| | |
| | | * @file main.c |
| | | * @brief Double-sided two-way ranging (DS TWR) initiator example code |
| | | * |
| | | * This is a simple code example which acts as the initiator in a DS TWR distance measurement exchange. This application sends a "poll" |
| | | * frame (recording the TX time-stamp of the poll), and then waits for a "response" message expected from the "DS TWR responder" example |
| | | * code (companion to this application). When the response is received its RX time-stamp is recorded and we send a "final" message to |
| | | * complete the exchange. The final message contains all the time-stamps recorded by this application, including the calculated/predicted TX |
| | | * time-stamp for the final message itself. The companion "DS TWR responder" example application works out the time-of-flight over-the-air |
| | | * and, thus, the estimated distance between the two devices. |
| | | * |
| | | * |
| | | * @attention |
| | | * |
| | |
| | | #include "Usart.h" |
| | | #include "global_param.h" |
| | | #include "filters.h" |
| | | |
| | | |
| | | #include <stdio.h> |
| | | #include "beep.h" |
| | | #include "modbus.h" |
| | | |
| | | /*------------------------------------ Marcos ------------------------------------------*/ |
| | | /* Inter-ranging delay period, in milliseconds. */ |
| | |
| | | #define POLL_TX_TO_RESP_RX_DLY_UUS 150 |
| | | /* This is the delay from Frame RX timestamp to TX reply timestamp used for calculating/setting the DW1000's delayed TX function. This includes the |
| | | * frame length of approximately 2.66 ms with above configuration. */ |
| | | #define RESP_RX_TO_FINAL_TX_DLY_UUS 1500 |
| | | #define RESP_RX_TO_FINAL_TX_DLY_UUS 400 |
| | | /* Receive response timeout. See NOTE 5 below. */ |
| | | #define RESP_RX_TIMEOUT_UUS 2700 |
| | | #define RESP_RX_TIMEOUT_UUS 600 |
| | | |
| | | #define POLL_RX_TO_RESP_TX_DLY_UUS 420 |
| | | /* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */ |
| | |
| | | #define SPEED_OF_LIGHT 299702547 |
| | | |
| | | /* Indexes to access some of the fields in the frames defined above. */ |
| | | #define ALL_MSG_SN_IDX 2 |
| | | #define FINAL_MSG_POLL_TX_TS_IDX 10 |
| | | #define FINAL_MSG_RESP_RX_TS_IDX 14 |
| | | #define FINAL_MSG_FINAL_TX_TS_IDX 18 |
| | | #define FINAL_MSG_TS_LEN 4 |
| | | |
| | | #define SYNC_SEQ_IDX 5 |
| | | //common |
| | | #define GROUP_ID_IDX 0 |
| | | #define ANCHOR_ID_IDX 1 |
| | | #define TAG_ID_IDX 3 |
| | | #define MESSAGE_TYPE_IDX 5 |
| | | #define DIST_IDX 6 |
| | | #define TAG_ID_IDX 5 |
| | | #define MESSAGE_TYPE_IDX 9 |
| | | |
| | | //Poll |
| | | #define ANC_TYPE_IDX 14 |
| | | #define BATTARY_IDX 15 |
| | | #define BUTTON_IDX 16 |
| | | #define SEQUENCE_IDX 17 |
| | | //respose |
| | | #define DIST_IDX 10 |
| | | #define ANCTIMEMS 14 |
| | | #define ANCTIMEUS 16 |
| | | #define ANCSEND_INTERVAL 18 |
| | | |
| | | #define POLL 0x01 |
| | | #define RESPONSE 0x02 |
| | | #define FINAL 0x03 |
| | | #define SYNC 0x04 |
| | | |
| | | /*------------------------------------ Variables ------------------------------------------*/ |
