This is the DW1000 driver and our self developed distance measurement application based on it. We do this as a semester thesis at ETH Zürich under the Automatic Control Laboratory in the Department of electrical engineering.
DW1000.h
00001 // by Matthias Grob & Manuel Stalder - ETH Zürich - 2015 00002 00003 #ifndef DW1000_H 00004 #define DW1000_H 00005 00006 #include "mbed.h" 00007 00008 // register addresses 00009 // Mnemonic Address Bytes Description 00010 #define DW1000_DEV_ID 0x00 // 4 Device Identifier – includes device type and revision information 00011 #define DW1000_EUI 0x01 // 8 Extended Unique Identifier 00012 #define DW1000_PANADR 0x03 // 4 PAN Identifier and Short Address 00013 #define DW1000_SYS_CFG 0x04 // 4 System Configuration bitmap 00014 #define DW1000_SYS_TIME 0x06 // 5 System Time Counter (40-bit) 00015 #define DW1000_TX_FCTRL 0x08 // 5 Transmit Frame Control 00016 #define DW1000_TX_BUFFER 0x09 // 1024 Transmit Data Buffer 00017 #define DW1000_DX_TIME 0x0A // 5 Delayed Send or Receive Time (40-bit) 00018 #define DW1000_RX_FWTO 0x0C // 2 Receive Frame Wait Timeout Period 00019 #define DW1000_SYS_CTRL 0x0D // 4 System Control Register 00020 #define DW1000_SYS_MASK 0x0E // 4 System Event Mask Register 00021 #define DW1000_SYS_STATUS 0x0F // 5 System Event Status Register 00022 #define DW1000_RX_FINFO 0x10 // 4 RX Frame Information (in double buffer set) 00023 #define DW1000_RX_BUFFER 0x11 // 1024 Receive Data Buffer (in double buffer set) 00024 #define DW1000_RX_FQUAL 0x12 // 8 Rx Frame Quality information (in double buffer set) 00025 #define DW1000_RX_TTCKI 0x13 // 4 Receiver Time Tracking Interval (in double buffer set) 00026 #define DW1000_RX_TTCKO 0x14 // 5 Receiver Time Tracking Offset (in double buffer set) 00027 #define DW1000_RX_TIME 0x15 // 14 Receive Message Time of Arrival (in double buffer set) 00028 #define DW1000_TX_TIME 0x17 // 10 Transmit Message Time of Sending (in double buffer set) 00029 #define DW1000_TX_ANTD 0x18 // 2 16-bit Delay from Transmit to Antenna 00030 #define DW1000_SYS_STATE 0x19 // 5 System State information 00031 #define DW1000_ACK_RESP_T 0x1A // 4 Acknowledgement Time and Response Time 00032 #define DW1000_RX_SNIFF 0x1D // 4 Pulsed Preamble Reception Configuration 00033 #define DW1000_TX_POWER 0x1E // 4 TX Power Control 00034 #define DW1000_CHAN_CTRL 0x1F // 4 Channel Control 00035 #define DW1000_USR_SFD 0x21 // 41 User-specified short/long TX/RX SFD sequences 00036 #define DW1000_AGC_CTRL 0x23 // 32 Automatic Gain Control configuration 00037 #define DW1000_EXT_SYNC 0x24 // 12 External synchronisation control. 00038 #define DW1000_ACC_MEM 0x25 // 4064 Read access to accumulator data 00039 #define DW1000_GPIO_CTRL 0x26 // 44 Peripheral register bus 1 access - GPIO control 00040 #define DW1000_DRX_CONF 0x27 // 44 Digital Receiver configuration 00041 #define DW1000_RF_CONF 0x28 // 58 Analog RF Configuration 00042 #define DW1000_TX_CAL 0x2A // 52 Transmitter calibration block 00043 #define DW1000_FS_CTRL 0x2B // 21 Frequency synthesiser control block 00044 #define DW1000_AON 0x2C // 12 Always-On register set 00045 #define DW1000_OTP_IF 0x2D // 18 One Time Programmable Memory Interface 00046 #define DW1000_LDE_CTRL 0x2E // - Leading edge detection control block 00047 #define DW1000_DIG_DIAG 0x2F // 41 Digital Diagnostics Interface 00048 #define DW1000_PMSC 0x36 // 48 Power Management System Control Block 00049 00050 #define DW1000_WRITE_FLAG 0x80 // First Bit of the address has to be 1 to indicate we want to write 00051 #define DW1000_SUBADDRESS_FLAG 0x40 // if we have a sub address second Bit has to be 1 00052 #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 00053 00054 class DW1000 { 00055 public: 00056 DW1000(PinName MOSI, PinName MISO, PinName SCLK, PinName CS, PinName IRQ); // constructor, uses SPI class 00057 void setCallbacks(void (*callbackRX)(void), void (*callbackTX)(void)); // setter for