AMiRo-OS

    #include "v1/alld_dw1000_v1.h"

#elif (AMIROLLD_CFG_DW1000 == 0)

    #error "DW1000 LLD implementation for v0 is not ready yet."

    #error "invalid value assigned to AMIROLLD_CFG_DW1000 in alldconf.h"

#endif /* defined(AMIROLLD_CFG_DW1000) == 1 */

/*! ------------------------------------------------------------------------------------------------------------------

 * @file    deca_regs.h

 * @brief   DW1000 Register Definitions

 *          This file supports assembler and C development for DW1000 enabled devices

 *

 * @attention

 *

 * Copyright 2013 (c) Decawave Ltd, Dublin, Ireland.

 *

 * All rights reserved.

 *

 */

#ifndef _DECA_REGS_H_

#define _DECA_REGS_H_

#ifdef __cplusplus

extern "C" {

#endif

#include <amiro-lld.h>

#if defined(AMIROLLD_CFG_USE_DW1000) || defined(__DOXYGEN__)

/****************************************************************************//**

 * @brief Bit definitions for register DEV_ID

**/

#define DEV_ID_ID               0x00            /* Device ID register, includes revision info (0xDECA0130) */

#define DEV_ID_LEN              (4)

/* mask and shift */

#define DEV_ID_REV_MASK         0x0000000FUL    /* Revision */

#define DEV_ID_VER_MASK         0x000000F0UL    /* Version */

#define DEV_ID_MODEL_MASK       0x0000FF00UL    /* The MODEL identifies the device. The DW1000 is device type 0x01 */

#define DEV_ID_RIDTAG_MASK      0xFFFF0000UL    /* Register Identification Tag 0XDECA */

/****************************************************************************//**

 * @brief Bit definitions for register EUI_64

**/

#define EUI_64_ID               0x01            /* IEEE Extended Unique Identifier (63:0) */

#define EUI_64_OFFSET           0x00

#define EUI_64_LEN              (8)

/****************************************************************************//**

 * @brief Bit definitions for register PANADR

**/

#define PANADR_ID               0x03            /* PAN ID (31:16) and Short Address (15:0) */

#define PANADR_LEN              (4)

/*mask and shift */

#define PANADR_SHORT_ADDR_OFFSET 0              /* In bytes */

#define PANADR_SHORT_ADDR_MASK  0x0000FFFFUL    /* Short Address */

#define PANADR_PAN_ID_OFFSET     2              /* In bytes */

#define PANADR_PAN_ID_MASK      0xFFFF00F0UL    /* PAN Identifier */

/****************************************************************************//**

 * @brief Bit definitions for register 0x05

**/

#define REG_05_ID_RESERVED      0x05

/****************************************************************************//**

 * @brief Bit definitions for register SYS_CFG

**/

#define SYS_CFG_ID              0x04            /* System Configuration (31:0) */

#define SYS_CFG_LEN             (4)

/*mask and shift */

#define SYS_CFG_MASK            0xF047FFFFUL    /* access mask to SYS_CFG_ID */

#define SYS_CFG_FF_ALL_EN       0x000001FEUL    /* Frame filtering options all frames allowed */

/*offset 0 */

#define SYS_CFG_FFE             0x00000001UL    /* Frame Filtering Enable. This bit enables the frame filtering functionality */

#define SYS_CFG_FFBC            0x00000002UL    /* Frame Filtering Behave as a Co-ordinator */

#define SYS_CFG_FFAB            0x00000004UL    /* Frame Filtering Allow Beacon frame reception */

#define SYS_CFG_FFAD            0x00000008UL    /* Frame Filtering Allow Data frame reception */

#define SYS_CFG_FFAA            0x00000010UL    /* Frame Filtering Allow Acknowledgment frame reception */

#define SYS_CFG_FFAM            0x00000020UL    /* Frame Filtering Allow MAC command frame reception */

#define SYS_CFG_FFAR            0x00000040UL    /* Frame Filtering Allow Reserved frame types */

#define SYS_CFG_FFA4            0x00000080UL    /* Frame Filtering Allow frames with frame type field of 4, (binary 100) */

/*offset 8 */

#define SYS_CFG_FFA5            0x00000100UL    /* Frame Filtering Allow frames with frame type field of 5, (binary 101) */

#define SYS_CFG_HIRQ_POL        0x00000200UL    /* Host interrupt polarity */

#define SYS_CFG_SPI_EDGE        0x00000400UL    /* SPI data launch edge */

#define SYS_CFG_DIS_FCE         0x00000800UL    /* Disable frame check error handling */

#define SYS_CFG_DIS_DRXB        0x00001000UL    /* Disable Double RX Buffer */

#define SYS_CFG_DIS_PHE         0x00002000UL    /* Disable receiver abort on PHR error */

#define SYS_CFG_DIS_RSDE        0x00004000UL    /* Disable Receiver Abort on RSD error */

#define SYS_CFG_FCS_INIT2F      0x00008000UL    /* initial seed value for the FCS generation and checking function */

/*offset 16 */

#define SYS_CFG_PHR_MODE_SHFT   16

#define SYS_CFG_PHR_MODE_00     0x00000000UL    /* Standard Frame mode */

#define SYS_CFG_PHR_MODE_11     0x00030000UL    /* Long Frames mode */

#define SYS_CFG_DIS_STXP        0x00040000UL    /* Disable Smart TX Power control */

#define SYS_CFG_RXM110K         0x00400000UL    /* Receiver Mode 110 kbps data rate */

/*offset 24 */

#define SYS_CFG_RXWTOE          0x10000000UL    /* Receive Wait Timeout Enable. */

#define SYS_CFG_RXAUTR          0x20000000UL    /* Receiver Auto-Re-enable. This bit is used to cause the receiver to re-enable automatically */

#define SYS_CFG_AUTOACK         0x40000000UL    /* Automatic Acknowledgement Enable */

#define SYS_CFG_AACKPEND        0x80000000UL    /* Automatic Acknowledgement Pending bit control */

/****************************************************************************//**

 * @brief Bit definitions for register SYS_TIME

**/

#define SYS_TIME_ID             0x06            /* System Time Counter (40-bit) */

#define SYS_TIME_OFFSET         0x00

#define SYS_TIME_LEN            (5)             /* Note 40 bit register */

/****************************************************************************//**

 * @brief Bit definitions for register  0x07

**/

#define REG_07_ID_RESERVED      0x07

/****************************************************************************//**

 * @brief Bit definitions for register TX_FCTRL

**/

#define TX_FCTRL_ID             0x08            /* Transmit Frame Control */

#define TX_FCTRL_LEN            (5)             /* Note 40 bit register */

/*masks (low 32 bit) */

#define TX_FCTRL_TFLEN_MASK     0x0000007FUL    /* bit mask to access Transmit Frame Length */

#define TX_FCTRL_TFLE_MASK      0x00000380UL    /* bit mask to access Transmit Frame Length Extension */

#define TX_FCTRL_FLE_MASK       0x000003FFUL    /* bit mask to access Frame Length field */

#define TX_FCTRL_TXBR_MASK      0x00006000UL    /* bit mask to access Transmit Bit Rate */

#define TX_FCTRL_TXPRF_MASK     0x00030000UL    /* bit mask to access Transmit Pulse Repetition Frequency */

#define TX_FCTRL_TXPSR_MASK     0x000C0000UL    /* bit mask to access Transmit Preamble Symbol Repetitions (PSR). */

#define TX_FCTRL_PE_MASK        0x00300000UL    /* bit mask to access Preamble Extension */

#define TX_FCTRL_TXPSR_PE_MASK  0x003C0000UL    /* bit mask to access Transmit Preamble Symbol Repetitions (PSR). */

#define TX_FCTRL_SAFE_MASK_32   0xFFFFE3FFUL    /* FSCTRL has fields which should always be writen zero */

/*offset 0 */

/*offset 8 */

#define TX_FCTRL_TXBR_110k      0x00000000UL    /* Transmit Bit Rate = 110k */

#define TX_FCTRL_TXBR_850k      0x00002000UL    /* Transmit Bit Rate = 850k */

#define TX_FCTRL_TXBR_6M        0x00004000UL    /* Transmit Bit Rate = 6.8M */

#define TX_FCTRL_TXBR_SHFT      (13)            /* shift to access Data Rate field */

#define TX_FCTRL_TR             0x00008000UL    /* Transmit Ranging enable */

#define TX_FCTRL_TR_SHFT        (15)            /* shift to access Ranging bit */

/*offset 16 */

#define TX_FCTRL_TXPRF_SHFT     (16)            /* shift to access Pulse Repetition Frequency field */

#define TX_FCTRL_TXPRF_4M       0x00000000UL    /* Transmit Pulse Repetition Frequency = 4 Mhz */

#define TX_FCTRL_TXPRF_16M      0x00010000UL    /* Transmit Pulse Repetition Frequency = 16 Mhz */

#define TX_FCTRL_TXPRF_64M      0x00020000UL    /* Transmit Pulse Repetition Frequency = 64 Mhz */

#define TX_FCTRL_TXPSR_SHFT     (18)            /* shift to access Preamble Symbol Repetitions field */

#define TX_FCTRL_PE_SHFT        (20)            /* shift to access Preamble length Extension to allow specification of non-standard values */

#define TX_FCTRL_TXPSR_PE_16    0x00000000UL    /* bit mask to access Preamble Extension = 16 */

#define TX_FCTRL_TXPSR_PE_64    0x00040000UL    /* bit mask to access Preamble Extension = 64 */

#define TX_FCTRL_TXPSR_PE_128   0x00140000UL    /* bit mask to access Preamble Extension = 128 */

#define TX_FCTRL_TXPSR_PE_256   0x00240000UL    /* bit mask to access Preamble Extension = 256 */

#define TX_FCTRL_TXPSR_PE_512   0x00340000UL    /* bit mask to access Preamble Extension = 512 */

#define TX_FCTRL_TXPSR_PE_1024  0x00080000UL    /* bit mask to access Preamble Extension = 1024 */

#define TX_FCTRL_TXPSR_PE_1536  0x00180000UL    /* bit mask to access Preamble Extension = 1536 */

#define TX_FCTRL_TXPSR_PE_2048  0x00280000UL    /* bit mask to access Preamble Extension = 2048 */

#define TX_FCTRL_TXPSR_PE_4096  0x000C0000UL    /* bit mask to access Preamble Extension = 4096 */

/*offset 22 */

#define TX_FCTRL_TXBOFFS_SHFT   (22)            /* Shift to access transmit buffer index offset */

#define TX_FCTRL_TXBOFFS_MASK   0xFFC00000UL    /* bit mask to access Transmit buffer index offset 10-bit field */

/*offset 32 */

#define TX_FCTRL_IFSDELAY_MASK  0xFF00000000ULL /* bit mask to access Inter-Frame Spacing field */

/****************************************************************************//**

 * @brief Bit definitions for register TX_BUFFER

**/

#define TX_BUFFER_ID            0x09            /* Transmit Data Buffer */

#define TX_BUFFER_LEN           (1024)

/****************************************************************************//**

 * @brief Bit definitions for register  DX_TIME

**/

#define DX_TIME_ID              0x0A            /* Delayed Send or Receive Time (40-bit) */

#define DX_TIME_LEN             (5)

/****************************************************************************//**

 * @brief Bit definitions for register 0x08

**/

#define REG_0B_ID_RESERVED      0x0B

/****************************************************************************//**

 * @brief Bit definitions for register RX_FWTO

**/

#define RX_FWTO_ID              0x0C            /* Receive Frame Wait Timeout Period */

#define RX_FWTO_OFFSET          0x00

#define RX_FWTO_LEN             (2)             /* doc bug*/

/*mask and shift */

#define RX_FWTO_MASK            0xFFFF

/****************************************************************************//**

 * @brief Bit definitions for register SYS_CTRL

**/

#define SYS_CTRL_ID             0x0D            /* System Control Register */

#define SYS_CTRL_OFFSET         0x00

#define SYS_CTRL_LEN            (4)

/*masks */

#define SYS_CTRL_MASK_32        0x010003CFUL    /* System Control Register access mask (all unused fields should always be writen as zero) */

/*offset 0 */

#define SYS_CTRL_SFCST          0x00000001UL    /* Suppress Auto-FCS Transmission (on this frame) */

