DW1000.cpp

00001 #include "DW1000.h"
00002 
00003 DW1000::DW1000(PinName MOSI, PinName MISO, PinName SCLK, PinName CS, PinName IRQ) : irq(IRQ), spi(MOSI, MISO, SCLK), cs(CS) {
00004     setCallbacks(NULL, NULL);
00005     
00006     deselect();                         // Chip must be deselected first
00007     spi.format(8,0);                    // Setup the spi for standard 8 bit data and SPI-Mode 0 (GPIO5, GPIO6 open circuit or ground on DW1000)
00008     spi.frequency(5000000);             // with a 1MHz clock rate (worked up to 49MHz in our Test)
00009     
00010     resetAll();                         // we do a soft reset of the DW1000 everytime the driver starts
00011 
00012     // Configuration TODO: make method for that
00013     // User Manual "2.5.5 Default Configurations that should be modified" p. 22
00014     //Those values are for the standard mode (6.8Mbps, 5, 16Mhz, 32 Symbols) and are INCOMPLETE!
00015 //    writeRegister16(DW1000_AGC_CTRL, 0x04, 0x8870);
00016 //    writeRegister32(DW1000_AGC_CTRL, 0x0C, 0x2502A907);
00017 //    writeRegister32(DW1000_DRX_CONF, 0x08, 0x311A002D);
00018 //    writeRegister8 (DW1000_LDE_CTRL, 0x0806, 0xD);
00019 //    writeRegister16(DW1000_LDE_CTRL, 0x1806, 0x1607);
00020 //    writeRegister32(DW1000_TX_POWER, 0, 0x0E082848);
00021 //    writeRegister32(DW1000_RF_CONF, 0x0C, 0x001E3FE0);
00022 //    writeRegister8 (DW1000_TX_CAL, 0x0B, 0xC0);
00023 //    writeRegister8 (DW1000_FS_CTRL, 0x0B, 0xA6);
00024 
00025 
00026     //Those values are for the 110kbps mode (5, 16MHz, 1024 Symbols) and are quite complete
00027     writeRegister16(DW1000_AGC_CTRL, 0x04, 0x8870);             //AGC_TUNE1 for 16MHz PRF
00028     writeRegister32(DW1000_AGC_CTRL, 0x0C, 0x2502A907);         //AGC_TUNE2 (Universal)
00029     writeRegister16(DW1000_AGC_CTRL, 0x12, 0x0055);             //AGC_TUNE3 (Universal)
00030 
00031     writeRegister16(DW1000_DRX_CONF, 0x02, 0x000A);             //DRX_TUNE0b for 110kbps
00032     writeRegister16(DW1000_DRX_CONF, 0x04, 0x0087);             //DRX_TUNE1a for 16MHz PRF
00033     writeRegister16(DW1000_DRX_CONF, 0x06, 0x0064);             //DRX_TUNE1b for 110kbps & > 1024 symbols
00034     writeRegister32(DW1000_DRX_CONF, 0x08, 0x351A009A);         //PAC size for 1024 symbols preamble & 16MHz PRF
00035     //writeRegister32(DW1000_DRX_CONF, 0x08, 0x371A011D);               //PAC size for 2048 symbols preamble
00036 
00037     writeRegister8 (DW1000_LDE_CTRL, 0x0806, 0xD);              //LDE_CFG1
00038     writeRegister16(DW1000_LDE_CTRL, 0x1806, 0x1607);           //LDE_CFG2 for 16MHz PRF
00039 
00040     writeRegister32(DW1000_TX_POWER, 0, 0x28282828);            //Power for channel 5
00041 
00042     writeRegister8(DW1000_RF_CONF, 0x0B, 0xD8);                 //RF_RXCTRLH for channel 5
00043     writeRegister32(DW1000_RF_CONF, 0x0C, 0x001E3FE0);          //RF_TXCTRL for channel 5
00044 
00045     writeRegister8 (DW1000_TX_CAL, 0x0B, 0xC0);                 //TC_PGDELAY for channel 5
00046 
00047     writeRegister32 (DW1000_FS_CTRL, 0x07, 0x0800041D);         //FS_PLLCFG for channel 5
00048     writeRegister8 (DW1000_FS_CTRL, 0x0B, 0xA6);                //FS_PLLTUNE for channel 5
00049 
00050     loadLDE();                          // important everytime DW1000 initialises/awakes otherwise the LDE algorithm must be turned off or there's receiving malfunction see User Manual LDELOAD on p22 & p158
00051     
00052     // 110kbps CAUTION: a lot of other registers have to be set for an optimized operation on 110kbps
00053     writeRegister16(DW1000_TX_FCTRL, 1, 0x0800 | 0x0100 | 0x0080); // use 1024 symbols preamble (0x0800) (previously 2048 - 0x2800), 16MHz pulse repetition frequency (0x0100), 110kbps bit rate (0x0080) see p.69 of DW1000 User Manual
00054     writeRegister8(DW1000_SYS_CFG, 2, 0x44);    // enable special receiving option for 110kbps (disable smartTxPower)!! (0x44) see p.64 of DW1000 User Manual [DO NOT enable 1024 byte frames (0x03) becuase it generates disturbance of ranging don't know why...]
