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.

 *

 * From version 3.0.0:

 *  - dwt_getldotune: As LDO loading is now automatically managed by the driver, this function has become useless.

 *  - dwt_getotptxpower: TX power values and location in OTP memory are platform dependent and should therefore be

 *    managed at user application level.

 *  - dwt_readantennadelay: Antenna delay values and location in OTP memory are platform dependent and should

 *    therefore be managed at user application level.

 *  - dwt_readdignostics: Renamed to dwt_readdiagnostics.

 */

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

/*                                                     API LIST                                                     */

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

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

 * @fn dwt_setdevicedataptr()

 *

 * @brief This function sets the local data structure pointer to point to the structure in the local array as given by the index.

 *

 * input parameters

 * @param index    - selects the array object to point to. Must be within the array bounds, i.e. < DWT_NUM_DW_DEV

 *

 * output parameters

 *

 * returns DWT_SUCCESS for success, or DWT_ERROR for error

 */

int dwt_setdevicedataptr(unsigned int index);

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

 * @fn dwt_getpartid()

 *

 * @brief This is used to return the read part ID of the device

 *

 * NOTE: dwt_initialise() must be called prior to this function so that it can return a relevant value.

 *

 * input parameters

 *

 * output parameters

 *

 * returns the 32 bit part ID value as programmed in the factory

 */

uint32_t dwt_getpartid(void);

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

 * @fn dwt_getlotid()

 *

 * @brief This is used to return the read lot ID of the device

 *

 * NOTE: dwt_initialise() must be called prior to this function so that it can return a relevant value.

 *

 * input parameters

 *

 * output parameters

 *

 * returns the 32 bit lot ID value as programmed in the factory

 */

uint32_t dwt_getlotid(void);

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

 * @fn dwt_readdevid()

 *

 * @brief This is used to return the read device type and revision information of the DW1000 device (MP part is 0xDECA0130)

 *

 * input parameters

 *

 * output parameters

 *

 * returns the read value which for DW1000 is 0xDECA0130

 */

uint32_t dwt_readdevid(void);

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

 * @fn dwt_otprevision()

 *

 * @brief This is used to return the read OTP revision

 *

 * NOTE: dwt_initialise() must be called prior to this function so that it can return a relevant value.

 *

 * input parameters

 *

 * output parameters

 *

 * returns the read OTP revision value

 */

uint8_t dwt_otprevision(void);

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

 * @fn dwt_setfinegraintxseq()

 *

 * @brief This function enables/disables the fine grain TX sequencing (enabled by default).

 *

 * input parameters

 * @param enable - 1 to enable fine grain TX sequencing, 0 to disable it.

 *

 * output parameters none

 *

 * no return value

 */

void dwt_setfinegraintxseq(int enable);

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

 * @fn dwt_setlnapamode()

 *

 * @brief This is used to enable GPIO for external LNA or PA functionality - HW dependent, consult the DW1000 User Manual.

 *        This can also be used for debug as enabling TX and RX GPIOs is quite handy to monitor DW1000's activity.

 *

 * NOTE: Enabling PA functionality requires that fine grain TX sequencing is deactivated. This can be done using

 *       dwt_setfinegraintxseq().

 *

 * input parameters

 * @param lna - 1 to enable LNA functionality, 0 to disable it

 * @param pa - 1 to enable PA functionality, 0 to disable it

 *

 * output parameters

 *

 * no return value

 */

void dwt_setlnapamode(int lna, int pa);

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

 * @fn dwt_setgpiodirection()

 *

 * @brief This is used to set GPIO direction as an input (1) or output (0)

 *

 * input parameters

 * @param gpioNum    -   this is the GPIO to configure - see GxM0... GxM8 in the deca_regs.h file

 * @param direction  -   this sets the GPIO direction - see GxP0... GxP8 in the deca_regs.h file

 *

 * output parameters

 *

 * no return value

 */

void dwt_setgpiodirection(uint32_t gpioNum, uint32_t direction);

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

 * @fn dwt_setgpiovalue()

 *

 * @brief This is used to set GPIO value as (1) or (0) only applies if the GPIO is configured as output

 *

 * input parameters

 * @param gpioNum    -   this is the GPIO to configure - see GxM0... GxM8 in the deca_regs.h file

 * @param value  -   this sets the GPIO value - see GDP0... GDP8 in the deca_regs.h file

 *

 * output parameters

 *

 * no return value

 */

void dwt_setgpiovalue(uint32_t gpioNum, uint32_t value);

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

 * @fn dwt_initialise()

 *

 * @brief This function initiates communications with the DW1000 transceiver

 * and reads its DEV_ID register (address 0x00) to verify the IC is one supported

 * by this software (e.g. DW1000 32-bit device ID value is 0xDECA0130).  Then it

 * does any initial once only device configurations needed for use and initialises

 * as necessary any static data items belonging to this low-level driver.

