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@19:e94bc88c1eb0, 2014-11-25 (annotated)

Committer:
manumaet
Date:
Tue Nov 25 14:48:51 2014 +0000
Revision:
19:e94bc88c1eb0
Parent:
18:bbc7ca7d3a95
Child:
20:257d56530ae1
tranciever works again

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 18:bbc7ca7d3a95 4 receiving = 0; // state in the beginning is not listening for frames
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 15:e1fea7e2aff1 15 writeRegister8(DW1000_SYS_CFG, 2, 0x03); // enable 1024 byte frames TODO: doesn't work!!
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 0:f50e671ffff7 20 uint32_t DW1000::getDeviceID() {
manumaet 0:f50e671ffff7 21 uint32_t result;
manumaet 0:f50e671ffff7 22 readRegister(DW1000_DEV_ID, 0, (uint8_t*)&result, 4);
manumaet 0:f50e671ffff7 23 return result;
manumaet 0:f50e671ffff7 24 }
manumaet 0:f50e671ffff7 25
manumaet 0:f50e671ffff7 26 uint64_t DW1000::getEUI() {
manumaet 0:f50e671ffff7 27 uint64_t result;
manumaet 0:f50e671ffff7 28 readRegister(DW1000_EUI, 0, (uint8_t*)&result, 8);
manumaet 0:f50e671ffff7 29 return result;
manumaet 0:f50e671ffff7 30 }
manumaet 0:f50e671ffff7 31
manumaet 0:f50e671ffff7 32 void DW1000::setEUI(uint64_t EUI) {
manumaet 0:f50e671ffff7 33 writeRegister(DW1000_EUI, 0, (uint8_t*)&EUI, 8);
manumaet 0:f50e671ffff7 34 }
manumaet 0:f50e671ffff7 35
manumaet 0:f50e671ffff7 36 float DW1000::getVoltage() {
manumaet 12:985aa9843c3c 37 uint8_t buffer[7] = {0x80, 0x0A, 0x0F, 0x01, 0x00}; // algorithm form User Manual p57
manumaet 0:f50e671ffff7 38 writeRegister(DW1000_RF_CONF, 0x11, buffer, 2);
manumaet 0:f50e671ffff7 39 writeRegister(DW1000_RF_CONF, 0x12, &buffer[2], 1);
manumaet 0:f50e671ffff7 40 writeRegister(DW1000_TX_CAL, 0x00, &buffer[3], 1);
manumaet 0:f50e671ffff7 41 writeRegister(DW1000_TX_CAL, 0x00, &buffer[4], 1);
manumaet 8:7a9c61242e2f 42 readRegister(DW1000_TX_CAL, 0x03, &buffer[5], 2); // get the 8-Bit readings for Voltage and Temperature
manumaet 0:f50e671ffff7 43 float Voltage = buffer[5] * 0.0057 + 2.3;
manumaet 8:7a9c61242e2f 44 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 45 return Voltage;
manumaet 0:f50e671ffff7 46 }
manumaet 0:f50e671ffff7 47
manumaet 18:bbc7ca7d3a95 48 uint64_t DW1000::getStatus() {
manumaet 18:bbc7ca7d3a95 49 return readRegister40(DW1000_SYS_STATUS, 0);
manumaet 18:bbc7ca7d3a95 50 }
manumaet 18:bbc7ca7d3a95 51
manumaet 10:d077bb12d259 52 void DW1000::sendString(char* message) {
manumaet 10:d077bb12d259 53 sendFrame((uint8_t*)message, strlen(message)+1);
manumaet 10:d077bb12d259 54 }
manumaet 10:d077bb12d259 55
manumaet 10:d077bb12d259 56 char* DW1000::receiveString() {
manumaet 10:d077bb12d259 57 uint16_t framelength = 0; // get framelength
manumaet 10:d077bb12d259 58 readRegister(DW1000_RX_FINFO, 0, (uint8_t*)&framelength, 2);
manumaet 10:d077bb12d259 59 framelength = (framelength & 0x03FF) - 2; // take only the right bits and subtract the 2 CRC Bytes
manumaet 10:d077bb12d259 60 char* receive = new char[framelength]; // get data from buffer
manumaet 10:d077bb12d259 61 readRegister(DW1000_RX_BUFFER, 0, (uint8_t*)receive, framelength);
manumaet 10:d077bb12d259 62 return receive;
manumaet 10:d077bb12d259 63 }
manumaet 10:d077bb12d259 64
manumaet 11:c87d37db2c6f 65 void DW1000::sendFrame(uint8_t* message, uint16_t length) {
manumaet 17:8afa5f9122da 66 if (length >= 1021) length = 1021;
manumaet 13:b4d27bf7062a 67 writeRegister(DW1000_TX_BUFFER, 0, message, length); // fill buffer
manumaet 7:e634eeafc4d2 68