00055 
00056     writeRegister16(DW1000_TX_ANTD, 0, 16384); // set TX and RX Antenna delay to neutral because we calibrate afterwards
00057     writeRegister16(DW1000_LDE_CTRL, 0x1804, 16384); // = 2^14 a quarter of the range of the 16-Bit register which corresponds to zero calibration in a round trip (TX1+RX2+TX2+RX1)
00058 
00059     writeRegister8(DW1000_SYS_CFG, 3, 0x20);    // enable auto reenabling receiver after error
00060     
00061     irq.rise(this, &DW1000::ISR);       // attach interrupt handler to rising edge of interrupt pin from DW1000
00062 }
00063 
00064 void DW1000::setCallbacks(void (*callbackRX)(void), void (*callbackTX)(void)) {
00065     bool RX = false;
00066     bool TX = false;
00067     if (callbackRX) {
00068         DW1000::callbackRX.attach(callbackRX);
00069         RX = true;
00070     }
00071     if (callbackTX) {
00072         DW1000::callbackTX.attach(callbackTX);
00073         TX = true;
00074     }
00075     setInterrupt(RX,TX);
00076 }
00077 
00078 uint32_t DW1000::getDeviceID() {
00079     uint32_t result;
00080     readRegister(DW1000_DEV_ID, 0, (uint8_t*)&result, 4);
00081     return result;
00082 }
00083 
00084 uint64_t DW1000::getEUI() {
00085     uint64_t result;
00086     readRegister(DW1000_EUI, 0, (uint8_t*)&result, 8);
00087     return result;
00088 }
00089 
00090 void DW1000::setEUI(uint64_t EUI) {
00091     writeRegister(DW1000_EUI, 0, (uint8_t*)&EUI, 8);
00092 }
00093 
00094 float DW1000::getVoltage() {
00095     uint8_t buffer[7] = {0x80, 0x0A, 0x0F, 0x01, 0x00};             // algorithm form User Manual p57
00096     writeRegister(DW1000_RF_CONF, 0x11, buffer, 2);
00097     writeRegister(DW1000_RF_CONF, 0x12, &buffer[2], 1);
00098     writeRegister(DW1000_TX_CAL, 0x00, &buffer[3], 1);
00099     writeRegister(DW1000_TX_CAL, 0x00, &buffer[4], 1);
00100     readRegister(DW1000_TX_CAL, 0x03, &buffer[5], 2);               // get the 8-Bit readings for Voltage and Temperature
00101     float Voltage = buffer[5] * 0.0057 + 2.3;
00102     //float Temperature = buffer[6] * 1.13 - 113.0;                 // TODO: getTemperature was always ~35 degree with better formula/calibration
00103     return Voltage;
00104 }
00105 
00106 uint64_t DW1000::getStatus() {
00107     return readRegister40(DW1000_SYS_STATUS, 0);
00108 }
00109 
00110 uint64_t DW1000::getRXTimestamp() {
00111     return readRegister40(DW1000_RX_TIME, 0);
00112 }
00113 
00114 uint64_t DW1000::getTXTimestamp() {
00115     return readRegister40(DW1000_TX_TIME, 0);
00116 }
00117 
00118 void DW1000::sendString(char* message) {
00119     sendFrame((uint8_t*)message, strlen(message)+1);
00120 }
00121 
00122 void DW1000::receiveString(char* message) {
00123     readRegister(DW1000_RX_BUFFER, 0, (uint8_t*)message, getFramelength());  // get data from buffer
00124 }
00125 
00126 void DW1000::sendFrame(uint8_t* message, uint16_t length) {
00127     //if (length >= 1021) length = 1021;                            // check for maximim length a frame can have with 1024 Byte frames [not used, see constructor]
00128     if (length >= 125) length = 125;                                // check for maximim length a frame can have with 127 Byte frames
00129     writeRegister(DW1000_TX_BUFFER, 0, message, length);            // fill buffer
00130     
00131     uint8_t backup = readRegister8(DW1000_TX_FCTRL, 1);             // put length of frame
00132     length += 2;                                                    // including 2 CRC Bytes
00133     length = ((backup & 0xFC) << 8) | (length & 0x03FF);
00134     writeRegister16(DW1000_TX_FCTRL, 0, length);
00135     
00136     stopTRX();                                                      // stop receiving
