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bugfixes, first stable RX/TX (!) :-)
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@thotro
thotro committed May 19, 2015
1 parent 0ee5718 commit f475d69
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Showing 5 changed files with 93 additions and 47 deletions.
7 changes: 6 additions & 1 deletion DW1000-arduino-test/DW1000-arduino-basic-test/DW1000-arduino-basic-test.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -34,10 +34,15 @@ void setup() {
}

void loop() {
// wait a bit
delay(1000);
// DEBUG chip info and registers pretty printed
Serial.print("Device ID: "); Serial.println(dw.getPrintableDeviceIdentifier());
Serial.print("Unique ID: "); Serial.println(dw.getPrintableExtendedUniqueIdentifier());
Serial.print("Network ID & Device Address: "); Serial.println(dw.getPrintableNetworkIdAndShortAddress());
// DEBUG print device tuning results
Serial.println(dw.getPrettyBytes(AGC_TUNE, AGC_TUNE1_SUB, LEN_AGC_TUNE1));
Serial.println(dw.getPrettyBytes(AGC_TUNE, AGC_TUNE2_SUB, LEN_AGC_TUNE2));
// wait a bit
delay(1000);
delay(10000);
}
31 changes: 17 additions & 14 deletions DW1000-arduino-test/DW1000-arduino-receiver-test/DW1000-arduino-receiver-test.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,8 @@
#include <SPI.h>
#include <DW1000.h>

// packet data
byte recvBytes[256];
// DEBUG packet sent status and count
volatile boolean received = false;
volatile int numReceived = 0;
Expand Down Expand Up @@ -41,9 +43,9 @@ void setup() {
Serial.print("Device ID: "); Serial.println(dw.getPrintableDeviceIdentifier());
Serial.print("Unique ID: "); Serial.println(dw.getPrintableExtendedUniqueIdentifier());
Serial.print("Network ID & Device Address: "); Serial.println(dw.getPrintableNetworkIdAndShortAddress());
Serial.println(dw.getPrettyBytes(SYS_CFG, LEN_SYS_CFG));
Serial.println(dw.getPrettyBytes(PANADR, LEN_PANADR));
Serial.println(dw.getPrettyBytes(SYS_MASK, LEN_SYS_MASK));
Serial.println(dw.getPrettyBytes(SYS_CFG, NO_SUB, LEN_SYS_CFG));
Serial.println(dw.getPrettyBytes(PANADR, NO_SUB, LEN_PANADR));
Serial.println(dw.getPrettyBytes(SYS_MASK, NO_SUB, LEN_SYS_MASK));
// attach interrupt and ISR
pinMode(INT0, INPUT);
attachInterrupt(0, serviceIRQ, FALLING);
Expand All @@ -68,20 +70,21 @@ void loop() {
// Interrupt version of transmit: Confirmation of ISR status change
if(received) {
Serial.print("Received packet ... #"); Serial.println(numReceived);
Serial.println(dw.getDataLength());
received = false;
int n = dw.getDataLength();
Serial.print("Bytes available ... "); Serial.println(n);
dw.getData(recvBytes, n);
Serial.print("Data is ... ");
for(int i = 0; i < n; i++) {
Serial.print((char)recvBytes[i]);
}
Serial.println();

received = false;
// restart the receiver
dw.newReceive();
dw.setDefaults();
dw.startReceive();
}
// wait a bit
delay(1000);
//Serial.println(dw.getPrettyBytes(SYS_STATUS, LEN_SYS_STATUS));
//Serial.println(dw.getPrettyBytes(CHAN_CTRL, LEN_CHAN_CTRL));

