amiro-lld / source / DW1000 / v0 / alld_DW100_v0.c @ 26dead12
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/*
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AMiRo-LLD is a compilation of low-level hardware drivers for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2019 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU Lesser General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*! ------------------------------------------------------------------------------------------------------------------
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* @file deca_device.c
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* @brief Decawave device configuration and control functions
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*
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* @attention
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*
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* Copyright 2013 (c) Decawave Ltd, Dublin, Ireland.
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*
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* All rights reserved.
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*
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*/
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#include <alld_DW1000.h> |
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#if (defined(AMIROLLD_CFG_DW1000) && (AMIROLLD_CFG_DW1000 == 0)) || defined(__DOXYGEN__) |
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#include <aos_thread.h> |
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#include <assert.h> |
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#include <string.h> |
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#include <stdlib.h> |
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#include <math.h> |
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// HW dependent implementation (see bottom of file)
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static int _alld_dw1000_writespi(uint16_t headerLength, |
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const uint8_t *headerBuffer,
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uint32_t bodyLength, |
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const uint8_t *bodyBuffer);
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static int _alld_dw1000_readspi(uint16_t headerLength, |
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const uint8_t *headerBuffer,
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uint32_t readlength, |
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uint8_t *readBuffer); |
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// Defines for enable_clocks function
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#define FORCE_SYS_XTI 0 |
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#define ENABLE_ALL_SEQ 1 |
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#define FORCE_SYS_PLL 2 |
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#define READ_ACC_ON 7 |
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#define READ_ACC_OFF 8 |
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#define FORCE_OTP_ON 11 |
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#define FORCE_OTP_OFF 12 |
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#define FORCE_TX_PLL 13 |
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#define FORCE_LDE 14 |
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// Defines for ACK request bitmask in DATA and MAC COMMAND frame control (first byte) - Used to detect AAT bit wrongly set.
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#define FCTRL_ACK_REQ_MASK 0x20 |
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// Frame control maximum length in bytes.
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#define FCTRL_LEN_MAX 2 |
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#define NUM_BR 3 |
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#define NUM_PRF 2 |
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#define NUM_PACS 4 |
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#define NUM_BW 2 //2 bandwidths are supported |
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#define NUM_SFD 2 //supported number of SFDs - standard = 0, non-standard = 1 |
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#define NUM_CH 6 //supported channels are 1, 2, 3, 4, 5, 7 |
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#define NUM_CH_SUPPORTED 8 //supported channels are '0', 1, 2, 3, 4, 5, '6', 7 |
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#define PCODES 25 //supported preamble codes |
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typedef struct { |
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uint32_t lo32; |
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uint16_t target[NUM_PRF]; |
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} agc_cfg_struct ; |
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|
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extern const agc_cfg_struct agc_config ; |
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//SFD threshold settings for 110k, 850k, 6.8Mb standard and non-standard
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extern const uint16_t sftsh[NUM_BR][NUM_SFD]; |
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extern const uint16_t dtune1[NUM_PRF]; |
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#define XMLPARAMS_VERSION (1.17f) |
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extern const uint32_t fs_pll_cfg[NUM_CH]; |
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extern const uint8_t fs_pll_tune[NUM_CH]; |
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extern const uint8_t rx_config[NUM_BW]; |
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extern const uint32_t tx_config[NUM_CH]; |
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extern const uint8_t dwnsSFDlen[NUM_BR]; //length of SFD for each of the bitrates |
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extern const uint32_t digital_bb_config[NUM_PRF][NUM_PACS]; |
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extern const uint8_t chan_idx[NUM_CH_SUPPORTED]; |
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extern const double txpwr_compensation[NUM_CH]; |
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#define PEAK_MULTPLIER (0x60) //3 -> (0x3 * 32) & 0x00E0 |
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#define N_STD_FACTOR (13) |
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#define LDE_PARAM1 (PEAK_MULTPLIER | N_STD_FACTOR)
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#define LDE_PARAM3_16 (0x1607) |
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#define LDE_PARAM3_64 (0x0607) |
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#define MIXER_GAIN_STEP (0.5) |
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#define DA_ATTN_STEP (2.5) |
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// #define DWT_API_ERROR_CHECK // define so API checks config input parameters
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//-----------------------------------------
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// map the channel number to the index in the configuration arrays below
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// 0th element is chan 1, 1st is chan 2, 2nd is chan 3, 3rd is chan 4, 4th is chan 5, 5th is chan 7
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const uint8_t chan_idx[NUM_CH_SUPPORTED] = {0, 0, 1, 2, 3, 4, 0, 5}; |
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//-----------------------------------------
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const uint32_t tx_config[NUM_CH] =
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{
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RF_TXCTRL_CH1, |
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RF_TXCTRL_CH2, |
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RF_TXCTRL_CH3, |
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RF_TXCTRL_CH4, |
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RF_TXCTRL_CH5, |
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RF_TXCTRL_CH7, |
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}; |
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//Frequency Synthesiser - PLL configuration
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const uint32_t fs_pll_cfg[NUM_CH] =
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{
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FS_PLLCFG_CH1, |
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FS_PLLCFG_CH2, |
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FS_PLLCFG_CH3, |
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FS_PLLCFG_CH4, |
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FS_PLLCFG_CH5, |
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FS_PLLCFG_CH7 |
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}; |
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//Frequency Synthesiser - PLL tuning
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const uint8_t fs_pll_tune[NUM_CH] =
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{
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FS_PLLTUNE_CH1, |
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FS_PLLTUNE_CH2, |
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FS_PLLTUNE_CH3, |
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FS_PLLTUNE_CH4, |
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FS_PLLTUNE_CH5, |
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FS_PLLTUNE_CH7 |
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}; |
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//bandwidth configuration
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const uint8_t rx_config[NUM_BW] =
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{
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RF_RXCTRLH_NBW, |
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RF_RXCTRLH_WBW |
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}; |
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const agc_cfg_struct agc_config =
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{
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AGC_TUNE2_VAL, |
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{ AGC_TUNE1_16M , AGC_TUNE1_64M } //adc target
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}; |
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//DW non-standard SFD length for 110k, 850k and 6.81M
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const uint8_t dwnsSFDlen[NUM_BR] =
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{
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DW_NS_SFD_LEN_110K, |
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DW_NS_SFD_LEN_850K, |
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DW_NS_SFD_LEN_6M8 |
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}; |
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// SFD Threshold
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const uint16_t sftsh[NUM_BR][NUM_SFD] =
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{
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{
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DRX_TUNE0b_110K_STD, |
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DRX_TUNE0b_110K_NSTD |
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}, |
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{
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DRX_TUNE0b_850K_STD, |
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DRX_TUNE0b_850K_NSTD |
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}, |
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{
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DRX_TUNE0b_6M8_STD, |
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DRX_TUNE0b_6M8_NSTD |
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} |
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}; |
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const uint16_t dtune1[NUM_PRF] =
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{
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DRX_TUNE1a_PRF16, |
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DRX_TUNE1a_PRF64 |
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}; |
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const uint32_t digital_bb_config[NUM_PRF][NUM_PACS] =
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{
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{
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DRX_TUNE2_PRF16_PAC8, |
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DRX_TUNE2_PRF16_PAC16, |
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DRX_TUNE2_PRF16_PAC32, |
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DRX_TUNE2_PRF16_PAC64 |
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}, |
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{
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DRX_TUNE2_PRF64_PAC8, |
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DRX_TUNE2_PRF64_PAC16, |
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DRX_TUNE2_PRF64_PAC32, |
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DRX_TUNE2_PRF64_PAC64 |
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} |
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}; |
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const uint16_t lde_replicaCoeff[PCODES] =
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{
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0, // No preamble code 0 |
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LDE_REPC_PCODE_1, |
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LDE_REPC_PCODE_2, |
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LDE_REPC_PCODE_3, |
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LDE_REPC_PCODE_4, |
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LDE_REPC_PCODE_5, |
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LDE_REPC_PCODE_6, |
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LDE_REPC_PCODE_7, |
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LDE_REPC_PCODE_8, |
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LDE_REPC_PCODE_9, |
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LDE_REPC_PCODE_10, |
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LDE_REPC_PCODE_11, |
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LDE_REPC_PCODE_12, |
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LDE_REPC_PCODE_13, |
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LDE_REPC_PCODE_14, |
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LDE_REPC_PCODE_15, |
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LDE_REPC_PCODE_16, |
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LDE_REPC_PCODE_17, |
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LDE_REPC_PCODE_18, |
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LDE_REPC_PCODE_19, |
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LDE_REPC_PCODE_20, |
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LDE_REPC_PCODE_21, |
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LDE_REPC_PCODE_22, |
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LDE_REPC_PCODE_23, |
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LDE_REPC_PCODE_24 |
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}; |
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const double txpwr_compensation[NUM_CH] = { |
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0.0, |
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0.035, |
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0.0, |
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0.0, |
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0.065, |
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0.0 |
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}; |
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#define NUM_16M_OFFSET (37) |
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#define NUM_16M_OFFSETWB (68) |
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#define NUM_64M_OFFSET (26) |
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#define NUM_64M_OFFSETWB (59) |
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const uint8_t chan_idxnb[NUM_CH_SUPPORTED] = {0, 0, 1, 2, 0, 3, 0, 0}; //only channels 1,2,3 and 5 are in the narrow band tables |
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const uint8_t chan_idxwb[NUM_CH_SUPPORTED] = {0, 0, 0, 0, 0, 0, 0, 1}; //only channels 4 and 7 are in in the wide band tables |
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//---------------------------------------------------------------------------------------------------------------------------
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// Range Bias Correction TABLES of range values in integer units of 25 CM, for 8-bit unsigned storage, MUST END IN 255 !!!!!!