#define SYS_CTRL_TXSTRT         0x00000002UL    /* Start Transmitting Now */

#define SYS_CTRL_TXDLYS         0x00000004UL    /* Transmitter Delayed Sending (initiates sending when SYS_TIME == TXD_TIME */

#define SYS_CTRL_CANSFCS        0x00000008UL    /* Cancel Suppression of auto-FCS transmission (on the current frame) */

#define SYS_CTRL_TRXOFF         0x00000040UL    /* Transceiver Off. Force Transciever OFF abort TX or RX immediately */

#define SYS_CTRL_WAIT4RESP      0x00000080UL    /* Wait for Response */

/*offset 8 */

#define SYS_CTRL_RXENAB         0x00000100UL    /* Enable Receiver Now */

#define SYS_CTRL_RXDLYE         0x00000200UL    /* Receiver Delayed Enable (Enables Receiver when SY_TIME[0x??] == RXD_TIME[0x??] CHECK comment*/

/*offset 16 */

/*offset 24 */

#define SYS_CTRL_HSRBTOGGLE     0x01000000UL    /* Host side receiver buffer pointer toggle - toggles 0/1 host side data set pointer */

#define SYS_CTRL_HRBT           (SYS_CTRL_HSRBTOGGLE)

#define SYS_CTRL_HRBT_OFFSET    (3)

/****************************************************************************//**

 * @brief Bit definitions for register  SYS_MASK

**/

#define SYS_MASK_ID             0x0E            /* System Event Mask Register */

#define SYS_MASK_LEN            (4)

/*masks */

#define SYS_MASK_MASK_32        0x3FF7FFFEUL    /* System Event Mask Register access mask (all unused fields should always be writen as zero) */

/*offset 0 */

#define SYS_MASK_MCPLOCK        0x00000002UL    /* Mask clock PLL lock event    */

#define SYS_MASK_MESYNCR        0x00000004UL    /* Mask clock PLL lock event    */

#define SYS_MASK_MAAT           0x00000008UL    /* Mask automatic acknowledge trigger event */

#define SYS_MASK_MTXFRB         0x00000010UL    /* Mask transmit frame begins event */

#define SYS_MASK_MTXPRS         0x00000020UL    /* Mask transmit preamble sent event    */

#define SYS_MASK_MTXPHS         0x00000040UL    /* Mask transmit PHY Header Sent event  */

#define SYS_MASK_MTXFRS         0x00000080UL    /* Mask transmit frame sent event   */

/*offset 8 */

#define SYS_MASK_MRXPRD         0x00000100UL    /* Mask receiver preamble detected event    */

#define SYS_MASK_MRXSFDD        0x00000200UL    /* Mask receiver SFD detected event */

#define SYS_MASK_MLDEDONE       0x00000400UL    /* Mask LDE processing done event   */

#define SYS_MASK_MRXPHD         0x00000800UL    /* Mask receiver PHY header detect event    */

#define SYS_MASK_MRXPHE         0x00001000UL    /* Mask receiver PHY header error event */

#define SYS_MASK_MRXDFR         0x00002000UL    /* Mask receiver data frame ready event */

#define SYS_MASK_MRXFCG         0x00004000UL    /* Mask receiver FCS good event */

#define SYS_MASK_MRXFCE         0x00008000UL    /* Mask receiver FCS error event    */

/*offset 16 */

#define SYS_MASK_MRXRFSL        0x00010000UL    /* Mask receiver Reed Solomon Frame Sync Loss event */

#define SYS_MASK_MRXRFTO        0x00020000UL    /* Mask Receive Frame Wait Timeout event    */

#define SYS_MASK_MLDEERR        0x00040000UL    /* Mask leading edge detection processing error event   */

#define SYS_MASK_MRXOVRR        0x00100000UL    /* Mask Receiver Overrun event  */

#define SYS_MASK_MRXPTO         0x00200000UL    /* Mask Preamble detection timeout event    */

#define SYS_MASK_MGPIOIRQ       0x00400000UL    /* Mask GPIO interrupt event    */

#define SYS_MASK_MSLP2INIT      0x00800000UL    /* Mask SLEEP to INIT event */

/*offset 24*/

#define SYS_MASK_MRFPLLLL       0x01000000UL    /* Mask RF PLL Loosing Lock warning event   */

#define SYS_MASK_MCPLLLL        0x02000000UL    /* Mask Clock PLL Loosing Lock warning event    */

#define SYS_MASK_MRXSFDTO       0x04000000UL    /* Mask Receive SFD timeout event   */

#define SYS_MASK_MHPDWARN       0x08000000UL    /* Mask Half Period Delay Warning event */

#define SYS_MASK_MTXBERR        0x10000000UL    /* Mask Transmit Buffer Error event */

#define SYS_MASK_MAFFREJ        0x20000000UL    /* Mask Automatic Frame Filtering rejection event   */

/****************************************************************************//**

 * @brief Bit definitions for register SYS_STATUS

**/

#define SYS_STATUS_ID           0x0F            /* System event Status Register */

#define SYS_STATUS_OFFSET       0x00

#define SYS_STATUS_LEN          (5)             /* Note 40 bit register */

/*masks */

#define SYS_STATUS_MASK_32      0xFFF7FFFFUL    /* System event Status Register access mask (all unused fields should always be writen as zero) */

/*offset 0 */

#define SYS_STATUS_IRQS         0x00000001UL    /* Interrupt Request Status READ ONLY */

#define SYS_STATUS_CPLOCK       0x00000002UL    /* Clock PLL Lock */

#define SYS_STATUS_ESYNCR       0x00000004UL    /* External Sync Clock Reset */

#define SYS_STATUS_AAT          0x00000008UL    /* Automatic Acknowledge Trigger */

#define SYS_STATUS_TXFRB        0x00000010UL    /* Transmit Frame Begins */

#define SYS_STATUS_TXPRS        0x00000020UL    /* Transmit Preamble Sent */

#define SYS_STATUS_TXPHS        0x00000040UL    /* Transmit PHY Header Sent */

#define SYS_STATUS_TXFRS        0x00000080UL    /* Transmit Frame Sent: This is set when the transmitter has completed the sending of a frame */

/*offset 8 */

#define SYS_STATUS_RXPRD        0x00000100UL    /* Receiver Preamble Detected status */

#define SYS_STATUS_RXSFDD       0x00000200UL    /* Receiver Start Frame Delimiter Detected. */

#define SYS_STATUS_LDEDONE      0x00000400UL    /* LDE processing done */

#define SYS_STATUS_RXPHD        0x00000800UL    /* Receiver PHY Header Detect */

#define SYS_STATUS_RXPHE        0x00001000UL    /* Receiver PHY Header Error */

#define SYS_STATUS_RXDFR        0x00002000UL    /* Receiver Data Frame Ready */

#define SYS_STATUS_RXFCG        0x00004000UL    /* Receiver FCS Good */

#define SYS_STATUS_RXFCE        0x00008000UL    /* Receiver FCS Error */

/*offset 16 */

#define SYS_STATUS_RXRFSL       0x00010000UL    /* Receiver Reed Solomon Frame Sync Loss */

#define SYS_STATUS_RXRFTO       0x00020000UL    /* Receive Frame Wait Timeout */

#define SYS_STATUS_LDEERR       0x00040000UL    /* Leading edge detection processing error */

#define SYS_STATUS_reserved     0x00080000UL    /* bit19 reserved */

#define SYS_STATUS_RXOVRR       0x00100000UL    /* Receiver Overrun */

#define SYS_STATUS_RXPTO        0x00200000UL    /* Preamble detection timeout */

#define SYS_STATUS_GPIOIRQ      0x00400000UL    /* GPIO interrupt */

#define SYS_STATUS_SLP2INIT     0x00800000UL    /* SLEEP to INIT */

/*offset 24 */

#define SYS_STATUS_RFPLL_LL     0x01000000UL    /* RF PLL Losing Lock */

#define SYS_STATUS_CLKPLL_LL    0x02000000UL    /* Clock PLL Losing Lock */

#define SYS_STATUS_RXSFDTO      0x04000000UL    /* Receive SFD timeout */

#define SYS_STATUS_HPDWARN      0x08000000UL    /* Half Period Delay Warning */

#define SYS_STATUS_TXBERR       0x10000000UL    /* Transmit Buffer Error */

#define SYS_STATUS_AFFREJ       0x20000000UL    /* Automatic Frame Filtering rejection */

#define SYS_STATUS_HSRBP        0x40000000UL    /* Host Side Receive Buffer Pointer */

#define SYS_STATUS_ICRBP        0x80000000UL    /* IC side Receive Buffer Pointer READ ONLY */

/*offset 32 */

#define SYS_STATUS_RXRSCS       0x0100000000ULL /* Receiver Reed-Solomon Correction Status */

#define SYS_STATUS_RXPREJ       0x0200000000ULL /* Receiver Preamble Rejection */

#define SYS_STATUS_TXPUTE       0x0400000000ULL /* Transmit power up time error */

#define SYS_STATUS_TXERR        (0x0408)        /* These bits are the 16 high bits of status register TXPUTE and HPDWARN flags */

/* All RX events after a correct packet reception mask. */

#define SYS_STATUS_ALL_RX_GOOD (SYS_STATUS_RXDFR | SYS_STATUS_RXFCG | SYS_STATUS_RXPRD | \

                                SYS_STATUS_RXSFDD | SYS_STATUS_RXPHD | SYS_STATUS_LDEDONE)

/* All double buffer events mask. */

#define SYS_STATUS_ALL_DBLBUFF (SYS_STATUS_RXDFR | SYS_STATUS_RXFCG)

/* All RX errors mask. */

#define SYS_STATUS_ALL_RX_ERR  (SYS_STATUS_RXPHE | SYS_STATUS_RXFCE | SYS_STATUS_RXRFSL | SYS_STATUS_RXSFDTO \

                                | SYS_STATUS_AFFREJ | SYS_STATUS_LDEERR)

/* User defined RX timeouts (frame wait timeout and preamble detect timeout) mask. */

#define SYS_STATUS_ALL_RX_TO   (SYS_STATUS_RXRFTO | SYS_STATUS_RXPTO)

/* All TX events mask. */

#define SYS_STATUS_ALL_TX      (SYS_STATUS_AAT | SYS_STATUS_TXFRB | SYS_STATUS_TXPRS | \

                                SYS_STATUS_TXPHS | SYS_STATUS_TXFRS )

/****************************************************************************//**

 * @brief Bit definitions for register RX_FINFO

**/

#define RX_FINFO_ID             0x10            /* RX Frame Information (in double buffer set) */

#define RX_FINFO_OFFSET         0x00

#define RX_FINFO_LEN            (4)

/*mask and shift */

#define RX_FINFO_MASK_32        0xFFFFFBFFUL    /* System event Status Register access mask (all unused fields should always be writen as zero) */

#define RX_FINFO_RXFLEN_MASK    0x0000007FUL    /* Receive Frame Length (0 to 127) */

#define RX_FINFO_RXFLE_MASK     0x00000380UL    /* Receive Frame Length Extension (0 to 7)<<7 */

#define RX_FINFO_RXFL_MASK_1023 0x000003FFUL    /* Receive Frame Length Extension (0 to 1023) */

#define RX_FINFO_RXNSPL_MASK    0x00001800UL    /* Receive Non-Standard Preamble Length */

#define RX_FINFO_RXPSR_MASK     0x000C0000UL    /* RX Preamble Repetition. 00 = 16 symbols, 01 = 64 symbols, 10 = 1024 symbols, 11 = 4096 symbols */

#define RX_FINFO_RXPEL_MASK     0x000C1800UL    /* Receive Preamble Length = RXPSR+RXNSPL */

#define RX_FINFO_RXPEL_64       0x00040000UL    /* Receive Preamble length = 64 */

#define RX_FINFO_RXPEL_128      0x00040800UL    /* Receive Preamble length = 128 */

#define RX_FINFO_RXPEL_256      0x00041000UL    /* Receive Preamble length = 256 */

#define RX_FINFO_RXPEL_512      0x00041800UL    /* Receive Preamble length = 512 */

#define RX_FINFO_RXPEL_1024     0x00080000UL    /* Receive Preamble length = 1024 */

#define RX_FINFO_RXPEL_1536     0x00080800UL    /* Receive Preamble length = 1536 */

#define RX_FINFO_RXPEL_2048     0x00081000UL    /* Receive Preamble length = 2048 */