 *

 * NOTES:

 * 1.this function needs to be run before dwt_configuresleep, also the SPI frequency has to be < 3MHz

 * 2.it also reads and applies LDO tune and crystal trim values from OTP memory

 *

 * input parameters

 * @param config    -   specifies what configuration to load

 *                  DWT_LOADUCODE     0x1 - load the LDE microcode from ROM - enabled accurate RX timestamp

 *                  DWT_LOADNONE      0x0 - do not load any values from OTP memory

 * @param drv       -   hardware specifc struct containg refernce to SPI, GPIO etc.

 *

 * output parameters

 *

 * returns DWT_SUCCESS for success, or DWT_ERROR for error

 */

int dwt_initialise(uint16_t config, DW1000Driver* drv) ;

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

 * @fn dwt_configure()

 *

 * @brief This function provides the main API for the configuration of the

 * DW1000 and this low-level driver.  The input is a pointer to the data structure

 * of type dwt_config_t that holds all the configurable items.

 * The dwt_config_t structure shows which ones are supported

 *

 * input parameters

 * @param config    -   pointer to the configuration structure, which contains the device configuration data.

 *

 * output parameters

 *

 * no return value

 */

void dwt_configure(dwt_config_t* config) ;

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

 * @fn dwt_configuretxrf()

 *

 * @brief This function provides the API for the configuration of the TX spectrum

 * including the power and pulse generator delay. The input is a pointer to the data structure

 * of type dwt_txconfig_t that holds all the configurable items.

 *

 * input parameters

 * @param config    -   pointer to the txrf configuration structure, which contains the tx rf config data

 *

 * output parameters

 *

 * no return value

 */

void dwt_configuretxrf(dwt_txconfig_t *config) ;

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

 * @fn dwt_setrxantennadelay()

 *

 * @brief This API function writes the antenna delay (in time units) to RX registers

 *

 * input parameters:

 * @param rxDelay - this is the total (RX) antenna delay value, which

 *                          will be programmed into the RX register

 *

 * output parameters

 *

 * no return value

 */

void dwt_setrxantennadelay(uint16_t antennaDly);

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

 * @fn dwt_settxantennadelay()

 *

 * @brief This API function writes the antenna delay (in time units) to TX registers

 *

 * input parameters:

 * @param txDelay - this is the total (TX) antenna delay value, which

 *                          will be programmed into the TX delay register

 *

 * output parameters

 *

 * no return value

 */

void dwt_settxantennadelay(uint16_t antennaDly);

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

 * @fn dwt_setsmarttxpower()

 *

 * @brief This call enables or disables the smart TX power feature.

 *

 * input parameters

 * @param enable - this enables or disables the TX smart power (1 = enable, 0 = disable)

 *

 * output parameters

 *

 * no return value

 */

void dwt_setsmarttxpower(int enable);

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

 * @fn dwt_writetxdata()

 *

 * @brief This API function writes the supplied TX data into the DW1000's

 * TX buffer.  The input parameters are the data length in bytes and a pointer

 * to those data bytes.

 *

 * input parameters

 * @param txFrameLength  - This is the total frame length, including the two byte CRC.

 *                         Note: this is the length of TX message (including the 2 byte CRC) - max is 1023

 *                         standard PHR mode allows up to 127 bytes

 *                         if > 127 is programmed, DWT_PHRMODE_EXT needs to be set in the phrMode configuration

 *                         see dwt_configure function

 * @param txFrameBytes   - Pointer to the user’s buffer containing the data to send.

 * @param txBufferOffset - This specifies an offset in the DW1000’s TX Buffer at which to start writing data.

