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Added abstraction for Arduino SPI (#137)
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Now when you change clock mode the SPI speed not changes automatically.
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@Anacron-sec @Sonic0
Anacron-sec authored and Sonic0 committed Feb 7, 2019
1 parent 24ec6d7 commit 0ab114d
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Showing 12 changed files with 290 additions and 116 deletions.
3 changes: 1 addition & 2 deletions examples/StandardRTLSAnchorB_TWR/StandardRTLSAnchorB_TWR.ino
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Expand Up @@ -12,7 +12,6 @@
* This is an example slave anchor in a RTLS using two way ranging ISO/IEC 24730-62_2013 messages
*/

#include <SPI.h>
#include <DW1000Ng.hpp>
#include <DW1000NgUtils.hpp>
#include <DW1000NgRanging.hpp>
Expand Down Expand Up @@ -109,7 +108,7 @@ void transmitRangeReport() {
void loop() {
RangeAcceptResult result = DW1000NgRTLS::anchorRangeAccept(NextActivity::RANGING_CONFIRM, next_anchor);
if(result.success) {
delay(3); // Tweak based on your hardware
delay(2); // Tweak based on your hardware
range_self = result.range;
transmitRangeReport();

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3 changes: 1 addition & 2 deletions examples/StandardRTLSAnchorC_TWR/StandardRTLSAnchorC_TWR.ino
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Expand Up @@ -12,7 +12,6 @@
* This is an example slave anchor in a RTLS using two way ranging ISO/IEC 24730-62_2013 messages
*/

#include <SPI.h>
#include <DW1000Ng.hpp>
#include <DW1000NgUtils.hpp>
#include <DW1000NgRanging.hpp>
Expand Down Expand Up @@ -109,7 +108,7 @@ void transmitRangeReport() {
void loop() {
RangeAcceptResult result = DW1000NgRTLS::anchorRangeAccept(NextActivity::ACTIVITY_FINISHED, blink_rate);
if(result.success) {
delay(1); // Tweak based on your hardware
delay(4); // Tweak based on your hardware
range_self = result.range;
transmitRangeReport();

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1 change: 0 additions & 1 deletion examples/StandardRTLSAnchorMain_TWR/StandardRTLSAnchorMain_TWR.ino
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Expand Up @@ -12,7 +12,6 @@
* This is an example master anchor in a RTLS using two way ranging ISO/IEC 24730-62_2013 messages
*/

#include <SPI.h>
#include <DW1000Ng.hpp>
#include <DW1000NgUtils.hpp>
#include <DW1000NgRanging.hpp>
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1 change: 0 additions & 1 deletion examples/StandardRTLSTag_TWR/StandardRTLSTag_TWR.ino
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Expand Up @@ -12,7 +12,6 @@
* This is an example tag in a RTLS using two way ranging ISO/IEC 24730-62_2013 messages
*/

#include <SPI.h>
#include <DW1000Ng.hpp>
#include <DW1000NgUtils.hpp>
#include <DW1000NgTime.hpp>
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170 changes: 73 additions & 97 deletions src/DW1000Ng.cpp
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Expand Up @@ -44,12 +44,12 @@

#include <stdio.h>
#include <stdlib.h>
#include <SPI.h>
#include <string.h>
#include "DW1000Ng.hpp"
#include "DW1000NgUtils.hpp"
#include "DW1000NgConstants.hpp"
#include "DW1000NgRegisters.hpp"
#include "DW1000Ng.hpp"
#include "SPIporting.hpp"

namespace DW1000Ng {

Expand Down Expand Up @@ -103,15 +103,6 @@ namespace DW1000Ng {
uint16_t _antennaTxDelay = 0;
uint16_t _antennaRxDelay = 0;

/* SPI relative variables */
#if defined(ESP32) || defined(ESP8266)
const SPISettings _fastSPI = SPISettings(20000000L, MSBFIRST, SPI_MODE0);
#else
const SPISettings _fastSPI = SPISettings(16000000L, MSBFIRST, SPI_MODE0);
#endif
const SPISettings _slowSPI = SPISettings(2000000L, MSBFIRST, SPI_MODE0);
const SPISettings* _currentSPI = &_fastSPI;