#define RX_FINFO_RXPEL_4096     0x000C0000UL    /* Receive Preamble length = 4096 */

#define RX_FINFO_RXBR_MASK      0x00006000UL    /* Receive Bit Rate report. This field reports the received bit rate */

#define RX_FINFO_RXBR_110k      0x00000000UL    /* Received bit rate = 110 kbps */

#define RX_FINFO_RXBR_850k      0x00002000UL    /* Received bit rate = 850 kbps */

#define RX_FINFO_RXBR_6M        0x00004000UL    /* Received bit rate = 6.8 Mbps */

#define RX_FINFO_RXBR_SHIFT     (13)

#define RX_FINFO_RNG            0x00008000UL    /* Receiver Ranging. Ranging bit in the received PHY header identifying the frame as a ranging packet. */

#define RX_FINFO_RNG_SHIFT      (15)

#define RX_FINFO_RXPRF_MASK     0x00030000UL    /* RX Pulse Repetition Rate report */

#define RX_FINFO_RXPRF_16M      0x00010000UL    /* PRF being employed in the receiver = 16M */

#define RX_FINFO_RXPRF_64M      0x00020000UL    /* PRF being employed in the receiver = 64M */

#define RX_FINFO_RXPRF_SHIFT    (16)

#define RX_FINFO_RXPACC_MASK    0xFFF00000UL    /* Preamble Accumulation Count */

#define RX_FINFO_RXPACC_SHIFT   (20)

/****************************************************************************//**

 * @brief Bit definitions for register RX_BUFFER

**/

#define RX_BUFFER_ID            0x11            /* Receive Data Buffer (in double buffer set) */

#define RX_BUFFER_LEN           (1024)

/****************************************************************************//**

 * @brief Bit definitions for register RX_FQUAL

**/

#define RX_FQUAL_ID             0x12            /* Rx Frame Quality information (in double buffer set) */

#define RX_FQUAL_LEN            (8)             /* note 64 bit register*/

/*mask and shift */

/*offset 0 */

#define RX_EQUAL_STD_NOISE_MASK 0x0000FFFFULL   /* Standard Deviation of Noise */

#define RX_EQUAL_STD_NOISE_SHIFT (0)

#define STD_NOISE_MASK          RX_EQUAL_STD_NOISE_MASK

#define STD_NOISE_SHIFT         RX_EQUAL_STD_NOISE_SHIFT

/*offset 16 */

#define RX_EQUAL_FP_AMPL2_MASK  0xFFFF0000ULL   /* First Path Amplitude point 2 */

#define RX_EQUAL_FP_AMPL2_SHIFT (16)

#define FP_AMPL2_MASK           RX_EQUAL_FP_AMPL2_MASK

#define FP_AMPL2_SHIFT          RX_EQUAL_FP_AMPL2_SHIFT

/*offset 32*/

#define RX_EQUAL_PP_AMPL3_MASK  0x0000FFFF00000000ULL   /* First Path Amplitude point 3 */

#define RX_EQUAL_PP_AMPL3_SHIFT (32)

#define PP_AMPL3_MASK           RX_EQUAL_PP_AMPL3_MASK

#define PP_AMPL3_SHIFT          RX_EQUAL_PP_AMPL3_SHIFT

/*offset 48*/

#define RX_EQUAL_CIR_MXG_MASK   0xFFFF000000000000ULL   /* Channel Impulse Response Max Growth */

#define RX_EQUAL_CIR_MXG_SHIFT  (48)

#define CIR_MXG_MASK            RX_EQUAL_CIR_MXG_MASK

#define CIR_MXG_SHIFT           RX_EQUAL_CIR_MXG_SHIFT

/****************************************************************************//**

 * @brief Bit definitions for register RX_TTCKI

 *      The value here is the interval over which the timing offset reported

 *      in the RXTOFS field of Register file: 0x14 RX_TTCKO is measured.

 *      The clock offset is calculated by dividing RXTTCKI by RXTOFS.

 *      The value in RXTTCKI will take just one of two values depending on the PRF: 0x01F00000 @ 16 MHz PRF,

 *      and 0x01FC0000 @ 64 MHz PRF.

**/

#define RX_TTCKI_ID             0x13            /* Receiver Time Tracking Interval (in double buffer set) */

#define RX_TTCKI_LEN            (4)

/****************************************************************************//**

 * @brief Bit definitions for register RX_TTCKO

**/

#define RX_TTCKO_ID             0x14            /* Receiver Time Tracking Offset (in double buffer set) */

#define RX_TTCKO_LEN            (5)             /* Note 40 bit register */

/*mask and shift */

#define RX_TTCKO_MASK_32        0xFF07FFFFUL    /* Receiver Time Tracking Offset access mask (all unused fields should always be writen as zero) */

/*offset 0 */

#define RX_TTCKO_RXTOFS_MASK    0x0007FFFFUL    /* RX time tracking offset. This RXTOFS value is a 19-bit signed quantity*/

/*offset 24 */

#define RX_TTCKO_RSMPDEL_MASK   0xFF000000UL    /* This 8-bit field reports an internal re-sampler delay value */

/*offset 32 */

#define RX_TTCKO_RCPHASE_MASK   0x7F0000000000ULL   /* This 7-bit field reports the receive carrier phase adjustment at time the ranging timestamp is made. */

/****************************************************************************//**

 * @brief Bit definitions for register RX_TIME

**/

#define RX_TIME_ID              0x15            /* Receive Message Time of Arrival (in double buffer set) */

#define RX_TIME_LLEN            (14)

#define RX_TIME_RX_STAMP_LEN    (5)             /* read only 5 bytes (the adjusted timestamp (40:0)) */

#define RX_STAMP_LEN            RX_TIME_RX_STAMP_LEN

/*mask and shift */

#define RX_TIME_RX_STAMP_OFFSET  (0) /* byte 0..4 40 bit Reports the fully adjusted time of reception. */

#define RX_TIME_FP_INDEX_OFFSET  (5)    /* byte 5..6 16 bit First path index. */

#define RX_TIME_FP_AMPL1_OFFSET  (7)    /* byte 7..8 16 bit First Path Amplitude point 1 */   /* doc bug */

#define RX_TIME_FP_RAWST_OFFSET  (9)    /* byte 9..13 40 bit Raw Timestamp for the frame */

/****************************************************************************//**

 * @brief Bit definitions for register

**/

#define REG_16_ID_RESERVED      0x16

/****************************************************************************//**

 * @brief Bit definitions for register

**/

#define TX_TIME_ID              0x17            /* Transmit Message Time of Sending */

#define TX_TIME_LLEN            (10)

#define TX_TIME_TX_STAMP_LEN    (5)             /* 40-bits = 5 bytes */

#define TX_STAMP_LEN            TX_TIME_TX_STAMP_LEN

/*mask and shift */

#define TX_TIME_TX_STAMP_OFFSET  (0) /* byte 0..4 40 bit Reports the fully adjusted time of transmission */

#define TX_TIME_TX_RAWST_OFFSET  (5) /* byte 5..9 40 bit Raw Timestamp for the frame */

/****************************************************************************//**

 * @brief Bit definitions for register TX_ANTD

**/

#define TX_ANTD_ID              0x18            /* 16-bit Delay from Transmit to Antenna */

#define TX_ANTD_OFFSET          0x00

#define TX_ANTD_LEN             (2)

/****************************************************************************//**

 * @brief Bit definitions for register SYS_STATES

 *        Register map register file 0x19 is reserved

 *

**/

#define SYS_STATE_ID            0x19            /* System State information READ ONLY */

#define SYS_STATE_LEN           (5)

/****************************************************************************//**

 * @brief Bit definitions for register ACK_RESP_T

**/

/* Acknowledge (31:24 preamble symbol delay before auto ACK is sent) and respose (19:0 - unit 1us) timer */

#define ACK_RESP_T_ID           0x1A            /* Acknowledgement Time and Response Time */

#define ACK_RESP_T_LEN          (4)

/*mask and shift */

#define ACK_RESP_T_MASK         0xFF0FFFFFUL    /* Acknowledgement Time and Response access mask */

#define ACK_RESP_T_W4R_TIM_OFFSET 0             /* In bytes */

#define ACK_RESP_T_W4R_TIM_MASK 0x000FFFFFUL    /* Wait-for-Response turn-around Time 20 bit field */

#define W4R_TIM_MASK            ACK_RESP_T_W4R_TIM_MASK

#define ACK_RESP_T_ACK_TIM_OFFSET 3             /* In bytes */

#define ACK_RESP_T_ACK_TIM_MASK 0xFF000000UL    /* Auto-Acknowledgement turn-around Time */

#define ACK_TIM_MASK            ACK_RESP_T_ACK_TIM_MASK

/****************************************************************************//**

 * @brief Bit definitions for register 0x1B 0x1C

**/

#define REG_1B_ID_RESERVED      0x1B

#define REG_1C_ID_RESERVED      0x1C

/****************************************************************************//**

 * @brief Bit definitions for register RX_SNIFF

 *        Sniff Mode Configuration or Pulsed Preamble Reception Configuration

**/

#define RX_SNIFF_ID             0x1D            /* Sniff Mode Configuration */

#define RX_SNIFF_OFFSET         0x00

#define RX_SNIFF_LEN            (4)

/*mask and shift */

#define RX_SNIFF_MASK           0x0000FF0FUL    /*  */

#define RX_SNIFF_SNIFF_ONT_MASK 0x0000000FUL    /* SNIFF Mode ON time. Specified in units of PAC */

#define SNIFF_ONT_MASK          RX_SNIFF_SNIFF_ONT_MASK

#define RX_SNIFF_SNIFF_OFFT_MASK 0x0000FF00UL   /* SNIFF Mode OFF time specified in units of approximately 1mkS, or 128 system clock cycles.*/

#define SNIFF_OFFT_MASK         RX_SNIFF_SNIFF_OFFT_MASK

/****************************************************************************//**

 * @brief Bit definitions for register TX_POWER

**/

#define TX_POWER_ID             0x1E            /* TX Power Control */

#define TX_POWER_LEN            (4)

/*mask and shift definition for Smart Transmit Power Control*/

#define TX_POWER_BOOSTNORM_MASK 0x00000000UL    /* This is the normal power setting used for frames that do not fall */

#define BOOSTNORM_MASK          TX_POWER_BOOSTNORM_MASK

#define TX_POWER_BOOSTNORM_SHIFT (0)

#define TX_POWER_BOOSTP500_MASK 0x00000000UL    /* This value sets the power applied during transmission at the 6.8 Mbps data rate frames that are less than 0.5 ms duration */

#define BOOSTP500_MASK          TX_POWER_BOOSTP500_MASK

#define TX_POWER_BOOSTP500_SHIFT (8)

#define TX_POWER_BOOSTP250_MASK 0x00000000UL    /* This value sets the power applied during transmission at the 6.8 Mbps data rate frames that are less than 0.25 ms duration */

#define BOOSTP250_MASK          TX_POWER_BOOSTP250_MASK

#define TX_POWER_BOOSTP250_SHIFT (16)

#define TX_POWER_BOOSTP125_MASK 0x00000000UL    /* This value sets the power applied during transmission at the 6.8 Mbps data rate frames that are less than 0.125 ms */

#define BOOSTP125_MASK          TX_POWER_BOOSTP125_MASK

#define TX_POWER_BOOSTP125_SHIFT (24)

/*mask and shift definition for Manual Transmit Power Control (DIS_STXP=1 in SYS_CFG)*/

#define TX_POWER_MAN_DEFAULT    0x0E080222UL

#define TX_POWER_TXPOWPHR_MASK  0x0000FF00UL    /* This power setting is applied during the transmission of the PHY header (PHR) portion of the frame. */

#define TX_POWER_TXPOWSD_MASK   0x00FF0000UL    /* This power setting is applied during the transmission of the synchronisation header (SHR) and data portions of the frame. */

/****************************************************************************//**

 * @brief Bit definitions for register CHAN_CTRL

**/

#define CHAN_CTRL_ID            0x1F            /* Channel Control */

#define CHAN_CTRL_LEN           (4)

/*mask and shift */

#define CHAN_CTRL_MASK          0xFFFF00FFUL    /* Channel Control Register access mask */

#define CHAN_CTRL_TX_CHAN_MASK  0x0000000FUL    /* Supported channels are 1, 2, 3, 4, 5, and 7.*/

