Andy A
DW1000 UWB driver based on work of Matthias Grob & Manuel Stalder - ETH Zürich - 2015
Revision 8:0b408e77b701, committed 2016-04-18
- Comitter:
- AndyA
- Date:
- Mon Apr 18 16:58:27 2016 +0000
- Parent:
- 7:b13881dbb09d
- Child:
- 9:326bf149c8bc
- Commit message:
- f
Changed in this revision
--- a/DW1000.cpp Wed Apr 13 09:07:14 2016 +0000
+++ b/DW1000.cpp Mon Apr 18 16:58:27 2016 +0000
@@ -6,128 +6,28 @@
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);
+ DW1000Setup newSetup(DW1000Setup::fastLocationC5);
+ systemConfig.applyConfig(&newSetup);
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
+setupRadio();
+ setTxPower(250,250,250+30,250+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;
+DW1000Setup* DW1000::getSetup() {
+ return &systemConfig;
}
- 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();
@@ -363,10 +263,10 @@
else
registerValue |= 0x02 << 18;
- if (systemConfig.getSfd() == DW1000Setup::decaWave)
+ if (systemConfig.getSfd() == DW1000Setup::decaWave)
registerValue |= 0x01 << 17; // enable DW own SFD
- if (systemConfig.getSfd() == DW1000Setup::user) {
+ if (systemConfig.getSfd() == DW1000Setup::user) {
registerValue |= 0x01 << 20; // enable user set SFD Tx
registerValue |= 0x01 << 21; // enable user set SFD Rx
}
@@ -435,6 +335,8 @@
powerReg |= powerToRegValue(boost500) << 8;
powerReg |= powerToRegValue(boost250) << 16;
powerReg |= powerToRegValue(boost125) << 24;
+ writeRegister32(DW1000_TX_POWER, 0, powerReg);
+
}
void DW1000::setupAnalogRF()
--- a/DW1000.h Wed Apr 13 09:07:14 2016 +0000
+++ b/DW1000.h Mon Apr 18 16:58:27 2016 +0000
@@ -5,328 +5,14 @@
#include "mbed.h"
#include "BurstSPI.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
+#include "DW1000Registers.h"
+#include "DW1000Setup.h"
-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, ///< PRF rate of 16MHz. Lower power
- prf64MHz ///< PRF rate of 64MHz. Higher power but more accurate timing.
- };
-
-/// enum for data rate options
- enum dataRate_e {kbps110, ///< Data rate of 110kb/s (non-standard)
- kbps850,///< Data rate of 850kb/s
- kbps6800///< Data rate of 6.8Mb/s
- };
-
-/// enum for SFD options
- enum sfd_e {standard, ///< IEEE standard SFD
- decaWave, ///< Decawave defined SFD
- user ///< user defined SFD
- };
-
-/// enum for preamble length options
- enum preamble_e { pre64,///< Preamble is 64 symbols
- pre128,///< Preamble is 128 symbols (non-standard)
- pre256,///< Preamble is 256 symbols (non-standard)
- pre512,///< Preamble is 512 symbols (non-standard)
- pre1024,///< Preamble is 1024 symbols
- pre1536,///< Preamble is 1536 symbols (non-standard)
- pre2048, ///< Preamble is 2048 symbols (non-standard)
- pre4096///< Preamble is 4096 symbols
- };
-
- /** 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;
- };
- /** Get the current PRF
- * @return the PRF
- */
- enum prf_e getPRF() {
- return prf;
- };
- /** Get the current data rate
- * @return the data rate
- */ enum dataRate_e getDataRate() {
- return dataRate;
- };
-
- /** Get the current SFD mode
- * @return the SFD
- */ enum sfd_e getSfd() {
- return sfd;
- };
- /** Get the current preamble length
- * @return the preamble length
- */
- enum preamble_e getPreambleLength() {
- return preamble;
- };
- /** Get the current preamble code
- * @return the preamble code
- */
- unsigned char getPreambleCode() {
- return preambleCode;
- };
- /** Get the current smart power mode
- * @return true if smartpower is on
- */
- 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;
-};
+#define TIMEUNITS_TO_US (1/(128*499.2)) // conversion between the decawave timeunits (ca 15.65ps) to microseconds.
