Pathfindr / Mbed OS mbed-os-PF-UWBBEACON_v1_dev

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Dependencies:   aconno_I2C Lis2dh12 WatchdogTimer

DW1000/DW1000Utils.h@58:8d4a354816b1, 2020-02-17 (annotated)

Committer:
pathfindr
Date:
Mon Feb 17 23:24:52 2020 +0000
Revision:
58:8d4a354816b1
usb

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pathfindr 58:8d4a354816b1 1 #pragma once
pathfindr 58:8d4a354816b1 2
pathfindr 58:8d4a354816b1 3 #include <mbed.h>
pathfindr 58:8d4a354816b1 4 #include "DW1000.h"
pathfindr 58:8d4a354816b1 5
pathfindr 58:8d4a354816b1 6 class DW1000Utils
pathfindr 58:8d4a354816b1 7 {
pathfindr 58:8d4a354816b1 8 public:
pathfindr 58:8d4a354816b1 9 // Recommended settings:
pathfindr 58:8d4a354816b1 10 // Data rate 110 kbps - Preamble length 2048 or 4096.
pathfindr 58:8d4a354816b1 11 // Data rate 850 kbps - Preamble length 256, 512 or 1024.
pathfindr 58:8d4a354816b1 12 // Data rate 6.8 Mbps - Preamble length 64.
pathfindr 58:8d4a354816b1 13
pathfindr 58:8d4a354816b1 14 const static uint32_t PREAMBLE_LENGTH_64 = (1 << 18);
pathfindr 58:8d4a354816b1 15 const static uint32_t PREAMBLE_LENGTH_128 = (1 << 18) | (1 << 20);
pathfindr 58:8d4a354816b1 16 const static uint32_t PREAMBLE_LENGTH_256 = (1 << 18) | (1 << 21);
pathfindr 58:8d4a354816b1 17 const static uint32_t PREAMBLE_LENGTH_512 = (1 << 18) | (1 << 20) | (1 << 21);
pathfindr 58:8d4a354816b1 18 const static uint32_t PREAMBLE_LENGTH_1024 = (1 << 19);
pathfindr 58:8d4a354816b1 19 const static uint32_t PREAMBLE_LENGTH_2048 = (1 << 19) | (1 << 21);
pathfindr 58:8d4a354816b1 20 const static uint32_t PREAMBLE_LENGTH_4096 = (1 << 18) | (1 << 19);
pathfindr 58:8d4a354816b1 21
pathfindr 58:8d4a354816b1 22 enum PrfSetting
pathfindr 58:8d4a354816b1 23 {
pathfindr 58:8d4a354816b1 24 PRF_16_MHz = 1,
pathfindr 58:8d4a354816b1 25 PRF_64_MHz,
pathfindr 58:8d4a354816b1 26 };
pathfindr 58:8d4a354816b1 27
pathfindr 58:8d4a354816b1 28 enum DataRateSetting
pathfindr 58:8d4a354816b1 29 {
pathfindr 58:8d4a354816b1 30 RATE_110_kbps = 1,
pathfindr 58:8d4a354816b1 31 RATE_850_kbps,
pathfindr 58:8d4a354816b1 32 RATE_6_8_Mbps,
pathfindr 58:8d4a354816b1 33 };
pathfindr 58:8d4a354816b1 34
pathfindr 58:8d4a354816b1 35 // Set pulse repetition frequency
pathfindr 58:8d4a354816b1 36 static void setPulseRepetitionFrequency(DW1000* dw_ptr, PrfSetting prf_setting)
pathfindr 58:8d4a354816b1 37 {
pathfindr 58:8d4a354816b1 38 // Transmit PRF setting (see page 75 of user manual)
pathfindr 58:8d4a354816b1 39 uint32_t prf_value;
pathfindr 58:8d4a354816b1 40 if (prf_setting == PRF_16_MHz)
pathfindr 58:8d4a354816b1 41 {
pathfindr 58:8d4a354816b1 42 prf_value = (1 << 16);
pathfindr 58:8d4a354816b1 43 }
pathfindr 58:8d4a354816b1 44 else
pathfindr 58:8d4a354816b1 45 {