| | | /* Default communication configuration. We use here EVK1000's default mode (mode 3). */ |
| | | static dwt_config_t config = { |
| | | 5, /* Channel number. */ |
| | | 2, /* Channel number. */ |
| | | DWT_PRF_64M, /* Pulse repetition frequency. */ |
| | | DWT_PLEN_128, /* Preamble length. */ |
| | | DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */ |
| | | 9, /* TX preamble code. Used in TX only. */ |
| | | 9, /* RX preamble code. Used in RX only. */ |
| | | 0, /* Use non-standard SFD (Boolean) */ |
| | | 1, /* Use non-standard SFD (Boolean) */ |
| | | DWT_BR_6M8, /* Data rate. */ |
| | | DWT_PHRMODE_STD, /* PHY header mode. */ |
| | | (129 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */ |
| | | }; |
| | | |
| | | /* Frames used in the ranging process. See NOTE 2 below. */ |
| | | static uint8_t tx_poll_msg[] = {0x00, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x21, 0, 0}; |
| | | static uint8_t tx_poll_msg[20] = {0}; |
| | | static uint8_t tx_sync_msg[14] = {0}; |
| | | //static uint8_t rx_resp_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'V', 'E', 'W', 'A', 0x10, 0x02, 0, 0, 0, 0}; |
| | | static uint8_t tx_final_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x23, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; |
| | | static uint8_t tx_final_msg[24] = {0}; |
| | | |
| | | //static uint8_t rx_poll_msg[] = {0x00, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x21, 0, 0}; |
| | | static uint8_t tx_resp_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'V', 'E', 'W', 'A', 0x10, 0x02, 0, 0, 0, 0}; |
| | | static uint8_t tx_resp_msg[22] = {0}; |
| | | //static uint8_t rx_final_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x23, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}; |
| | | |
| | | /* Frame sequence number, incremented after each transmission. */ |
| | | static uint32_t frame_seq_nb = 0; |
| | | static uint32_t frame_seq_nb = 0,frame_seq_nb2=0; |
| | | |
| | | /* Hold copy of status register state here for reference, so reader can examine it at a breakpoint. */ |
| | | static uint32_t status_reg = 0; |
| | |
| | | |
| | | static double tof; |
| | | |
| | | uint16_t anchor_dist_last_frm[TAG_NUM_IN_SYS]; |
| | | uint8_t tag_id = 0; |
| | | uint8_t tag_id_recv = 0; |
| | | int32_t anchor_dist_last_frm[TAG_NUM_IN_SYS],his_dist[TAG_NUM_IN_SYS]; ; |
| | | uint32_t tag_id = 0; |
| | | uint32_t tag_id_recv = 0; |
| | | uint8_t random_delay_tim = 0; |
| | | |
| | | double distance, dist_no_bias, dist_cm; |
| | |
| | | float dis_after_filter; //å½åè·ç¦»å¼ |
| | | LPFilter_Frac* p_Dis_Filter; //æµè·ç¨çä½éæ»¤æ³¢å¨ |
| | | |
| | | int32_t g_Tagdist[TAG_NUM_IN_SYS]; |
| | | uint8_t g_flag_Taggetdist[256]; |
| | | /*------------------------------------ Functions ------------------------------------------*/ |
| | | |
| | | |
| | |
| | | *ts += ts_field[i] << (i * 8); |
| | | } |
| | | } |
| | | |
| | | void TagDistClear(void) |
| | | { |
| | | static uint16_t clear_judge_cnt; |
| | | uint16_t i; |
| | | if(clear_judge_cnt++>1000) //设å®1Såé¢ï¼æ¯ç§è¿ä¸æ¬¡ã夿æ å¿ä½å¤§äºçäº2ï¼2s没æ¶å°æ°æ®å°±ææ°æ®åæ0xffffï¼ä¸è§¦åè¦æ¥ã |
