Andy A
DW1000 UWB driver based on work of Matthias Grob & Manuel Stalder - ETH Zürich - 2015
Diff: DW1000.cpp.orig
- Revision:
- 5:68ffaa5962d1
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/DW1000.cpp.orig Thu Apr 07 16:27:51 2016 +0000
@@ -0,0 +1,983 @@
+#include "DW1000.h"
+
+#define SPIRATE_PLL (5*1000*1000)
+#define SPIRATE_OSC (2*1000*1000)
+
+DW1000::DW1000(UWBMode setup, PinName MOSI, PinName MISO, PinName SCLK, PinName CS, PinName IRQ) : irq(IRQ), spi(MOSI, MISO, SCLK), cs(CS)
+{
+ setCallbacks(NULL, NULL);
+
+ 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(SPIRATE_PLL); // with a 1MHz clock rate (worked up to 49MHz in our Test)
+
+ resetAll(); // we do a soft reset of the DW1000 everytime the driver starts
+
+ switch (setup) {
+ case user110k: // values from Matthias Grob & Manuel Stalder - ETH Zürich - library
+
+ systemConfig.setChannel(5);
+ systemConfig.setPRF(DW1000Setup::prf16MHz);
+ systemConfig.setDataRate(DW1000Setup::kbps110);
+ systemConfig.setSfd(DW1000Setup::standard);
+ systemConfig.setPreambleLength(DW1000Setup::pre1024);
+ systemConfig.setPreambleCode(3);
+ systemConfig.setSmartPower(false);
+
+ setupRadio();
+
+ setTxPower(230); // power = 23dB gain
+
+ setRxDelay(1<<14); // set delays to 2^14 (1/4 of max)
+ setTxDelay(1<<14);
+ break;
+
+ case tunedDefault: // User Manual "2.5.5 Default Configurations that should be modified" p. 22
+ default:
+
+ systemConfig.setChannel(5);
+ systemConfig.setPRF(DW1000Setup::prf16MHz);
+ systemConfig.setDataRate(DW1000Setup::kbps6800);
+ systemConfig.setSfd(DW1000Setup::standard);
+ systemConfig.setPreambleLength(DW1000Setup::pre128);
+ systemConfig.setPreambleCode(3);
+ systemConfig.setSmartPower(false);
+
+ setupRadio();
+
+ setTxPower(230,260,290); // power = 23dB gain
+ setRxDelay(0);
+ setTxDelay(0);
+
+ break;
+ case minPacketSize:
+ systemConfig.setChannel(5);
+ systemConfig.setPRF(DW1000Setup::prf64MHz);
+ systemConfig.setDataRate(DW1000Setup::kbps6800);
+ systemConfig.setSfd(DW1000Setup::standard);
+ systemConfig.setPreambleLength(DW1000Setup::pre64);
+ systemConfig.setPreambleCode(10);
+ systemConfig.setSmartPower(true);
+
+ setupRadio();
+ uint16_t txPower = 25*10; // 25dB gain.
+ // 2 packets per ms max. So can increase TX power of 250us packets by 10log(4/2) dB and 125us packets by 10log(8/2) dB
+ setTxPower(txPower,txPower,txPower+30,txPower+60); // power = 23dB gain
+
+ setRxDelay(0);
+ setTxDelay(0);
+
+ break;
+ }
+
+
+ irq.rise(this, &DW1000::ISR); // attach interrupt handler to rising edge of interrupt pin from DW1000
+}
+
+void DW1000::getSetup(char *buffer, int len)
+{
+
+ char dataRateString[10];
+ if (systemConfig.getDataRate() == DW1000Setup::kbps6800)
+ strcpy(dataRateString,"6.8 Mbps");
+ else if (systemConfig.getDataRate() == DW1000Setup::kbps850)
+ strcpy(dataRateString,"850 kbps");
+ else
+ strcpy(dataRateString,"110 kbps");
+
+ char preambleString[8];
+ switch (systemConfig.getPreambleLength()) {
+ default:
+ strcpy(preambleString,"error");
+ break;
+ case DW1000Setup::pre64:
+ strcpy(preambleString,"64");
+ break;
+ case DW1000Setup::pre128:
+ strcpy(preambleString,"128");
+ break;
+ case DW1000Setup::pre256:
+ strcpy(preambleString,"256");
+ break;
+ case DW1000Setup::pre512:
+ strcpy(preambleString,"512");
+ break;
+ case DW1000Setup::pre1024:
+ strcpy(preambleString,"1024");
+ break;
+ case DW1000Setup::pre1536:
+ strcpy(preambleString,"1536");
+ break;