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//---------------------------------------------------------------------------------------------------------------------------
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// offsets to nearest centimeter for index 0, all rest are +1 cm per value
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#define CM_OFFSET_16M_NB (-23) // for normal band channels at 16 MHz PRF |
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#define CM_OFFSET_16M_WB (-28) // for wider band channels at 16 MHz PRF |
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#define CM_OFFSET_64M_NB (-17) // for normal band channels at 64 MHz PRF |
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#define CM_OFFSET_64M_WB (-30) // for wider band channels at 64 MHz PRF |
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//---------------------------------------------------------------------------------------------------------------------------
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// range25cm16PRFnb: Range Bias Correction table for narrow band channels at 16 MHz PRF, NB: !!!! each MUST END IN 255 !!!!
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//---------------------------------------------------------------------------------------------------------------------------
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const uint8_t range25cm16PRFnb[4][NUM_16M_OFFSET] = |
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{
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// ch 1 - range25cm16PRFnb
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{
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1,
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3,
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4,
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5,
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7,
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9,
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11,
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12,
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13,
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15,
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18,
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20,
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23,
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25,
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28,
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30,
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33,
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36,
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40,
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43,
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47,
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50,
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58,
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63,
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66,
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71,
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76,
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82,
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89,
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98,
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109,
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127,
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155,
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222,
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255,
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255
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}, |
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// ch 2 - range25cm16PRFnb
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{
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1,
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2,
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4,
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5,
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6,
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8,
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9,
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10,
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12,
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13,
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15,
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18,
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20,
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22,
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24,
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27,
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29,
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32,
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35,
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38,
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41,
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44,
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47,
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51,
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55,
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58,
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62,
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66,
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71,
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78,
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85,
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96,
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111,
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135,
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194,
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240,
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255
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}, |
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// ch 3 - range25cm16PRFnb
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{
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1,
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2,
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3,
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4,
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5,
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7,
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8,
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9,
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10,
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12,
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14,
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16,
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18,
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20,
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22,
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24,
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26,
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28,
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31,
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33,
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36,
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39,
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42,
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45,
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49,
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52,
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55,
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59,
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63,
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69,
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76,
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85,
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98,
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120,
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173,
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213,
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255
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}, |
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// ch 5 - range25cm16PRFnb
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{
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1,
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1,
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2,
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3,
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4,
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5,
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6,
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6,
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7,
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8,
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9,
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11,
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12,
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14,
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15,
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16,
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18,
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20,
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21,
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23,
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25,
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27,
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29,
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31,
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34,
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36,
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38,
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41,
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44,
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48,
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53,
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59,
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68,
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83,
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120,
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148,
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255
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} |
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}; // end range25cm16PRFnb
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//---------------------------------------------------------------------------------------------------------------------------
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// range25cm16PRFwb: Range Bias Correction table for wide band channels at 16 MHz PRF, NB: !!!! each MUST END IN 255 !!!!
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//---------------------------------------------------------------------------------------------------------------------------
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const uint8_t range25cm16PRFwb[2][NUM_16M_OFFSETWB] = |
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{
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// ch 4 - range25cm16PRFwb
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{
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7,
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7,
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8,
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9,
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9,
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10,
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11,
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78,
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81,
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85,
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89,
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94,
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104,
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110,
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116,
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123,
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130,
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139,
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150,
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164,
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182,
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207,
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238,
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255,
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255,
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255,
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255,
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255
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}, |
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// ch 7 - range25cm16PRFwb
|
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{
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4,
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5,
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5,
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5,
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6,
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6,
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7,
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7,
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7,
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8,
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9,
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9,
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10,
|
| 539 |
11,
|
| 540 |
11,
|
| 541 |
12,
|
| 542 |
13,
|
| 543 |
13,
|
| 544 |
14,
|
| 545 |
15,
|
| 546 |
16,
|
| 547 |
17,
|
| 548 |
17,
|
| 549 |
18,
|
| 550 |
19,
|
| 551 |
20,
|
| 552 |
21,
|
| 553 |
22,
|
| 554 |
23,
|
| 555 |
25,
|
| 556 |
26,
|
| 557 |
27,
|
| 558 |
29,
|
| 559 |
30,
|
| 560 |
31,
|
| 561 |
32,
|
| 562 |
34,
|
| 563 |
35,
|
| 564 |
36,
|
| 565 |
38,
|
| 566 |
39,
|
| 567 |
40,
|
| 568 |
42,
|
| 569 |
44,
|
| 570 |
46,
|
| 571 |
48,
|
| 572 |
50,
|
| 573 |
52,
|
| 574 |
55,
|
| 575 |
58,
|
| 576 |
61,
|
| 577 |
64,
|
| 578 |
68,
|
| 579 |
72,
|
| 580 |
75,
|
| 581 |
80,
|
| 582 |
85,
|
| 583 |
92,
|
| 584 |
101,
|
| 585 |
112,
|
| 586 |
127,
|
| 587 |
147,
|
| 588 |
168,
|
| 589 |
182,
|
| 590 |
194,
|
| 591 |
205,
|
| 592 |
255
|
| 593 |
} |
| 594 |
}; // end range25cm16PRFwb
|
| 595 |
|
| 596 |
//---------------------------------------------------------------------------------------------------------------------------
|
| 597 |
// range25cm64PRFnb: Range Bias Correction table for narrow band channels at 64 MHz PRF, NB: !!!! each MUST END IN 255 !!!!
|
| 598 |
//---------------------------------------------------------------------------------------------------------------------------
|
| 599 |
|
| 600 |
const uint8_t range25cm64PRFnb[4][NUM_64M_OFFSET] = |
| 601 |
{
|
| 602 |
// ch 1 - range25cm64PRFnb
|
| 603 |
{
|
| 604 |
1,
|
| 605 |
2,
|
| 606 |
2,
|
| 607 |
3,
|
| 608 |
4,
|
| 609 |
5,
|
| 610 |
7,
|
| 611 |
10,
|
| 612 |
13,
|
| 613 |
16,
|
| 614 |
19,
|
| 615 |
22,
|
| 616 |
24,
|
| 617 |
27,
|
| 618 |
30,
|
| 619 |
32,
|
| 620 |
35,
|
| 621 |
38,
|
| 622 |
43,
|
| 623 |
48,
|
| 624 |
56,
|
| 625 |
78,
|
| 626 |
101,
|
| 627 |
120,
|
| 628 |
157,
|
| 629 |
255
|
| 630 |
}, |
| 631 |
|
| 632 |
// ch 2 - range25cm64PRFnb
|
| 633 |
{
|
| 634 |
1,
|
| 635 |
2,
|
| 636 |
2,
|
| 637 |
3,
|
| 638 |
4,
|
| 639 |
4,
|
| 640 |
6,
|
| 641 |
9,
|
| 642 |
12,
|
| 643 |
14,
|
| 644 |
17,
|
| 645 |
19,
|
| 646 |
21,
|
| 647 |
24,
|
| 648 |
26,
|
| 649 |
28,
|
| 650 |
31,
|
| 651 |
33,
|
| 652 |
37,
|
| 653 |
42,
|
| 654 |
49,
|
| 655 |
68,
|
| 656 |
89,
|
| 657 |
105,
|
| 658 |
138,
|
| 659 |
255
|
| 660 |
}, |
| 661 |
|
| 662 |
// ch 3 - range25cm64PRFnb
|
| 663 |
{
|
| 664 |
1,
|
| 665 |
1,
|
| 666 |
2,
|
| 667 |
3,
|
| 668 |
3,
|
| 669 |
4,
|
| 670 |
5,
|
| 671 |
8,
|
| 672 |
10,
|
| 673 |
13,
|
| 674 |
15,
|
| 675 |
17,
|
| 676 |
19,
|
| 677 |
21,
|
| 678 |
23,
|
| 679 |
25,
|
| 680 |
27,
|
| 681 |
30,
|
| 682 |
33,
|
| 683 |
37,
|
| 684 |
44,
|
| 685 |
60,
|
| 686 |
79,
|
| 687 |
93,
|
| 688 |
122,
|
| 689 |
255
|
| 690 |
}, |
| 691 |
|
| 692 |
// ch 5 - range25cm64PRFnb
|
| 693 |
{
|
| 694 |
1,
|
| 695 |
1,
|
| 696 |
1,
|
| 697 |
2,
|
| 698 |
2,
|
| 699 |
3,
|
| 700 |
4,
|
| 701 |
6,
|
| 702 |
7,
|
| 703 |
9,
|
| 704 |
10,
|
| 705 |
12,
|
| 706 |
13,
|
| 707 |
15,
|
| 708 |
16,
|
| 709 |
17,
|
| 710 |
19,
|
| 711 |
21,
|
| 712 |
23,
|
| 713 |
26,
|
| 714 |
30,
|
| 715 |
42,
|
| 716 |
55,
|
| 717 |
65,
|
| 718 |
85,
|
| 719 |
255
|
| 720 |
} |
| 721 |
}; // end range25cm64PRFnb
|
| 722 |
|
| 723 |
//---------------------------------------------------------------------------------------------------------------------------
|
| 724 |
// range25cm64PRFwb: Range Bias Correction table for wide band channels at 64 MHz PRF, NB: !!!! each MUST END IN 255 !!!!
