DW1000 UWB driver based on work of Matthias Grob & Manuel Stalder - ETH Zürich - 2015
Diff: DW1000.h.orig
- Revision:
- 5:68ffaa5962d1
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/DW1000.h.orig Thu Apr 07 16:27:51 2016 +0000 @@ -0,0 +1,424 @@ +// by Matthias Grob & Manuel Stalder - ETH Zürich - 2015 + +#ifndef DW1000_H +#define DW1000_H + +#include "mbed.h" + +// register addresses +// 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 + +// AGC_CTRL sub registers +#define DWAGCCTRL_AGC_CTRL1 0x02 +#define DWAGCCTRL_AGC_TUNE1 0x04 +#define DWAGCCTRL_AGC_TUNE2 0x0C +#define DWAGCCTRL_AGC_TUNE3 0x12 + +// EXT_SYNC sub registers +#define DWEXTSYNC_EC_CTRL 0x00 +#define DWEXTSYNC_EC_RXTC 0x04 +#define DWEXTSYNC_EC_GOLP 0x08 + +// GPIO sub registers +#define DWGPIO_GPIO_MODE 0x00 +#define DWGPIO_GPIO_DIR 0x08 +#define DWGPIO_GPIO_DOUT 0x0C +#define DWGPIO_GPIO_IRQE 0x10 +#define DWGPIO_GPIO_ISEN 0x14 +#define DWGPIO_GPIO_IMODE 0x18 +#define DWGPIO_GPIO_IBES 0x1C +#define DWGPIO_GPIO_ICLR 0x20 +#define DWGPIO_GPIO_IDBE 0x24 +#define DWGPIO_GPIO_RAW 0x28 + +// DRX sub registers +#define DWDRX_DRX_TUNE0B 0x02 +#define DWDRX_DRX_TUNE1A 0x04 +#define DWDRX_DRX_TUNE1B 0x06 +#define DWDRX_DRX_TUNE2 0x08 +#define DWDRX_DRX_SFDTOC 0x20 +#define DWDRX_DRX_PRETOC 0x24 +#define DWDRX_DRX_TUNE4H 0x26 + +//RF conf sub registers +#define DWRFCONF_RF_CONF 0x00 +#define DWRFCONF_RF_RXCTRLH 0x0B +#define DWRFCONF_RF_TXCTRL 0x0C +#define DWRFCONF_RF_STATUS 0x2C +#define DWRFCONF_RF_LDOTUNE 0x30 + +// TX cal sub registers +#define DWTXCAL_TC_SARC 0x00 +#define DWTXCAL_TC_SARL 0x03 +#define DWTXCAL_TC_SARW 0x06 +#define DWTXCAL_TC_PGDELAY 0x0B +#define DWTXCAL_TC_PGTEST 0x0C + +// Freq synth sub registers +#define DWFSCTRL_FS_PLLCFG 0x07 +#define DWFSCTRL_FS_PLLTUNE 0x0B +#define DWFSCTRL_FS_XTALT 0x0E + +// Always on sub registers +#define DWAON_AON_WCFG 0x00 +#define DWAON_AON_CTRL 0x02 +#define DWAON_AON_RDAT 0x03 +#define DWAON_AON_ADDR 0x04 +#define DWAON_AON_CFG0 0x06 +#define DWAON_AON_CFG1 0x0A + +// OTP sub registers +#define DWOTP_OTP_WDAT 0x00 +#define DWOTP_OTP_ADDR 0x04 +#define DWOTP_OTP_CTRL 0x06 +#define DWOTP_OTP_STAT 0x08 +#define DWOTP_OTP_RDAT 0x0A +#define DWOTP_OTP_SRDAT 0x0E +#define DWOTP_OTP_SF 0x12 + +//LDE_IF sub registers +#define DWLDE_LDE_THRESH 0x0000 +#define DWLDE_LDE_CFG1 0x0806 +#define DWLDE_LDE_PPINDX 0x1000 +#define DWLDE_LDE_PPAMPL 0x1002 +#define DWLDE_LDE_RXANTD 0x1804 +#define DWLDE_LDE_CFG2 0x1806 +#define DWLDE_LDE_REPC 0x2804 + +// Dig Diag sub registers +#define DWDIAG_EVC_CTRL 0x00 +#define DWDIAG_EVC_PHE 0x04 +#define DWDIAG_EVC_RSE 0x06 +#define DWDIAG_EVC_FCG 0x08 +#define DWDIAG_EVC_FCE 0x0A +#define DWDIAG_EVC_FFR 0x0C +#define DWDIAG_EVC_OVR 0x0E +#define DWDIAG_EVC_STO 0x10 +#define DWDIAG_EVC_PTO 0x12 +#define DWDIAG_EVC_FWTO 0x14 +#define DWDIAG_EVC_TXFS 0x16 +#define DWDIAG_EVC_HPW 0x18 +#define DWDIAG_EVC_TPW 0x1A +#define DWDIAG_DIAG_TMC 0x24 + +// power control sub registers +#define DWPMSC_PMSC_CTRL0 0x00 +#define DWPMSC_PMSC_CTRL1 0x04 +#define DWPMSC_PMSC_SNOZT 0x0C +#define DWPMSC_PMSC_TXFSEQ 0x26 +#define DWPMSC_PMSC_LEDC 0x28 + + +#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 +#define DW1000_2_SUBADDRESS_FLAG 0x80 // if we have a long sub adress (more than 7 Bit) we set this Bit in the first part + +/* +From user manual 10.5 +Table 59: +DW1000 supported UWB channels and recommended preamble codes + +channel 16MHzPrf 64MHzPrf +1 1,2 9, 10, 11, 12 +2 3, 4 9, 10, 11, 12 +3 5, 6 9, 10, 11, 12 +4 7, 8 17, 18, 19, 20 +5 3, 4 9, 10, 11, 12 +7 7, 8 17, 18, 19, 20 +*/ + + +/** Class for holding DW1000 config options +* +*/ +class DW1000Setup +{ +public: + +/// Constructor - default settings are close to hardware defaults. + DW1000Setup() { + channel = 5; + prf =prf16MHz; + dataRate = kbps850; + sfd = standard; + preamble = pre128; + preambleCode = 3; + enableSmartPower = true; + } + +/// enum for PRF options + enum prf_e {prf16MHz,prf64MHz}; + +/// enum for data rate options + enum dataRate_e {kbps110,kbps850,kbps6800}; + +/// enum for SFD options + enum sfd_e {standard, decaWave, user}; + +/// enum for preamble length options + enum preamble_e { pre64, pre128, pre256, pre512, pre1024, pre1536, pre2048, pre4096}; + +/** Set the PRF +* @return true if a valid option +*/ + bool setPRF(enum prf_e newSetting) { + prf = newSetting; + return true; + }; + +/** Set the Channel +* @return true if a valid option +*/ + bool setChannel(unsigned char newChannel) { + if ((channel > 0) && ((channel <= 5) || (channel == 7))) { + channel = newChannel; + return true; + } + return false; + }; +/** Set the SFD +* @return true if a valid option +*/ + bool setSfd(enum sfd_e newSetting) { + sfd = newSetting; + return true; + }; +/** Set the Preamble length +* @return true if a valid option +*/ + bool setPreambleLength(enum preamble_e newSetting) { + preamble = newSetting; + return true; + }; +/** Set the Data rate +* @return true if a valid option +*/ + bool setDataRate(enum dataRate_e newSetting) { + dataRate = newSetting; + return true; + }; +/** Set the Preamble code +* @return true if a valid option +* +* note - not all codes are valid for all channels. Set the channel first. +* TODO - enforce code restrictions +*/ + bool setPreambleCode(unsigned char newCode) { + if ((newCode > 0) && (newCode <= 24)) { + preambleCode = newCode; + return true; + } + return false; + }; +/** Set the smartpower state +* @return true if a valid option +* +* only takes effect at 6.8Mb/s +*/ + bool setSmartPower(bool enable) { + enableSmartPower = enable; + return true; + }; + +/** Get the current channel +* @return the channel number +*/ + unsigned char getChannel() { + return channel; + }; + enum prf_e getPRF() { + return prf; + }; + enum dataRate_e getDataRate() { + return dataRate; + }; + + enum sfd_e getSfd() {return sfd;}; + enum preamble_e getPreambleLength() { + return preamble; + }; + unsigned char getPreambleCode() { + return preambleCode; + }; + bool getSmartPower() { + return enableSmartPower; + }; + +private: + unsigned char channel; // 1-5 , 7 + enum prf_e prf; + enum dataRate_e dataRate; + enum sfd_e sfd; + enum preamble_e preamble; + unsigned char preambleCode; // 1-24. See section 10.5 of user manual for details. + bool enableSmartPower; +}; + + +typedef enum {minPacketSize, tunedDefault, user110k} UWBMode; + +/** A DW1000 driver +*/ +class DW1000 +{ +public: + + DW1000(UWBMode setup, PinName MOSI, PinName MISO, PinName SCLK, PinName CS, PinName IRQ); // constructor, uses SPI class + void setCallbacks(void (*callbackRX)(void), void (*callbackTX)(void)); // setter for callback functions, automatically enables interrupt, if NULL is passed the coresponding interrupt gets disabled + template<typename T> + void setCallbacks(T* tptr, void (T::*mptrRX)(void), void (T::*mptrTX)(void)) { // overloaded setter to treat member function pointers of objects + callbackRX.attach(tptr, mptrRX); // possible client code: dw.setCallbacks(this, &A::callbackRX, &A::callbackTX); + callbackTX.attach(tptr, mptrTX); // concept seen in line 100 of http://developer.mbed.org/users/mbed_official/code/mbed/docs/4fc01daae5a5/InterruptIn_8h_source.html + setInterrupt(true,true); + } + + // Device API + 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 + float getTemperature(); // gets the current chip temperature measurement form the A/D converter + uint64_t getStatus(); // get the 40 bit device status + uint64_t getRXTimestamp(); + uint64_t getTXTimestamp(); + + void sendString(char* message); // to send String with arbitrary length + void receiveString(char* message); // to receive char string (length of the buffer must be 1021 to be safe) + void sendFrame(uint8_t* message, uint16_t length); // send a raw frame (length in bytes) + void sendDelayedFrame(uint8_t* message, uint16_t length, uint64_t TxTimestamp); + + void setupSyncedFrame(uint8_t* message, uint16_t length); + void armSyncedFrame(); + + void startRX(); // start listening for frames + void stopTRX(); // disable