Andy A
DW1000 UWB driver based on work of Matthias Grob & Manuel Stalder - ETH Zürich - 2015
Revision 9:326bf149c8bc, committed 2016-04-20
- Comitter:
- AndyA
- Date:
- Wed Apr 20 11:03:41 2016 +0000
- Parent:
- 8:0b408e77b701
- Child:
- 10:f1e3c04080d6
- Child:
- 11:b4ea3e12f15e
- Commit message:
- Finished moving configuration information into setup object.; Added documentation.
Changed in this revision
--- a/DW1000.cpp Mon Apr 18 16:58:27 2016 +0000
+++ b/DW1000.cpp Wed Apr 20 11:03:41 2016 +0000
@@ -3,33 +3,46 @@
#define SPIRATE_PLL (10*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)
+DW1000::DW1000(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);
+ DW1000Setup newSetup(DW1000Setup::tunedDefault);
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
-setupRadio();
- setTxPower(250,250,250+30,250+60); // power = 23dB gain
+ setupRadio();
- setRxDelay(0);
- setTxDelay(0);
-
- irq.rise(this, &DW1000::ISR); // attach interrupt handler to rising edge of interrupt pin from DW1000
+ setRxDelay(0);
+ setTxDelay(0);
}
-DW1000Setup* DW1000::getSetup() {
+DW1000Setup* DW1000::getSetup()
+{
return &systemConfig;
+}
+
+bool DW1000::applySetup(DW1000Setup *setup)
+{
+
+ if (setup->check()) {
+ systemConfig.applyConfig(setup);
+ setupRadio();
+ spi.frequency(SPIRATE_PLL); // with a 1MHz clock rate (worked up to 49MHz in our Test)
+ return true;
}
+ return false;
+}
void DW1000::setupRadio()
{
+ irq.rise(NULL); // attach interrupt handler to rising edge of interrupt pin from DW1000
+
+ stopTRX();
+ resetAll(); // we do a soft reset of the DW1000 to get to a known state. Without this we lose comms.
setupAGC();
setupRxConfig();
setupLDE();
@@ -39,7 +52,51 @@
setupTxCalibration();
setupTxFrameCtrl();
setupSystemConfig();
+ setupGPIO();
+ setupPower();
+ irq.rise(this, &DW1000::ISR); // attach interrupt handler to rising edge of interrupt pin from DW1000
+}
+
+
+void DW1000::setupGPIO()
+{
+// not done in a loop because bits 7 and 8 are the inverse, a value of 01 indicates GPIO
+ uint32_t value = 0;
+ uint32_t pinMask = systemConfig.getGPIO();
+ if (pinMask & (0x01<<0))
+ value |= 1<<6;
+
+ if (pinMask & (0x01<<1))
+ value |= 1<<8;
+
+ if (pinMask & (0x01<<2))
+ value |= 1<<10;
+
+ if (pinMask & (0x01<<3))
+ value |= 1<<12;
+
+ if (pinMask & (0x01<<4))
+ value |= 1<<14;
+
+ if (pinMask & (0x01<<5))
+ value |= 1<<16;
+
+ if (pinMask & (0x01<<6))
+ value |= 1<<18;
+
+ if (!(pinMask & (0x01<<7)))
+ value |= 1<<20;
+
+ if (!(pinMask & (0x01<<8)))
+ value |= 1<<22;
+
+ writeRegister32(DW1000_GPIO_CTRL, 0, value); // set time to 400ms, enable blink and flash all LEDs
+
+ if (pinMask & 0x000f) { // some LEDs are active
+ writeRegister32(DW1000_PMSC,DWPMSC_PMSC_CTRL0,readRegister32(DW1000_PMSC,DWPMSC_PMSC_CTRL0) | 1<<23 | 1<<18);
+ writeRegister32(DW1000_PMSC, DWPMSC_PMSC_LEDC, 0x00000120); // set time to 400ms, enable blink and flash all LEDs
+ }
}
void DW1000::setupAGC()
@@ -278,65 +335,105 @@
}
-uint8_t DW1000::powerToRegValue(uint16_t powercB)
+uint8_t DW1000::powerToRegValue(float powerdB)
{
-
// course power control - 0 = 18dB, 6 = 0dB in 3dB steps.
