0); // clear RX reset
manumaet 12:985aa9843c3c 117 }
manumaet 12:985aa9843c3c 118
manumaet 12:985aa9843c3c 119 void DW1000::resetAll() {
manumaet 12:985aa9843c3c 120 writeRegister8(DW1000_PMSC, 0, 0x01); // set clock to XTAL
manumaet 12:985aa9843c3c 121 writeRegister8(DW1000_PMSC, 3, 0x00); // set All reset
manumaet 12:985aa9843c3c 122 wait_us(10); // wait for PLL to lock
manumaet 12:985aa9843c3c 123 writeRegister8(DW1000_PMSC, 3, 0xF0); // clear All reset
manumaet 7:e634eeafc4d2 124 }
manumaet 0:f50e671ffff7 125
manumaet 29:019ff388ed76 126
manumaet 29:019ff388ed76 127 void DW1000::setInterrupt(bool RX, bool TX) {
manumaet 29:019ff388ed76 128 writeRegister16(DW1000_SYS_MASK, 0, RX*0x4000 | TX*0x0080); // RX good frame 0x4000, TX done 0x0080
manumaet 29:019ff388ed76 129 }
manumaet 29:019ff388ed76 130
manumaet 20:257d56530ae1 131 void DW1000::ISR() {
manumaet 20:257d56530ae1 132 uint64_t status = getStatus();
manumaet 22:576ee999b004 133 if (status & 0x4000) { // a frame was received
manumaet 29:019ff388ed76 134 callbackRX.call();
manumaet 22:576ee999b004 135 writeRegister16(DW1000_SYS_STATUS, 0, 0x6F00); // clearing of receiving status bits
manumaet 20:257d56530ae1 136 }
manumaet 22:576ee999b004 137 if (status & 0x80) { // sending complete
manumaet 29:019ff388ed76 138 callbackTX.call();
manumaet 22:576ee999b004 139 writeRegister8(DW1000_SYS_STATUS, 0, 0xF8); // clearing of sending status bits
manumaet 20:257d56530ae1 140 }
manumaet 20:257d56530ae1 141 }
manumaet 20:257d56530ae1 142
manumaet 20:257d56530ae1 143 uint16_t DW1000::getFramelength() {
manumaet 20:257d56530ae1 144 uint16_t framelength = readRegister16(DW1000_RX_FINFO, 0); // get framelength
manumaet 20:257d56530ae1 145 framelength = (framelength & 0x03FF) - 2; // take only the right bits and subtract the 2 CRC Bytes
manumaet 20:257d56530ae1 146 return framelength;
manumaet 20:257d56530ae1 147 }
manumaet 20:257d56530ae1 148
manumaet 0:f50e671ffff7 149 // SPI Interface ------------------------------------------------------------------------------------
manumaet 10:d077bb12d259 150 uint8_t DW1000::readRegister8(uint8_t reg, uint16_t subaddress) {
manumaet 10:d077bb12d259 151 uint8_t result;
manumaet 10:d077bb12d259 152 readRegister(reg, subaddress, &result, 1);
manumaet 10:d077bb12d259 153 return result;
manumaet 10:d077bb12d259 154 }
manumaet 10:d077bb12d259 155
manumaet 18:bbc7ca7d3a95 156 uint16_t DW1000::readRegister16(uint8_t reg, uint16_t subaddress) {
manumaet 18:bbc7ca7d3a95 157 uint16_t result;
manumaet 18:bbc7ca7d3a95 158 readRegister(reg, subaddress, (uint8_t*)&result, 2);
manumaet 18:bbc7ca7d3a95 159 return result;
manumaet 18:bbc7ca7d3a95 160 }
manumaet 18:bbc7ca7d3a95 161
manumaet 18:bbc7ca7d3a95 162 uint64_t DW1000::readRegister40(uint8_t reg, uint16_t subaddress) {
manumaet 18:bbc7ca7d3a95 163 uint64_t result;
manumaet 18:bbc7ca7d3a95 164 readRegister(reg, subaddress, (uint8_t*)&result, 5);
manumaet 18:bbc7ca7d3a95 165 result &= 0xFFFFFFFFFF; // only 40-Bit
manumaet 18:bbc7ca7d3a95 166 return result;
manumaet 18:bbc7ca7d3a95 167 }
manumaet 18:bbc7ca7d3a95 168
