DecaDuino.h

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// DecaDuino.h
// 
// Another DecaWave DW1000 driver for Arduino
// See the README file in this directory for documentation
//  

#ifndef DecaDuino_h
#define DecaDuino_h

#include "Arduino.h"

//#define DECADUINO_DEBUG

#define DW1000_IRQ0_PIN 9
#define DW1000_IRQ1_PIN 0
#define DW1000_IRQ2_PIN 1
#define DW1000_CS0_PIN 10
#define DW1000_CS1_PIN 10 
#define DW1000_CS2_PIN 10 
#define MAX_NB_DW1000_FOR_INTERRUPTS 32
#define DEBUG_STR_LEN 256

#define RANGING_ERROR 0x00

#define DW1000_TIMEBASE 15.65E-12
#define AIR_SPEED_OF_LIGHT 282622876.092008 // @brief Unofficial celerity value, prototype based, by Adrien van den Bossche <vandenbo at univ-tlse2.fr>
#define RANGING_UNIT AIR_SPEED_OF_LIGHT*DW1000_TIMEBASE

#define DWM1000_DEFAULT_ANTENNA_DELAY_VALUE 32847 //@brief Calibration value for DWM1000 on IRIT's DecaWiNo, by Adrien van den Bossche <vandenbo at univ-tlse2.fr>

#define DW1000_TRX_STATUS_IDLE 0
#define DW1000_TRX_STATUS_TX 1
#define DW1000_TRX_STATUS_RX 2
#define DW1000_TRX_STATUS_SLEEP 3


// DW1000 register map

#define DW1000_REGISTER_DEV_ID              0x00

#define DW1000_REGISTER_EUI                 0x01

#define DW1000_REGISTER_PANADR              0x03
#define DW1000_REGISTER_PANADR_SHORT_ADDRESS_OFFSET 0x00
#define DW1000_REGISTER_PANADR_PANID_OFFSET         0x02

#define DW1000_REGISTER_SYS_CFG             0x04
#define DW1000_REGISTER_SYS_CFG_RXAUTR_MASK         0x20000000
#define DW1000_REGISTER_SYS_CFG_PHR_MODE_MASK       0x00030000
#define DW1000_REGISTER_SYS_CFG_PHR_MODE_SHIFT      16

#define DW1000_REGISTER_SYS_TIME            0x06

#define DW1000_REGISTER_TX_FCTRL            0x08
#define DW1000_REGISTER_TX_FCTRL_FRAME_LENGTH_MASK  0x000003FF

#define DW1000_REGISTER_TX_BUFFER           0x09

#define DW1000_REGISTER_DX_TIME             0x0A

#define DW1000_REGISTER_SYS_CTRL            0x0D
#define DW1000_REGISTER_SYS_CTRL_TXSTRT_MASK        0x00000002
#define DW1000_REGISTER_SYS_CTRL_TXDLYS_MASK        0x00000004
#define DW1000_REGISTER_SYS_CTRL_TRXOFF_MASK        0x00000040
#define DW1000_REGISTER_SYS_CTRL_RXENAB_MASK        0x00000100

#define DW1000_REGISTER_SYS_MASK            0x0E
#define DW1000_REGISTER_SYS_MASK_MTXFRS_MASK        0x00000080
#define DW1000_REGISTER_SYS_MASK_MRXDFR_MASK        0x00002000
#define DW1000_REGISTER_SYS_MASK_MRXFCG_MASK        0x00004000

#define DW1000_REGISTER_SYS_STATUS          0x0F
#define DW1000_REGISTER_SYS_STATUS_IRQS_MASK        0x00000001
#define DW1000_REGISTER_SYS_STATUS_TXFRS_MASK       0x00000080
#define DW1000_REGISTER_SYS_STATUS_LDEDONE_MASK     0x00000400
#define DW1000_REGISTER_SYS_STATUS_RXDFR_MASK       0x00002000
#define DW1000_REGISTER_SYS_STATUS_RXFCG_MASK       0x00004000
#define DW1000_REGISTER_SYS_STATUS_RXFCE_MASK       0x00008000