- uint8_t course = powercB / 30;
+ uint8_t course = powerdB / 3;
if(course > 6)
course = 6;
// remaining power
- powercB -= course * 30;
+ powerdB -= course * 3;
// value in reg is inverse.
course = 6-course;
// fine control in steps of 0.5dB
- uint8_t fine = powercB / 5;
+ uint8_t fine = powerdB / 0.5f;
if (fine > 31)
fine = 31;
+ return (course << 5) | fine;
+}
- return (course << 5) | fine;
+
+float DW1000::regToPowerValue(uint8_t powerVal)
+{
+
+ int course = powerVal >> 5;
+ if (course==7) // off
+ return 0;
+
+ course = (6-course)*3;
+
+ int fine = (powerVal & 0x1f);
+ return course + fine/2.0f;
+}
+
+
+void DW1000::setupPower()
+{
+ const float *powerPtr = systemConfig.getTxPowers();
+
+ uint32_t powerReg = powerToRegValue(*powerPtr);
+ powerReg |= powerToRegValue(*(powerPtr+1)) << 8;
+ powerReg |= powerToRegValue(*(powerPtr+2)) << 16;
+ powerReg |= powerToRegValue(*(powerPtr+3)) << 24;
+ writeRegister32(DW1000_TX_POWER,0,powerReg);
}
// 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)
+void DW1000::setTxPower(float normalPowerdB, float boost500, float boost250, float boost125)
{
+
+ if(normalPowerdB > 33.5)
+ normalPowerdB = 33.5;
- if(normalPowercB > 335)
- normalPowercB = 335;
-
- if (boost500 < normalPowercB)
- boost500 = normalPowercB;
- if(boost500 > 335)
- boost500 = 335;
+ if (boost500 < normalPowerdB)
+ boost500 = normalPowerdB;
+ if(boost500 > 33.5)
+ boost500 = 33.5;
if (boost250 < boost500)
boost250 = boost500;
- if(boost250 > 335)
- boost250 = 335;
+ if(boost250 > 33.5)
+ boost250 = 33.5;
if (boost125 < boost250)
boost125 = boost250;
- if(boost125 > 335)
- boost125 = 335;
+ if(boost125 > 33.5)
+ boost125 = 33.5;
if (systemConfig.getSmartPower() == false) {
- boost500 = normalPowercB;
- boost250 = normalPowercB;
- boost125 = normalPowercB;
+ boost500 = normalPowerdB;
+ boost250 = normalPowerdB;
+ boost125 = normalPowerdB;
}
- uint32_t powerReg = powerToRegValue(normalPowercB);
+ uint32_t powerReg = powerToRegValue(normalPowerdB);
powerReg |= powerToRegValue(boost500) << 8;
powerReg |= powerToRegValue(boost250) << 16;
powerReg |= powerToRegValue(boost125) << 24;
- writeRegister32(DW1000_TX_POWER, 0, powerReg);
+ writeRegister32(DW1000_TX_POWER,0,powerReg);
+
+ systemConfig.setSmartTxPower(normalPowerdB,boost500,boost250,boost125); // update the systemConfig
+}
+
+uint32_t DW1000::getTxPower(float *power,float *boost500, float *boost250, float*boost125)
+{
+ uint32_t value = readRegister32(DW1000_TX_POWER,0);
+ if (power)
+ *power = regToPowerValue(value&0x000000ff);
+ if (boost500)
+ *boost500 = regToPowerValue((value&0x0000ff00)>>8);
+ if (boost250)
+ *boost250 = regToPowerValue((value&0x00ff0000)>>16);
+ if (boost125)
+ *boost125 = regToPowerValue((value&0xff000000)>>24);
+ return value;
}
void DW1000::setupAnalogRF()
@@ -491,6 +588,68 @@
writeRegister32(DW1000_TX_FCTRL,0,frameCtrlValue);
}
+
+#define SQR(x) ((float)(x) * (float)(x))
+
+void DW1000::getRxSignalPower(float *direct, float *total)
+{
+ uint16_t firstPathAmp1 = readRegister16(DW1000_RX_TIME,7);
+ uint16_t firstPathAmp2 = readRegister16(DW1000_RX_FQUAL,2);
+ uint16_t firstPathAmp3 = readRegister16(DW1000_RX_FQUAL,4);
+ uint16_t preambleAcc = readRegister16(DW1000_RX_FINFO,4) >> 4;
+ uint16_t preambleAccNoSat = readRegister16(DW1000_DRX_CONF,DWDRX_RXPAC_NOSAT);
+ uint16_t channelImpulse = readRegister16(DW1000_RX_FQUAL,6);
+