 *

 * output parameters

 *

 * returns DWT_SUCCESS for success, or DWT_ERROR for error

 */

int dwt_writetxdata(uint16_t txFrameLength, uint8_t *txFrameBytes, uint16_t txBufferOffset) ;

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

 * @fn dwt_writetxfctrl()

 *

 * @brief This API function configures the TX frame control register before the transmission of a frame

 *

 * input parameters:

 * @param txFrameLength - this is the length of TX message (including the 2 byte CRC) - max is 1023

 *                              NOTE: standard PHR mode allows up to 127 bytes

 *                              if > 127 is programmed, DWT_PHRMODE_EXT needs to be set in the phrMode configuration

 *                              see dwt_configure function

 * @param txBufferOffset - the offset in the tx buffer to start writing the data

 * @param ranging - 1 if this is a ranging frame, else 0

 *

 * output parameters

 *

 * no return value

 */

void dwt_writetxfctrl(uint16_t txFrameLength, uint16_t txBufferOffset, int ranging);

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

 * @fn dwt_starttx()

 *

 * @brief This call initiates the transmission, input parameter indicates which TX mode is used see below

 *

 * input parameters:

 * @param mode - is a bitmask for which the following values can be combined to define the operation

 *               DWT_START_TX_IMMEDIATE (0)            - to begin transmission immediatelty.

 *               DWT_START_TX_DELAYED   (to set bit 0) - to begin TX at pre-configured delay time

 *               DWT_RESPONSE_EXPECTED  (to set bit 1) - to turn the receiver on automatically (after the TX) after a pre-programmed delay

 * output parameters

 *

 * returns DWT_SUCCESS for success, or DWT_ERROR for error (e.g. a delayed transmission will fail if the delayed time has passed)

 */

int dwt_starttx(uint8_t mode) ;

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

 * @fn dwt_setdelayedtrxtime()

 *

 * @brief This API function configures the delayed transmit time or the delayed RX on time

 *

 * input parameters

 * @param starttime - the TX/RX start time (the 32 bits should be the high 32 bits of the system time at which to send the message,

 * or at which to turn on the receiver)

 *

 * output parameters none

 *

 * no return value

 */

void dwt_setdelayedtrxtime(uint32_t starttime) ;

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

 * @fn dwt_readtxtimestamp()

 *

 * @brief This is used to read the TX timestamp (adjusted with the programmed antenna delay)

 *

 * input parameters

 * @param timestamp - a pointer to a 5-byte buffer which will store the read TX timestamp time

 *

 * output parameters - the timestamp buffer will contain the value after the function call

 *

 * no return value

 */

void dwt_readtxtimestamp(uint8_t * timestamp);

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

 * @fn dwt_readtxtimestamphi32()

 *

 * @brief This is used to read the high 32-bits of the TX timestamp (adjusted with the programmed antenna delay)

 *

 * input parameters

 *

 * output parameters

 *

 * returns high 32-bits of TX timestamp

 */

uint32_t dwt_readtxtimestamphi32(void);

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

 * @fn dwt_readtxtimestamplo32()

 *

 * @brief This is used to read the low 32-bits of the TX timestamp (adjusted with the programmed antenna delay)

 *

 * input parameters

 *

 * output parameters

 *

 * returns low 32-bits of TX timestamp

 */

uint32_t dwt_readtxtimestamplo32(void);

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

 * @fn dwt_readrxtimestamp()

 *

 * @brief This is used to read the RX timestamp (adjusted time of arrival)

 *

 * input parameters

 * @param timestamp - a pointer to a 5-byte buffer which will store the read RX timestamp time

 *

 * output parameters - the timestamp buffer will contain the value after the function call

 *

 * no return value

 */

void dwt_readrxtimestamp(uint8_t * timestamp);

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

 * @fn dwt_readrxtimestamphi32()

 *

 * @brief This is used to read the high 32-bits of the RX timestamp (adjusted with the programmed antenna delay)

 *

 * input parameters

 *

 * output parameters

 *

 * returns high 32-bits of RX timestamp

 */

uint32_t dwt_readrxtimestamphi32(void);

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

 * @fn dwt_readrxtimestamplo32()

 *

 * @brief This is used to read the low 32-bits of the RX timestamp (adjusted with the programmed antenna delay)

 *

 * input parameters

 *

 * output parameters

 *

 * returns low 32-bits of RX timestamp

 */

uint32_t dwt_readrxtimestamplo32(void);

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

 * @fn dwt_readsystimestamphi32()

 *

 * @brief This is used to read the high 32-bits of the system time

 *

 * input parameters

 *

 * output parameters

 *

 * returns high 32-bits of system time timestamp

 */

uint32_t dwt_readsystimestamphi32(void);

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

 * @fn dwt_readsystime()

 *

 * @brief This is used to read the system time

 *

 * input parameters

 * @param timestamp - a pointer to a 5-byte buffer which will store the read system time

 *

 * output parameters

 * @param timestamp - the timestamp buffer will contain the value after the function call

 *

 * no return value

 */

void dwt_readsystime(uint8_t * timestamp);

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

 * @fn dwt_forcetrxoff()

