AirsoftTracker/src/dwm1000/DW1000NgConstants.hpp

/*
 * MIT License
 * 
 * Copyright (c) 2018 Michele Biondi, Andrea Salvatori
 * 
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 * 
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 * 
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 * SOFTWARE.
*/

#pragma once

#include <Arduino.h>

#define GPIO_MODE 0
#define LED_MODE 1


	constexpr float TIME_RES     = 0.000015650040064103f;
	constexpr float TIME_RES_INV = 63897.6f;
	
	/* Speed of radio waves (light) [m/s] * timestamp resolution [~15.65ps] of DW1000Ng */
	constexpr float DISTANCE_OF_RADIO     = 0.0046917639786159f;
	constexpr float DISTANCE_OF_RADIO_INV = 213.139451293f;
	
	// timestamp byte length - 40 bit -> 5 byte
	constexpr uint8_t LENGTH_TIMESTAMP = 5;
	
	// timer/counter overflow (40 bits) -> 4overflow approx. every 17.2 seconds
	constexpr int64_t TIME_OVERFLOW = 0x10000000000; //1099511627776LL
	constexpr int64_t TIME_MAX      = 0xffffffffff;
	
	// time factors (relative to [us]) for setting delayed transceive
	// TODO use non float
	constexpr float SECONDS      = 1e6;
	constexpr float MILLISECONDS = 1e3;
	constexpr float MICROSECONDS = 1;
	constexpr float NANOSECONDS  = 1e-3;

/* preamble codes (CHAN_CTRL - RX & TX _CODE) - reg:0x1F, bits:31-27,26-22 */

enum class PreambleCode : byte {
    CODE_1 = 1,
    CODE_2,
    CODE_3,
    CODE_4,
    CODE_5,
    CODE_6,
    CODE_7,
    CODE_8,
    CODE_9,
    CODE_10,
    CODE_11,
    CODE_12,
    CODE_17 = 17,
    CODE_18,
    CODE_19,
    CODE_20
};

/* Validity matrix for 16 MHz PRF preamble codes */
constexpr byte preamble_validity_matrix_PRF16[8][2] = {
    {0,0}, /* Channel 0 doesn't exist */
    {1, 2},
    {3, 4},
    {5, 6},
    {7, 8},
    {3, 4},
    {0,0}, /* Channel 5 doesn't exist */
    {7, 8}
};

/* Validity matrix for 64 MHz PRF preamble codes */
constexpr byte preamble_validity_matrix_PRF64[8][4] = {
    {0,0,0,0}, /* Channel 0 doesn't exist */
    {9, 10, 11, 12},
    {9, 10, 11, 12},
    {9, 10, 11, 12},
    {17, 18, 19, 20},
    {9, 10, 11, 12},
    {0,0,0,0}, /* Channel 5 doesn't exist */
    {17, 18, 19, 20}
};

/* transmission/reception bit rate (TXBR) - reg:0x08, bits:14,13 */
enum class DataRate : byte {
    RATE_110KBPS, 
    RATE_850KBPS, 
    RATE_6800KBPS
};

/* transmission pulse frequency (TXPRF) - reg:0x08, bits:17,16
* 0x00 is 4MHZ, but receiver in DW1000Ng does not support it (!??) */
enum class PulseFrequency : byte {
    FREQ_16MHZ = 0x01,
    FREQ_64MHZ
};

/* preamble length (PE + TXPSR) - reg:0x08, bits:21,20,19,18 - table 16 */
enum class PreambleLength : byte {
    LEN_64   = 0x01,
    LEN_128  = 0x05,
    LEN_256  = 0x09,
    LEN_512  = 0x0D,
    LEN_1024 = 0x02,
    LEN_1536 = 0x06,
    LEN_2048 = 0x0A,
    LEN_4096 = 0x03
};


/* PAC size (DRX_TUNE2) - reg:0x08, sub-reg:0x27, bits:26,25 - table 33
* The value to program the sub-register changes in based of RXPRF */
enum class PacSize : byte {
    SIZE_8  = 8,
    SIZE_16 = 16,
    SIZE_32 = 32,
    SIZE_64 = 64
};

/* channel of operation (CHAN_CTRL - TX & RX _CHAN) - reg:0x1F, bits:3-0,7-4 */
enum class Channel : byte {
    CHANNEL_1 = 1,
    CHANNEL_2,
    CHANNEL_3,
    CHANNEL_4,
    CHANNEL_5,
    CHANNEL_7 = 7
};

/* Register is 6 bit, 7 = write, 6 = sub-adressing, 5-0 = register value
 * Total header with sub-adressing can be 15 bit. */
constexpr byte WRITE      = 0x80; // regular write
constexpr byte WRITE_SUB  = 0xC0; // write with sub address
constexpr byte READ       = 0x00; // regular read
constexpr byte READ_SUB   = 0x40; // read with sub address
constexpr byte RW_SUB_EXT = 0x80; // R/W with sub address extension

/* clocks available. */
constexpr byte SYS_AUTO_CLOCK = 0x00;
constexpr byte SYS_XTI_CLOCK  = 0x01;
constexpr byte SYS_PLL_CLOCK  = 0x02;
constexpr byte TX_PLL_CLOCK = 0x20;
constexpr byte LDE_CLOCK = 0x03;

/* range bias tables - APS011*/

constexpr double BIAS_TABLE[18][5] = {
    {61, -198, -110, -275, -295},
    {63, -187, -105, -244, -266},
    {65, -179, -100, -210, -235},
    {67, -163, -93, -176, -199},
    {69, -143, -82, -138, -150},
    {71, -127, -69, -95, -100},
    {73, -109, -51, -51, -58},
    {75, -84, -27, 0, 0},
    {77, -59, 0, 42, 49},
    {79, -31, 21, 97, 91},
    {81, 0, 35, 158, 127},
    {83, 36, 42, 210, 153},
    {85, 65, 49, 254, 175},
    {87, 84, 62, 294, 197},
    {89, 97, 71, 321, 233},
    {91, 106, 76, 339, 245},
    {93, 110, 81, 356, 264},
    {95, 112, 86, 394, 284}
};

enum class DriverAmplifierValue : byte {
    dB_18,
    dB_15,
    dB_12,
    dB_9,
    dB_6,
    dB_3,
    dB_0,
    OFF
};

enum class TransmitMixerValue : byte {
    dB_0, 
    dB_0_5, 
    dB_1, 
    dB_1_5, 
    dB_2, 
    dB_2_5,
    dB_3,
    dB_3_5,
    dB_4,
    dB_4_5,
    dB_5,
    dB_5_5,
    dB_6,
    dB_6_5,
    dB_7,
    dB_7_5,
    dB_8,
    dB_8_5,
    dB_9,
    dB_9_5,
    dB_10,
    dB_10_5,
    dB_11,
    dB_11_5,
    dB_12,
    dB_12_5,
    dB_13,
    dB_13_5,
    dB_14,
    dB_14_5,
    dB_15,
    dB_15_5
};

enum class SFDMode {STANDARD_SFD, DECAWAVE_SFD};

enum class TransmitMode {IMMEDIATE, DELAYED};

enum class ReceiveMode {IMMEDIATE, DELAYED};

enum class SPIClock {SLOW, FAST};