void dwInit(dwDevice_t* dev, dwOps_t* ops)
{
dev->ops = ops;
dev->userdata = NULL;
/* Device default state */
dev->extendedFrameLength = FRAME_LENGTH_NORMAL;
dev->pacSize = PAC_SIZE_8;
dev->pulseFrequency = TX_PULSE_FREQ_16MHZ;
dev->dataRate = TRX_RATE_6800KBPS;
dev->preambleLength = TX_PREAMBLE_LEN_128;
dev->preambleCode = PREAMBLE_CODE_16MHZ_4;
dev->channel = CHANNEL_5;
dev->smartPower = false;
dev->frameCheck = true;
dev->permanentReceive = false;
dev->deviceMode = IDLE_MODE;
writeValueToBytes(dev->antennaDelay.raw, 16384, LEN_STAMP);
// Dummy callback handlers
dev->handleSent = dummy;
dev->handleReceived = dummy;
dev->handleReceiveFailed = dummy;
}
void DW1000Class::begin(int irq, int rst) {
// generous initial init/wake-up-idle delay
delay(5);
// start SPI
SPI.begin();
SPI.usingInterrupt(irq);
// pin and basic member setup
_rst = rst;
_irq = irq;
_deviceMode = IDLE_MODE;
pinMode(_rst, OUTPUT);
digitalWrite(_rst, HIGH);
// reset chip (either soft or hard)
if(_rst <= 0) {
softReset();
} else {
reset();
}
// try locking clock at PLL speed (should be done already,
// but just to be sure)
enableClock(AUTO_CLOCK);
delay(5);
// default network and node id
writeValueToBytes(_networkAndAddress, 0xFF, LEN_PANADR);
writeNetworkIdAndDeviceAddress();
// default system configuration
memset(_syscfg, 0, LEN_SYS_CFG);
setDoubleBuffering(false);
setInterruptPolarity(true);
writeSystemConfigurationRegister();
// default interrupt mask, i.e. no interrupts
clearInterrupts();
writeSystemEventMaskRegister();
// attach interrupt
attachInterrupt(_irq, DW1000Class::handleInterrupt, RISING);
}
void DW1000Class::tune() {
// these registers are going to be tuned/configured
byte agctune1[LEN_AGC_TUNE1];
byte agctune2[LEN_AGC_TUNE2];
byte agctune3[LEN_AGC_TUNE3];
byte drxtune0b[LEN_DRX_TUNE0b];
byte drxtune1a[LEN_DRX_TUNE1a];
byte drxtune1b[LEN_DRX_TUNE1b];
byte drxtune2[LEN_DRX_TUNE2];
byte drxtune4H[LEN_DRX_TUNE4H];
byte ldecfg1[LEN_LDE_CFG1];
byte ldecfg2[LEN_LDE_CFG2];
byte lderepc[LEN_LDE_REPC];
byte txpower[LEN_TX_POWER];
byte rfrxctrlh[LEN_RF_RXCTRLH];
byte rftxctrl[LEN_RF_TXCTRL];
byte tcpgdelay[LEN_TC_PGDELAY];
byte fspllcfg[LEN_FS_PLLCFG];
byte fsplltune[LEN_FS_PLLTUNE];
// AGC_TUNE1
if(_pulseFrequency == TX_PULSE_FREQ_16MHZ) {
writeValueToBytes(agctune1, 0x8870, LEN_AGC_TUNE1);
} else if(_pulseFrequency == TX_PULSE_FREQ_64MHZ) {
writeValueToBytes(agctune1, 0x889B, LEN_AGC_TUNE1);
} else {
// TODO proper error/warning handling
}
// AGC_TUNE2
writeValueToBytes(agctune2, 0x2502A907L, LEN_AGC_TUNE2);
// AGC_TUNE3
writeValueToBytes(agctune3, 0x0035, LEN_AGC_TUNE3);
// DRX_TUNE0b (already optimized according to Table 20 of user manual)
