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@25:d58b0595b300, 2014-11-27 (annotated)

Committer:
manumaet
Date:
Thu Nov 27 17:51:54 2014 +0000
Revision:
25:d58b0595b300
Parent:
24:6f25ba679490
Child:
26:a65c6f26c458
cleaned up API, beginning with first ranging attempt

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 21:23bf4399020d 4 callbackRX = NULL; // TODO: setter
manumaet 21:23bf4399020d 5 callbackTX = NULL;
manumaet 17:8afa5f9122da 6
manumaet 0:f50e671ffff7 7 deselect(); // Chip must be deselected first
manumaet 0:f50e671ffff7 8 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 9 spi.frequency(1000000); // with a 1MHz clock rate (worked up to 49MHz in our Test)
manumaet 7:e634eeafc4d2 10
manumaet 19:e94bc88c1eb0 11 resetAll(); // we can do a soft reset if we want to (only needed for debugging)
manumaet 12:985aa9843c3c 12 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 13
manumaet 18:bbc7ca7d3a95 14 // Configuration TODO: make method for that
manumaet 12:985aa9843c3c 15 writeRegister8(DW1000_SYS_CFG, 3, 0x20); // enable auto reenabling receiver after error
manumaet 15:e1fea7e2aff1 16 writeRegister8(DW1000_SYS_CFG, 2, 0x03); // enable 1024 byte frames TODO: doesn't work!!
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 0:f50e671ffff7 21 uint32_t DW1000::getDeviceID() {
manumaet 0:f50e671ffff7 22 uint32_t result;
manumaet 0:f50e671ffff7 23 readRegister(DW1000_DEV_ID, 0, (uint8_t*)&result, 4);
manumaet 0:f50e671ffff7 24 return result;
manumaet 0:f50e671ffff7 25 }
manumaet 0:f50e671ffff7 26
manumaet 0:f50e671ffff7 27 uint64_t DW1000::getEUI() {
manumaet 0:f50e671ffff7 28 uint64_t result;
manumaet 0:f50e671ffff7 29 readRegister(DW1000_EUI, 0, (uint8_t*)&result, 8);
manumaet 0:f50e671ffff7 30 return result;
manumaet 0:f50e671ffff7 31 }
manumaet 0:f50e671ffff7 32
manumaet 0:f50e671ffff7 33 void DW1000::setEUI(uint64_t EUI) {
manumaet 0:f50e671ffff7 34 writeRegister(DW1000_EUI, 0, (uint8_t*)&EUI, 8);
manumaet 0:f50e671ffff7 35 }
manumaet 0:f50e671ffff7 36
manumaet 0:f50e671ffff7 37 float DW1000::getVoltage() {
manumaet 12:985aa9843c3c 38 uint8_t buffer[7] = {0x80, 0x0A, 0x0F, 0x01, 0x00}; // algorithm form User Manual p57
manumaet 0:f50e671ffff7 39 writeRegister(DW1000_RF_CONF, 0x11, buffer, 2);
manumaet 0:f50e671ffff7 40 writeRegister(DW1000_RF_CONF, 0x12, &buffer[2], 1);
manumaet 0:f50e671ffff7 41 writeRegister(DW1000_TX_CAL, 0x00, &buffer[3], 1);
manumaet 0:f50e671ffff7 42 writeRegister(DW1000_TX_CAL, 0x00, &buffer[4], 1);
manumaet 8:7a9c61242e2f 43 readRegister(DW1000_TX_CAL, 0x03, &buffer[5], 2); // get the 8-Bit readings for Voltage and Temperature
manumaet 0:f50e671ffff7 44 float Voltage = buffer[5] * 0.0057 + 2.3;
manumaet 20:257d56530ae1 45 //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 46 return Voltage;
manumaet 0:f50e671ffff7 47 }
manumaet 0:f50e671ffff7 48
manumaet 18:bbc7ca7d3a95 49 uint64_t DW1000::getStatus() {
manumaet 18:bbc7ca7d3a95 50 return readRegister40(DW1000_SYS_STATUS, 0);
manumaet 18:bbc7ca7d3a95 51 }
manumaet 18:bbc7ca7d3a95 52
manumaet 10:d077bb12d259 53 void DW1000::sendString(char* message) {
manumaet 10:d077bb12d259 54 sendFrame((uint8_t*)message, strlen(message)+1);
manumaet 10:d077bb12d259 55 }
manumaet 10:d077bb12d259 56
manumaet 24:6f25ba679490 57 void DW1000::receiveString(char* message) {
manumaet 20:257d56530ae1 58 uint16_t framelength = getFramelength();
manumaet 24:6f25ba679490 59 readRegister(DW1000_RX_BUFFER, 0, (uint8_t*)message, framelength); // get data from buffer
manumaet 10:d077bb12d259 60 }
manumaet 10:d077bb12d259 61
manumaet 11:c87d37db2c6f 62 void DW1000::sendFrame(uint8_t* message, uint16_t length) {
manumaet 20:257d56530ae1 63 if (length >= 1021) length = 1021; // check for maximim length a frame can have TODO: 127 Byte mode?