00137     writeRegister8(DW1000_SYS_CTRL, 0, 0x02);                       // trigger sending process by setting the TXSTRT bit
00138     startRX();                                                      // enable receiver again
00139 }
00140 
00141 void DW1000::sendDelayedFrame(uint8_t* message, uint16_t length, uint64_t TxTimestamp) {
00142     //if (length >= 1021) length = 1021;                            // check for maximim length a frame can have with 1024 Byte frames [not used, see constructor]
00143     if (length >= 125) length = 125;                                // check for maximim length a frame can have with 127 Byte frames
00144     writeRegister(DW1000_TX_BUFFER, 0, message, length);            // fill buffer
00145 
00146     uint8_t backup = readRegister8(DW1000_TX_FCTRL, 1);             // put length of frame
00147     length += 2;                                                    // including 2 CRC Bytes
00148     length = ((backup & 0xFC) << 8) | (length & 0x03FF);
00149     writeRegister16(DW1000_TX_FCTRL, 0, length);
00150 
00151     writeRegister40(DW1000_DX_TIME, 0, TxTimestamp);                //write the timestamp on which to send the message
00152 
00153     stopTRX();                                                      // stop receiving
00154     writeRegister8(DW1000_SYS_CTRL, 0, 0x02 | 0x04);                // trigger sending process by setting the TXSTRT and TXDLYS bit
00155     startRX();                                                      // enable receiver again
00156 }
00157 
00158 void DW1000::startRX() {
00159     writeRegister8(DW1000_SYS_CTRL, 0x01, 0x01);                    // start listening for preamble by setting the RXENAB bit
00160 }
00161 
00162 void DW1000::stopTRX() {
00163     writeRegister8(DW1000_SYS_CTRL, 0, 0x40);                       // disable tranceiver go back to idle mode
00164 }
00165 
00166 // PRIVATE Methods ------------------------------------------------------------------------------------
00167 void DW1000::loadLDE() {                                            // initialise LDE algorithm LDELOAD User Manual p22
00168     writeRegister16(DW1000_PMSC, 0, 0x0301);                        // set clock to XTAL so OTP is reliable
00169     writeRegister16(DW1000_OTP_IF, 0x06, 0x8000);                   // set LDELOAD bit in OTP
00170     wait_us(150);
00171     writeRegister16(DW1000_PMSC, 0, 0x0200);                        // recover to PLL clock
00172 }
00173 
00174 void DW1000::resetRX() {    
00175     writeRegister8(DW1000_PMSC, 3, 0xE0);   // set RX reset
00176     writeRegister8(DW1000_PMSC, 3, 0xF0);   // clear RX reset
00177 }
00178 
00179 void DW1000::resetAll() {
00180     writeRegister8(DW1000_PMSC, 0, 0x01);   // set clock to XTAL
00181     writeRegister8(DW1000_PMSC, 3, 0x00);   // set All reset
00182     wait_us(10);                            // wait for PLL to lock
00183     writeRegister8(DW1000_PMSC, 3, 0xF0);   // clear All reset
00184 }
00185 
00186 
00187 void DW1000::setInterrupt(bool RX, bool TX) {
00188     writeRegister16(DW1000_SYS_MASK, 0, RX*0x4000 | TX*0x0080);  // RX good frame 0x4000, TX done 0x0080
00189 }
00190 
00191 void DW1000::ISR() {
00192     uint64_t status = getStatus();
00193     if (status & 0x4000) {                                          // a frame was received
00194         callbackRX.call();
00195         writeRegister16(DW1000_SYS_STATUS, 0, 0x6F00);              // clearing of receiving status bits
00196     }
00197     if (status & 0x80) {                                            // sending complete
00198         callbackTX.call();
00199         writeRegister8(DW1000_SYS_STATUS, 0, 0xF8);                 // clearing of sending status bits
00200     }
00201 }
00202 
00203 uint16_t DW1000::getFramelength() {
