void set_subsequence_settings(uint8_t subseq_num, int role){
#ifdef DW_DEBUG
printf("radio conf -> %u\r\n", subseq_num);
#endif
//Change the channel depending on what subsequence number we're at
uint32_t chan = (uint32_t)(subseq_num_to_chan(subseq_num, false));
global_ranging_config.chan = (uint8_t)chan;
dwt_configure(&global_ranging_config, 0);//(DWT_LOADANTDLY | DWT_LOADXTALTRIM));
dwt_setsmarttxpower(global_ranging_config.smartPowerEn);
global_tx_config.PGdly = pgDelay[global_ranging_config.chan];
global_tx_config.power = txPower[global_ranging_config.chan];
dwt_configuretxrf(&global_tx_config);
dwt_setrxantennadelay(0);
dwt_settxantennadelay(0);
//Change what antenna we're listening on
uint8_t ant_sel;
if (role == ANCHOR) {
ant_sel = subseq_num_to_anchor_sel(subseq_num);
} else { // (role == TAG)
ant_sel = subseq_num_to_tag_sel(subseq_num);
}
dw1000_choose_antenna(ant_sel);
}
int app_dw1000_init (
int HACK_role,
int HACK_EUI,
void (*txcallback)(const dwt_callback_data_t *),
void (*rxcallback)(const dwt_callback_data_t *)
) {
uint32_t devID;
int err;
// Start off DW1000 comms slow
REG(SSI0_BASE + SSI_CR1) = 0;
REG(SSI0_BASE + SSI_CPSR) = 8;
REG(SSI0_BASE + SSI_CR1) |= SSI_CR1_SSE;
// Reset the DW1000...for some reason
dw1000_reset();
// Make sure we can talk to the DW1000
devID = dwt_readdevid();
if (devID != DWT_DEVICE_ID) {
#ifdef DW_DEBUG
printf("Could not read Device ID from the DW1000\r\n");
printf("Possible the chip is asleep...\r\n");
#endif
return -1;
}
// Select which of the three antennas on the board to use
dw1000_choose_antenna(0);
// Init the dw1000 hardware
err = dwt_initialise(DWT_LOADUCODE |
DWT_LOADLDO |
DWT_LOADTXCONFIG |
DWT_LOADXTALTRIM);
if (err != DWT_SUCCESS) {
return -1;
}
// Setup interrupts
// Note: using auto rx re-enable so don't need to trigger on error frames
dwt_setinterrupt(DWT_INT_TFRS |
DWT_INT_RFCG |
DWT_INT_SFDT |
DWT_INT_RFTO |
DWT_INT_RPHE |
DWT_INT_RFCE |
DWT_INT_RFSL |
DWT_INT_RXPTO |
DWT_INT_SFDT, 1);
// Configure the callbacks from the dwt library
dwt_setcallbacks(txcallback, rxcallback);
// Set the parameters of ranging and channel and whatnot
global_ranging_config.chan = 2;
global_ranging_config.prf = DWT_PRF_64M;
global_ranging_config.txPreambLength = DWT_PLEN_64;//DWT_PLEN_4096
// global_ranging_config.txPreambLength = DWT_PLEN_256;
global_ranging_config.rxPAC = DWT_PAC8;
global_ranging_config.txCode = 9; // preamble code
global_ranging_config.rxCode = 9; // preamble code
global_ranging_config.nsSFD = 0;
global_ranging_config.dataRate = DWT_BR_6M8;
global_ranging_config.phrMode = DWT_PHRMODE_EXT; //Enable extended PHR mode (up to 1024-byte packets)
global_ranging_config.smartPowerEn = 1;
global_ranging_config.sfdTO = 64+8+1;//(1025 + 64 - 32);
dwt_configure(&global_ranging_config, 0);//(DWT_LOADANTDLY | DWT_LOADXTALTRIM));
dwt_setsmarttxpower(global_ranging_config.smartPowerEn);
// Configure TX power
{
global_tx_config.PGdly = pgDelay[global_ranging_config.chan];
global_tx_config.power = txPower[global_ranging_config.chan];
dwt_configuretxrf(&global_tx_config);
}
/* All constants same anyway
if(DW1000_ROLE_TYPE == TAG)
dwt_xtaltrim(xtaltrim[0]);
else
dwt_xtaltrim(xtaltrim[ANCHOR_EUI]);
*/
dwt_xtaltrim(xtaltrim[0]);
////TEST 1: XTAL trim calibration
//dwt_configcwmode(global_ranging_config.chan);
//dwt_xtaltrim(8);
//while(1);
//{
// //TEST 2: TX Power level calibration
// uint8_t msg[127] = "The quick brown fox jumps over the lazy dog. The quick brown fox jumps over the lazy dog. The quick brown fox jumps over the l";
// dwt_configcontinuousframemode(0x1000);
// dwt_writetxdata(127, (uint8 *) msg, 0) ;
// dwt_writetxfctrl(127, 0);
// dwt_starttx(DWT_START_TX_IMMEDIATE);
// while(1);
//}
// Configure the antenna delay settings
{
uint16_t antenna_delay;
//Antenna delay not really necessary if we're doing an end-to-end calibration
antenna_delay = 0;
dwt_setrxantennadelay(antenna_delay);
dwt_settxantennadelay(antenna_delay);
//global_tx_antenna_delay = antenna_delay;
//// Shift this over a bit for some reason. Who knows.