// TODO re-issue receive after error
dw.newReceive();
dw.setDefaults();
dw.startReceive();
//Serial.println(dw.getPrettyBytes(SYS_STATUS, NO_SUB, LEN_SYS_STATUS));
//Serial.println(dw.getPrettyBytes(CHAN_CTRL, NO_SUB, LEN_CHAN_CTRL));
}
12 changes: 6 additions & 6 deletions DW1000-arduino-test/DW1000-arduino-sender-test/DW1000-arduino-sender-test.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -41,9 +41,9 @@ void setup() {
Serial.print("Device ID: "); Serial.println(dw.getPrintableDeviceIdentifier());
Serial.print("Unique ID: "); Serial.println(dw.getPrintableExtendedUniqueIdentifier());
Serial.print("Network ID & Device Address: "); Serial.println(dw.getPrintableNetworkIdAndShortAddress());
Serial.println(dw.getPrettyBytes(SYS_CFG, LEN_SYS_CFG));
Serial.println(dw.getPrettyBytes(PANADR, LEN_PANADR));
Serial.println(dw.getPrettyBytes(SYS_MASK, LEN_SYS_MASK));
Serial.println(dw.getPrettyBytes(SYS_CFG, NO_SUB, LEN_SYS_CFG));
Serial.println(dw.getPrettyBytes(PANADR, NO_SUB, LEN_PANADR));
Serial.println(dw.getPrettyBytes(SYS_MASK, NO_SUB, LEN_SYS_MASK));
// attach interrupt and ISR
pinMode(INT0, INPUT);
attachInterrupt(0, serviceIRQ, FALLING);
Expand All @@ -66,8 +66,8 @@ void loop() {
dw.newTransmit();
{
dw.setDefaults();
byte data[4] = {'t', 'e', 's', 't'};
dw.setData(data, 3);
String msg = "Hello DW1000";
dw.setData(msg);
dw.startTransmit();
}
// Interrupt version of transmit: Confirmation of ISR status change
Expand All @@ -77,5 +77,5 @@ void loop() {
}
// wait a bit
delay(2000);
//Serial.println(dw.getPrettyBytes(SYS_STATUS, LEN_SYS_STATUS));
//Serial.println(dw.getPrettyBytes(SYS_STATUS, NO_SUB, LEN_SYS_STATUS));
}
78 changes: 55 additions & 23 deletions DW1000/DW1000.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -47,7 +47,7 @@ void DW1000::initialize() {
digitalWrite(_rst, HIGH);
delay(10);
// default network and node id
memset(_networkAndAddress, 0xFF, LEN_PANADR);
writeValueToBytes(_networkAndAddress, 0xFF, LEN_PANADR);
writeNetworkIdAndDeviceAddress();
// default system configuration
memset(_syscfg, 0, LEN_SYS_CFG);
Expand All @@ -60,12 +60,12 @@ void DW1000::initialize() {
// tell the chip to load the LDE microcode
byte pmscctrl0[LEN_PMSC_CTRL0];
byte otpctrl[LEN_OTP_CTRL];
memset(otpctrl, 0x8000, LEN_OTP_CTRL);
memset(pmscctrl0, 0x0301, LEN_PMSC_CTRL0);
writeValueToBytes(otpctrl, 0x8000, LEN_OTP_CTRL);
writeValueToBytes(pmscctrl0, 0x0301, LEN_PMSC_CTRL0);
writeBytes(PMSC_CTRL0, NO_SUB, pmscctrl0, LEN_PMSC_CTRL0);
writeBytes(OTP_CTRL, OTP_CTRL_SUB, otpctrl, LEN_OTP_CTRL);
delay(10);
memset(pmscctrl0, 0x0200, LEN_PMSC_CTRL0);
writeValueToBytes(pmscctrl0, 0x0200, LEN_PMSC_CTRL0);
writeBytes(PMSC_CTRL0, NO_SUB, pmscctrl0, LEN_PMSC_CTRL0);
tune();
delay(10);
Expand All @@ -82,15 +82,15 @@ void DW1000::tune() {
byte rftxctrl[LEN_RF_TXCTRL];
byte tcpgdelay[LEN_TC_PGDELAY];
byte fsplltune[LEN_FS_PLLTUNE];
memset(agctune1, 0x8870, LEN_AGC_TUNE1);
memset(agctune2, 0x2502A907, LEN_AGC_TUNE2);
memset(drxtune2, 0x311A002D, LEN_DRX_TUNE2);
memset(ldecfg1, 0x6D, LEN_LDE_CFG1);
memset(ldecfg2, 0x1607, LEN_LDE_CFG2);
memset(txpower, 0x0E082848, LEN_TX_POWER);
memset(rftxctrl, 0x001E3FE0, LEN_RF_TXCTRL);
memset(tcpgdelay, 0xC0, LEN_TC_PGDELAY);
memset(fsplltune, 0xA6, LEN_FS_PLLTUNE);
writeValueToBytes(agctune1, 0x8870, LEN_AGC_TUNE1);
writeValueToBytes(agctune2, 0x2502A907, LEN_AGC_TUNE2);
writeValueToBytes(drxtune2, 0x311A002D, LEN_DRX_TUNE2);
writeValueToBytes(ldecfg1, 0x6D, LEN_LDE_CFG1);
writeValueToBytes(ldecfg2, 0x1607, LEN_LDE_CFG2);
writeValueToBytes(txpower, 0x0E082848, LEN_TX_POWER);
writeValueToBytes(rftxctrl, 0x001E3FE0, LEN_RF_TXCTRL);
writeValueToBytes(tcpgdelay, 0xC0, LEN_TC_PGDELAY);
writeValueToBytes(fsplltune, 0xA6, LEN_FS_PLLTUNE);
writeBytes(AGC_TUNE, AGC_TUNE1_SUB, agctune1, LEN_AGC_TUNE1);
writeBytes(AGC_TUNE, AGC_TUNE2_SUB, agctune2, LEN_AGC_TUNE2);
writeBytes(DRX_TUNE, DRX_TUNE2_SUB, drxtune2, LEN_DRX_TUNE2);
Expand Down Expand Up @@ -296,9 +296,9 @@ void DW1000::pulseFrequency(byte freq) {
// tuning
byte agctune1[LEN_AGC_TUNE1];
if(freq == TX_PULSE_FREQ_16MHZ) {
memset(agctune1, 0x8870, LEN_AGC_TUNE1);
writeValueToBytes(agctune1, 0x8870, LEN_AGC_TUNE1);
} else if(freq == TX_PULSE_FREQ_64MHZ) {
memset(agctune1, 0x889B, LEN_AGC_TUNE1);
writeValueToBytes(agctune1, 0x889B, LEN_AGC_TUNE1);
} else {
return;
}
Expand Down Expand Up @@ -360,7 +360,7 @@ void DW1000::startTransmit() {
_deviceMode = IDLE_MODE;
}

