/*! ------------------------------------------------------------------------------------------------------------------
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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 <stddef.h>
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#include "deca_param_types.h"
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#include "deca_regs.h"
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#include "deca_device_api.h"
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#include "dw_driver.h"
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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 DWT_API_ERROR_CHECK // define so API checks config input parameters
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// -------------------------------------------------------------------------------------------------------------------
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//
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// Internal functions for controlling and configuring the device
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//
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// -------------------------------------------------------------------------------------------------------------------
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// Enable and Configure specified clocks
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void _dwt_enableclocks(int clocks) ;
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// Configure the ucode (FP algorithm) parameters
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void _dwt_configlde(int prf);
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// Load ucode from OTP/ROM
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void _dwt_loaducodefromrom(void);
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// Read non-volatile memory
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uint32_t _dwt_otpread(uint32_t address);
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// Program the non-volatile memory
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uint32_t _dwt_otpprogword32(uint32_t data, uint16_t address);
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// Upload the device configuration into always on memory
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void _dwt_aonarrayupload(void);
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// -------------------------------------------------------------------------------------------------------------------
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/*!
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* Static data for DW1000 DecaWave Transceiver control
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*/
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// -------------------------------------------------------------------------------------------------------------------
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// Structure to hold device data
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typedef struct
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{
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uint32_t deviceID ;
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uint32_t partID ;
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uint32_t lotID ;
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uint8_t chan; // Added channel here - used in the reading of accumulator
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uint8_t longFrames ; // Flag in non-standard long frame mode
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uint8_t otprev ; // OTP revision number (read during initialisation)
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uint32_t txFCTRL ; // Keep TX_FCTRL register config
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uint8_t xtrim; // XTAL trim value read from OTP
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uint8_t dblbuffon; // Double RX buffer mode flag
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uint32_t sysCFGreg ; // Local copy of system config register
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uint16_t sleep_mode; // Used for automatic reloading of LDO tune and microcode at wake-up
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dwt_callback_data_t cdata; // Callback data structure
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uint8_t wait4resp ; // wait4response was set with last TX start command
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int prfIndex ;
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void (*dwt_txcallback)(const dwt_callback_data_t *txd);
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void (*dwt_rxcallback)(const dwt_callback_data_t *rxd);
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} dwt_local_data_t ;
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static dwt_local_data_t dw1000local ; // Static local device data
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/*! ------------------------------------------------------------------------------------------------------------------
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* @fn dwt_initialise()
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*
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* @brief This function initiates communications with the DW1000 transceiver
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* and reads its DEV_ID register (address 0x00) to verify the IC is one supported
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* by this software (e.g. DW1000 32-bit device ID value is 0xDECA0130). Then it
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* does any initial once only device configurations needed for use and initialises
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* as necessary any static data items belonging to this low-level driver.
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*
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* NOTES:
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* 1.this function needs to be run before dwt_configuresleep, also the SPI frequency has to be < 3MHz
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* 2.it also reads and applies LDO tune and crystal trim values from OTP memory
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*
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* input parameters
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* @param config - specifies what configuration to load
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* DWT_LOADUCODE 0x1 - load the LDE microcode from ROM - enabled accurate RX timestamp
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* DWT_LOADNONE 0x0 - do not load any values from OTP memory
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*
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* output parameters
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*
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* returns DWT_SUCCESS for success, or DWT_ERROR for error
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*/
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// OTP addresses definitions
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#define CPUID_OTP_ADRESS 0x1d
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uint32_t ReadUniqueID(void)
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{
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uint8_t m_UIDAdd[4];
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uint32_t cpuID_add;
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//»ñÈ¡CPUΨһID
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// m_CpuID.Data32[0] = *(vu32*)(0x1ffff7e8);
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// m_CpuID.Data32[1] = *(vu32*)(0x1ffff7ec);
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// m_CpuID.Data32[2] = *(vu32*)(0x1ffff7f0);
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//ÕâÀïÊÇ·ÀÖ¹·´»ã±àÄÜ¿´µ½ÔÚÄÄÀï¶ÁÈ¡µÄUID£¬½«UIDµÄµØÖ··Ö½â´æÔÚRAMÖÐ
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//¼ÓÃÜËã·¨,ºÜ¼òµ¥µÄ¼ÓÃÜËã·¨
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m_UIDAdd[0] = 0xE8;
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m_UIDAdd[1] = m_UIDAdd[0]+0x0F; //f7 = e8 + 0f
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m_UIDAdd[2] = m_UIDAdd[1]+0x08; //ff = f7 + 08
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m_UIDAdd[3] = m_UIDAdd[2]-0xe0; //1f = ff - e0
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memcpy(&cpuID_add, (uint8_t*)m_UIDAdd, 4);
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return *(uint32_t*)(cpuID_add);
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}
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uint8_t UID_ERROR=0;
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//void CheckCPUID(void)
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//{ uint32_t cpuID = 0;
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// uint32_t key_ID = 0;
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// uint8_t i=10;
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// cpuID = ReadUniqueID();
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// Spi_ChangePrescaler(SPI_BAUDRATEPRESCALER_256);
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// while(i--)
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// {
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// dwt_otpread(CPUID_OTP_ADRESS,&key_ID,1);
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// if(cpuID != key_ID)
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// {
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// UID_ERROR = 1;
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// }
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// else
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// {
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// UID_ERROR = 0;
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// break;
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// }
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//}
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//
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// Spi_ChangePrescaler(SPI_BAUDRATEPRESCALER_8);
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//}
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#define DWT_LNA_PA_DISABLE 0x00
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#define DWT_LNA_ENABLE 0x01
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#define DWT_PA_ENABLE 0x02
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#define GPIO_PIN4_EXTPA 0x00004000UL /* The pin operates as the EXTPA output */
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void dwt_setlnapamode(int lna_pa)
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{
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uint32_t gpio_mode = dwt_read32bitoffsetreg(GPIO_CTRL_ID, GPIO_MODE_OFFSET);
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gpio_mode &= ~(GPIO_MSGP4_MASK | GPIO_MSGP5_MASK | GPIO_MSGP6_MASK);
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if (lna_pa & DWT_LNA_ENABLE)
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{
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gpio_mode |= GPIO_PIN6_EXTRXE;
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}
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if (lna_pa & DWT_PA_ENABLE)
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{
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gpio_mode |= (GPIO_PIN5_EXTTXE | GPIO_PIN4_EXTPA);
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}
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dwt_write32bitoffsetreg(GPIO_CTRL_ID, GPIO_MODE_OFFSET, gpio_mode);
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}
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#define LDOTUNE_ADDRESS (0x04)
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#define PARTID_ADDRESS (0x06)
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#define LOTID_ADDRESS (0x07)
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#define VBAT_ADDRESS (0x08)
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#define VTEMP_ADDRESS (0x09)
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#define XTRIM_ADDRESS (0x1E)
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uint8_t module_power;
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int dwt_initialise(uint16_t config)
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{
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uint32_t power_temp,power_input;
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uint8_t plllockdetect = EC_CTRL_PLLLCK;
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uint16_t otp_addr = 0;
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uint32_t ldo_tune = 0;
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dw1000local.dblbuffon = 0; // Double buffer mode off by default
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dw1000local.prfIndex = 0; // 16MHz
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dw1000local.cdata.aatset = 0; // Auto ACK bit not set
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dw1000local.wait4resp = 0;
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dw1000local.sleep_mode = 0;
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dw1000local.dwt_txcallback = NULL ;
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dw1000local.dwt_rxcallback = NULL ;
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// Read and validate device ID return -1 if not recognised
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dw1000local.deviceID = dwt_readdevid() ;
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while (DWT_DEVICE_ID != dw1000local.deviceID) // MP IC ONLY (i.e. DW1000) FOR THIS CODE
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{
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dw1000local.deviceID = dwt_readdevid() ;
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}
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_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
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if(module_power>36)
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{
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power_temp =(module_power-36);
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}else{
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power_temp = ((6-(module_power/6))<<5)|(module_power%6);
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}
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power_input= power_temp<<24|power_temp<<16|power_temp<<8|power_temp;
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dwt_write32bitreg(TX_POWER_ID, power_input);
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// Configure the CPLL lock detect
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dwt_writetodevice(EXT_SYNC_ID, EC_CTRL_OFFSET, 1, &plllockdetect);
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// Read OTP revision number
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otp_addr = _dwt_otpread(XTRIM_ADDRESS) & 0xffff; // Read 32 bit value, XTAL trim val is in low octet-0 (5 bits)
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dw1000local.otprev = (otp_addr >> 8) & 0xff; // OTP revision is next byte
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// Load LDO tune from OTP and kick it if there is a value actually programmed.
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ldo_tune = _dwt_otpread(LDOTUNE_ADDRESS);
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if((ldo_tune & 0xFF) != 0)
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{
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uint8_t ldok = OTP_SF_LDO_KICK;
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// Kick LDO tune
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dwt_writetodevice(OTP_IF_ID, OTP_SF, 1, &ldok); // Set load LDE kick bit
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dw1000local.sleep_mode |= AON_WCFG_ONW_LLDO; // LDO tune must be kicked at wake-up
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}
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dw1000local.deviceID = dwt_readdevid() ;
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// Load Part and Lot ID from OTP
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dw1000local.partID = _dwt_otpread(PARTID_ADDRESS);
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dw1000local.lotID = _dwt_otpread(LOTID_ADDRESS);
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// 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
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dw1000local.xtrim = otp_addr & 0x1F;
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if (!dw1000local.xtrim) // A value of 0 means that the crystal has not been trimmed
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{
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dw1000local.xtrim = FS_XTALT_MIDRANGE ; // Set to mid-range if no calibration value inside
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}
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// Configure XTAL trim
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dwt_xtaltrim(dw1000local.xtrim);
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// Load leading edge detect code
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if(config & DWT_LOADUCODE)
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{
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_dwt_loaducodefromrom();
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dw1000local.sleep_mode |= AON_WCFG_ONW_LLDE; // microcode must be loaded at wake-up
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}
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else // Should disable the LDERUN enable bit in 0x36, 0x4
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{
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uint16_t rega = dwt_read16bitoffsetreg(PMSC_ID, PMSC_CTRL1_OFFSET + 1) ;
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rega &= 0xFDFF ; // Clear LDERUN bit
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dwt_write16bitoffsetreg(PMSC_ID, PMSC_CTRL1_OFFSET + 1, rega) ;
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}
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_dwt_enableclocks(ENABLE_ALL_SEQ); // Enable clocks for sequencing
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// Read system register / store local copy
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dw1000local.sysCFGreg = dwt_read32bitreg(SYS_CFG_ID) ; // Read sysconfig register
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{
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// dwt_setlnapamode(DWT_PA_ENABLE|DWT_LNA_ENABLE);
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// uint32_t reg;
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// reg = dwt_read32bitreg(GPIO_CTRL_ID);
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// reg |= 0x00014000;
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// reg |= 0x00050000;
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// dwt_write32bitreg(GPIO_CTRL_ID,reg);
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// dwt_write16bitoffsetreg(PMSC_ID,PMSC_TXFINESEQ_OFFSET ,PMSC_TXFINESEQ_DIS_MASK);
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}
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// // if(g_com_map[MODBUS_MODE])
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// {
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// LED_TB_ON;
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// dwt_configcontinuousframemode(124800);
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// dwt_writetxfctrl(13, 0);
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// dwt_starttx(DWT_START_TX_IMMEDIATE);
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// while(1)
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// {
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// IdleTask();
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// }
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// }
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// CheckCPUID();
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dw1000local.deviceID = dwt_readdevid() ;
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return DWT_SUCCESS ;
