Tobias Naegeli
Tobi's ubw test branch
Dependencies: mavlink_bridge mbed
Fork of
AIT_UWB_Range
by 
Benjamin Hepp
Diff: DW1000/DW1000.h
- Revision:
- 17:8afa5f9122da
- Parent:
- 12:985aa9843c3c
- Child:
- 18:bbc7ca7d3a95
diff -r 96879e1c99f2 -r 8afa5f9122da DW1000/DW1000.h
--- a/DW1000/DW1000.h Mon Nov 24 12:48:40 2014 +0000
+++ b/DW1000/DW1000.h Mon Nov 24 14:09:49 2014 +0000
@@ -6,46 +6,46 @@
#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
+// Mnemonic Address Bytes 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
@@ -56,29 +56,33 @@
DW1000(PinName MOSI, PinName MISO, PinName SCLK, PinName CS, PinName IRQ); // constructor, uses SPI class
// Device API
- uint32_t getDeviceID();
- uint64_t getEUI();
- void setEUI(uint64_t EUI);
- float getVoltage();
+ uint32_t getDeviceID(); // gets the Device ID which should be 0xDECA0130 (good for testing SPI!)
+ uint64_t getEUI(); // gets 64 bit Extended Unique Identifier according to IEEE standard
+ void setEUI(uint64_t EUI); // sets 64 bit Extended Unique Identifier according to IEEE standard
+ float getVoltage(); // gets the current chip voltage measurement form the A/D converter
void sendString(char* message); // to send String with arbitrary length
- char* receiveString(); // to receive char string with arbitrary length (ATTENTION! you have to delete the returned memory location as "client delete[] receive;")
- void sendFrame(uint8_t* message, uint16_t length);
- void receiveFrame();
+ char* receiveString(); // to receive char string with arbitrary length (ATTENTION! you have to delete the returned memory location like "client delete[] receivedMessage;")
+ void sendFrame(uint8_t* message, uint16_t length); // send a raw frame (length in bytes)
+ void startRX(); // start listening for frames
+ void stopRX(); // stop listening for frames
//private:
- // Interrupt
- void (*callbackRX) ();
- void ISR();
+ bool receiving; // holds if we need to preserve a receiving state after sending
- void loadLDE(); // load the leading edge detection algorithm to RAM, [IMPORTANT because receiving malfunction may ocur] see User Manual LDELOAD on p22 & p158
- void resetRX();
- void resetAll();
+ void loadLDE(); // load the leading edge detection algorithm to RAM, [IMPORTANT because receiving malfunction may occur] see User Manual LDELOAD on p22 & p158
+ void stopTRX(); // disable tranceiver go back to idle mode
+ void resetRX(); // soft reset only the tranciever part of DW1000
+ void resetAll(); // soft reset the entire DW1000 (some registers stay as they were see User Manual)
+
+ // Interrupt
+ InterruptIn irq; // Pin used to handle Events from DW1000 by an Interrupthandler
+ void ISR(); // interrupt handling method (also calls according callback methods)
+ void (*callbackRX) (); // pointer to callback which is called when successfull RX took place
// 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)
- InterruptIn irq; // Pin used to handle Events from DW1000 by an Interrupthandler
uint8_t readRegister8(uint8_t reg, uint16_t subaddress); // expressive to read just one byte
void writeRegister8(uint8_t reg, uint16_t subaddress, uint8_t buffer); // expressive to write just one byte