+#define US_TO_TIMEUNITS ((uint32_t)(128*499.2)) // conversion between microseconds to the decawave timeunits (ca 15.65ps).
+#define c_mPerS 299792458
+#define c_mmPerTick (c_mPerS * TIMEUNITS_TO_US / 1000)
+#define c_mPerTick (c_mmPerTick/1000)
typedef enum {minPacketSize, tunedDefault, user110k} UWBMode;
@@ -489,6 +175,21 @@
*/
void setTxDelay(uint16_t ticks);
+
+ /** Set receive antenna delay in meters
+ * @param errorDistance Delay in meters at speed of light
+ */
+ void setRxDelayDistance(double errorDistance) {
+ setRxDelay(errorDistance/c_mPerTick);
+ };
+
+ /** Set transmit antenna delay in meters
+ * @param errorDistance Delay in meters at speed of light
+ */
+ void setTxDelayDistance(double errorDistance) {
+ setTxDelay(errorDistance/c_mPerTick);
+ };
+
/** Get last packet size
* @return The length in bytes of the last packet received
*/
@@ -522,15 +223,25 @@
*/
bool writeOTP(uint16_t word_address,uint32_t data); // program a value in the OTP. It is recommended to reset afterwards.
-
- /** Get setup description
+ /** get the current radio configuration
+ * @return A pointer to a DW1000Setup object of the current setup.
*
- * @param buffer Data buffer to place description in
- * @param len Length of data buffer
+ * Note to change the setup you must make a copy of the current setup and then pass that to applySetup().
+ */
+ DW1000Setup *getSetup();
+
+ /** apply a new radio setup to the UWB system
+ * @param setup The new settings to use
+ * @return true if the setup was applied.
*
- * Places a text string describing the current setup into the suppled buffer.
+ * The setup object supplied is copied and can be disposed of after the call.
+ * If the supplied setup fails DW1000Setup::check() then it is ignored and the function returns false.
*/
- void getSetup(char *buffer, int len);
+// bool applySetup(DW1000Setup *setup);
+
+
+ uint32_t readRegister32(uint8_t reg, uint16_t subaddress);
+ void setTxPower(uint16_t normalPowercB, uint16_t boost500 = 0, uint16_t boost250 = 0, uint16_t boost125 = 0);
protected:
/** Reset the reciever logic
@@ -558,8 +269,9 @@
* 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);
+// 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)
@@ -597,7 +309,7 @@
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);
+// 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);
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/DW1000Registers.h Mon Apr 18 16:58:27 2016 +0000 @@ -0,0 +1,153 @@ +#ifndef __DWREG_H__ +#define __DWREG_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 +#define DWDRX_RXPAC_NOSAT 0x2c + + +//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 + +#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/DW1000Setup.cpp Mon Apr 18 16:58:27 2016 +0000
@@ -0,0 +1,262 @@
+
+#include "DW1000Setup.h"
+
+DW1000Setup::DW1000Setup(UWBMode modeToUse)
+{
+ switch (modeToUse) {
+ case user110k: // values from Matthias Grob & Manuel Stalder - ETH Zürich - library
+
+ setChannel(5);
+ setPRF(prf16MHz);
+ setDataRate(kbps110);
+ setSfd(standard);
+ setPreambleLength(pre1024);
+ setPreambleCode(3);
+ setSmartPower(false);
+// setTxPower(18);
+ break;
+ case tunedDefault: // User Manual "2.5.5 Default Configurations that should be modified" p. 22
+ default:
+ setChannel(5);
+ setPRF(prf16MHz);
+ setDataRate(kbps6800);
+ setSfd(standard);
+ setPreambleLength(pre128);
+ setPreambleCode(3);
+ setSmartPower(false);
+// setTxPower(18);
+ break;
+ case fastLocationC5:
+ setChannel(5);
+ setPRF(prf64MHz);
+ setDataRate(kbps6800);
+ setSfd(standard);
+ setPreambleLength(pre64);
+ setPreambleCode(10);
+ setSmartPower(true);
+// setTxPower(18);
+ break;
+ case fastLocationC4:
+ setChannel(4);
+ setPRF(prf64MHz);
+ setDataRate(kbps6800);
+ setSfd(standard);
+ setPreambleLength(pre64);
+ setPreambleCode(18);
+ setSmartPower(true);
+// setTxPower(18);
+ break;
+ case rangeRateCompromise:
+ setChannel(4);
+ setPRF(prf64MHz);
+ setDataRate(kbps850);
+ setSfd(standard); // for some reason decawave doesn't work.