manumaet 8:7a9c61242e2f 169 void DW1000::writeRegister8(uint8_t reg, uint16_t subaddress, uint8_t buffer) {
manumaet 8:7a9c61242e2f 170 writeRegister(reg, subaddress, &buffer, 1);
manumaet 8:7a9c61242e2f 171 }
manumaet 8:7a9c61242e2f 172
manumaet 18:bbc7ca7d3a95 173 void DW1000::writeRegister16(uint8_t reg, uint16_t subaddress, uint16_t buffer) {
manumaet 18:bbc7ca7d3a95 174 writeRegister(reg, subaddress, (uint8_t*)&buffer, 2);
manumaet 18:bbc7ca7d3a95 175 }
manumaet 18:bbc7ca7d3a95 176
manumaet 8:7a9c61242e2f 177 void DW1000::readRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length) {
manumaet 0:f50e671ffff7 178 setupTransaction(reg, subaddress, false);
manumaet 18:bbc7ca7d3a95 179 for(int i=0; i<length; i++) // get data
manumaet 0:f50e671ffff7 180 buffer[i] = spi.write(0x00);
manumaet 0:f50e671ffff7 181 deselect();
manumaet 0:f50e671ffff7 182 }
manumaet 0:f50e671ffff7 183
manumaet 8:7a9c61242e2f 184 void DW1000::writeRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length) {
manumaet 0:f50e671ffff7 185 setupTransaction(reg, subaddress, true);
manumaet 18:bbc7ca7d3a95 186 for(int i=0; i<length; i++) // put data
manumaet 0:f50e671ffff7 187 spi.write(buffer[i]);
manumaet 0:f50e671ffff7 188 deselect();
manumaet 0:f50e671ffff7 189 }
manumaet 0:f50e671ffff7 190
manumaet 8:7a9c61242e2f 191 void DW1000::setupTransaction(uint8_t reg, uint16_t subaddress, bool write) {
manumaet 18:bbc7ca7d3a95 192 reg |= (write * DW1000_WRITE_FLAG); // set read/write flag
manumaet 0:f50e671ffff7 193 select();
manumaet 0:f50e671ffff7 194 if (subaddress > 0) { // there's a subadress, we need to set flag and send second header byte
manumaet 0:f50e671ffff7 195 spi.write(reg | DW1000_SUBADDRESS_FLAG);
manumaet 18:bbc7ca7d3a95 196 if (subaddress > 0x7F) { // sub address too long, we need to set flag and send third header byte
manumaet 18:bbc7ca7d3a95 197 spi.write((uint8_t)(subaddress & 0x7F) | DW1000_2_SUBADDRESS_FLAG); // and
manumaet 0:f50e671ffff7 198 spi.write((uint8_t)(subaddress >> 7));
manumaet 0:f50e671ffff7 199 } else {
manumaet 0:f50e671ffff7 200 spi.write((uint8_t)subaddress);
manumaet 0:f50e671ffff7 201 }
manumaet 0:f50e671ffff7 202 } else {
manumaet 18:bbc7ca7d3a95 203 spi.write(reg); // say which register address we want to access
manumaet 0:f50e671ffff7 204 }
manumaet 0:f50e671ffff7 205 }
manumaet 0:f50e671ffff7 206
manumaet 39:bb57aa77b015 207 void DW1000::select() { // always called to start an SPI transmission
manumaet 39:bb57aa77b015 208 irq.disable_irq(); // disable interrupts from DW1000 during SPI becaus this leads to crashes! TODO: if you have other interrupt handlers attached on the micro controller, they could also interfere.
manumaet 39:bb57aa77b015 209 cs = 0; // set Cable Select pin low to start transmission
manumaet 39:bb57aa77b015 210 }
manumaet 39:bb57aa77b015 211 void DW1000::deselect() { // always called to end an SPI transmission
manumaet 39:bb57aa77b015 212 cs = 1; // set Cable Select pin high to stop transmission
manumaet 39:bb57aa77b015 213 irq.enable_irq(); // reenable the interrupt handler
manumaet 39:bb57aa77b015 214 }