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} // end dwt_initialise()
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/*! ------------------------------------------------------------------------------------------------------------------
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* @fn dwt_otprevision()
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*
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* @brief This is used to return the read OTP revision
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*
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* input parameters
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*
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* output parameters
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*
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* returns the read OTP revision value
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*/
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uint8_t dwt_otprevision(void)
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{
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return dw1000local.otprev ;
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}
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/*! ------------------------------------------------------------------------------------------------------------------
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* @fn dwt_setGPIOforEXTTRX()
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*
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* @brief This is used to enable GPIO for external LNA or PA functionality - HW dependent, consult the DW1000 User Manual
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*
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* input parameters
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*
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* output parameters
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*
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* no return value
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*/
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void dwt_setGPIOforEXTTRX(void)
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{
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uint8_t buf[GPIO_MODE_LEN];
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// Set the GPIO to control external PA/LNA
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dwt_readfromdevice(GPIO_CTRL_ID, GPIO_MODE_OFFSET, GPIO_MODE_LEN, buf);
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buf[GPIO_LNA_BYTE_NUM] |= (GPIO_PIN5_EXTTXE_8 + GPIO_PIN6_EXTRXE_8);
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dwt_writetodevice(GPIO_CTRL_ID, GPIO_MODE_OFFSET, GPIO_MODE_LEN, buf);
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}
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/*! ------------------------------------------------------------------------------------------------------------------
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* @fn dwt_setGPIOdirection()
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*
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* @brief This is used to set GPIO direction as an input (1) or output (0)
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*
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* input parameters
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* @param gpioNum - this is the GPIO to configure - see GxM0... GxM8 in the deca_regs.h file
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* @param direction - this sets the GPIO direction - see GxP0... GxP8 in the deca_regs.h file
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*
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* output parameters
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*
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* no return value
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*/
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void dwt_setGPIOdirection(uint32_t gpioNum, uint32_t direction)
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{
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uint8_t buf[GPIO_DIR_LEN];
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uint32_t command = direction | gpioNum;
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buf[0] = command & 0xff;
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buf[1] = (command >> 8) & 0xff;
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buf[2] = (command >> 16) & 0xff;
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dwt_writetodevice(GPIO_CTRL_ID, GPIO_DIR_OFFSET, GPIO_DIR_LEN, buf);
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}
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/*! ------------------------------------------------------------------------------------------------------------------
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* @fn dwt_setGPIOvalue()
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*
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* @brief This is used to set GPIO value as (1) or (0) only applies if the GPIO is configured as output
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*
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* input parameters
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* @param gpioNum - this is the GPIO to configure - see GxM0... GxM8 in the deca_regs.h file
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* @param value - this sets the GPIO value - see GDP0... GDP8 in the deca_regs.h file
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*
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* output parameters
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*
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* no return value
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*/
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void dwt_setGPIOvalue(uint32_t gpioNum, uint32_t value)
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{
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uint8_t buf[GPIO_DOUT_LEN];
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uint32_t command = value | gpioNum;
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buf[0] = command & 0xff;
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buf[1] = (command >> 8) & 0xff;
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buf[2] = (command >> 16) & 0xff;
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dwt_writetodevice(GPIO_CTRL_ID, GPIO_DOUT_OFFSET, GPIO_DOUT_LEN, buf);
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}
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/*! ------------------------------------------------------------------------------------------------------------------
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* @fn dwt_getpartid()
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*
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* @brief This is used to return the read part ID of the device
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*
|
* input parameters
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*
|
* output parameters
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*
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* returns the 32 bit part ID value as programmed in the factory
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*/
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uint32_t dwt_getpartid(void)
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{
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return dw1000local.partID;
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}
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/*! ------------------------------------------------------------------------------------------------------------------
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* @fn dwt_getlotid()
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*
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* @brief This is used to return the read lot ID of the device
|
*
|
* input parameters
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*
|
* output parameters
|
*
|
* returns the 32 bit lot ID value as programmed in the factory
|
*/
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uint32_t dwt_getlotid(void)
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{
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return dw1000local.lotID;
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}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
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* @fn dwt_readdevid()
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*
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* @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)
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{
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return dwt_read32bitoffsetreg(DEV_ID_ID, 0);
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn dwt_configuretxrf()
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*
|
* @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)
|
{
|
|
// Configure RF TX PG_DELAY
|
dwt_writetodevice(TX_CAL_ID, TC_PGDELAY_OFFSET, 1, &config->PGdly);
|
|
// Configure TX power
|
dwt_write32bitreg(TX_POWER_ID, config->power);
|
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @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
|
*
|
* returns DWT_SUCCESS for success, or DWT_ERROR for error
|
*/
|
int dwt_configure(dwt_config_t *config)
|
{
|
uint8_t nsSfd_result = 0;
|
uint8_t useDWnsSFD = 0;
|
uint8_t chan = config->chan ;
|
uint32_t regval ;
|
uint16_t reg16 = lde_replicaCoeff[config->rxCode];
|
uint8_t prfIndex = dw1000local.prfIndex = config->prf - DWT_PRF_16M;
|
uint8_t bw = ((chan == 4) || (chan == 7)) ? 1 : 0 ; // Select wide or narrow band
|
|
dw1000local.chan = config->chan ;
|
|
#ifdef DWT_API_ERROR_CHECK
|
if (config->dataRate > DWT_BR_6M8)
|
{
|
return DWT_ERROR ;
|
}// validate datarate parameter
|
if ((config->prf > DWT_PRF_64M) || (config->prf < DWT_PRF_16M))
|
{
|
return DWT_ERROR ; // validate Pulse Repetition Frequency
|
}
|
if (config->rxPAC > DWT_PAC64)
|
{
|
return DWT_ERROR ; // validate PAC size
|
}
|
if ((chan < 1) || (chan > 7) || (6 == chan))
|
{
|
return DWT_ERROR ; // validate channel number parameter
|
}
|
|
// validate TX and TX pre-amble codes selections
|
if (config->prf == DWT_PRF_64M)
|
{
|
// at 64M PRF, codes should be 9 to 27 only
|
// config->txCode
|
// config->rxCode
|
}
|
else
|
{
|
// at 16M PRF, codes should be 0 to 8 only
|
}
|
switch (config->txPreambLength)
|
{
|
case DWT_PLEN_4096 :
|
case DWT_PLEN_2048 :
|
case DWT_PLEN_1536 :
|
case DWT_PLEN_1024 :
|
case DWT_PLEN_512 :
|
case DWT_PLEN_256 :
|
case DWT_PLEN_128 :
|
case DWT_PLEN_64 :
|
break ; // all okay
|
default :
|
return DWT_ERROR ; // not a good preamble length parameter
|
}
|
|
if(config->phrMode > DWT_PHRMODE_EXT)
|
{
|
return DWT_ERROR ;
|
}
|
#endif
|
|
// For 110 kbps we need a special setup
|
if(DWT_BR_110K == config->dataRate)
|
{
|
dw1000local.sysCFGreg |= SYS_CFG_RXM110K ;
|
reg16 >>= 3; // lde_replicaCoeff must be divided by 8
|
}
|
else
|
{
|
dw1000local.sysCFGreg &= (~SYS_CFG_RXM110K) ;
|
}
|
|
dw1000local.longFrames = config->phrMode ;
|
|
dw1000local.sysCFGreg |= (SYS_CFG_PHR_MODE_11 & (config->phrMode << 16)) ;
|
|
dwt_write32bitreg(SYS_CFG_ID, dw1000local.sysCFGreg) ;
|
// Set the lde_replicaCoeff
|
dwt_write16bitoffsetreg(LDE_IF_ID, LDE_REPC_OFFSET, reg16) ;
|
|
_dwt_configlde(prfIndex);
|
|
// Configure PLL2/RF PLL block CFG (for a given channel)
|
dwt_writetodevice(FS_CTRL_ID, FS_PLLCFG_OFFSET, 5, &pll2_config[chan_idx[chan]][0]);
|
|
// Configure RF RX blocks (for specified channel/bandwidth)
|
dwt_writetodevice(RF_CONF_ID, RF_RXCTRLH_OFFSET, 1, &rx_config[bw]);
|
|
// Configure RF TX blocks (for specified channel and PRF)
|
// Configure RF TX control
|
dwt_write32bitoffsetreg(RF_CONF_ID, RF_TXCTRL_OFFSET, tx_config[chan_idx[chan]]);
|
|
// Configure the baseband parameters (for specified PRF, bit rate, PAC, and SFD settings)
|
// DTUNE0
|
dwt_write16bitoffsetreg(DRX_CONF_ID, DRX_TUNE0b_OFFSET, sftsh[config->dataRate][config->nsSFD]);
|
|
// DTUNE1
|
dwt_write16bitoffsetreg(DRX_CONF_ID, DRX_TUNE1a_OFFSET, dtune1[prfIndex]);
|
|
if(config->dataRate == DWT_BR_110K)
|
{
|
dwt_write16bitoffsetreg(DRX_CONF_ID, DRX_TUNE1b_OFFSET, 0x64);
|
}
|
else
|
{
|
if(config->txPreambLength == DWT_PLEN_64)
|
{
|
uint8_t temp = 0x10;
|
dwt_write16bitoffsetreg(DRX_CONF_ID, DRX_TUNE1b_OFFSET, 0x10);
|
dwt_writetodevice(DRX_CONF_ID, 0x26, 1, &temp);
|
}
|
else
|
{
|
uint8_t temp = 0x28;
|
dwt_write16bitoffsetreg(DRX_CONF_ID, DRX_TUNE1b_OFFSET, 0x20);
|
dwt_writetodevice(DRX_CONF_ID, 0x26, 1, &temp);
|
}
|
}
|
|
// DTUNE2
|
dwt_write32bitoffsetreg(DRX_CONF_ID, DRX_TUNE2_OFFSET, digital_bb_config[prfIndex][config->rxPAC]);
|
|
// DTUNE3 (SFD timeout)
|
// Don't allow 0 - SFD timeout will always be enabled
|
if(config->sfdTO == 0)
|
{
|
config->sfdTO = DWT_SFDTOC_DEF;
|
}
|
dwt_write16bitoffsetreg(DRX_CONF_ID, DRX_SFDTOC_OFFSET, config->sfdTO);
|
|
// Configure AGC parameters
|
dwt_write32bitoffsetreg( AGC_CFG_STS_ID, 0xC, agc_config.lo32);
|
dwt_write16bitoffsetreg( AGC_CFG_STS_ID, 0x4, agc_config.target[prfIndex]);
|
|
// Set (non-standard) user SFD for improved performance,
|
if(config->nsSFD)
|
{
|
// Write non standard (DW) SFD length
|
dwt_writetodevice(USR_SFD_ID, 0x00, 1, &dwnsSFDlen[config->dataRate]);
|
nsSfd_result = 3 ;
|
useDWnsSFD = 1 ;
|
}
|
regval = (CHAN_CTRL_TX_CHAN_MASK & (chan << CHAN_CTRL_TX_CHAN_SHIFT)) | // Transmit Channel
|
(CHAN_CTRL_RX_CHAN_MASK & (chan << CHAN_CTRL_RX_CHAN_SHIFT)) | // Receive Channel
|
(CHAN_CTRL_RXFPRF_MASK & (config->prf << CHAN_CTRL_RXFPRF_SHIFT)) | // RX PRF
|
((CHAN_CTRL_TNSSFD | CHAN_CTRL_RNSSFD) & (nsSfd_result << CHAN_CTRL_TNSSFD_SHIFT)) | // nsSFD enable RX&TX
|
(CHAN_CTRL_DWSFD & (useDWnsSFD << CHAN_CTRL_DWSFD_SHIFT)) | // Use DW nsSFD
|
(CHAN_CTRL_TX_PCOD_MASK & (config->txCode << CHAN_CTRL_TX_PCOD_SHIFT)) | // TX Preamble Code
|
(CHAN_CTRL_RX_PCOD_MASK & (config->rxCode << CHAN_CTRL_RX_PCOD_SHIFT)) ; // RX Preamble Code
|
|
dwt_write32bitreg(CHAN_CTRL_ID, regval) ;
|
|
// Set up TX Preamble Size and TX PRF
|
// Set up TX Ranging Bit and Data Rate
|
dw1000local.txFCTRL = (config->txPreambLength | config->prf) << 16;
|
dw1000local.txFCTRL |= (config->dataRate << TX_FCTRL_TXBR_SHFT) | TX_FCTRL_TR; // Always set ranging bit !!!
|
dwt_write32bitoffsetreg(TX_FCTRL_ID, 0, dw1000local.txFCTRL) ;
|
|
return DWT_SUCCESS ;
|
|
} // end dwt_configure()
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @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 rxDelay)
|
{
|
// Set the RX antenna delay for auto TX timestamp adjustment
|
dwt_write16bitoffsetreg(LDE_IF_ID, LDE_RXANTD_OFFSET, rxDelay);
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @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 txDelay)
|
{
|
// Set the TX antenna delay for auto TX timestamp adjustment
|
dwt_write16bitoffsetreg(TX_ANTD_ID, 0x0, txDelay);
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @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 users buffer containing the data to send.
|
* @param txBufferOffset - This specifies an offset in the DW1000s 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)
|
{
|
#ifdef DWT_API_ERROR_CHECK
|
if (dw1000local.longFrames)
|
{
|
if (txFrameLength > 1023)
|
{
|
return DWT_ERROR ;
|
}
|
}
|
else
|
{
|
if (txFrameLength > 127)
|
{
|
return DWT_ERROR ;
|
}
|
}
|
if (txFrameLength < 2)
|
{
|
return DWT_ERROR ;
|
}
|
#endif
|
|
if ((txBufferOffset + txFrameLength) > 1024)
|
{
|
return DWT_ERROR ;
|
}
|
// Write the data to the IC TX buffer, (-2 bytes for auto generated CRC)
|
dwt_writetodevice( TX_BUFFER_ID, txBufferOffset, txFrameLength - 2, txFrameBytes) ;
|
|
|
return DWT_SUCCESS ;
|
} // end dwt_writetxdata()
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @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
|
*
|
* output parameters
|
*
|
* returns DWT_SUCCESS for success, or DWT_ERROR for error
|
*/
|
int dwt_writetxfctrl(uint16_t txFrameLength, uint16_t txBufferOffset)
|
{
|
|
#ifdef DWT_API_ERROR_CHECK
|
if (dw1000local.longFrames)
|
{
|
if (txFrameLength > 1023)
|
{
|
return DWT_ERROR ;
|
}
|
}
|
else
|
{
|
if (txFrameLength > 127)
|
{
|
return DWT_ERROR ;
|
}
|
}
|
if (txFrameLength < 2)
|
{
|
return DWT_ERROR ;
|
}
|
#endif
|
|
// Write the frame length to the TX frame control register
|
// dw1000local.txFCTRL has kept configured bit rate information
|
uint32_t reg32 = dw1000local.txFCTRL | txFrameLength | (txBufferOffset << 22);
|
dwt_write32bitoffsetreg(TX_FCTRL_ID, 0, reg32) ;
|
|
return DWT_SUCCESS ;
|
|
} // end dwt_writetxfctrl()
|
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn dwt_readrxdata()
|
*
|
* @brief This is used to read the data from the RX buffer, from an offset location give by offset parameter
|
*
|
* input parameters
|
* @param buffer - the buffer into which the data will be read
|
* @param length - the length of data to read (in bytes)
|
* @param rxBufferOffset - the offset in the rx buffer from which to read the data
|
*
|
* output parameters
|
*
|
* no return value
|
*/
|
void dwt_readrxdata(uint8_t *buffer, uint16_t length, uint16_t rxBufferOffset)
|
{
|
dwt_readfromdevice(RX_BUFFER_ID, rxBufferOffset, length, buffer) ;
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn dwt_readaccdata()
|
*
|
* @brief This is used to read the data from the Accumulator buffer, from an offset location give by offset parameter
|
*
|
* input parameters
|
* @param buffer - the buffer into which the data will be read
|
* @param length - the length of data to read (in bytes)
|
* @param accOffset - the offset in the acc buffer from which to read the data
|
*
|
* output parameters
|
*
|
* no return value
|
*/
|
void dwt_readaccdata(uint8_t *buffer, uint16_t len, uint16_t accOffset)
|
{
|
// Force on the ACC clocks if we are sequenced
|
_dwt_enableclocks(READ_ACC_ON);
|
|
dwt_readfromdevice(ACC_MEM_ID, accOffset, len, buffer) ;
|
|
_dwt_enableclocks(READ_ACC_OFF); // Revert clocks back
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn dwt_readdiagnostics()
|
*
|
* @brief this function reads the RX signal quality diagnostic data
|
*
|
* input parameters
|
* @param diagnostics - diagnostic structure pointer, this will contain the diagnostic data read from the DW1000
|
*
|
* output parameters
|
*
|
* no return value
|
*/
|
void dwt_readdiagnostics(dwt_rxdiag_t *diagnostics)
|
{
|
// Read the HW FP index
|
diagnostics->firstPath = dwt_read16bitoffsetreg(RX_TIME_ID, RX_TIME_FP_INDEX_OFFSET);
|
|
// LDE diagnostic data
|
diagnostics->maxNoise = dwt_read16bitoffsetreg(LDE_IF_ID, LDE_THRESH_OFFSET);
|
|
// Read all 8 bytes in one SPI transaction
|
dwt_readfromdevice(RX_FQUAL_ID, 0x0, 8, (uint8_t *)&diagnostics->stdNoise);
|
//diagnostics->stdNoise = dwt_read16bitoffsetreg(RX_FQUAL_ID, 0x0) ;
|
//diagnostics->firstPathAmp2 = dwt_read16bitoffsetreg(RX_FQUAL_ID, 0x2) ;
|
//diagnostics->firstPathAmp3 = dwt_read16bitoffsetreg(RX_FQUAL_ID, 0x4) ;
|
//diagnostics->maxGrowthCIR = dwt_read16bitoffsetreg(RX_FQUAL_ID, 0x6) ;
|
|
diagnostics->firstPathAmp1 = dwt_read16bitoffsetreg(RX_TIME_ID, 0x7) ;
|
|
diagnostics->rxPreamCount = (dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXPACC_MASK) >> RX_FINFO_RXPACC_SHIFT ;
|
|
//diagnostics->debug1 = dwt_read32bitoffsetreg(0x27, 0x28);
|
//diagnostics->debug2 = dwt_read32bitoffsetreg(0x27, 0xc);
|
|
}
|
#define B20_SIGN_EXTEND_TEST (0x00100000UL)
|
#define B20_SIGN_EXTEND_MASK (0xFFF00000UL)
|
/* offset from DRX_CONF_ID in bytes to 21-bit signed RX carrier integrator value */
|
#define DRX_CARRIER_INT_OFFSET 0x28
|
#define DRX_CARRIER_INT_LEN (3)
|
#define DRX_CARRIER_INT_MASK 0x001FFFFF
|
int32_t dwt_readcarrierintegrator(void)
|
{
|
uint32_t regval = 0 ;
|
int j ;
|
uint8_t buffer[DRX_CARRIER_INT_LEN] ;
|
|
/* Read 3 bytes into buffer (21-bit quantity) */
|
|
dwt_readfromdevice(DRX_CONF_ID,DRX_CARRIER_INT_OFFSET,DRX_CARRIER_INT_LEN, buffer) ;
|
|
for (j = 2 ; j >= 0 ; j --) // arrange the three bytes into an unsigned integer value
|
{
|
regval = (regval << 8) + buffer[j] ;
|
}
|
|
if (regval & B20_SIGN_EXTEND_TEST) regval |= B20_SIGN_EXTEND_MASK ; // sign extend bit #20 to whole word
|
else regval &= DRX_CARRIER_INT_MASK ; // make sure upper bits are clear if not sign extending
|
|
return (int32_t) regval ; // cast unsigned value to signed quantity.
