AMiRo-OS

/*

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_V1_H

#define AMIROLLD_DW1000_V1_H

#include <amiro-lld.h>

#if (defined(AMIROLLD_CFG_DW1000) && (AMIROLLD_CFG_DW1000 == 1)) || 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)

/**

 * Parameter declarations

 */

#define NUM_BR 3

#define NUM_PRF 2

#define NUM_PACS 4

#define NUM_BW 2            //2 bandwidths are supported

#define NUM_SFD 2           //supported number of SFDs - standard = 0, non-standard = 1

#define NUM_CH 6            //supported channels are 1, 2, 3, 4, 5, 7

#define NUM_CH_SUPPORTED 8  //supported channels are '0', 1, 2, 3, 4, 5, '6', 7

#define PCODES 25           //supported preamble codes

#define NUM_16M_OFFSET  (37)

#define NUM_16M_OFFSETWB  (68)

#define NUM_64M_OFFSET  (26)

#define NUM_64M_OFFSETWB  (59)

#define SPIBUFFLEN     (32)

extern const uint8_t chan_idx[NUM_CH_SUPPORTED];

extern const uint16_t lde_replicaCoeff[PCODES];

extern const uint8_t chan_idxnb[NUM_CH_SUPPORTED];

extern const uint8_t chan_idxwb[NUM_CH_SUPPORTED];

extern const uint8_t range25cm16PRFnb[4][NUM_16M_OFFSET];

extern const uint8_t range25cm16PRFwb[2][NUM_16M_OFFSETWB];

extern const uint8_t range25cm64PRFnb[4][NUM_64M_OFFSET];

extern const uint8_t range25cm64PRFwb[2][NUM_64M_OFFSETWB];

/**

 * @brief The DW1000 driver struct.

 */

typedef struct {

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

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

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

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

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

} 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

#define DWT_PLEN_128    0x14    //! Non-standard preamble length 128 symbols

#define DWT_PLEN_64     0x04    //! Standard preamble length 64 symbols

#define DWT_SFDTOC_DEF              0x1041  // default SFD timeout value

#define DWT_PHRMODE_STD             0x0     // standard PHR mode

#define DWT_PHRMODE_EXT             0x3     // DW proprietary extended frames PHR mode

// Defined constants for "mode" bitmask parameter passed into dwt_starttx() function.

#define DWT_START_TX_IMMEDIATE      0

#define DWT_START_TX_DELAYED        1

#define DWT_RESPONSE_EXPECTED       2

#define DWT_START_RX_IMMEDIATE  0

#define DWT_START_RX_DELAYED    1    // Set up delayed RX, if "late" error triggers, then the RX will be enabled immediately

#define DWT_IDLE_ON_DLY_ERR     2    // If delayed RX failed due to "late" error then if this

                                     // flag is set the RX will not be re-enabled immediately, and device will be in IDLE when function exits

#define DWT_NO_SYNC_PTRS        4    // Do not try to sync IC side and Host side buffer pointers when enabling RX. This is used to perform manual RX

                                     // re-enabling when receiving a frame in double buffer mode.

// Defined constants for "mode" bit field parameter passed to dwt_setleds() function.

#define DWT_LEDS_DISABLE     0x00

#define DWT_LEDS_ENABLE      0x01

#define DWT_LEDS_INIT_BLINK  0x02

//frame filtering configuration options

#define DWT_FF_NOTYPE_EN            0x000           // no frame types allowed (FF disabled)

#define DWT_FF_COORD_EN             0x002           // behave as coordinator (can receive frames with no dest address (PAN ID has to match))

#define DWT_FF_BEACON_EN            0x004           // beacon frames allowed

#define DWT_FF_DATA_EN              0x008           // data frames allowed

#define DWT_FF_ACK_EN               0x010           // ack frames allowed

#define DWT_FF_MAC_EN               0x020           // mac control frames allowed

#define DWT_FF_RSVD_EN              0x040           // reserved frame types allowed

//DW1000 interrupt events

#define DWT_INT_TFRS            0x00000080          // frame sent

#define DWT_INT_LDED            0x00000400          // micro-code has finished execution

#define DWT_INT_RFCG            0x00004000          // frame received with good CRC

