File content as of revision 4:6240b9c7a033:

// by Manuel Stalder & Matthias Grob 2015

#ifndef DW1000_H
#define DW1000_H

#include "mbed.h"

// register addresses
//      Mnemonic                    Address Byte Description
#define DW1000_DEV_ID               0x00 //    4 Device Identifier – includes device type and revision information
#define DW1000_EUI                  0x01 //    8 Extended Unique Identifier
#define DW1000_PANADR               0x03 //    4 PAN Identifier and Short Address
#define DW1000_SYS_CFG              0x04 //    4 System Configuration bitmap
#define DW1000_SYS_TIME             0x06 //    5 System Time Counter (40-bit)
#define DW1000_TX_FCTRL             0x08 //    5 Transmit Frame Control
#define DW1000_TX_BUFFER            0x09 // 1024 Transmit Data Buffer
#define DW1000_DX_TIME              0x0A //    5 Delayed Send or Receive Time (40-bit)
#define DW1000_RX_FWTO              0x0C //    2 Receive Frame Wait Timeout Period
#define DW1000_SYS_CTRL             0x0D //    4 System Control Register
#define DW1000_SYS_MASK             0x0E //    4 System Event Mask Register
#define DW1000_SYS_STATUS           0x0F //    5 System Event Status Register
#define DW1000_RX_FINFO             0x10 //    4 RX Frame Information                (in double buffer set)
#define DW1000_RX_BUFFER            0x11 // 1024 Receive Data Buffer                 (in double buffer set)
#define DW1000_RX_FQUAL             0x12 //    8 Rx Frame Quality information        (in double buffer set)
#define DW1000_RX_TTCKI             0x13 //    4 Receiver Time Tracking Interval     (in double buffer set)
#define DW1000_RX_TTCKO             0x14 //    5 Receiver Time Tracking Offset       (in double buffer set)
#define DW1000_RX_TIME              0x15 //   14 Receive Message Time of Arrival     (in double buffer set)
#define DW1000_TX_TIME              0x17 //   10 Transmit Message Time of Sending    (in double buffer set)
#define DW1000_TX_ANTD              0x18 //    2 16-bit Delay from Transmit to Antenna
#define DW1000_SYS_STATE            0x19 //    5 System State information
#define DW1000_ACK_RESP_T           0x1A //    4 Acknowledgement Time and Response Time
#define DW1000_RX_SNIFF             0x1D //    4 Pulsed Preamble Reception Configuration
#define DW1000_TX_POWER             0x1E //    4 TX Power Control
#define DW1000_CHAN_CTRL            0x1F //    4 Channel Control
#define DW1000_USR_SFD              0x21 //   41 User-specified short/long TX/RX SFD sequences
#define DW1000_AGC_CTRL             0x23 //   32 Automatic Gain Control configuration
#define DW1000_EXT_SYNC             0x24 //   12 External synchronisation control.
#define DW1000_ACC_MEM              0x25 // 4064 Read access to accumulator data
#define DW1000_GPIO_CTRL            0x26 //   44 Peripheral register bus 1 access - GPIO control
#define DW1000_DRX_CONF             0x27 //   44 Digital Receiver configuration
#define DW1000_RF_CONF              0x28 //   58 Analog RF Configuration
#define DW1000_TX_CAL               0x2A //   52 Transmitter calibration block
#define DW1000_FS_CTRL              0x2B //   21 Frequency synthesiser control block
#define DW1000_AON                  0x2C //   12 Always-On register set
#define DW1000_OTP_IF               0x2D //   18 One Time Programmable Memory Interface
#define DW1000_LDE_CTRL             0x2E //    - Leading edge detection control block
#define DW1000_DIG_DIAG             0x2F //   41 Digital Diagnostics Interface
#define DW1000_PMSC                 0x36 //   48 Power Management System Control Block

#define DW1000_WRITE_FLAG           0x80 // First Bit of the address has to be 1 to indicate we want to write
#define DW1000_SUBADDRESS_FLAG      0x40 // if we have a sub address second Bit has to be 1
#define DW1000_2_SUBADDRESS_FLAG    0x80 // if we have a long sub adress (more than 7 Bit) we set this Bit in the first part

class DW1000
{
    public:            
        DW1000(PinName MOSI, PinName MISO, PinName SCLK, PinName CS);                           // constructor, uses SPI class

        // Device API
        uint32_t getDeviceID();
        uint64_t getEUI();
        void setEUI(uint64_t EUI);
        float getVoltage();
        
        void sendFrame(char* message, int length);
        void resetRX();
        
    //private:
        
        // SPI Inteface
        SPI spi;                                                                                // SPI Bus
        DigitalOut cs;                                                                          // Slave selector for SPI-Bus (here explicitly needed to start and end SPI transactions also usable to wake up DW1000)
        
        void readRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length);
        void writeRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length);
        void setupTransaction(uint8_t reg, uint16_t subaddress, bool write);                    // writes bytes to SPI to setup a write or read transaction the register address and subaddress
        void select();                                                                          // selects the only slave for a transaction
        void deselect();                                                                        // deselects the only slave after transaction
};

#endif

// -------------------------------------------------------------------------------------------------------------------
// structure from original Driver to hold device data (to be REMOVED!)
typedef struct
{
    uint32_t      deviceID;
    uint32_t      partID ;
    uint32_t      lotID ;
    uint8_t       chan;               // added chan here - used in the reading of acc
    uint8_t       longFrames ;        // flag in non-standard long frame mode
    uint32_t      txFCTRL ;           // keep TX_FCTRL register config
    uint16_t      rfrxDly;            // rf delay (delay though the RF blocks before the signal comes out of the antenna i.e. "antenna delay")
    uint16_t      rftxDly;            // rf delay (delay though the RF blocks before the signal comes out of the antenna i.e. "antenna delay")
    uint32_t      antennaDly;         // antenna delay read from OTP 64 PRF value is in high 16 bits and 16M PRF in low 16 bits
    uint8_t       xtrim;              // xtrim value read from OTP
    uint32_t      sysCFGreg ;         // local copy of system config register
    uint32_t      txPowCfg[12];       // stores the Tx power configuration read from OTP (6 channels consecutively with PRF16 then 64, e.g. Ch 1 PRF16 is index 0 and 64 index 1)
    uint8_t       dblbuffon;          // double rx buffer mode flag
                                    // the dwt_isr() will only process the events that "enabled" (i.e. the ones that generate interrupt)
    //dwt_callback_data_t cdata;      // callback data structure

    uint32_t      states[3] ;         //MP workaround debug states register
    uint8_t       statescount ;
    uint8_t       wait4resp ;         //wait 4 response was set with last TX start command
    int         prfIndex ;

    //void (*dwt_txcallback)(const dwt_callback_data_t *txd);
    //void (*dwt_rxcallback)(const dwt_callback_data_t *rxd);

} dwt_local_data_t ;