|
}
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @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)
|
{
|
dwt_readfromdevice(TX_TIME_ID, 0, TX_TIME_TX_STAMP_LEN, timestamp) ; // Read bytes directly into buffer
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @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)
|
{
|
return dwt_read32bitoffsetreg(TX_TIME_ID, 1);
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @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)
|
{
|
return dwt_read32bitoffsetreg(TX_TIME_ID, 0);
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @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)
|
{
|
dwt_readfromdevice(RX_TIME_ID, 0, RX_TIME_RX_STAMP_LEN, timestamp) ; // Get the adjusted time of arrival
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @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)
|
{
|
return dwt_read32bitoffsetreg(RX_TIME_ID, 1);
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @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)
|
{
|
return dwt_read32bitoffsetreg(RX_TIME_ID, 0);
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @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)
|
{
|
return dwt_read32bitoffsetreg(SYS_TIME_ID, 1);
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @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)
|
{
|
dwt_readfromdevice(SYS_TIME_ID, 0, SYS_TIME_LEN, timestamp) ;
|
}
|
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn dwt_writetodevice()
|
*
|
* @brief this function is used to write to the DW1000 device registers
|
* Notes:
|
* 1. Firstly we create a header (the first byte is a header byte)
|
* 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
|
* b. set bit-7 (or with 0x80) for write operation
|
* 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
|
*
|
* 2. Write the header followed by the data bytes to the DW1000 device
|
*
|
*
|
* input parameters:
|
* @param recordNumber - ID of register file or buffer being accessed
|
* @param index - byte index into register file or buffer being accessed
|
* @param length - number of bytes being written
|
* @param buffer - pointer to buffer containing the 'length' bytes to be written
|
*
|
* output parameters
|
*
|
* returns DWT_SUCCESS for success, or DWT_ERROR for error
|
*/
|
int dwt_writetodevice
|
(
|
uint16_t recordNumber,
|
uint16_t index,
|
uint32_t length,
|
uint8_t *buffer
|
)
|
{
|
uint8_t header[3] ; // Buffer to compose header in
|
int cnt = 0; // Counter for length of header
|
#ifdef DWT_API_ERROR_CHECK
|
if (recordNumber > 0x3F)
|
{
|
return DWT_ERROR ; // Record number is limited to 6-bits.
|
}
|
#endif
|
|
// Write message header selecting WRITE operation and addresses as appropriate (this is one to three bytes long)
|
if (index == 0) // For index of 0, no sub-index is required
|
{
|
header[cnt++] = 0x80 | recordNumber ; // Bit-7 is WRITE operation, bit-6 zero=NO sub-addressing, bits 5-0 is reg file id
|
}
|
else
|
{
|
#ifdef DWT_API_ERROR_CHECK
|
if (index > 0x7FFF)
|
{
|
return DWT_ERROR ; // Index is limited to 15-bits.
|
}
|
if ((index + length) > 0x7FFF)
|
{
|
return DWT_ERROR ; // Sub-addressable area is limited to 15-bits.
|
}
|
#endif
|
header[cnt++] = 0xC0 | recordNumber ; // Bit-7 is WRITE operation, bit-6 one=sub-address follows, bits 5-0 is reg file id
|
|
if (index <= 127) // For non-zero index < 127, just a single sub-index byte is required
|
{
|
header[cnt++] = (uint8_t)index ; // Bit-7 zero means no extension, bits 6-0 is index.
|
}
|
else
|
{
|
header[cnt++] = 0x80 | (uint8_t)(index) ; // Bit-7 one means extended index, bits 6-0 is low seven bits of index.
|
header[cnt++] = (uint8_t) (index >> 7) ; // 8-bit value = high eight bits of index.
|
}
|
}
|
|
// Write it to the SPI
|
return writetospi(cnt, header, length, buffer);
|
|
} // end dwt_writetodevice()
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn dwt_readfromdevice()
|
*
|
* @brief this function is used to read from the DW1000 device registers
|
* Notes:
|
* 1. Firstly we create a header (the first byte is a header byte)
|
* 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
|
* b. set bit-7 (or with 0x80) for write operation
|
* 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
|
*
|
* 2. Write the header followed by the data bytes to the DW1000 device
|
* 3. Store the read data in the input buffer
|
*
|
* input parameters:
|
* @param recordNumber - ID of register file or buffer being accessed
|
* @param index - byte index into register file or buffer being accessed
|
* @param length - number of bytes being read
|
* @param buffer - pointer to buffer in which to return the read data.
|
*
|
* output parameters
|
*
|
* returns DWT_SUCCESS for success, or DWT_ERROR for error
|
*/
|
int dwt_readfromdevice
|
(
|
uint16_t recordNumber,
|
uint16_t index,
|
uint32_t length,
|
uint8_t *buffer
|
)
|
{
|
uint8_t header[3] ; // Buffer to compose header in
|
int cnt = 0; // Counter for length of header
|
#ifdef DWT_API_ERROR_CHECK
|
if (recordNumber > 0x3F)
|
{
|
return DWT_ERROR ; // Record number is limited to 6-bits.
|
}
|
#endif
|
|
// Write message header selecting READ operation and addresses as appropriate (this is one to three bytes long)
|
if (index == 0) // For index of 0, no sub-index is required
|
{
|
header[cnt++] = (uint8_t) recordNumber ; // Bit-7 zero is READ operation, bit-6 zero=NO sub-addressing, bits 5-0 is reg file id
|
}
|
else
|
{
|
#ifdef DWT_API_ERROR_CHECK
|
if (index > 0x7FFF)
|
{
|
return DWT_ERROR ; // Index is limited to 15-bits.
|
}
|
if ((index + length) > 0x7FFF)
|
{
|
return DWT_ERROR ; // Sub-addressable area is limited to 15-bits.
|
}
|
#endif
|
header[cnt++] = (uint8_t)(0x40 | recordNumber) ; // Bit-7 zero is READ operation, bit-6 one=sub-address follows, bits 5-0 is reg file id
|
|
if (index <= 127) // For non-zero index < 127, just a single sub-index byte is required
|
{
|
header[cnt++] = (uint8_t) index ; // Bit-7 zero means no extension, bits 6-0 is index.
|
}
|
else
|
{
|
header[cnt++] = 0x80 | (uint8_t)(index) ; // Bit-7 one means extended index, bits 6-0 is low seven bits of index.
|
header[cnt++] = (uint8_t) (index >> 7) ; // 8-bit value = high eight bits of index.
|
}
|
}
|
|
// Do the read from the SPI
|
return readfromspi(cnt, header, length, buffer); // result is stored in the buffer
|
|
} // end dwt_readfromdevice()
|
|
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn dwt_read32bitoffsetreg()
|
*
|
* @brief this function is used to read 32-bit value from the DW1000 device registers
|
*
|
* input parameters:
|
* @param regFileID - ID of register file or buffer being accessed
|
* @param regOffset - the index into register file or buffer being accessed
|
*
|
* output parameters
|
*
|
* returns 32 bit register value (success), or DWT_ERROR for error
|
*/
|
uint32_t dwt_read32bitoffsetreg(int regFileID, int regOffset)
|
{
|
uint32_t regval = (uint32_t)DWT_ERROR ;
|
int j ;
|
uint8_t buffer[4] ;
|
|
int result = dwt_readfromdevice(regFileID, regOffset, 4, buffer); // Read 4 bytes (32-bits) register into buffer
|
|
if(result == DWT_SUCCESS)
|
{
|
for (j = 3 ; j >= 0 ; j --)
|
{
|
regval = (regval << 8) + buffer[j] ;
|
}
|
}
|
return regval ;
|
|
} // end dwt_read32bitoffsetreg()
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn dwt_read16bitoffsetreg()
|
*
|
* @brief this function is used to read 16-bit value from the DW1000 device registers
|
*
|
* input parameters:
|
* @param regFileID - ID of register file or buffer being accessed
|
* @param regOffset - the index into register file or buffer being accessed
|
*
|
* output parameters
|
*
|
* returns 16 bit register value (success), or DWT_ERROR for error
|
*/
|
uint16_t dwt_read16bitoffsetreg(int regFileID, int regOffset)
|
{
|
uint16_t regval = (uint16_t)DWT_ERROR ;
|
uint8_t buffer[2] ;
|
|
int result = dwt_readfromdevice(regFileID, regOffset, 2, buffer); // Read 2 bytes (16-bits) register into buffer
|
|
if(result == DWT_SUCCESS)
|
{
|
regval = (buffer[1] << 8) + buffer[0] ;
|
}
|
return regval ;
|
|
} // end dwt_read16bitoffsetreg()
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn dwt_write16bitoffsetreg()
|
*
|
* @brief this function is used to write 16-bit value to the DW1000 device registers
|
*
|
* input parameters:
|
* @param regFileID - ID of register file or buffer being accessed
|
* @param regOffset - the index into register file or buffer being accessed
|
* @param regval - the value to write
|
*
|
* output parameters
|
*
|
* returns DWT_SUCCESS for success, or DWT_ERROR for error
|
*/
|
int dwt_write16bitoffsetreg(int regFileID, int regOffset, uint16_t regval)
|
{
|
int reg;
|
uint8_t buffer[2] ;
|
|
buffer[0] = regval & 0xFF;
|
buffer[1] = regval >> 8 ;
|
|
reg = dwt_writetodevice(regFileID, regOffset, 2, buffer);
|
|
return reg;
|
|
} // end dwt_write16bitoffsetreg()
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn dwt_write32bitoffsetreg()
|
*
|
* @brief this function is used to write 32-bit value to the DW1000 device registers
|
*
|
* input parameters:
|
* @param regFileID - ID of register file or buffer being accessed
|
* @param regOffset - the index into register file or buffer being accessed
|
* @param regval - the value to write
|
*
|
* output parameters
|
*
|
* returns DWT_SUCCESS for success, or DWT_ERROR for error
|
*/
|
int dwt_write32bitoffsetreg(int regFileID, int regOffset, uint32_t regval)
|
{
|
int j ;
|
int reg;
|
uint8_t buffer[4] ;
|
|
for ( j = 0 ; j < 4 ; j++ )
|
{
|
buffer[j] = regval & 0xff ;
|
regval >>= 8 ;
|
}
|
|
reg = dwt_writetodevice(regFileID, regOffset, 4, buffer);
|
|
return reg;
|
|
} // end dwt_write32bitoffsetreg()
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn dwt_enableframefilter()
|
*
|
* @brief This is used to enable the frame filtering - (the default option is to
|
* accept any data and ACK frames with correct destination address
|
*
|
* input parameters
|
* @param - bitmask - enables/disables the frame filtering options according to
|
* DWT_FF_NOTYPE_EN 0x000 no frame types allowed
|
* DWT_FF_COORD_EN 0x002 behave as coordinator (can receive frames with no destination address (PAN ID has to match))
|
* DWT_FF_BEACON_EN 0x004 beacon frames allowed
|
* DWT_FF_DATA_EN 0x008 data frames allowed
|
* DWT_FF_ACK_EN 0x010 ack frames allowed
|
* DWT_FF_MAC_EN 0x020 mac control frames allowed
|
* DWT_FF_RSVD_EN 0x040 reserved frame types allowed
|
*
|
* output parameters
|
*
|
* no return value
|
*/
|
void dwt_enableframefilter(uint16_t enable)
|
{
|
uint32_t sysconfig = SYS_CFG_MASK & dwt_read32bitreg(SYS_CFG_ID) ; // Read sysconfig register
|
|
if(enable)
|
{
|
// Enable frame filtering and configure frame types
|
sysconfig &= ~(SYS_CFG_FF_ALL_EN); // Clear all
|
sysconfig |= (enable & SYS_CFG_FF_ALL_EN) | SYS_CFG_FFE;
|
}
|
else
|
{
|
sysconfig &= ~(SYS_CFG_FFE);
|
}
|
|
dw1000local.sysCFGreg = sysconfig ;
|
dwt_write32bitreg(SYS_CFG_ID, sysconfig) ;
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn dwt_setpanid()
|
*
|
* @brief This is used to set the PAN ID
|
*
|
* input parameters
|
* @param panID - this is the PAN ID
|
*
|
* output parameters
|
*
|
* no return value
|
*/
|
void dwt_setpanid(uint16_t panID)
|
{
|
// PAN ID is high 16 bits of register
|
dwt_write16bitoffsetreg(PANADR_ID, 2, panID) ;
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn dwt_setaddress16()
|
*
|
* @brief This is used to set 16-bit (short) address
|
*
|
* input parameters
|
* @param shortAddress - this sets the 16 bit short address
|
*
|
* output parameters
|
*
|
* no return value
|
*/
|
void dwt_setaddress16(uint16_t shortAddress)
|
{
|
// Short address into low 16 bits
|
dwt_write16bitoffsetreg(PANADR_ID, 0, shortAddress) ;
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn dwt_seteui()
|
*
|
* @brief This is used to set the EUI 64-bit (long) address
|
*
|
* input parameters
|
* @param eui64 - this is the pointer to a buffer that contains the 64bit address
|
*
|
* output parameters
|
*
|
* no return value
|
*/
|
void dwt_seteui(uint8_t *eui64)
|
{
|
dwt_writetodevice(EUI_64_ID, 0x0, 8, eui64);
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn dwt_geteui()
|
*
|
* @brief This is used to get the EUI 64-bit from the DW1000
|
*
|
* input parameters
|
* @param eui64 - this is the pointer to a buffer that will contain the read 64-bit EUI value
|
*
|
* output parameters
|
*
|
* no return value
|
*/
|
void dwt_geteui(uint8_t *eui64)
|
{
|
dwt_readfromdevice(EUI_64_ID, 0x0, 8, eui64);
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn dwt_otpread()
|
*
|
* @brief This is used to read the OTP data from given address into provided array
|
*
|
* input parameters
|
* @param address - this is the OTP address to read from
|
* @param array - this is the pointer to the array into which to read the data
|
* @param length - this is the number of 32 bit words to read (array needs to be at least this length)
|
*
|
* output parameters
|
*
|
* no return value
|
*/
|
void dwt_otpread(uint32_t address, uint32_t *array, uint8_t length)
|
{
|
int i;
|
|
_dwt_enableclocks(FORCE_SYS_XTI); // NOTE: Set system clock to XTAL - this is necessary to make sure the values read by _dwt_otpread are reliable
|
|
for(i = 0; i < length; i++)
|
{
|
array[i] = _dwt_otpread(address + i) ;
|
}
|
|
_dwt_enableclocks(ENABLE_ALL_SEQ); // Restore system clock to PLL
|
|
return ;
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn _dwt_otpread()
|
*
|
* @brief function to read the OTP memory. Ensure that MR,MRa,MRb are reset to 0.
