Tobias Naegeli / Mbed 2 deprecated AIT_UWB_Range

Tobi's ubw test branch

Dependencies:   mavlink_bridge mbed

Fork of AIT_UWB_Range by Benjamin Hepp

DW1000/DW1000.cpp@8:7a9c61242e2f, 2014-11-18 (annotated)

Committer:
manumaet
Date:
Tue Nov 18 15:41:33 2014 +0000
Revision:
8:7a9c61242e2f
Parent:
7:e634eeafc4d2
Child:
10:d077bb12d259
sender doesn't work anymore

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 0:f50e671ffff7 4 deselect(); // Chip must be deselected first
manumaet 0:f50e671ffff7 5 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 6 spi.frequency(1000000); // with a 1MHz clock rate (worked up to 49MHz in our Test)
manumaet 7:e634eeafc4d2 7
manumaet 8:7a9c61242e2f 8 irq.rise(this, &DW1000::ISR); // attach Interrupt handler to rising edge
manumaet 8:7a9c61242e2f 9 resetRX();
manumaet 0:f50e671ffff7 10 }
manumaet 0:f50e671ffff7 11
manumaet 0:f50e671ffff7 12 uint32_t DW1000::getDeviceID() {
manumaet 0:f50e671ffff7 13 uint32_t result;
manumaet 0:f50e671ffff7 14 readRegister(DW1000_DEV_ID, 0, (uint8_t*)&result, 4);
manumaet 0:f50e671ffff7 15 return result;
manumaet 0:f50e671ffff7 16 }
manumaet 0:f50e671ffff7 17
manumaet 0:f50e671ffff7 18 uint64_t DW1000::getEUI() {
manumaet 0:f50e671ffff7 19 uint64_t result;
manumaet 0:f50e671ffff7 20 readRegister(DW1000_EUI, 0, (uint8_t*)&result, 8);
manumaet 0:f50e671ffff7 21 return result;
manumaet 0:f50e671ffff7 22 }
manumaet 0:f50e671ffff7 23
manumaet 0:f50e671ffff7 24 void DW1000::setEUI(uint64_t EUI) {
manumaet 0:f50e671ffff7 25 writeRegister(DW1000_EUI, 0, (uint8_t*)&EUI, 8);
manumaet 0:f50e671ffff7 26 }
manumaet 0:f50e671ffff7 27
manumaet 0:f50e671ffff7 28 float DW1000::getVoltage() {
manumaet 8:7a9c61242e2f 29 uint8_t buffer[7] = {0x80, 0x0A, 0x0F, 0x01, 0x00}; // algorithm form DW1000 User Manual p57
manumaet 0:f50e671ffff7 30 writeRegister(DW1000_RF_CONF, 0x11, buffer, 2);
manumaet 0:f50e671ffff7 31 writeRegister(DW1000_RF_CONF, 0x12, &buffer[2], 1);
manumaet 0:f50e671ffff7 32 writeRegister(DW1000_TX_CAL, 0x00, &buffer[3], 1);
manumaet 0:f50e671ffff7 33 writeRegister(DW1000_TX_CAL, 0x00, &buffer[4], 1);
manumaet 8:7a9c61242e2f 34 readRegister(DW1000_TX_CAL, 0x03, &buffer[5], 2); // get the 8-Bit readings for Voltage and Temperature
manumaet 0:f50e671ffff7 35 float Voltage = buffer[5] * 0.0057 + 2.3;
manumaet 8:7a9c61242e2f 36 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 37 return Voltage;
manumaet 0:f50e671ffff7 38 }
manumaet 0:f50e671ffff7 39
manumaet 7:e634eeafc4d2 40 void DW1000::sendFrame(char* message, int length) {
manumaet 7:e634eeafc4d2 41 writeRegister(DW1000_TX_BUFFER, 0, (uint8_t*)message, length); // fill buffer
manumaet 7:e634eeafc4d2 42
manumaet 7:e634eeafc4d2 43 uint16_t framelength = length+2; // put length of frame including 2 CRC Bytes
manumaet 7:e634eeafc4d2 44 writeRegister(DW1000_TX_FCTRL, 0, (uint8_t*)&framelength, 1);
manumaet 7:e634eeafc4d2 45
manumaet 8:7a9c61242e2f 46 writeRegister8(DW1000_SYS_CTRL, 0, 0x02); // trigger sending process by setting the TXSTRT bit
manumaet 8:7a9c61242e2f 47 }
manumaet 8:7a9c61242e2f 48