| | | { |
| | | clear_judge_cnt=0; |
| | | for(i=0;i<255;i++) |
| | | { |
| | | g_flag_Taggetdist[i]++; |
| | | if(g_flag_Taggetdist[i]>=2) |
| | | { |
| | | g_Tagdist[i]=0xffff; |
| | | } |
| | | } |
| | | } |
| | | } |
| | | void Dw1000_Init(void) |
| | | { |
| | | /* Reset and initialise DW1000. |
| | |
| | | |
| | | /* Set expected response's delay and timeout. See NOTE 4 and 5 below. |
| | | * As this example only handles one incoming frame with always the same delay and timeout, those values can be set here once for all. */ |
| | | dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //设置åéåå¼å¯æ¥æ¶ï¼å¹¶è®¾å®å»¶è¿æ¶é´ |
| | | dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS); //è®¾ç½®æ¥æ¶è¶
æ¶æ¶é´ |
| | | //è®¾ç½®æ¥æ¶è¶
æ¶æ¶é´ |
| | | } |
| | | void Dw1000_App_Init(void) |
| | | { |
| | | //g_com_map[DEV_ID] = 0x0b; |
| | | tx_poll_msg[MESSAGE_TYPE_IDX]=POLL; |
| | | tx_resp_msg[MESSAGE_TYPE_IDX]=RESPONSE; |
| | | tx_final_msg[MESSAGE_TYPE_IDX]=FINAL; |
| | | memcpy(&tx_poll_msg[TAG_ID_IDX], &g_com_map[DEV_ID], 2); |
| | | memcpy(&tx_final_msg[TAG_ID_IDX], &g_com_map[DEV_ID], 2); |
| | | memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &g_com_map[DEV_ID], 2); |
| | | tx_sync_msg[MESSAGE_TYPE_IDX]=SYNC; |
| | | |
| | | memcpy(&tx_poll_msg[GROUP_ID_IDX], &group_id, 1); |
| | | memcpy(&tx_final_msg[GROUP_ID_IDX], &group_id, 1); |
| | | memcpy(&tx_resp_msg[GROUP_ID_IDX], &group_id, 1); |
| | | |
| | | memcpy(&tx_poll_msg[TAG_ID_IDX], &dev_id, 4); |
| | | memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 4); |
| | | memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 4); |
| | | memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &dev_id, 4); |
| | | |
| | | memcpy(&tx_resp_msg[ANCSEND_INTERVAL], &g_com_map[COM_INTERVAL], 2); |
| | | } |
| | | uint16_t Checksum_u16(uint8_t* pdata, uint32_t len) |
| | | { |
| | | uint16_t sum = 0; |
| | | uint32_t i; |
| | | for(i=0; i<len; i++) |
| | | sum += pdata[i]; |
| | | sum = ~sum; |
| | | return sum; |
| | | } |
| | | |
| | | u16 tag_time_recv[TAG_NUM_IN_SYS]; |
| | | u8 usart_send[25]; |
| | | u8 battary,button; |
| | | extern uint8_t g_pairstart; |
| | | void tag_sleep_configuraion(void) |
| | | { |
| | | dwt_configuresleep(0x940, 0x7); |
| | | dwt_entersleep(); |
| | | } |
| | | |
| | | extern uint8_t g_start_send_flag; |
| | | u8 g_start_sync_flag; |
| | | void SyncPoll(u8 sync_seq) |
| | | { |
| | | g_start_sync_flag=1; |
| | | dwt_forcetrxoff(); |
| | | tx_sync_msg[SYNC_SEQ_IDX]=sync_seq; |
| | | dwt_writetxdata(sizeof(tx_sync_msg), tx_sync_msg, 0);//å°Pollå
æ°æ®ä¼ ç»DW1000ï¼å°å¨å¼å¯åéæ¶ä¼ åºå» |
| | | dwt_writetxfctrl(sizeof(tx_sync_msg), 0);//设置è¶
宽带åéæ°æ®é¿åº¦ |
| | | dwt_starttx(DWT_START_TX_IMMEDIATE); |
| | | } |
| | | uint16_t g_Resttimer; |
| | | uint8_t result; |
| | | u8 tag_succ_times=0; |
| | | int32_t hex_dist,hex_dist2; |
| | | u16 checksum; |
| | | int8_t tag_delaytime; |
| | | extern uint16_t sync_timer; |
| | | u16 tmp_time; |
| | | void Tag_App(void)//å鿍¡å¼(TAGæ ç¾) |
| | | { |