#define DWT_INT_RPHE            0x00001000          // receiver PHY header error

#define DWT_INT_RFCE            0x00008000          // receiver CRC error

#define DWT_INT_RFSL            0x00010000          // receiver sync loss error

#define DWT_INT_RFTO            0x00020000          // frame wait timeout

#define DWT_INT_RXOVRR          0x00100000          // receiver overrun

#define DWT_INT_RXPTO           0x00200000          // preamble detect timeout

#define DWT_INT_SFDT            0x04000000          // SFD timeout

#define DWT_INT_ARFE            0x20000000          // frame rejected (due to frame filtering configuration)

//DW1000 SLEEP and WAKEUP configuration parameters

#define DWT_PRESRV_SLEEP 0x0100                      // PRES_SLEEP - on wakeup preserve sleep bit

#define DWT_LOADOPSET    0x0080                      // ONW_L64P - on wakeup load operating parameter set for 64 PSR

#define DWT_CONFIG       0x0040                      // ONW_LDC - on wakeup restore (load) the saved configurations (from AON array into HIF)

#define DWT_LOADEUI      0x0008                      // ONW_LEUI - on wakeup load EUI

#define DWT_RX_EN        0x0002                      // ONW_RX - on wakeup activate reception

#define DWT_TANDV        0x0001                      // ONW_RADC - on wakeup run ADC to sample temperature and voltage sensor values

#define DWT_XTAL_EN      0x10                       // keep XTAL running during sleep

#define DWT_WAKE_SLPCNT  0x8                        // wake up after sleep count

#define DWT_WAKE_CS      0x4                        // wake up on chip select

#define DWT_WAKE_WK      0x2                        // wake up on WAKEUP PIN

#define DWT_SLP_EN       0x1                        // enable sleep/deep sleep functionality

//DW1000 INIT configuration parameters

#define DWT_LOADUCODE     0x1

#define DWT_LOADNONE      0x0

//DW1000 OTP operating parameter set selection

#define DWT_OPSET_64LEN   0x0

#define DWT_OPSET_TIGHT   0x1

#define DWT_OPSET_DEFLT   0x2

// Call-back data RX frames flags

#define DWT_CB_DATA_RX_FLAG_RNG 0x1 // Ranging bit

// TX/RX call-back data

typedef struct

{

    uint32_t status;      //initial value of register as ISR is entered

    uint16_t datalength;  //length of frame

    uint8_t  fctrl[2];    //frame control bytes

    uint8_t  rx_flags;    //RX frame flags, see above

} dwt_cb_data_t;

// Call-back type for all events

typedef void (*dwt_cb_t)(const dwt_cb_data_t *);

// -------------------------------------------------------------------------------------------------------------------

// Structure to hold device data

typedef struct

{

    uint32_t      partID ;            // IC Part ID - read during initialisation

    uint32_t      lotID ;             // IC Lot ID - read during initialisation

    uint8_t       longFrames ;        // Flag in non-standard long frame mode

    uint8_t       otprev ;            // OTP revision number (read during initialisation)

    uint32_t      txFCTRL ;           // Keep TX_FCTRL register config

    uint8_t       init_xtrim;         // initial XTAL trim value read from OTP (or defaulted to mid-range if OTP not programmed)

    uint8_t       dblbuffon;          // Double RX buffer mode flag

    uint32_t      sysCFGreg ;         // Local copy of system config register

    uint16_t      sleep_mode;         // Used for automatic reloading of LDO tune and microcode at wake-up

    uint8_t       wait4resp ;         // wait4response was set with last TX start command

    dwt_cb_data_t cbData;             // Callback data structure

    dwt_cb_t      cbTxDone;           // Callback for TX confirmation event

    dwt_cb_t      cbRxOk;             // Callback for RX good frame event

    dwt_cb_t      cbRxTo;             // Callback for RX timeout events

    dwt_cb_t      cbRxErr;            // Callback for RX error events

    DW1000Driver  *driver;      // Reference to local hardware SPI, GPIO, ...

