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.
Diff: DW1000/DW1000.cpp
- Revision:
- 7:e634eeafc4d2
- Parent:
- 4:6240b9c7a033
- Child:
- 8:7a9c61242e2f
--- a/DW1000/DW1000.cpp Tue Nov 18 13:39:50 2014 +0000 +++ b/DW1000/DW1000.cpp Tue Nov 18 14:06:48 2014 +0000 @@ -1,10 +1,12 @@ #include "DW1000.h" -DW1000::DW1000(PinName MOSI, PinName MISO, PinName SCLK, PinName CS) : spi(MOSI, MISO, SCLK), cs(CS) +DW1000::DW1000(PinName MOSI, PinName MISO, PinName SCLK, PinName CS, PinName IRQ) : spi(MOSI, MISO, SCLK), cs(CS), irq(IRQ) { deselect(); // Chip must be deselected first 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) + + irq.rise(this, &DW1000::ISR); } uint32_t DW1000::getDeviceID() { @@ -23,23 +25,6 @@ writeRegister(DW1000_EUI, 0, (uint8_t*)&EUI, 8); } -void DW1000::sendFrame(char* message, int length) { - writeRegister(DW1000_TX_BUFFER, 0, (uint8_t*)message, length); // fill buffer - - uint16_t framelength = length+2; // put length of frame including 2 CRC Bytes - writeRegister(DW1000_TX_FCTRL, 0, (uint8_t*)&framelength, 1); - - uint8_t txstart = 0x02; // trigger sending process - writeRegister(DW1000_SYS_CTRL, 0, &txstart, 1); -} - -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); -} - float DW1000::getVoltage() { uint8_t buffer[7] = {0x80, 0x0A, 0x0F, 0x01, 0x00}; // algorithm form DW1000 User Manual p57 writeRegister(DW1000_RF_CONF, 0x11, buffer, 2); @@ -52,6 +37,26 @@ return Voltage; } +void DW1000::sendFrame(char* message, int length) { + writeRegister(DW1000_TX_BUFFER, 0, (uint8_t*)message, length); // fill buffer + + uint16_t framelength = length+2; // put length of frame including 2 CRC Bytes + writeRegister(DW1000_TX_FCTRL, 0, (uint8_t*)&framelength, 1); + + uint8_t txstart = 0x02; // trigger sending process + writeRegister(DW1000_SYS_CTRL, 0, &txstart, 1); +} + +void DW1000::ISR() { + callbackRX(); +} + +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); +} // SPI Interface ------------------------------------------------------------------------------------ void DW1000::readRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length)