+ case DW1000Setup::pre2048:
+ strcpy(preambleString,"2048");
+ break;
+ case DW1000Setup::pre4096:
+ strcpy(preambleString,"4096");
+ break;
+ }
+
+ snprintf(buffer,len,"Channel:\t%u\r\nPRF:\t%s\r\nData Rate:\t%s\r\nPreamble length:\t%s\r\nPreamble code:\t%u\r\nSmart power:\t%s\r\nSFD:\t%s\r\n",
+ systemConfig.getChannel(),
+ (systemConfig.getPRF() == DW1000Setup::prf16MHz)?"16 MHz":"64 MHz",
+ dataRateString,
+ preambleString,
+ systemConfig.getPreambleCode(),
+ systemConfig.getSmartPower()?"Enabled":"Disabled",
+ (systemConfig.getSfd() == DW1000Setup::standard)?"Standard":"Non-standard");
+
+}
+
+
+void DW1000::setupRadio()
+{
+ setupAGC();
+ setupRxConfig();
+ setupLDE();
+ setupChannel();
+ setupAnalogRF();
+ setupFreqSynth();
+ setupTxCalibration();
+ setupTxFrameCtrl();
+ setupSystemConfig();
+
+}
+
+void DW1000::setupAGC()
+{
+
+ writeRegister16(DW1000_AGC_CTRL, DWAGCCTRL_AGC_CTRL1, 0x0001);
+ if (systemConfig.getPRF() == DW1000Setup::prf16MHz)
+ writeRegister16(DW1000_AGC_CTRL, DWAGCCTRL_AGC_TUNE1, 0x8870);
+ else
+ writeRegister16(DW1000_AGC_CTRL, DWAGCCTRL_AGC_TUNE1, 0x889B);
+
+ writeRegister32(DW1000_AGC_CTRL, DWAGCCTRL_AGC_TUNE2, 0x2502A907);
+ writeRegister16(DW1000_AGC_CTRL, DWAGCCTRL_AGC_TUNE3, 0x0035);
+}
+
+void DW1000::setupSystemConfig()
+{
+ uint32_t valueToUse = 0;
+ valueToUse |= 1<<9; // IRQ output is active high (default)
+ valueToUse |= 1<<12; // Disable double buffered Rx (default)
+
+// valueToUse |= 3<<16; // enable long (>125bytes data) packets
+
+ if (!systemConfig.getSmartPower())
+ valueToUse |= 1<<18; // disable smart power
+
+ if (systemConfig.getDataRate() == DW1000Setup::kbps110)
+ valueToUse |= 1<<22;
+
+ valueToUse |= 1<<29;// enable auto reenabling receiver after error
+
+ writeRegister32(DW1000_SYS_CFG, 0, valueToUse);
+}
+
+void DW1000::setupRxConfig()
+{
+
+ switch (systemConfig.getDataRate()) {
+ case DW1000Setup::kbps110:
+ if (systemConfig.getSfd() == DW1000Setup::standard)
+ writeRegister16(DW1000_DRX_CONF, DWDRX_DRX_TUNE0B, 0x000A);
+ else
+ writeRegister16(DW1000_DRX_CONF, DWDRX_DRX_TUNE0B, 0x0016);
+ break;
+ case DW1000Setup::kbps850:
+ if (systemConfig.getSfd() == DW1000Setup::standard)
+ writeRegister16(DW1000_DRX_CONF, DWDRX_DRX_TUNE0B, 0x0001);
+ else
+ writeRegister16(DW1000_DRX_CONF, DWDRX_DRX_TUNE0B, 0x0006);
+ break;
+ case DW1000Setup::kbps6800:
+ default:
+ if (systemConfig.getSfd() == DW1000Setup::standard)
+ writeRegister16(DW1000_DRX_CONF, DWDRX_DRX_TUNE0B, 0x0001);
+ else
+ writeRegister16(DW1000_DRX_CONF, DWDRX_DRX_TUNE0B, 0x0002);
+ break;
+ }
+
+ if (systemConfig.getPRF() == DW1000Setup::prf16MHz)
+ writeRegister16(DW1000_DRX_CONF, DWDRX_DRX_TUNE1A, 0x0087); //DRX_TUNE1a for 16MHz PRF
+ else
+ writeRegister16(DW1000_DRX_CONF, DWDRX_DRX_TUNE1A, 0x008D);
+
+ switch (systemConfig.getPreambleLength()) {
+ case DW1000Setup::pre1536:
+ case DW1000Setup::pre2048:
+ case DW1000Setup::pre4096:
+ writeRegister16(DW1000_DRX_CONF, DWDRX_DRX_TUNE1B, 0x0064); //DRX_TUNE1b for 110kbps & > 1024 symbols
+ break;
+ default: // 128 to 1024
+ writeRegister16(DW1000_DRX_CONF, DWDRX_DRX_TUNE1B, 0x0020); //DRX_TUNE1b for 128- 1024 symbols
+ break;
+ case DW1000Setup::pre64:
+ writeRegister16(DW1000_DRX_CONF, DWDRX_DRX_TUNE1B, 0x0010); //DRX_TUNE1b for 64 symbols
+ break;
+ }
+
+ switch (systemConfig.getPreambleLength()) {
+ case DW1000Setup::pre64:
+ case DW1000Setup::pre128: // PAC = 8
+ if (systemConfig.getPRF() == DW1000Setup::prf16MHz)
