#include <modm/driver/radio/dw3110/dw3110_phy.hpp>

Inheritance diagram for modm::Dw3110Phy< SpiMaster, Cs >:

Public Types
enum	TXMode { Default, DefaultAndReceive, Force, ForceAndReceive }

enum	DelayTXMode { AtTime, AtTimeAndReceive, DelayWRTRX, DelayWRTRXAndReceive, DelayWRTTX, DelayWRTTXAndReceive, DelayWRTRef, DelayWRTRefAndReceive }

enum	Error { None, DelayTooShort, ChannelBusy, TimedOut, PayloadTooLarge }

Public Member Functions
modm::ResumableResult< void >	setChannel (Dw3110::Channel channel)
	Set the UWB channel used.

modm::ResumableResult< void >	setEnableLongFrames (bool value)

modm::ResumableResult< void >	setSendHeaderFast (bool value)

modm::ResumableResult< void >	setReceiveWaitTimeout (modm::chrono::micro_clock::duration duration)

modm::ResumableResult< void >	setReenableOnRxFailure (bool value)
	Set whether to stay in receive mode after receive failure.

modm::ResumableResult< void >	setCCATimeout (uint16_t timeout)

modm::ResumableResult< void >	setEnableFastTurnaround (bool value)

modm::ResumableResult< uint32_t >	readChipTime ()
	Read the value of the internal chip clock.

modm::ResumableResult< void >	setPreambleLength (Dw3110::PreambleLength len)

modm::ResumableResult< uint64_t >	getReceiveTimestamp ()

modm::ResumableResult< uint64_t >	getTransmitTimestamp ()
	Analogous to getReceiveTimestamp.

modm::ResumableResult< void >	setAcknowledgeTurnaround (uint8_t time)

modm::ResumableResult< void >	setWaitForResponseTime (modm::PreciseClock::duration time)

modm::ResumableResult< void >	setSFD (Dw3110::StartFrameDelimiter sfd)
	Set the start frame delimiter used by the chip.

modm::ResumableResult< void >	setPreambleCode (Dw3110::PreambleCode rx, Dw3110::PreambleCode tx)

modm::ResumableResult< uint64_t >	getDeviceUID ()
	Get devices unique id.

modm::ResumableResult< void >	setDeviceUID (uint64_t uid)
	Set devices unique id.

modm::ResumableResult< uint16_t >	getPanUID ()
	Get devices pan id.

modm::ResumableResult< uint16_t >	getShortUID ()
	Get devices short id.

modm::ResumableResult< void >	setPanUID (uint16_t pid)
	Set devices pan id.

modm::ResumableResult< void >	setShortUID (uint16_t pid)
	Set devices short id.

modm::ResumableResult< void >	setFrameFilterEnabled (bool value)
	Enable or disable the frame filtering.

modm::ResumableResult< Dw3110::FilterConfig_t >	getFilterConfig ()
	Get current filtering config.

modm::ResumableResult< void >	setFilterConfig (Dw3110::FilterConfig_t fc)
	Set frame filtering config.

modm::ResumableResult< void >	setAutoAckEnabled (bool value)

modm::ResumableResult< Dw3110::SystemState >	getChipState ()
	Read the reported state of the chip.

modm::ResumableResult< void >	setAntennaDelay (uint16_t delay)

modm::ResumableResult< uint16_t >	getRXAntennaDelay ()

modm::ResumableResult< uint16_t >	getTXAntennaDelay ()

modm::ResumableResult< float >	getReceiverClockOffset ()

modm::ResumableResult< bool >	calibrate ()

modm::ResumableResult< bool >	initialize (Dw3110::Channel channel=Dw3110::Channel::Channel5, Dw3110::PreambleCode pcode=Dw3110::PreambleCode::Code_64Mhz_9, Dw3110::PreambleLength plen=Dw3110::PreambleLength::Preamble_64, Dw3110::StartFrameDelimiter sfd=Dw3110::StartFrameDelimiter::IEEE802_15_4z_8)

modm::ResumableResult< bool >	startReceive ()
	Set the chip into receive mode.

modm::ResumableResult< bool >	packetReady ()
	Check if a packet has been successfully received.

modm::ResumableResult< bool >	isReceiving ()
	Check if the chip is currently in RX mode.