+ setPreambleLength(pre256);
+ setPreambleCode(18);
+ setSmartPower(false);
+// setTxPower(18);
+ break;
+ }
+}
+
+
+DW1000Setup::DW1000Setup(DW1000Setup *orij) {
+ channel = orij->getChannel();
+ prf = orij->getPRF();
+ dataRate = orij->getDataRate();
+ sfd = orij->getSfd();
+ preamble = orij->getPreambleLength();
+ preambleCode = orij->getPreambleCode();
+ GPIO_Pins = orij->getGPIO(); // 8 = irq, 7 = sync. Others are GPIO
+ enableSmartPower = orij->getSmartPower();
+ memcpy(&powers,orij->getTxPowers(),4*sizeof(float));
+ }
+
+
+ void DW1000Setup::applyConfig(DW1000Setup *orij) {
+ channel = orij->getChannel();
+ prf = orij->getPRF();
+ dataRate = orij->getDataRate();
+ sfd = orij->getSfd();
+ preamble = orij->getPreambleLength();
+ preambleCode = orij->getPreambleCode();
+ GPIO_Pins = orij->getGPIO(); // 8 = irq, 7 = sync. Others are GPIO
+ enableSmartPower = orij->getSmartPower();
+ memcpy(&powers,orij->getTxPowers(),4*sizeof(float));
+ }
+
+
+bool DW1000Setup::check()
+{
+ int maxCode = 24;
+ int minCode = 1;
+
+ if (prf == prf16MHz)
+ switch (channel) {
+ case 1:
+ maxCode = 2;
+ minCode = 1;
+ break;
+ case 2:
+ case 5:
+ maxCode = 4;
+ minCode = 3;
+ break;
+ case 3:
+ maxCode = 6;
+ minCode = 5;
+ break;
+ case 4:
+ case 7:
+ maxCode = 8;
+ minCode = 7;
+ break;
+ default:
+ return false; // invalid channel
+ }
+ else
+ switch (channel) {
+ case 1:
+ case 2:
+ case 3:
+ case 5:
+ maxCode = 12;
+ minCode = 9;
+ break;
+ case 4:
+ case 7:
+ maxCode = 20;
+ minCode = 17;
+ break;
+ default:
+ return false; // invalid channel
+ }
+
+ if ((preambleCode > maxCode) || (preambleCode < minCode))
+ return false;
+
+ switch (preamble) {
+ default:
+ return false;
+ case pre64:
+ case pre128:
+ if (dataRate != kbps6800)
+ return false;
+ break;
+ case pre256:
+ if (dataRate == kbps110)
+ return false;
+ break;
+ case pre512:
+ case pre1024:
+ case pre1536:
+ if (dataRate != kbps850)
+ return false;
+ break;
+ case pre2048:
+ if (dataRate == kbps6800)
+ return false;
+ break;
+ case pre4096:
+ if (dataRate != kbps110)
+ return false;
+ break;
+ }
+
+ if (enableSmartPower) {
+ if (dataRate != kbps6800)
+ return false;
+ }
+ return true;
+}
+
+void DW1000Setup::getSetupDescription(char *buffer, int len)
+{
+
+ char dataRateString[10];
+ if (dataRate == kbps6800)
+ strcpy(dataRateString,"6.8 Mbps");
+ else if (dataRate == kbps850)
+ strcpy(dataRateString,"850 kbps");
+ else
+ strcpy(dataRateString,"110 kbps");
+
+ char preambleString[8];
+ switch (preamble) {
+ default:
+ strcpy(preambleString,"error");
+ break;
+ case pre64:
+ strcpy(preambleString,"64");
+ break;
+ case pre128:
+ strcpy(preambleString,"128");
+ break;
+ case pre256:
+ strcpy(preambleString,"256");
+ break;
+ case pre512:
+ strcpy(preambleString,"512");
+ break;
+ case pre1024:
+ strcpy(preambleString,"1024");
+ break;
+ case pre1536:
+ strcpy(preambleString,"1536");
+ break;
