Pathfindr
init
Dependencies: aconno_I2C Lis2dh12 WatchdogTimer
Diff: DW1000/DW1000Utils.h
- Revision:
- 58:8d4a354816b1
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/DW1000/DW1000Utils.h Mon Feb 17 23:24:52 2020 +0000
@@ -0,0 +1,181 @@
+#pragma once
+
+#include <mbed.h>
+#include "DW1000.h"
+
+class DW1000Utils
+{
+public:
+ // Recommended settings:
+ // Data rate 110 kbps - Preamble length 2048 or 4096.
+ // Data rate 850 kbps - Preamble length 256, 512 or 1024.
+ // Data rate 6.8 Mbps - Preamble length 64.
+
+ const static uint32_t PREAMBLE_LENGTH_64 = (1 << 18);
+ const static uint32_t PREAMBLE_LENGTH_128 = (1 << 18) | (1 << 20);
+ const static uint32_t PREAMBLE_LENGTH_256 = (1 << 18) | (1 << 21);
+ const static uint32_t PREAMBLE_LENGTH_512 = (1 << 18) | (1 << 20) | (1 << 21);
+ const static uint32_t PREAMBLE_LENGTH_1024 = (1 << 19);
+ const static uint32_t PREAMBLE_LENGTH_2048 = (1 << 19) | (1 << 21);
+ const static uint32_t PREAMBLE_LENGTH_4096 = (1 << 18) | (1 << 19);
+
+ enum PrfSetting
+ {
+ PRF_16_MHz = 1,
+ PRF_64_MHz,
+ };
+
+ enum DataRateSetting
+ {
+ RATE_110_kbps = 1,
+ RATE_850_kbps,
+ RATE_6_8_Mbps,
+ };
+
+ // Set pulse repetition frequency
+ static void setPulseRepetitionFrequency(DW1000* dw_ptr, PrfSetting prf_setting)
+ {
+ // Transmit PRF setting (see page 75 of user manual)
+ uint32_t prf_value;
+ if (prf_setting == PRF_16_MHz)
+ {
+ prf_value = (1 << 16);
+ }
+ else
+ {
+ prf_value = (1 << 17);
+ }
+ uint32_t prf_mask = (1 << 16) | (1 << 17);
+ uint32_t tx_ctrl = dw_ptr->readRegister32(DW1000_TX_FCTRL, 0x00);
+ tx_ctrl &= ~prf_mask;
+ tx_ctrl |= (prf_value & prf_mask);
+ dw_ptr->writeRegister32(DW1000_TX_FCTRL, 0x00, tx_ctrl);
+
+ // Receive PRF setting (see page 109 and of user manual)
+ if (prf_setting == PRF_16_MHz)
+ {
+ prf_value = (1 << 18);
+ }
+ else
+ {
+ prf_value = (1 << 19);
+ }
+ prf_mask = (1 << 18) | (1 << 19);
+ uint32_t chan_ctrl = dw_ptr->readRegister32(DW1000_CHAN_CTRL, 0x00);
+ chan_ctrl &= ~prf_mask;
+ chan_ctrl |= (prf_value & prf_mask);
+ dw_ptr->writeRegister32(DW1000_CHAN_CTRL, 0x00, chan_ctrl);
+ }
+
+ // Set preamble length (see page 76 of user manual)
+ static void setPreambleLength(DW1000* dw_ptr, uint32_t preamble_setting)
+ {
+ uint32_t preamble_mask = (1 << 18) | (1 << 19) | (1 << 20) | (1 << 21);
+ uint32_t tx_ctrl = dw_ptr->readRegister32(DW1000_TX_FCTRL, 0x00);
+ tx_ctrl &= ~preamble_mask;
+ tx_ctrl |= (preamble_setting & preamble_mask);
+ dw_ptr->writeRegister32(DW1000_TX_FCTRL, 0x00, tx_ctrl);
+ }
+
+ // Set data rate
+ static void setDataRate(DW1000* dw_ptr, DataRateSetting rate_setting)
+ {
+ // Transmit data rate (see page 73 of user manual)
+ uint32_t rate_value;
+ if (rate_setting == RATE_110_kbps)
+ {
+ rate_value = 0;
+ }
+ else if (rate_setting == RATE_850_kbps)
+ {
+ rate_value = (1 << 13);
+ }
+ else
+ {
+ rate_value = (1 << 14);
+ }
