File content as of revision 8:7a9c61242e2f:

#include "DW1000.h"

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);       // attach Interrupt handler to rising edge
    resetRX();
}

uint32_t DW1000::getDeviceID() {
    uint32_t result;
    readRegister(DW1000_DEV_ID, 0, (uint8_t*)&result, 4);
    return result;
}

uint64_t DW1000::getEUI() {
    uint64_t result;
    readRegister(DW1000_EUI, 0, (uint8_t*)&result, 8);
    return result;
}

void DW1000::setEUI(uint64_t EUI) {
    writeRegister(DW1000_EUI, 0, (uint8_t*)&EUI, 8);
}

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);
    writeRegister(DW1000_RF_CONF, 0x12, &buffer[2], 1);
    writeRegister(DW1000_TX_CAL, 0x00, &buffer[3], 1);
    writeRegister(DW1000_TX_CAL, 0x00, &buffer[4], 1);
    readRegister(DW1000_TX_CAL, 0x03, &buffer[5], 2);               // get the 8-Bit readings for Voltage and Temperature
    float Voltage = buffer[5] * 0.0057 + 2.3;
    float Temperature = buffer[6] * 1.13 - 113.0;                   // TODO: getTemperature was always ~35 degree with better formula/calibration see instance_common.c row 391
    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);
    
    writeRegister8(DW1000_SYS_CTRL, 0, 0x02);                       // trigger sending process by setting the TXSTRT bit
}

void DW1000::receiveFrame() {
    writeRegister8(DW1000_SYS_CTRL, 1, 0x01);                       // start listening for preamble by setting the RXENAB bit
}

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::writeRegister8(uint8_t reg, uint16_t subaddress, uint8_t buffer) {
    writeRegister(reg, subaddress, &buffer, 1);
}

void DW1000::readRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length) {
    setupTransaction(reg, subaddress, false);
    
    for(int i=0; i<length; i++)     // get data
        buffer[i] = spi.write(0x00);
    deselect();
}

void DW1000::writeRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length) {
    setupTransaction(reg, subaddress, true);
    
    for(int i=0; i<length; i++)     // put data
        spi.write(buffer[i]);
    deselect();
}

void DW1000::setupTransaction(uint8_t reg, uint16_t subaddress, bool write) {
    reg |=  (write * DW1000_WRITE_FLAG);
    select();
    if (subaddress > 0) {                                                       // there's a subadress, we need to set flag and send second header byte
        spi.write(reg | DW1000_SUBADDRESS_FLAG);
        if (subaddress > 127) {                                                 // sub address too long, we need to set flag and send third header byte
            spi.write((uint8_t)(subaddress & 0x7F) | DW1000_2_SUBADDRESS_FLAG);
            spi.write((uint8_t)(subaddress >> 7));
        } else {
            spi.write((uint8_t)subaddress);
        }
    } else {
        spi.write(reg);
    }
}

void DW1000::select() { cs = 0; }    //Set CS low to start transmission
void DW1000::deselect() { cs = 1; }    //Set CS high to stop transmission