void DW1000::setData(byte data[], unsigned int n) {
void DW1000::setData(byte data[], int n) {
if(!isSuppressFrameCheck()) {
n+=2; // two bytes CRC-16
}
Expand All @@ -382,6 +382,15 @@ void DW1000::setData(byte data[], unsigned int n) {
writeTransmitFrameControlRegister();
}

void DW1000::setData(String data) {
int n = data.length()+1;
byte* dataBytes = (byte*)malloc(n);
data.getBytes(dataBytes, n);
setData(dataBytes, n);
free(dataBytes);

}

int DW1000::getDataLength() {
if(_deviceMode == TX_MODE) {
// 10 bits of TX frame control register
Expand All @@ -397,13 +406,24 @@ int DW1000::getDataLength() {
}
}

int DW1000::getData(byte data[]) {
int n = getDataLength(); // number of bytes w/o the two FCS ones
void DW1000::getData(byte data[], int n) {
if(n < 0) {
return n;
return;
}
readBytes(RX_BUFFER, NO_SUB, data, n);
return n;
}

void DW1000::getData(String data) {
int i;
int n = getDataLength(); // number of bytes w/o the two FCS ones
byte* dataBytes = (byte*)malloc(n);
getData(dataBytes, n);
// clear string
data.remove(0);
// append to string
for(i = 0; i < n; i++) {
data += (char)dataBytes[i];
}
}