manumaet 13:b4d27bf7062a 69 uint8_t backup = readRegister8(DW1000_TX_FCTRL, 1); // put length of frame including 2 CRC Bytes
manumaet 13:b4d27bf7062a 70 length += 2;
manumaet 11:c87d37db2c6f 71 length = ((backup & 0xFC) << 8) | (length & 0x03FF);
manumaet 17:8afa5f9122da 72 writeRegister(DW1000_TX_FCTRL, 0, (uint8_t*)&length, 2);
manumaet 11:c87d37db2c6f 73
manumaet 18:bbc7ca7d3a95 74 if (receiving) stopTRX(); // stop receiving if we are in this state
manumaet 11:c87d37db2c6f 75 writeRegister8(DW1000_SYS_CTRL, 0, 0x02); // trigger sending process by setting the TXSTRT bit
manumaet 18:bbc7ca7d3a95 76 //if (receiving) startRX(); // enable receiver again if we need to preserve state TODO: safe to do this directly ??? only after sending ended
manumaet 8:7a9c61242e2f 77 }
manumaet 8:7a9c61242e2f 78
manumaet 17:8afa5f9122da 79 void DW1000::startRX() {
manumaet 17:8afa5f9122da 80 receiving = true;
manumaet 13:b4d27bf7062a 81 writeRegister8(DW1000_SYS_CTRL, 0x01, 0x01); // start listening for preamble by setting the RXENAB bit
manumaet 7:e634eeafc4d2 82 }
manumaet 7:e634eeafc4d2 83
manumaet 17:8afa5f9122da 84 void DW1000::stopRX() {
manumaet 17:8afa5f9122da 85 receiving = false;
manumaet 19:e94bc88c1eb0 86 stopTRX();
manumaet 17:8afa5f9122da 87 }
manumaet 17:8afa5f9122da 88
manumaet 7:e634eeafc4d2 89 void DW1000::ISR() {
manumaet 18:bbc7ca7d3a95 90 uint64_t status = getStatus();
manumaet 18:bbc7ca7d3a95 91 if (status & 0x4000) {
manumaet 18:bbc7ca7d3a95 92 callbackRX(getFramelength());
manumaet 18:bbc7ca7d3a95 93 }
manumaet 18:bbc7ca7d3a95 94 if (status & 0x80) {
manumaet 18:bbc7ca7d3a95 95 if (receiving) startRX(); // enable receiver again if we need to preserve state TODO: have to do it here??
manumaet 18:bbc7ca7d3a95 96 callbackTX();
manumaet 18:bbc7ca7d3a95 97 }
manumaet 7:e634eeafc4d2 98 }
manumaet 7:e634eeafc4d2 99
manumaet 18:bbc7ca7d3a95 100 uint16_t DW1000::getFramelength() {
manumaet 18:bbc7ca7d3a95 101 uint16_t framelength = readRegister16(DW1000_RX_FINFO, 0); // get framelength TODO: get this from isr
manumaet 18:bbc7ca7d3a95 102 framelength &= 0x03FF;
manumaet 18:bbc7ca7d3a95 103 framelength -= 2;
manumaet 18:bbc7ca7d3a95 104 return framelength;
manumaet 18:bbc7ca7d3a95 105 }
manumaet 18:bbc7ca7d3a95 106
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 18:bbc7ca7d3a95 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 17:8afa5f9122da 114 void DW1000::stopTRX() {
manumaet 17:8afa5f9122da 115 writeRegister8(DW1000_SYS_CTRL, 0, 0x40); // disable tranceiver go back to idle mode
manumaet 17:8afa5f9122da 116 }
manumaet 17:8afa5f9122da 117
manumaet 12:985aa9843c3c 118 void DW1000::resetRX() {
manumaet 12:985aa9843c3c 119 writeRegister8(DW1000_PMSC, 3, 0xE0); // set RX reset
manumaet 12:985aa9843c3c 120 writeRegister8(DW1000_PMSC, 3, 0xF0); // clear RX reset
manumaet 12:985aa9843c3c 121 }
manumaet 12:985aa9843c3c 122
manumaet 12:985aa9843c3c 123 void DW1000::resetAll() {
manumaet 12:985aa9843c3c 124 writeRegister8(DW1000_PMSC, 0, 0x01); // set clock to XTAL
manumaet 12:985aa9843c3c 125 writeRegister8(DW1000_PMSC, 3, 0x00); // set All reset
manumaet 12:985aa9843c3c 126 wait_us(10); // wait for PLL to lock
manumaet 12:985aa9843c3c 127 writeRegister8(DW1000_PMSC, 3, 0xF0); // clear All reset
manumaet 7:e634eeafc4d2 128 }
manumaet 0:f50e671ffff7 129
manumaet 0:f50e671ffff7 130 // SPI Interface ------------------------------------------------------------------------------------
manumaet 10:d077bb12d259 131 uint8_t DW1000::readRegister8(uint8_t reg, uint16_t subaddress) {