| | | uint32_t frame_len; |
| | | uint32_t final_tx_time; |
| | | |
| | | GPIO_ResetBits(SPIx_GPIO, SPIx_CS); |
| | | delay_us(2000); |
| | | GPIO_SetBits(SPIx_GPIO, SPIx_CS); |
| | | |
| | | u32 start_poll; |
| | | u8 i,getsync_flag=0; |
| | | //LED0_ON; |
| | | dwt_forcetrxoff(); |
| | | g_Resttimer=0; |
| | | dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //设置åéåå¼å¯æ¥æ¶ï¼å¹¶è®¾å®å»¶è¿æ¶é´ |
| | | dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS); |
| | | tag_succ_times = 0; |
| | | tx_poll_msg[BATTARY_IDX] = Get_Battary(); |
| | | tx_poll_msg[BUTTON_IDX] = !READ_KEY0; |
| | | tx_poll_msg[SEQUENCE_IDX] = frame_seq_nb++; |
| | | GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_RESET); |
| | | for(i=0;i<g_com_map[MAX_REPORT_ANC_NUM];i++) |
| | | { |
| | | /* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */ |
| | | tx_poll_msg[ALL_MSG_SN_IDX] = frame_seq_nb; |
| | | tx_poll_msg[ANC_TYPE_IDX] = i; |
| | | |
| | | dwt_writetxdata(sizeof(tx_poll_msg), tx_poll_msg, 0);//å°Pollå
æ°æ®ä¼ ç»DW1000ï¼å°å¨å¼å¯åéæ¶ä¼ åºå» |
| | | dwt_writetxfctrl(sizeof(tx_poll_msg), 0);//设置è¶
宽带åéæ°æ®é¿åº¦ |
| | | |
| | | /* Start transmission, indicating that a response is expected so that reception is enabled automatically after the frame is sent and the delay |
| | | * set by dwt_setrxaftertxdelay() has elapsed. */ |
| | | dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//å¼å¯åéï¼åé宿åçå¾
䏿®µæ¶é´å¼å¯æ¥æ¶ï¼çå¾
æ¶é´å¨dwt_setrxaftertxdelayä¸è®¾ç½® |
| | | |
| | | start_poll = time32_incr; |
| | | /* We assume that the transmission is achieved correctly, poll for reception of a frame or error/timeout. See NOTE 8 below. */ |
| | | while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//䏿æ¥è¯¢è¯çç¶æç´å°æåæ¥æ¶æè
åçé误 |
| | | { }; |
| | | { if(time32_incr - start_poll>20) |
| | | NVIC_SystemReset(); |
| | | IdleTask(); |
| | | |
| | | }; |
| | | |
| | | /* Increment frame sequence number after transmission of the poll message (modulo 256). */ |
| | | frame_seq_nb++; |
| | | if(status_reg==0xffffffff) |
| | | { |
| | | NVIC_SystemReset(); |
| | | } |
| | | |
| | | if (status_reg & SYS_STATUS_RXFCG)//妿æåæ¥æ¶ |
| | | { |
| | |
| | | |
| | | /* Check that the frame is the expected response from the companion "DS TWR responder" example. |
| | | * As the sequence number field of the frame is not relevant, it is cleared to simplify the validation of the frame. */ |
| | | rx_buffer[ALL_MSG_SN_IDX] = 0; |
| | | if (rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE) //å¤ææ¥æ¶å°çæ°æ®æ¯å¦æ¯responseæ°æ® |
| | | { |
| | | |
| | | if (rx_buffer[GROUP_ID_IDX] == group_id&&rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,4)) //å¤ææ¥æ¶å°çæ°æ®æ¯å¦æ¯responseæ°æ® |
| | | { u16 anc_id_recv,rec_com_interval; |
| | | /* Retrieve poll transmission and response reception timestamp. */ |
| | | poll_tx_ts = get_tx_timestamp_u64(); //è·å¾POLLåéæ¶é´T1 |
| | | resp_rx_ts = get_rx_timestamp_u64(); //è·å¾RESPONSEæ¥æ¶æ¶é´T4 |
| | | |
| | | memcpy(&anchor_dist_last_frm[tag_id], &rx_buffer[DIST_IDX], 2); |
| | | memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 2); |