|
| 725 |
//---------------------------------------------------------------------------------------------------------------------------
|
| 726 |
|
| 727 |
const uint8_t range25cm64PRFwb[2][NUM_64M_OFFSETWB] = |
| 728 |
{
|
| 729 |
// ch 4 - range25cm64PRFwb
|
| 730 |
{
|
| 731 |
7,
|
| 732 |
8,
|
| 733 |
8,
|
| 734 |
9,
|
| 735 |
9,
|
| 736 |
10,
|
| 737 |
11,
|
| 738 |
12,
|
| 739 |
13,
|
| 740 |
13,
|
| 741 |
14,
|
| 742 |
15,
|
| 743 |
16,
|
| 744 |
16,
|
| 745 |
17,
|
| 746 |
18,
|
| 747 |
19,
|
| 748 |
19,
|
| 749 |
20,
|
| 750 |
21,
|
| 751 |
22,
|
| 752 |
24,
|
| 753 |
25,
|
| 754 |
27,
|
| 755 |
28,
|
| 756 |
29,
|
| 757 |
30,
|
| 758 |
32,
|
| 759 |
33,
|
| 760 |
34,
|
| 761 |
35,
|
| 762 |
37,
|
| 763 |
39,
|
| 764 |
41,
|
| 765 |
43,
|
| 766 |
45,
|
| 767 |
48,
|
| 768 |
50,
|
| 769 |
53,
|
| 770 |
56,
|
| 771 |
60,
|
| 772 |
64,
|
| 773 |
68,
|
| 774 |
74,
|
| 775 |
81,
|
| 776 |
89,
|
| 777 |
98,
|
| 778 |
109,
|
| 779 |
122,
|
| 780 |
136,
|
| 781 |
146,
|
| 782 |
154,
|
| 783 |
162,
|
| 784 |
178,
|
| 785 |
220,
|
| 786 |
249,
|
| 787 |
255,
|
| 788 |
255,
|
| 789 |
255
|
| 790 |
}, |
| 791 |
|
| 792 |
// ch 7 - range25cm64PRFwb
|
| 793 |
{
|
| 794 |
4,
|
| 795 |
5,
|
| 796 |
5,
|
| 797 |
5,
|
| 798 |
6,
|
| 799 |
6,
|
| 800 |
7,
|
| 801 |
7,
|
| 802 |
8,
|
| 803 |
8,
|
| 804 |
9,
|
| 805 |
9,
|
| 806 |
10,
|
| 807 |
10,
|
| 808 |
10,
|
| 809 |
11,
|
| 810 |
11,
|
| 811 |
12,
|
| 812 |
13,
|
| 813 |
13,
|
| 814 |
14,
|
| 815 |
15,
|
| 816 |
16,
|
| 817 |
16,
|
| 818 |
17,
|
| 819 |
18,
|
| 820 |
19,
|
| 821 |
19,
|
| 822 |
20,
|
| 823 |
21,
|
| 824 |
22,
|
| 825 |
23,
|
| 826 |
24,
|
| 827 |
25,
|
| 828 |
26,
|
| 829 |
28,
|
| 830 |
29,
|
| 831 |
31,
|
| 832 |
33,
|
| 833 |
35,
|
| 834 |
37,
|
| 835 |
39,
|
| 836 |
42,
|
| 837 |
46,
|
| 838 |
50,
|
| 839 |
54,
|
| 840 |
60,
|
| 841 |
67,
|
| 842 |
75,
|
| 843 |
83,
|
| 844 |
90,
|
| 845 |
95,
|
| 846 |
100,
|
| 847 |
110,
|
| 848 |
135,
|
| 849 |
153,
|
| 850 |
172,
|
| 851 |
192,
|
| 852 |
255
|
| 853 |
} |
| 854 |
}; // end range25cm64PRFwb
|
| 855 |
|
| 856 |
|
| 857 |
|
| 858 |
|
| 859 |
|
| 860 |
/*! ------------------------------------------------------------------------------------------------------------------
|
| 861 |
* Function: dwt_getrangebias()
|
| 862 |
*
|
| 863 |
* Description: This function is used to return the range bias correction need for TWR with DW1000 units.
|
| 864 |
*
|
| 865 |
* input parameters:
|
| 866 |
* @param chan - specifies the operating channel (e.g. 1, 2, 3, 4, 5, 6 or 7)
|
| 867 |
* @param range - the calculated distance before correction
|
| 868 |
* @param prf - this is the PRF e.g. DWT_PRF_16M or DWT_PRF_64M
|
| 869 |
*
|
| 870 |
* output parameters
|
| 871 |
*
|
| 872 |
* returns correction needed in meters
|
| 873 |
*/
|
| 874 |
double dwt_getrangebias(uint8_t chan, float range, uint8_t prf) |
| 875 |
{
|
| 876 |
//first get the lookup index that corresponds to given range for a particular channel at 16M PRF
|
| 877 |
int i = 0 ; |
| 878 |
int chanIdx ;
|
| 879 |
int cmoffseti ; // integer number of CM offset |
| 880 |
|
| 881 |
double mOffset ; // final offset result in metres |
| 882 |
|
| 883 |
// NB: note we may get some small negitive values e.g. up to -50 cm.
|
| 884 |
|
| 885 |
int rangeint25cm = (int) (range * 4.00) ; // convert range to integer number of 25cm values. |
| 886 |
|
| 887 |
if (rangeint25cm > 255) rangeint25cm = 255 ; // make sure it matches largest value in table (all tables end in 255 !!!!) |
| 888 |
|
| 889 |
if (prf == DWT_PRF_16M)
|
| 890 |
{
|
| 891 |
switch(chan)
|
| 892 |
{
|
| 893 |
case 4: |
| 894 |
case 7: |
| 895 |
{
|
| 896 |
chanIdx = chan_idxwb[chan]; |
| 897 |
while (rangeint25cm > range25cm16PRFwb[chanIdx][i]) i++ ; // find index in table corresponding to range |
| 898 |
cmoffseti = i + CM_OFFSET_16M_WB ; // nearest centimeter correction
|
| 899 |
} |
| 900 |
break;
|
| 901 |
default:
|
| 902 |
{
|
| 903 |
chanIdx = chan_idxnb[chan]; |
| 904 |
while (rangeint25cm > range25cm16PRFnb[chanIdx][i]) i++ ; // find index in table corresponding to range |
| 905 |
cmoffseti = i + CM_OFFSET_16M_NB ; // nearest centimeter correction
|
| 906 |
} |
| 907 |
}//end of switch
|
| 908 |
} |
| 909 |
else // 64M PRF |
| 910 |
{
|
| 911 |
switch(chan)
|
| 912 |
{
|
| 913 |
case 4: |
| 914 |
case 7: |
| 915 |
{
|
| 916 |
chanIdx = chan_idxwb[chan]; |
| 917 |
while (rangeint25cm > range25cm64PRFwb[chanIdx][i]) i++ ; // find index in table corresponding to range |
| 918 |
cmoffseti = i + CM_OFFSET_64M_WB ; // nearest centimeter correction
|
| 919 |
} |
| 920 |
break;
|
| 921 |
default:
|
| 922 |
{
|
| 923 |
chanIdx = chan_idxnb[chan]; |
| 924 |
while (rangeint25cm > range25cm64PRFnb[chanIdx][i]) i++ ; // find index in table corresponding to range |
| 925 |
cmoffseti = i + CM_OFFSET_64M_NB ; // nearest centimeter correction
|
| 926 |
} |
| 927 |
}//end of switch
|
| 928 |
} // end else
|
| 929 |
|
| 930 |
|
| 931 |
mOffset = (float) cmoffseti ; // offset result in centimmetres |
| 932 |
|
| 933 |
mOffset *= 0.01 ; // convert to metres |
| 934 |
|
| 935 |
return (mOffset) ;
|
| 936 |
} |
| 937 |
|
| 938 |
|
| 939 |
|
| 940 |
// -------------------------------------------------------------------------------------------------------------------
|
| 941 |
//
|
| 942 |
// Internal functions for controlling and configuring the device
|
| 943 |
//
|
| 944 |
// -------------------------------------------------------------------------------------------------------------------
|
| 945 |
|
| 946 |
// Enable and Configure specified clocks
|
| 947 |
void _dwt_enableclocks(int clocks) ; |
| 948 |
// Configure the ucode (FP algorithm) parameters
|
| 949 |
void _dwt_configlde(int prf); |
| 950 |
// Load ucode from OTP/ROM
|
| 951 |
void _dwt_loaducodefromrom(void); |
| 952 |
// Read non-volatile memory
|
| 953 |
uint32_t _dwt_otpread(uint32_t address); |
| 954 |
// Program the non-volatile memory
|
| 955 |
uint32_t _dwt_otpprogword32(uint32_t data, uint16_t address); |
| 956 |
// Upload the device configuration into always on memory
|
| 957 |
void _dwt_aonarrayupload(void); |
| 958 |
// -------------------------------------------------------------------------------------------------------------------
|
| 959 |
|
| 960 |
/*!
|
| 961 |
* Static data for DW1000 DecaWave Transceiver control
|
| 962 |
*/
|
| 963 |
|
| 964 |
static dwt_local_data_t dw1000local[DWT_NUM_DW_DEV] ; // Static local device data, can be an array to support multiple DW1000 testing applications/platforms |
| 965 |
static dwt_local_data_t *pdw1000local = dw1000local ; // Static local data structure pointer |
| 966 |
|
| 967 |
|
| 968 |
/*! ------------------------------------------------------------------------------------------------------------------
|
| 969 |
* @fn dwt_setdevicedataptr()
|
| 970 |
*
|
| 971 |
* @brief This function sets the local data structure pointer to point to the structure in the local array as given by the index.
|
| 972 |
*
|
| 973 |
* input parameters
|
| 974 |
* @param index - selects the array object to point to. Must be within the array bounds, i.e. < DWT_NUM_DW_DEV
|
| 975 |
*
|
| 976 |
* output parameters
|
| 977 |
*
|
| 978 |
* returns DWT_SUCCESS for success, or DWT_ERROR for error
|
| 979 |
*/
|
| 980 |
int dwt_setdevicedataptr(unsigned int index) |
| 981 |
{
|
| 982 |
// Check the index is within the array bounds
|
| 983 |
if (DWT_NUM_DW_DEV > index) // return error if index outside the array bounds |
| 984 |
{
|
| 985 |
return DWT_ERROR ;
|
| 986 |
} |
| 987 |
|
| 988 |
pdw1000local = &dw1000local[index]; |
| 989 |
|
| 990 |
return DWT_SUCCESS ;
|
| 991 |
} |
| 992 |
|
| 993 |
/*! ------------------------------------------------------------------------------------------------------------------
|
| 994 |
* @fn dwt_initialise()
|
| 995 |
*
|
| 996 |
* @brief This function initiates communications with the DW1000 transceiver
|
| 997 |
* and reads its DEV_ID register (address 0x00) to verify the IC is one supported
|
| 998 |
* by this software (e.g. DW1000 32-bit device ID value is 0xDECA0130). Then it
|
| 999 |
* does any initial once only device configurations needed for use and initialises
|
| 1000 |
* as necessary any static data items belonging to this low-level driver.