+ if (preambleAcc == preambleAccNoSat) {
+ if (systemConfig.getSfd() == DW1000Setup::standard) {
+ if (systemConfig.getDataRate() == DW1000Setup::kbps110)
+ preambleAcc += -64;
+ else
+ preambleAcc += -5;
+ } else {
+ if (systemConfig.getDataRate() == DW1000Setup::kbps110)
+ preambleAcc += -82;
+ else
+ preambleAcc += -10;
+ }
+ }
+
+
+ float directPower = 10*log10( (SQR(firstPathAmp1) + SQR(firstPathAmp2) + SQR(firstPathAmp3))/SQR(preambleAcc));
+
+ float rxSignalPower = 10*log10( ((float)channelImpulse * (1<<17))/SQR(preambleAcc) );
+
+ if (systemConfig.getPRF() == DW1000Setup::prf16MHz) {
+ directPower -= 113.77;
+ rxSignalPower -= 113.77;
+ } else {
+ directPower -= 121.74;
+ rxSignalPower -= 121.74;
+ }
+
+ *direct = directPower;
+ *total = rxSignalPower;
+
+}
+
+
+float DW1000::getRxQuality(uint16_t *sigAmp, uint16_t *noiseAmp)
+{
+ uint16_t firstPathAmp2 = readRegister16(DW1000_RX_FQUAL,2);
+ uint16_t noise = readRegister16(DW1000_RX_FQUAL,0);
+ if (sigAmp)
+ *sigAmp = firstPathAmp2;
+ if (noiseAmp)
+ *noiseAmp = noise;
+
+ if (noise > 0)
+ return SQR(firstPathAmp2)/(noise*100000.0f);
+ else
+ return 100;
+}
+#undef SQR
+
+
void DW1000::setRxDelay(uint16_t ticks)
{
writeRegister16(DW1000_LDE_CTRL, DWLDE_LDE_RXANTD, ticks);
--- a/DW1000.h Mon Apr 18 16:58:27 2016 +0000
+++ b/DW1000.h Wed Apr 20 11:03:41 2016 +0000
@@ -15,9 +15,12 @@
#define c_mPerTick (c_mmPerTick/1000)
-typedef enum {minPacketSize, tunedDefault, user110k} UWBMode;
/** A DW1000 driver
+*
+* It is expected that the protocol implimentation above this will inherit this object.
+* If not using this structure then move the protected functions to being public.
+*
*/
class DW1000
{
@@ -25,36 +28,10 @@
/** Constructor.
*
- * @param setup The radio mode to configure the unit to use.
- *
- * Valid setup values are defaultConfig, tunedDefault, user110k
+ * The radio will default to DW1000Setup::tunedDefault until you call applySetup() with a new configuration.
*/
- DW1000(UWBMode setup, PinName MOSI, PinName MISO, PinName SCLK, PinName CS, PinName IRQ); // constructor, uses SPI class
-
- /**
- * Sets the callbacks on packet Rx and Tx
- * @param callbackRX The function to call on packet Rx complete
- * @param callbackTX The function to call on packet Tx complete
- *
- * set either or both to null to disable the appropriate interupt
- */
- void setCallbacks(void (*callbackRX)(void), void (*callbackTX)(void)); // setter for callback functions, automatically enables interrupt, if NULL is passed the coresponding interrupt gets disabled
+ DW1000(PinName MOSI, PinName MISO, PinName SCLK, PinName CS, PinName IRQ); // constructor, uses SPI class
- /**
- * c++ version of setCallbacks()
- * @param tptr object for callbacks
- * @param mptrRX method to call on packet Rx complete
- * @param mptrTX method to call on packet Tx complete
- *
- */
- 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
/** Read the device ID
* @return the device ID (0xDECA0130)
*/
@@ -97,6 +74,132 @@
*/
uint64_t getStatus(); // get the 40 bit device status
+
+ /** Set receive antenna delay
+ * @param ticks Delay in system clock cycles
+ */
+ void setRxDelay(uint16_t ticks);
+ /** Set transmit antenna delay
+ * @param ticks Delay in system clock cycles
+ */
+ 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);
+ };
+
+ /** Read a value from the OTP memory
+ * @param word_address The OTP memory address to read.