+ writeRegister32(DW1000_DRX_CONF, DWDRX_DRX_TUNE2, 0x311A002D); //DRX_TUNE2 PAC 8 for 64MHz PRF
+ else
+ writeRegister32(DW1000_DRX_CONF, DWDRX_DRX_TUNE2, 0x313B006B); //DRX_TUNE2 PAC 8 for 64MHz PRF
+ break;
+ case DW1000Setup::pre256:
+ case DW1000Setup::pre512: // PAC = 16
+ if (systemConfig.getPRF() == DW1000Setup::prf16MHz)
+ writeRegister32(DW1000_DRX_CONF, DWDRX_DRX_TUNE2, 0x331A0052); //DRX_TUNE2 PAC 16 for 64MHz PRF
+ else
+ writeRegister32(DW1000_DRX_CONF, DWDRX_DRX_TUNE2, 0x333B00BE); //DRX_TUNE2 PAC 16 for 64MHz PRF
+ break;
+ case DW1000Setup::pre1024: // PAC = 32
+ if (systemConfig.getPRF() == DW1000Setup::prf16MHz)
+ writeRegister32(DW1000_DRX_CONF, DWDRX_DRX_TUNE2, 0x351A009A); //DRX_TUNE2 PAC 32 for 64MHz PRF
+ else
+ writeRegister32(DW1000_DRX_CONF, DWDRX_DRX_TUNE2, 0x353B015E); //DRX_TUNE2 PAC 32 for 64MHz PRF
+ break;
+ case DW1000Setup::pre1536:
+ case DW1000Setup::pre2048:
+ case DW1000Setup::pre4096: // PAC = 64
+ if (systemConfig.getPRF() == DW1000Setup::prf16MHz)
+ writeRegister32(DW1000_DRX_CONF, DWDRX_DRX_TUNE2, 0x371A011D); //DRX_TUNE2 PAC 64 for 64MHz PRF
+ else
+ writeRegister32(DW1000_DRX_CONF, DWDRX_DRX_TUNE2, 0x373B0296); //DRX_TUNE2 PAC 64 for 64MHz PRF
+ break;
+ }
+
+
+ if (systemConfig.getPreambleLength() == DW1000Setup::pre64)
+ writeRegister16(DW1000_DRX_CONF, DWDRX_DRX_TUNE4H, 0x0010);
+ else
+ writeRegister16(DW1000_DRX_CONF, DWDRX_DRX_TUNE4H, 0x0028);
+
+}
+
+
+void DW1000::setupLDE()
+{
+
+ writeRegister8 (DW1000_LDE_CTRL, DWLDE_LDE_CFG1, 0x13 | 0x03<<5); //NTM = 13 (12 may be better in some situations. PMULT = 3
+
+ if (systemConfig.getPRF() == DW1000Setup::prf16MHz)
+ writeRegister16(DW1000_LDE_CTRL, DWLDE_LDE_CFG2, 0x1607); //LDE_CFG2 for 16MHz PRF
+ else
+ writeRegister16(DW1000_LDE_CTRL, DWLDE_LDE_CFG2, 0x0607); //LDE_CFG2 for 64MHz PRF
+
+ uint16_t replicaCoeff;
+ switch (systemConfig.getPreambleCode()) {
+ default:
+ case 1:
+ case 2:
+ replicaCoeff = 0x5998;
+ break;
+ case 3:
+ replicaCoeff = 0x51EA;
+ break;
+ case 4:
+ replicaCoeff = 0x428E;
+ break;
+ case 5:
+ replicaCoeff = 0x451E;
+ break;
+ case 6:
+ replicaCoeff = 0x2E14;
+ break;
+ case 7:
+ replicaCoeff = 0x8000;
+ break;
+ case 8:
+ replicaCoeff = 0x51EA;
+ break;
+ case 9:
+ replicaCoeff = 0x28F4;
+ break;
+ case 10:
+ replicaCoeff = 0x3332;
+ break;
+ case 11:
+ replicaCoeff = 0x3AE0;
+ break;
+ case 12:
+ replicaCoeff = 0x3D70;
+ break;
+ case 13:
+ replicaCoeff = 0x3AE0;
+ break;
+ case 14:
+ replicaCoeff = 0x35C2;
+ break;
+ case 15:
+ replicaCoeff = 0x2B84;
+ break;
+ case 16:
+ replicaCoeff = 0x35C2;
+ break;
+ case 17:
+ replicaCoeff = 0x3332;
+ break;
+ case 18:
+ replicaCoeff = 0x35C2;
+ break;
+ case 19:
+ replicaCoeff = 0x35C2;
+ break;
+ case 20:
+ replicaCoeff = 0x47AE;
+ break;
+ case 21:
+ replicaCoeff = 0x3AE0;
+ break;
+ case 22:
+ replicaCoeff = 0x3850;
+ break;
+ case 23:
+ replicaCoeff = 0x30A2;
+ break;
+ case 24:
+ replicaCoeff = 0x3850;
+ break;
+ }
+
+ if (systemConfig.getDataRate() == DW1000Setup::kbps110)
+ replicaCoeff = replicaCoeff>>3;
+
+ writeRegister16(DW1000_LDE_CTRL, DWLDE_LDE_REPC, replicaCoeff);
+
+ loadLDE();
+}
+
+void DW1000::setupChannel()
+{
+ uint32_t registerValue = 0;
+
+ registerValue = systemConfig.getChannel(); // set Tx channel
+ registerValue |= systemConfig.getChannel()<<4; // set Rx channel
+
+ if (systemConfig.getPRF() == DW1000Setup::prf16MHz) // set PRF (2 bit value 01 or 10)