modm::ResumableResult< bool >	fetchPacket (std::span< uint8_t > payload, size_t &payload_len)

template<TXMode tmode = TXMode::Default>
modm::ResumableResult< Error >	transmit (const std::span< const uint8_t > payload, bool ranging=true, bool fast=true)

modm::ResumableResult< void >	setReferenceTime (uint32_t time)

template<DelayTXMode dmode = DelayTXMode::AtTime>
modm::ResumableResult< Error >	transmitDelayed (uint32_t time, const std::span< const uint8_t > payload, bool ranging=true, bool fast=true)

modm::ResumableResult< Dw3110::SystemStatus_t >	getStatus ()
	Read the current system status register.

modm::ResumableResult< void >	clearStatusBits (Dw3110::SystemStatus_t mask)
	Clear the given bits in the status register.

modm::ResumableResult< void >	setInterruptsEnabled (Dw3110::SystemStatus_t mask)

modm::ResumableResult< void >	setIRQPolarity (bool high)

modm::ResumableResult< bool >	setSTSLength (uint8_t len)

modm::ResumableResult< void >	setSTSMode (Dw3110::STSMode mode, bool sdc)

modm::ResumableResult< uint16_t >	getSTSQuality ()
	Return the 12-bit quality assessment of the last received STS.

modm::ResumableResult< bool >	getSTSGood ()
	Return whether or not the STS quality is in an acceptable range.

modm::ResumableResult< void >	setSTSKey (std::span< const uint8_t, 16 > key)

modm::ResumableResult< void >	setSTSIV (std::span< const uint8_t, 16 > iv)

modm::ResumableResult< void >	getSTSKey (std::span< uint8_t, 16 > key)
	Get the Key to use for AES generation of the STS.

modm::ResumableResult< void >	getSTSIV (std::span< uint8_t, 16 > iv)

modm::ResumableResult< uint32_t >	getCurrentCounter ()
	Get lower 32 bits of the currently used STS IV.

modm::ResumableResult< void >	reloadSTSIV ()
	Reload the STS IV from the STSIV registers.

modm::ResumableResult< void >	reuseLastSTSIV ()
	Don't increment the STS IV for the next RX/TX.

void	attachConfigurationHandler (Spi::ConfigurationHandler handler)

Protected Member Functions
template<modm::Dw3110::FastCommand Cmd>
modm::ResumableResult< Error >	transmitGeneric (std::span< const uint8_t > payload, bool ranging, bool fast)

modm::ResumableResult< void >	loadOTP ()

modm::ResumableResult< bool >	checkDevID ()
	Check the device ID over SPI.

template<Dw3110::FastCommand Cmd>
modm::ResumableResult< void >	sendCommand ()
	Send a command to the chip.

modm::ResumableResult< void >	setRX_SFD_TOC ()
	Recompute the SFD TOC.

modm::ResumableResult< void >	fetchSystemStatus ()
	Update the local system_status variable.

modm::ResumableResult< void >	fetchChipState ()
	Update the local chip_state variable.

modm::ResumableResult< Error >	checkTXFailed ()

template<Dw3110::OTPAddr Addr>
modm::ResumableResult< void >	readOTPMemory (std::span< uint8_t, 4 > out)
	Read a variable from the OTP memory.

template<Dw3110::Register Reg, size_t Len, size_t Offset = 0>
modm::ResumableResult< void >	readRegister (std::span< uint8_t, Len > out)
	Read a variable from a register.

template<Dw3110::RegisterBank Reg>
modm::ResumableResult< void >	readRegisterBank (std::span< uint8_t > out, size_t len)

template<Dw3110::Register Reg, size_t Len, size_t Offset = 0>
modm::ResumableResult< void >	writeRegister (std::span< const uint8_t, Len > val)
	Write a variable to a register.

template<Dw3110::Register Reg, size_t Len, size_t Offset = 0>
modm::ResumableResult< void >	readModifyWriteRegister (std::span< const uint8_t, Len > or_mask, std::span< const uint8_t, Len > and_mask)

template<Dw3110::Register Reg, size_t Len, size_t Offset = 0>
modm::ResumableResult< void >	writeRegisterMasked (std::span< const uint8_t, Len > or_mask, std::span< const uint8_t, Len > and_mask)
	Do not use to clear "write 1 to clear" bits (2.3.1.2 Table 3)

template<Dw3110::RegisterBank Reg>
modm::ResumableResult< void >	writeRegisterBank (std::span< const uint8_t > val, size_t len)

bool	acquireMaster ()

bool	releaseMaster ()

int8_t	getResumableDepth () const

bool	isResumableRunning () const

void	stopResumable ()