+ * @return The 32 bit value at that address.
+ *
+ * See Section 6.3.1 of the user manual for the memory map.
+ */
+ uint32_t readOTP (uint16_t word_address);
+
+ /** Write a value to the OTP memory
+ * @param word_address The OTP memory address to read.
+ * @param data The value to write
+ * @return True if the write was sucessful.
+ *
+ * Writes the supplied data to the OTP memory and then reads it back to verify it was sucessfully programmed.
+ * WARNING - this is a one time operation for each memory address.
+ * See Section 6.3.1 of the user manual for the memory map.
+ * It is recommened that the device is reset or power cycled after programing.
+ */
+ bool writeOTP(uint16_t word_address,uint32_t data); // program a value in the OTP. It is recommended to reset afterwards.
+
+ /** get the current radio configuration
+ * @return A pointer to a DW1000Setup object of the current setup.
+ *
+ * Note to change the setup you must make a copy of the current setup and then pass that to applySetup().
+ */
+ DW1000Setup *getSetup();
+
+ /** Get the current Transmit gain settings.
+ *
+ * @param power Optional, is set to the first power in dBm
+ * @param boost500 Optional, is set to the second power in dBm
+ * @param boost250 Optional, is set to the third power in dBm
+ * @param boost125 Optional, is set to the forth power in dBm
+ * @return The raw transmit gain register value
+ *
+ * If smart power is on then power represents the normal transmit power,
+ * boost500-boost125 indicates the power used for packets of that number of us or less.
+ *
+ * If smart power is off then boost500 represents the gain for the PHY header, boost250 the gain for the main message.
+ * power and boost125 are not used.
+ */
+ uint32_t getTxPower(float *power = NULL, float *boost500 = NULL, float *boost250 = NULL, float *boost125 = NULL);
+
+ /** 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 dB. Gains can be between 0 and 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).
+ * If smart power is disabled then the normal gain is used for all settings.
+ * The values in the internal DW1000Setup are updated to reflect the configured powers.
+ */
+ void setTxPower(float normalPowerdB, float boost500 = 0, float boost250 = 0, float boost125 = 0);
+
+ /** Get the rx signal power for the last packet
+ *
+ * @param direct Is set to the direct path Rx power in dBm
+ * @param total Is set to the total Rx power in dBm
+ *
+ * According to the DW1000 manual if the direct path power is within 6dB of the total then it was probably a LoS measurment.
+ * If there is more than 10dB difference then it's probably an indirect path.
+ */
+ void getRxSignalPower(float *direct, float *total);
+
+ /** Get a metric of timestamp accuracy
+ *
+ * @param sigAmp Optional location to return the raw signal amplitude
+ * @param noiseAmp Optional location to return the raw channel noise level
+ * @return Timestamp quality metric
+ *
+ * The quality metric is a somewhat arbitary number based on channel noise and direct path strength
+ */
+ float getRxQuality(uint16_t *sigAmp = NULL, uint16_t *noiseAmp = NULL);
+
+protected:
+
+ /**
+ * Sets the callbacks on packet Rx and Tx
+ * @param callbackRX The function to call on packet Rx complete
+ * @param callbackTX The function to call on packet Tx complete
+ *
+ * set either or both to null to disable the appropriate interupt
+ */
+ void setCallbacks(void (*callbackRX)(void), void (*callbackTX)(void)); // setter for callback functions, automatically enables interrupt, if NULL is passed the coresponding interrupt gets disabled
+
+ /**
+ * c++ version of setCallbacks()
+ * @param tptr object for callbacks
+ * @param mptrRX method to call on packet Rx complete
+ * @param mptrTX method to call on packet Tx complete
+ *
+ */
+ 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);
+ }
+
/** Get the last packet recieve time
* @return the internal time stamp for the last packet Rx
*
@@ -119,6 +222,8 @@
*
* The supplied packet is transmitted as soon as possible and the reciever re-enabled once transmission is complete.