// system event register
Expand Down Expand Up @@ -447,6 +467,11 @@ boolean DW1000::isReceiveSuccess() {
return false;
}

void DW1000::clearAllStatus() {
memset(_sysstatus, 0, LEN_SYS_STATUS);
writeBytes(SYS_STATUS, NO_SUB, _sysstatus, LEN_SYS_STATUS);
}

void DW1000::clearReceiveStatus() {
// clear latched RX bits (i.e. write 1 to clear)
setBit(_sysstatus, LEN_SYS_STATUS, RXDFR_BIT, true);
Expand Down Expand Up @@ -524,6 +549,13 @@ boolean DW1000::getBit(byte data[], int n, int bit) {
return bitRead(targetByte, shift);
}

void DW1000::writeValueToBytes(byte data[], int val, int n) {
int i;
for(i = 0; i < n; i++) {
data[i] = ((val >> (i * 8)) & 0xFF);
}
}

/*
* Read bytes from the DW1000. Number of bytes depend on register length.
* @param cmd
Expand Down Expand Up @@ -623,11 +655,11 @@ void DW1000::writeBytes(byte cmd, word offset, byte data[], int n) {
#endif
}

char* DW1000::getPrettyBytes(unsigned int reg, unsigned int n) {
char* DW1000::getPrettyBytes(byte cmd, word offset, int n) {
unsigned int i, j, b;
byte* readBuf = (byte*)malloc(n);
readBytes(reg, NO_SUB, readBuf, n);
b = sprintf(_msgBuf, "Reg: 0x%02x, bytes: %d\nB: 7 6 5 4 3 2 1 0\n", reg, n);
readBytes(cmd, offset, readBuf, n);
b = sprintf(_msgBuf, "Reg: 0x%02x, bytes: %d\nB: 7 6 5 4 3 2 1 0\n", cmd, n);
for(i = 0; i < n; i++) {
byte curByte = readBuf[i];
snprintf(&_msgBuf[b++], 2, "%d", (i + 1));
Expand Down
12 changes: 9 additions & 3 deletions DW1000/DW1000.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -216,8 +216,10 @@ class DW1000 {
void preambleLength(byte prealen);
void extendedFrameLength(boolean val);
void waitForResponse(boolean val);
void setData(byte data[], unsigned int n);
int getData(byte data[]);
void setData(byte data[], int n);
void setData(String data);
void getData(byte data[], int n);
void getData(String data);
int getDataLength();
boolean isSuppressFrameCheck();

Expand All @@ -236,6 +238,7 @@ class DW1000 {
void interruptOnAutomaticAcknowledgeTrigger(boolean val);
void clearInterrupts();

void clearAllStatus();
void clearReceiveStatus();
void clearTransmitStatus(); // TODO impl

Expand All @@ -258,7 +261,7 @@ class DW1000 {
void startTransmit();

// debug pretty print registers
char* getPrettyBytes(unsigned int reg, unsigned int n);
char* getPrettyBytes(byte cmd, word offset, int n);

// transmission/reception bit rate
static const byte TRX_RATE_110KBPS = 0x00;
Expand Down Expand Up @@ -329,6 +332,9 @@ class DW1000 {
void readBytes(byte cmd, word offset, byte data[], int n);
void writeBytes(byte cmd, word offset, byte data[], int n);

/* writing numeric values to bytes. */
void writeValueToBytes(byte data[], int val, int n);

/* internal helper for bit operations on multi-bytes. */
boolean getBit(byte data[], int n, int bit);
void setBit(byte data[], int n, int bit, boolean val);
Expand Down

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