/* ############################# PRIVATE METHODS ################################### */
/*
* Write bytes to the DW1000Ng. Single bytes can be written to registers via sub-addressing.
Expand All @@ -130,8 +121,7 @@ namespace DW1000Ng {

void _writeBytesToRegister(byte cmd, uint16_t offset, byte data[], uint16_t data_size) {
byte header[3];
uint8_t headerLen = 1;
uint16_t i = 0;
uint8_t headerLen = 1;

// TODO proper error handling: address out of bounds
// build SPI header
Expand All @@ -148,17 +138,7 @@ namespace DW1000Ng {
headerLen += 2;
}
}
SPI.beginTransaction(*_currentSPI);
digitalWrite(_ss, LOW);
for(i = 0; i < headerLen; i++) {
SPI.transfer(header[i]); // send header
}
for(i = 0; i < data_size; i++) {
SPI.transfer(data[i]); // write values
}
delayMicroseconds(5);
digitalWrite(_ss, HIGH);
SPI.endTransaction();
SPIporting::writeToSPI(_ss, headerLen, header, data_size, data);
}

void _writeToRegister(byte cmd, uint16_t offset, uint32_t data, uint16_t data_size) {
Expand All @@ -182,10 +162,9 @@ namespace DW1000Ng {
* The number of bytes expected to be received.
*/
// TODO incomplete doc
void _readBytes(byte cmd, uint16_t offset, byte data[], uint16_t n) {
void _readBytes(byte cmd, uint16_t offset, byte data[], uint16_t data_size) {
byte header[3];
uint8_t headerLen = 1;
uint16_t i = 0;

// build SPI header
if(offset == NO_SUB) {
Expand All @@ -201,17 +180,7 @@ namespace DW1000Ng {
headerLen += 2;
}
}
SPI.beginTransaction(*_currentSPI);
digitalWrite(_ss, LOW);
for(i = 0; i < headerLen; i++) {
SPI.transfer(header[i]); // send header
}
for(i = 0; i < n; i++) {
data[i] = SPI.transfer(0x00); // read values
}
delayMicroseconds(5);
digitalWrite(_ss, HIGH);
SPI.endTransaction();
SPIporting::readFromSPI(_ss, headerLen, header, data_size, data);
}

// always 4 bytes
Expand Down Expand Up @@ -253,6 +222,31 @@ namespace DW1000Ng {

_writeBytesToRegister(bitRegister, RegisterOffset+idx, &targetByte, 1);
}

void _enableClock(byte clock) {
byte pmscctrl0[LEN_PMSC_CTRL0];
memset(pmscctrl0, 0, LEN_PMSC_CTRL0);
_readBytes(PMSC, PMSC_CTRL0_SUB, pmscctrl0, LEN_PMSC_CTRL0);
if(clock == SYS_AUTO_CLOCK) {
pmscctrl0[0] = SYS_AUTO_CLOCK;
pmscctrl0[1] &= 0xFE;
} else if(clock == SYS_XTI_CLOCK) {
pmscctrl0[0] &= 0xFC;
pmscctrl0[0] |= SYS_XTI_CLOCK;
} else if(clock == SYS_PLL_CLOCK) {
pmscctrl0[0] &= 0xFC;
pmscctrl0[0] |= SYS_PLL_CLOCK;
} else if (clock == TX_PLL_CLOCK) {
pmscctrl0[0] &= 0xCF;
pmscctrl0[0] |= TX_PLL_CLOCK;
} else if (clock == LDE_CLOCK) {
pmscctrl0[0] = SYS_XTI_CLOCK;
pmscctrl0[1] = 0x03;
} else {
// TODO deliver proper warning
}
_writeBytesToRegister(PMSC, PMSC_CTRL0_SUB, pmscctrl0, 2);
}

/* Steps used to get Temp and Voltage */
void _vbatAndTempSteps() {
Expand Down Expand Up @@ -756,23 +750,6 @@ namespace DW1000Ng {
_writeBytesToRegister(FS_CTRL, FS_PLLCFG_SUB, fspllcfg, LEN_FS_PLLCFG);
}