#define CHAN_CTRL_TX_CHAN_SHIFT (0)             /* Bits 0..3        TX channel number 0-15 selection */

#define CHAN_CTRL_RX_CHAN_MASK  0x000000F0UL

#define CHAN_CTRL_RX_CHAN_SHIFT (4)             /* Bits 4..7        RX channel number 0-15 selection */

#define CHAN_CTRL_RXFPRF_MASK   0x000C0000UL    /* Bits 18..19      Specify (Force) RX Pulse Repetition Rate: 00 = 4 MHz, 01 = 16 MHz, 10 = 64MHz. */

#define CHAN_CTRL_RXFPRF_SHIFT  (18)

/* Specific RXFPRF configuration */

#define CHAN_CTRL_RXFPRF_4      0x00000000UL    /* Specify (Force) RX Pulse Repetition Rate: 00 = 4 MHz, 01 = 16 MHz, 10 = 64MHz. */

#define CHAN_CTRL_RXFPRF_16     0x00040000UL    /* Specify (Force) RX Pulse Repetition Rate: 00 = 4 MHz, 01 = 16 MHz, 10 = 64MHz. */

#define CHAN_CTRL_RXFPRF_64     0x00080000UL    /* Specify (Force) RX Pulse Repetition Rate: 00 = 4 MHz, 01 = 16 MHz, 10 = 64MHz. */

#define CHAN_CTRL_TX_PCOD_MASK  0x07C00000UL    /* Bits 22..26      TX Preamble Code selection, 1 to 24. */

#define CHAN_CTRL_TX_PCOD_SHIFT (22)

#define CHAN_CTRL_RX_PCOD_MASK  0xF8000000UL    /* Bits 27..31      RX Preamble Code selection, 1 to 24. */

#define CHAN_CTRL_RX_PCOD_SHIFT (27)

/*offset 16 */

#define CHAN_CTRL_DWSFD         0x00020000UL    /* Bit 17 This bit enables a non-standard DecaWave proprietary SFD sequence. */

#define CHAN_CTRL_DWSFD_SHIFT   (17)

#define CHAN_CTRL_TNSSFD        0x00100000UL    /* Bit 20 Non-standard SFD in the transmitter */

#define CHAN_CTRL_TNSSFD_SHIFT  (20)

#define CHAN_CTRL_RNSSFD        0x00200000UL    /* Bit 21 Non-standard SFD in the receiver */

#define CHAN_CTRL_RNSSFD_SHIFT  (21)

/****************************************************************************//**

 * @brief Bit definitions for register 0x20

**/

#define REG_20_ID_RESERVED      0x20

/****************************************************************************//**

 * @brief Bit definitions for register USR_SFD

 *        Please read User Manual : User defined SFD sequence

**/

#define USR_SFD_ID              0x21            /* User-specified short/long TX/RX SFD sequences */

#define USR_SFD_LEN             (41)

#define DW_NS_SFD_LEN_110K      64              /* Decawave non-standard SFD length for 110 kbps */

#define DW_NS_SFD_LEN_850K      16              /* Decawave non-standard SFD length for 850 kbps */

#define DW_NS_SFD_LEN_6M8       8               /* Decawave non-standard SFD length for 6.8 Mbps */

/****************************************************************************//**

 * @brief Bit definitions for register

**/

#define REG_22_ID_RESERVED      0x22

/****************************************************************************//**

 * @brief Bit definitions for register AGC_CTRL

 * Please take care to write to this register as doing so may cause the DW1000 to malfunction

**/

#define AGC_CTRL_ID             0x23            /* Automatic Gain Control configuration */

#define AGC_CTRL_LEN            (32)

#define AGC_CFG_STS_ID          AGC_CTRL_ID

/* offset from AGC_CTRL_ID in bytes */

#define AGC_CTRL1_OFFSET        (0x02)

#define AGC_CTRL1_LEN           (2)

#define AGC_CTRL1_MASK          0x0001          /* access mask to AGC configuration and control register */

#define AGC_CTRL1_DIS_AM        0x0001          /* Disable AGC Measurement. The DIS_AM bit is set by default. */

/* offset from AGC_CTRL_ID in bytes */

/* Please take care not to write other values to this register as doing so may cause the DW1000 to malfunction */

#define AGC_TUNE1_OFFSET        (0x04)

#define AGC_TUNE1_LEN           (2)

#define AGC_TUNE1_MASK          0xFFFF          /* It is a 16-bit tuning register for the AGC. */

#define AGC_TUNE1_16M           0x8870

#define AGC_TUNE1_64M           0x889B

/* offset from AGC_CTRL_ID in bytes */

/* Please take care not to write other values to this register as doing so may cause the DW1000 to malfunction */

#define AGC_TUNE2_OFFSET        (0x0C)

#define AGC_TUNE2_LEN           (4)

#define AGC_TUNE2_MASK          0xFFFFFFFFUL

#define AGC_TUNE2_VAL           0X2502A907UL

/* offset from AGC_CTRL_ID in bytes */

/* Please take care not to write other values to this register as doing so may cause the DW1000 to malfunction */

#define AGC_TUNE3_OFFSET        (0x12)

#define AGC_TUNE3_LEN           (2)

#define AGC_TUNE3_MASK          0xFFFF

#define AGC_TUNE3_VAL           0X0055

/* offset from AGC_CTRL_ID in bytes */

#define AGC_STAT1_OFFSET        (0x1E)

#define AGC_STAT1_LEN           (3)

#define AGC_STAT1_MASK          0x0FFFFF

#define AGC_STAT1_EDG1_MASK     0x0007C0        /* This 5-bit gain value relates to input noise power measurement. */

#define AGC_STAT1_EDG2_MASK     0x0FF800        /* This 9-bit value relates to the input noise power measurement. */

/****************************************************************************//**

 * @brief Bit definitions for register EXT_SYNC

**/

#define EXT_SYNC_ID             0x24            /* External synchronisation control */

#define EXT_SYNC_LEN            (12)

/* offset from EXT_SYNC_ID in bytes */

#define EC_CTRL_OFFSET          (0x00)

#define EC_CTRL_LEN             (4)

#define EC_CTRL_MASK            0x00000FFBUL    /* sub-register 0x00 is the External clock synchronisation counter configuration register */

#define EC_CTRL_OSTSM           0x00000001UL    /* External transmit synchronisation mode enable */

#define EC_CTRL_OSRSM           0x00000002UL    /* External receive synchronisation mode enable */

#define EC_CTRL_PLLLCK          0x04            /* PLL lock detect enable */

#define EC_CTRL_OSTRM           0x00000800UL    /* External timebase reset mode enable */

#define EC_CTRL_WAIT_MASK       0x000007F8UL    /* Wait counter used for external transmit synchronisation and external timebase reset */

/* offset from EXT_SYNC_ID in bytes */

#define EC_RXTC_OFFSET          (0x04)

#define EC_RXTC_LEN             (4)

#define EC_RXTC_MASK            0xFFFFFFFFUL    /* External clock synchronisation counter captured on RMARKER */

/* offset from EXT_SYNC_ID in bytes */

#define EC_GOLP                 (0x08)

#define EC_GOLP_LEN             (4)

#define EC_GOLP_MASK            0x0000003FUL    /* sub-register 0x08 is the External clock offset to first path 1 GHz counter, EC_GOLP */

#define EC_GOLP_OFFSET_EXT_MASK 0x0000003FUL    /* This register contains the 1 GHz count from the arrival of the RMARKER and the next edge of the external clock. */

/****************************************************************************//**

 * @brief Bit definitions for register ACC_MEM

**/

#define ACC_MEM_ID              0x25            /* Read access to accumulator data */

#define ACC_MEM_LEN             (4064)

/****************************************************************************//**

 * @brief Bit definitions for register GPIO_CTRL

**/

#define GPIO_CTRL_ID            0x26            /* Peripheral register bus 1 access - GPIO control */

#define GPIO_CTRL_LEN           (44)

/* offset from GPIO_CTRL in bytes */

#define GPIO_MODE_OFFSET        0x00            /* sub-register 0x00 is the GPIO Mode Control Register */

#define GPIO_MODE_LEN           (4)

#define GPIO_MODE_MASK          0x00FFFFC0UL

#define GPIO_MSGP0_MASK         0x000000C0UL    /* Mode Selection for GPIO0/RXOKLED */

#define GPIO_MSGP1_MASK         0x00000300UL    /* Mode Selection for GPIO1/SFDLED */

#define GPIO_MSGP2_MASK         0x00000C00UL    /* Mode Selection for GPIO2/RXLED */

#define GPIO_MSGP3_MASK         0x00003000UL    /* Mode Selection for GPIO3/TXLED */

#define GPIO_MSGP4_MASK         0x0000C000UL    /* Mode Selection for GPIO4/EXTPA */

#define GPIO_MSGP5_MASK         0x00030000UL    /* Mode Selection for GPIO5/EXTTXE */

#define GPIO_MSGP6_MASK         0x000C0000UL    /* Mode Selection for GPIO6/EXTRXE */

#define GPIO_MSGP7_MASK         0x00300000UL    /* Mode Selection for SYNC/GPIO7 */

#define GPIO_MSGP8_MASK         0x00C00000UL    /* Mode Selection for IRQ/GPIO8 */

#define GPIO_PIN2_RXLED         0x00000400UL    /* The pin operates as the RXLED output */

#define GPIO_PIN3_TXLED         0x00001000UL    /* The pin operates as the TXLED output */

#define GPIO_PIN4_EXTPA         0x00004000UL    /* The pin operates as the EXTPA output */

#define GPIO_PIN5_EXTTXE        0x00010000UL    /* The pin operates as the EXTTXE output */

#define GPIO_PIN6_EXTRXE        0x00040000UL    /* The pin operates as the EXTRXE output */

/* offset from GPIO_CTRL in bytes */

#define GPIO_DIR_OFFSET         0x08            /* sub-register 0x08 is the GPIO Direction Control Register */

#define GPIO_DIR_LEN            (3)

#define GPIO_DIR_MASK           0x0011FFFFUL

#define GxP0                    0x00000001UL    /* GPIO0 Only changed if the GxM0 mask bit has a value of 1 for the write operation*/

#define GxP1                    0x00000002UL    /* GPIO1. (See GDP0). */

#define GxP2                    0x00000004UL    /* GPIO2. (See GDP0). */

#define GxP3                    0x00000008UL    /* GPIO3. (See GDP0). */

#define GxP4                    0x00000100UL    /* GPIO4. (See GDP0). */

#define GxP5                    0x00000200UL    /* GPIO5. (See GDP0). */

#define GxP6                    0x00000400UL    /* GPIO6. (See GDP0). */

#define GxP7                    0x00000800UL    /* GPIO7. (See GDP0). */

#define GxP8                    0x00010000UL    /* GPIO8 */

#define GxM0                    0x00000010UL    /* Mask for GPIO0 */

#define GxM1                    0x00000020UL    /* Mask for GPIO1. (See GDM0). */

#define GxM2                    0x00000040UL    /* Mask for GPIO2. (See GDM0). */

#define GxM3                    0x00000080UL    /* Mask for GPIO3. (See GDM0). */

#define GxM4                    0x00001000UL    /* Mask for GPIO4. (See GDM0). */

#define GxM5                    0x00002000UL    /* Mask for GPIO5. (See GDM0). */

#define GxM6                    0x00004000UL    /* Mask for GPIO6. (See GDM0). */

#define GxM7                    0x00008000UL    /* Mask for GPIO7. (See GDM0). */

#define GxM8                    0x00100000UL    /* Mask for GPIO8. (See GDM0). */

#define GDP0    GxP0    /* Direction Selection for GPIO0. 1 = input, 0 = output. Only changed if the GDM0 mask bit has a value of 1 for the write operation*/

#define GDP1    GxP1    /* Direction Selection for GPIO1. (See GDP0). */

#define GDP2    GxP2    /* Direction Selection for GPIO2. (See GDP0). */

#define GDP3    GxP3    /* Direction Selection for GPIO3. (See GDP0). */

#define GDP4    GxP4    /* Direction Selection for GPIO4. (See GDP0). */

#define GDP5    GxP5    /* Direction Selection for GPIO5. (See GDP0). */

#define GDP6    GxP6    /* Direction Selection for GPIO6. (See GDP0). */

#define GDP7    GxP7    /* Direction Selection for GPIO7. (See GDP0). */

#define GDP8    GxP8    /* Direction Selection for GPIO8 */

#define GDM0    GxM0    /* Mask for setting the direction of GPIO0 */

#define GDM1    GxM1    /* Mask for setting the direction of GPIO1. (See GDM0). */