#define DW1000_REGISTER_RX_FINFO            0x10
#define DW1000_REGISTER_RX_FINFO_RXFLEN_MASK        0x000003FF

#define DW1000_REGISTER_RX_BUFFER           0x11

#define DW1000_REGISTER_RX_RFQUAL           0x12

#define DW1000_REGISTER_RX_TTCKI            0x13

#define DW1000_REGISTER_RX_TTCKO            0x14

#define DW1000_REGISTER_RX_TIME             0x15

#define DW1000_REGISTER_TX_TIME             0x17

#define DW1000_REGISTER_TX_ANTD             0x18

#define DW1000_REGISTER_CHAN_CTRL           0x1F
#define DW1000_REGISTER_CHAN_CTRL_TX_CHAN_MASK      0x0000000F
#define DW1000_REGISTER_CHAN_CTRL_RX_CHAN_MASK      0x000000F0
#define DW1000_REGISTER_CHAN_CTRL_RXPRF_MASK        0x000C0000
#define DW1000_REGISTER_CHAN_CTRL_TX_PCODE_MASK     0x07C00000
#define DW1000_REGISTER_CHAN_CTRL_RX_PCODE_MASK     0xF8000000

#define DW1000_REGISTER_AON_CTRL            0x2C
#define DW1000_REGISTER_OFFSET_AON_CTRL         0x02
#define DW1000_REGISTER_AON_CTRL_UPL_CFG_MASK       0x04

#define DW1000_REGISTER_AON_CFG0            0x2C
#define DW1000_REGISTER_OFFSET_AON_CFG0         0x06
#define DW1000_REGISTER_AON_CFG0_SLEEP_EN_MASK      0x01
#define DW1000_REGISTER_AON_CFG0_WAKE_PIN_MASK      0x02
#define DW1000_REGISTER_AON_CFG0_WAKE_SPI_MASK      0x04
#define DW1000_REGISTER_AON_CFG0_WAKE_CNT_MASK      0x08
#define DW1000_REGISTER_AON_CFG0_LPDIV_EN_MASK      0x10

#define DW1000_REGISTER_PMSC_CTRL0          0x36
#define DW1000_REGISTER_OFFSET_PMSC_CTRL0       0x00

#define DW1000_REGISTER_PMSC_CTRL1          0x36
#define DW1000_REGISTER_OFFSET_PMSC_CTRL1       0x04


class DecaDuino {

    public:
        DecaDuino(uint8_t slaveSelectPin = DW1000_CS0_PIN, uint8_t interruptPin = DW1000_IRQ0_PIN);

        boolean init();

        boolean init(uint32_t shortAddrAndPanId);

        void resetDW1000();

        void setPHRMode(uint8_t mode);

        uint8_t getPHRMode(void);

        void getSystemTimeCounter(uint64_t *p);

        uint64_t getSystemTimeCounter(void);

        uint16_t getPanId();

        uint16_t getShortAddress();

        uint64_t getEuid();

        void setPanId(uint16_t panId);

        void setShortAddress(uint16_t shortAddress);

        void setShortAddressAndPanId(uint16_t shortAddress, uint16_t panId); 

        int setShortAddressAndPanId(uint32_t shortAddressPanId);

        uint8_t getChannelRaw(void);

        uint8_t getChannel(void);

        uint8_t getRxPrf(void);

        uint8_t getTxPcode(void);
 
        uint8_t getRxPcode(void);
 
        bool setChannel(uint8_t channel);

        bool setRxPrf(uint8_t prf);

        bool setTxPcode(uint8_t pcode);

        bool setRxPcode(uint8_t pcode);

        int getPreambleLength(void);

        bool setPreambleLength(int plength);