|
*
|
* input parameters
|
* @param address - address to read at
|
*
|
* output parameters
|
*
|
* returns the 32bit of read data
|
*/
|
uint32_t _dwt_otpread(uint32_t address)
|
{
|
uint8_t buf[4];
|
uint32_t ret_data;
|
|
buf[1] = (address >> 8) & 0xff;
|
buf[0] = address & 0xff;
|
|
// Write the address
|
dwt_writetodevice(OTP_IF_ID, OTP_ADDR, 2, buf);
|
|
// Assert OTP Read (self clearing)
|
buf[0] = 0x03; // 0x03 for manual drive of OTP_READ
|
dwt_writetodevice(OTP_IF_ID, OTP_CTRL, 1, buf);
|
buf[0] = 0x00; // Bit0 is not autoclearing, so clear it (Bit 1 is but we clear it anyway).
|
dwt_writetodevice(OTP_IF_ID, OTP_CTRL, 1, buf);
|
|
// Read read data, available 40ns after rising edge of OTP_READ
|
ret_data = dwt_read32bitoffsetreg(OTP_IF_ID, OTP_RDAT);
|
|
// Return the 32bit of read data
|
return (ret_data);
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn _dwt_otpsetmrregs()
|
*
|
* @brief Configure the MR registers for initial programming (enable charge pump).
|
* Read margin is used to stress the read back from the
|
* programmed bit. In normal operation this is relaxed.
|
*
|
* input parameters
|
* @param mode - "0" : Reset all to 0x0: MRA=0x0000, MRB=0x0000, MR=0x0000
|
* "1" : Set for inital programming: MRA=0x9220, MRB=0x000E, MR=0x1024
|
* "2" : Set for soak programming: MRA=0x9220, MRB=0x0003, MR=0x1824
|
* "3" : High Vpp: MRA=0x9220, MRB=0x004E, MR=0x1824
|
* "4" : Low Read Margin: MRA=0x0000, MRB=0x0003, MR=0x0000
|
* "5" : Array Clean: MRA=0x0049, MRB=0x0003, MR=0x0024
|
* "4" : Very Low Read Margin: MRA=0x0000, MRB=0x0003, MR=0x0000
|
*
|
* output parameters
|
*
|
* returns DWT_SUCCESS for success, or DWT_ERROR for error
|
*/
|
uint32_t _dwt_otpsetmrregs(int mode)
|
{
|
uint8_t rd_buf[4];
|
uint8_t wr_buf[4];
|
uint32_t mra = 0, mrb = 0, mr = 0;
|
//printf("OTP SET MR: Setting MR,MRa,MRb for mode %2x\n",mode);
|
|
// PROGRAMME MRA
|
// Set MRA, MODE_SEL
|
wr_buf[0] = 0x03;
|
dwt_writetodevice(OTP_IF_ID, OTP_CTRL + 1, 1, wr_buf);
|
|
// Load data
|
switch(mode & 0x0f)
|
{
|
case 0x0 :
|
mr = 0x0000;
|
mra = 0x0000;
|
mrb = 0x0000;
|
break;
|
case 0x1 :
|
mr = 0x1024;
|
mra = 0x9220; // Enable CPP mon
|
mrb = 0x000e;
|
break;
|
case 0x2 :
|
mr = 0x1824;
|
mra = 0x9220;
|
mrb = 0x0003;
|
break;
|
case 0x3 :
|
mr = 0x1824;
|
mra = 0x9220;
|
mrb = 0x004e;
|
break;
|
case 0x4 :
|
mr = 0x0000;
|
mra = 0x0000;
|
mrb = 0x0003;
|
break;
|
case 0x5 :
|
mr = 0x0024;
|
mra = 0x0000;
|
mrb = 0x0003;
|
break;
|
default :
|
// printf("OTP SET MR: ERROR : Invalid mode selected\n",mode);
|
return (uint32_t)DWT_ERROR;
|
}
|
|
wr_buf[0] = mra & 0x00ff;
|
wr_buf[1] = (mra & 0xff00) >> 8;
|
dwt_writetodevice(OTP_IF_ID, OTP_WDAT, 2, wr_buf);
|
|
|
// Set WRITE_MR
|
wr_buf[0] = 0x08;
|
dwt_writetodevice(OTP_IF_ID, OTP_CTRL, 1, wr_buf);
|
|
// Wait?
|
|
// Set Clear Mode sel
|
wr_buf[0] = 0x02;
|
dwt_writetodevice(OTP_IF_ID, OTP_CTRL + 1, 1, wr_buf);
|
|
// Set AUX update, write MR
|
wr_buf[0] = 0x88;
|
dwt_writetodevice(OTP_IF_ID, OTP_CTRL, 1, wr_buf);
|
// Clear write MR
|
wr_buf[0] = 0x80;
|
dwt_writetodevice(OTP_IF_ID, OTP_CTRL, 1, wr_buf);
|
// Clear AUX update
|
wr_buf[0] = 0x00;
|
dwt_writetodevice(OTP_IF_ID, OTP_CTRL, 1, wr_buf);
|
|
///////////////////////////////////////////
|
// PROGRAM MRB
|
// Set SLOW, MRB, MODE_SEL
|
wr_buf[0] = 0x05;
|
dwt_writetodevice(OTP_IF_ID, OTP_CTRL + 1, 1, wr_buf);
|
|
wr_buf[0] = mrb & 0x00ff;
|
wr_buf[1] = (mrb & 0xff00) >> 8;
|
dwt_writetodevice(OTP_IF_ID, OTP_WDAT, 2, wr_buf);
|
|
// Set WRITE_MR
|
wr_buf[0] = 0x08;
|
dwt_writetodevice(OTP_IF_ID, OTP_CTRL, 1, wr_buf);
|
|
// Wait?
|
|
// Set Clear Mode sel
|
wr_buf[0] = 0x04;
|
dwt_writetodevice(OTP_IF_ID, OTP_CTRL + 1, 1, wr_buf);
|
|
// Set AUX update, write MR
|
wr_buf[0] = 0x88;
|
dwt_writetodevice(OTP_IF_ID, OTP_CTRL, 1, wr_buf);
|
// Clear write MR
|
wr_buf[0] = 0x80;
|
dwt_writetodevice(OTP_IF_ID, OTP_CTRL, 1, wr_buf);
|
// Clear AUX update
|
wr_buf[0] = 0x00;
|
dwt_writetodevice(OTP_IF_ID, OTP_CTRL, 1, wr_buf);
|
|
///////////////////////////////////////////
|
// PROGRAM MR
|
// Set SLOW, MODE_SEL
|
wr_buf[0] = 0x01;
|
dwt_writetodevice(OTP_IF_ID, OTP_CTRL + 1, 1, wr_buf);
|
// Load data
|
|
wr_buf[0] = mr & 0x00ff;
|
wr_buf[1] = (mr & 0xff00) >> 8;
|
dwt_writetodevice(OTP_IF_ID, OTP_WDAT, 2, wr_buf);
|
|
// Set WRITE_MR
|
wr_buf[0] = 0x08;
|
dwt_writetodevice(OTP_IF_ID, OTP_CTRL, 1, wr_buf);
|
|
// Wait?
|
deca_sleep(10);
|
// Set Clear Mode sel
|
wr_buf[0] = 0x00;
|
dwt_writetodevice(OTP_IF_ID, OTP_CTRL + 1, 1, wr_buf);
|
|
// Read confirm mode writes.
|
// Set man override, MRA_SEL
|
wr_buf[0] = OTP_CTRL_OTPRDEN;
|
dwt_writetodevice(OTP_IF_ID, OTP_CTRL, 1, wr_buf);
|
wr_buf[0] = 0x02;
|
dwt_writetodevice(OTP_IF_ID, OTP_CTRL + 1, 1, wr_buf);
|
// MRB_SEL
|
wr_buf[0] = 0x04;
|
dwt_writetodevice(OTP_IF_ID, OTP_CTRL + 1, 1, wr_buf);
|
deca_sleep(100);
|
|
// Clear mode sel
|
wr_buf[0] = 0x00;
|
dwt_writetodevice(OTP_IF_ID, OTP_CTRL + 1, 1, wr_buf);
|
// Clear MAN_OVERRIDE
|
wr_buf[0] = 0x00;
|
dwt_writetodevice(OTP_IF_ID, OTP_CTRL, 1, wr_buf);
|
|
deca_sleep(10);
|
|
if (((mode & 0x0f) == 0x1) || ((mode & 0x0f) == 0x2))
|
{
|
// Read status register
|
dwt_readfromdevice(OTP_IF_ID, OTP_STAT, 1, rd_buf);
|
}
|
|
return DWT_SUCCESS;
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn _dwt_otpprogword32()
|
*
|
* @brief function to program the OTP memory. Ensure that MR,MRa,MRb are reset to 0.
|
* VNM Charge pump needs to be enabled (see _dwt_otpsetmrregs)
|
* Note the address is only 11 bits long.
|
*
|
* input parameters
|
* @param address - address to read at
|
*
|
* output parameters
|
*
|
* returns DWT_SUCCESS for success, or DWT_ERROR for error
|
*/
|
uint32_t _dwt_otpprogword32(uint32_t data, uint16_t address)
|
{
|
uint8_t rd_buf[1];
|
uint8_t wr_buf[4];
|
uint8_t otp_done;
|
|
// Read status register
|
dwt_readfromdevice(OTP_IF_ID, OTP_STAT, 1, rd_buf);
|
|
if((rd_buf[0] & 0x02) != 0x02)
|
{
|
// printf("OTP PROG 32: ERROR VPP NOT OK, programming will fail. Are MR/MRA/MRB set?\n");
|
return (uint32_t)DWT_ERROR;
|
}
|
|
// Write the data
|
wr_buf[3] = (data >> 24) & 0xff;
|
wr_buf[2] = (data >> 16) & 0xff;
|
wr_buf[1] = (data >> 8) & 0xff;
|
wr_buf[0] = data & 0xff;
|
dwt_writetodevice(OTP_IF_ID, OTP_WDAT, 4, wr_buf);
|
|
// Write the address [10:0]
|
wr_buf[1] = (address >> 8) & 0x07;
|
wr_buf[0] = address & 0xff;
|
dwt_writetodevice(OTP_IF_ID, OTP_ADDR, 2, wr_buf);
|
|
// Enable Sequenced programming
|
wr_buf[0] = OTP_CTRL_OTPPROG;
|
dwt_writetodevice(OTP_IF_ID, OTP_CTRL, 1, wr_buf);
|
wr_buf[0] = 0x00; // And clear
|
dwt_writetodevice(OTP_IF_ID, OTP_CTRL, 1, wr_buf);
|
|
// WAIT for status to flag PRGM OK..
|
otp_done = 0;
|
while(otp_done == 0)
|
{
|
deca_sleep(1);
|
dwt_readfromdevice(OTP_IF_ID, OTP_STAT, 1, rd_buf);
|
|
if((rd_buf[0] & 0x01) == 0x01)
|
{
|
otp_done = 1;
|
}
|
}
|
|
return DWT_SUCCESS;
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn dwt_otpwriteandverify()
|
*
|
* @brief This is used to program 32-bit value into the DW1000 OTP memory.
|
*
|
* input parameters
|
* @param value - this is the 32-bit value to be programmed into OTP
|
* @param address - this is the 16-bit OTP address into which the 32-bit value is programmed
|
*
|
* output parameters
|
*
|
* returns DWT_SUCCESS for success, or DWT_ERROR for error
|
*/
|
uint32_t dwt_otpwriteandverify(uint32_t value, uint16_t address)
|
{
|
int prog_ok = DWT_SUCCESS;
|
int retry = 0;
|
// Firstly set the system clock to crystal
|
_dwt_enableclocks(FORCE_SYS_XTI); //set system clock to XTI
|
|
//
|
//!!!!!!!!!!!!!! NOTE !!!!!!!!!!!!!!!!!!!!!
|
//Set the supply to 3.7V
|
//
|
|
_dwt_otpsetmrregs(1); // Set mode for programming
|
|
// For each value to program - the readback/check is done couple of times to verify it has programmed successfully
|
while(1)
|
{
|
_dwt_otpprogword32(value, address);
|
|
if(_dwt_otpread(address) == value)
|
{
|
break;
|
}
|
retry++;
|
if(retry == 5)
|
{
|
break;
|
}
|
}
|
|
// Even if the above does not exit before retry reaches 5, the programming has probably been successful
|
|
_dwt_otpsetmrregs(4); // Set mode for reading
|
|
if(_dwt_otpread(address) != value) // If this does not pass please check voltage supply on VDDIO
|
{
|
prog_ok = DWT_ERROR;
|
}
|
|
_dwt_otpsetmrregs(0); // Setting OTP mode register for low RM read - resetting the device would be alternative
|
|
return prog_ok;
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn _dwt_aonconfigupload()
|
*
|
* @brief This function uploads always on (AON) configuration, as set in the AON_CFG0_OFFSET register.
|
*
|
* input parameters
|
*
|
* output parameters
|
*
|
* no return value
|
*/
|
void _dwt_aonconfigupload(void)
|
{
|
uint8_t buf[1];
|
|
buf[0] = 0x04;
|
dwt_writetodevice(AON_ID, AON_CTRL_OFFSET, 1, buf);
|
buf[0] = 0x00;
|
dwt_writetodevice(AON_ID, AON_CTRL_OFFSET, 1, buf);
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn _dwt_aonarrayupload()
|
*
|
* @brief This function uploads always on (AON) data array and configuration. Thus if this function is used, then _dwt_aonconfigupload
|
* is not necessary. The DW1000 will go so SLEEP straight after this if the DWT_SLP_EN has been set.
|
*
|
* input parameters
|
*
|
* output parameters
|
*
|
* no return value
|
*/
|
void _dwt_aonarrayupload(void)
|
{
|
uint8_t buf[1];
|
|
buf[0] = 0x00;
|
dwt_writetodevice(AON_ID, AON_CTRL_OFFSET, 1, buf);
|
buf[0] = 0x02;
|
dwt_writetodevice(AON_ID, AON_CTRL_OFFSET, 1, buf);
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn dwt_entersleep()
|
*
|
* @brief This function puts the device into deep sleep or sleep. dwt_configuredeepsleep should be called first
|
* to configure the sleep and on-wake/wake-up parameters
|
*
|
* input parameters
|
*
|
* output parameters
|
*
|
* no return value
|
*/
|
void dwt_entersleep(void)
|
{
|
// Copy config to AON - upload the new configuration
|
_dwt_aonarrayupload();
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @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)
|
{
|
uint8_t buf[2];
|
|
buf[0] = 0x01;
|
dwt_writetodevice(PMSC_ID, PMSC_CTRL0_OFFSET, 1, buf);
|
|
buf[0] = 0;
|
dwt_writetodevice(AON_ID, AON_CFG0_OFFSET, 1, buf); // To make sure we don't accidentaly go to sleep
|
|
buf[0] = 0;
|
dwt_writetodevice(AON_ID, AON_CFG1_OFFSET, 1, buf);
|
// Disable the sleep counter
|
_dwt_aonconfigupload();
|
|
// Set new value
|
buf[0] = sleepcnt & 0xFF;
|
buf[1] = (sleepcnt >> 8) & 0xFF;
|
dwt_writetodevice(AON_ID, (AON_CFG0_OFFSET + 2) , 2, buf);
|
_dwt_aonconfigupload();
|
|
// Enable the sleep counter
|
buf[0] = 1;
|
dwt_writetodevice(AON_ID, AON_CFG1_OFFSET, 1, buf);
|
_dwt_aonconfigupload();
|
|
buf[0] = 0x00;
|
dwt_writetodevice(PMSC_ID, PMSC_CTRL0_OFFSET, 1, buf);
|
}
|
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @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)
|
{
|
uint8_t buf[2];
|
uint16_t result;
|
|
// Enable cal of the sleep counter
|
buf[0] = 4;
|
dwt_writetodevice(AON_ID, AON_CFG1_OFFSET, 1, buf);
|
_dwt_aonconfigupload();
|
|
// Disables the cal of the sleep counter
|
buf[0] = 0;
|
dwt_writetodevice(AON_ID, AON_CFG1_OFFSET, 1, buf);
|
_dwt_aonconfigupload();
|
|
buf[0] = 0x01;
|
dwt_writetodevice(PMSC_ID, PMSC_CTRL0_OFFSET, 1, buf);
|
deca_sleep(1);
|
|
// Read the number of XTAL/2 cycles one lposc cycle took.