Static Protected Member Functions
template<TXMode mode>
static consteval modm::Dw3110::FastCommand	txModeToCmd ()

template<DelayTXMode dmode>
static consteval modm::Dw3110::FastCommand	txModeToCmdDelay ()

Detailed Description

template<typename SpiMaster, typename Cs>
class modm::Dw3110Phy< SpiMaster, Cs >

Hardware abstraction layer for DW3110
Unsupported Features: AES encryption, Double buffering, GPIO, Temperature and Voltage, Pulse Generator calibration, RX antenna delay temp compensation, Soft reset, Sleep, Sniff mode

Author: Elias H.; Raphael Lehmann; Michael Jossen

Member Function Documentation

template<typename SpiMaster , typename Cs >

modm::ResumableResult<bool> modm::Dw3110Phy< SpiMaster, Cs >::calibrate ( )

Runs the RX calibration.
Needs to be done after startup, wake and after 20C temperature change
Needs to be run when chip is in IDLE_PLL state
Automatically run by initialize()

template<typename SpiMaster , typename Cs >

modm::ResumableResult<Error> modm::Dw3110Phy< SpiMaster, Cs >::checkTXFailed ( )

protected

Due to an errata the check is a bit more complicated
Relies on system_status and chip_state being up to date

template<typename SpiMaster , typename Cs >

modm::ResumableResult<bool> modm::Dw3110Phy< SpiMaster, Cs >::fetchPacket	(	std::span< uint8_t >	payload,
		size_t &	payload_len
	)

Copy received packet into the provided payload buffer, clear packet received flags

Parameters

payload	Region of memory the payload will be written to
payload_len	Contains the length of the received payload

template<typename SpiMaster , typename Cs >

modm::ResumableResult<float> modm::Dw3110Phy< SpiMaster, Cs >::getReceiverClockOffset ( )

Get the Clock offset multiplier for the received packet
Can be used to recover the clock drift compared to a packets sender
Unit is in parts per million (ppm)

template<typename SpiMaster , typename Cs >

modm::ResumableResult<uint64_t> modm::Dw3110Phy< SpiMaster, Cs >::getReceiveTimestamp ( )

Get the timestamp of the last arrived packet.
This timestamp already has various correction factors applied to it.
It is given in ~15.65 picoseconds per unit

template<typename SpiMaster , typename Cs >

modm::ResumableResult<uint16_t> modm::Dw3110Phy< SpiMaster, Cs >::getRXAntennaDelay ( )

Get the currently programmed RX antenna delay
Unit is approx 15.65ps

template<typename SpiMaster , typename Cs >

modm::ResumableResult<void> modm::Dw3110Phy< SpiMaster, Cs >::getSTSIV ( std::span< uint8_t, 16 > iv )

Get the IV to use for AES generation of the STS

Warning: Will only return the programmed IV, to get the incremented value use getCurrentCounter()

template<typename SpiMaster , typename Cs >

modm::ResumableResult<uint16_t> modm::Dw3110Phy< SpiMaster, Cs >::getTXAntennaDelay ( )

Get the currently programmed TX antenna delay
Unit is approx 15.65ps

template<typename SpiMaster , typename Cs >

modm::ResumableResult<bool> modm::Dw3110Phy< SpiMaster, Cs >::initialize	(	Dw3110::Channel	channel = `Dw3110::Channel::Channel5`,
		Dw3110::PreambleCode	pcode = `Dw3110::PreambleCode::Code_64Mhz_9`,
		Dw3110::PreambleLength	plen = `Dw3110::PreambleLength::Preamble_64`,
		Dw3110::StartFrameDelimiter	sfd = `Dw3110::StartFrameDelimiter::IEEE802_15_4z_8`
	)

Initialize the DW3000, make ready to receive/transmit
Call ideally after the IRQ Pin has gone high, signalling SPIRDY

template<typename SpiMaster , typename Cs >

modm::ResumableResult<void> modm::Dw3110Phy< SpiMaster, Cs >::loadOTP ( )

protected

Only load configuration independent stuff, everything else should be initialized when changing those parts

template<typename SpiMaster , typename Cs >

template<Dw3110::Register Reg, size_t Len, size_t Offset = 0>

modm::ResumableResult<void> modm::Dw3110Phy< SpiMaster, Cs >::readModifyWriteRegister	(	std::span< const uint8_t, Len >	or_mask,
		std::span< const uint8_t, Len >	and_mask
	)

protected

Simple implementation of read modify write using and and or masks
Use on registers that do not support native write register masked

template<typename SpiMaster , typename Cs >

template<Dw3110::RegisterBank Reg>

modm::ResumableResult<void> modm::Dw3110Phy< SpiMaster, Cs >::readRegisterBank	(	std::span< uint8_t >	out,
		size_t	len
	)

protected

Read a number of bytes from a register bank, useful for RX buffers and other large read transfers

template<typename SpiMaster , typename Cs >

modm::ResumableResult<void> modm::Dw3110Phy< SpiMaster, Cs >::setAcknowledgeTurnaround ( uint8_t time )