manumaet 13:b4d27bf7062a 64 writeRegister(DW1000_TX_BUFFER, 0, message, length); // fill buffer
manumaet 7:e634eeafc4d2 65
manumaet 21:23bf4399020d 66 uint8_t backup = readRegister8(DW1000_TX_FCTRL, 1); // put length of frame
manumaet 21:23bf4399020d 67 length += 2; // including 2 CRC Bytes
manumaet 11:c87d37db2c6f 68 length = ((backup & 0xFC) << 8) | (length & 0x03FF);
manumaet 21:23bf4399020d 69 writeRegister16(DW1000_TX_FCTRL, 0, length);
manumaet 11:c87d37db2c6f 70
manumaet 25:d58b0595b300 71 stopTRX(); // stop receiving
manumaet 23:661a79e56208 72 writeRegister8(DW1000_SYS_CTRL, 0, 0x02); // trigger sending process by setting the TXSTRT bit
manumaet 25:d58b0595b300 73 startRX(); // enable receiver again
manumaet 8:7a9c61242e2f 74 }
manumaet 8:7a9c61242e2f 75
manumaet 17:8afa5f9122da 76 void DW1000::startRX() {
manumaet 21:23bf4399020d 77 //while(sending); // block until sending finished TODO: the right way??
manumaet 20:257d56530ae1 78 writeRegister8(DW1000_SYS_CTRL, 0x01, 0x01); // start listening for preamble by setting the RXENAB bit
manumaet 7:e634eeafc4d2 79 }
manumaet 7:e634eeafc4d2 80
manumaet 25:d58b0595b300 81 void DW1000::stopTRX() {
manumaet 25:d58b0595b300 82 writeRegister8(DW1000_SYS_CTRL, 0, 0x40); // disable tranceiver go back to idle mode
manumaet 17:8afa5f9122da 83 }
manumaet 17:8afa5f9122da 84
manumaet 20:257d56530ae1 85 // PRIVATE Methods ------------------------------------------------------------------------------------
manumaet 18:bbc7ca7d3a95 86 void DW1000::loadLDE() { // initialise LDE algorithm LDELOAD User Manual p22
manumaet 18:bbc7ca7d3a95 87 writeRegister16(DW1000_PMSC, 0, 0x0301); // set clock to XTAL so OTP is reliable
manumaet 20:257d56530ae1 88 writeRegister16(DW1000_OTP_IF, 0x06, 0x8000); // set LDELOAD bit in OTP
manumaet 12:985aa9843c3c 89 wait_us(150);
manumaet 18:bbc7ca7d3a95 90 writeRegister16(DW1000_PMSC, 0, 0x0200); // recover to PLL clock
manumaet 12:985aa9843c3c 91 }
manumaet 12:985aa9843c3c 92
manumaet 12:985aa9843c3c 93 void DW1000::resetRX() {
manumaet 12:985aa9843c3c 94 writeRegister8(DW1000_PMSC, 3, 0xE0); // set RX reset
manumaet 12:985aa9843c3c 95 writeRegister8(DW1000_PMSC, 3, 0xF0); // clear RX reset
manumaet 12:985aa9843c3c 96 }
manumaet 12:985aa9843c3c 97
manumaet 12:985aa9843c3c 98 void DW1000::resetAll() {
manumaet 12:985aa9843c3c 99 writeRegister8(DW1000_PMSC, 0, 0x01); // set clock to XTAL
manumaet 12:985aa9843c3c 100 writeRegister8(DW1000_PMSC, 3, 0x00); // set All reset
manumaet 12:985aa9843c3c 101 wait_us(10); // wait for PLL to lock