manumaet 8:7a9c61242e2f 49 void DW1000::receiveFrame() {
manumaet 8:7a9c61242e2f 50 writeRegister8(DW1000_SYS_CTRL, 1, 0x01); // start listening for preamble by setting the RXENAB bit
manumaet 7:e634eeafc4d2 51 }
manumaet 7:e634eeafc4d2 52
manumaet 7:e634eeafc4d2 53 void DW1000::ISR() {
manumaet 7:e634eeafc4d2 54 callbackRX();
manumaet 7:e634eeafc4d2 55 }
manumaet 7:e634eeafc4d2 56
manumaet 7:e634eeafc4d2 57 void DW1000::resetRX() {
manumaet 7:e634eeafc4d2 58 uint8_t resetrx = 0xE0; //set rx reset
manumaet 7:e634eeafc4d2 59 writeRegister(DW1000_PMSC, 3, &resetrx, 1);
manumaet 7:e634eeafc4d2 60 resetrx = 0xf0; //clear RX reset
manumaet 7:e634eeafc4d2 61 writeRegister(DW1000_PMSC, 3, &resetrx, 1);
manumaet 7:e634eeafc4d2 62 }
manumaet 0:f50e671ffff7 63
manumaet 0:f50e671ffff7 64 // SPI Interface ------------------------------------------------------------------------------------
manumaet 8:7a9c61242e2f 65 void DW1000::writeRegister8(uint8_t reg, uint16_t subaddress, uint8_t buffer) {
manumaet 8:7a9c61242e2f 66 writeRegister(reg, subaddress, &buffer, 1);
manumaet 8:7a9c61242e2f 67 }
manumaet 8:7a9c61242e2f 68
manumaet 8:7a9c61242e2f 69 void DW1000::readRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length) {
manumaet 0:f50e671ffff7 70 setupTransaction(reg, subaddress, false);
manumaet 0:f50e671ffff7 71
manumaet 8:7a9c61242e2f 72 for(int i=0; i<length; i++) // get data
manumaet 0:f50e671ffff7 73 buffer[i] = spi.write(0x00);
manumaet 0:f50e671ffff7 74 deselect();
manumaet 0:f50e671ffff7 75 }
manumaet 0:f50e671ffff7 76
manumaet 8:7a9c61242e2f 77 void DW1000::writeRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length) {
manumaet 0:f50e671ffff7 78 setupTransaction(reg, subaddress, true);
manumaet 0:f50e671ffff7 79
manumaet 8:7a9c61242e2f 80 for(int i=0; i<length; i++) // put data
manumaet 0:f50e671ffff7 81 spi.write(buffer[i]);
manumaet 0:f50e671ffff7 82 deselect();
manumaet 0:f50e671ffff7 83 }
manumaet 0:f50e671ffff7 84
manumaet 8:7a9c61242e2f 85 void DW1000::setupTransaction(uint8_t reg, uint16_t subaddress, bool write) {
manumaet 0:f50e671ffff7 86 reg |= (write * DW1000_WRITE_FLAG);
manumaet 0:f50e671ffff7 87 select();
manumaet 0:f50e671ffff7 88 if (subaddress > 0) { // there's a subadress, we need to set flag and send second header byte
manumaet 0:f50e671ffff7 89 spi.write(reg | DW1000_SUBADDRESS_FLAG);
manumaet 0:f50e671ffff7 90 if (subaddress > 127) { // sub address too long, we need to set flag and send third header byte
manumaet 0:f50e671ffff7 91 spi.write((uint8_t)(subaddress & 0x7F) | DW1000_2_SUBADDRESS_FLAG);
manumaet 0:f50e671ffff7 92 spi.write((uint8_t)(subaddress >> 7));
manumaet 0:f50e671ffff7 93 } else {
manumaet 0:f50e671ffff7 94 spi.write((uint8_t)subaddress);
manumaet 0:f50e671ffff7 95 }
manumaet 0:f50e671ffff7 96 } else {
manumaet 0:f50e671ffff7 97 spi.write(reg);
manumaet 0:f50e671ffff7 98 }
manumaet 0:f50e671ffff7 99 }
manumaet 0:f50e671ffff7 100
manumaet 0:f50e671ffff7 101 void DW1000::select() { cs = 0; } //Set CS low to start transmission
manumaet 0:f50e671ffff7 102 void DW1000::deselect() { cs = 1; } //Set CS high to stop transmission