Set the time between RX of a packet and the TX of the acknowledgement
Specified in number of preamble symbols, so time depends on the PRF

template<typename SpiMaster , typename Cs >

modm::ResumableResult<void> modm::Dw3110Phy< SpiMaster, Cs >::setAntennaDelay ( uint16_t delay )

Set both the RX and TX antenna delay
Unit is approx 15.65ps

template<typename SpiMaster , typename Cs >

modm::ResumableResult<void> modm::Dw3110Phy< SpiMaster, Cs >::setAutoAckEnabled ( bool value )

Enable auto acknowledgment
Will automatically respond to valid 802.5.14 Frames with the ACK request bit set
Only active when Frame filtering is enabled

template<typename SpiMaster , typename Cs >

modm::ResumableResult<void> modm::Dw3110Phy< SpiMaster, Cs >::setCCATimeout ( uint16_t timeout )

Set the time spent listening for competing transmissions on CCA commands
Unit is in counts of PAC symbols

template<typename SpiMaster , typename Cs >

modm::ResumableResult<void> modm::Dw3110Phy< SpiMaster, Cs >::setEnableFastTurnaround ( bool value )

Enable a faster TX/RX turnaround.
The Frame will be set ready before computation of ToA data has finished and any ACKs will be sent.
Time of Arrival may not be ready when the frame is made available

template<typename SpiMaster , typename Cs >

modm::ResumableResult<void> modm::Dw3110Phy< SpiMaster, Cs >::setEnableLongFrames ( bool value )

Change Header format to non-standard to allow 1021 Byte payloads instead of default 125

template<typename SpiMaster , typename Cs >

modm::ResumableResult<void> modm::Dw3110Phy< SpiMaster, Cs >::setInterruptsEnabled ( Dw3110::SystemStatus_t mask )

Set interrupt bits
Set on which status events the IRQ Pin of the chip should be pulled high
Interrupt condition can be cleared by clearing the corresponding status bit using clearStatusBits()
Polarity of the line can be changed with setIRQPolarity()

Warning: Dw3110::SystemStatus::IRQS will be ignored since it does not correspond to an interrupt

template<typename SpiMaster , typename Cs >

modm::ResumableResult<void> modm::Dw3110Phy< SpiMaster, Cs >::setIRQPolarity ( bool high )

Set the polarity of the interrupt line
Default is active high

Parameters

high	If true sets the line to active high

template<typename SpiMaster , typename Cs >

modm::ResumableResult<void> modm::Dw3110Phy< SpiMaster, Cs >::setPreambleCode	(	Dw3110::PreambleCode	rx,
		Dw3110::PreambleCode	tx
	)

Set the preamble code used and looked for.

Warning: This implicitly sets the PRF as codes >8 use the 64MHz PRF instead of 16MHz

template<typename SpiMaster , typename Cs >

modm::ResumableResult<void> modm::Dw3110Phy< SpiMaster, Cs >::setPreambleLength ( Dw3110::PreambleLength len )

Set the number of preamble symbols sent with each transmission
Each symbol takes ~1µs to send

Warning: While further fine tuning of preamble length is possible it is currently unsupported by this driver

template<typename SpiMaster , typename Cs >

modm::ResumableResult<void> modm::Dw3110Phy< SpiMaster, Cs >::setReceiveWaitTimeout ( modm::chrono::micro_clock::duration duration )

Set the timeout to wait on arriving packets after startReceive()
0 = No Timeout
Register resolution is ~1µs

template<typename SpiMaster , typename Cs >

modm::ResumableResult<void> modm::Dw3110Phy< SpiMaster, Cs >::setReferenceTime ( uint32_t time )