if(_dataRate == TRX_RATE_110KBPS) {
writeValueToBytes(drxtune0b, 0x0016, LEN_DRX_TUNE0b);
} else if(_dataRate == TRX_RATE_850KBPS) {
writeValueToBytes(drxtune0b, 0x0006, LEN_DRX_TUNE0b);
} else if(_dataRate == TRX_RATE_6800KBPS) {
writeValueToBytes(drxtune0b, 0x0001, LEN_DRX_TUNE0b);
} else {
// TODO proper error/warning handling
}
// DRX_TUNE1a
if(_pulseFrequency == TX_PULSE_FREQ_16MHZ) {
writeValueToBytes(drxtune1a, 0x0087, LEN_DRX_TUNE1a);
} else if(_pulseFrequency == TX_PULSE_FREQ_64MHZ) {
writeValueToBytes(drxtune1a, 0x008D, LEN_DRX_TUNE1a);
} else {
// TODO proper error/warning handling
}
// DRX_TUNE1b
if(_preambleLength == TX_PREAMBLE_LEN_1536 || _preambleLength == TX_PREAMBLE_LEN_2048 ||
_preambleLength == TX_PREAMBLE_LEN_4096) {
if(_dataRate == TRX_RATE_110KBPS) {
writeValueToBytes(drxtune1b, 0x0064, LEN_DRX_TUNE1b);
} else {
// TODO proper error/warning handling
}
} else if(_preambleLength != TX_PREAMBLE_LEN_64) {
if(_dataRate == TRX_RATE_850KBPS || _dataRate == TRX_RATE_6800KBPS) {
writeValueToBytes(drxtune1b, 0x0020, LEN_DRX_TUNE1b);
} else {
// TODO proper error/warning handling
}
} else {
if(_dataRate == TRX_RATE_6800KBPS) {
writeValueToBytes(drxtune1b, 0x0010, LEN_DRX_TUNE1b);
} else {
// TODO proper error/warning handling
}
}
// DRX_TUNE2
if(_pacSize == PAC_SIZE_8) {
if(_pulseFrequency == TX_PULSE_FREQ_16MHZ) {
writeValueToBytes(drxtune2, 0x311A002DL, LEN_DRX_TUNE2);
} else if(_pulseFrequency == TX_PULSE_FREQ_64MHZ) {
writeValueToBytes(drxtune2, 0x313B006BL, LEN_DRX_TUNE2);
} else {
// TODO proper error/warning handling
}
} else if(_pacSize == PAC_SIZE_16) {
if(_pulseFrequency == TX_PULSE_FREQ_16MHZ) {
writeValueToBytes(drxtune2, 0x331A0052L, LEN_DRX_TUNE2);
} else if(_pulseFrequency == TX_PULSE_FREQ_64MHZ) {
writeValueToBytes(drxtune2, 0x333B00BEL, LEN_DRX_TUNE2);
} else {
// TODO proper error/warning handling
}
} else if(_pacSize == PAC_SIZE_32) {
if(_pulseFrequency == TX_PULSE_FREQ_16MHZ) {
writeValueToBytes(drxtune2, 0x351A009AL, LEN_DRX_TUNE2);
} else if(_pulseFrequency == TX_PULSE_FREQ_64MHZ) {
writeValueToBytes(drxtune2, 0x353B015EL, LEN_DRX_TUNE2);
} else {
// TODO proper error/warning handling
}
} else if(_pacSize == PAC_SIZE_64) {
if(_pulseFrequency == TX_PULSE_FREQ_16MHZ) {
writeValueToBytes(drxtune2, 0x371A011DL, LEN_DRX_TUNE2);
} else if(_pulseFrequency == TX_PULSE_FREQ_64MHZ) {
writeValueToBytes(drxtune2, 0x373B0296L, LEN_DRX_TUNE2);
} else {
// TODO proper error/warning handling
}
} else {
// TODO proper error/warning handling
}
// DRX_TUNE4H
if(_preambleLength == TX_PREAMBLE_LEN_64) {
writeValueToBytes(drxtune4H, 0x0010, LEN_DRX_TUNE4H);
} else {