|
// Set up address
|
buf[0] = 118;
|
dwt_writetodevice(AON_ID, AON_ADDR_OFFSET, 1, buf);
|
|
// Enable manual override
|
buf[0] = 0x80; // OVR EN
|
dwt_writetodevice(AON_ID, AON_CTRL_OFFSET, 1, buf);
|
|
// Read confirm data that was written
|
buf[0] = 0x88; // OVR EN, OVR_RD
|
dwt_writetodevice(AON_ID, AON_CTRL_OFFSET, 1, buf);
|
|
// Read back byte from AON
|
dwt_readfromdevice(AON_ID, AON_RDAT_OFFSET, 1, buf);
|
result = buf[0];
|
result = result << 8;
|
|
// Set up address
|
buf[0] = 117;
|
dwt_writetodevice(AON_ID, AON_ADDR_OFFSET, 1, buf);
|
|
// Enable manual override
|
buf[0] = 0x80; // OVR EN
|
dwt_writetodevice(AON_ID, AON_CTRL_OFFSET, 1, buf);
|
|
// Read confirm data that was written
|
buf[0] = 0x88; // OVR EN, OVR_RD
|
dwt_writetodevice(AON_ID, AON_CTRL_OFFSET, 1, buf);
|
|
// Read back byte from AON
|
dwt_readfromdevice(AON_ID, AON_RDAT_OFFSET, 1, buf);
|
result |= buf[0];
|
|
buf[0] = 0x00; // Disable OVR EN
|
dwt_writetodevice(AON_ID, AON_CTRL_OFFSET, 1, buf);
|
|
buf[0] = 0x00;
|
dwt_writetodevice(PMSC_ID, PMSC_CTRL0_OFFSET, 1, buf);
|
|
// Returns the number of XTAL/2 cycles per one LP OSC cycle
|
// This can be converted into LP OSC frequency by 19.2 MHz/result
|
return result;
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @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
|
*/
|
void dwt_configuresleep(uint16_t mode, uint8_t wake)
|
{
|
uint8_t buf[1];
|
|
// Add predefined sleep settings before writing the mode
|
mode |= dw1000local.sleep_mode;
|
dwt_write16bitoffsetreg(AON_ID, AON_WCFG_OFFSET, mode);
|
|
buf[0] = wake;
|
|
dwt_writetodevice(AON_ID, AON_CFG0_OFFSET, 1, buf);
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn dwt_entersleepaftertx(int enable)
|
*
|
* @brief sets the auto TX to sleep bit. This means that after a frame
|
* transmission the device will enter deep sleep mode. The dwt_setdeepsleep() function
|
* needs to be called before this to configure the on-wake settings
|
*
|
* NOTE: the IRQ line has to be low/inactive (i.e. no pending events)
|
*
|
* input parameters
|
* @param enable - 1 to configure the device to enter deep sleep after TX, 0 - disables the configuration
|
*
|
* output parameters
|
*
|
* no return value
|
*/
|
void dwt_entersleepaftertx(int enable)
|
{
|
uint32_t reg = dwt_read32bitoffsetreg(PMSC_ID, PMSC_CTRL1_OFFSET);
|
// Set the auto TX -> sleep bit
|
if(enable)
|
{
|
reg |= PMSC_CTRL1_ATXSLP;
|
}
|
else
|
{
|
reg &= ~(PMSC_CTRL1_ATXSLP);
|
}
|
dwt_write32bitoffsetreg(PMSC_ID, PMSC_CTRL1_OFFSET, reg);
|
}
|
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn dwt_spicswakeup()
|
*
|
* @brief wake up the device from sleep mode using the SPI read,
|
* the device will wake up on chip select line going low if the line is held low for at least 500us.
|
* To define the length depending on the time one wants to hold
|
* the chip select line low, use the following formula:
|
*
|
* length (bytes) = time (s) * byte_rate (Hz)
|
*
|
* where fastest byte_rate is spi_rate (Hz) / 8 if the SPI is sending the bytes back-to-back.
|
* To save time and power, a system designer could determine byte_rate value more precisely.
|
*
|
* NOTE: Alternatively the device can be waken up with WAKE_UP pin if configured for that operation
|
*
|
* input parameters
|
* @param buff - this is a pointer to the dummy buffer which will be used in the SPI read transaction used for the WAKE UP of the device
|
* @param length - this is the length of the dummy buffer
|
*
|
* output parameters
|
*
|
* returns DWT_SUCCESS for success, or DWT_ERROR for error
|
*/
|
int dwt_spicswakeup(uint8_t *buff, uint16_t length)
|
{
|
if(dwt_readdevid() != DWT_DEVICE_ID) // Device was in deep sleep (the first read fails)
|
{
|
// Need to keep chip select line low for at least 500us
|
dwt_readfromdevice(0x0, 0x0, length, buff); // Do a long read to wake up the chip (hold the chip select low)
|
|
// Need 5ms for XTAL to start and stabilise (could wait for PLL lock IRQ status bit !!!)
|
// NOTE: Polling of the STATUS register is not possible unless frequency is < 3MHz
|
deca_sleep(5);
|
}
|
else
|
{
|
return DWT_SUCCESS;
|
}
|
// DEBUG - check if still in sleep mode
|
if(dwt_readdevid() != DWT_DEVICE_ID)
|
{
|
return DWT_ERROR;
|
}
|
|
return DWT_SUCCESS;
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn _dwt_configlde()
|
*
|
* @brief configure LDE algorithm parameters
|
*
|
* input parameters
|
* @param prf - this is the PRF index (0 or 1) 0 corresponds to 16 and 1 to 64 PRF
|
*
|
* output parameters
|
*
|
* no return value
|
*/
|
void _dwt_configlde(int prfIndex)
|
{
|
uint8_t x = LDE_PARAM1;
|
|
dwt_writetodevice( LDE_IF_ID, LDE_CFG1_OFFSET, 1, &x ); // 8-bit configuration register
|
|
if(prfIndex)
|
{
|
dwt_write16bitoffsetreg( LDE_IF_ID, LDE_CFG2_OFFSET, (uint16_t) LDE_PARAM3_64); // 16-bit LDE configuration tuning register
|
}
|
else
|
{
|
dwt_write16bitoffsetreg( LDE_IF_ID, LDE_CFG2_OFFSET, (uint16_t) LDE_PARAM3_16);
|
}
|
}
|
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn _dwt_loaducodefromrom()
|
*
|
* @brief load ucode from OTP MEMORY or ROM
|
*
|
* input parameters
|
*
|
* output parameters
|
*
|
* no return value
|
*/
|
void _dwt_loaducodefromrom(void)
|
{
|
uint8_t wr_buf[2];
|
|
// Set up clocks
|
wr_buf[1] = 0x03;
|
wr_buf[0] = 0x01;
|
dwt_writetodevice(PMSC_ID, PMSC_CTRL0_OFFSET, 2, wr_buf);
|
// Kick off the LDE load
|
dwt_write16bitoffsetreg(OTP_IF_ID, OTP_CTRL, OTP_CTRL_LDELOAD); // Set load LDE kick bit
|
|
deca_sleep(1); // Allow time for code to upload (should take up to 120 us)
|
|
// Default clocks (ENABLE_ALL_SEQ)
|
_dwt_enableclocks(ENABLE_ALL_SEQ); // Enable clocks for sequencing
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn dwt_loadopsettabfromotp()
|
*
|
* @brief This is used to select which Operational Parameter Set table to load from OTP memory
|
*
|
* input parameters
|
* @param - opset table selection
|
* DWT_OPSET_64LEN = 0x0 - load the operational parameter set table for 64 length preamble configuration
|
* DWT_OPSET_TIGHT = 0x1 - load the operational parameter set table for tight xtal offsets (<1ppm)
|
* DWT_OPSET_DEFLT = 0x2 - load the default operational parameter set table (this is loaded from reset)
|
*
|
* output parameters
|
*
|
* no return value
|
*/
|
void dwt_loadopsettabfromotp(uint8_t gtab_sel)
|
{
|
uint8_t wr_buf[2];
|
uint16_t reg = (((gtab_sel & 0x3) << 5) | 0x1);
|
// Set up clocks
|
wr_buf[1] = 0x03;
|
wr_buf[0] = 0x01;
|
dwt_writetodevice(PMSC_ID, PMSC_CTRL0_OFFSET, 2, wr_buf);
|
|
dwt_write16bitoffsetreg(OTP_IF_ID, OTP_SF, reg); // Set load gtab kick bit (bit0) and gtab selection bit
|
|
// Sefault clocks (ENABLE_ALL_SEQ)
|
_dwt_enableclocks(ENABLE_ALL_SEQ); // Enable clocks for sequencing
|
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @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)
|
{
|
// Config system register
|
dw1000local.sysCFGreg = dwt_read32bitreg(SYS_CFG_ID) ; // Read sysconfig register
|
|
// Disable smart power configuration
|
if(enable)
|
{
|
dw1000local.sysCFGreg &= ~(SYS_CFG_DIS_STXP) ;
|
}
|
else
|
{
|
dw1000local.sysCFGreg |= SYS_CFG_DIS_STXP ;
|
}
|
|
dwt_write32bitreg(SYS_CFG_ID, dw1000local.sysCFGreg) ;
|
}
|
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn dwt_enableautoack()
|
*
|
* @brief This call enables the auto-ACK feature. If the responseDelayTime (parameter) is 0, the ACK will be sent a.s.a.p.
|
* otherwise it will be sent with a programmed delay (in symbols), max is 255.
|
* NOTE: needs to have frame filtering enabled as well
|
*
|
* input parameters
|
* @param responseDelayTime - if non-zero the ACK is sent after this delay, max is 255.
|
*
|
* output parameters
|
*
|
* no return value
|
*/
|
void dwt_enableautoack(uint8_t responseDelayTime)
|
{
|
// Set auto ACK reply delay
|
dwt_write16bitoffsetreg(ACK_RESP_T_ID, 0x2, (responseDelayTime << 8) ) ; //in symbols
|
// Enable auto ACK
|
dw1000local.sysCFGreg |= SYS_CFG_AUTOACK;
|
dwt_write32bitreg(SYS_CFG_ID, dw1000local.sysCFGreg) ;
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @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)
|
{
|
if(enable)
|
{
|
// Enable double RX buffer mode
|
dw1000local.sysCFGreg &= ~SYS_CFG_DIS_DRXB;
|
dw1000local.dblbuffon = 1;
|
}
|
else
|
{
|
// Disable double RX buffer mode
|
dw1000local.sysCFGreg |= SYS_CFG_DIS_DRXB;
|
dw1000local.dblbuffon = 0;
|
}
|
|
dwt_write32bitreg(SYS_CFG_ID, dw1000local.sysCFGreg) ;
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn dwt_setautorxreenable()
|
*
|
* @brief This call enables the auto RX re-enable feature
|
*
|
* input parameters
|
* @param enable - 1 to enable, 0 to disable the feature
|
*
|
* output parameters
|
*
|
* no return value
|
*/
|
void dwt_setautorxreenable(int enable)
|
{
|
uint8_t byte = 0;
|
|
if(enable)
|
{
|
// Enable auto re-enable of the receiver
|
dw1000local.sysCFGreg |= SYS_CFG_RXAUTR;
|
}
|
else
|
{
|
// Disable auto re-enable of the receiver
|
dw1000local.sysCFGreg &= ~SYS_CFG_RXAUTR;
|
}
|
|
byte = dw1000local.sysCFGreg >> 24;
|
|
dwt_writetodevice(SYS_CFG_ID, 3, 1, &byte) ;
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn dwt_setrxaftertxdelay()
|
*
|
* @brief This sets the receiver turn on delay time after a transmission of a frame
|
*
|
* input parameters
|
* @param rxDelayTime - (20 bits) - the delay is in UWB microseconds
|
*
|
* output parameters
|
*
|
* no return value
|
*/
|
void dwt_setrxaftertxdelay(uint32_t rxDelayTime)
|
{
|
uint32_t val = dwt_read32bitreg(ACK_RESP_T_ID) ; // Read ACK_RESP_T_ID register
|
|
val &= ~(ACK_RESP_T_W4R_TIM_MASK) ; // Clear the timer (19:0)
|
|
val |= (rxDelayTime & ACK_RESP_T_W4R_TIM_MASK) ; // In UWB microseconds (e.g. turn the receiver on 20uus after TX)
|
|
dwt_write32bitreg(ACK_RESP_T_ID, val) ;
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn dwt_setcallbacks()
|
*
|
* @brief This is the devices interrupt handler function, it will process/report status events
|
*
|
* input parameters
|
* @param txcallback - the pointer to the TX callback function
|
* @param rxcallback - the pointer to the RX callback function
|
*
|
* output parameters
|
*
|
* no return value
|
*/
|
void dwt_setcallbacks(void (*txcallback)(const dwt_callback_data_t *), void (*rxcallback)(const dwt_callback_data_t *))
|
{
|
dw1000local.dwt_txcallback = txcallback;
|
|
dw1000local.dwt_rxcallback = rxcallback;
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn dwt_checkIRQ()
|
*
|
* @brief This function checks if the IRQ line is active - this is used instead of interrupt handler
|
*
|
* input parameters
|
*
|
* output parameters
|
*
|
* return value is 1 if the IRQS bit is set and 0 otherwise
|
*/
|
uint8_t dwt_checkIRQ(void)
|
{
|
uint8_t temp;
|
|
dwt_readfromdevice(SYS_STATUS_ID, 0, 1, &temp);
|
|
return (temp & 0x1) ;
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn dwt_isr()
|
*
|
* @brief This is the devices interrupt handler function, it will process/report status events
|
* Notes: In PC based system using (Cheetah or ARM) USB to SPI converter there can be no interrupts, however we still need something
|
* to take the place of it and operate in a polled way.
|
* In an embedded system this function should be configured to launch on an interrupt, then it will process the interrupt trigger event and
|
* call a TX or RX call-back function depending on whether the event is a TX or RX event.
|
* The TX call-back will be called when a frame has been sent and the RX call-back when a frame has been received.