#define GDM2    GxM2    /* Mask for setting the direction of GPIO2. (See GDM0). */

#define GDM3    GxM3    /* Mask for setting the direction of GPIO3. (See GDM0). */

#define GDM4    GxM4    /* Mask for setting the direction of GPIO4. (See GDM0). */

#define GDM5    GxM5    /* Mask for setting the direction of GPIO5. (See GDM0). */

#define GDM6    GxM6    /* Mask for setting the direction of GPIO6. (See GDM0). */

#define GDM7    GxM7    /* Mask for setting the direction of GPIO7. (See GDM0). */

#define GDM8    GxM8    /* Mask for setting the direction of GPIO8. (See GDM0). */

/* offset from GPIO_CTRL in bytes */

#define GPIO_DOUT_OFFSET        0x0C            /* sub-register 0x0C is the GPIO data output register. */

#define GPIO_DOUT_LEN           (3)

#define GPIO_DOUT_MASK          GPIO_DIR_MASK

/* offset from GPIO_CTRL in bytes */

#define GPIO_IRQE_OFFSET        0x10            /* sub-register 0x10 is the GPIO interrupt enable register */

#define GPIO_IRQE_LEN           (4)

#define GPIO_IRQE_MASK          0x000001FFUL

#define GIRQx0                  0x00000001UL    /* IRQ bit0 */

#define GIRQx1                  0x00000002UL    /* IRQ bit1 */

#define GIRQx2                  0x00000004UL    /* IRQ bit2 */

#define GIRQx3                  0x00000008UL    /* IRQ bit3 */

#define GIRQx4                  0x00000010UL    /* IRQ bit4 */

#define GIRQx5                  0x00000020UL    /* IRQ bit5 */

#define GIRQx6                  0x00000040UL    /* IRQ bit6 */

#define GIRQx7                  0x00000080UL    /* IRQ bit7 */

#define GIRQx8                  0x00000100UL    /* IRQ bit8 */

#define GIRQE0  GIRQx0  /* GPIO IRQ Enable for GPIO0 input. Value 1 = enable, 0 = disable*/

#define GIRQE1  GIRQx1  /*  */

#define GIRQE2  GIRQx2  /*  */

#define GIRQE3  GIRQx3  /*  */

#define GIRQE4  GIRQx4  /*  */

#define GIRQE5  GIRQx5  /*  */

#define GIRQE6  GIRQx6  /*  */

#define GIRQE7  GIRQx7  /*  */

#define GIRQE8  GIRQx8  /* Value 1 = enable, 0 = disable */

/* offset from GPIO_CTRL in bytes */

#define GPIO_ISEN_OFFSET        0x14    /* sub-register 0x14 is the GPIO interrupt sense selection register */

#define GPIO_ISEN_LEN           (4)

#define GPIO_ISEN_MASK          GPIO_IRQE_MASK

#define GISEN0  GIRQx0  /* GPIO IRQ Sense selection GPIO0 input. Value 0 = High or Rising-Edge, 1 = Low or falling-edge.*/

#define GISEN1  GIRQx1  /*  */

#define GISEN2  GIRQx2  /*  */

#define GISEN3  GIRQx3  /*  */

#define GISEN4  GIRQx4  /*  */

#define GISEN5  GIRQx5  /*  */

#define GISEN6  GIRQx6  /*  */

#define GISEN7  GIRQx7  /*  */

#define GISEN8  GIRQx8  /* Value 0 = High or Rising-Edge, 1 = Low or falling-edge */

/* offset from GPIO_CTRL in bytes */

#define GPIO_IMODE_OFFSET       0x18    /* sub-register 0x18 is the GPIO interrupt mode selection register */

#define GPIO_IMODE_LEN          (4)

#define GPIO_IMODE_MASK         GPIO_IRQE_MASK

#define GIMOD0  GIRQx0  /* GPIO IRQ Mode selection for GPIO0 input. Value 0 = Level sensitive interrupt. Value 1 = Edge triggered interrupt */

#define GIMOD1  GIRQx1  /*  */

#define GIMOD2  GIRQx2  /*  */

#define GIMOD3  GIRQx3  /*  */

#define GIMOD4  GIRQx4  /*  */

#define GIMOD5  GIRQx5  /*  */

#define GIMOD6  GIRQx6  /*  */

#define GIMOD7  GIRQx7  /*  */

#define GIMOD8  GIRQx8  /* Value 0 = Level, 1 = Edge. */

/* offset from EXT_SYNC_ID in bytes */

#define GPIO_IBES_OFFSET        0x1C    /* sub-register 0x1C is the GPIO interrupt Both Edge selection register */

#define GPIO_IBES_LEN           (4)

#define GPIO_IBES_MASK          GPIO_IRQE_MASK  /*  */

#define GIBES0  GIRQx0  /* GPIO IRQ Both Edge selection for GPIO0 input. Value 0 = GPIO_IMODE register selects the edge. Value 1 = Both edges trigger the interrupt. */

#define GIBES1  GIRQx1  /*  */

#define GIBES2  GIRQx2  /*  */

#define GIBES3  GIRQx3  /*  */

#define GIBES4  GIRQx4  /*  */

#define GIBES5  GIRQx5  /*  */

#define GIBES6  GIRQx6  /*  */

#define GIBES7  GIRQx7  /*  */

#define GIBES8  GIRQx8  /* Value 0 = use GPIO_IMODE, 1 = Both Edges */

/* offset from GPIO_CTRL in bytes */

#define GPIO_ICLR_OFFSET        0x20    /* sub-register 0x20 is the GPIO interrupt clear register */

#define GPIO_ICLR_LEN           (4)

#define GPIO_ICLR_MASK          GPIO_IRQE_MASK  /*  */

#define GICLR0  GIRQx0  /* GPIO IRQ latch clear for GPIO0 input. Write 1 to clear the GPIO0 interrupt latch. Writing 0 has no effect. Reading returns zero */

#define GICLR1  GIRQx1  /*  */

#define GICLR2  GIRQx2  /*  */

#define GICLR3  GIRQx3  /*  */

#define GICLR4  GIRQx4  /*  */

#define GICLR5  GIRQx5  /*  */

#define GICLR6  GIRQx6  /*  */

#define GICLR7  GIRQx7  /*  */

#define GICLR8  GIRQx8  /* Write 1 to clear the interrupt latch */

/* offset from GPIO_CTRL in bytes */

#define GPIO_IDBE_OFFSET        0x24    /* sub-register 0x24 is the GPIO interrupt de-bounce enable register */

#define GPIO_IDBE_LEN           (4)

#define GPIO_IDBE_MASK          GPIO_IRQE_MASK

#define GIDBE0  GIRQx0  /* GPIO IRQ de-bounce enable for GPIO0. Value 1 = de-bounce enabled. Value 0 = de-bounce disabled */

#define GIDBE1  GIRQx1  /*  */

#define GIDBE2  GIRQx2  /*  */

#define GIDBE3  GIRQx3  /*  */

#define GIDBE4  GIRQx4  /*  */

#define GIDBE5  GIRQx5  /*  */

#define GIDBE6  GIRQx6  /*  */

#define GIDBE7  GIRQx7  /*  */

#define GIDBE8  GIRQx8  /* Value 1 = de-bounce enabled, 0 = de-bounce disabled */

/* offset from GPIO_CTRL in bytes */

#define GPIO_RAW_OFFSET         0x28    /* sub-register 0x28 allows the raw state of the GPIO pin to be read. */

#define GPIO_RAW_LEN            (4)

#define GPIO_RAW_MASK           GPIO_IRQE_MASK

#define GRAWP0  GIRQx0  /* This bit reflects the raw state of GPIO0 */

#define GRAWP1  GIRQx1  /*  */

#define GRAWP2  GIRQx2  /*  */

#define GRAWP3  GIRQx3  /*  */

#define GRAWP4  GIRQx4  /*  */

#define GRAWP5  GIRQx5  /*  */

#define GRAWP6  GIRQx6  /*  */

#define GRAWP7  GIRQx7  /*  */

#define GRAWP8  GIRQx8  /* This bit reflects the raw state of GPIO8 */

/****************************************************************************//**

 * @brief Bit definitions for register  DRX_CONF

 * Digital Receiver configuration block

**/

#define DRX_CONF_ID             0x27            /* Digital Receiver configuration */

#define DRX_CONF_LEN            (44)

/* offset from DRX_CONF_ID in bytes */

#define DRX_TUNE0b_OFFSET       (0x02)  /* sub-register 0x02 is a 16-bit tuning register. */

#define DRX_TUNE0b_LEN          (2)

#define DRX_TUNE0b_MASK         0xFFFF  /* 7.2.40.2 Sub-Register 0x27:02  DRX_TUNE0b */

#define DRX_TUNE0b_110K_STD     0x000A

#define DRX_TUNE0b_110K_NSTD    0x0016

#define DRX_TUNE0b_850K_STD     0x0001

#define DRX_TUNE0b_850K_NSTD    0x0006

#define DRX_TUNE0b_6M8_STD      0x0001

#define DRX_TUNE0b_6M8_NSTD     0x0002

/* offset from DRX_CONF_ID in bytes */

#define DRX_TUNE1a_OFFSET       0x04    /* 7.2.40.3 Sub-Register 0x27:04  DRX_TUNE1a */

#define DRX_TUNE1a_LEN          (2)

#define DRX_TUNE1a_MASK         0xFFFF

#define DRX_TUNE1a_PRF16        0x0087

#define DRX_TUNE1a_PRF64        0x008D

/* offset from DRX_CONF_ID in bytes */

#define DRX_TUNE1b_OFFSET       0x06    /* 7.2.40.4 Sub-Register 0x27:06  DRX_TUNE1b */

#define DRX_TUNE1b_LEN          (2)

#define DRX_TUNE1b_MASK         0xFFFF

#define DRX_TUNE1b_110K         0x0064

#define DRX_TUNE1b_850K_6M8     0x0020

#define DRX_TUNE1b_6M8_PRE64    0x0010

/* offset from DRX_CONF_ID in bytes */

#define DRX_TUNE2_OFFSET        0x08    /* 7.2.40.5 Sub-Register 0x27:08  DRX_TUNE2 */

#define DRX_TUNE2_LEN           (4)

#define DRX_TUNE2_MASK          0xFFFFFFFFUL

#define DRX_TUNE2_PRF16_PAC8    0x311A002DUL

#define DRX_TUNE2_PRF16_PAC16   0x331A0052UL

#define DRX_TUNE2_PRF16_PAC32   0x351A009AUL

#define DRX_TUNE2_PRF16_PAC64   0x371A011DUL

#define DRX_TUNE2_PRF64_PAC8    0x313B006BUL

#define DRX_TUNE2_PRF64_PAC16   0x333B00BEUL

#define DRX_TUNE2_PRF64_PAC32   0x353B015EUL

#define DRX_TUNE2_PRF64_PAC64   0x373B0296UL

/* offset from DRX_CONF_ID in bytes */

/* WARNING: Please do NOT set DRX_SFDTOC to zero (disabling SFD detection timeout)

 * since this risks IC malfunction due to prolonged receiver activity in the event of false preamble detection.