pathfindr 58:8d4a354816b1 46 prf_value = (1 << 17);
pathfindr 58:8d4a354816b1 47 }
pathfindr 58:8d4a354816b1 48 uint32_t prf_mask = (1 << 16) | (1 << 17);
pathfindr 58:8d4a354816b1 49 uint32_t tx_ctrl = dw_ptr->readRegister32(DW1000_TX_FCTRL, 0x00);
pathfindr 58:8d4a354816b1 50 tx_ctrl &= ~prf_mask;
pathfindr 58:8d4a354816b1 51 tx_ctrl |= (prf_value & prf_mask);
pathfindr 58:8d4a354816b1 52 dw_ptr->writeRegister32(DW1000_TX_FCTRL, 0x00, tx_ctrl);
pathfindr 58:8d4a354816b1 53
pathfindr 58:8d4a354816b1 54 // Receive PRF setting (see page 109 and of user manual)
pathfindr 58:8d4a354816b1 55 if (prf_setting == PRF_16_MHz)
pathfindr 58:8d4a354816b1 56 {
pathfindr 58:8d4a354816b1 57 prf_value = (1 << 18);
pathfindr 58:8d4a354816b1 58 }
pathfindr 58:8d4a354816b1 59 else
pathfindr 58:8d4a354816b1 60 {
pathfindr 58:8d4a354816b1 61 prf_value = (1 << 19);
pathfindr 58:8d4a354816b1 62 }
pathfindr 58:8d4a354816b1 63 prf_mask = (1 << 18) | (1 << 19);
pathfindr 58:8d4a354816b1 64 uint32_t chan_ctrl = dw_ptr->readRegister32(DW1000_CHAN_CTRL, 0x00);
pathfindr 58:8d4a354816b1 65 chan_ctrl &= ~prf_mask;
pathfindr 58:8d4a354816b1 66 chan_ctrl |= (prf_value & prf_mask);
pathfindr 58:8d4a354816b1 67 dw_ptr->writeRegister32(DW1000_CHAN_CTRL, 0x00, chan_ctrl);
pathfindr 58:8d4a354816b1 68 }
pathfindr 58:8d4a354816b1 69
pathfindr 58:8d4a354816b1 70 // Set preamble length (see page 76 of user manual)
pathfindr 58:8d4a354816b1 71 static void setPreambleLength(DW1000* dw_ptr, uint32_t preamble_setting)
pathfindr 58:8d4a354816b1 72 {
pathfindr 58:8d4a354816b1 73 uint32_t preamble_mask = (1 << 18) | (1 << 19) | (1 << 20) | (1 << 21);
pathfindr 58:8d4a354816b1 74 uint32_t tx_ctrl = dw_ptr->readRegister32(DW1000_TX_FCTRL, 0x00);
pathfindr 58:8d4a354816b1 75 tx_ctrl &= ~preamble_mask;
pathfindr 58:8d4a354816b1 76 tx_ctrl |= (preamble_setting & preamble_mask);
pathfindr 58:8d4a354816b1 77 dw_ptr->writeRegister32(DW1000_TX_FCTRL, 0x00, tx_ctrl);
pathfindr 58:8d4a354816b1 78 }
pathfindr 58:8d4a354816b1 79
pathfindr 58:8d4a354816b1 80 // Set data rate
pathfindr 58:8d4a354816b1 81 static void setDataRate(DW1000* dw_ptr, DataRateSetting rate_setting)
pathfindr 58:8d4a354816b1 82 {
pathfindr 58:8d4a354816b1 83 // Transmit data rate (see page 73 of user manual)
pathfindr 58:8d4a354816b1 84 uint32_t rate_value;
pathfindr 58:8d4a354816b1 85 if (rate_setting == RATE_110_kbps)
pathfindr 58:8d4a354816b1 86 {
pathfindr 58:8d4a354816b1 87 rate_value = 0;
pathfindr 58:8d4a354816b1 88 }
pathfindr 58:8d4a354816b1 89 else if (rate_setting == RATE_850_kbps)
pathfindr 58:8d4a354816b1 90 {
pathfindr 58:8d4a354816b1 91 rate_value = (1 << 13);
pathfindr 58:8d4a354816b1 92 }
pathfindr 58:8d4a354816b1 93 else
pathfindr 58:8d4a354816b1 94 {
pathfindr 58:8d4a354816b1 95 rate_value = (1 << 14);