+ registerValue |= 0x01 << 18;
+ else
+ registerValue |= 0x02 << 18;
+
+ if (systemConfig.getSfd() == DW1000Setup::decaWave)
+ registerValue |= 0x01 << 17; // enable DW own SFD
+
+ if (systemConfig.getSfd() == DW1000Setup::user) {
+ registerValue |= 0x01 << 20; // enable user set SFD Tx
+ registerValue |= 0x01 << 21; // enable user set SFD Rx
+ }
+
+ registerValue |= systemConfig.getPreambleCode() << 22; // set Tx preamble code
+ registerValue |= systemConfig.getPreambleCode() << 27; // set Rx preamble code
+
+ writeRegister32(DW1000_CHAN_CTRL, 0, registerValue);
+}
+
+
+uint8_t DW1000::powerToRegValue(uint16_t powercB)
+{
+
+ // course power control - 0 = 18dB, 6 = 0dB in 3dB steps.
+ uint8_t course = powercB / 30;
+
+ if(course > 6)
+ course = 6;
+
+ // remaining power
+ powercB -= course * 30;
+
+ // value in reg is inverse.
+ course = 6-course;
+
+ // fine control in steps of 0.5dB
+ uint8_t fine = powercB / 5;
+ if (fine > 31)
+ fine = 31;
+
+
+ return (course << 5) | fine;
+
+}
+
+// transmit power: 0 to 33.5 dB gain in steps of 0.5. Inputs are in 10ths of a dB (0 to 335)
+void DW1000::setTxPower(uint16_t normalPowercB, uint16_t boost500, uint16_t boost250, uint16_t boost125)
+{
+
+ if(normalPowercB > 335)
+ normalPowercB = 335;
+
+ if (boost500 < normalPowercB)
+ boost500 = normalPowercB;
+ if(boost500 > 335)
+ boost500 = 335;
+
+ if (boost250 < boost500)
+ boost250 = boost500;
+ if(boost250 > 335)
+ boost250 = 335;
+
+ if (boost125 < boost250)
+ boost125 = boost250;
+ if(boost125 > 335)
+ boost125 = 335;
+
+ if (systemConfig.getSmartPower() == false) {
+ boost500 = normalPowercB;
+ boost250 = normalPowercB;
+ boost125 = normalPowercB;
+ }
+
+ uint32_t powerReg = powerToRegValue(normalPowercB);
+ powerReg |= powerToRegValue(boost500) << 8;
+ powerReg |= powerToRegValue(boost250) << 16;
+ powerReg |= powerToRegValue(boost125) << 24;
+}
+
+void DW1000::setupAnalogRF()
+{
+ switch (systemConfig.getChannel()) {
+ case 1:
+ writeRegister32(DW1000_RF_CONF, DWRFCONF_RF_TXCTRL, 0x00005C40);
+ break;
+ case 2:
+ writeRegister32(DW1000_RF_CONF, DWRFCONF_RF_TXCTRL, 0x00045CA0);
+ break;
+ case 3:
+ writeRegister32(DW1000_RF_CONF, DWRFCONF_RF_TXCTRL, 0x00086CC0);
+ break;
+ case 4:
+ writeRegister32(DW1000_RF_CONF, DWRFCONF_RF_TXCTRL, 0x00045C80);
+ break;
+ case 5:
+ default:
+ writeRegister32(DW1000_RF_CONF, DWRFCONF_RF_TXCTRL, 0x001E3FE0);
+ break;
+ case 7:
+ writeRegister32(DW1000_RF_CONF, DWRFCONF_RF_TXCTRL, 0x001E7DE0);
+ break;
+ }
+
+ switch (systemConfig.getChannel()) {
+ case 1:
+ case 2:
+ case 3:
+ case 5:
+ default:
+ writeRegister8(DW1000_RF_CONF, DWRFCONF_RF_RXCTRLH, 0xD8);
+ break;
+ case 4:
+ case 7:
+ writeRegister8(DW1000_RF_CONF, DWRFCONF_RF_RXCTRLH, 0xBC);
+ break;
+ }
+
+ loadLDOTUNE();
+
+}
+
+void DW1000::setupTxCalibration()
+{
+ switch (systemConfig.getChannel()) {
+ case 1:
+ writeRegister8 (DW1000_TX_CAL, DWTXCAL_TC_PGDELAY, 0xC9);
+ break;
+ case 2:
+ writeRegister8 (DW1000_TX_CAL, DWTXCAL_TC_PGDELAY, 0xC2);
+ break;
+ case 3:
+ writeRegister8 (DW1000_TX_CAL, DWTXCAL_TC_PGDELAY, 0xC5);
+ break;
+ case 4:
+ writeRegister8 (DW1000_TX_CAL, DWTXCAL_TC_PGDELAY, 0x95);
+ break;
+ case 5:
+ default:
+ writeRegister8 (DW1000_TX_CAL, DWTXCAL_TC_PGDELAY, 0xC0);
+ break;
+ case 7:
+ writeRegister8 (DW1000_TX_CAL, DWTXCAL_TC_PGDELAY, 0x93);
+ break;
+ }
+}
+
+void DW1000::setupFreqSynth()
+{
+
+ switch (systemConfig.getChannel()) {
+ case 1:
+ writeRegister32 (DW1000_FS_CTRL, DWFSCTRL_FS_PLLCFG, 0x09000407); //FS_PLLCFG for channel 1
+ writeRegister8 (DW1000_FS_CTRL, DWFSCTRL_FS_PLLTUNE, 0x1E);
+ break;
+ case 2:
+ case 4:
+ writeRegister32 (DW1000_FS_CTRL, DWFSCTRL_FS_PLLCFG, 0x08400508); //FS_PLLCFG for channel 2,4
+ writeRegister8 (DW1000_FS_CTRL, DWFSCTRL_FS_PLLTUNE, 0x26);
+ break;
+ case 3:
+ writeRegister32 (DW1000_FS_CTRL, DWFSCTRL_FS_PLLCFG, 0x08401009); //FS_PLLCFG for channel 3
+ writeRegister8 (DW1000_FS_CTRL, DWFSCTRL_FS_PLLTUNE, 0x5E);
+ break;
+ case 5:
+ case 7:
+ default:
+ writeRegister32 (DW1000_FS_CTRL, DWFSCTRL_FS_PLLCFG, 0x0800041D); //FS_PLLCFG for channel 5,7
+ writeRegister8 (DW1000_FS_CTRL, DWFSCTRL_FS_PLLTUNE, 0xBE); //FS_PLLTUNE for channel 5
+ break;
+ }
+}
+
+void DW1000::setupTxFrameCtrl()
+{
+ uint32_t frameCtrlValue = 0;
+ switch (systemConfig.getDataRate()) {
+ case DW1000Setup::kbps110:
+ break;
+ case DW1000Setup::kbps850:
+ frameCtrlValue |= 0x01<<13;
+ break;
+ case DW1000Setup::kbps6800:
+ default:
+ frameCtrlValue |= 0x02<<13;
+ break;
+ }
+ frameCtrlValue |= 0x01<<15;
+
+ if (systemConfig.getPRF() == DW1000Setup::prf16MHz)
+ frameCtrlValue |= 0x01<<16;
+ else
+ frameCtrlValue |= 0x02<<16;
+
+ switch (systemConfig.getPreambleLength()) {
+ case DW1000Setup::pre64:
+ frameCtrlValue |= 0x01<<18; // TXPSR
+ frameCtrlValue |= 0x00<<20; // PE
+ break;
+ case DW1000Setup::pre128:
+ default:
+ frameCtrlValue |= 0x01<<18; // TXPSR
+ frameCtrlValue |= 0x01<<20; // PE
+ break;
+ case DW1000Setup::pre256:
+ frameCtrlValue |= 0x01<<18; // TXPSR
+ frameCtrlValue |= 0x02<<20; // PE
+ break;
+ case DW1000Setup::pre512:
+ frameCtrlValue |= 0x01<<18; // TXPSR
+ frameCtrlValue |= 0x03<<20; // PE
+ break;
+ case DW1000Setup::pre1024:
+ frameCtrlValue |= 0x02<<18; // TXPSR
+ frameCtrlValue |= 0x00<<20; // PE
+ break;
+ case DW1000Setup::pre1536:
+ frameCtrlValue |= 0x02<<18; // TXPSR
+ frameCtrlValue |= 0x01<<20; // PE
+ break;
+ case DW1000Setup::pre2048:
+ frameCtrlValue |= 0x02<<18; // TXPSR
+ frameCtrlValue |= 0x02<<20; // PE
+ break;
+ case DW1000Setup::pre4096:
+ frameCtrlValue |= 0x03<<18; // TXPSR
+ frameCtrlValue |= 0x00<<20; // PE
+ break;
+ }
+ writeRegister32(DW1000_TX_FCTRL,0,frameCtrlValue);
+}
+
+void DW1000::setRxDelay(uint16_t ticks)
+{
+ writeRegister16(DW1000_LDE_CTRL, DWLDE_LDE_RXANTD, ticks);
+}
+void DW1000::setTxDelay(uint16_t ticks)
+{
+ writeRegister16(DW1000_TX_ANTD, 0, ticks);
+}
+
+void DW1000::setCallbacks(void (*callbackRX)(void), void (*callbackTX)(void))
+{
+ bool RX = false;
+ bool TX = false;
+ if (callbackRX) {
+ DW1000::callbackRX.attach(callbackRX);
+ RX = true;
+ }
+ if (callbackTX) {
+ DW1000::callbackTX.attach(callbackTX);
+ TX = true;
+ }
+ setInterrupt(RX,TX);
+}
+
+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 data;
+
+ writeRegister8(DW1000_RF_CONF, 0x11, 0x80);
+ writeRegister8(DW1000_RF_CONF, 0x12, 0x0A);
+ writeRegister8(DW1000_RF_CONF, 0x12, 0x0F);
+ writeRegister8(DW1000_TX_CAL, 0x00, 0x01);
+ writeRegister8(DW1000_TX_CAL, 0x00, 0x00);
+ data = readRegister8(DW1000_TX_CAL, 0x03); // get the 8-Bit reading for Voltage
+ float Voltage = (float)(data - (readOTP(0x08)&0x00ff)) *0.00578 + 3.3;
+ return Voltage;
+}
+
+float DW1000::getTemperature()
+{
+ uint8_t data;
+
+ writeRegister8(DW1000_RF_CONF, 0x11, 0x80);
+ writeRegister8(DW1000_RF_CONF, 0x12, 0x0A);
+ writeRegister8(DW1000_RF_CONF, 0x12, 0x0F);
+ writeRegister8(DW1000_TX_CAL, 0x00, 0x01);