 */

#define DRX_SFDTOC_OFFSET       0x20    /* 7.2.40.7 Sub-Register 0x27:20  DRX_SFDTOC */

#define DRX_SFDTOC_LEN          (2)

#define DRX_SFDTOC_MASK         0xFFFF

/* offset from DRX_CONF_ID in bytes */

#define DRX_PRETOC_OFFSET       0x24    /* 7.2.40.9 Sub-Register 0x27:24  DRX_PRETOC */

#define DRX_PRETOC_LEN          (2)

#define DRX_PRETOC_MASK         0xFFFF

/* offset from DRX_CONF_ID in bytes */

#define DRX_TUNE4H_OFFSET       0x26    /* 7.2.40.10 Sub-Register 0x27:26  DRX_TUNE4H */

#define DRX_TUNE4H_LEN          (2)

#define DRX_TUNE4H_MASK         0xFFFF

#define DRX_TUNE4H_PRE64        0x0010

#define DRX_TUNE4H_PRE128PLUS   0x0028

/****************************************************************************//**

 * @brief Bit definitions for register  RF_CONF

 * Analog RF Configuration block

 * Refer to section 7.2.41 Register file: 0x28  Analog RF configuration block

**/

#define RF_CONF_ID              0x28            /* Analog RF Configuration */

#define RF_CONF_LEN             (58)

#define RF_CONF_TXEN_MASK       0x00400000UL   /* TX enable */

#define RF_CONF_RXEN_MASK       0x00200000UL   /* RX enable */

#define RF_CONF_TXPOW_MASK      0x001F0000UL   /* turn on power all LDOs */

#define RF_CONF_PLLEN_MASK      0x0000E000UL   /* enable PLLs */

#define RF_CONF_PGMIXBIASEN_MASK    0x0000A700UL    /* Enable TX mixer bias and pulse gen */

#define RF_CONF_TXBLOCKSEN_MASK 0x00001F00UL   /* enable TX blocks */

#define RF_CONF_TXPLLPOWEN_MASK (RF_CONF_PLLEN_MASK | RF_CONF_TXPOW_MASK)

#define RF_CONF_TXALLEN_MASK    (RF_CONF_TXEN_MASK | RF_CONF_TXPOW_MASK | RF_CONF_PLLEN_MASK | RF_CONF_TXBLOCKSEN_MASK)

/* offset from TX_CAL_ID in bytes */

#define RF_RXCTRLH_OFFSET       0x0B            /* Analog RX Control Register */

#define RF_RXCTRLH_LEN          (1)

#define RF_RXCTRLH_NBW          0xD8            /* RXCTRLH value for narrow bandwidth channels */

#define RF_RXCTRLH_WBW          0xBC            /* RXCTRLH value for wide bandwidth channels */

/* offset from TX_CAL_ID in bytes */

#define RF_TXCTRL_OFFSET        0x0C            /* Analog TX Control Register */

#define RF_TXCTRL_LEN           (4)

#define RF_TXCTRL_TXMTUNE_MASK  0x000001E0UL    /* Transmit mixer tuning register */

#define RF_TXCTRL_TXTXMQ_MASK   0x00000E00UL    /* Transmit mixer Q-factor tuning register */

#define RF_TXCTRL_CH1           0x00005C40UL    /* 32-bit value to program to Sub-Register 0x28:0C  RF_TXCTRL */

#define RF_TXCTRL_CH2           0x00045CA0UL    /* 32-bit value to program to Sub-Register 0x28:0C  RF_TXCTRL */

#define RF_TXCTRL_CH3           0x00086CC0UL    /* 32-bit value to program to Sub-Register 0x28:0C  RF_TXCTRL */

#define RF_TXCTRL_CH4           0x00045C80UL    /* 32-bit value to program to Sub-Register 0x28:0C  RF_TXCTRL */

#define RF_TXCTRL_CH5           0x001E3FE0UL    /* 32-bit value to program to Sub-Register 0x28:0C  RF_TXCTRL */

#define RF_TXCTRL_CH7           0x001E7DE0UL    /* 32-bit value to program to Sub-Register 0x28:0C  RF_TXCTRL */

/* offset from TX_CAL_ID in bytes */

#define RF_STATUS_OFFSET        0x2C

/****************************************************************************//**

 * @brief Bit definitions for register

**/

#define REG_29_ID_RESERVED      0x29

/****************************************************************************//**

 * @brief Bit definitions for register TX_CAL

 * Refer to section 7.2.43 Register file: 0x2A  Transmitter Calibration block

**/

#define TX_CAL_ID                   0x2A        /* Transmitter calibration block */

#define TX_CAL_LEN                  (52)

/* offset from TX_CAL_ID in bytes */

#define TC_SARL_SAR_C               (0)         /* SAR control */

/*cause bug in register block TX_CAL, we need to read 1 byte in a time*/

#define TC_SARL_SAR_LVBAT_OFFSET    (3)         /* Latest SAR reading for Voltage level */

#define TC_SARL_SAR_LTEMP_OFFSET    (4)         /* Latest SAR reading for Temperature level */

#define TC_SARW_SAR_WTEMP_OFFSET    0x06        /* SAR reading of Temperature level taken at last wakeup event */

#define TC_SARW_SAR_WVBAT_OFFSET    0x07        /* SAR reading of Voltage level taken at last wakeup event */

#define TC_PGCCTRL_OFFSET       0x08        /* Pulse Generator Calibration control */

#define TC_PGCCTRL_LEN          (1)

#define TC_PGCCTRL_CALSTART     0x01        /* Start PG cal procedure */

#define TC_PGCCTRL_AUTOCAL      0x02        /* Starts a PG autocalibration loop */

#define TC_PGCCTRL_TMEAS_MASK   0x3C        /* Mask to retrieve number of clock cycles over which to run PG cal counter */

#define TC_PGCCTRL_ON_TX        0x40        /* Perform autocal on each TX enable */

#define TC_PGCCTRL_DIR_CONV     0x80        /* Direction (converging) of autocal binary search */

#define TC_PGCAL_STATUS_OFFSET      0x09    /* Status register from PG calibration block */

#define TC_PGCAL_STATUS_LEN         (1)

#define TC_PGCAL_STATUS_DELAY_MASK  0xFFF   /* Mask to retrieve PG delay count from calibration */

/* offset from TX_CAL_ID in bytes */

#define TC_PGDELAY_OFFSET       0x0B            /* Transmitter Calibration  Pulse Generator Delay */

#define TC_PGDELAY_LEN          (1)

#define TC_PGDELAY_CH1          0xC9            /* Recommended value for channel 1 */

#define TC_PGDELAY_CH2          0xC2            /* Recommended value for channel 2 */

#define TC_PGDELAY_CH3          0xC5            /* Recommended value for channel 3 */

#define TC_PGDELAY_CH4          0x95            /* Recommended value for channel 4 */

#define TC_PGDELAY_CH5          0xC0            /* Recommended value for channel 5 */

#define TC_PGDELAY_CH7          0x93            /* Recommended value for channel 7 */

/* offset from TX_CAL_ID in bytes */

#define TC_PGTEST_OFFSET        0x0C            /* Transmitter Calibration  Pulse Generator Test */

#define TC_PGTEST_LEN           (1)

#define TC_PGTEST_NORMAL        0x00            /* Normal operation */

#define TC_PGTEST_CW            0x13            /* Continuous Wave (CW) Test Mode */

/****************************************************************************//**

 * @brief Bit definitions for register

 * Refer to section 7.2.44 Register file: 0x2B  Frequency synthesiser control block

**/

#define FS_CTRL_ID              0x2B            /* Frequency synthesiser control block */

#define FS_CTRL_LEN             (21)

/* offset from FS_CTRL_ID in bytes */

#define FS_RES1_OFFSET          0x00            /* reserved area. Please take care not to write to this area as doing so may cause the DW1000 to malfunction. */

#define FS_RES1_LEN             (7)

/* offset from FS_CTRL_ID in bytes */

#define FS_PLLCFG_OFFSET        0x07            /* Frequency synthesiser  PLL configuration */

#define FS_PLLCFG_LEN           (5)

#define FS_PLLCFG_CH1           0x09000407UL    /* Operating Channel 1 */

#define FS_PLLCFG_CH2           0x08400508UL    /* Operating Channel 2 */

#define FS_PLLCFG_CH3           0x08401009UL    /* Operating Channel 3 */

#define FS_PLLCFG_CH4           FS_PLLCFG_CH2   /* Operating Channel 4 (same as 2) */

#define FS_PLLCFG_CH5           0x0800041DUL    /* Operating Channel 5 */

#define FS_PLLCFG_CH7           FS_PLLCFG_CH5   /* Operating Channel 7 (same as 5) */

/* offset from FS_CTRL_ID in bytes */

#define FS_PLLTUNE_OFFSET       0x0B            /* Frequency synthesiser  PLL Tuning */

#define FS_PLLTUNE_LEN          (1)

#define FS_PLLTUNE_CH1          0x1E            /* Operating Channel 1 */

#define FS_PLLTUNE_CH2          0x26            /* Operating Channel 2 */

#define FS_PLLTUNE_CH3          0x56            /* Operating Channel 3 */

#define FS_PLLTUNE_CH4          FS_PLLTUNE_CH2  /* Operating Channel 4 (same as 2) */

#define FS_PLLTUNE_CH5          0xBE            /* Operating Channel 5 */

#define FS_PLLTUNE_CH7          FS_PLLTUNE_CH5  /* Operating Channel 7 (same as 5) */

/* offset from FS_CTRL_ID in bytes */

#define FS_RES2_OFFSET          0x0C    /* reserved area. Please take care not to write to this area as doing so may cause the DW1000 to malfunction. */

#define FS_RES2_LEN             (2)

/* offset from FS_CTRL_ID in bytes */

#define FS_XTALT_OFFSET         0x0E    /* Frequency synthesiser  Crystal trim */

#define FS_XTALT_LEN            (1)

#define FS_XTALT_MASK           0x1F    /* Crystal Trim. Crystals may be trimmed using this register setting to tune out errors, see 8.1  IC Calibration  Crystal Oscillator Trim. */

#define FS_XTALT_MIDRANGE       0x10

/* offset from FS_CTRL_ID in bytes */

#define FS_RES3_OFFSET          0x0F    /* reserved area. Please take care not to write to this area as doing so may cause the DW1000 to malfunction. */

#define FS_RES3_LEN             (6)

/****************************************************************************//**

 * @brief Bit definitions for register

**/

#define AON_ID                  0x2C            /* Always-On register set */

#define AON_LEN                 (12)

/* offset from AON_ID in bytes */

#define AON_WCFG_OFFSET         0x00    /* used to control what the DW1000 IC does as it wakes up from low-power SLEEP or DEEPSLEEPstates. */

#define AON_WCFG_LEN            (2)

#define AON_WCFG_MASK           0x09CB  /* access mask to AON_WCFG register*/

#define AON_WCFG_ONW_RADC       0x0001  /* On Wake-up Run the (temperature and voltage) Analog-to-Digital Convertors */

#define AON_WCFG_ONW_RX         0x0002  /* On Wake-up turn on the Receiver */

#define AON_WCFG_ONW_LEUI       0x0008  /* On Wake-up load the EUI from OTP memory into Register file: 0x01  Extended Unique Identifier. */

#define AON_WCFG_ONW_LDC        0x0040  /* On Wake-up load configurations from the AON memory into the host interface register set */

#define AON_WCFG_ONW_L64P       0x0080  /* On Wake-up load the Length64 receiver operating parameter set */

#define AON_WCFG_PRES_SLEEP     0x0100  /* Preserve Sleep. This bit determines what the DW1000 does with respect to the ARXSLP and ATXSLP sleep controls */

#define AON_WCFG_ONW_LLDE       0x0800  /* On Wake-up load the LDE microcode. */

#define AON_WCFG_ONW_LLDO       0x1000  /* On Wake-up load the LDO tune value. */

/* offset from AON_ID in bytes */

#define AON_CTRL_OFFSET         0x02    /* The bits in this register in general cause direct activity within the AON block with respect to the stored AON memory */

#define AON_CTRL_LEN            (1)

#define AON_CTRL_MASK           0x8F    /* access mask to AON_CTRL register */

#define AON_CTRL_RESTORE        0x01    /* When this bit is set the DW1000 will copy the user configurations from the AON memory to the host interface register set. */

#define AON_CTRL_SAVE           0x02    /* When this bit is set the DW1000 will copy the user configurations from the host interface register set into the AON memory */

#define AON_CTRL_UPL_CFG        0x04    /* Upload the AON block configurations to the AON  */

#define AON_CTRL_DCA_READ       0x08    /* Direct AON memory access read */

#define AON_CTRL_DCA_ENAB       0x80    /* Direct AON memory access enable bit */

/* offset from AON_ID in bytes */

#define AON_RDAT_OFFSET         0x03    /* AON Direct Access Read Data Result */

#define AON_RDAT_LEN            (1)

/* offset from AON_ID in bytes */

#define AON_ADDR_OFFSET         0x04    /* AON Direct Access Address */

#define AON_ADDR_LEN            (1)

#define AON_ADDR_LPOSC_CAL_0    117     /* Address of low-power oscillator calibration value (lower byte) */

#define AON_ADDR_LPOSC_CAL_1    118     /* Address of low-power oscillator calibration value (lower byte) */