callback functions, automatically enables interrupt, if NULL is passed the coresponding interrupt gets disabled 00058 template<typename T> 00059 void setCallbacks(T* tptr, void (T::*mptrRX)(void), void (T::*mptrTX)(void)) { // overloaded setter to treat member function pointers of objects 00060 callbackRX.attach(tptr, mptrRX); // possible client code: dw.setCallbacks(this, &A::callbackRX, &A::callbackTX); 00061 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 00062 setInterrupt(true,true); 00063 } 00064 00065 // Device API 00066 uint32_t getDeviceID(); // gets the Device ID which should be 0xDECA0130 (good for testing SPI!) 00067 uint64_t getEUI(); // gets 64 bit Extended Unique Identifier according to IEEE standard 00068 void setEUI(uint64_t EUI); // sets 64 bit Extended Unique Identifier according to IEEE standard 00069 float getVoltage(); // gets the current chip voltage measurement form the A/D converter 00070 uint64_t getStatus(); // get the 40 bit device status 00071 uint64_t getRXTimestamp(); 00072 uint64_t getTXTimestamp(); 00073 00074 void sendString(char* message); // to send String with arbitrary length 00075 void receiveString(char* message); // to receive char string (length of the buffer must be 1021 to be safe) 00076 void sendFrame(uint8_t* message, uint16_t length); // send a raw frame (length in bytes) 00077 void sendDelayedFrame(uint8_t* message, uint16_t length, uint64_t TxTimestamp); 00078 void startRX(); // start listening for frames 00079 void stopTRX(); // disable tranceiver go back to idle mode 00080 00081 //private: 00082 void loadLDE(); // load the leading edge detection algorithm to RAM, [IMPORTANT because receiving malfunction may occur] see User Manual LDELOAD on p22 & p158 00083 void resetRX(); // soft reset only the tranciever part of DW1000 00084 void resetAll(); // soft reset the entire DW1000 (some registers stay as they were see User Manual) 00085 00086 // Interrupt 00087 InterruptIn irq; // Pin used to handle Events from DW1000 by an Interrupthandler 00088 FunctionPointer callbackRX; // function pointer to callback which is called when successfull RX took place 00089 FunctionPointer callbackTX; // function pointer to callback which is called when successfull TX took place 00090 void setInterrupt(bool RX, bool TX); // set Interrupt for received a good frame (CRC ok) or transmission done 00091 void ISR(); // interrupt handling method (also calls according callback methods) 00092 uint16_t getFramelength(); // to get the framelength of the received frame from the PHY header 00093 00094 // SPI Inteface 00095 SPI spi; // SPI Bus 00096 DigitalOut cs; // Slave selector for SPI-Bus (here explicitly needed to start and end SPI transactions also usable to wake up DW1000) 00097 00098 uint8_t readRegister8(uint8_t reg, uint16_t subaddress); // expressive methods to read or write the number of bits written in the name 00099 uint16_t readRegister16(uint8_t reg, uint16_t subaddress); 00100 uint64_t readRegister40(uint8_t reg, uint16_t subaddress); 00101 void writeRegister8(uint8_t reg, uint16_t subaddress, uint8_t buffer); 00102 void writeRegister16(uint8_t reg, uint16_t subaddress, uint16_t buffer); 00103 void writeRegister32(uint8_t reg, uint16_t subaddress, uint32_t buffer); 00104 void writeRegister40(uint8_t reg, uint16_t subaddress, uint64_t buffer); 00105 00106 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 00107 void writeRegister(uint8_t reg, uint16_t subaddress, uint8_t *buffer, int length); // writes the buffer memory to the selected slave register 00108 void setupTransaction(uint8_t reg, uint16_t subaddress, bool write); // sets up an SPI read or write transaction with correct register address and offset 00109 void select(); // selects the only slave for a transaction 00110 void deselect(); // deselects the only slave after transaction 00111 }; 00112 00113 #endif
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