+ writeRegister8(DW1000_TX_CAL, 0x00, 0x00);
+ data = readRegister16(DW1000_TX_CAL, 0x04); // get the 8-Bit reading for Temperature
+ float temperature = (float)(data - (readOTP(0x09) & 0x00ff))*0.9 + 23;
+ return temperature;
+}
+
+
+uint64_t DW1000::getStatus()
+{
+ return readRegister40(DW1000_SYS_STATUS, 0);
+}
+
+uint64_t DW1000::getRXTimestamp()
+{
+ return readRegister40(DW1000_RX_TIME, 0);
+}
+
+uint64_t DW1000::getTXTimestamp()
+{
+ return readRegister40(DW1000_TX_TIME, 0);
+}
+
+void DW1000::sendString(char* message)
+{
+ sendFrame((uint8_t*)message, strlen(message)+1);
+}
+
+void DW1000::receiveString(char* message)
+{
+ readRegister(DW1000_RX_BUFFER, 0, (uint8_t*)message, getFramelength()); // get data from buffer
+}
+
+void DW1000::sendFrame(uint8_t* message, uint16_t length)
+{
+ //if (length >= 1021) length = 1021; // check for maximim length a frame can have with 1024 Byte frames [not used, see constructor]
+ if (length >= 125) length = 125; // check for maximim length a frame can have with 127 Byte frames
+ uint8_t len_7bit = length;
+ writeRegister(DW1000_TX_BUFFER, 0, message, len_7bit); // fill buffer
+
+ /* support for frames over 127 bytes
+ uint8_t backup = readRegister8(DW1000_TX_FCTRL, 1); // put length of frame
+ length += 2; // including 2 CRC Bytes
+ length = ((backup & 0xFC) << 8) | (length & 0x03FF);
+ writeRegister16(DW1000_TX_FCTRL, 0, length);
+ */
+ len_7bit += 2; // including 2 CRC Bytes
+ writeRegister8(DW1000_TX_FCTRL, 0, len_7bit);
+
+ stopTRX(); // stop receiving
+ writeRegister8(DW1000_SYS_CTRL, 0, 0x02 | 0x80); // trigger sending process by setting the TXSTRT bit
+// startRX(); // enable receiver again
+}
+
+void DW1000::setupSyncedFrame(uint8_t* message, uint16_t length)
+{
+ //if (length >= 1021) length = 1021; // check for maximim length a frame can have with 1024 Byte frames [not used, see constructor]
+ if (length >= 125) length = 125; // check for maximim length a frame can have with 127 Byte frames
+ writeRegister(DW1000_TX_BUFFER, 0, message, length); // fill buffer
+
+ uint8_t backup = readRegister8(DW1000_TX_FCTRL, 1); // put length of frame
+ length += 2; // including 2 CRC Bytes
+ length = ((backup & 0xFC) << 8) | (length & 0x03FF);
+ writeRegister16(DW1000_TX_FCTRL, 0, length);
+}
+
+void DW1000::armSyncedFrame()
+{
+ stopTRX(); // stop receiving
+ writeRegister16(DW1000_EXT_SYNC, DWEXTSYNC_EC_CTRL, 33<<3 | 0x01); // Sync register = TX start with a wait of 33 (recomended, value must fulfill wait % 4 = 1)
+}
+
+void DW1000::sendDelayedFrame(uint8_t* message, uint16_t length, uint64_t TxTimestamp)
+{
+ //if (length >= 1021) length = 1021; // check for maximim length a frame can have with 1024 Byte frames [not used, see constructor]
+ if (length >= 125) length = 125; // check for maximim length a frame can have with 127 Byte frames
+ writeRegister(DW1000_TX_BUFFER, 0, message, length); // fill buffer
+
+ uint8_t backup = readRegister8(DW1000_TX_FCTRL, 1); // put length of frame
+ length += 2; // including 2 CRC Bytes
+ length = ((backup & 0xFC) << 8) | (length & 0x03FF);
+ writeRegister16(DW1000_TX_FCTRL, 0, length);
+
+ writeRegister40(DW1000_DX_TIME, 0, TxTimestamp); //write the timestamp on which to send the message
+
+ stopTRX(); // stop receiving
+ writeRegister8(DW1000_SYS_CTRL, 0, 0x02 | 0x04 | 0x80); // trigger sending process by setting the TXSTRT and TXDLYS bit. Set Wait4resp to automatically enter RX mode after tx.
