Diff: DW1000/DW1000.cpp

Revision:

12:985aa9843c3c

Parent:

11:c87d37db2c6f

Child:

13:b4d27bf7062a

--- a/DW1000/DW1000.cpp	Sun Nov 23 11:20:46 2014 +0000
+++ b/DW1000/DW1000.cpp	Sun Nov 23 14:34:31 2014 +0000
@@ -5,14 +5,11 @@
     spi.format(8,0);                    // Setup the spi for standard 8 bit data and SPI-Mode 0 (GPIO5, GPIO6 open circuit or ground on DW1000)
     spi.frequency(1000000);             // with a 1MHz clock rate (worked up to 49MHz in our Test)
     
-    uint16_t ldeload[] = {0x0301, 0x8000, 0x0200};
-    writeRegister(DW1000_PMSC, 0, (uint8_t*)&ldeload[0], 2);                 // initialise LDELOAD User Manual p22
-    writeRegister(DW1000_OTP_IF, 0x06, (uint8_t*)&ldeload[1], 2);
-    wait_us(150);
-    writeRegister(DW1000_PMSC, 0, (uint8_t*)&ldeload[2], 2);
+    //resetAll();                       // we can do a soft reset if we want to (only needed for debugging)
+    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
+    writeRegister8(DW1000_SYS_CFG, 3, 0x20); // enable auto reenabling receiver after error
     
     irq.rise(this, &DW1000::ISR);       // attach Interrupt handler to rising edge
-    resetRX();
 }
 
 uint32_t DW1000::getDeviceID() {
@@ -32,7 +29,7 @@
 }
 
 float DW1000::getVoltage() {
-    uint8_t buffer[7] = {0x80, 0x0A, 0x0F, 0x01, 0x00};             // algorithm form DW1000 User Manual p57
+    uint8_t buffer[7] = {0x80, 0x0A, 0x0F, 0x01, 0x00};             // algorithm form User Manual p57
     writeRegister(DW1000_RF_CONF, 0x11, buffer, 2);
     writeRegister(DW1000_RF_CONF, 0x12, &buffer[2], 1);
     writeRegister(DW1000_TX_CAL, 0x00, &buffer[3], 1);
@@ -73,14 +70,33 @@
 }
 
 void DW1000::ISR() {
-    callbackRX();
+    uint64_t status;                                                // get the entire system status
+    readRegister(DW1000_SYS_STATUS, 0, (uint8_t*)&status, 5);
+    status &= 0xFFFFFFFFFF;                                         // only 40-Bit
+    if (status & 0x4000)
+        callbackRX();
+    if (status & 0x80)
+        ;//callbackTX();                                            // TODO: mask TX done interrupt make TX handler
 }
 
-void DW1000::resetRX() {
-    uint8_t resetrx = 0xE0;     //set rx reset
-    writeRegister(DW1000_PMSC, 3, &resetrx, 1);
-    resetrx = 0xf0;             //clear RX reset
-    writeRegister(DW1000_PMSC, 3, &resetrx, 1);
+void DW1000::loadLDE() {
+    uint16_t ldeload[] = {0x0301, 0x8000, 0x0200};                  // initialise LDE algorithm LDELOAD User Manual p22
+    writeRegister(DW1000_PMSC, 0, (uint8_t*)&ldeload[0], 2);        // set clock to XTAL so OTP is reliable
+    writeRegister(DW1000_OTP_IF, 0x06, (uint8_t*)&ldeload[1], 2);   // set LDELOAD bit in OTP
+    wait_us(150);
+    writeRegister(DW1000_PMSC, 0, (uint8_t*)&ldeload[2], 2);        // recover to PLL clock
+}
+
+void DW1000::resetRX() {    
+    writeRegister8(DW1000_PMSC, 3, 0xE0);   // set RX reset
+    writeRegister8(DW1000_PMSC, 3, 0xF0);   // clear RX reset
+}
+
+void DW1000::resetAll() {
+    writeRegister8(DW1000_PMSC, 0, 0x01);   // set clock to XTAL
+    writeRegister8(DW1000_PMSC, 3, 0x00);   // set All reset
+    wait_us(10);                            // wait for PLL to lock
+    writeRegister8(DW1000_PMSC, 3, 0xF0);   // clear All reset
 }
 
 // SPI Interface ------------------------------------------------------------------------------------
@@ -124,5 +140,5 @@
     }
 }
 
-void DW1000::select() { cs = 0; }    //Set CS low to start transmission
-void DW1000::deselect() { cs = 1; }    //Set CS high to stop transmission
\ No newline at end of file
+void DW1000::select() { cs = 0; }    // set CS low to start transmission
+void DW1000::deselect() { cs = 1; }    // set CS high to stop transmission
\ No newline at end of file