//// instance_common.c:508
//antenna_delay = dwt_readantennadelay(global_ranging_config.prf) >> 1;
//if (antenna_delay == 0) {
// printf("resetting antenna delay\r\n");
// // If it's not in the OTP, use a magic value from instance_calib.c
// antenna_delay = ((DWT_PRF_64M_RFDLY/ 2.0) * 1e-9 / DWT_TIME_UNITS);
// dwt_setrxantennadelay(antenna_delay);
// dwt_settxantennadelay(antenna_delay);
//}
//global_tx_antenna_delay = antenna_delay;
//printf("tx antenna delay: %u\r\n", antenna_delay);
}
// // Set the sleep delay. Not sure what this does actually.
// instancesettagsleepdelay(POLL_SLEEP_DELAY, BLINK_SLEEP_DELAY);
// Configure as either a tag or anchor
if (HACK_role == ANCHOR) {
uint8_t eui_array[8];
// Enable frame filtering
dwt_enableframefilter(DWT_FF_DATA_EN | DWT_FF_ACK_EN);
dw1000_populate_eui(eui_array, HACK_EUI);
dwt_seteui(eui_array);
dwt_setpanid(DW1000_PANID);
// We do want to enable auto RX
dwt_setautorxreenable(1);
// Let's do double buffering
dwt_setdblrxbuffmode(0);
// Disable RX timeout by setting to 0
dwt_setrxtimeout(0);
// Go for receiving
dwt_rxenable(0);
} else if (HACK_role == TAG) {
uint8_t eui_array[8];
// Allow data and ack frames
dwt_enableframefilter(DWT_FF_DATA_EN | DWT_FF_ACK_EN);
dw1000_populate_eui(eui_array, HACK_EUI);
dwt_seteui(eui_array);
dwt_setpanid(DW1000_PANID);
// Do this for the tag too
dwt_setautorxreenable(1);
dwt_setdblrxbuffmode(1);
dwt_enableautoack(5 /*ACK_RESPONSE_TIME*/);
// Configure sleep
{
int mode = DWT_LOADUCODE |
DWT_PRESRV_SLEEP |
DWT_CONFIG |
DWT_TANDV;
if (dwt_getldotune() != 0) {
// If we need to use LDO tune value from OTP kick it after sleep
mode |= DWT_LOADLDO;
}
// NOTE: on the EVK1000 the DEEPSLEEP is not actually putting the
// DW1000 into full DEEPSLEEP mode as XTAL is kept on
dwt_configuresleep(mode, DWT_WAKE_CS | DWT_SLP_EN);
}
}
// Make it fast
REG(SSI0_BASE + SSI_CR1) = 0;
REG(SSI0_BASE + SSI_CPSR) = 2;
REG(SSI0_BASE + SSI_CR1) |= SSI_CR1_SSE;
return 0;
}
/*
*********************************************************************************************************
*
* loca_status dwt_config(eCHAN channel, ePRF prf, ePLEN PreambleLength, eCODE code, uint8_t nsSFD, DataRate db)
*
* 描 述 : 配置DW1000
*
* 输入参数 :
* channel：DW1000通道
prf：
PreambleLength：
code：
nsSFD：
db：
*
* 输出参数 : DW1000状态
*********************************************************************************************************
*/
static loca_status dwt_config(eCHAN channel, ePRF prf, ePLEN PreambleLength, eCODE code, uint8_t nsSFD, DataRate db)
{
dwt_config_t config;
dwt_txconfig_t txconfig;
uint8_t buf[2];
uint64_t eui64;
uint16_t panid;
eui64 = LOC_CFG_EUI;
panid = LOC_CFG_PANID;
config.chan = channel;
config.prf = prf;
config.txPreambLength = PreambleLength;
switch (PreambleLength)
{
case PLEN_64:
case PLEN_128:
config.rxPAC = DWT_PAC8;
break;
case PLEN_256:
case PLEN_512:
config.rxPAC = DWT_PAC16;
break;
case PLEN_1024:
config.rxPAC = DWT_PAC32;
break;
default:
config.rxPAC = DWT_PAC64;
break;
}
config.rxCode = code;
config.txCode = code;
config.nsSFD = nsSFD;
config.dataRate = db;
config.smartPowerEn = 0;
config.phrMode = 0;