writeValueToBytes(drxtune4H, 0x0028, LEN_DRX_TUNE4H);
}
// RF_RXCTRLH
if(_channel != CHANNEL_4 && _channel != CHANNEL_7) {
writeValueToBytes(rfrxctrlh, 0xD8, LEN_RF_RXCTRLH);
} else {
writeValueToBytes(rfrxctrlh, 0xBC, LEN_RF_RXCTRLH);
}
// RX_TXCTRL
if(_channel == CHANNEL_1) {
writeValueToBytes(rftxctrl, 0x00005C40L, LEN_RF_TXCTRL);
} else if(_channel == CHANNEL_2) {
writeValueToBytes(rftxctrl, 0x00045CA0L, LEN_RF_TXCTRL);
} else if(_channel == CHANNEL_3) {
writeValueToBytes(rftxctrl, 0x00086CC0L, LEN_RF_TXCTRL);
} else if(_channel == CHANNEL_4) {
writeValueToBytes(rftxctrl, 0x00045C80L, LEN_RF_TXCTRL);
} else if(_channel == CHANNEL_5) {
writeValueToBytes(rftxctrl, 0x001E3FE0L, LEN_RF_TXCTRL);
} else if(_channel == CHANNEL_7) {
writeValueToBytes(rftxctrl, 0x001E7DE0L, LEN_RF_TXCTRL);
} else {
// TODO proper error/warning handling
}
// TC_PGDELAY
if(_channel == CHANNEL_1) {
writeValueToBytes(tcpgdelay, 0xC9, LEN_TC_PGDELAY);
} else if(_channel == CHANNEL_2) {
writeValueToBytes(tcpgdelay, 0xC2, LEN_TC_PGDELAY);
} else if(_channel == CHANNEL_3) {
writeValueToBytes(tcpgdelay, 0xC5, LEN_TC_PGDELAY);
} else if(_channel == CHANNEL_4) {
writeValueToBytes(tcpgdelay, 0x95, LEN_TC_PGDELAY);
} else if(_channel == CHANNEL_5) {
writeValueToBytes(tcpgdelay, 0xC0, LEN_TC_PGDELAY);
} else if(_channel == CHANNEL_7) {
writeValueToBytes(tcpgdelay, 0x93, LEN_TC_PGDELAY);
} else {
// TODO proper error/warning handling
}
// FS_PLLCFG and FS_PLLTUNE
if(_channel == CHANNEL_1) {
writeValueToBytes(fspllcfg, 0x09000407L, LEN_FS_PLLCFG);
writeValueToBytes(fsplltune, 0x1E, LEN_FS_PLLTUNE);
} else if(_channel == CHANNEL_2 || _channel == CHANNEL_4) {
writeValueToBytes(fspllcfg, 0x08400508L, LEN_FS_PLLCFG);
writeValueToBytes(fsplltune, 0x26, LEN_FS_PLLTUNE);
} else if(_channel == CHANNEL_3) {
writeValueToBytes(fspllcfg, 0x08401009L, LEN_FS_PLLCFG);
writeValueToBytes(fsplltune, 0x5E, LEN_FS_PLLTUNE);
} else if(_channel == CHANNEL_5 || _channel == CHANNEL_7) {
writeValueToBytes(fspllcfg, 0x0800041DL, LEN_FS_PLLCFG);
writeValueToBytes(fsplltune, 0xA6, LEN_FS_PLLTUNE);
} else {
// TODO proper error/warning handling
}
// LDE_CFG1
writeValueToBytes(ldecfg1, 0xD, LEN_LDE_CFG1);
// LDE_CFG2
if(_pulseFrequency == TX_PULSE_FREQ_16MHZ) {
writeValueToBytes(ldecfg2, 0x1607, LEN_LDE_CFG2);
} else if(_pulseFrequency == TX_PULSE_FREQ_64MHZ) {
writeValueToBytes(ldecfg2, 0x0607, LEN_LDE_CFG2);
} else {
// TODO proper error/warning handling
}
// LDE_REPC
if(_preambleCode == PREAMBLE_CODE_16MHZ_1 || _preambleCode == PREAMBLE_CODE_16MHZ_2) {
if(_dataRate == TRX_RATE_110KBPS) {
writeValueToBytes(lderepc, ((0x5998 >> 3) & 0xFFFF), LEN_LDE_REPC);
} else {