|
*
|
* input parameters
|
*
|
* output parameters
|
*
|
* no return value
|
*/
|
void dwt_isr(void) // Assume interrupt can supply context
|
{
|
uint32_t status = 0;
|
uint32_t clear = 0; // Will clear any events seen
|
|
dw1000local.cdata.event = 0;
|
dw1000local.cdata.dblbuff = dw1000local.dblbuffon ;
|
|
status = dw1000local.cdata.status = dwt_read32bitreg(SYS_STATUS_ID) ; // Read status register low 32bits
|
|
//NOTES:
|
//1. TX Event - if DWT_INT_TFRS is enabled, then when the frame has completed transmission the interrupt will be triggered.
|
// The status register will have the TXFRS bit set. This function will clear the tx event and call the dwt_txcallback function.
|
//
|
//2. RX Event - if DWT_INT_RFCG is enabled, then when a frame with good CRC has been received the interrupt will be triggered.
|
// The status register will have the RXFCG bit set. This function will clear the rx event and call the dwt_rxcallback function.
|
//
|
//2.a. RX Event - This is same as 2. above except this time the received frame has ACK request bit set in the header (AAT bit will be set).
|
// This function will clear the rx event and call the dwt_rxcallback function, notifying the application that ACK req is set.
|
// If using auto-ACK, the AAT indicates that ACK frame transmission is in progress. Once the ACK has been sent the TXFRS bit will be set and TX event triggered.
|
// If the auto-ACK is not enabled, the application can format/configure and start transmission of its own ACK frame.
|
//
|
|
// Fix for bug 622 - LDE done flag gets latched on a bad frame
|
if((status & SYS_STATUS_LDEDONE) && (dw1000local.dblbuffon == 0))
|
{
|
if((status & (SYS_STATUS_LDEDONE | SYS_STATUS_RXPHD | SYS_STATUS_RXSFDD)) != (SYS_STATUS_LDEDONE | SYS_STATUS_RXPHD | SYS_STATUS_RXSFDD))
|
{
|
|
// Got LDE done but other flags SFD and PHR are clear - this is a bad frame - reset the transceiver
|
dwt_forcetrxoff(); //this will clear all events
|
|
dwt_rxreset();
|
// Leave any TX events for processing (e.g. if we TX a frame, and then enable RX,
|
// We can get into here before the TX frame done has been processed, when we are polling (i.e. slow to process the TX)
|
status &= SYS_STATUS_ALL_TX;
|
// Re-enable the receiver - if auto RX re-enable set
|
if(dw1000local.sysCFGreg & SYS_CFG_RXAUTR)
|
{
|
dwt_write16bitoffsetreg(SYS_CTRL_ID, 0, (uint16_t)SYS_CTRL_RXENAB) ;
|
}
|
else
|
{
|
dw1000local.cdata.event = DWT_SIG_RX_ERROR ;
|
|
if(dw1000local.dwt_rxcallback != NULL)
|
dw1000local.dwt_rxcallback(&dw1000local.cdata);
|
}
|
}
|
}
|
|
|
//
|
// 1st check for RX frame received or RX timeout and if so call the rx callback function
|
//
|
if(status & SYS_STATUS_RXFCG) // Receiver FCS Good
|
{
|
if(status & SYS_STATUS_LDEDONE) // LDE done/finished
|
{
|
// Bug 634 - overrun overwrites the frame info data... so both frames should be discarded
|
// Read frame info and other registers and check for overflow again
|
// If overflow set then discard both frames...
|
|
uint16_t len = 0;
|
|
if (status & SYS_STATUS_RXOVRR) // NOTE when overrun both HS and RS pointers point to the same buffer
|
{
|
// When the overrun happens the frame info data of the buffer A (which contains the older frame e.g. seq. num = x)
|
// will be corrupted with the latest frame (seq. num = x + 2) data, both the host and IC are pointing to buffer A
|
// We are going to discard this frame - turn off transceiver and reset receiver
|
dwt_forcetrxoff();
|
|
dwt_rxreset();
|
|
if(dw1000local.sysCFGreg & SYS_CFG_RXAUTR) // Re-enable of RX is ON, then re-enable here (ignore error)
|
{
|
dwt_write16bitoffsetreg(SYS_CTRL_ID, 0, (uint16_t)SYS_CTRL_RXENAB) ;
|
}
|
else // The RX will be re-enabled by the application, report an error
|
{
|
dw1000local.cdata.event = DWT_SIG_RX_ERROR ;
|
|
if(dw1000local.dwt_rxcallback != NULL)
|
{
|
dw1000local.dwt_rxcallback(&dw1000local.cdata);
|
}
|
}
|
|
return;
|
}
|
else // No overrun condition - proceed to process the frame
|
{
|
|
len = dwt_read16bitoffsetreg(RX_FINFO_ID, 0) & 0x3FF;
|
dwt_readfromdevice(RX_BUFFER_ID, 0, 2, dw1000local.cdata.fctrl) ;
|
if (dw1000local.longFrames == 0)
|
{
|
len &= 0x7F ;
|
}
|
|
// Standard frame length up to 127, extended frame length up to 1023 bytes
|
dw1000local.cdata.datalength = len ;
|
|
// Bug 627 workaround - clear the AAT bit if the ACK request bit in the FC is not set
|
if((status & SYS_STATUS_AAT) // AAT bit is set (ACK has been requested)
|
&& (((dw1000local.cdata.fctrl[0] & 0x20) == 0) || (dw1000local.cdata.fctrl[0] == 0x02)) // But the data frame has it clear or it is an ACK frame
|
)
|
{
|
clear |= SYS_STATUS_AAT ;
|
dw1000local.cdata.aatset = 0 ; // ACK request is not set
|
dw1000local.wait4resp = 0;
|
}
|
else // The AAT is correctly set for a frame that requested the ACK
|
{
|
dw1000local.cdata.aatset = (status & SYS_STATUS_AAT) ; //check if ACK request is set
|
}
|
|
dw1000local.cdata.event = DWT_SIG_RX_OKAY ;
|
|
if(dw1000local.dblbuffon == 0) // If no double buffering
|
{
|
// Clear all receive status bits (as we are finished with this receive event)
|
clear |= status & SYS_STATUS_ALL_RX_GOOD ;
|
dwt_write32bitreg(SYS_STATUS_ID, clear) ; // Write status register to clear event bits we have seen
|
|
// NOTE: clear the event which caused interrupt means once the RX is enabled or TX is started
|
// New events can trigger and give rise to new interrupts
|
// Call the RX call-back function to process the RX event
|
if(dw1000local.dwt_rxcallback != NULL)
|
{
|
dw1000local.dwt_rxcallback(&dw1000local.cdata);
|
}
|
}
|
else // Double buffer
|
{
|
uint8_t buff ;
|
uint8_t hsrb = 0x01 ;
|
|
// Need to make sure that the host/IC buffer pointers are aligned before starting RX
|
// Read again because the status could have changed since the interrupt was triggered
|
dwt_readfromdevice(SYS_STATUS_ID, 3, 1, &buff);
|
// If ICRBP is equal to HSRBP this means we've received another frame (both buffers have frames)
|
if((buff & (SYS_STATUS_ICRBP >> 24)) == // IC side Receive Buffer Pointer
|
((buff & (SYS_STATUS_HSRBP >> 24)) << 1)) // Host Side Receive Buffer Pointer
|
{
|
// Clear all receive status bits (as we are finished with this receive event)
|
clear |= status & SYS_STATUS_ALL_DBLBUFF;
|
dwt_write32bitreg(SYS_STATUS_ID, clear); // Write status register to clear event bits we have seen
|
}
|
// If they are not aligned then there is a new frame in the other buffer, so we just need to toggle...
|
|
if((dw1000local.sysCFGreg & SYS_CFG_RXAUTR) == 0) // Double buffer is on but no auto RX re-enable RX
|
{
|
dwt_write16bitoffsetreg(SYS_CTRL_ID, 0, (uint16_t)SYS_CTRL_RXENAB) ;
|
}
|
|
// Call the RX call-back function to process the RX event
|
if(dw1000local.dwt_rxcallback != NULL)
|
{
|
dw1000local.dwt_rxcallback(&dw1000local.cdata);
|
}
|
// If overrun, then reset the receiver - RX bug, when overruns cannot guarantee the last frame's data was not corrupted
|
// If no overrun all is good, toggle the pointer
|
if(dwt_checkoverrun() == 0)
|
{
|
// Toggle the host side Receive Buffer Pointer by writing one to the register
|
dwt_writetodevice(SYS_CTRL_ID, SYS_CTRL_HRBT_OFFSET, 1, &hsrb) ; // We need to swap RX buffer status reg (write one to toggle internally)
|
}
|
else
|
{
|
// The call-back has completed, but the overrun has been set, before we toggled, this means two new frames have arrived (one in the other buffer) and the 2nd's PHR good set the overrun flag
|
// Due to a receiver bug, which cannot guarantee the last frame's data was not corrupted need to reset receiver and discard any new data
|
dwt_forcetrxoff();
|
|
dwt_rxreset();
|
|
if(dw1000local.sysCFGreg & SYS_CFG_RXAUTR) // Re-enable of RX is ON, then re-enable here
|
{
|
dwt_write16bitoffsetreg(SYS_CTRL_ID, 0, (uint16_t)SYS_CTRL_RXENAB) ;
|
}
|
}
|
} // end of else double buffer
|
|
}// end of no overrun
|
} // If LDE_DONE is set (this means we have both SYS_STATUS_RXFCG and SYS_STATUS_LDEDONE)
|
else // No LDE_DONE ?
|
{
|
//printf("NO LDE done or LDE error\n");
|
if(!(dw1000local.sysCFGreg & SYS_CFG_RXAUTR))
|
{
|
dwt_forcetrxoff();
|
}
|
dwt_rxreset(); // Reset the RX
|
dw1000local.wait4resp = 0;
|
dw1000local.cdata.event = DWT_SIG_RX_ERROR ;
|
if(dw1000local.dwt_rxcallback != NULL)
|
{
|
dw1000local.dwt_rxcallback(&dw1000local.cdata);
|
}
|
}
|
} // end if CRC is good
|
else
|
//
|
// Check for TX frame sent event and signal to upper layer.
|
//
|
if (status & SYS_STATUS_TXFRS) // Transmit Frame Sent
|
{
|
clear |= SYS_STATUS_ALL_TX; //clear TX event bits
|
dwt_write32bitreg(SYS_STATUS_ID, clear); // Write status register to clear event bits we have seen
|
// NOTE: clear the event which caused interrupt means once the RX is enabled or TX is started
|
// New events can trigger and give rise to new interrupts
|
if(dw1000local.cdata.aatset)
|
{
|
dw1000local.cdata.aatset = 0; // The ACK has been sent
|
if(dw1000local.dblbuffon == 0) // If not double buffered
|
{
|
if(dw1000local.wait4resp) // wait4response was set with the last TX start command
|
{
|
// If using wait4response and the ACK has been sent as the response requested it
|
// the receiver will be re-enabled, so issue a TRXOFF command to disable and prevent any
|
// unexpected interrupts
|
dwt_forcetrxoff();
|
}
|
}
|
}
|
|
dw1000local.cdata.event = DWT_SIG_TX_DONE ; // Signal TX completed
|
|
// Call the TX call-back function to process the TX event
|
if(dw1000local.dwt_txcallback != NULL)
|
{
|
dw1000local.dwt_txcallback(&dw1000local.cdata);
|
}
|
|
}
|
else if (status & SYS_STATUS_RXRFTO) // Receiver Frame Wait timeout
|
{
|
clear |= status & SYS_STATUS_RXRFTO ;
|
dwt_write32bitreg(SYS_STATUS_ID, clear) ; // Write status register to clear event bits we have seen
|
dw1000local.cdata.event = DWT_SIG_RX_TIMEOUT ;
|
if(dw1000local.dwt_rxcallback != NULL)
|
{
|
dw1000local.dwt_rxcallback(&dw1000local.cdata);
|
}
|
dw1000local.wait4resp = 0;
|
|
}
|
else if(status & SYS_STATUS_ALL_RX_ERR) // Catches all other error events
|
{
|
clear |= status & SYS_STATUS_ALL_RX_ERR;
|
dwt_write32bitreg(SYS_STATUS_ID, clear) ; // Write status register to clear event bits we have seen
|
|
dw1000local.wait4resp = 0;
|
// NOTE: clear the event which caused interrupt means once the RX is enabled or TX is started
|
// New events can trigger and give rise to new interrupts
|
|
// Fix for bug 622 - LDE done flag gets latched on a bad frame / reset receiver
|
if(!(dw1000local.sysCFGreg & SYS_CFG_RXAUTR))
|
{
|
dwt_forcetrxoff(); // This will clear all events
|
}
|
dwt_rxreset(); // Reset the RX
|
// End of fix for bug 622 - LDE done flag gets latched on a bad frame
|
|
if(status & SYS_STATUS_RXPHE)
|
{
|
dw1000local.cdata.event = DWT_SIG_RX_PHR_ERROR ;
|
}
|
else if(status & SYS_STATUS_RXFCE)
|
{
|
dw1000local.cdata.event = DWT_SIG_RX_ERROR ;
|
}
|
else if(status & SYS_STATUS_RXRFSL)
|
{
|
dw1000local.cdata.event = DWT_SIG_RX_SYNCLOSS ;
|
}
|
else if(status & SYS_STATUS_RXSFDTO)
|
{
|
dw1000local.cdata.event = DWT_SIG_RX_SFDTIMEOUT ;
|
}
|
else if(status & SYS_STATUS_RXPTO)
|
{
|
dw1000local.cdata.event = DWT_SIG_RX_PTOTIMEOUT ;
|
}
|
else
|
{
|
dw1000local.cdata.event = DWT_SIG_RX_ERROR ;
|
}
|
if(dw1000local.dwt_rxcallback != NULL)
|
{
|
dw1000local.dwt_rxcallback(&dw1000local.cdata);
|
}
|
status &= SYS_STATUS_ALL_TX;
|
}
|
} // end dwt_isr()
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn dwt_setleds()
|
*
|
* @brief This is used to set up Tx/Rx GPIOs which could be used to control LEDs
|
* Note: not completely IC dependent, also needs board with LEDS fitted on right I/O lines
|
* this function enables GPIOs 2 and 3 which are connected to LED3 and LED4 on EVB1000
|
*
|
* input parameters
|
* @param test - if 1 the LEDs will be enabled, if 0 the LED control is disabled.
|
* - if value is 2 the LEDs will flash once after enable.
|
*
|
* output parameters
|
*
|
* no return value
|
*/
|
void dwt_setleds(uint8_t test)
|
{
|
uint8_t buf[2];
|
|
if(test & 0x1)
|
{
|
// Set up MFIO for LED output
|
dwt_readfromdevice(GPIO_CTRL_ID, 0x00, 2, buf);
|
buf[1] &= ~0x3C; //clear the bits
|
buf[1] |= 0x14;
|
dwt_writetodevice(GPIO_CTRL_ID, 0x01, 1, &buf[1]);
|
|
// Enable LP Oscillator to run from counter, turn on debounce clock
|
dwt_readfromdevice(PMSC_ID, 0x02, 1, buf);
|
buf[0] |= 0x84; //
|
dwt_writetodevice(PMSC_ID, 0x02, 1, buf);
|
|
// Enable LEDs to blink
|
buf[0] = 0x10; // Blink period.