00204     uint16_t framelength = readRegister16(DW1000_RX_FINFO, 0);      // get framelength
00205     framelength = (framelength & 0x03FF) - 2;                       // take only the right bits and subtract the 2 CRC Bytes
00206     return framelength;
00207 }
00208 
00209 // SPI Interface ------------------------------------------------------------------------------------
00210 uint8_t DW1000::readRegister8(uint8_t reg, uint16_t subaddress) {
00211     uint8_t result;
00212     readRegister(reg, subaddress, &result, 1);
00213     return result;
00214 }
00215 
00216 uint16_t DW1000::readRegister16(uint8_t reg, uint16_t subaddress) {
00217     uint16_t result;
00218     readRegister(reg, subaddress, (uint8_t*)&result, 2);
00219     return result;
00220 }
00221 
00222 uint64_t DW1000::readRegister40(uint8_t reg, uint16_t subaddress) {
00223     uint64_t result;
00224     readRegister(reg, subaddress, (uint8_t*)&result, 5);
00225     result &= 0xFFFFFFFFFF;                                 // only 40-Bit
00226     return result;
00227 }
00228 
00229 void DW1000::writeRegister8(uint8_t reg, uint16_t subaddress, uint8_t buffer) {
00230     writeRegister(reg, subaddress, &buffer, 1);
00231 }
00232 
00233 void DW1000::writeRegister16(uint8_t reg, uint16_t subaddress, uint16_t buffer) {
00234     writeRegister(reg, subaddress, (uint8_t*)&buffer, 2);
00235 }
00236 
00237 void DW1000::writeRegister32(uint8_t reg, uint16_t subaddress, uint32_t buffer) {
00238     writeRegister(reg, subaddress, (uint8_t*)&buffer, 4);
00239 }
00240 
00241 void DW1000::writeRegister40(uint8_t reg, uint16_t subaddress, uint64_t buffer) {
00242     writeRegister(reg, subaddress, (uint8_t*)&buffer, 5);
00243 }
00244 
00245 void DW1000::readRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length) {
00246     setupTransaction(reg, subaddress, false);
00247     for(int i=0; i<length; i++)                             // get data
00248         buffer[i] = spi.write(0x00);
00249     deselect();
00250 }
00251 
00252 void DW1000::writeRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length) {
00253     setupTransaction(reg, subaddress, true);
00254     for(int i=0; i<length; i++)                             // put data
00255         spi.write(buffer[i]);
00256     deselect();
00257 }
00258 
00259 void DW1000::setupTransaction(uint8_t reg, uint16_t subaddress, bool write) {
00260     reg |=  (write * DW1000_WRITE_FLAG);                                        // set read/write flag
00261     select();
00262     if (subaddress > 0) {                                                       // there's a subadress, we need to set flag and send second header byte
00263         spi.write(reg | DW1000_SUBADDRESS_FLAG);
00264         if (subaddress > 0x7F) {                                                // sub address too long, we need to set flag and send third header byte
00265             spi.write((uint8_t)(subaddress & 0x7F) | DW1000_2_SUBADDRESS_FLAG); // and 
00266             spi.write((uint8_t)(subaddress >> 7));
00267         } else {
00268             spi.write((uint8_t)subaddress);
00269         }
00270     } else {
00271         spi.write(reg);                                                         // say which register address we want to access
00272     }
00273 }
00274 
00275 void DW1000::select() {     // always called to start an SPI transmission
00276     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.
00277     cs = 0;                 // set Cable Select pin low to start transmission
00278 }
00279 void DW1000::deselect() {   // always called to end an SPI transmission
00280     cs = 1;                 // set Cable Select pin high to stop transmission
00281     irq.enable_irq();       // reenable the interrupt handler
00282 }