/* offset from AON_ID in bytes */

#define AON_CFG0_OFFSET             0x06    /* 32-bit configuration register for the always on block. */

#define AON_CFG0_LEN                (4)

#define AON_CFG0_SLEEP_EN           0x00000001UL    /* This is the sleep enable configuration bit */

#define AON_CFG0_WAKE_PIN           0x00000002UL    /* Wake using WAKEUP pin */

#define AON_CFG0_WAKE_SPI           0x00000004UL    /* Wake using SPI access SPICSn */

#define AON_CFG0_WAKE_CNT           0x00000008UL    /* Wake when sleep counter elapses */

#define AON_CFG0_LPDIV_EN           0x00000010UL    /* Low power divider enable configuration */

#define AON_CFG0_LPCLKDIVA_MASK     0x0000FFE0UL    /* divider count for dividing the raw DW1000 XTAL oscillator frequency to set an LP clock frequency */

#define AON_CFG0_LPCLKDIVA_SHIFT    (5)

#define AON_CFG0_SLEEP_TIM          0xFFFF0000UL    /* Sleep time. This field configures the sleep time count elapse value */

#define AON_CFG0_SLEEP_SHIFT        (16)

#define AON_CFG0_SLEEP_TIM_OFFSET   2               /* In bytes */

/* offset from AON_ID in bytes */

#define AON_CFG1_OFFSET         0x0A

#define AON_CFG1_LEN            (2)

#define AON_CFG1_MASK           0x0007  /* aceess mask to AON_CFG1 */

#define AON_CFG1_SLEEP_CEN      0x0001  /* This bit enables the sleep counter */

#define AON_CFG1_SMXX           0x0002  /* This bit needs to be set to 0 for correct operation in the SLEEP state within the DW1000 */

#define AON_CFG1_LPOSC_CAL      0x0004  /* This bit enables the calibration function that measures the period of the IC\92s internal low powered oscillator */

/****************************************************************************//**

 * @brief Bit definitions for register OTP_IF

 * Refer to section 7.2.46 Register file: 0x2D  OTP Memory Interface

**/

#define OTP_IF_ID               0x2D            /* One Time Programmable Memory Interface */

#define OTP_IF_LEN              (18)

/* offset from OTP_IF_ID in bytes */

#define OTP_WDAT                0x00            /* 32-bit register. The data value to be programmed into an OTP location  */

#define OTP_WDAT_LEN            (4)

/* offset from OTP_IF_ID in bytes */

#define OTP_ADDR                0x04            /* 16-bit register used to select the address within the OTP memory block */

#define OTP_ADDR_LEN            (2)

#define OTP_ADDR_MASK           0x07FF          /* This 11-bit field specifies the address within OTP memory that will be accessed read or written. */

/* offset from OTP_IF_ID in bytes */

#define OTP_CTRL                0x06            /* used to control the operation of the OTP memory */

#define OTP_CTRL_LEN            (2)

#define OTP_CTRL_MASK           0x8002

#define OTP_CTRL_OTPRDEN        0x0001          /* This bit forces the OTP into manual read mode */

#define OTP_CTRL_OTPREAD        0x0002          /* This bit commands a read operation from the address specified in the OTP_ADDR register */

#define OTP_CTRL_LDELOAD        0x8000          /* This bit forces a load of LDE microcode */

#define OTP_CTRL_OTPPROG        0x0040          /* Setting this bit will cause the contents of OTP_WDAT to be written to OTP_ADDR. */

/* offset from OTP_IF_ID in bytes */

#define OTP_STAT                0x08

#define OTP_STAT_LEN            (2)

#define OTP_STAT_MASK           0x0003

#define OTP_STAT_OTPPRGD        0x0001          /* OTP Programming Done */

#define OTP_STAT_OTPVPOK        0x0002          /* OTP Programming Voltage OK */

/* offset from OTP_IF_ID in bytes */

#define OTP_RDAT                0x0A            /* 32-bit register. The data value read from an OTP location will appear here */

#define OTP_RDAT_LEN            (4)

/* offset from OTP_IF_ID in bytes */

#define OTP_SRDAT               0x0E            /* 32-bit register. The data value stored in the OTP SR (0x400) location will appear here after power up */

#define OTP_SRDAT_LEN           (4)

/* offset from OTP_IF_ID in bytes */

#define OTP_SF                  0x12            /*8-bit special function register used to select and load special receiver operational parameter */

#define OTP_SF_LEN              (1)

#define OTP_SF_MASK             0x63

#define OTP_SF_OPS_KICK         0x01            /* This bit when set initiates a load of the operating parameter set selected by the OPS_SEL */

#define OTP_SF_LDO_KICK         0x02            /* This bit when set initiates a load of the LDO tune code */

#define OTP_SF_OPS_SEL_SHFT     5

#define OTP_SF_OPS_SEL_MASK     0x60

#define OTP_SF_OPS_SEL_L64      0x00            /* Operating parameter set selection: Length64 */

#define OTP_SF_OPS_SEL_TIGHT    0x40            /* Operating parameter set selection: Tight */

/****************************************************************************//**

 * @brief Bit definitions for register LDE_IF

 * Refer to section 7.2.47 Register file: 0x2E  Leading Edge Detection Interface

 * PLEASE NOTE: Other areas within the address space of Register file: 0x2E  Leading Edge Detection Interface

 * are reserved. To ensure proper operation of the LDE algorithm (i.e. to avoid loss of performance or a malfunction),

 * care must be taken not to write to any byte locations other than those defined in the sub-sections below.

**/

#define LDE_IF_ID               0x2E            /* Leading edge detection control block */

#define LDE_IF_LEN              (0)

/* offset from LDE_IF_ID in bytes */

#define LDE_THRESH_OFFSET       0x0000  /* 16-bit status register reporting the threshold that was used to find the first path */

#define LDE_THRESH_LEN          (2)

/* offset from LDE_IF_ID in bytes */

#define LDE_CFG1_OFFSET         0x0806  /*8-bit configuration register*/

#define LDE_CFG1_LEN            (1)

#define LDE_CFG1_NSTDEV_MASK    0x1F    /* Number of Standard Deviations mask. */

#define LDE_CFG1_PMULT_MASK     0xE0    /* Peak Multiplier mask. */

/* offset from LDE_IF_ID in bytes */

#define LDE_PPINDX_OFFSET       0x1000  /* reporting the position within the accumulator that the LDE algorithm has determined to contain the maximum */

#define LDE_PPINDX_LEN          (2)

/* offset from LDE_IF_ID in bytes */

#define LDE_PPAMPL_OFFSET       0x1002  /* reporting the magnitude of the peak signal seen in the accumulator data memory */

#define LDE_PPAMPL_LEN          (2)

/* offset from LDE_IF_ID in bytes */

#define LDE_RXANTD_OFFSET       0x1804  /* 16-bit configuration register for setting the receive antenna delay */

#define LDE_RXANTD_LEN          (2)

/* offset from LDE_IF_ID in bytes */

#define LDE_CFG2_OFFSET         0x1806  /* 16-bit LDE configuration tuning register */

#define LDE_CFG2_LEN            (2)

/* offset from LDE_IF_ID in bytes */

#define LDE_REPC_OFFSET         0x2804  /* 16-bit configuration register for setting the replica avoidance coefficient */

#define LDE_REPC_LEN            (2)

#define LDE_REPC_PCODE_1        0x5998

#define LDE_REPC_PCODE_2        0x5998

#define LDE_REPC_PCODE_3        0x51EA

#define LDE_REPC_PCODE_4        0x428E

#define LDE_REPC_PCODE_5        0x451E

#define LDE_REPC_PCODE_6        0x2E14

#define LDE_REPC_PCODE_7        0x8000

#define LDE_REPC_PCODE_8        0x51EA

#define LDE_REPC_PCODE_9        0x28F4

#define LDE_REPC_PCODE_10       0x3332

#define LDE_REPC_PCODE_11       0x3AE0

#define LDE_REPC_PCODE_12       0x3D70

#define LDE_REPC_PCODE_13       0x3AE0

#define LDE_REPC_PCODE_14       0x35C2

#define LDE_REPC_PCODE_15       0x2B84

#define LDE_REPC_PCODE_16       0x35C2

#define LDE_REPC_PCODE_17       0x3332

#define LDE_REPC_PCODE_18       0x35C2

#define LDE_REPC_PCODE_19       0x35C2

#define LDE_REPC_PCODE_20       0x47AE

#define LDE_REPC_PCODE_21       0x3AE0

#define LDE_REPC_PCODE_22       0x3850

#define LDE_REPC_PCODE_23       0x30A2

#define LDE_REPC_PCODE_24       0x3850

/****************************************************************************//**

 * @brief Bit definitions for register DIG_DIAG

 * Digital Diagnostics interface.

 * It contains a number of sub-registers that give diagnostics information.

**/

#define DIG_DIAG_ID             0x2F        /* Digital Diagnostics Interface */

#define DIG_DIAG_LEN            (41)

/* offset from DIG_DIAG_ID in bytes */

#define EVC_CTRL_OFFSET         0x00        /* Event Counter Control */

#define EVC_CTRL_LEN            (4)

#define EVC_CTRL_MASK           0x00000003UL/* access mask to Register for bits should always be set to zero to avoid any malfunction of the device. */

#define EVC_EN                  0x00000001UL/* Event Counters Enable bit */

#define EVC_CLR                 0x00000002UL

/* offset from DIG_DIAG_ID in bytes */

#define EVC_PHE_OFFSET          0x04        /* PHR Error Event Counter */

#define EVC_PHE_LEN             (2)

#define EVC_PHE_MASK            0x0FFF

/* offset from DIG_DIAG_ID in bytes */

#define EVC_RSE_OFFSET          0x06        /* Reed Solomon decoder (Frame Sync Loss) Error Event Counter */

#define EVC_RSE_LEN             (2)

#define EVC_RSE_MASK            0x0FFF

/* offset from DIG_DIAG_ID in bytes */

#define EVC_FCG_OFFSET          0x08        /* The EVC_FCG field is a 12-bit counter of the frames received with good CRC/FCS sequence. */

#define EVC_FCG_LEN             (2)

#define EVC_FCG_MASK            0x0FFF

/* offset from DIG_DIAG_ID in bytes */

#define EVC_FCE_OFFSET          0x0A        /* The EVC_FCE field is a 12-bit counter of the frames received with bad CRC/FCS sequence. */

#define EVC_FCE_LEN             (2)

#define EVC_FCE_MASK            0x0FFF

/* offset from DIG_DIAG_ID in bytes */

#define EVC_FFR_OFFSET          0x0C        /* The EVC_FFR field is a 12-bit counter of the frames rejected by the receive frame filtering function. */

#define EVC_FFR_LEN             (2)

#define EVC_FFR_MASK            0x0FFF

/* offset from DIG_DIAG_ID in bytes */

#define EVC_OVR_OFFSET          0x0E        /* The EVC_OVR field is a 12-bit counter of receive overrun events */

#define EVC_OVR_LEN             (2)

#define EVC_OVR_MASK            0x0FFF

/* offset from DIG_DIAG_ID in bytes */

#define EVC_STO_OFFSET          0x10        /* The EVC_STO field is a 12-bit counter of SFD Timeout Error events */

#define EVC_OVR_LEN             (2)

#define EVC_OVR_MASK            0x0FFF

/* offset from DIG_DIAG_ID in bytes */

#define EVC_PTO_OFFSET          0x12        /* The EVC_PTO field is a 12-bit counter of Preamble detection Timeout events */

#define EVC_PTO_LEN             (2)

#define EVC_PTO_MASK            0x0FFF

/* offset from DIG_DIAG_ID in bytes */

#define EVC_FWTO_OFFSET         0x14        /* The EVC_FWTO field is a 12-bit counter of receive frame wait timeout events */

#define EVC_FWTO_LEN            (2)

#define EVC_FWTO_MASK           0x0FFF

/* offset from DIG_DIAG_ID in bytes */

#define EVC_TXFS_OFFSET         0x16        /* The EVC_TXFS field is a 12-bit counter of transmit frames sent. This is incremented every time a frame is sent */

#define EVC_TXFS_LEN            (2)

#define EVC_TXFS_MASK           0x0FFF

/* offset from DIG_DIAG_ID in bytes */

#define EVC_HPW_OFFSET          0x18        /* The EVC_HPW field is a 12-bit counter of Half Period Warnings\94. */

#define EVC_HPW_LEN             (2)

#define EVC_HPW_MASK            0x0FFF

/* offset from DIG_DIAG_ID in bytes */

#define EVC_TPW_OFFSET          0x1A        /* The EVC_TPW field is a 12-bit counter of Transmitter Power-Up Warnings\94. */

#define EVC_TPW_LEN             (2)

#define EVC_TPW_MASK            0x0FFF

/* offset from DIG_DIAG_ID in bytes */

#define EVC_RES1_OFFSET         0x1C        /* Please take care not to write to this register as doing so may cause the DW1000 to malfunction. */

/* offset from DIG_DIAG_ID in bytes */

#define DIAG_TMC_OFFSET         0x24

#define DIAG_TMC_LEN            (2)

#define DIAG_TMC_MASK           0x0010

#define DIAG_TMC_TX_PSTM        0x0010      /* This test mode is provided to help support regulatory approvals spectral testing. When the TX_PSTM bit is set it enables a repeating transmission of the data from the TX_BUFFER */

/****************************************************************************//**

 * @brief Bit definitions for register 0x30-0x35

 * Please take care not to write to these registers as doing so may cause the DW1000 to malfunction.