/* Crystal calibration from OTP (if available)
* FS_XTALT - reg:0x2B, sub-reg:0x0E
* OTP(one-time-programmable) memory map - table 10 */
void _fsxtalt() {
byte fsxtalt[LEN_FS_XTALT];
byte buf_otp[4];
_readBytesOTP(0x01E, buf_otp); //0x01E -> byte[0]=XTAL_Trim
if (buf_otp[0] == 0) {
// No trim value available from OTP, use midrange value of 0x10
DW1000NgUtils::writeValueToBytes(fsxtalt, ((0x10 & 0x1F) | 0x60), LEN_FS_XTALT);
} else {
DW1000NgUtils::writeValueToBytes(fsxtalt, ((buf_otp[0] & 0x1F) | 0x60), LEN_FS_XTALT);
}
// write configuration back to chip
_writeBytesToRegister(FS_CTRL, FS_XTALT_SUB, fsxtalt, LEN_FS_XTALT);
}

void _tune() {
// these registers are going to be tuned/configured
_agctune1();
Expand All @@ -791,7 +768,6 @@ namespace DW1000Ng {
_rftxctrl();
if(_autoTCPGDelay) _tcpgdelaytune();
_fspll();
_fsxtalt();
}

void _writeNetworkIdAndDeviceAddress() {
Expand Down Expand Up @@ -1050,7 +1026,8 @@ namespace DW1000Ng {
void _manageLDE() {
// transfer any ldo tune values
byte ldoTune[LEN_OTP_RDAT];
_readBytesOTP(0x04, ldoTune); // TODO #define
uint16_t LDOTUNE_ADDRESS = 0x04;
_readBytesOTP(LDOTUNE_ADDRESS, ldoTune); // TODO #define
if(ldoTune[0] != 0) {
// TODO tuning available, copy over to RAM: use OTP_LDO bit
}
Expand All @@ -1067,38 +1044,33 @@ namespace DW1000Ng {
otpctrl[0] = 0x00;
otpctrl[1] = 0x80;
_writeBytesToRegister(PMSC, PMSC_CTRL0_SUB, pmscctrl0, 2);
// uCode
_enableClock(LDE_CLOCK);
delay(5);
_writeBytesToRegister(OTP_IF, OTP_CTRL_SUB, otpctrl, 2);
delay(1);
_enableClock(SYS_AUTO_CLOCK);
delay(5);
pmscctrl0[0] = 0x00;
pmscctrl0[1] &= 0x02;
_writeBytesToRegister(PMSC, PMSC_CTRL0_SUB, pmscctrl0, 2);
}

void _enableClock(byte clock) {
byte pmscctrl0[LEN_PMSC_CTRL0];
memset(pmscctrl0, 0, LEN_PMSC_CTRL0);
_readBytes(PMSC, PMSC_CTRL0_SUB, pmscctrl0, LEN_PMSC_CTRL0);
/* SYSCLKS */
if(clock == SYS_AUTO_CLOCK) {
_currentSPI = &_fastSPI;
pmscctrl0[0] = SYS_AUTO_CLOCK;
pmscctrl0[1] &= 0xFE;
} else if(clock == SYS_XTI_CLOCK) {
_currentSPI = &_slowSPI;
pmscctrl0[0] &= 0xFC;
pmscctrl0[0] |= SYS_XTI_CLOCK;
} else if(clock == SYS_PLL_CLOCK) {
_currentSPI = &_fastSPI;
pmscctrl0[0] &= 0xFC;
pmscctrl0[0] |= SYS_PLL_CLOCK;
} else if (clock == TX_PLL_CLOCK) { /* NOT SYSCLKS but TX */
_currentSPI = &_fastSPI;
pmscctrl0[0] &= 0xCF;
pmscctrl0[0] |= TX_PLL_CLOCK;
/* Crystal calibration from OTP (if available)
* FS_XTALT - reg:0x2B, sub-reg:0x0E
* OTP(one-time-programmable) memory map - table 10 */
void _fsxtalt() {
byte fsxtalt[LEN_FS_XTALT];
byte buf_otp[4];
_readBytesOTP(0x01E, buf_otp); //0x01E -> byte[0]=XTAL_Trim
if (buf_otp[0] == 0) {
// No trim value available from OTP, use midrange value of 0x10
DW1000NgUtils::writeValueToBytes(fsxtalt, ((0x10 & 0x1F) | 0x60), LEN_FS_XTALT);
} else {
// TODO deliver proper warning
DW1000NgUtils::writeValueToBytes(fsxtalt, ((buf_otp[0] & 0x1F) | 0x60), LEN_FS_XTALT);
}
_writeBytesToRegister(PMSC, PMSC_CTRL0_SUB, pmscctrl0, 2);
// write configuration back to chip
_writeBytesToRegister(FS_CTRL, FS_XTALT_SUB, fsxtalt, LEN_FS_XTALT);
}

void _clearReceiveStatus() {
Expand Down Expand Up @@ -1237,23 +1209,29 @@ namespace DW1000Ng {
// DW1000 data sheet v2.08 §5.6.1 page 20, the RSTn pin should not be driven high but left floating.
pinMode(_rst, INPUT);
}
// start SPI
SPI.begin();