 *

 * @brief This is used to turn off the transceiver

 *

 * input parameters

 *

 * output parameters

 *

 * no return value

 */

void dwt_forcetrxoff(void);

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

 * @fn dwt_syncrxbufptrs()

 *

 * @brief this function synchronizes rx buffer pointers

 * need to make sure that the host/IC buffer pointers are aligned before starting RX

 *

 * input parameters:

 *

 * output parameters

 *

 * no return value

 */

void dwt_syncrxbufptrs(void);

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

 * @fn dwt_rxenable()

 *

 * @brief This call turns on the receiver, can be immediate or delayed (depending on the mode parameter). In the case of a

 * "late" error the receiver will only be turned on if the DWT_IDLE_ON_DLY_ERR is not set.

 * The receiver will stay turned on, listening to any messages until

 * it either receives a good frame, an error (CRC, PHY header, Reed Solomon) or  it times out (SFD, Preamble or Frame).

 *

 * input parameters

 * @param mode - this can be one of the following allowed values:

 *

 * DWT_START_RX_IMMEDIATE      0 used to enbale receiver immediately

 * DWT_START_RX_DELAYED        1 used to set up delayed RX, if "late" error triggers, then the RX will be enabled immediately

 * (DWT_START_RX_DELAYED | DWT_IDLE_ON_DLY_ERR) 3 used to disable re-enabling of receiver if delayed RX failed due to "late" error

 * (DWT_START_RX_IMMEDIATE | DWT_NO_SYNC_PTRS) 4 used to re-enable RX without trying to sync IC and host side buffer pointers, typically when

 *                                               performing manual RX re-enabling in double buffering mode

 *

 * returns DWT_SUCCESS for success, or DWT_ERROR for error (e.g. a delayed receive enable will be too far in the future if delayed time has passed)

 */

int dwt_rxenable(int mode);

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

 * @fn dwt_setsniffmode()

 *

 * @brief enable/disable and configure SNIFF mode.

 *

 * SNIFF mode is a low-power reception mode where the receiver is sequenced on and off instead of being on all the time.

 * The time spent in each state (on/off) is specified through the parameters below.

 * See DW1000 User Manual section 4.5 "Low-Power SNIFF mode" for more details.

 *

 * input parameters:

 * @param enable - 1 to enable SNIFF mode, 0 to disable. When 0, all other parameters are not taken into account.

 * @param timeOn - duration of receiver ON phase, expressed in multiples of PAC size. The counter automatically adds 1 PAC

 *                 size to the value set. Min value that can be set is 1 (i.e. an ON time of 2 PAC size), max value is 15.

 * @param timeOff - duration of receiver OFF phase, expressed in multiples of 128/125 µs (~1 µs). Max value is 255.

 *

 * output parameters

 *

 * no return value

 */

void dwt_setsniffmode(int enable, uint8_t timeOn, uint8_t timeOff);

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

 * @fn dwt_setlowpowerlistening()

 *

 * @brief enable/disable low-power listening mode.

 *

 * Low-power listening is a feature whereby the DW1000 is predominantly in the SLEEP state but wakes periodically, (after

 * this "long sleep"), for a very short time to sample the air for a preamble sequence. This preamble sampling "listening"

 * phase is actually two reception phases separated by a "short sleep" time. See DW1000 User Manual section "Low-Power

 * Listening" for more details.

 *

 * NOTE: Before enabling low-power listening, the following functions have to be called to fully configure it:

 *           - dwt_configuresleep() to configure long sleep phase. "mode" parameter should at least have DWT_PRESRV_SLEEP,

 *             DWT_CONFIG and DWT_RX_EN set and "wake" parameter should at least have both DWT_WAKE_SLPCNT and DWT_SLP_EN set.

 *           - dwt_calibratesleepcnt() and dwt_configuresleepcnt() to define the "long sleep" phase duration.

 *           - dwt_setsnoozetime() to define the "short sleep" phase duration.

 *           - dwt_setpreambledetecttimeout() to define the reception phases duration.

 *           - dwt_setinterrupt() to activate RX good frame interrupt (DWT_INT_RFCG) only.

 *       When configured, low-power listening mode can be triggered either by putting the DW1000 to sleep (using

 *       dwt_entersleep()) or by activating reception (using dwt_rxenable()).

 *

 *       Please refer to the low-power listening examples (examples 8a/8b accompanying the API distribution on Decawave's

 *       website). They form a working example code that shows how to use low-power listening correctly.

 *

 * input parameters:

 * @param enable - 1 to enable low-power listening, 0 to disable.