        uint64_t alignDelayedTransmission ( uint64_t wantedDelay );

        uint8_t pdDataRequest(uint8_t* buf, uint16_t len);

        uint8_t pdDataRequest(uint8_t* buf, uint16_t len, uint8_t delayed, uint64_t time);

        uint8_t send(uint8_t* buf, uint16_t len);

        uint8_t send(uint8_t* buf, uint16_t len, uint8_t delayed, uint64_t time);

        void setRxBuffer(uint8_t* buf, uint16_t *len);

        void setRxBuffer(uint8_t* buf, uint16_t *len, uint16_t max);

        void plmeRxEnableRequest(void);

        void plmeRxEnableRequest(uint16_t max);

        void plmeRxEnableRequest(uint8_t* buf, uint16_t *len);

        void plmeRxEnableRequest(uint8_t* buf, uint16_t *len, uint16_t max);

        void plmeRxDisableRequest(void);

        void sleepRequest(void);

        uint8_t rxFrameAvailable(void);

        uint8_t rxFrameAvailable(uint8_t* buf, uint16_t *len);

        uint8_t rxFrameAvailable(uint8_t* buf, uint16_t *len, uint16_t max);

        bool hasTxSucceeded(void);

        uint8_t getTrxStatus(void);

        uint8_t getTemperatureRaw(void);

        float getTemperature(void);

        uint8_t getVoltageRaw(void);

        float getVoltage(void);

        uint16_t decodeUint16 ( uint8_t *data );

        void encodeUint16 ( uint16_t from, uint8_t *to );

        uint32_t decodeUint32 ( uint8_t *data );

        void encodeUint32 ( uint32_t from, uint8_t *to );

        uint64_t decodeUint40 ( uint8_t *data );

        void encodeUint40 ( uint64_t from, uint8_t *to );   
        
        uint64_t decodeUint64 ( uint8_t *data );

        void encodeUint64 ( uint64_t from, uint8_t *to );

        float decodeFloat ( uint8_t *data );

        void encodeFloat ( float from, uint8_t *to );

        void printUint64 ( uint64_t ui64 );

        uint64_t getLastTxTimestamp();

        uint64_t getLastRxTimestamp();

        double getLastRxSkew();

        uint16_t getAntennaDelay();

        void setAntennaDelay(uint16_t newAntennaDelay);


    private:

        void readSpi(uint8_t address, uint8_t* buf, uint16_t len);

        void readSpiSubAddress(uint8_t address, uint16_t subAddress, uint8_t* buf, uint16_t len);

        uint32_t readSpiUint32(uint8_t address);

        void writeSpi(uint8_t address, uint8_t* buf, uint16_t len);

        void writeSpiSubAddress(uint8_t address, uint16_t subAddress, uint8_t* buf, uint16_t len);

        void writeSpiUint32(uint8_t address, uint32_t ui32t);

        uint16_t getAntennaDelayReg();

        void setAntennaDelayReg(uint16_t newAntennaDelay);

        uint8_t debugStr[DEBUG_STR_LEN];
        void spi_send ( uint8_t u8 );
        void spi_send ( uint16_t u16 );
        void spi_send ( uint8_t* buf, uint16_t len );
        void spi_receive ( uint8_t* buf, uint16_t len );

        uint16_t antennaDelay;
    
    protected:

        static void isr0();

        static void isr1();

        static void isr2();

        void handleInterrupt();

        SPISettings currentSPISettings;
        
        uint64_t euid;

        uint8_t *rxData;

        uint16_t *rxDataLen;
        uint16_t rxDataLenMax;

        uint8_t rxDataAvailable;

        uint8_t trxStatus;

        bool lastTxOK;

        uint64_t lastTxTimestamp;

        uint64_t lastRxTimestamp;

        double clkOffset;
        uint8_t _slaveSelectPin;
        uint8_t _interruptPin;
        static DecaDuino* _DecaDuinoInterrupt[];
};

#endif