|
| 1001 |
*
|
| 1002 |
* NOTES:
|
| 1003 |
* 1.this function needs to be run before dwt_configuresleep, also the SPI frequency has to be < 3MHz
|
| 1004 |
* 2.it also reads and applies LDO tune and crystal trim values from OTP memory
|
| 1005 |
*
|
| 1006 |
* input parameters
|
| 1007 |
* @param config - specifies what configuration to load
|
| 1008 |
* DWT_LOADUCODE 0x1 - load the LDE microcode from ROM - enabled accurate RX timestamp
|
| 1009 |
* DWT_LOADNONE 0x0 - do not load any values from OTP memory
|
| 1010 |
*
|
| 1011 |
* output parameters
|
| 1012 |
*
|
| 1013 |
* returns DWT_SUCCESS for success, or DWT_ERROR for error
|
| 1014 |
*/
|
| 1015 |
// OTP addresses definitions
|
| 1016 |
#define LDOTUNE_ADDRESS (0x04) |
| 1017 |
#define PARTID_ADDRESS (0x06) |
| 1018 |
#define LOTID_ADDRESS (0x07) |
| 1019 |
#define VBAT_ADDRESS (0x08) |
| 1020 |
#define VTEMP_ADDRESS (0x09) |
| 1021 |
#define XTRIM_ADDRESS (0x1E) |
| 1022 |
|
| 1023 |
int dwt_initialise(const uint16_t config, DW1000Driver* drv) |
| 1024 |
{
|
| 1025 |
uint16_t otp_addr = 0;
|
| 1026 |
uint32_t ldo_tune = 0;
|
| 1027 |
|
| 1028 |
pdw1000local->dblbuffon = 0; // Double buffer mode off by default |
| 1029 |
pdw1000local->wait4resp = 0;
|
| 1030 |
pdw1000local->sleep_mode = 0;
|
| 1031 |
|
| 1032 |
pdw1000local->cbTxDone = NULL;
|
| 1033 |
pdw1000local->cbRxOk = NULL;
|
| 1034 |
pdw1000local->cbRxTo = NULL;
|
| 1035 |
pdw1000local->cbRxErr = NULL;
|
| 1036 |
|
| 1037 |
pdw1000local->driver = drv; |
| 1038 |
|
| 1039 |
// Read and validate device ID return -1 if not recognised
|
| 1040 |
if (DWT_DEVICE_ID != dwt_readdevid()) // MP IC ONLY (i.e. DW1000) FOR THIS CODE |
| 1041 |
{
|
| 1042 |
return DWT_ERROR ;
|
| 1043 |
} |
| 1044 |
|
| 1045 |
// Make sure the device is completely reset before starting initialisation
|
| 1046 |
dwt_softreset(); |
| 1047 |
|
| 1048 |
_dwt_enableclocks(FORCE_SYS_XTI); // NOTE: set system clock to XTI - this is necessary to make sure the values read by _dwt_otpread are reliable
|
| 1049 |
|
| 1050 |
// Configure the CPLL lock detect
|
| 1051 |
dwt_write8bitoffsetreg(EXT_SYNC_ID, EC_CTRL_OFFSET, EC_CTRL_PLLLCK); |
| 1052 |
|
| 1053 |
// Read OTP revision number
|
| 1054 |
otp_addr = _dwt_otpread(XTRIM_ADDRESS) & 0xffff; // Read 32 bit value, XTAL trim val is in low octet-0 (5 bits) |
| 1055 |
pdw1000local->otprev = (otp_addr >> 8) & 0xff; // OTP revision is next byte |
| 1056 |
|
| 1057 |
// Load LDO tune from OTP and kick it if there is a value actually programmed.
|
| 1058 |
ldo_tune = _dwt_otpread(LDOTUNE_ADDRESS); |
| 1059 |
if((ldo_tune & 0xFF) != 0) |
| 1060 |
{
|
| 1061 |
// Kick LDO tune
|
| 1062 |
dwt_write8bitoffsetreg(OTP_IF_ID, OTP_SF, OTP_SF_LDO_KICK); // Set load LDE kick bit
|
| 1063 |
pdw1000local->sleep_mode |= AON_WCFG_ONW_LLDO; // LDO tune must be kicked at wake-up
|
| 1064 |
} |
| 1065 |
|
| 1066 |
// Load Part and Lot ID from OTP
|
| 1067 |
pdw1000local->partID = _dwt_otpread(PARTID_ADDRESS); |
| 1068 |
pdw1000local->lotID = _dwt_otpread(LOTID_ADDRESS); |
| 1069 |
|
| 1070 |
// XTAL trim value is set in OTP for DW1000 module and EVK/TREK boards but that might not be the case in a custom design
|
| 1071 |
pdw1000local->init_xtrim = otp_addr & 0x1F;
|
| 1072 |
if (!pdw1000local->init_xtrim) // A value of 0 means that the crystal has not been trimmed |
| 1073 |
{
|
| 1074 |
pdw1000local->init_xtrim = FS_XTALT_MIDRANGE ; // Set to mid-range if no calibration value inside
|
| 1075 |
} |
| 1076 |
// Configure XTAL trim
|
| 1077 |
dwt_setxtaltrim(pdw1000local->init_xtrim); |
| 1078 |
|
| 1079 |
// Load leading edge detect code
|
| 1080 |
if(config & DWT_LOADUCODE)
|
| 1081 |
{
|
| 1082 |
_dwt_loaducodefromrom(); |
| 1083 |
pdw1000local->sleep_mode |= AON_WCFG_ONW_LLDE; // microcode must be loaded at wake-up
|
| 1084 |
} |
| 1085 |
else // Should disable the LDERUN enable bit in 0x36, 0x4 |
| 1086 |
{
|
| 1087 |
uint16_t rega = dwt_read16bitoffsetreg(PMSC_ID, PMSC_CTRL1_OFFSET+1) ;
|
| 1088 |
rega &= 0xFDFF ; // Clear LDERUN bit |
| 1089 |
dwt_write16bitoffsetreg(PMSC_ID, PMSC_CTRL1_OFFSET+1, rega) ;
|
| 1090 |
} |
| 1091 |
|
| 1092 |
_dwt_enableclocks(ENABLE_ALL_SEQ); // Enable clocks for sequencing
|
| 1093 |
|
| 1094 |
// The 3 bits in AON CFG1 register must be cleared to ensure proper operation of the DW1000 in DEEPSLEEP mode.
|
| 1095 |
dwt_write8bitoffsetreg(AON_ID, AON_CFG1_OFFSET, 0x00);
|
| 1096 |
|
| 1097 |
// Read system register / store local copy
|
| 1098 |
pdw1000local->sysCFGreg = dwt_read32bitreg(SYS_CFG_ID) ; // Read sysconfig register
|
| 1099 |
|
| 1100 |
return DWT_SUCCESS ;
|
| 1101 |
|
| 1102 |
} // end dwt_initialise()
|
| 1103 |
|
| 1104 |
/*! ------------------------------------------------------------------------------------------------------------------
|
| 1105 |
* @fn dwt_otprevision()
|
| 1106 |
*
|
| 1107 |
* @brief This is used to return the read OTP revision
|
| 1108 |
*
|
| 1109 |
* NOTE: dwt_initialise() must be called prior to this function so that it can return a relevant value.
|
| 1110 |
*
|
| 1111 |
* input parameters
|
| 1112 |
*
|
| 1113 |
* output parameters
|
| 1114 |
*
|
| 1115 |
* returns the read OTP revision value
|
| 1116 |
*/
|
| 1117 |
uint8_t dwt_otprevision(void)
|
| 1118 |
{
|
| 1119 |
return pdw1000local->otprev ;
|
| 1120 |
} |
| 1121 |
|
| 1122 |
/*! ------------------------------------------------------------------------------------------------------------------
|
| 1123 |
* @fn dwt_setfinegraintxseq()
|
| 1124 |
*
|
| 1125 |
* @brief This function enables/disables the fine grain TX sequencing (enabled by default).
|
| 1126 |
*
|
| 1127 |
* input parameters
|
| 1128 |
* @param enable - 1 to enable fine grain TX sequencing, 0 to disable it.
|
| 1129 |
*
|
| 1130 |
* output parameters none
|
| 1131 |
*
|
| 1132 |
* no return value
|
| 1133 |
*/
|
| 1134 |
void dwt_setfinegraintxseq(int enable) |
| 1135 |
{
|
| 1136 |
if (enable)
|
| 1137 |
{
|
| 1138 |
dwt_write16bitoffsetreg(PMSC_ID, PMSC_TXFINESEQ_OFFSET, PMSC_TXFINESEQ_ENABLE); |
| 1139 |
} |
| 1140 |
else
|
| 1141 |
{
|
| 1142 |
dwt_write16bitoffsetreg(PMSC_ID, PMSC_TXFINESEQ_OFFSET, PMSC_TXFINESEQ_DISABLE); |
| 1143 |
} |
| 1144 |
} |
| 1145 |
|
| 1146 |
/*! ------------------------------------------------------------------------------------------------------------------
|
| 1147 |
* @fn dwt_setlnapamode()
|
| 1148 |
*
|
| 1149 |
* @brief This is used to enable GPIO for external LNA or PA functionality - HW dependent, consult the DW1000 User Manual.
|
| 1150 |
* This can also be used for debug as enabling TX and RX GPIOs is quite handy to monitor DW1000's activity.
|
| 1151 |
*
|
| 1152 |
* NOTE: Enabling PA functionality requires that fine grain TX sequencing is deactivated. This can be done using
|
| 1153 |
* dwt_setfinegraintxseq().