* Maximum packet size is 125 bytes.
+ *
+ * The receiver is re-activated as soon as packet transmission is complete.
*/
void sendFrame(uint8_t* message, uint16_t length); // send a raw frame (length in bytes)
@@ -132,6 +237,9 @@
* Rx is disabled as soon as this command is issued and re-enabled once transmission is complete.
* Note - 9 LSBs are ignored so timings are only accurate to ~8ns. For more accurate timing check the
* tx timestamp after transmission is complete.
+ *
+ * The receiver is re-activated as soon as packet transmission is complete.
+ *
*/
void sendDelayedFrame(uint8_t* message, uint16_t length, uint64_t TxTimestamp);
@@ -149,10 +257,23 @@
* On the next rising edge of the sync line the transmitter will be activated.
* The packet must have previously been set up using setupSyncedFrame()
*
- * Rx is disabled until transmission is complete.
+ * Rx is disabled until transmission is complete and then re-enabled.
*/
void armSyncedFrame();
+ /** Get last packet size
+ * @return The length in bytes of the last packet received
+ */
+ uint16_t getFramelength(); // to get the framelength of the received frame from the PHY header
+
+ /** Get last recieved packet
+ * @param buffer The location to put the received data
+ * @param length The number of bytes to read
+ */
+ void readRxBuffer( uint8_t *buffer, int length ) {
+ readRegister(DW1000_RX_BUFFER, 0, buffer, length);
+ }
+
/** Enable reciever
*
* This is automatically done after each Tx completes but can also be forced manually
@@ -166,84 +287,6 @@
*/
void stopTRX(); // disable tranceiver go back to idle mode
- /** Set receive antenna delay
- * @param ticks Delay in system clock cycles
- */
- void setRxDelay(uint16_t ticks);
- /** Set transmit antenna delay
- * @param ticks Delay in system clock cycles
- */
- 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
- */
- uint16_t getFramelength(); // to get the framelength of the received frame from the PHY header
-
- /** Get last recieved packet
- * @param buffer The location to put the received data
- * @param length The number of bytes to read
- */
- void readRxBuffer( uint8_t *buffer, int length ) {
- readRegister(DW1000_RX_BUFFER, 0, buffer, length);
- }
-
- /** Read a value from the OTP memory
- * @param word_address The OTP memory address to read.
- * @return The 32 bit value at that address.
- *
- * See Section 6.3.1 of the user manual for the memory map.
- */
- uint32_t readOTP (uint16_t word_address);
-
- /** Write a value to the OTP memory
- * @param word_address The OTP memory address to read.
- * @param data The value to write
- * @return True if the write was sucessful.
- *
- * Writes the supplied data to the OTP memory and then reads it back to verify it was sucessfully programmed.
- * Note - this is a one time operation for each memory address.
- * See Section 6.3.1 of the user manual for the memory map.
- * It is recommened that the device is reset or power cycled after programing.
- */
- bool writeOTP(uint16_t word_address,uint32_t data); // program a value in the OTP. It is recommended to reset afterwards.
-
- /** get the current radio configuration
- * @return A pointer to a DW1000Setup object of the current setup.
- *
- * 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.
- *
- * 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.
- */
-// 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
*
* This should be done after any receive errors
@@ -259,19 +302,16 @@
*/
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.
+
+ /** apply a new radio setup to the UWB system
+ * @param setup The new settings to use
+ * @return true if the setup was applied.
*
- * 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).
+ * 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.
+ * Note - this will reset the radio. You must re-enable interupts, receiver etc. after calling it.