+ case pre2048:
+ strcpy(preambleString,"2048");
+ break;
+ case 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",
+ channel,
+ (prf == prf16MHz)?"16 MHz":"64 MHz",
+ dataRateString,
+ preambleString,
+ preambleCode,
+ enableSmartPower?"Enabled":"Disabled",
+ (sfd == standard)?"Standard":"Non-standard");
+}
+
+ bool DW1000Setup::setSmartTxPower(float powerdBm,float power500us,float power250us,float power125us) {
+ if ((powerdBm < 0) || (powerdBm > 33.5))
+ return false;
+
+ powers[0] = powerdBm;
+
+ if ((power500us < powerdBm) || (power500us > 33.5))
+ powers[1] = powers[0];
+ else
+ powers[1] = power500us;
+
+ if ((power250us < power500us) || (power250us > 33.5))
+ powers[2] = powers[1];
+ else
+ powers[2] = power250us;
+
+ if ((power125us < power250us) || (power125us > 33.5))
+ powers[3] = powers[2];
+ else
+ powers[3] = power125us;
+
+ return true;
+ }
+
+ bool DW1000Setup::setTxPower(float powerdBm,float powerPRF) {
+ if ((powerdBm < 0) || (powerdBm > 33.5))
+ return false;
+
+ powers[0] = powerdBm;
+ powers[1] = powerdBm;
+ powers[2] = powerdBm;
+ powers[3] = powerdBm;
+
+ if ((powerPRF > 0) && (powerPRF < 33.5))
+ powers[1] = powerPRF;
+
+ return true;
+ }
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/DW1000Setup.h Mon Apr 18 16:58:27 2016 +0000
@@ -0,0 +1,278 @@
+#ifndef __DW1000SETUP_H__
+#define __DW1000SETUP_H__
+
+#include "mbed.h"
+/** Class for holding DW1000 config options
+*
+* Defaults are channel 5, 16MHz PRF, 850kb/s, standard SFD, 128 symbol preamble, preamble code 3.
+* All pins are GPIO other than sync and IRQ.
+* Smart power is off.
+*
+*/
+class DW1000Setup
+{
+public:
+
+ /** Supported UWB modes
+ *
+ * enum for preset mode combinations
+ */
+ typedef enum {fastLocationC5, ///< maximum data speed, short range. Channel 5
+ fastLocationC4, ///< maximum data speed, short range. Channel 5
+ tunedDefault, ///< The power up default config with the recomended changes
+ user110k, ///< 110kb/s settings used by Matthias Grob & Manuel Stalder
+ rangeRateCompromise ///< 850kb/s settings aimed to give a short packet but with far greater range than the fastLocation options
+ } UWBMode;
+
+ /** Constructor
+ * @param modeToUse The operating mode to set the initial settings to.
+ *
+ */
+ DW1000Setup(UWBMode modeToUse = tunedDefault);
+
+
+/// copy constructor
+ DW1000Setup(DW1000Setup *orij);
+
+/// Update this config to match the supplied one
+ void applyConfig(DW1000Setup *orij);
+
+
+/// enum for PRF options
+ enum prf_e {prf16MHz, ///< PRF rate of 16MHz. Lower power
+ prf64MHz ///< PRF rate of 64MHz. Higher power but more accurate timing.
+ };
+
+/// enum for data rate options
+ enum dataRate_e {kbps110, ///< Data rate of 110kb/s (non-standard)
+ kbps850,///< Data rate of 850kb/s
+ kbps6800///< Data rate of 6.8Mb/s
+ };
+
+ /** enum for SFD options
+ *
+ * To conform to the standard the standard setting should be used.