} dwt_local_data_t ;

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

 * Structure typedef: dwt_config_t

 *

 * Structure for setting device configuration via dwt_configure() function

 *

 */

typedef struct

{

    uint8_t chan ;           //!< channel number {1, 2, 3, 4, 5, 7 }

    uint8_t prf ;            //!< Pulse Repetition Frequency {DWT_PRF_16M or DWT_PRF_64M}

    uint8_t txPreambLength ; //!< DWT_PLEN_64..DWT_PLEN_4096

    uint8_t rxPAC ;          //!< Acquisition Chunk Size (Relates to RX preamble length)

    uint8_t txCode ;         //!< TX preamble code

    uint8_t rxCode ;         //!< RX preamble code

    uint8_t nsSFD ;          //!< Boolean should we use non-standard SFD for better performance

    uint8_t dataRate ;       //!< Data Rate {DWT_BR_110K, DWT_BR_850K or DWT_BR_6M8}

    uint8_t phrMode ;        //!< PHR mode {0x0 - standard DWT_PHRMODE_STD, 0x3 - extended frames DWT_PHRMODE_EXT}

    uint8_t smartPowerEn ;  //!< Smart Power enable / disable

    uint16_t sfdTO ;         //!< SFD timeout value (in symbols)    

} dwt_config_t ;

typedef struct

{

    uint8_t   PGdly;

    //TX POWER

    //31:24     BOOST_0.125ms_PWR

    //23:16     BOOST_0.25ms_PWR-TX_SHR_PWR

    //15:8      BOOST_0.5ms_PWR-TX_PHR_PWR

    //7:0       DEFAULT_PWR-TX_DATA_PWR

    uint32_t  power;

} dwt_txconfig_t ;

typedef struct

{

    uint16_t      maxNoise ;          // LDE max value of noise

    uint16_t      firstPathAmp1 ;     // Amplitude at floor(index FP) + 1

    uint16_t      stdNoise ;          // Standard deviation of noise

    uint16_t      firstPathAmp2 ;     // Amplitude at floor(index FP) + 2

    uint16_t      firstPathAmp3 ;     // Amplitude at floor(index FP) + 3

    uint16_t      maxGrowthCIR ;      // Channel Impulse Response max growth CIR

    uint16_t      rxPreamCount ;      // Count of preamble symbols accumulated

    uint16_t      firstPath ;         // First path index (10.6 bits fixed point integer)

}dwt_rxdiag_t ;

typedef struct

{

    //all of the below are mapped to a 12-bit register in DW1000

    uint16_t PHE ;                    //number of received header errors

    uint16_t RSL ;                    //number of received frame sync loss events

    uint16_t CRCG ;                   //number of good CRC received frames

    uint16_t CRCB ;                   //number of bad CRC (CRC error) received frames

    uint16_t ARFE ;                   //number of address filter errors

    uint16_t OVER ;                   //number of receiver overflows (used in double buffer mode)

    uint16_t SFDTO ;                  //SFD timeouts

    uint16_t PTO ;                    //Preamble timeouts

    uint16_t RTO ;                    //RX frame wait timeouts

    uint16_t TXF ;                    //number of transmitted frames

    uint16_t HPW ;                    //half period warn

    uint16_t TXW ;                    //power up warn

} dwt_deviceentcnts_t ;

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

/*                                                 REMOVED API LIST                                                 */

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

/*

 * From version 4.0.0:

 *  - dwt_setGPIOforEXTTRX: Replaced by dwt_setlnapamode to get equivalent functionality.

 *  - dwt_setGPIOdirection: Renamed to dwt_setgpiodirection.

 *  - dwt_setGPIOvalue: Renamed to dwt_setgpiovalue.

 *  - dwt_setrxmode: Replaced by dwt_setsniffmode and dwt_setlowpowerlistening depending on the RX mode the user

 *    wants to set up.

 *  - dwt_checkoverrun: As automatic RX re-enabling is not supported anymore, this functions has become useless.

 *  - dwt_setautorxreenable: As automatic RX re-enabling is not supported anymore, this functions has become

 *    useless.

 *  - dwt_getrangebias: Range bias correction values are platform dependent and should therefore be managed at user

 *    application level.

 *  - dwt_xtaltrim: Renamed to dwt_setxtaltrim.

 *  - dwt_checkIRQ: Renamed to dwt_checkirq.