*/
-// void setTxPower(uint16_t normalPowercB, uint16_t boost500 = 0, uint16_t boost250 = 0, uint16_t boost125 = 0);
-
-
+ bool applySetup(DW1000Setup *setup);
private:
void resetAll(); // soft reset the entire DW1000 (some registers stay as they were see User Manual)
@@ -279,6 +319,7 @@
void setupRadio();
// system register setup functions
+ void setupGPIO();
void setupAGC();
void setupRxConfig();
void setupLDE();
@@ -288,15 +329,16 @@
void setupFreqSynth();
void setupTxCalibration();
void setupSystemConfig();
+ void setupPower();
+
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);
+ uint8_t powerToRegValue(float powerdB);
+ float regToPowerValue(uint8_t powerVal);
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
@@ -309,7 +351,7 @@
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);
--- a/DW1000Setup.cpp Mon Apr 18 16:58:27 2016 +0000
+++ b/DW1000Setup.cpp Wed Apr 20 11:03:41 2016 +0000
@@ -3,6 +3,7 @@
DW1000Setup::DW1000Setup(UWBMode modeToUse)
{
+ setGPIO(0x0180);
switch (modeToUse) {
case user110k: // values from Matthias Grob & Manuel Stalder - ETH Zürich - library
@@ -13,7 +14,7 @@
setPreambleLength(pre1024);
setPreambleCode(3);
setSmartPower(false);
-// setTxPower(18);
+ setTxPower(18);
break;
case tunedDefault: // User Manual "2.5.5 Default Configurations that should be modified" p. 22
default:
@@ -24,7 +25,7 @@
setPreambleLength(pre128);
setPreambleCode(3);
setSmartPower(false);
-// setTxPower(18);
+ setTxPower(18);
break;
case fastLocationC5:
setChannel(5);
@@ -34,7 +35,7 @@
setPreambleLength(pre64);
setPreambleCode(10);
setSmartPower(true);
-// setTxPower(18);
+ setTxPower(18);
break;
case fastLocationC4:
setChannel(4);
@@ -44,7 +45,7 @@
setPreambleLength(pre64);
setPreambleCode(18);
setSmartPower(true);
-// setTxPower(18);
+ setTxPower(18);
break;
case rangeRateCompromise:
setChannel(4);
@@ -54,7 +55,7 @@
setPreambleLength(pre256);
setPreambleCode(18);
setSmartPower(false);
-// setTxPower(18);
+ setTxPower(18);
break;
}
}
@@ -212,14 +213,15 @@
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",
+ 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\nTx Gain:\t%.1f,%.1f,%.1f,%.1f\r\n",
channel,
(prf == prf16MHz)?"16 MHz":"64 MHz",
dataRateString,
preambleString,
preambleCode,
enableSmartPower?"Enabled":"Disabled",
- (sfd == standard)?"Standard":"Non-standard");
+ (sfd == standard)?"Standard":"Non-standard",
+ powers[0],powers[1],powers[2],powers[3]);
}
bool DW1000Setup::setSmartTxPower(float powerdBm,float power500us,float power250us,float power125us) {
--- a/DW1000Setup.h Mon Apr 18 16:58:27 2016 +0000
+++ b/DW1000Setup.h Wed Apr 20 11:03:41 2016 +0000
@@ -135,15 +135,17 @@
/** 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
+ * @note Not all codes are valid for all channels, see the table below
+
+<table>
+<tr><th>channel</th><th>16MHzPrf</th><th>64MHzPrf</th></tr>
+<tr><td>1</td><td>1, 2</td><td>9, 10, 11, 12</td></tr>
+<tr><td>2</td><td>3, 4</td><td>9, 10, 11, 12</td></tr>
+<tr><td>3</td><td>5, 6</td><td>9, 10, 11, 12</td></tr>
+<tr><td>4</td><td>7, 8</td><td>17, 18, 19, 20</td></tr>
+<tr><td>5</td><td>3, 4</td><td>9, 10, 11, 12</td></tr>
+<tr><td>7</td><td>7, 8</td><td>17, 18, 19, 20</td></tr>
+</table>
*/
bool setPreambleCode(unsigned char newCode) {