DW1000::DW1000()
{
spi = mraa_spi_init(5);
mraa_spi_frequency(spi, DW1000_SPI_CLOCK_SPEED);
cs = mraa_gpio_init(DW_CS);
mraa_gpio_dir(cs, MRAA_GPIO_OUT);
mraa_gpio_write(cs, 0x1);
resetAll(); // we do a soft reset of the DW1000 everytime the driver starts
//Those values are for the 110kbps mode (5, 16MHz, 1024 Symbols) and are quite complete
writeRegister16(DW1000_AGC_CTRL, 0x04, 0x8870); //AGC_TUNE1 for 16MHz PRF
writeRegister32(DW1000_AGC_CTRL, 0x0C, 0x2502A907); //AGC_TUNE2 (Universal)
writeRegister16(DW1000_AGC_CTRL, 0x12, 0x0055); //AGC_TUNE3 (Universal)
writeRegister16(DW1000_DRX_CONF, 0x02, 0x000A); //DRX_TUNE0b for 110kbps
writeRegister16(DW1000_DRX_CONF, 0x04, 0x0087); //DRX_TUNE1a for 16MHz PRF
writeRegister16(DW1000_DRX_CONF, 0x06, 0x0064); //DRX_TUNE1b for 110kbps & > 1024 symbols
writeRegister32(DW1000_DRX_CONF, 0x08, 0x351A009A); //PAC size for 1024 symbols preamble & 16MHz PRF
//writeRegister32(DW1000_DRX_CONF, 0x08, 0x371A011D); //PAC size for 2048 symbols preamble
writeRegister8 (DW1000_LDE_CTRL, 0x0806, 0xD); //LDE_CFG1
writeRegister16(DW1000_LDE_CTRL, 0x1806, 0x1607); //LDE_CFG2 for 16MHz PRF
writeRegister32(DW1000_TX_POWER, 0, 0x28282828); //Power for channel 5
writeRegister8(DW1000_RF_CONF, 0x0B, 0xD8); //RF_RXCTRLH for channel 5
writeRegister32(DW1000_RF_CONF, 0x0C, 0x001E3FE0); //RF_TXCTRL for channel 5
writeRegister8 (DW1000_TX_CAL, 0x0B, 0xC0); //TC_PGDELAY for channel 5
writeRegister32 (DW1000_FS_CTRL, 0x07, 0x0800041D); //FS_PLLCFG for channel 5
writeRegister8 (DW1000_FS_CTRL, 0x0B, 0xA6); //FS_PLLTUNE for channel 5
loadLDE(); // important everytime DW1000 initialises/awakes otherwise the LDE algorithm must be turned off or there's receiving malfunction see User Manual LDELOAD on p22 & p158
// 110kbps CAUTION: a lot of other registers have to be set for an optimized operation on 110kbps
writeRegister16(DW1000_TX_FCTRL, 1, 0x0800 | 0x0100 | 0x0080); // use 1024 symbols preamble (0x0800) (previously 2048 - 0x2800), 16MHz pulse repetition frequency (0x0100), 110kbps bit rate (0x0080) see p.69 of DW1000 User Manual
writeRegister8(DW1000_SYS_CFG, 2, 0x44); // enable special receiving option for 110kbps (disable smartTxPower)!! (0x44) see p.64 of DW1000 User Manual [DO NOT enable 1024 byte frames (0x03) becuase it generates disturbance of ranging don't know why...]
writeRegister16(DW1000_TX_ANTD, 0, 16384); // set TX and RX Antenna delay to neutral because we calibrate afterwards
writeRegister16(DW1000_LDE_CTRL, 0x1804, 16384); // = 2^14 a quarter of the range of the 16-Bit register which corresponds to zero calibration in a round trip (TX1+RX2+TX2+RX1)
writeRegister8(DW1000_SYS_CFG, 3, 0x20); // enable auto reenabling receiver after error
}
// Sets the LCD address window (and address counter, on 932X).
// Relevant to rect/screen fills and H/V lines. Input coordinates are
// assumed pre-sorted (e.g. x2 >= x1).
void Adafruit_TFTLCD::setAddrWindow(int x1, int y1, int x2, int y2) {
CS_ACTIVE;
if(driver == ID_932X) {
// Values passed are in current (possibly rotated) coordinate
// system. 932X requires hardware-native coords regardless of
// MADCTL, so rotate inputs as needed. The address counter is
// set to the top-left corner -- although fill operations can be
// done in any direction, the current screen rotation is applied
// because some users find it disconcerting when a fill does not
// occur top-to-bottom.
int x, y, t;
switch(rotation) {
default:
x = x1;
y = y1;
break;
case 1:
t = y1;
y1 = x1;
x1 = TFTWIDTH - 1 - y2;
y2 = x2;
x2 = TFTWIDTH - 1 - t;
x = x2;
y = y1;
break;
case 2:
t = x1;
x1 = TFTWIDTH - 1 - x2;
x2 = TFTWIDTH - 1 - t;
t = y1;
y1 = TFTHEIGHT - 1 - y2;
y2 = TFTHEIGHT - 1 - t;
x = x2;
y = y2;
break;
case 3:
t = x1;
x1 = y1;
y1 = TFTHEIGHT - 1 - x2;
x2 = y2;
y2 = TFTHEIGHT - 1 - t;
x = x1;
y = y2;
break;
}
writeRegister16(0x0050, x1); // Set address window
writeRegister16(0x0051, x2);
writeRegister16(0x0052, y1);
writeRegister16(0x0053, y2);
writeRegister16(0x0020, x ); // Set address counter to top left
writeRegister16(0x0021, y );
} else if(driver == ID_7575) {
writeRegisterPair(HX8347G_COLADDRSTART_HI, HX8347G_COLADDRSTART_LO, x1);
writeRegisterPair(HX8347G_ROWADDRSTART_HI, HX8347G_ROWADDRSTART_LO, y1);
writeRegisterPair(HX8347G_COLADDREND_HI , HX8347G_COLADDREND_LO , x2);
writeRegisterPair(HX8347G_ROWADDREND_HI , HX8347G_ROWADDREND_LO , y2);
} else if (driver == ID_9341) {
uint32_t t;
t = x1;
t <<= 16;
t |= x2;
writeRegister32(ILI9341_COLADDRSET, t);
t = y1;
t <<= 16;
t |= y2;
writeRegister32(ILI9341_PAGEADDRSET, t);
}
CS_IDLE;
}