pathfindr 58:8d4a354816b1 96 }
pathfindr 58:8d4a354816b1 97 uint32_t rate_mask = (1 << 13) | (1 << 14);
pathfindr 58:8d4a354816b1 98 uint32_t tx_ctrl = dw_ptr->readRegister32(DW1000_TX_FCTRL, 0x00);
pathfindr 58:8d4a354816b1 99 tx_ctrl &= ~rate_mask;
pathfindr 58:8d4a354816b1 100 tx_ctrl |= (rate_value & rate_mask);
pathfindr 58:8d4a354816b1 101 dw_ptr->writeRegister32(DW1000_TX_FCTRL, 0x00, tx_ctrl);
pathfindr 58:8d4a354816b1 102
pathfindr 58:8d4a354816b1 103 // Receive data rate (see page 72 of user manual)
pathfindr 58:8d4a354816b1 104 if (rate_setting == RATE_110_kbps)
pathfindr 58:8d4a354816b1 105 {
pathfindr 58:8d4a354816b1 106 rate_value = (1 << 18);
pathfindr 58:8d4a354816b1 107 rate_value = (1 << 22);
pathfindr 58:8d4a354816b1 108 }
pathfindr 58:8d4a354816b1 109 else if (rate_setting == RATE_850_kbps)
pathfindr 58:8d4a354816b1 110 {
pathfindr 58:8d4a354816b1 111 rate_value = (1 << 18);
pathfindr 58:8d4a354816b1 112 }
pathfindr 58:8d4a354816b1 113 else
pathfindr 58:8d4a354816b1 114 {
pathfindr 58:8d4a354816b1 115 rate_value = 0;
pathfindr 58:8d4a354816b1 116 }
pathfindr 58:8d4a354816b1 117 rate_mask = (1 << 18) | (1 << 22);
pathfindr 58:8d4a354816b1 118 uint32_t sys_cfg = dw_ptr->readRegister32(DW1000_SYS_CFG, 0x00);
pathfindr 58:8d4a354816b1 119 sys_cfg &= ~rate_mask;
pathfindr 58:8d4a354816b1 120 sys_cfg |= (rate_value & rate_mask);
pathfindr 58:8d4a354816b1 121 dw_ptr->writeRegister32(DW1000_SYS_CFG, 0x00, sys_cfg);
pathfindr 58:8d4a354816b1 122
pathfindr 58:8d4a354816b1 123 if (rate_setting == RATE_110_kbps)
pathfindr 58:8d4a354816b1 124 {
pathfindr 58:8d4a354816b1 125 dw_ptr->writeRegister16(DW1000_DRX_CONF, 0x02, 0x000A); // DRX_TUNE0b for 110 kbps
pathfindr 58:8d4a354816b1 126 dw_ptr->writeRegister16(DW1000_DRX_CONF, 0x06, 0x0064); // DRX_TUNE1b for 110 kbps & > 1024 symbols
pathfindr 58:8d4a354816b1 127 }
pathfindr 58:8d4a354816b1 128 else if (rate_setting == RATE_850_kbps)
pathfindr 58:8d4a354816b1 129 {
pathfindr 58:8d4a354816b1 130 dw_ptr->writeRegister16(DW1000_DRX_CONF, 0x02, 0x0001); // DRX_TUNE0b for 850 kbps
pathfindr 58:8d4a354816b1 131 dw_ptr->writeRegister16(DW1000_DRX_CONF, 0x06, 0x0020); // DRX_TUNE1b for 850 kbps & 128 - 1024 symbols
pathfindr 58:8d4a354816b1 132 }
pathfindr 58:8d4a354816b1 133 else
pathfindr 58:8d4a354816b1 134 {
pathfindr 58:8d4a354816b1 135 dw_ptr->writeRegister16(DW1000_DRX_CONF, 0x02, 0x0001); // DRX_TUNE0b for 6.8 Mbps
pathfindr 58:8d4a354816b1 136 dw_ptr->writeRegister16(DW1000_DRX_CONF, 0x06, 0x0010); // DRX_TUNE1b for 6.8 Mbps & 64 symbols
pathfindr 58:8d4a354816b1 137 }
pathfindr 58:8d4a354816b1 138 }
pathfindr 58:8d4a354816b1 139
pathfindr 58:8d4a354816b1 140 // Improved settings for direct path detection in non-line-of-sight environments.