manumaet 12:985aa9843c3c 102 writeRegister8(DW1000_PMSC, 3, 0xF0); // clear All reset
manumaet 7:e634eeafc4d2 103 }
manumaet 0:f50e671ffff7 104
manumaet 20:257d56530ae1 105 void DW1000::ISR() {
manumaet 20:257d56530ae1 106 uint64_t status = getStatus();
manumaet 22:576ee999b004 107 if (status & 0x4000) { // a frame was received
manumaet 21:23bf4399020d 108 if (callbackRX != NULL)
manumaet 21:23bf4399020d 109 callbackRX(getFramelength());
manumaet 22:576ee999b004 110 writeRegister16(DW1000_SYS_STATUS, 0, 0x6F00); // clearing of receiving status bits
manumaet 20:257d56530ae1 111 }
manumaet 22:576ee999b004 112 if (status & 0x80) { // sending complete
manumaet 25:d58b0595b300 113 //startRX(); // enable receiver again if we need to preserve state TODO: have to do it here??
manumaet 21:23bf4399020d 114 if (callbackTX != NULL)
manumaet 21:23bf4399020d 115 callbackTX();
manumaet 22:576ee999b004 116 writeRegister8(DW1000_SYS_STATUS, 0, 0xF8); // clearing of sending status bits
manumaet 20:257d56530ae1 117 }
manumaet 20:257d56530ae1 118 }
manumaet 20:257d56530ae1 119
manumaet 20:257d56530ae1 120 uint16_t DW1000::getFramelength() {
manumaet 20:257d56530ae1 121 uint16_t framelength = readRegister16(DW1000_RX_FINFO, 0); // get framelength
manumaet 20:257d56530ae1 122 framelength = (framelength & 0x03FF) - 2; // take only the right bits and subtract the 2 CRC Bytes
manumaet 20:257d56530ae1 123 return framelength;
manumaet 20:257d56530ae1 124 }
manumaet 20:257d56530ae1 125
manumaet 0:f50e671ffff7 126 // SPI Interface ------------------------------------------------------------------------------------
manumaet 10:d077bb12d259 127 uint8_t DW1000::readRegister8(uint8_t reg, uint16_t subaddress) {
manumaet 10:d077bb12d259 128 uint8_t result;
manumaet 10:d077bb12d259 129 readRegister(reg, subaddress, &result, 1);
manumaet 10:d077bb12d259 130 return result;
manumaet 10:d077bb12d259 131 }
manumaet 10:d077bb12d259 132
manumaet 18:bbc7ca7d3a95 133 uint16_t DW1000::readRegister16(uint8_t reg, uint16_t subaddress) {
manumaet 18:bbc7ca7d3a95 134 uint16_t result;
manumaet 18:bbc7ca7d3a95 135 readRegister(reg, subaddress, (uint8_t*)&result, 2);
manumaet 18:bbc7ca7d3a95 136 return result;
manumaet 18:bbc7ca7d3a95 137 }
manumaet 18:bbc7ca7d3a95 138
manumaet 18:bbc7ca7d3a95 139 uint64_t DW1000::readRegister40(uint8_t reg, uint16_t subaddress) {
manumaet 18:bbc7ca7d3a95 140 uint64_t result;
manumaet 18:bbc7ca7d3a95 141 readRegister(reg, subaddress, (uint8_t*)&result, 5);
manumaet 18:bbc7ca7d3a95 142 result &= 0xFFFFFFFFFF; // only 40-Bit
manumaet 18:bbc7ca7d3a95 143 return result;
manumaet 18:bbc7ca7d3a95 144 }
