Diff: DW1000/DW1000.cpp

Revision:

0:f50e671ffff7

Child:

4:6240b9c7a033

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/DW1000/DW1000.cpp	Sun Nov 16 09:53:25 2014 +0000
@@ -0,0 +1,78 @@
+#include "DW1000.h"
+
+DW1000::DW1000(PinName MOSI, PinName MISO, PinName SCLK, PinName CS) : spi(MOSI, MISO, SCLK), cs(CS)
+{
+    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)
+}
+
+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}; // 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;
+}
+
+
+// SPI Interface ------------------------------------------------------------------------------------
+void DW1000::readRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length)
+{
+    setupTransaction(reg, subaddress, false);
+    
+    // get data
+    for(int i=0; i<length; i++)
+        buffer[i] = spi.write(0x00);
+    deselect();
+}
+
+void DW1000::writeRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length)
+{
+    setupTransaction(reg, subaddress, true);
+    
+    // put data
+    for(int i=0; i<length; i++)
+        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
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