+}
+
+void DW1000::startRX()
+{
+ writeRegister8(DW1000_SYS_CTRL, 0x01, 0x01); // start listening for preamble by setting the RXENAB bit
+}
+
+void DW1000::stopTRX()
+{
+ writeRegister8(DW1000_SYS_CTRL, 0, 0x40); // disable tranceiver go back to idle mode
+}
+
+// PRIVATE Methods ------------------------------------------------------------------------------------
+void DW1000::loadLDE() // initialise LDE algorithm LDELOAD User Manual p22
+{
+ spi.frequency(SPIRATE_OSC); // with a 1MHz clock rate (worked up to 49MHz in our Test)
+
+ writeRegister16(DW1000_PMSC, 0, 0x0301); // set clock to XTAL so OTP is reliable
+ writeRegister16(DW1000_OTP_IF, DWOTP_OTP_CTRL, 0x8000); // set LDELOAD bit in OTP
+ wait_us(150);
+ writeRegister16(DW1000_PMSC, 0, 0x0200); // recover to PLL clock
+
+ wait_ms(1);
+
+ spi.frequency(SPIRATE_PLL); // with a 1MHz clock rate (worked up to 49MHz in our Test)
+
+}
+
+void DW1000::loadLDOTUNE()
+{
+ uint64_t LDOTuningValue = readOTP(0x0004);
+ if (LDOTuningValue != 0) {
+ LDOTuningValue = LDOTuningValue | ((uint64_t)(readOTP(0x0005) & 0x00ff) << 32);
+ writeRegister40(DW1000_RF_CONF,DWRFCONF_RF_LDOTUNE,LDOTuningValue);
+ }
+}
+
+void DW1000::resetRX()
+{
+ writeRegister8(DW1000_PMSC, 3, 0xE0); // set RX reset
+ writeRegister8(DW1000_PMSC, 3, 0xF0); // clear RX reset
+}
+
+void DW1000::resetAll()
+{
+ spi.frequency(SPIRATE_OSC); // with a 1MHz clock rate (worked up to 49MHz in our Test)
+
+ writeRegister8(DW1000_PMSC, 0, 0x01); // set clock to XTAL
+ writeRegister8(DW1000_PMSC, 3, 0x00); // set All reset
+ wait_us(10); // wait for PLL to lock
+ writeRegister8(DW1000_PMSC, 3, 0xF0); // clear All reset
+
+ wait_ms(1);
+
+ spi.frequency(SPIRATE_PLL); // with a 1MHz clock rate (worked up to 49MHz in our Test)
+}
+
+/// After writes have been completed reset the device.
+bool DW1000::writeOTP(uint16_t word_address,uint32_t data)
+{
+ spi.frequency(SPIRATE_OSC); // with a 1MHz clock rate (worked up to 49MHz in our Test)
+
+ writeRegister8(DW1000_PMSC, 0, 0x01); // set clock to XTAL
+ writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL+1,0x03); //
+ writeRegister16(DW1000_OTP_IF,DWOTP_OTP_WDAT,0x9220); //
+ writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x08); //
+ wait_ms(1);
+ writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL+1,0x02); //
+ writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x88); //
+ writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x80); //
+ writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x00); //
+
+ writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL+1,0x05); //
+ writeRegister16(DW1000_OTP_IF,DWOTP_OTP_WDAT,0x000E); //
+ writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x08); //
+ wait_ms(1);
+ writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL+1,0x04); //
+ writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x88); //
+ writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x80); //
+ writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x00); //
+
+ writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL+1,0x01); //
+ writeRegister16(DW1000_OTP_IF,DWOTP_OTP_WDAT,0x1024); //
+ writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x08); //
+ wait_ms(1);
+ writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL+1,0x00); //
+
+ writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x00); //
+ writeRegister32(DW1000_OTP_IF,DWOTP_OTP_WDAT,data); //
+ writeRegister16(DW1000_OTP_IF,DWOTP_OTP_ADDR,word_address); //
+ writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x40); //
+ writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x00); //
+ wait_ms(1);
+
+ for (int i=0; i<10; i++) {
+ if (readOTP(word_address) == data)
+ return true;
+ writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x40); // retry
+ writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x00);
+ wait_ms(1);
+ }
+ return false;
+}
+
+
+uint32_t DW1000::readOTP(uint16_t word_address)
+{