|
buf[1] = 0x01; // Enable blink counter
|
dwt_writetodevice(PMSC_ID, PMSC_LEDC_OFFSET, 2, buf);
|
|
}
|
else if ((test & 0x1) == 0)
|
{
|
// Clear the GPIO bits that are used for LED control
|
dwt_readfromdevice(GPIO_CTRL_ID, 0x00, 2, buf);
|
buf[1] &= ~(0x14);
|
dwt_writetodevice(GPIO_CTRL_ID, 0x00, 2, buf);
|
}
|
|
// Test LEDs
|
if(test & 0x2)
|
{
|
buf[0] = 0x0f; // Fire a LED blink trigger
|
dwt_writetodevice(PMSC_ID, 0x2a, 1, buf);
|
buf[0] = 0x00; // Clear forced trigger bits
|
dwt_writetodevice(PMSC_ID, 0x2a, 1, buf);
|
}
|
|
} // end _dwt_enableleds()
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn _dwt_enableclocks()
|
*
|
* @brief function to enable/disable clocks to particular digital blocks/system
|
*
|
* input parameters
|
* @param clocks - set of clocks to enable/disable
|
*
|
* output parameters none
|
*
|
* no return value
|
*/
|
void _dwt_enableclocks(int clocks)
|
{
|
uint8_t reg[2];
|
|
dwt_readfromdevice(PMSC_ID, PMSC_CTRL0_OFFSET, 2, reg);
|
switch(clocks)
|
{
|
case ENABLE_ALL_SEQ:
|
{
|
reg[0] = 0x00 ;
|
reg[1] = reg[1] & 0xfe;
|
}
|
break;
|
case FORCE_SYS_XTI:
|
{
|
// System and RX
|
reg[0] = 0x01 | (reg[0] & 0xfc);
|
}
|
break;
|
case FORCE_SYS_PLL:
|
{
|
// System
|
reg[0] = 0x02 | (reg[0] & 0xfc);
|
}
|
break;
|
case READ_ACC_ON:
|
{
|
reg[0] = 0x48 | (reg[0] & 0xb3);
|
reg[1] = 0x80 | reg[1];
|
}
|
break;
|
case READ_ACC_OFF:
|
{
|
reg[0] = reg[0] & 0xb3;
|
reg[1] = 0x7f & reg[1];
|
|
}
|
break;
|
case FORCE_OTP_ON:
|
{
|
reg[1] = 0x02 | reg[1];
|
}
|
break;
|
case FORCE_OTP_OFF:
|
{
|
reg[1] = reg[1] & 0xfd;
|
}
|
break;
|
case FORCE_TX_PLL:
|
{
|
reg[0] = 0x20 | (reg[0] & 0xcf);
|
}
|
break;
|
default:
|
break;
|
}
|
|
|
// Need to write lower byte separately before setting the higher byte(s)
|
dwt_writetodevice(PMSC_ID, PMSC_CTRL0_OFFSET, 1, ®[0]);
|
dwt_writetodevice(PMSC_ID, 0x1, 1, ®[1]);
|
|
} // end _dwt_enableclocks()
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn _dwt_disablesequencing()
|
*
|
* @brief This function disables the TX blocks sequencing, it disables PMSC control of RF blocks, system clock is also set to XTAL
|
*
|
* input parameters none
|
*
|
* output parameters none
|
*
|
* no return value
|
*/
|
void _dwt_disablesequencing(void) // Disable sequencing and go to state "INIT"
|
{
|
_dwt_enableclocks(FORCE_SYS_XTI); // Set system clock to XTI
|
|
dwt_write16bitoffsetreg(PMSC_ID, PMSC_CTRL1_OFFSET, PMSC_CTRL1_PKTSEQ_DISABLE); // Disable PMSC ctrl of RF and RX clk blocks
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @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)
|
{
|
dwt_write32bitoffsetreg(DX_TIME_ID, 1, starttime) ;
|
|
} // end dwt_setdelayedtrxtime()
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn dwt_starttx()
|
*
|
* @brief This call initiates the transmission, input parameter indicates which TX mode is used see below
|
*
|
* input parameters:
|
* @param mode - if 0 immediate TX (no response expected)
|
* if 1 delayed TX (no response expected)
|
* if 2 immediate TX (response expected - so the receiver will be automatically turned on after TX is done)
|
* if 3 delayed TX (response expected - so the receiver will be automatically turned on after TX is done)
|
*
|
* 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)
|
{
|
int retval = DWT_SUCCESS ;
|
uint8_t temp = 0x00;
|
uint16_t checkTxOK = 0 ;
|
|
if(mode & DWT_RESPONSE_EXPECTED)
|
{
|
temp = (uint8_t)SYS_CTRL_WAIT4RESP ; // Set wait4response bit
|
dwt_writetodevice(SYS_CTRL_ID, 0, 1, &temp) ;
|
dw1000local.wait4resp = 1;
|
}
|
|
if (mode & DWT_START_TX_DELAYED)
|
{
|
//uint32_t status ;
|
|
// Both SYS_CTRL_TXSTRT and SYS_CTRL_TXDLYS to correctly enable TX
|
temp |= (uint8_t)(SYS_CTRL_TXDLYS | SYS_CTRL_TXSTRT) ;
|
dwt_writetodevice(SYS_CTRL_ID, 0, 1, &temp) ;
|
checkTxOK = dwt_read16bitoffsetreg(SYS_STATUS_ID, 3) ;
|
//status = dwt_read32bitreg(SYS_STATUS_ID) ; // Read status register
|
if ((checkTxOK & SYS_STATUS_TXERR) == 0) // Transmit Delayed Send set over Half a Period away or Power Up error (there is enough time to send but not to power up individual blocks).
|
{
|
//printf("tx delayed \n");
|
retval = DWT_SUCCESS ; // All okay
|
}
|
else
|
{
|
// I am taking DSHP set to Indicate that the TXDLYS was set too late for the specified DX_TIME.
|
// Remedial Action - (a) cancel delayed send
|
temp = (uint8_t)SYS_CTRL_TRXOFF; // This assumes the bit is in the lowest byte
|
dwt_writetodevice(SYS_CTRL_ID, 0, 1, &temp) ;
|
// Note event Delayed TX Time too Late
|
// Could fall through to start a normal send (below) just sending late.....
|
// ... instead return and assume return value of 1 will be used to detect and recover from the issue.
|
|
// Clear the "auto TX to sleep" bit
|
dwt_entersleepaftertx(0);
|
dw1000local.wait4resp = 0;
|
retval = DWT_ERROR ; // Failed !
|
|
}
|
}
|
else
|
{
|
temp |= (uint8_t)SYS_CTRL_TXSTRT ;
|
dwt_writetodevice(SYS_CTRL_ID, 0, 1, &temp) ;
|
}
|
|
return retval;
|
|
} // end dwt_starttx()
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn dwt_checkoverrun()
|
*
|
* @brief This is used to check if the overrun condition is set in DW1000
|
*
|
* input parameters
|
*
|
* output parameters
|
*
|
* returns 1 if the RXOVERR bit is set, else 0
|
*/
|
int dwt_checkoverrun(void)
|
{
|
return ((dwt_read16bitoffsetreg(SYS_STATUS_ID, 2) & (SYS_STATUS_RXOVRR >> 16)) == (SYS_STATUS_RXOVRR >> 16));
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn dwt_forcetrxoff()
|
*
|
* @brief This is used to turn off the transceiver
|
*
|
* input parameters
|
*
|
* output parameters
|
*
|
* no return value
|
*/
|
void dwt_forcetrxoff(void)
|
{
|
decaIrqStatus_t stat ;
|
uint8_t temp ;
|
uint32_t mask;
|
|
temp = (uint8_t)SYS_CTRL_TRXOFF ; // This assumes the bit is in the lowest byte
|
|
mask = dwt_read32bitreg(SYS_MASK_ID) ; // Read set interrupt mask
|
|
// Need to beware of interrupts occurring in the middle of following read modify write cycle
|
// We can disable the radio, but before the status is cleared an interrupt can be set (e.g. the
|
// event has just happened before the radio was disabled)
|
// thus we need to disable interrupt during this operation
|
// stat = decamutexon() ;
|
|
dwt_write32bitreg(SYS_MASK_ID, 0) ; // Clear interrupt mask - so we don't get any unwanted events
|
|
dwt_writetodevice(SYS_CTRL_ID, 0, 1, &temp) ; // Disable the radio
|
|
// Forcing Transceiver off - so we do not want to see any new events that may have happened
|
dwt_write32bitreg(SYS_STATUS_ID, (SYS_STATUS_ALL_TX | SYS_STATUS_ALL_RX_ERR | SYS_STATUS_ALL_RX_GOOD)) ;
|
|
dwt_syncrxbufptrs();
|
|
dwt_write32bitreg(SYS_MASK_ID, mask) ; // Set interrupt mask to what it was
|
|
// Enable/restore interrupts again...
|
// decamutexoff(stat) ;
|
dw1000local.wait4resp = 0;
|
|
} // end deviceforcetrxoff()
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @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)
|
{
|
uint8_t buff ;
|
// Need to make sure that the host/IC buffer pointers are aligned before starting RX
|
dwt_readfromdevice(SYS_STATUS_ID, 3, 1, &buff);
|
|
if((buff & (SYS_STATUS_ICRBP >> 24)) != // IC side Receive Buffer Pointer
|
((buff & (SYS_STATUS_HSRBP >> 24)) << 1) ) // Host Side Receive Buffer Pointer
|
{
|
uint8_t hsrb = 0x01;
|
dwt_writetodevice(SYS_CTRL_ID, SYS_CTRL_HRBT_OFFSET , 1, &hsrb) ; // We need to swap RX buffer status reg (write one to toggle internally)
|
}
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn dwt_setrxmode()
|
*
|
* @brief enable different RX modes, e.g.:
|
* a) "snooze" mode, the receiver only listens periodically for preamble
|
* b) the RX PPDM "sniff" mode - receiver cycles through ON/OFF periods
|
*
|
* input parameters:
|
* @param mode - DWT_RX_NORMAL = 0x0
|
* DWT_RX_SNIFF = 0x1 enable the rx PPDM "sniff" mode
|
* @param rxON - SNIFF mode ON period in PACs
|
* @param rxOFF - SNIFF mode OFF period in us (actually in 1.0256 micro second intervals)
|
*
|
* output parameters
|
*
|
* no return value
|
*/
|
void dwt_setrxmode(int mode, uint8_t rxON, uint8_t rxOFF)
|
{
|
uint16_t reg16 = RX_SNIFF_MASK & ((rxOFF << 8) | rxON);
|
|
if(mode & DWT_RX_SNIFF)
|
{
|
// PPM_OFF 15:8, PPM_ON 3:0
|
dwt_write16bitoffsetreg(RX_SNIFF_ID, 0x00, reg16) ; // Enable
|
}
|
else
|
{
|
dwt_write16bitoffsetreg(RX_SNIFF_ID, 0x00, 0x0000) ; // Disable
|
}
|
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn dwt_rxenable()
|
*
|
* @brief This call turns on the receiver, can be immediate or delayed.
|
* 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 delayed - TRUE the receiver is turned on after some delay (as programmed with dwt_setdelayedtime())
|
*
|
* 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 (if delayed time is > 8s from now))
|
*/
|
int dwt_rxenable(int delayed)
|
{
|
uint16_t temp ;
|
uint8_t temp1 = 0;
|
dwt_syncrxbufptrs();
|
|
temp = (uint16_t)SYS_CTRL_RXENAB ;
|
|
if (delayed)
|
{
|
temp |= (uint16_t)SYS_CTRL_RXDLYE ;
|
}
|
|
dwt_write16bitoffsetreg(SYS_CTRL_ID, 0, temp) ;
|
|
if (delayed) // Check for errors
|
{
|
//uint32_t status1 = dwt_read32bitreg(SYS_STATUS_ID) ; // Read status register
|
|
dwt_readfromdevice(SYS_STATUS_ID, 3, 1, &temp1) ;
|
|
if (temp1 & (SYS_STATUS_HPDWARN >> 24)) // If delay has not passed do delayed else immediate RX on
|
{
|
dwt_forcetrxoff(); // Turn the delayed receive off, and do immediate receive, return warning indication
|
temp = (uint16_t)SYS_CTRL_RXENAB; // Clear the delay bit
|
dwt_write16bitoffsetreg(SYS_CTRL_ID, 0, temp) ;
|
return DWT_ERROR;
|
}
|
}
|
|
return DWT_SUCCESS;
|
} // end dwt_rxenable()
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @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)
|
{
|
uint8_t temp ;
|
|
dwt_readfromdevice(SYS_CFG_ID, 3, 1, &temp) ; // Read register
|
|
if(time > 0)
|
{
|
dwt_write16bitoffsetreg(RX_FWTO_ID, 0x0, time) ;
|
|
temp |= (uint8_t)(SYS_CFG_RXWTOE >> 24);
|
// OR in 32bit value (1 bit set), I know this is in high byte.
|
dw1000local.sysCFGreg |= SYS_CFG_RXWTOE;
|
|
dwt_writetodevice(SYS_CFG_ID, 3, 1, &temp) ;
|
}
|
else
|
{
|
temp &= ~((uint8_t)(SYS_CFG_RXWTOE >> 24));
|
// AND in inverted 32bit value (1 bit clear), I know this is in high byte.
|
dw1000local.sysCFGreg &= ~(SYS_CFG_RXWTOE);
|
|
dwt_writetodevice(SYS_CFG_ID, 3, 1, &temp) ;
|
|
//dwt_write16bitoffsetreg(RX_FWTO_ID,0,0) ; // Clearing the time is not needed
|
}
|
|
} // end dwt_setrxtimeout()
|
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn dwt_setpreambledetecttimeout()
|
*
|
* @brief This call enables preamble timeout (SY_STAT_RXPTO event)
|
*
|
* input parameters
|
* @param timeout - in PACs
|
*
|
* output parameters
|
*
|
* no return value
|
*/
|
void dwt_setpreambledetecttimeout(uint16_t timeout)
|
{
|
dwt_write16bitoffsetreg(DRX_CONF_ID, DRX_PRETOC_OFFSET, timeout);
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn void dwt_setinterrupt()
|
*
|
* @brief This function enables the specified events to trigger an interrupt.