|
| 1154 |
*
|
| 1155 |
* input parameters
|
| 1156 |
* @param lna - 1 to enable LNA functionality, 0 to disable it
|
| 1157 |
* @param pa - 1 to enable PA functionality, 0 to disable it
|
| 1158 |
*
|
| 1159 |
* output parameters
|
| 1160 |
*
|
| 1161 |
* no return value
|
| 1162 |
*/
|
| 1163 |
void dwt_setlnapamode(int lna, int pa) |
| 1164 |
{
|
| 1165 |
uint32_t gpio_mode = dwt_read32bitoffsetreg(GPIO_CTRL_ID, GPIO_MODE_OFFSET); |
| 1166 |
gpio_mode &= ~(GPIO_MSGP4_MASK | GPIO_MSGP5_MASK | GPIO_MSGP6_MASK); |
| 1167 |
if (lna)
|
| 1168 |
{
|
| 1169 |
gpio_mode |= GPIO_PIN6_EXTRXE; |
| 1170 |
} |
| 1171 |
if (pa)
|
| 1172 |
{
|
| 1173 |
gpio_mode |= (GPIO_PIN5_EXTTXE | GPIO_PIN4_EXTPA); |
| 1174 |
} |
| 1175 |
dwt_write32bitoffsetreg(GPIO_CTRL_ID, GPIO_MODE_OFFSET, gpio_mode); |
| 1176 |
} |
| 1177 |
|
| 1178 |
/*! ------------------------------------------------------------------------------------------------------------------
|
| 1179 |
* @fn dwt_setgpiodirection()
|
| 1180 |
*
|
| 1181 |
* @brief This is used to set GPIO direction as an input (1) or output (0)
|
| 1182 |
*
|
| 1183 |
* input parameters
|
| 1184 |
* @param gpioNum - this is the GPIO to configure - see GxM0... GxM8 in the deca_regs.h file
|
| 1185 |
* @param direction - this sets the GPIO direction - see GxP0... GxP8 in the deca_regs.h file
|
| 1186 |
*
|
| 1187 |
* output parameters
|
| 1188 |
*
|
| 1189 |
* no return value
|
| 1190 |
*/
|
| 1191 |
void dwt_setgpiodirection(uint32_t gpioNum, uint32_t direction)
|
| 1192 |
{
|
| 1193 |
uint8_t buf[GPIO_DIR_LEN]; |
| 1194 |
uint32_t command = direction | gpioNum; |
| 1195 |
|
| 1196 |
buf[0] = command & 0xff; |
| 1197 |
buf[1] = (command >> 8) & 0xff; |
| 1198 |
buf[2] = (command >> 16) & 0xff; |
| 1199 |
|
| 1200 |
dwt_writetodevice(GPIO_CTRL_ID, GPIO_DIR_OFFSET, GPIO_DIR_LEN, buf); |
| 1201 |
} |
| 1202 |
|
| 1203 |
/*! ------------------------------------------------------------------------------------------------------------------
|
| 1204 |
* @fn dwt_setgpiovalue()
|
| 1205 |
*
|
| 1206 |
* @brief This is used to set GPIO value as (1) or (0) only applies if the GPIO is configured as output
|
| 1207 |
*
|
| 1208 |
* input parameters
|
| 1209 |
* @param gpioNum - this is the GPIO to configure - see GxM0... GxM8 in the deca_regs.h file
|
| 1210 |
* @param value - this sets the GPIO value - see GDP0... GDP8 in the deca_regs.h file
|
| 1211 |
*
|
| 1212 |
* output parameters
|
| 1213 |
*
|
| 1214 |
* no return value
|
| 1215 |
*/
|
| 1216 |
void dwt_setgpiovalue(uint32_t gpioNum, uint32_t value)
|
| 1217 |
{
|
| 1218 |
uint8_t buf[GPIO_DOUT_LEN]; |
| 1219 |
uint32_t command = value | gpioNum; |
| 1220 |
|
| 1221 |
buf[0] = command & 0xff; |
| 1222 |
buf[1] = (command >> 8) & 0xff; |
| 1223 |
buf[2] = (command >> 16) & 0xff; |
| 1224 |
|
| 1225 |
dwt_writetodevice(GPIO_CTRL_ID, GPIO_DOUT_OFFSET, GPIO_DOUT_LEN, buf); |
| 1226 |
} |
| 1227 |
|
| 1228 |
/*! ------------------------------------------------------------------------------------------------------------------
|
| 1229 |
* @fn dwt_getpartid()
|
| 1230 |
*
|
| 1231 |
* @brief This is used to return the read part ID of the device
|
| 1232 |
*
|
| 1233 |
* NOTE: dwt_initialise() must be called prior to this function so that it can return a relevant value.
|
| 1234 |
*
|
| 1235 |
* input parameters
|
| 1236 |
*
|
| 1237 |
* output parameters
|
| 1238 |
*
|
| 1239 |
* returns the 32 bit part ID value as programmed in the factory
|
| 1240 |
*/
|
| 1241 |
uint32_t dwt_getpartid(void)
|
| 1242 |
{
|
| 1243 |
return pdw1000local->partID;
|
| 1244 |
} |
| 1245 |
|
| 1246 |
/*! ------------------------------------------------------------------------------------------------------------------
|
| 1247 |
* @fn dwt_getlotid()
|
| 1248 |
*
|
| 1249 |
* @brief This is used to return the read lot ID of the device
|
| 1250 |
*
|
| 1251 |
* NOTE: dwt_initialise() must be called prior to this function so that it can return a relevant value.
|
| 1252 |
*
|
| 1253 |
* input parameters
|
| 1254 |
*
|
| 1255 |
* output parameters
|
| 1256 |
*
|
| 1257 |
* returns the 32 bit lot ID value as programmed in the factory
|
| 1258 |
*/
|
| 1259 |
uint32_t dwt_getlotid(void)
|
| 1260 |
{
|
| 1261 |
return pdw1000local->lotID;
|
| 1262 |
} |
| 1263 |
|
| 1264 |
/*! ------------------------------------------------------------------------------------------------------------------
|
| 1265 |
* @fn dwt_readdevid()
|
| 1266 |
*
|
| 1267 |
* @brief This is used to return the read device type and revision information of the DW1000 device (MP part is 0xDECA0130)
|
| 1268 |
*
|
| 1269 |
* input parameters
|
| 1270 |
*
|
| 1271 |
* output parameters
|
| 1272 |
*
|
| 1273 |
* returns the read value which for DW1000 is 0xDECA0130
|
| 1274 |
*/
|
| 1275 |
uint32_t dwt_readdevid(void)
|
| 1276 |
{
|
| 1277 |
return dwt_read32bitoffsetreg(DEV_ID_ID,0); |
| 1278 |
} |
| 1279 |
|
| 1280 |
/*! ------------------------------------------------------------------------------------------------------------------
|
| 1281 |
* @fn dwt_configuretxrf()
|
| 1282 |
*
|
| 1283 |
* @brief This function provides the API for the configuration of the TX spectrum
|
| 1284 |
* including the power and pulse generator delay. The input is a pointer to the data structure
|
| 1285 |
* of type dwt_txconfig_t that holds all the configurable items.
|
| 1286 |
*
|
| 1287 |
* input parameters
|
| 1288 |
* @param config - pointer to the txrf configuration structure, which contains the tx rf config data
|
| 1289 |
*
|
| 1290 |
* output parameters
|
| 1291 |
*
|
| 1292 |
* no return value
|
| 1293 |
*/
|
| 1294 |
void dwt_configuretxrf(dwt_txconfig_t* config)
|
| 1295 |
{
|
| 1296 |
|
| 1297 |
// Configure RF TX PG_DELAY
|
| 1298 |
dwt_write8bitoffsetreg(TX_CAL_ID, TC_PGDELAY_OFFSET, config->PGdly); |
| 1299 |
|
| 1300 |
// Configure TX power
|
| 1301 |
dwt_write32bitreg(TX_POWER_ID, config->power); |
| 1302 |
|
| 1303 |
} |
| 1304 |
|
| 1305 |
/*! ------------------------------------------------------------------------------------------------------------------
|
| 1306 |
* @fn dwt_configure()
|
| 1307 |
*
|
| 1308 |
* @brief This function provides the main API for the configuration of the
|
| 1309 |
* DW1000 and this low-level driver. The input is a pointer to the data structure
|
| 1310 |
* of type dwt_config_t that holds all the configurable items.
|
| 1311 |
* The dwt_config_t structure shows which ones are supported
|
| 1312 |
*
|
| 1313 |
* input parameters
|
| 1314 |
* @param config - pointer to the configuration structure, which contains the device configuration data.