+ writeRegister16(DW1000_OTP_IF,DWOTP_OTP_ADDR,word_address); // write address
+ writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x03); // read address load
+ writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x01); // read
+ uint32_t data = readRegister32(DW1000_OTP_IF,DWOTP_OTP_RDAT);
+ writeRegister8(DW1000_OTP_IF,DWOTP_OTP_CTRL,0x00); // OTP idle
+ return data;
+}
+
+void DW1000::setInterrupt(bool RX, bool TX)
+{
+ writeRegister16(DW1000_SYS_MASK, 0, RX*0x4000 | TX*0x0080); // RX good frame 0x4000, TX done 0x0080
+}
+
+void DW1000::ISR()
+{
+ uint64_t status = getStatus();
+ if (status & 0x4000) { // a frame was received
+ callbackRX.call();
+ writeRegister16(DW1000_SYS_STATUS, 0, 0x6F00); // clearing of receiving status bits
+ }
+ if (status & 0x80) { // sending complete
+ callbackTX.call();
+ writeRegister8(DW1000_SYS_STATUS, 0, 0xF8); // clearing of sending status bits
+ }
+}
+
+uint16_t DW1000::getFramelength()
+{
+ uint16_t framelength = readRegister16(DW1000_RX_FINFO, 0); // get framelength
+ framelength = (framelength & 0x03FF) - 2; // take only the right bits and subtract the 2 CRC Bytes
+ return framelength;
+}
+
+// SPI Interface ------------------------------------------------------------------------------------
+uint8_t DW1000::readRegister8(uint8_t reg, uint16_t subaddress)
+{
+ uint8_t result;
+ readRegister(reg, subaddress, &result, 1);
+ return result;
+}
+
+uint16_t DW1000::readRegister16(uint8_t reg, uint16_t subaddress)
+{
+ uint16_t result;
+ readRegister(reg, subaddress, (uint8_t*)&result, 2);
+ return result;
+}
+
+uint32_t DW1000::readRegister32(uint8_t reg, uint16_t subaddress)
+{
+ uint32_t result;
+ readRegister(reg, subaddress, (uint8_t*)&result, 4);
+ return result;
+}
+
+
+uint64_t DW1000::readRegister40(uint8_t reg, uint16_t subaddress)
+{
+ uint64_t result = 0;
+ readRegister(reg, subaddress, (uint8_t*)&result, 5);
+ return result;
+}
+uint64_t DW1000::readRegister64(uint8_t reg, uint16_t subaddress)
+{
+ uint64_t result;
+ readRegister(reg, subaddress, (uint8_t*)&result, 8);
+ return result;
+}
+
+void DW1000::writeRegister8(uint8_t reg, uint16_t subaddress, uint8_t buffer)
+{
+ writeRegister(reg, subaddress, &buffer, 1);
+}
+
+void DW1000::writeRegister16(uint8_t reg, uint16_t subaddress, uint16_t buffer)
+{
+ writeRegister(reg, subaddress, (uint8_t*)&buffer, 2);
+}
+
+void DW1000::writeRegister32(uint8_t reg, uint16_t subaddress, uint32_t buffer)
+{
+ writeRegister(reg, subaddress, (uint8_t*)&buffer, 4);
+}
+
+void DW1000::writeRegister40(uint8_t reg, uint16_t subaddress, uint64_t buffer)
+{
+ writeRegister(reg, subaddress, (uint8_t*)&buffer, 5);
+}
+
+void DW1000::readRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length)
+{
+ setupTransaction(reg, subaddress, false);
+ for(int i=0; i<length; i++) // get data
+ buffer[i] = spi.write(0x00);
+ deselect();
+}
+
+void DW1000::writeRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length)
+{
+ setupTransaction(reg, subaddress, true);
+ for(int i=0; i<length; i++) // put data
+ spi.write(buffer[i]);
+ deselect();
+}
+
+void DW1000::setupTransaction(uint8_t reg, uint16_t subaddress, bool write)
+{
+ reg |= (write * DW1000_WRITE_FLAG); // set read/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 > 0x7F) { // sub address too long, we need to set flag and send third header byte
+ spi.write((uint8_t)(subaddress & 0x7F) | DW1000_2_SUBADDRESS_FLAG); // and
+ spi.write((uint8_t)(subaddress >> 7));
+ } else {
+ spi.write((uint8_t)subaddress);
+ }
+ } else {
+ spi.write(reg); // say which register address we want to access
+ }
+}
+
+void DW1000::select() // always called to start an SPI transmission
+{
+ 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.
+ cs = 0; // set Cable Select pin low to start transmission
+}
+
+void DW1000::deselect() // always called to end an SPI transmission
+{
+ cs = 1; // set Cable Select pin high to stop transmission
+ irq.enable_irq(); // reenable the interrupt handler
+}