Set the reference time value
Used as the reference in transmitDelayed() when using DelayTXMode::DelayWRTRef and DelayTXMode::DelayWRTRefAndReceive

template<typename SpiMaster , typename Cs >

modm::ResumableResult<void> modm::Dw3110Phy< SpiMaster, Cs >::setSendHeaderFast ( bool value )

Send the PHR at 6.8Mbps.
By default the PHR is always sent at 850kb/s

template<typename SpiMaster , typename Cs >

modm::ResumableResult<void> modm::Dw3110Phy< SpiMaster, Cs >::setSTSIV ( std::span< const uint8_t, 16 > iv )

Set the IV to use for AES generation of the STS
Ignored if SDC is set in setSTSMode()

template<typename SpiMaster , typename Cs >

modm::ResumableResult<void> modm::Dw3110Phy< SpiMaster, Cs >::setSTSKey ( std::span< const uint8_t, 16 > key )

Set the Key to use for AES generation of the STS
Ignored if SDC is set in setSTSMode()

template<typename SpiMaster , typename Cs >

modm::ResumableResult<bool> modm::Dw3110Phy< SpiMaster, Cs >::setSTSLength ( uint8_t len )

Set the length of the generated Secure timestamp

Parameters

len	Length in units of 8 chips (~1µs), minimum supported is 32 chips(e.g a value of 3)

template<typename SpiMaster , typename Cs >

modm::ResumableResult<void> modm::Dw3110Phy< SpiMaster, Cs >::setSTSMode	(	Dw3110::STSMode	mode,
		bool	sdc
	)

Set the STS mode

Parameters

mode	Defines where to place the STS inside the packet
sdc	If true IV and Key are ignored and a deterministic code is used

template<typename SpiMaster , typename Cs >

modm::ResumableResult<void> modm::Dw3110Phy< SpiMaster, Cs >::setWaitForResponseTime ( modm::PreciseClock::duration time )

Set the time between a transmission and the start of RX on any of the RX after TX commands
This can be used to delay turning on of the receiver after transmission to save on power.

template<typename SpiMaster , typename Cs >

template<TXMode tmode = TXMode::Default>

modm::ResumableResult<Error> modm::Dw3110Phy< SpiMaster, Cs >::transmit	(	const std::span< const uint8_t >	payload,
		bool	ranging = `true`,
		bool	fast = `true`
	)

Transmit a given package using the current configuration using a given transmission mode

Parameters

payload	Span to the desired payload
ranging	Decides whether or not to set the ranging bit in the header
fast	Decides if the data portion is sent at 850kbps or 6.8Mbps

template<typename SpiMaster , typename Cs >

template<DelayTXMode dmode = DelayTXMode::AtTime>

modm::ResumableResult<Error> modm::Dw3110Phy< SpiMaster, Cs >::transmitDelayed	(	uint32_t	time,
		const std::span< const uint8_t >	payload,
		bool	ranging = `true`,
		bool	fast = `true`
	)

Transmit a given package using the current configuration using a given delayed transmission mode

Parameters

payload	Span to the desired payload
ranging	Decides whether or not to set the ranging bit in the header
fast	Decides if the data portion is sent at 850kbps or 6.8Mbps
time	Either the transmission time or a delay in units of 4ns dependent on the DelayTXMode provided

Warning: This transmission mode does not respect the clear channel assessment

template<typename SpiMaster , typename Cs >

template<modm::Dw3110::FastCommand Cmd>

modm::ResumableResult<Error> modm::Dw3110Phy< SpiMaster, Cs >::transmitGeneric	(	std::span< const uint8_t >	payload,
		bool	ranging,
		bool	fast
	)

protected

Transmit a given package using the current configuration and a specific command

Parameters

payload	Span to the desired payload
ranging	Decides whether or not to set the ranging bit in the header
fast	Decides if the data portion is sent at 850kbps or 6.8Mbps command

template<typename SpiMaster , typename Cs >

template<Dw3110::RegisterBank Reg>

modm::ResumableResult<void> modm::Dw3110Phy< SpiMaster, Cs >::writeRegisterBank	(	std::span< const uint8_t >	val,
		size_t	len
	)

protected

Write a number of bytes to a register bank, useful for TX buffers and other large write transfers

The documentation for this class was generated from the following file:

dw3110_phy.hpp

Public Types

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Detailed Description

template<typename SpiMaster, typename Cs> class modm::Dw3110Phy< SpiMaster, Cs >

Member Function Documentation

template<typename SpiMaster, typename Cs>
class modm::Dw3110Phy< SpiMaster, Cs >