SPIporting::SPIinit();
// pin and basic member setup
// attach interrupt
// TODO throw error if pin is not a interrupt pin
if(_irq != 0xff)
attachInterrupt(digitalPinToInterrupt(_irq), interruptServiceRoutine, RISING);
select();
SPIporting::SPIselect(_ss, _irq);
// reset chip (either soft or hard)

reset();

SPIporting::setSPIspeed(SPIClock::SLOW);
_enableClock(SYS_XTI_CLOCK);
delay(5);

// Configure the CPLL lock detect
_writeBitToRegister(EXT_SYNC, EC_CTRL_SUB, LEN_EC_CTRL, PLLLDT_BIT, true);

// Configure XTAL trim
_fsxtalt();

// load LDE micro-code
_manageLDE();
delay(5);

// read the temp and vbat readings from OTP that were recorded during production test
// see 6.3.1 OTP memory map
Expand All @@ -1265,6 +1243,7 @@ namespace DW1000Ng {

_enableClock(SYS_AUTO_CLOCK);
delay(5);
SPIporting::setSPIspeed(SPIClock::FAST);

_readNetworkIdAndDeviceAddress();
_readSystemConfigurationRegister();
Expand All @@ -1274,25 +1253,13 @@ namespace DW1000Ng {

/* Cleared AON:CFG1(0x2C:0x0A) for proper operation of deepSleep */
_writeToRegister(AON, AON_CFG1_SUB, 0x00, LEN_AON_CFG1);

}

void initializeNoInterrupt(uint8_t ss, uint8_t rst) {
initialize(ss, 0xff, rst);
}

void select() {
#if !defined(ESP32) && !defined(ESP8266)
if(_irq != 0xff)
SPI.usingInterrupt(digitalPinToInterrupt(_irq));
#endif
pinMode(_ss, OUTPUT);
digitalWrite(_ss, HIGH);
}

void end() {
SPI.end();
}

/* callback handler management. */
void attachErrorHandler(void (* handleError)(void)) {
_handleError = handleError;
Expand Down Expand Up @@ -1479,11 +1446,15 @@ namespace DW1000Ng {
}

void softwareReset() {
SPIporting::setSPIspeed(SPIClock::SLOW);

/* Disable sequencing and go to state "INIT" - (a) Sets SYSCLKS to 01 */
_disableSequencing();
/* Clear AON and WakeUp configuration */
_writeToRegister(AON, AON_WCFG_SUB, 0x00, LEN_AON_WCFG);
_writeToRegister(AON, AON_CFG0_SUB, 0x00, LEN_AON_CFG0);
// TODO change this with uploadToAON
_writeToRegister(AON, AON_CTRL_SUB, 0x00, LEN_AON_CTRL);
_writeToRegister(AON, AON_CTRL_SUB, 0x02, LEN_AON_CTRL);
/* (b) Clear SOFTRESET to all zero’s */
_writeToRegister(PMSC, PMSC_SOFTRESET_SUB, 0x00, LEN_PMSC_SOFTRESET);
Expand Down Expand Up @@ -1652,6 +1623,7 @@ namespace DW1000Ng {
void getTemperatureAndBatteryVoltage(float& temp, float& vbat) {
// follow the procedure from section 6.4 of the User Manual
_vbatAndTempSteps();
delay(1);
byte sar_lvbat = 0; _readBytes(TX_CAL, 0x03, &sar_lvbat, 1);
byte sar_ltemp = 0; _readBytes(TX_CAL, 0x04, &sar_ltemp, 1);

Expand Down Expand Up @@ -1869,6 +1841,10 @@ namespace DW1000Ng {
}

void enableTransmitPowerSpectrumTestMode(int32_t repeat_interval) {
/* DW1000 clocks must be set to crystal speed so SPI rate have to be lowered and will
not be increased again */
SPIporting::setSPIspeed(SPIClock::SLOW);

_disableSequencing();
_configureRFTransmitPowerSpectrumTestMode();
_enableClock(SYS_PLL_CLOCK);
Expand Down
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