|
| 1315 |
*
|
| 1316 |
* output parameters
|
| 1317 |
*
|
| 1318 |
* no return value
|
| 1319 |
*/
|
| 1320 |
void dwt_configure(dwt_config_t *config)
|
| 1321 |
{
|
| 1322 |
uint8_t nsSfd_result = 0;
|
| 1323 |
uint8_t useDWnsSFD = 0;
|
| 1324 |
uint8_t chan = config->chan ; |
| 1325 |
uint32_t regval ; |
| 1326 |
uint16_t reg16 = lde_replicaCoeff[config->rxCode]; |
| 1327 |
uint8_t prfIndex = config->prf - DWT_PRF_16M; |
| 1328 |
uint8_t bw = ((chan == 4) || (chan == 7)) ? 1 : 0 ; // Select wide or narrow band |
| 1329 |
|
| 1330 |
#ifdef DWT_API_ERROR_CHECK
|
| 1331 |
assert(config->dataRate <= DWT_BR_6M8); |
| 1332 |
assert(config->rxPAC <= DWT_PAC64); |
| 1333 |
assert((chan >= 1) && (chan <= 7) && (chan != 6)); |
| 1334 |
assert(((config->prf == DWT_PRF_64M) && (config->txCode >= 9) && (config->txCode <= 24)) |
| 1335 |
|| ((config->prf == DWT_PRF_16M) && (config->txCode >= 1) && (config->txCode <= 8))); |
| 1336 |
assert(((config->prf == DWT_PRF_64M) && (config->rxCode >= 9) && (config->rxCode <= 24)) |
| 1337 |
|| ((config->prf == DWT_PRF_16M) && (config->rxCode >= 1) && (config->rxCode <= 8))); |
| 1338 |
assert((config->txPreambLength == DWT_PLEN_64) || (config->txPreambLength == DWT_PLEN_128) || (config->txPreambLength == DWT_PLEN_256) |
| 1339 |
|| (config->txPreambLength == DWT_PLEN_512) || (config->txPreambLength == DWT_PLEN_1024) || (config->txPreambLength == DWT_PLEN_1536) |
| 1340 |
|| (config->txPreambLength == DWT_PLEN_2048) || (config->txPreambLength == DWT_PLEN_4096)); |
| 1341 |
assert((config->phrMode == DWT_PHRMODE_STD) || (config->phrMode == DWT_PHRMODE_EXT)); |
| 1342 |
#endif
|
| 1343 |
|
| 1344 |
// For 110 kbps we need a special setup
|
| 1345 |
if(DWT_BR_110K == config->dataRate)
|
| 1346 |
{
|
| 1347 |
pdw1000local->sysCFGreg |= SYS_CFG_RXM110K ; |
| 1348 |
reg16 >>= 3; // lde_replicaCoeff must be divided by 8 |
| 1349 |
} |
| 1350 |
else
|
| 1351 |
{
|
| 1352 |
pdw1000local->sysCFGreg &= (~SYS_CFG_RXM110K) ; |
| 1353 |
} |
| 1354 |
|
| 1355 |
pdw1000local->longFrames = config->phrMode ; |
| 1356 |
|
| 1357 |
pdw1000local->sysCFGreg &= ~SYS_CFG_PHR_MODE_11; |
| 1358 |
pdw1000local->sysCFGreg |= (SYS_CFG_PHR_MODE_11 & (config->phrMode << SYS_CFG_PHR_MODE_SHFT)); |
| 1359 |
|
| 1360 |
dwt_write32bitreg(SYS_CFG_ID,pdw1000local->sysCFGreg) ; |
| 1361 |
// Set the lde_replicaCoeff
|
| 1362 |
dwt_write16bitoffsetreg(LDE_IF_ID, LDE_REPC_OFFSET, reg16) ; |
| 1363 |
|
| 1364 |
_dwt_configlde(prfIndex); |
| 1365 |
|
| 1366 |
// Configure PLL2/RF PLL block CFG/TUNE (for a given channel)
|
| 1367 |
dwt_write32bitoffsetreg(FS_CTRL_ID, FS_PLLCFG_OFFSET, fs_pll_cfg[chan_idx[chan]]); |
| 1368 |
dwt_write8bitoffsetreg(FS_CTRL_ID, FS_PLLTUNE_OFFSET, fs_pll_tune[chan_idx[chan]]); |
| 1369 |
|
| 1370 |
// Configure RF RX blocks (for specified channel/bandwidth)
|
| 1371 |
dwt_write8bitoffsetreg(RF_CONF_ID, RF_RXCTRLH_OFFSET, rx_config[bw]); |
| 1372 |
|
| 1373 |
// Configure RF TX blocks (for specified channel and PRF)
|
| 1374 |
// Configure RF TX control
|
| 1375 |
dwt_write32bitoffsetreg(RF_CONF_ID, RF_TXCTRL_OFFSET, tx_config[chan_idx[chan]]); |
| 1376 |
|
| 1377 |
// Configure the baseband parameters (for specified PRF, bit rate, PAC, and SFD settings)
|
| 1378 |
// DTUNE0
|
| 1379 |
dwt_write16bitoffsetreg(DRX_CONF_ID, DRX_TUNE0b_OFFSET, sftsh[config->dataRate][config->nsSFD]); |
| 1380 |
|
| 1381 |
// DTUNE1
|
| 1382 |
dwt_write16bitoffsetreg(DRX_CONF_ID, DRX_TUNE1a_OFFSET, dtune1[prfIndex]); |
| 1383 |
|
| 1384 |
if(config->dataRate == DWT_BR_110K)
|
| 1385 |
{
|
| 1386 |
dwt_write16bitoffsetreg(DRX_CONF_ID, DRX_TUNE1b_OFFSET, DRX_TUNE1b_110K); |
| 1387 |
} |
| 1388 |
else
|
| 1389 |
{
|
| 1390 |
if(config->txPreambLength == DWT_PLEN_64)
|
| 1391 |
{
|
| 1392 |
dwt_write16bitoffsetreg(DRX_CONF_ID, DRX_TUNE1b_OFFSET, DRX_TUNE1b_6M8_PRE64); |
| 1393 |
dwt_write8bitoffsetreg(DRX_CONF_ID, DRX_TUNE4H_OFFSET, DRX_TUNE4H_PRE64); |
| 1394 |
} |
| 1395 |
else
|
| 1396 |
{
|
| 1397 |
dwt_write16bitoffsetreg(DRX_CONF_ID, DRX_TUNE1b_OFFSET, DRX_TUNE1b_850K_6M8); |
| 1398 |
dwt_write8bitoffsetreg(DRX_CONF_ID, DRX_TUNE4H_OFFSET, DRX_TUNE4H_PRE128PLUS); |
| 1399 |
} |
| 1400 |
} |
| 1401 |
|
| 1402 |
// DTUNE2
|
| 1403 |
dwt_write32bitoffsetreg(DRX_CONF_ID, DRX_TUNE2_OFFSET, digital_bb_config[prfIndex][config->rxPAC]); |
| 1404 |
|
| 1405 |
// DTUNE3 (SFD timeout)
|
| 1406 |
// Don't allow 0 - SFD timeout will always be enabled
|
| 1407 |
if(config->sfdTO == 0) |
| 1408 |
{
|
| 1409 |
config->sfdTO = DWT_SFDTOC_DEF; |
| 1410 |
} |
| 1411 |
dwt_write16bitoffsetreg(DRX_CONF_ID, DRX_SFDTOC_OFFSET, config->sfdTO); |
| 1412 |
|
| 1413 |
// Configure AGC parameters
|
| 1414 |
dwt_write32bitoffsetreg( AGC_CFG_STS_ID, 0xC, agc_config.lo32);
|
| 1415 |
dwt_write16bitoffsetreg( AGC_CFG_STS_ID, 0x4, agc_config.target[prfIndex]);
|
| 1416 |
|
| 1417 |
// Set (non-standard) user SFD for improved performance,
|
| 1418 |
if(config->nsSFD)
|
| 1419 |
{
|
| 1420 |
// Write non standard (DW) SFD length
|
| 1421 |
dwt_write8bitoffsetreg(USR_SFD_ID, 0x00, dwnsSFDlen[config->dataRate]);
|
| 1422 |
nsSfd_result = 3 ;
|
| 1423 |
useDWnsSFD = 1 ;
|
| 1424 |
} |
| 1425 |
regval = (CHAN_CTRL_TX_CHAN_MASK & (chan << CHAN_CTRL_TX_CHAN_SHIFT)) | // Transmit Channel
|
| 1426 |
(CHAN_CTRL_RX_CHAN_MASK & (chan << CHAN_CTRL_RX_CHAN_SHIFT)) | // Receive Channel
|
| 1427 |
(CHAN_CTRL_RXFPRF_MASK & (config->prf << CHAN_CTRL_RXFPRF_SHIFT)) | // RX PRF
|
| 1428 |
((CHAN_CTRL_TNSSFD|CHAN_CTRL_RNSSFD) & (nsSfd_result << CHAN_CTRL_TNSSFD_SHIFT)) | // nsSFD enable RX&TX
|
| 1429 |
(CHAN_CTRL_DWSFD & (useDWnsSFD << CHAN_CTRL_DWSFD_SHIFT)) | // Use DW nsSFD
|
| 1430 |
(CHAN_CTRL_TX_PCOD_MASK & (config->txCode << CHAN_CTRL_TX_PCOD_SHIFT)) | // TX Preamble Code
|
| 1431 |
(CHAN_CTRL_RX_PCOD_MASK & (config->rxCode << CHAN_CTRL_RX_PCOD_SHIFT)) ; // RX Preamble Code
|
| 1432 |
|
| 1433 |
dwt_write32bitreg(CHAN_CTRL_ID,regval) ; |
| 1434 |
|
| 1435 |
// Set up TX Preamble Size, PRF and Data Rate
|
| 1436 |
pdw1000local->txFCTRL = ((config->txPreambLength | config->prf) << TX_FCTRL_TXPRF_SHFT) | (config->dataRate << TX_FCTRL_TXBR_SHFT); |
| 1437 |
dwt_write32bitreg(TX_FCTRL_ID, pdw1000local->txFCTRL); |
| 1438 |
|
| 1439 |
// The SFD transmit pattern is initialised by the DW1000 upon a user TX request, but (due to an IC issue) it is not done for an auto-ACK TX. The
|
| 1440 |
// SYS_CTRL write below works around this issue, by simultaneously initiating and aborting a transmission, which correctly initialises the SFD
|
| 1441 |
// after its configuration or reconfiguration.
|
| 1442 |
// This issue is not documented at the time of writing this code. It should be in next release of DW1000 User Manual (v2.09, from July 2016).