manumaet 18:bbc7ca7d3a95 145
manumaet 8:7a9c61242e2f 146 void DW1000::writeRegister8(uint8_t reg, uint16_t subaddress, uint8_t buffer) {
manumaet 8:7a9c61242e2f 147 writeRegister(reg, subaddress, &buffer, 1);
manumaet 8:7a9c61242e2f 148 }
manumaet 8:7a9c61242e2f 149
manumaet 18:bbc7ca7d3a95 150 void DW1000::writeRegister16(uint8_t reg, uint16_t subaddress, uint16_t buffer) {
manumaet 18:bbc7ca7d3a95 151 writeRegister(reg, subaddress, (uint8_t*)&buffer, 2);
manumaet 18:bbc7ca7d3a95 152 }
manumaet 18:bbc7ca7d3a95 153
manumaet 8:7a9c61242e2f 154 void DW1000::readRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length) {
manumaet 0:f50e671ffff7 155 setupTransaction(reg, subaddress, false);
manumaet 18:bbc7ca7d3a95 156 for(int i=0; i<length; i++) // get data
manumaet 0:f50e671ffff7 157 buffer[i] = spi.write(0x00);
manumaet 0:f50e671ffff7 158 deselect();
manumaet 0:f50e671ffff7 159 }
manumaet 0:f50e671ffff7 160
manumaet 8:7a9c61242e2f 161 void DW1000::writeRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length) {
manumaet 0:f50e671ffff7 162 setupTransaction(reg, subaddress, true);
manumaet 18:bbc7ca7d3a95 163 for(int i=0; i<length; i++) // put data
manumaet 0:f50e671ffff7 164 spi.write(buffer[i]);
manumaet 0:f50e671ffff7 165 deselect();
manumaet 0:f50e671ffff7 166 }
manumaet 0:f50e671ffff7 167
manumaet 8:7a9c61242e2f 168 void DW1000::setupTransaction(uint8_t reg, uint16_t subaddress, bool write) {
manumaet 18:bbc7ca7d3a95 169 reg |= (write * DW1000_WRITE_FLAG); // set read/write flag
manumaet 0:f50e671ffff7 170 select();
manumaet 0:f50e671ffff7 171 if (subaddress > 0) { // there's a subadress, we need to set flag and send second header byte
manumaet 0:f50e671ffff7 172 spi.write(reg | DW1000_SUBADDRESS_FLAG);
manumaet 18:bbc7ca7d3a95 173 if (subaddress > 0x7F) { // sub address too long, we need to set flag and send third header byte
manumaet 18:bbc7ca7d3a95 174 spi.write((uint8_t)(subaddress & 0x7F) | DW1000_2_SUBADDRESS_FLAG); // and
manumaet 0:f50e671ffff7 175 spi.write((uint8_t)(subaddress >> 7));
manumaet 0:f50e671ffff7 176 } else {
manumaet 0:f50e671ffff7 177 spi.write((uint8_t)subaddress);
manumaet 0:f50e671ffff7 178 }
manumaet 0:f50e671ffff7 179 } else {
manumaet 18:bbc7ca7d3a95 180 spi.write(reg); // say which register address we want to access
manumaet 0:f50e671ffff7 181 }
manumaet 0:f50e671ffff7 182 }
manumaet 0:f50e671ffff7 183
manumaet 18:bbc7ca7d3a95 184 void DW1000::select() { cs = 0; } // set CS low to start transmission
manumaet 18:bbc7ca7d3a95 185 void DW1000::deselect() { cs = 1; } // set CS high to stop transmission