| | | if(getsync_flag==0&&g_com_map[DEV_ROLE]) |
| | | { |
| | | getsync_flag=1; |
| | | memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2); |
| | | memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2); |
| | | tmp_time=tmp_time+450; |
| | | if(tmp_time>999) |
| | | { |
| | | tmp_time-=999; |
| | | sync_timer++; |
| | | if(sync_timer>=1010) |
| | | {sync_timer=0;} |
| | | } |
| | | TIM3->CNT=tmp_time; |
| | | } |
| | | memcpy(&hex_dist2, &rx_buffer[DIST_IDX], 4); |
| | | memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4); |
| | | memcpy(&rec_com_interval,&rx_buffer[ANCSEND_INTERVAL], 2); |
| | | if(rec_com_interval>4&&rec_com_interval!=g_com_map[COM_INTERVAL]) |
| | | { |
| | | g_com_map[COM_INTERVAL]=rec_com_interval; |
| | | save_com_map_to_flash(); |
| | | delay_ms(100); |
| | | SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软å¤ä½åå°bootloader |
| | | } |
| | | |
| | | /* Compute final message transmission time. See NOTE 9 below. */ |
| | | final_tx_time = (resp_rx_ts + (RESP_RX_TO_FINAL_TX_DLY_UUS * UUS_TO_DWT_TIME)) >> 8;//计ç®finalå
åéæ¶é´ï¼T5=T4+Treply2 |
| | | dwt_setdelayedtrxtime(final_tx_time);//设置finalå
åéæ¶é´T5 |
| | |
| | | final_msg_set_ts(&tx_final_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts); |
| | | |
| | | /* Write and send final message. See NOTE 7 below. */ |
| | | tx_final_msg[ALL_MSG_SN_IDX] = frame_seq_nb; |
| | | |
| | | dwt_writetxdata(sizeof(tx_final_msg), tx_final_msg, 0);//å°åéæ°æ®åå
¥DW1000 |
| | | dwt_writetxfctrl(sizeof(tx_final_msg), 0);//设å®åéæ°æ®é¿åº¦ |
| | | dwt_starttx(DWT_START_TX_DELAYED);//设å®ä¸ºå»¶è¿åé |
| | | result=dwt_starttx(DWT_START_TX_DELAYED);//设å®ä¸ºå»¶è¿åé |
| | | |
| | | tag_succ_times++; |
| | | |
| | | LED0_BLINK; |
| | | |
| | | memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2); |
| | | if(hex_dist2!=0xffff) |
| | | { |
| | | g_Tagdist[anc_id_recv]= hex_dist2; |
| | | g_flag_Taggetdist[anc_id_recv]=0; |
| | | |
| | | if(!g_com_map[MODBUS_MODE]) |
| | | { |
| | | hex_dist2 = hex_dist2; |
| | | usart_send[2] = 1;//æ£å¸¸æ¨¡å¼ |
| | | usart_send[3] = 17;//æ°æ®æ®µé¿åº¦ |
| | | usart_send[4] = frame_seq_nb;//æ°æ®æ®µé¿åº¦ |
| | | memcpy(&usart_send[5],&dev_id,2); |
| | | memcpy(&usart_send[7],&rx_buffer[ANCHOR_ID_IDX],2); |
| | | |
| | | memcpy(&usart_send[9],&hex_dist2,4); |
| | | usart_send[13] = battary; |
| | | usart_send[14] = button; |
| | | checksum = Checksum_u16(&usart_send[2],17); |
| | | memcpy(&usart_send[19],&checksum,2); |
| | | UART_PushFrame(usart_send,21); |
| | | } |
| | | } |
| | | // memcpy(&Modbus_HoldReg[anc_id_recv*2],&hex_dist,4); |
| | | /* Poll DW1000 until TX frame sent event set. See NOTE 8 below. */ |
| | | while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//䏿æ¥è¯¢è¯çç¶æç´å°åé宿 |
| | | if(result==0) |
| | | {while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//䏿æ¥è¯¢è¯çç¶æç´å°åé宿 |
| | | { }; |
| | | |
| | | } |
| | | /* Clear TXFRS event. */ |
| | | dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//æ¸
餿 å¿ä½ |
| | | |