|
| 1443 |
dwt_write8bitoffsetreg(SYS_CTRL_ID, SYS_CTRL_OFFSET, SYS_CTRL_TXSTRT | SYS_CTRL_TRXOFF); // Request TX start and TRX off at the same time
|
| 1444 |
} // end dwt_configure()
|
| 1445 |
|
| 1446 |
/*! ------------------------------------------------------------------------------------------------------------------
|
| 1447 |
* @fn dwt_setrxantennadelay()
|
| 1448 |
*
|
| 1449 |
* @brief This API function writes the antenna delay (in time units) to RX registers
|
| 1450 |
*
|
| 1451 |
* input parameters:
|
| 1452 |
* @param rxDelay - this is the total (RX) antenna delay value, which
|
| 1453 |
* will be programmed into the RX register
|
| 1454 |
*
|
| 1455 |
* output parameters
|
| 1456 |
*
|
| 1457 |
* no return value
|
| 1458 |
*/
|
| 1459 |
void dwt_setrxantennadelay(uint16_t rxDelay)
|
| 1460 |
{
|
| 1461 |
// Set the RX antenna delay for auto TX timestamp adjustment
|
| 1462 |
dwt_write16bitoffsetreg(LDE_IF_ID, LDE_RXANTD_OFFSET, rxDelay); |
| 1463 |
} |
| 1464 |
|
| 1465 |
/*! ------------------------------------------------------------------------------------------------------------------
|
| 1466 |
* @fn dwt_settxantennadelay()
|
| 1467 |
*
|
| 1468 |
* @brief This API function writes the antenna delay (in time units) to TX registers
|
| 1469 |
*
|
| 1470 |
* input parameters:
|
| 1471 |
* @param txDelay - this is the total (TX) antenna delay value, which
|
| 1472 |
* will be programmed into the TX delay register
|
| 1473 |
*
|
| 1474 |
* output parameters
|
| 1475 |
*
|
| 1476 |
* no return value
|
| 1477 |
*/
|
| 1478 |
void dwt_settxantennadelay(uint16_t txDelay)
|
| 1479 |
{
|
| 1480 |
// Set the TX antenna delay for auto TX timestamp adjustment
|
| 1481 |
dwt_write16bitoffsetreg(TX_ANTD_ID, TX_ANTD_OFFSET, txDelay); |
| 1482 |
} |
| 1483 |
|
| 1484 |
/*! ------------------------------------------------------------------------------------------------------------------
|
| 1485 |
* @fn dwt_writetxdata()
|
| 1486 |
*
|
| 1487 |
* @brief This API function writes the supplied TX data into the DW1000's
|
| 1488 |
* TX buffer. The input parameters are the data length in bytes and a pointer
|
| 1489 |
* to those data bytes.
|
| 1490 |
*
|
| 1491 |
* input parameters
|
| 1492 |
* @param txFrameLength - This is the total frame length, including the two byte CRC.
|
| 1493 |
* Note: this is the length of TX message (including the 2 byte CRC) - max is 1023
|
| 1494 |
* standard PHR mode allows up to 127 bytes
|
| 1495 |
* if > 127 is programmed, DWT_PHRMODE_EXT needs to be set in the phrMode configuration
|
| 1496 |
* see dwt_configure function
|
| 1497 |
* @param txFrameBytes - Pointer to the user’s buffer containing the data to send.
|
| 1498 |
* @param txBufferOffset - This specifies an offset in the DW1000’s TX Buffer at which to start writing data.
|
| 1499 |
*
|
| 1500 |
* output parameters
|
| 1501 |
*
|
| 1502 |
* returns DWT_SUCCESS for success, or DWT_ERROR for error
|
| 1503 |
*/
|
| 1504 |
int dwt_writetxdata(uint16_t txFrameLength, uint8_t *txFrameBytes, uint16_t txBufferOffset)
|
| 1505 |
{
|
| 1506 |
#ifdef DWT_API_ERROR_CHECK
|
| 1507 |
assert(txFrameLength >= 2);
|
| 1508 |
assert((pdw1000local->longFrames && (txFrameLength <= 1023)) || (txFrameLength <= 127)); |
| 1509 |
assert((txBufferOffset + txFrameLength) <= 1024);
|
| 1510 |
#endif
|
| 1511 |
|
| 1512 |
if ((txBufferOffset + txFrameLength) <= 1024) |
| 1513 |
{
|
| 1514 |
// Write the data to the IC TX buffer, (-2 bytes for auto generated CRC)
|
| 1515 |
dwt_writetodevice( TX_BUFFER_ID, txBufferOffset, txFrameLength-2, txFrameBytes);
|
| 1516 |
return DWT_SUCCESS;
|
| 1517 |
} |
| 1518 |
else
|
| 1519 |
{
|
| 1520 |
return DWT_ERROR;
|
| 1521 |
} |
| 1522 |
} // end dwt_writetxdata()
|
| 1523 |
|
| 1524 |
/*! ------------------------------------------------------------------------------------------------------------------
|
| 1525 |
* @fn dwt_writetxfctrl()
|
| 1526 |
*
|
| 1527 |
* @brief This API function configures the TX frame control register before the transmission of a frame
|
| 1528 |
*
|
| 1529 |
* input parameters:
|
| 1530 |
* @param txFrameLength - this is the length of TX message (including the 2 byte CRC) - max is 1023
|
| 1531 |
* NOTE: standard PHR mode allows up to 127 bytes
|
| 1532 |
* if > 127 is programmed, DWT_PHRMODE_EXT needs to be set in the phrMode configuration
|
| 1533 |
* see dwt_configure function
|
| 1534 |
* @param txBufferOffset - the offset in the tx buffer to start writing the data
|
| 1535 |
* @param ranging - 1 if this is a ranging frame, else 0
|
| 1536 |
*
|
| 1537 |
* output parameters
|
| 1538 |
*
|
| 1539 |
* no return value
|
| 1540 |
*/
|
| 1541 |
void dwt_writetxfctrl(uint16_t txFrameLength, uint16_t txBufferOffset, int ranging) |
| 1542 |
{
|
| 1543 |
|
| 1544 |
#ifdef DWT_API_ERROR_CHECK
|
| 1545 |
assert((pdw1000local->longFrames && (txFrameLength <= 1023)) || (txFrameLength <= 127)); |
| 1546 |
#endif
|
| 1547 |
|
| 1548 |
// Write the frame length to the TX frame control register
|
| 1549 |
// pdw1000local->txFCTRL has kept configured bit rate information
|
| 1550 |
uint32_t reg32 = pdw1000local->txFCTRL | txFrameLength | (txBufferOffset << TX_FCTRL_TXBOFFS_SHFT) | (ranging << TX_FCTRL_TR_SHFT); |
| 1551 |
dwt_write32bitreg(TX_FCTRL_ID, reg32); |
| 1552 |
} // end dwt_writetxfctrl()
|
| 1553 |
|
| 1554 |
|
| 1555 |
/*! ------------------------------------------------------------------------------------------------------------------
|
| 1556 |
* @fn dwt_readrxdata()
|
| 1557 |
*
|
| 1558 |
* @brief This is used to read the data from the RX buffer, from an offset location give by offset parameter
|
| 1559 |
*
|
| 1560 |
* input parameters
|
| 1561 |
* @param buffer - the buffer into which the data will be read
|
| 1562 |
* @param length - the length of data to read (in bytes)
|
| 1563 |
* @param rxBufferOffset - the offset in the rx buffer from which to read the data
|
| 1564 |
*
|
| 1565 |
* output parameters
|
| 1566 |
*
|
| 1567 |
* no return value
|
| 1568 |
*/
|
| 1569 |
void dwt_readrxdata(uint8_t *buffer, uint16_t length, uint16_t rxBufferOffset)
|
| 1570 |
{
|
| 1571 |
dwt_readfromdevice(RX_BUFFER_ID,rxBufferOffset,length,buffer) ; |
| 1572 |
} |
| 1573 |
|
| 1574 |
/*! ------------------------------------------------------------------------------------------------------------------
|
| 1575 |
* @fn dwt_readaccdata()
|
| 1576 |
*
|
| 1577 |
* @brief This is used to read the data from the Accumulator buffer, from an offset location give by offset parameter
|
| 1578 |
*
|
| 1579 |
* NOTE: Because of an internal memory access delay when reading the accumulator the first octet output is a dummy octet
|
| 1580 |
* that should be discarded. This is true no matter what sub-index the read begins at.