manumaet 10:d077bb12d259 132 uint8_t result;
manumaet 10:d077bb12d259 133 readRegister(reg, subaddress, &result, 1);
manumaet 10:d077bb12d259 134 return result;
manumaet 10:d077bb12d259 135 }
manumaet 10:d077bb12d259 136
manumaet 18:bbc7ca7d3a95 137 uint16_t DW1000::readRegister16(uint8_t reg, uint16_t subaddress) {
manumaet 18:bbc7ca7d3a95 138 uint16_t result;
manumaet 18:bbc7ca7d3a95 139 readRegister(reg, subaddress, (uint8_t*)&result, 2);
manumaet 18:bbc7ca7d3a95 140 return result;
manumaet 18:bbc7ca7d3a95 141 }
manumaet 18:bbc7ca7d3a95 142
manumaet 18:bbc7ca7d3a95 143 uint64_t DW1000::readRegister40(uint8_t reg, uint16_t subaddress) {
manumaet 18:bbc7ca7d3a95 144 uint64_t result;
manumaet 18:bbc7ca7d3a95 145 readRegister(reg, subaddress, (uint8_t*)&result, 5);
manumaet 18:bbc7ca7d3a95 146 result &= 0xFFFFFFFFFF; // only 40-Bit
manumaet 18:bbc7ca7d3a95 147 return result;
manumaet 18:bbc7ca7d3a95 148 }
manumaet 18:bbc7ca7d3a95 149
manumaet 8:7a9c61242e2f 150 void DW1000::writeRegister8(uint8_t reg, uint16_t subaddress, uint8_t buffer) {
manumaet 8:7a9c61242e2f 151 writeRegister(reg, subaddress, &buffer, 1);
manumaet 8:7a9c61242e2f 152 }
manumaet 8:7a9c61242e2f 153
manumaet 18:bbc7ca7d3a95 154 void DW1000::writeRegister16(uint8_t reg, uint16_t subaddress, uint16_t buffer) {
manumaet 18:bbc7ca7d3a95 155 writeRegister(reg, subaddress, (uint8_t*)&buffer, 2);
manumaet 18:bbc7ca7d3a95 156 }
manumaet 18:bbc7ca7d3a95 157
manumaet 8:7a9c61242e2f 158 void DW1000::readRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length) {
manumaet 0:f50e671ffff7 159 setupTransaction(reg, subaddress, false);
manumaet 18:bbc7ca7d3a95 160 for(int i=0; i<length; i++) // get data
manumaet 0:f50e671ffff7 161 buffer[i] = spi.write(0x00);
manumaet 0:f50e671ffff7 162 deselect();
manumaet 0:f50e671ffff7 163 }
manumaet 0:f50e671ffff7 164
manumaet 8:7a9c61242e2f 165 void DW1000::writeRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length) {
manumaet 0:f50e671ffff7 166 setupTransaction(reg, subaddress, true);
manumaet 18:bbc7ca7d3a95 167 for(int i=0; i<length; i++) // put data
manumaet 0:f50e671ffff7 168 spi.write(buffer[i]);
manumaet 0:f50e671ffff7 169 deselect();
manumaet 0:f50e671ffff7 170 }
manumaet 0:f50e671ffff7 171
manumaet 8:7a9c61242e2f 172 void DW1000::setupTransaction(uint8_t reg, uint16_t subaddress, bool write) {
manumaet 18:bbc7ca7d3a95 173 reg |= (write * DW1000_WRITE_FLAG); // set read/write flag
manumaet 0:f50e671ffff7 174 select();
manumaet 0:f50e671ffff7 175 if (subaddress > 0) { // there's a subadress, we need to set flag and send second header byte
manumaet 0:f50e671ffff7 176 spi.write(reg | DW1000_SUBADDRESS_FLAG);
manumaet 18:bbc7ca7d3a95 177 if (subaddress > 0x7F) { // sub address too long, we need to set flag and send third header byte
manumaet 18:bbc7ca7d3a95 178 spi.write((uint8_t)(subaddress & 0x7F) | DW1000_2_SUBADDRESS_FLAG); // and
manumaet 0:f50e671ffff7 179 spi.write((uint8_t)(subaddress >> 7));
manumaet 0:f50e671ffff7 180 } else {
manumaet 0:f50e671ffff7 181 spi.write((uint8_t)subaddress);
manumaet 0:f50e671ffff7 182 }
manumaet 0:f50e671ffff7 183 } else {
manumaet 18:bbc7ca7d3a95 184 spi.write(reg); // say which register address we want to access
manumaet 0:f50e671ffff7 185 }
manumaet 0:f50e671ffff7 186 }
manumaet 0:f50e671ffff7 187
manumaet 18:bbc7ca7d3a95 188 void DW1000::select() { cs = 0; } // set CS low to start transmission
manumaet 18:bbc7ca7d3a95 189 void DW1000::deselect() { cs = 1; } // set CS high to stop transmission