+ uint32_t rate_mask = (1 << 13) | (1 << 14);
+ uint32_t tx_ctrl = dw_ptr->readRegister32(DW1000_TX_FCTRL, 0x00);
+ tx_ctrl &= ~rate_mask;
+ tx_ctrl |= (rate_value & rate_mask);
+ dw_ptr->writeRegister32(DW1000_TX_FCTRL, 0x00, tx_ctrl);
+
+ // Receive data rate (see page 72 of user manual)
+ if (rate_setting == RATE_110_kbps)
+ {
+ rate_value = (1 << 18);
+ rate_value = (1 << 22);
+ }
+ else if (rate_setting == RATE_850_kbps)
+ {
+ rate_value = (1 << 18);
+ }
+ else
+ {
+ rate_value = 0;
+ }
+ rate_mask = (1 << 18) | (1 << 22);
+ uint32_t sys_cfg = dw_ptr->readRegister32(DW1000_SYS_CFG, 0x00);
+ sys_cfg &= ~rate_mask;
+ sys_cfg |= (rate_value & rate_mask);
+ dw_ptr->writeRegister32(DW1000_SYS_CFG, 0x00, sys_cfg);
+
+ if (rate_setting == RATE_110_kbps)
+ {
+ dw_ptr->writeRegister16(DW1000_DRX_CONF, 0x02, 0x000A); // DRX_TUNE0b for 110 kbps
+ dw_ptr->writeRegister16(DW1000_DRX_CONF, 0x06, 0x0064); // DRX_TUNE1b for 110 kbps & > 1024 symbols
+ }
+ else if (rate_setting == RATE_850_kbps)
+ {
+ dw_ptr->writeRegister16(DW1000_DRX_CONF, 0x02, 0x0001); // DRX_TUNE0b for 850 kbps
+ dw_ptr->writeRegister16(DW1000_DRX_CONF, 0x06, 0x0020); // DRX_TUNE1b for 850 kbps & 128 - 1024 symbols
+ }
+ else
+ {
+ dw_ptr->writeRegister16(DW1000_DRX_CONF, 0x02, 0x0001); // DRX_TUNE0b for 6.8 Mbps
+ dw_ptr->writeRegister16(DW1000_DRX_CONF, 0x06, 0x0010); // DRX_TUNE1b for 6.8 Mbps & 64 symbols
+ }
+ }
+
+ // Improved settings for direct path detection in non-line-of-sight environments.
+ // See DecaWave Application Note APS006.
+ 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)
+ {
+ setDataRate(dw_ptr, rate_setting);
+ setPulseRepetitionFrequency(dw_ptr, prf_setting);
+ setPreambleLength(dw_ptr, preamble_setting);
+
+ // Setting for Noise Threshold Multiplier 1
+ dw_ptr->writeRegister8(DW1000_LDE_CTRL, 0x0806, 0x07); // LDE_CFG1
+ // Setting for Noise Threshold Multiplier 2
+ if (prf_setting == PRF_16_MHz)
+ {
+ dw_ptr->writeRegister16(DW1000_LDE_CTRL, 0x1806, 0x0003); // LDE_CFG2 for 16 MHz PRF
+ }
+ else
+ {
+ dw_ptr->writeRegister16(DW1000_LDE_CTRL, 0x1806, 0x1603); // LDE_CFG2 for 64 MHz PRF
+ }
+ }
+
+ // Default settings for line-of-sight environments
+ 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)
+ {
+ setDataRate(dw_ptr, rate_setting);
+ setPulseRepetitionFrequency(dw_ptr, prf_setting);
+ setPreambleLength(dw_ptr, preamble_setting);
+
+ // Setting for Noise Threshold Multiplier 1
+ dw_ptr->writeRegister8(DW1000_LDE_CTRL, 0x0806, 0x0c); // LDE_CFG1
+// dw_ptr->writeRegister8(DW1000_LDE_CTRL, 0x0806, 0x0d); // LDE_CFG1
+ // Setting for Noise Threshold Multiplier 2
+ if (prf_setting == PRF_16_MHz)
+ {
+ dw_ptr->writeRegister16(DW1000_LDE_CTRL, 0x1806, 0x1607); // LDE_CFG2 for 16 MHz PRF
+ }
+ else
+ {
+ dw_ptr->writeRegister16(DW1000_LDE_CTRL, 0x1806, 0x0607); // LDE_CFG2 for 64 MHz PRF
+ }
+ }
+};
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