+ * The decawave setting claimes to give better performance. Doesn't work for me at 850kb/s but does at 6.8Mb/s
+ */
+ enum sfd_e {standard, ///< IEEE standard SFD
+ decaWave, ///< Decawave defined SFD
+ user ///< user defined SFD
+ };
+
+/// enum for preamble length options
+ enum preamble_e { pre64,///< Preamble is 64 symbols
+ pre128,///< Preamble is 128 symbols (non-standard)
+ pre256,///< Preamble is 256 symbols (non-standard)
+ pre512,///< Preamble is 512 symbols (non-standard)
+ pre1024,///< Preamble is 1024 symbols
+ pre1536,///< Preamble is 1536 symbols (non-standard)
+ pre2048, ///< Preamble is 2048 symbols (non-standard)
+ pre4096///< Preamble is 4096 symbols
+ };
+
+ /** Set the Transmit power for smartpower operation
+ * @param powerdBm The gain setting in dBm (0-33.5)
+ * @param power500us The gain setting packets under 500us in dBm (0-33.5)
+ * @param power250us The gain setting packets under 250us in dBm (0-33.5)
+ * @param power125us The gain setting packets under 125us in dBm (0-33.5)
+ * @return true if a valid option
+ */
+ bool setSmartTxPower(float powerdBm,float power500us=0,float power250us=0,float power125us=0) ;
+
+ /** Set the Transmit power for non-smartpower operation
+ * @param powerdBm The gain setting in dBm for the main packet(0-33.5)
+ * @param powerPRF The gain setting in dBm for the preamble (0-33.5)
+ * @return true if a valid option
+ */
+ bool setTxPower(float powerdBm,float powerPRF=0);
+
+
+ /** 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
+ *
+ * channels are 1-5 & 7
+ */
+ bool setChannel(unsigned char newChannel) {
+ if ((newChannel > 0) && ((newChannel <= 5) || (newChannel == 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
+ *
+ * For 6.8Mb/s it should be 64 to 256 symbols.
+ * For 850kb/s it should be 256 to 2048 symbols
+ * For 110kb/s it should be >= 2048 symbols.
+ */
+ 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
+ *
+ *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
+
+ */
+ 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 transmit gains
+ * @return An array containing the power levels
+ *
+ * An array of 4 floats is returned.
+ * For smart power these are the 4 power levels (normal, <500us, <250us, <125us).
+ * For non-smart power the first and last values are ignored, the second is the power for the phy header, the 3rd is the power for the reaminder of the frame.
+ */
+ const float *getTxPowers() {
+ return powers;
+ }
+
+ /** Get the current channel
+ * @return the channel number
+ */
+ unsigned char getChannel() {
+ return channel;
+ };
+ /** Get the current PRF
+ * @return the PRF
+ */
+ enum prf_e getPRF() {
+ return prf;
+ };
+ /** Get the current data rate
+ * @return the data rate
+ */
+ enum dataRate_e getDataRate() {
+ return dataRate;
+ };
+
+ /** Get the current SFD mode
+ * @return the SFD
+ */
+ enum sfd_e getSfd() {
+ return sfd;
+ };
+ /** Get the current preamble length
+ * @return the preamble length
+ */
+ enum preamble_e getPreambleLength() {
+ return preamble;
+ };
+ /** Get the current preamble code
+ * @return the preamble code
+ */
+ unsigned char getPreambleCode() {
+ return preambleCode;
+ };
+ /** Get the current smart power mode
+ * @return true if smartpower is on
+ */
+ bool getSmartPower() {
+ return enableSmartPower;
+ };
+
+ /** Set which pins are GPIO
+ *
+ * @param pins A bitmask of which pins are not to be used as GPIO
+ *
+ * e.g. 0x01 sets GPIO0 as it's alternative function (RXOKLED) and all other pins to be GPIO.
+ *
+ * The default is 0x0180 - GPIO 8 = irq, GPIO 7 = sync. All others are GPIO functionality
+ */
+ void setGPIO(uint16_t pins) {
+ GPIO_Pins = pins;
+ };
+
+ /** Get which pins are GPIO
+ *
+ * @return A bitmask of which pins are not to be used as GPIO
+ *
+ * e.g. 0x01 Indicates that GPIO0 as it's alternative function (RXOKLED) and all other pins to be GPIO.
+ *
+ * The default is 0x0180 - GPIO 8 = irq, GPIO 7 = sync. All others are GPIO functionality
+ */
+ uint16_t getGPIO() {
+ return GPIO_Pins;
+ };
+
+ /** Check that the settings are self consistent
+ *
+ * @return true if the settings are valid
+ *
+ * Will check the following:
+ * - Preamble size is sensible for the data rate
+ * - Preamble code is valid for the channel
+ * - That smart power is only enabled at 6.8Mb/s
+ */
+ bool check();
+
+ /** 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 getSetupDescription(char *buffer, int len);
+
+private:
+ float powers[4];
+ uint16_t GPIO_Pins;
+ 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;
+};
+
+#endif