 *

 * output parameters

 *

 * no return value

 */

void dwt_setlowpowerlistening(int enable);

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

 * @fn dwt_setsnoozetime()

 *

 * @brief Set duration of "short sleep" phase when in low-power listening mode.

 *

 * input parameters:

 * @param snooze_time - "short sleep" phase duration, expressed in multiples of 512/19.2 µs (~26.7 µs). The counter

 *                      automatically adds 1 to the value set. The smallest working value that should be set is 1,

 *                      i.e. giving a snooze time of 2 units (or ~53 µs).

 *

 * output parameters

 *

 * no return value

 */

void dwt_setsnoozetime(uint8_t snooze_time);

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

 * @fn dwt_setdblrxbuffmode()

 *

 * @brief This call enables the double receive buffer mode

 *

 * input parameters

 * @param enable - 1 to enable, 0 to disable the double buffer mode

 *

 * output parameters

 *

 * no return value

 */

void dwt_setdblrxbuffmode(int enable);

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

 * @fn dwt_setrxtimeout()

 *

 * @brief This call enables RX timeout (SY_STAT_RFTO event)

 *

 * input parameters

 * @param time - how long the receiver remains on from the RX enable command

 *               The time parameter used here is in 1.0256 us (512/499.2MHz) units

 *               If set to 0 the timeout is disabled.

 *

 * output parameters

 *

 * no return value

 */

void dwt_setrxtimeout(uint16_t time);

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

 * @fn dwt_setpreambledetecttimeout()

 *

 * @brief This call enables preamble timeout (SY_STAT_RXPTO event)

 *

 * input parameters

 * @param  timeout - Preamble detection timeout, expressed in multiples of PAC size. The counter automatically adds 1 PAC

 *                   size to the value set. Min value that can be set is 1 (i.e. a timeout of 2 PAC size).

 *

 * output parameters

 *

 * no return value

 */

void dwt_setpreambledetecttimeout(uint16_t timeout);

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

 * @fn dwt_calibratesleepcnt()

 *

 * @brief calibrates the local oscillator as its frequency can vary between 7 and 13kHz depending on temp and voltage

 *

 * NOTE: this function needs to be run before dwt_configuresleepcnt, so that we know what the counter units are

 *

 * input parameters

 *

 * output parameters

 *

 * returns the number of XTAL/2 cycles per low-power oscillator cycle. LP OSC frequency = 19.2 MHz/return value

 */

uint16_t dwt_calibratesleepcnt(void);

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

 * @fn dwt_configuresleepcnt()

 *

 * @brief sets the sleep counter to new value, this function programs the high 16-bits of the 28-bit counter

 *

 * NOTE: this function needs to be run before dwt_configuresleep, also the SPI frequency has to be < 3MHz

 *

 * input parameters

 * @param sleepcnt - this it value of the sleep counter to program

 *

 * output parameters

 *

 * no return value

 */

 void dwt_configuresleepcnt(uint16_t sleepcnt);

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

  * @fn dwt_configuresleep()

  *

  * @brief configures the device for both DEEP_SLEEP and SLEEP modes, and on-wake mode

  * i.e. before entering the sleep, the device should be programmed for TX or RX, then upon "waking up" the TX/RX settings

  * will be preserved and the device can immediately perform the desired action TX/RX

  *

  * NOTE: e.g. Tag operation - after deep sleep, the device needs to just load the TX buffer and send the frame

  *

  *

  *      mode: the array and LDE code (OTP/ROM) and LDO tune, and set sleep persist

  *      DWT_PRESRV_SLEEP 0x0100 - preserve sleep

  *      DWT_LOADOPSET    0x0080 - load operating parameter set on wakeup

  *      DWT_CONFIG       0x0040 - download the AON array into the HIF (configuration download)

  *      DWT_LOADEUI      0x0008

  *      DWT_GOTORX       0x0002

  *      DWT_TANDV        0x0001

  *

  *      wake: wake up parameters

  *      DWT_XTAL_EN      0x10 - keep XTAL running during sleep

  *      DWT_WAKE_SLPCNT  0x8 - wake up after sleep count

  *      DWT_WAKE_CS      0x4 - wake up on chip select

  *      DWT_WAKE_WK      0x2 - wake up on WAKEUP PIN

  *      DWT_SLP_EN       0x1 - enable sleep/deep sleep functionality

  *

  * input parameters

  * @param mode - config on-wake parameters

  * @param wake - config wake up parameters

  *

  * output parameters

  *

  * no return value

  */