|
| 1581 |
*
|
| 1582 |
* input parameters
|
| 1583 |
* @param buffer - the buffer into which the data will be read
|
| 1584 |
* @param length - the length of data to read (in bytes)
|
| 1585 |
* @param accOffset - the offset in the acc buffer from which to read the data
|
| 1586 |
*
|
| 1587 |
* output parameters
|
| 1588 |
*
|
| 1589 |
* no return value
|
| 1590 |
*/
|
| 1591 |
void dwt_readaccdata(uint8_t *buffer, uint16_t len, uint16_t accOffset)
|
| 1592 |
{
|
| 1593 |
// Force on the ACC clocks if we are sequenced
|
| 1594 |
_dwt_enableclocks(READ_ACC_ON); |
| 1595 |
|
| 1596 |
dwt_readfromdevice(ACC_MEM_ID,accOffset,len,buffer) ; |
| 1597 |
|
| 1598 |
_dwt_enableclocks(READ_ACC_OFF); // Revert clocks back
|
| 1599 |
} |
| 1600 |
|
| 1601 |
/*! ------------------------------------------------------------------------------------------------------------------
|
| 1602 |
* @fn dwt_readdiagnostics()
|
| 1603 |
*
|
| 1604 |
* @brief this function reads the RX signal quality diagnostic data
|
| 1605 |
*
|
| 1606 |
* input parameters
|
| 1607 |
* @param diagnostics - diagnostic structure pointer, this will contain the diagnostic data read from the DW1000
|
| 1608 |
*
|
| 1609 |
* output parameters
|
| 1610 |
*
|
| 1611 |
* no return value
|
| 1612 |
*/
|
| 1613 |
void dwt_readdiagnostics(dwt_rxdiag_t *diagnostics)
|
| 1614 |
{
|
| 1615 |
// Read the HW FP index
|
| 1616 |
diagnostics->firstPath = dwt_read16bitoffsetreg(RX_TIME_ID, RX_TIME_FP_INDEX_OFFSET); |
| 1617 |
|
| 1618 |
// LDE diagnostic data
|
| 1619 |
diagnostics->maxNoise = dwt_read16bitoffsetreg(LDE_IF_ID, LDE_THRESH_OFFSET); |
| 1620 |
|
| 1621 |
// Read all 8 bytes in one SPI transaction
|
| 1622 |
dwt_readfromdevice(RX_FQUAL_ID, 0x0, 8, (uint8_t*)&diagnostics->stdNoise); |
| 1623 |
|
| 1624 |
diagnostics->firstPathAmp1 = dwt_read16bitoffsetreg(RX_TIME_ID, RX_TIME_FP_AMPL1_OFFSET); |
| 1625 |
|
| 1626 |
diagnostics->rxPreamCount = (dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXPACC_MASK) >> RX_FINFO_RXPACC_SHIFT ; |
| 1627 |
} |
| 1628 |
|
| 1629 |
/*! ------------------------------------------------------------------------------------------------------------------
|
| 1630 |
* @fn dwt_readtxtimestamp()
|
| 1631 |
*
|
| 1632 |
* @brief This is used to read the TX timestamp (adjusted with the programmed antenna delay)
|
| 1633 |
*
|
| 1634 |
* input parameters
|
| 1635 |
* @param timestamp - a pointer to a 5-byte buffer which will store the read TX timestamp time
|
| 1636 |
*
|
| 1637 |
* output parameters - the timestamp buffer will contain the value after the function call
|
| 1638 |
*
|
| 1639 |
* no return value
|
| 1640 |
*/
|
| 1641 |
void dwt_readtxtimestamp(uint8_t * timestamp)
|
| 1642 |
{
|
| 1643 |
dwt_readfromdevice(TX_TIME_ID, TX_TIME_TX_STAMP_OFFSET, TX_TIME_TX_STAMP_LEN, timestamp) ; // Read bytes directly into buffer
|
| 1644 |
} |
| 1645 |
|
| 1646 |
/*! ------------------------------------------------------------------------------------------------------------------
|
| 1647 |
* @fn dwt_readtxtimestamphi32()
|
| 1648 |
*
|
| 1649 |
* @brief This is used to read the high 32-bits of the TX timestamp (adjusted with the programmed antenna delay)
|
| 1650 |
*
|
| 1651 |
* input parameters
|
| 1652 |
*
|
| 1653 |
* output parameters
|
| 1654 |
*
|
| 1655 |
* returns high 32-bits of TX timestamp
|
| 1656 |
*/
|
| 1657 |
uint32_t dwt_readtxtimestamphi32(void)
|
| 1658 |
{
|
| 1659 |
return dwt_read32bitoffsetreg(TX_TIME_ID, 1); // Offset is 1 to get the 4 upper bytes out of 5 |
| 1660 |
} |
| 1661 |
|
| 1662 |
/*! ------------------------------------------------------------------------------------------------------------------
|
| 1663 |
* @fn dwt_readtxtimestamplo32()
|
| 1664 |
*
|
| 1665 |
* @brief This is used to read the low 32-bits of the TX timestamp (adjusted with the programmed antenna delay)
|
| 1666 |
*
|
| 1667 |
* input parameters
|
| 1668 |
*
|
| 1669 |
* output parameters
|
| 1670 |
*
|
| 1671 |
* returns low 32-bits of TX timestamp
|
| 1672 |
*/
|
| 1673 |
uint32_t dwt_readtxtimestamplo32(void)
|
| 1674 |
{
|
| 1675 |
return dwt_read32bitreg(TX_TIME_ID); // Read TX TIME as a 32-bit register to get the 4 lower bytes out of 5 |
| 1676 |
} |
| 1677 |
|
| 1678 |
/*! ------------------------------------------------------------------------------------------------------------------
|
| 1679 |
* @fn dwt_readrxtimestamp()
|
| 1680 |
*
|
| 1681 |
* @brief This is used to read the RX timestamp (adjusted time of arrival)
|
| 1682 |
*
|
| 1683 |
* input parameters
|
| 1684 |
* @param timestamp - a pointer to a 5-byte buffer which will store the read RX timestamp time
|
| 1685 |
*
|
| 1686 |
* output parameters - the timestamp buffer will contain the value after the function call
|
| 1687 |
*
|
| 1688 |
* no return value
|
| 1689 |
*/
|
| 1690 |
void dwt_readrxtimestamp(uint8_t * timestamp)
|
| 1691 |
{
|
| 1692 |
dwt_readfromdevice(RX_TIME_ID, RX_TIME_RX_STAMP_OFFSET, RX_TIME_RX_STAMP_LEN, timestamp) ; // Get the adjusted time of arrival
|
| 1693 |
} |
| 1694 |
|
| 1695 |
/*! ------------------------------------------------------------------------------------------------------------------
|
| 1696 |
* @fn dwt_readrxtimestamphi32()
|
| 1697 |
*
|
| 1698 |
* @brief This is used to read the high 32-bits of the RX timestamp (adjusted with the programmed antenna delay)
|
| 1699 |
*
|
| 1700 |
* input parameters
|
| 1701 |
*
|
| 1702 |
* output parameters
|
| 1703 |
*
|
| 1704 |
* returns high 32-bits of RX timestamp
|
| 1705 |
*/
|
| 1706 |
uint32_t dwt_readrxtimestamphi32(void)
|
| 1707 |
{
|
| 1708 |
return dwt_read32bitoffsetreg(RX_TIME_ID, 1); // Offset is 1 to get the 4 upper bytes out of 5 |
| 1709 |
} |
| 1710 |
|
| 1711 |
/*! ------------------------------------------------------------------------------------------------------------------
|
| 1712 |
* @fn dwt_readrxtimestamplo32()
|
| 1713 |
*
|
| 1714 |
* @brief This is used to read the low 32-bits of the RX timestamp (adjusted with the programmed antenna delay)
|
| 1715 |
*
|
| 1716 |
* input parameters
|
| 1717 |
*
|
| 1718 |
* output parameters
|
| 1719 |
*
|
| 1720 |
* returns low 32-bits of RX timestamp
|
| 1721 |
*/
|
| 1722 |
uint32_t dwt_readrxtimestamplo32(void)
|
| 1723 |
{
|
| 1724 |
return dwt_read32bitreg(RX_TIME_ID); // Read RX TIME as a 32-bit register to get the 4 lower bytes out of 5 |
| 1725 |
} |
| 1726 |
|
| 1727 |
/*! ------------------------------------------------------------------------------------------------------------------
|
| 1728 |
* @fn dwt_readsystimestamphi32()
|
| 1729 |
*
|
| 1730 |
* @brief This is used to read the high 32-bits of the system time
|
| 1731 |
*
|
| 1732 |
* input parameters
|
| 1733 |
*
|
| 1734 |
* output parameters
|
| 1735 |
*
|
| 1736 |
* returns high 32-bits of system time timestamp
|
| 1737 |
*/
|
| 1738 |
uint32_t dwt_readsystimestamphi32(void)
|
| 1739 |
{
|
| 1740 |
return dwt_read32bitoffsetreg(SYS_TIME_ID, 1); // Offset is 1 to get the 4 upper bytes out of 5 |
| 1741 |
} |
| 1742 |
|
| 1743 |
/*! ------------------------------------------------------------------------------------------------------------------
|
| 1744 |
* @fn dwt_readsystime()
|
| 1745 |
*
|
| 1746 |
* @brief This is used to read the system time
|
| 1747 |
*
|
| 1748 |
* input parameters
|
| 1749 |
* @param timestamp - a pointer to a 5-byte buffer which will store the read system time
|
| 1750 |
*
|
| 1751 |
* output parameters
|
| 1752 |
* @param timestamp - the timestamp buffer will contain the value after the function call
|
| 1753 |
*
|
| 1754 |
* no return value
|
| 1755 |
*/
|
| 1756 |
void dwt_readsystime(uint8_t * timestamp)
|
| 1757 |
{
|
| 1758 |
dwt_readfromdevice(SYS_TIME_ID, SYS_TIME_OFFSET, SYS_TIME_LEN, timestamp) ; |
| 1759 |
} |
| 1760 |
|
| 1761 |
/*! ------------------------------------------------------------------------------------------------------------------
|
| 1762 |
* @fn dwt_writetodevice()
|
| 1763 |
*
|
| 1764 |
* @brief this function is used to write to the DW1000 device registers
|
| 1765 |
* Notes:
|
| 1766 |
* 1. Firstly we create a header (the first byte is a header byte)
|
| 1767 |
* a. check if sub index is used, if subindexing is used - set bit-6 to 1 to signify that the sub-index address follows the register index byte
|
| 1768 |
* b. set bit-7 (or with 0x80) for write operation
|
| 1769 |
* c. if extended sub address index is used (i.e. if index > 127) set bit-7 of the first sub-index byte following the first header byte
|
| 1770 |
*
|
| 1771 |
* 2. Write the header followed by the data bytes to the DW1000 device
|
| 1772 |
*
|
| 1773 |
*
|
| 1774 |
* input parameters:
|
| 1775 |
* @param recordNumber - ID of register file or buffer being accessed
|
| 1776 |
* @param index - byte index into register file or buffer being accessed
|
| 1777 |
* @param length - number of bytes being written
|
| 1778 |
* @param buffer - pointer to buffer containing the 'length' bytes to be written
|
| 1779 |
*
|
| 1780 |
* output parameters
|
| 1781 |
*
|
| 1782 |
* no return value
|
| 1783 |
*/
|
| 1784 |
void dwt_writetodevice
|
| 1785 |
( |
| 1786 |
uint16_t recordNumber, |
| 1787 |
uint16_t index, |
| 1788 |
uint32_t length, |
| 1789 |
const uint8_t *buffer
|
| 1790 |
) |
| 1791 |
{
|
| 1792 |
uint8_t header[3] ; // Buffer to compose header in |
| 1793 |
int cnt = 0; // Counter for length of header |
| 1794 |
#ifdef DWT_API_ERROR_CHECK
|
| 1795 |
assert(recordNumber <= 0x3F); // Record number is limited to 6-bits. |
| 1796 |
#endif
|
| 1797 |
|
| 1798 |
// Write message header selecting WRITE operation and addresses as appropriate (this is one to three bytes long)
|
| 1799 |
if (index == 0) // For index of 0, no sub-index is required |
| 1800 |
{
|
| 1801 |
header[cnt++] = 0x80 | recordNumber ; // Bit-7 is WRITE operation, bit-6 zero=NO sub-addressing, bits 5-0 is reg file id |