txconfig.PGdly = dwt_pgdelay[channel];
txconfig.power = dwt_manualpwr[prf - 1][channel];
BSP_ChangeSPIRate(SPI_SLOW);
dwt_softreset();
if (dwt_initialise(DWT_LOADNONE) != DWT_SUCCESS)
{
BSP_ChangeSPIRate(SPI_FAST);
return LOCA_FAULT;
}
BSP_ChangeSPIRate(SPI_FAST);
if (dwt_readdevid() != DWT_DEVICE_ID)
{
return LOCA_FAULT;
}
buf[0] = 0x10;
dwt_writetodevice(GPIO_CTRL_ID,0x02,1,&buf[0]);
buf[0] = 0xf0;
buf[1] = 0xf0;
dwt_writetodevice(GPIO_CTRL_ID,0x08,2,&buf[0]);
dwt_configure(&config, 0);
dwt_xtaltrim(LOC_CFG_XTALRIM);
dwt_setrxantennadelay(0);
dwt_settxantennadelay(0);
dwt_setsmarttxpower(0);
dwt_configuretxrf(&txconfig);
dwt_enableframefilter(DWT_FF_NOTYPE_EN);
dwt_seteui((uint8_t *)&eui64);
dwt_setpanid(panid);
//开启硬件中断
//BSP_DWTIntEnable();
// dwt_setinterrupt( DWT_INT_TFRS, 1);
dwt_setrxmode(DWT_RX_NORMAL,0,0);
return LOCA_OK;
}
// First (generic) init of the DW1000
dw1000_err_e dw1000_init () {
// Do the STM setup that initializes pin and peripherals and whatnot.
if (!_stm_dw1000_interface_setup) {
setup();
}
// Reset the dw1000...for some reason
dw1000_reset();
uDelay(100);
// Make sure we can talk to the DW1000
uint32_t devID;
devID = dwt_readdevid();
if (devID != DWT_DEVICE_ID) {
//if we can't talk to dw1000, return with an error
uDelay(1000);
return DW1000_COMM_ERR;
}
GPIO_WriteBit(STM_GPIO3_PORT, STM_GPIO3_PIN, Bit_SET);
uDelay(1000);
GPIO_WriteBit(STM_GPIO3_PORT, STM_GPIO3_PIN, Bit_RESET);
// Choose antenna 0 as a default
dw1000_choose_antenna(0);
// Initialize the dw1000 hardware
uint32_t err;
err = dwt_initialise(DWT_LOADUCODE |
DWT_LOADLDO |
DWT_LOADTXCONFIG |
DWT_LOADXTALTRIM);
if (err != DWT_SUCCESS) {
return DW1000_COMM_ERR;
}
// Configure interrupts and callbacks
dwt_setinterrupt(0xFFFFFFFF, 0);
dwt_setinterrupt(DWT_INT_TFRS |
DWT_INT_RFCG |
DWT_INT_RPHE |
DWT_INT_RFCE |
DWT_INT_RFSL |
DWT_INT_RFTO |
DWT_INT_RXPTO |
DWT_INT_SFDT |
DWT_INT_ARFE, 1);
dwt_setcallbacks(txcallback, rxcallback);
// Set the parameters of ranging and channel and whatnot
global_ranging_config.chan = 2;
global_ranging_config.prf = DWT_PRF_64M;
global_ranging_config.txPreambLength = DWT_PLEN_64;
global_ranging_config.rxPAC = DWT_PAC8;
global_ranging_config.txCode = 9; // preamble code
global_ranging_config.rxCode = 9; // preamble code
global_ranging_config.nsSFD = 0;
global_ranging_config.dataRate = DWT_BR_6M8;
global_ranging_config.phrMode = DWT_PHRMODE_EXT; //Enable extended PHR mode (up to 1024-byte packets)
global_ranging_config.smartPowerEn = 1;
global_ranging_config.sfdTO = 64+8+1;//(1025 + 64 - 32);
#if DW1000_USE_OTP
dwt_configure(&global_ranging_config, (DWT_LOADANTDLY | DWT_LOADXTALTRIM));
#else
dwt_configure(&global_ranging_config, 0);
#endif
dwt_setsmarttxpower(global_ranging_config.smartPowerEn);
// Configure TX power based on the channel used
global_tx_config.PGdly = pgDelay[global_ranging_config.chan];
global_tx_config.power = txPower[global_ranging_config.chan];
dwt_configuretxrf(&global_tx_config);
// Need to set some radio properties. Ideally these would come from the
// OTP memory on the DW1000
#if DW1000_USE_OTP == 0
// This defaults to 8. Don't know why.