**/

#define REG_30_ID_RESERVED      0x30

#define REG_31_ID_RESERVED      0x31

#define REG_32_ID_RESERVED      0x32

#define REG_33_ID_RESERVED      0x33

#define REG_34_ID_RESERVED      0x34

#define REG_35_ID_RESERVED      0x35

/****************************************************************************//**

 * @brief Bit definitions for register PMSC

**/

#define PMSC_ID                 0x36            /* Power Management System Control Block */

#define PMSC_LEN                (48)

/* offset from PMSC_ID in bytes */

#define PMSC_CTRL0_OFFSET       0x00

#define PMSC_CTRL0_LEN          (4)

#define PMSC_CTRL0_MASK         0xF18F847FUL    /* access mask to register PMSC_CTRL0 */

#define PMSC_CTRL0_SYSCLKS_AUTO 0x00000000UL    /* The system clock will run off the 19.2 MHz XTI clock until the PLL is calibrated and locked, then it will switch over the 125 MHz PLL clock */

#define PMSC_CTRL0_SYSCLKS_19M  0x00000001UL    /* Force system clock to be the 19.2 MHz XTI clock. */

#define PMSC_CTRL0_SYSCLKS_125M 0x00000002UL    /* Force system clock to the 125 MHz PLL clock. */

#define PMSC_CTRL0_RXCLKS_AUTO  0x00000000UL    /* The RX clock will be disabled until it is required for an RX operation */

#define PMSC_CTRL0_RXCLKS_19M   0x00000004UL    /* Force RX clock enable and sourced clock from the 19.2 MHz XTI clock */

#define PMSC_CTRL0_RXCLKS_125M  0x00000008UL    /* Force RX clock enable and sourced from the 125 MHz PLL clock */

#define PMSC_CTRL0_RXCLKS_OFF   0x0000000CUL    /* Force RX clock off. */

#define PMSC_CTRL0_TXCLKS_AUTO  0x00000000UL    /* The TX clock will be disabled until it is required for a TX operation */

#define PMSC_CTRL0_TXCLKS_19M   0x00000010UL    /* Force TX clock enable and sourced clock from the 19.2 MHz XTI clock */

#define PMSC_CTRL0_TXCLKS_125M  0x00000020UL    /* Force TX clock enable and sourced from the 125 MHz PLL clock */

#define PMSC_CTRL0_TXCLKS_OFF   0x00000030UL    /* Force TX clock off */

#define PMSC_CTRL0_FACE         0x00000040UL    /* Force Accumulator Clock Enable */

#define PMSC_CTRL0_GPDCE        0x00040000UL    /* GPIO De-bounce Clock Enable */

#define PMSC_CTRL0_KHZCLEN      0x00800000UL    /* Kilohertz Clock Enable */

#define PMSC_CTRL0_PLL2_SEQ_EN  0x01000000UL    /* Enable PLL2 on/off sequencing by SNIFF mode */

#define PMSC_CTRL0_SOFTRESET_OFFSET 3           /* In bytes */

#define PMSC_CTRL0_RESET_ALL    0x00            /* Assuming only 4th byte of the register is read */

#define PMSC_CTRL0_RESET_RX     0xE0            /* Assuming only 4th byte of the register is read */

#define PMSC_CTRL0_RESET_CLEAR  0xF0            /* Assuming only 4th byte of the register is read */

/* offset from PMSC_ID in bytes */

#define PMSC_CTRL1_OFFSET       0x04

#define PMSC_CTRL1_LEN          (4)

#define PMSC_CTRL1_MASK         0xFC02F802UL    /* access mask to register PMSC_CTRL1 */

#define PMSC_CTRL1_ARX2INIT     0x00000002UL    /* Automatic transition from receive mode into the INIT state */

#define PMSC_CTRL1_ATXSLP       0x00000800UL    /* If this bit is set then the DW1000 will automatically transition into SLEEP or DEEPSLEEP mode after transmission of a frame */

#define PMSC_CTRL1_ARXSLP       0x00001000UL    /* this bit is set then the DW1000 will automatically transition into SLEEP mode after a receive attempt */

#define PMSC_CTRL1_SNOZE        0x00002000UL    /* Snooze Enable */

#define PMSC_CTRL1_SNOZR        0x00004000UL    /* The SNOZR bit is set to allow the snooze timer to repeat twice */

#define PMSC_CTRL1_PLLSYN       0x00008000UL    /* This enables a special 1 GHz clock used for some external SYNC modes */

#define PMSC_CTRL1_LDERUNE      0x00020000UL    /* This bit enables the running of the LDE algorithm */

#define PMSC_CTRL1_KHZCLKDIV_MASK   0xFC000000UL    /* Kilohertz clock divisor */

#define PMSC_CTRL1_PKTSEQ_DISABLE   0x00        /* writing this to PMSC CONTROL 1 register (bits 10-3) disables PMSC control of analog RF subsystems */

#define PMSC_CTRL1_PKTSEQ_ENABLE    0xE7        /* writing this to PMSC CONTROL 1 register (bits 10-3) enables PMSC control of analog RF subsystems */

/* offset from PMSC_ID in bytes */

#define PMSC_RES1_OFFSET        0x08

/* offset from PMSC_ID in bytes */

#define PMSC_SNOZT_OFFSET       0x0C            /* PMSC Snooze Time Register */

#define PMSC_SNOZT_LEN          (1)

/* offset from PMSC_ID in bytes */

#define PMSC_RES2_OFFSET        0x10

/* offset from PMSC_ID in bytes */

#define PMSC_RES3_OFFSET        0x24

/* offset from PMSC_ID in bytes */

#define PMSC_TXFINESEQ_OFFSET   0x26

#define PMSC_TXFINESEQ_DISABLE  0x0             /* Writing this disables fine grain sequencing in the transmitter */

#define PMSC_TXFINESEQ_ENABLE   0x0B74          /* Writing this enables fine grain sequencing in the transmitter */

/* offset from PMSC_ID in bytes */

#define PMSC_LEDC_OFFSET        0x28

#define PMSC_LEDC_LEN           (4)

#define PMSC_LEDC_MASK          0x000001FFUL    /* 32-bit LED control register. */

#define PMSC_LEDC_BLINK_TIM_MASK 0x000000FFUL   /* This field determines how long the LEDs remain lit after an event that causes them to be set on. */

#define PMSC_LEDC_BLNKEN        0x00000100UL    /* Blink Enable. When this bit is set to 1 the LED blink feature is enabled. */

/* Default blink time. Blink time is expressed in multiples of 14 ms. The value defined here is ~225 ms. */

#define PMSC_LEDC_BLINK_TIME_DEF 0x10

/* Command a blink of all LEDs */

#define PMSC_LEDC_BLINK_NOW_ALL 0x000F0000UL

/****************************************************************************//**

 * @brief Bit definitions for register 0x37-0x3F

 * Please take care not to write to these registers as doing so may cause the DW1000 to malfunction.

**/

#define REG_37_ID_RESERVED      0x37

#define REG_38_ID_RESERVED      0x38

#define REG_39_ID_RESERVED      0x39

#define REG_3A_ID_RESERVED      0x3A

#define REG_3B_ID_RESERVED      0x3B

#define REG_3C_ID_RESERVED      0x3C

#define REG_3D_ID_RESERVED      0x3D

#define REG_3E_ID_RESERVED      0x3E

#define REG_3F_ID_RESERVED      0x3F

/* END DW1000 REGISTER DEFINITION */

#ifdef __cplusplus

}

#endif

#endif /* defined(AMIROLLD_CFG_USE_DW1000) */

#endif

/*

AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.

Copyright (C) 2016..2019  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU Lesser General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

*/

/*! ----------------------------------------------------------------------------

 * @file    deca_device_api.h

 * @brief   DW1000 API Functions

 *

 * @attention

 *

 * Copyright 2013 (c) Decawave Ltd, Dublin, Ireland.

 *

 * All rights reserved.

 *

 */

#ifndef AMIROLLD_DW1000_H

#define AMIROLLD_DW1000_H

#include <amiro-lld.h>

#if defined(AMIROLLD_CFG_USE_DW1000) || defined(__DOXYGEN__)

#include <stddef.h>

#include <stdint.h>

#include <stdbool.h>

#define DW1000_DRIVER_VERSION               0x040005

#define DW1000_DEVICE_DRIVER_VER_STRING     "DW1000 Device Driver Version 04.00.05"

#ifndef DWT_NUM_DW_DEV

#define DWT_NUM_DW_DEV (1)

#endif

#define DWT_SUCCESS (0)

#define DWT_ERROR   (-1)

/**

 * @brief The DW1000 driver struct.

 */

typedef struct {

  apalSPIDriver_t* spid;    /**< @brief The SPI Driver */

  apalGpio_t* gpio_exti;    /**< @brief The GPIO indicating external interrupt */

  apalGpio_t* gpio_reset;  /**< @brief The GPIO indicating reset sig*/

  /* TODO: better apalControlGpio_t instead of apalGpio_t ? */

  /* TODO: EXTI, GPIO (RESET) */

} DW1000Driver;

#define DWT_TIME_UNITS  (1.0/499.2e6/128.0) //!< = 15.65e-12 s

#define DWT_DEVICE_ID   (0xDECA0130)        //!< DW1000 MP device ID

#define BUFFLEN 	(4096+128)

//! constants for selecting the bit rate for data TX (and RX)

//! These are defined for write (with just a shift) the TX_FCTRL register

#define DWT_BR_110K     0   //!< UWB bit rate 110 kbits/s

#define DWT_BR_850K     1   //!< UWB bit rate 850 kbits/s

#define DWT_BR_6M8      2   //!< UWB bit rate 6.8 Mbits/s

//! constants for specifying the (Nominal) mean Pulse Repetition Frequency

//! These are defined for direct write (with a shift if necessary) to CHAN_CTRL and TX_FCTRL regs

#define DWT_PRF_16M     1   //!< UWB PRF 16 MHz

#define DWT_PRF_64M     2   //!< UWB PRF 64 MHz

//! constants for specifying Preamble Acquisition Chunk (PAC) Size in symbols

#define DWT_PAC8        0   //!< PAC  8 (recommended for RX of preamble length  128 and below

#define DWT_PAC16       1   //!< PAC 16 (recommended for RX of preamble length  256

#define DWT_PAC32       2   //!< PAC 32 (recommended for RX of preamble length  512

#define DWT_PAC64       3   //!< PAC 64 (recommended for RX of preamble length 1024 and up

//! constants for specifying TX Preamble length in symbols

//! These are defined to allow them be directly written into byte 2 of the TX_FCTRL register

//! (i.e. a four bit value destined for bits 20..18 but shifted left by 2 for byte alignment)

#define DWT_PLEN_4096   0x0C    //! Standard preamble length 4096 symbols

#define DWT_PLEN_2048   0x28    //! Non-standard preamble length 2048 symbols

#define DWT_PLEN_1536   0x18    //! Non-standard preamble length 1536 symbols

#define DWT_PLEN_1024   0x08    //! Standard preamble length 1024 symbols

#define DWT_PLEN_512    0x34    //! Non-standard preamble length 512 symbols

#define DWT_PLEN_256    0x24    //! Non-standard preamble length 256 symbols