|
* The following events can be enabled:
|
* DWT_INT_TFRS 0x00000080 // frame sent
|
* DWT_INT_RFCG 0x00004000 // frame received with good CRC
|
* DWT_INT_RPHE 0x00001000 // receiver PHY header error
|
* DWT_INT_RFCE 0x00008000 // receiver CRC error
|
* DWT_INT_RFSL 0x00010000 // receiver sync loss error
|
* DWT_INT_RFTO 0x00020000 // frame wait timeout
|
* DWT_INT_RXPTO 0x00200000 // preamble detect timeout
|
* DWT_INT_SFDT 0x04000000 // SFD timeout
|
* DWT_INT_ARFE 0x20000000 // frame rejected (due to frame filtering configuration)
|
*
|
*
|
* input parameters:
|
* @param bitmask - sets the events which will generate interrupt
|
* @param enable - if set the interrupts are enabled else they are cleared
|
*
|
* output parameters
|
*
|
* no return value
|
*/
|
void dwt_setinterrupt(uint32_t bitmask, uint8_t enable)
|
{
|
decaIrqStatus_t stat ;
|
uint32_t mask ;
|
|
// Need to beware of interrupts occurring in the middle of following read modify write cycle
|
// stat = decamutexon() ;
|
|
mask = dwt_read32bitreg(SYS_MASK_ID) ; // Read register
|
|
if(enable)
|
{
|
mask |= bitmask ;
|
}
|
else
|
{
|
mask &= ~bitmask ; // Clear the bit
|
}
|
dwt_write32bitreg(SYS_MASK_ID, mask) ; // New value
|
|
// decamutexoff(stat) ;
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn dwt_configeventcounters()
|
*
|
* @brief This is used to enable/disable the event counter in the IC
|
*
|
* input parameters
|
* @param - enable - 1 enables (and reset), 0 disables the event counters
|
* output parameters
|
*
|
* no return value
|
*/
|
void dwt_configeventcounters(int enable)
|
{
|
uint8_t temp = 0x0; //disable
|
// Need to clear and disable, can't just clear
|
temp = (uint8_t)(EVC_CLR); // Clear and disable
|
dwt_writetodevice(DIG_DIAG_ID, EVC_CTRL_OFFSET, 1, &temp) ;
|
|
if(enable)
|
{
|
temp = (uint8_t)(EVC_EN); // Enable
|
dwt_writetodevice(DIG_DIAG_ID, EVC_CTRL_OFFSET, 1, &temp) ;
|
}
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn dwt_readeventcounters()
|
*
|
* @brief This is used to read the event counters in the IC
|
*
|
* input parameters
|
* @param counters - pointer to the dwt_deviceentcnts_t structure which will hold the read data
|
*
|
* output parameters
|
*
|
* no return value
|
*/
|
void dwt_readeventcounters(dwt_deviceentcnts_t *counters)
|
{
|
uint32_t temp;
|
|
temp = dwt_read32bitoffsetreg(DIG_DIAG_ID, EVC_PHE_OFFSET); // Read sync loss (31-16), PHE (15-0)
|
counters->PHE = temp & 0xFFF;
|
counters->RSL = (temp >> 16) & 0xFFF;
|
|
temp = dwt_read32bitoffsetreg(DIG_DIAG_ID, EVC_FCG_OFFSET); // Read CRC bad (31-16), CRC good (15-0)
|
counters->CRCG = temp & 0xFFF;
|
counters->CRCB = (temp >> 16) & 0xFFF;
|
|
temp = dwt_read32bitoffsetreg(DIG_DIAG_ID, EVC_FFR_OFFSET); // Overruns (31-16), address errors (15-0)
|
counters->ARFE = temp & 0xFFF;
|
counters->OVER = (temp >> 16) & 0xFFF;
|
|
temp = dwt_read32bitoffsetreg(DIG_DIAG_ID, EVC_STO_OFFSET); // Read PTO (31-16), SFDTO (15-0)
|
counters->PTO = (temp >> 16) & 0xFFF;
|
counters->SFDTO = temp & 0xFFF;
|
|
temp = dwt_read32bitoffsetreg(DIG_DIAG_ID, EVC_FWTO_OFFSET); // Read RX TO (31-16), TXFRAME (15-0)
|
counters->TXF = (temp >> 16) & 0xFFF;
|
counters->RTO = temp & 0xFFF;
|
|
temp = dwt_read32bitoffsetreg(DIG_DIAG_ID, EVC_HPW_OFFSET); // Read half period warning events
|
counters->HPW = temp & 0xFFF;
|
counters->TXW = (temp >> 16) & 0xFFF; // Power-up warning events
|
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn dwt_rxreset()
|
*
|
* @brief this function resets the receiver of the DW1000
|
*
|
* input parameters:
|
*
|
* output parameters
|
*
|
* no return value
|
*/
|
void dwt_rxreset(void)
|
{
|
uint8_t resetrx = 0xe0;
|
// Set RX reset
|
dwt_writetodevice(PMSC_ID, 0x3, 1, &resetrx);
|
|
resetrx = 0xf0; // Clear RX reset
|
dwt_writetodevice(PMSC_ID, 0x3, 1, &resetrx);
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn dwt_softreset()
|
*
|
* @brief this function resets the DW1000
|
*
|
* input parameters:
|
*
|
* output parameters
|
*
|
* no return value
|
*/
|
void dwt_softreset(void)
|
{
|
uint8_t temp[1] = {0};
|
|
_dwt_disablesequencing();
|
//_dwt_enableclocks(FORCE_SYS_XTI); // Set system clock to XTI
|
|
// Clear any AON auto download bits (as reset will trigger AON download)
|
dwt_write16bitoffsetreg(AON_ID, AON_WCFG_OFFSET, 0x0);
|
// Clear the wake-up configuration
|
dwt_writetodevice(AON_ID, AON_CFG0_OFFSET, 1, temp);
|
// Upload the new configuration
|
_dwt_aonarrayupload();
|
|
// Reset HIF, TX, RX and PMSC
|
dwt_readfromdevice(PMSC_ID, 0x3, 1, temp) ;
|
|
temp[0] &= 0x0F;
|
dwt_writetodevice(PMSC_ID, 0x3, 1, &temp[0]) ;
|
|
// DW1000 needs a 10us sleep to let clk PLL lock after reset - the PLL will automatically lock after the reset
|
// Could also have polled the PLL lock flag, but then the SPI needs to be < 3MHz !! So a simple delay is easier
|
deca_sleep(1);
|
|
temp[0] |= 0xF0;
|
dwt_writetodevice(PMSC_ID, 0x3, 1, &temp[0]) ;
|
|
dw1000local.wait4resp = 0;
|
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn dwt_xtaltrim()
|
*
|
* @brief This is used adjust the crystal frequency
|
*
|
* input parameters:
|
* @param value - crystal trim value (in range 0x0 to 0x1F) 31 steps (~1.5ppm per step)
|
*
|
* @output
|
*
|
* no return value
|
*/
|
void dwt_xtaltrim(uint8_t value)
|
{
|
uint8_t write_buf;
|
|
dwt_readfromdevice(FS_CTRL_ID, FS_XTALT_OFFSET, 1, &write_buf);
|
|
write_buf &= ~FS_XTALT_MASK ;
|
|
write_buf |= (FS_XTALT_MASK & value) ; // We should not change high bits, cause it will cause malfunction
|
|
dwt_writetodevice(FS_CTRL_ID, FS_XTALT_OFFSET, 1, &write_buf);
|
}
|
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn dwt_configcwmode()
|
*
|
* @brief this function sets the DW1000 to transmit cw signal at specific channel frequency
|
*
|
* input parameters:
|
* @param chan - specifies the operating channel (e.g. 1, 2, 3, 4, 5, 6 or 7)
|
*
|
* output parameters
|
*
|
* returns DWT_SUCCESS for success, or DWT_ERROR for error
|
*/
|
int dwt_configcwmode(uint8_t chan)
|
{
|
uint8_t write_buf[1];
|
#ifdef DWT_API_ERROR_CHECK
|
if ((chan < 1) || (chan > 7) || (6 == chan))
|
{
|
return DWT_ERROR ; // validate channel number parameter
|
}
|
#endif
|
|
//
|
// Disable TX/RX RF block sequencing (needed for cw frame mode)
|
//
|
_dwt_disablesequencing();
|
|
// Config RF pll (for a given channel)
|
// Configure PLL2/RF PLL block CFG
|
dwt_writetodevice(FS_CTRL_ID, FS_PLLCFG_OFFSET, 5, &pll2_config[chan_idx[chan]][0]);
|
// PLL wont be enabled until a TX/RX enable is issued later on
|
// Configure RF TX blocks (for specified channel and prf)
|
// Config RF TX control
|
dwt_write32bitoffsetreg(RF_CONF_ID, RF_TXCTRL_OFFSET, tx_config[chan_idx[chan]]);
|
|
|
//
|
// Enable RF PLL
|
//
|
dwt_write32bitreg(RF_CONF_ID, RF_CONF_TXPLLPOWEN_MASK); // Enable LDO and RF PLL blocks
|
dwt_write32bitreg(RF_CONF_ID, RF_CONF_TXALLEN_MASK); // Enable the rest of TX blocks
|
|
//
|
// Configure TX clocks
|
//
|
write_buf[0] = 0x22;
|
dwt_writetodevice(PMSC_ID, PMSC_CTRL0_OFFSET, 1, write_buf);
|
write_buf[0] = 0x07;
|
dwt_writetodevice(PMSC_ID, 0x1, 1, write_buf);
|
|
// Disable fine grain TX seq
|
dwt_write16bitoffsetreg(PMSC_ID, PMSC_TXFINESEQ_OFFSET, PMSC_TXFINESEQ_DIS_MASK);
|
|
|
write_buf[0] = TC_PGTEST_CW;
|
|
// Configure CW mode
|
dwt_writetodevice(TX_CAL_ID, TC_PGTEST_OFFSET, TC_PGTEST_LEN, write_buf);
|
|
|
return DWT_SUCCESS ;
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn dwt_configcontinuousframemode()
|
*
|
* @brief this function sets the DW1000 to continuous tx frame mode for regulatory approvals testing.
|
*
|
* input parameters:
|
* @param framerepetitionrate - This is a 32-bit value that is used to set the interval between transmissions.
|
* The minimum value is 4. The units are approximately 8 ns. (or more precisely 512/(499.2e6*128) seconds)).
|
*
|
* output parameters
|
*
|
* no return value
|
*/
|
void dwt_configcontinuousframemode(uint32_t framerepetitionrate)
|
{
|
uint8_t write_buf[4];
|
|
//
|
// Disable TX/RX RF block sequencing (needed for continuous frame mode)
|
//
|
_dwt_disablesequencing();
|
|
//
|
// Enable RF PLL and TX blocks
|
//
|
dwt_write32bitreg(RF_CONF_ID, RF_CONF_TXPLLPOWEN_MASK); // Enable LDO and RF PLL blocks
|
dwt_write32bitreg(RF_CONF_ID, RF_CONF_TXALLEN_MASK); // Enable the rest of TX blocks
|
|
//
|
// Configure TX clocks
|
//
|
_dwt_enableclocks(FORCE_SYS_PLL);
|
_dwt_enableclocks(FORCE_TX_PLL);
|
|
// Set the frame repetition rate
|
if(framerepetitionrate < 4)
|
{
|
framerepetitionrate = 4;
|
}
|
dwt_write32bitoffsetreg(DX_TIME_ID, 0, framerepetitionrate) ;
|
//
|
// Configure continuous frame TX
|
//
|
write_buf[0] = (uint8_t)(DIAG_TMC_TX_PSTM) ;
|
dwt_writetodevice(DIG_DIAG_ID, DIAG_TMC_OFFSET, 1, write_buf); // Turn the tx power spectrum test mode - continuous sending of frames
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn dwt_readtempvbat()
|
*
|
* @brief this function reads the battery voltage and temperature of the MP
|
* The values read here will be the current values sampled by DW1000 AtoD converters.
|
* Note on Temperature: the temperature value needs to be converted to give the real temperature
|
* the formula is: 1.13 * reading - 113.0
|
* Note on Voltage: the voltage value needs to be converted to give the real voltage
|
* the formula is: 0.0057 * reading + 2.3
|
*
|
* NB: To correctly read the temperature this read should be done with xtal clock
|
* however that means that the receiver will be switched off, if receiver needs to be on then
|
* the timer is used to make sure the value is stable before reading
|
*
|
* input parameters:
|
* @param fastSPI - set to 1 if SPI rate > than 3MHz is used
|
*
|
* output parameters
|
*
|
* returns (temp_raw<<8)|(vbat_raw)
|
*/
|
uint16_t dwt_readtempvbat(uint8_t fastSPI)
|
{
|
uint8_t wr_buf[2];
|
uint8_t vbat_raw;
|
uint8_t temp_raw;
|
|
// These writes should be single writes and in sequence
|
wr_buf[0] = 0x80; // Enable TLD Bias
|
dwt_writetodevice(RF_CONF_ID, 0x11, 1, wr_buf);
|
|
wr_buf[0] = 0x0A; // Enable TLD Bias and ADC Bias
|
dwt_writetodevice(RF_CONF_ID, 0x12, 1, wr_buf);
|
|
wr_buf[0] = 0x0f; // Enable Outputs (only after Biases are up and running)
|
dwt_writetodevice(RF_CONF_ID, 0x12, 1, wr_buf); //
|
|
// Reading All SAR inputs
|
wr_buf[0] = 0x00;
|
dwt_writetodevice(TX_CAL_ID, TC_SARL_SAR_C, 1, wr_buf);
|
wr_buf[0] = 0x01; // Set SAR enable
|
dwt_writetodevice(TX_CAL_ID, TC_SARL_SAR_C, 1, wr_buf);
|
|
if(fastSPI == 1)
|
{
|
deca_sleep(1); // If using PLL clocks(and fast SPI rate) then this sleep is needed
|
// Read voltage and temperature.
|
dwt_readfromdevice(TX_CAL_ID, TC_SARL_SAR_LVBAT_OFFSET, 2, wr_buf);
|
}
|
else //change to a slow clock
|
{
|
_dwt_enableclocks(FORCE_SYS_XTI); // NOTE: set system clock to XTI - this is necessary to make sure the values read are reliable
|
// Read voltage and temperature.
|
dwt_readfromdevice(TX_CAL_ID, TC_SARL_SAR_LVBAT_OFFSET, 2, wr_buf);
|
// Default clocks (ENABLE_ALL_SEQ)
|
_dwt_enableclocks(ENABLE_ALL_SEQ); // Enable clocks for sequencing
|
}
|
|
vbat_raw = wr_buf[0];
|
temp_raw = wr_buf[1];
|
|
wr_buf[0] = 0x00; // Clear SAR enable
|
dwt_writetodevice(TX_CAL_ID, TC_SARL_SAR_C, 1, wr_buf);
|
|
return ((temp_raw << 8) | (vbat_raw));
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn dwt_readwakeuptemp()
|
*
|
* @brief this function reads the temperature of the DW1000 that was sampled
|
* on waking from Sleep/Deepsleep. They are not current values, but read on last
|
* wakeup if DWT_TANDV bit is set in mode parameter of dwt_configuresleep
|
*
|
* input parameters:
|
*
|
* output parameters:
|
*
|
* returns: 8-bit raw temperature sensor value
|
*/
|
uint8_t dwt_readwakeuptemp(void)
|
{
|
uint8_t temp_raw;
|
dwt_readfromdevice(TX_CAL_ID, TC_SARL_SAR_LTEMP_OFFSET, 1, &temp_raw);
|
return (temp_raw);
|
}
|
|
/*! ------------------------------------------------------------------------------------------------------------------
|
* @fn dwt_readwakeupvbat()
|
*
|
* @brief this function reads the battery voltage of the DW1000 that was sampled
|
* on waking from Sleep/Deepsleep. They are not current values, but read on last
|
* wakeup if DWT_TANDV bit is set in mode parameter of dwt_configuresleep
|
*
|
* input parameters:
|
*
|
* output parameters:
|
*
|
* returns: 8-bit raw battery voltage sensor value
|
*/
|
uint8_t dwt_readwakeupvbat(void)
|
{
|
uint8_t vbat_raw;
|
dwt_readfromdevice(TX_CAL_ID, TC_SARL_SAR_LVBAT_OFFSET, 1, &vbat_raw);
|
return (vbat_raw);
|
}
|
|
|
/* ===============================================================================================
|
List of expected (known) device ID handled by this software
|
===============================================================================================
|
|
0xDECA0130 // DW1000 - MP
|
|
===============================================================================================
|
*/
|