dwt_xtaltrim(8);
// Antenna delay we don't really care about so we just use 0
dwt_setrxantennadelay(DW1000_ANTENNA_DELAY_RX);
dwt_settxantennadelay(DW1000_ANTENNA_DELAY_TX);
#endif
return DW1000_NO_ERR;
}
void config_data(data_t *data)
{
int use_otpdata = DWT_LOADANTDLY | DWT_LOADXTALTRIM;
uint32 power = 0;
data->configData.chan = 5 ;
data->configData.rxCode = 9;
data->configData.txCode = 9 ;
data->configData.prf = DWT_PRF_64M ;
data->configData.dataRate = DWT_BR_6M8 ;
data->configData.txPreambLength = DWT_PLEN_128 ;
data->configData.rxPAC = DWT_PAC8 ;
data->configData.nsSFD = 0 ;
data->configData.phrMode = DWT_PHRMODE_STD ;
data->configData.sfdTO = (129 + 8 - 8);
//enable gating gain for 6.81Mbps data rate
if(data->configData.dataRate == DWT_BR_6M8)
data->configData.smartPowerEn = 1;
else
data->configData.smartPowerEn = 0;
//configure the channel parameters
dwt_configure(&data->configData, use_otpdata) ;
data->configTX.PGdly = txSpectrumConfig[data->configData.chan].PGdelay ;
//firstly check if there are calibrated TX power value in the DW1000 OTP
power = dwt_getotptxpower(data->configData.prf, data->configData.chan);
if((power == 0x0) || (power == 0xFFFFFFFF)) //if there are no calibrated values... need to use defaults
{
power = txSpectrumConfig[data->configData.chan].txPwr[data->configData.prf- DWT_PRF_16M];
}
//Configure TX power
//if smart power is used then the value as read from OTP is used directly
//if smart power is used the user needs to make sure to transmit only one frame per 1ms or TX spectrum power will be violated
if(data->configData.smartPowerEn == 1)
{
data->configTX.power = power;
}
else //if the smart power is not used, then the low byte value (repeated) is used for the whole TX power register
{
uint8 pow = power & 0xFF ;
data->configTX.power = (pow | (pow << 8) | (pow << 16) | (pow << 24));
}
dwt_setsmarttxpower(data->configData.smartPowerEn);
//configure the tx spectrum parameters (power and PG delay)
dwt_configuretxrf(&data->configTX);
//check if to use the antenna delay calibration values as read from the OTP
if((use_otpdata & DWT_LOADANTDLY) == 0)
{
data->txantennaDelay = rfDelays[data->configData.prf - DWT_PRF_16M];
// -------------------------------------------------------------------------------------------------------------------
// set the antenna delay, we assume that the RX is the same as TX.
dwt_setrxantennadelay(data->txantennaDelay);
dwt_settxantennadelay(data->txantennaDelay);
}
else
{
//get the antenna delay that was read from the OTP calibration area
data->txantennaDelay = dwt_readantennadelay(data->configData.prf) >> 1;
// if nothing was actually programmed then set a reasonable value anyway
if (data->txantennaDelay == 0)
{
data->txantennaDelay = rfDelays[data->configData.prf - DWT_PRF_16M];
// -------------------------------------------------------------------------------------------------------------------
// set the antenna delay, we assume that the RX is the same as TX.
dwt_setrxantennadelay(data->txantennaDelay);
dwt_settxantennadelay(data->txantennaDelay);
}
}
if(data->configData.txPreambLength == DWT_PLEN_64) //if preamble length is 64
{
SPI_ConfigFastRate(SPI_BaudRatePrescaler_16); //reduce SPI to < 3MHz
dwt_loadopsettabfromotp(0);
SPI_ConfigFastRate(SPI_BaudRatePrescaler_4); //increase SPI to max
}
//config is needed before reply delays are configured
}
