Diff: DW1000/DW1000.cpp

Revision:

48:5999e510f154

Parent:

47:b6120c152ad1

Child:

50:50b8aea54a51

--- a/DW1000/DW1000.cpp	Thu Mar 19 12:54:28 2015 +0000
+++ b/DW1000/DW1000.cpp	Tue Nov 24 16:41:23 2015 +0000
@@ -1,12 +1,12 @@
 #include "DW1000.h"
 
-DW1000::DW1000(PinName MOSI, PinName MISO, PinName SCLK, PinName CS, PinName IRQ) : irq(IRQ), spi(MOSI, MISO, SCLK), cs(CS) {
+//#include "PC.h"
+//static PC pc(USBTX, USBRX, 115200);           // USB UART Terminal
+
+DW1000::DW1000(SPI& spi, InterruptMultiplexer& irq_mp, PinName CS, PinName RESET) : spi(spi), cs(CS), irq_mp(irq_mp), reset(RESET) {
     setCallbacks(NULL, NULL);
-    
+
     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(5000000);             // with a 1MHz clock rate (worked up to 49MHz in our Test)
-    
     resetAll();                         // we do a soft reset of the DW1000 everytime the driver starts
 
     // Configuration TODO: make method for that
@@ -58,7 +58,7 @@
 
     writeRegister8(DW1000_SYS_CFG, 3, 0x20);    // enable auto reenabling receiver after error
     
-    irq.rise(this, &DW1000::ISR);       // attach interrupt handler to rising edge of interrupt pin from DW1000
+    irq_index = irq_mp.addISR(this, &DW1000::ISR);
 }
 
 void DW1000::setCallbacks(void (*callbackRX)(void), void (*callbackTX)(void)) {
@@ -115,6 +115,44 @@
     return readRegister40(DW1000_TX_TIME, 0);
 }
 
+uint16_t DW1000::getStdNoise() {
+    return readRegister16(DW1000_RX_FQUAL, 0x00);
+}
+
+uint16_t DW1000::getPACC() {
+    uint32_t v = readRegister32(DW1000_RX_FINFO, 0x00);
+    v >>= 20;
+    return static_cast<uint16_t>(v);
+}
+
+uint16_t DW1000::getFPINDEX() {
+    return readRegister16(DW1000_RX_TIME, 0x05);
+}
+
+uint16_t DW1000::getFPAMPL1() {
+    return readRegister16(DW1000_RX_TIME, 0x07);
+}
+
+uint16_t DW1000::getFPAMPL2() {
+    return readRegister16(DW1000_RX_FQUAL, 0x02);
+}
+
+uint16_t DW1000::getFPAMPL3() {
+    return readRegister16(DW1000_RX_FQUAL, 0x04);
+}
+
+uint16_t DW1000::getCIRPWR() {
+    return readRegister16(DW1000_RX_FQUAL, 0x06);
+}
+
+uint8_t DW1000::getPRF() {
+    uint16_t prf_mask = (0x1 << 19) | (0x1 << 18);
+    uint16_t prf = readRegister16(DW1000_CHAN_CTRL, 0x00);
+    prf >> 18;
+    prf &= 0x03;
+    return static_cast<uint8_t>(prf);
+}
+
 void DW1000::sendString(char* message) {
     sendFrame((uint8_t*)message, strlen(message)+1);
 }
@@ -176,7 +214,26 @@
     writeRegister8(DW1000_PMSC, 3, 0xF0);   // clear RX reset
 }
 
+void DW1000::hardwareReset(PinName reset_pin) {
+    DigitalOut reset(reset_pin);
+    reset = 1;
+    wait_ms(100);
+    reset = 0;
+    wait_ms(100);
+    reset = 1;
+    wait_ms(100);
+}
+
 void DW1000::resetAll() {
+    if (reset.is_connected()) {
+        reset = 1;
+        wait_ms(100);
+        reset = 0;
+        wait_ms(100);
+        reset = 1;
+        wait_ms(100);
+    }
+
     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
@@ -189,6 +246,7 @@
 }
 
 void DW1000::ISR() {
+//    pc.printf("ISR\r\n");
     uint64_t status = getStatus();
     if (status & 0x4000) {                                          // a frame was received
         callbackRX.call();
@@ -219,6 +277,12 @@
     return result;
 }
 
+uint32_t DW1000::readRegister32(uint8_t reg, uint16_t subaddress) {
+    uint32_t result;
+    readRegister(reg, subaddress, (uint8_t*)&result, 4);
+    return result;
+}
+
 uint64_t DW1000::readRegister40(uint8_t reg, uint16_t subaddress) {
     uint64_t result;
     readRegister(reg, subaddress, (uint8_t*)&result, 5);
@@ -273,10 +337,18 @@
 }
 
 void DW1000::select() {     // always called to start an SPI transmission
-    irq.disable_irq();      // disable interrupts from DW1000 during SPI becaus this leads to crashes!      TODO: if you have other interrupt handlers attached on the micro controller, they could also interfere.
+    irq_mp.disable(irq_index);
     cs = 0;                 // set Cable Select pin low to start transmission
 }
 void DW1000::deselect() {   // always called to end an SPI transmission
     cs = 1;                 // set Cable Select pin high to stop transmission
-    irq.enable_irq();       // reenable the interrupt handler
+    irq_mp.enable(irq_index);
 }
+
+void DW1000::enable_irq() {     // always called to start an SPI transmission
+    //pc.printf("Enabling irq %d\r\n", irq_index);
+    irq_mp.enable(irq_index);
+}
+void DW1000::disable_irq() {   // always called to end an SPI transmission
+    irq_mp.disable(irq_index);
+}