pathfindr 58:8d4a354816b1 141 // See DecaWave Application Note APS006.
pathfindr 58:8d4a354816b1 142 static void setNLOSSettings(DW1000* dw_ptr, DataRateSetting rate_setting = RATE_850_kbps, PrfSetting prf_setting = PRF_16_MHz, uint32_t preamble_setting = PREAMBLE_LENGTH_1024)
pathfindr 58:8d4a354816b1 143 {
pathfindr 58:8d4a354816b1 144 setDataRate(dw_ptr, rate_setting);
pathfindr 58:8d4a354816b1 145 setPulseRepetitionFrequency(dw_ptr, prf_setting);
pathfindr 58:8d4a354816b1 146 setPreambleLength(dw_ptr, preamble_setting);
pathfindr 58:8d4a354816b1 147
pathfindr 58:8d4a354816b1 148 // Setting for Noise Threshold Multiplier 1
pathfindr 58:8d4a354816b1 149 dw_ptr->writeRegister8(DW1000_LDE_CTRL, 0x0806, 0x07); // LDE_CFG1
pathfindr 58:8d4a354816b1 150 // Setting for Noise Threshold Multiplier 2
pathfindr 58:8d4a354816b1 151 if (prf_setting == PRF_16_MHz)
pathfindr 58:8d4a354816b1 152 {
pathfindr 58:8d4a354816b1 153 dw_ptr->writeRegister16(DW1000_LDE_CTRL, 0x1806, 0x0003); // LDE_CFG2 for 16 MHz PRF
pathfindr 58:8d4a354816b1 154 }
pathfindr 58:8d4a354816b1 155 else
pathfindr 58:8d4a354816b1 156 {
pathfindr 58:8d4a354816b1 157 dw_ptr->writeRegister16(DW1000_LDE_CTRL, 0x1806, 0x1603); // LDE_CFG2 for 64 MHz PRF
pathfindr 58:8d4a354816b1 158 }
pathfindr 58:8d4a354816b1 159 }
pathfindr 58:8d4a354816b1 160
pathfindr 58:8d4a354816b1 161 // Default settings for line-of-sight environments
pathfindr 58:8d4a354816b1 162 static void setLOSSettings(DW1000* dw_ptr, DataRateSetting rate_setting = RATE_850_kbps, PrfSetting prf_setting = PRF_16_MHz, uint32_t preamble_setting = PREAMBLE_LENGTH_1024)
pathfindr 58:8d4a354816b1 163 {
pathfindr 58:8d4a354816b1 164 setDataRate(dw_ptr, rate_setting);
pathfindr 58:8d4a354816b1 165 setPulseRepetitionFrequency(dw_ptr, prf_setting);
pathfindr 58:8d4a354816b1 166 setPreambleLength(dw_ptr, preamble_setting);
pathfindr 58:8d4a354816b1 167
pathfindr 58:8d4a354816b1 168 // Setting for Noise Threshold Multiplier 1
pathfindr 58:8d4a354816b1 169 dw_ptr->writeRegister8(DW1000_LDE_CTRL, 0x0806, 0x0c); // LDE_CFG1
pathfindr 58:8d4a354816b1 170 // dw_ptr->writeRegister8(DW1000_LDE_CTRL, 0x0806, 0x0d); // LDE_CFG1
pathfindr 58:8d4a354816b1 171 // Setting for Noise Threshold Multiplier 2
pathfindr 58:8d4a354816b1 172 if (prf_setting == PRF_16_MHz)
pathfindr 58:8d4a354816b1 173 {
pathfindr 58:8d4a354816b1 174 dw_ptr->writeRegister16(DW1000_LDE_CTRL, 0x1806, 0x1607); // LDE_CFG2 for 16 MHz PRF
pathfindr 58:8d4a354816b1 175 }
pathfindr 58:8d4a354816b1 176 else
pathfindr 58:8d4a354816b1 177 {
pathfindr 58:8d4a354816b1 178 dw_ptr->writeRegister16(DW1000_LDE_CTRL, 0x1806, 0x0607); // LDE_CFG2 for 64 MHz PRF
pathfindr 58:8d4a354816b1 179 }
pathfindr 58:8d4a354816b1 180 }
pathfindr 58:8d4a354816b1 181 };