tranceiver go back to idle mode + + void setRxDelay(uint16_t ticks); + void setTxDelay(uint16_t ticks); + + uint16_t getFramelength(); // to get the framelength of the received frame from the PHY header + + void readRxBuffer( uint8_t *buffer, int length ) { + readRegister(DW1000_RX_BUFFER, 0, buffer, length); + } + + uint32_t readOTP (uint16_t word_address); + bool writeOTP(uint16_t word_address,uint32_t data); // program a value in the OTP. It is recommended to reset afterwards. + + /** Get setup description + * + * @param buffer Data buffer to place description in + * @param len Length of data buffer + * + * Places a text string describing the current setup into the suppled buffer. + */ + void getSetup(char *buffer, int len); + +protected: + void resetRX(); // soft reset only the tranciever part of DW1000 + void setInterrupt(bool RX, bool TX); // set Interrupt for received a good frame (CRC ok) or transmission done + + /** Set Transmit gain + * + * @param normalPowercB Normal transmit gain to use. + * @param boost500 Gain to use for 6.8Mb/s packets of under 500ms. + * @param boost250 Gain to use for 6.8Mb/s packets of under 250ms. + * @param boost125 Gain to use for 6.8Mb/s packets of under 125ms. + * + * All gains are in cB (dB * 10). Gains can be between 0 and 335 (33.5dB). + * Boost gains are optional, if not specified boost gains are set to the power for the lower rate (e.g. boost125 is set to the boost250 level). + */ + void setTxPower(uint16_t normalPowercB, uint16_t boost500 = 0, uint16_t boost250 = 0, uint16_t boost125 = 0); + + +private: + void resetAll(); // soft reset the entire DW1000 (some registers stay as they were see User Manual) + + void setupRadio(); + + // system register setup functions + void setupAGC(); + void setupRxConfig(); + void setupLDE(); + void setupChannel(); + void setupTxFrameCtrl(); + void setupAnalogRF(); + void setupFreqSynth(); + void setupTxCalibration(); + void setupSystemConfig(); + void loadLDE(); // load the leading edge detection algorithm to RAM, [IMPORTANT because receiving malfunction may occur] see User Manual LDELOAD on p22 & p158 + void loadLDOTUNE(); // load the LDO tuning as set in the factory + + uint8_t powerToRegValue(uint16_t powercB); + + DW1000Setup systemConfig; + + + + // Interrupt + InterruptIn irq; // Pin used to handle Events from DW1000 by an Interrupthandler + FunctionPointer callbackRX; // function pointer to callback which is called when successfull RX took place + FunctionPointer callbackTX; // function pointer to callback which is called when successfull TX took place + void ISR(); // interrupt handling method (also calls according callback methods) + + // 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) + + uint8_t readRegister8(uint8_t reg, uint16_t subaddress); // expressive methods to read or write the number of bits written in the name + uint16_t readRegister16(uint8_t reg, uint16_t subaddress); + uint32_t readRegister32(uint8_t reg, uint16_t subaddress); + uint64_t readRegister40(uint8_t reg, uint16_t subaddress); + uint64_t readRegister64(uint8_t reg, uint16_t subaddress); + void writeRegister8(uint8_t reg, uint16_t subaddress, uint8_t buffer); + void writeRegister16(uint8_t reg, uint16_t subaddress, uint16_t buffer); + void writeRegister32(uint8_t reg, uint16_t subaddress, uint32_t buffer); + void writeRegister40(uint8_t reg, uint16_t subaddress, uint64_t buffer); + + void readRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length); // reads the selected part of a slave register into the buffer memory + void writeRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length); // writes the buffer memory to the selected slave register + void setupTransaction(uint8_t reg, uint16_t subaddress, bool write); // sets up an SPI read or write transaction with correct register address and offset + void select(); // selects the only slave for a transaction + void deselect(); // deselects the only slave after transaction +}; + +#endif \ No newline at end of file