| | | /* Increment frame sequence number after transmission of the final message (modulo 256). */ |
| | | frame_seq_nb++; |
| | | |
| | | random_delay_tim = 0; |
| | | } |
| | | else |
| | |
| | | dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR); |
| | | random_delay_tim = DFT_RAND_DLY_TIM_MS; |
| | | } |
| | | LED0_BLINK; |
| | | // deca_sleep(10); |
| | | } |
| | | // dwt_entersleep(); |
| | | // if(tag_succ_times<g_com_map[MIN_REPORT_ANC_NUM]) |
| | | // { |
| | | // //poll_timer +=time32_incr&0x7+3; |
| | | // } |
| | | |
| | | /* Execute a delay between ranging exchanges. */ |
| | | dwt_entersleep(); |
| | | |
| | | } |
| | | |
| | | int8_t correction_time; |
| | | extern uint8_t sync_seq; |
| | | #define TDFILTER |
| | | //#define CHECK_UID |
| | | extern uint8_t UID_ERROR; |
| | | void Anchor_App(void) |
| | | { |
| | | uint32_t frame_len; |
| | | uint32_t resp_tx_time; |
| | | |
| | | static u8 misdist_num; |
| | | /* Clear reception timeout to start next ranging process. */ |
| | | dwt_setrxtimeout(0);//è®¾å®æ¥æ¶è¶
æ¶æ¶é´ï¼0使²¡æè¶
æ¶æ¶é´ |
| | | |
| | |
| | | dwt_rxenable(0);//æå¼æ¥æ¶ |
| | | |
| | | /* Poll for reception of a frame or error/timeout. See NOTE 7 below. */ |
| | | while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//䏿æ¥è¯¢è¯çç¶æç´å°æ¥æ¶æåæè
åºç°é误 |
| | | while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag&&!g_start_sync_flag)//䏿æ¥è¯¢è¯çç¶æç´å°æ¥æ¶æåæè
åºç°é误 |
| | | { |
| | | UART_CheckReceive(); |
| | | UART_CheckSend(); |
| | | IdleTask(); |
| | | g_Resttimer=0; |
| | | }; |
| | | |
| | | if (status_reg & SYS_STATUS_RXFCG)//æåæ¥æ¶ |
| | | { |
| | | { u16 tag_recv_interval; |
| | | /* Clear good RX frame event in the DW1000 status register. */ |
| | | dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);//æ¸
餿 å¿ä½ |
| | | |
| | |
| | | |
| | | /* Check that the frame is a poll sent by "DS TWR initiator" example. |
| | | * As the sequence number field of the frame is not relevant, it is cleared to simplify the validation of the frame. */ |
| | | rx_buffer[ALL_MSG_SN_IDX] = 0; |
| | | |
| | | |
| | | //å°æ¶å°çtag_idåå«åå
¥å次é讯çå
ä¸ï¼ä¸ºå¤æ ç¾é讯æå¡ï¼é²æ¢ä¸æ¬¡éè®¯ä¸æ¥æ¶å°ä¸åIDæ ç¾çæ°æ® |
| | | tag_id_recv = rx_buffer[TAG_ID_IDX]; |
| | | tx_resp_msg[TAG_ID_IDX] = tag_id_recv; |
| | | |
| | | //tag_id_recv = rx_buffer[TAG_ID_IDX]; |
| | | memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],4); |
| | | memcpy(&tx_resp_msg[TAG_ID_IDX],&tag_id_recv,4); |
| | | //tx_resp_msg[TAG_ID_IDX] = tag_id_recv; |
| | | // if(tag_recv_timer>tag_time_recv[tag_id_recv-TAG_ID_START]) |
| | | // { tag_recv_interval = tag_recv_timer - tag_time_recv[tag_id_recv]; |
| | | // }else{ |
| | | // tag_recv_interval = tag_recv_timer + 65535 - tag_time_recv[tag_id_recv]; |
| | | // } |
| | | |
| | | if (rx_buffer[MESSAGE_TYPE_IDX] == POLL) //夿æ¯å¦æ¯pollå
æ°æ® |
| | | if (rx_buffer[GROUP_ID_IDX] == group_id&&rx_buffer[MESSAGE_TYPE_IDX] == POLL&&(anchor_type == rx_buffer[ANC_TYPE_IDX])) //夿æ¯å¦æ¯pollå
æ°æ® |
| | | { |
| | | tmp_time=TIM3->CNT; |
| | | memcpy(&tx_resp_msg[ANCTIMEMS],&sync_timer,2); |
| | | memcpy(&tx_resp_msg[ANCTIMEUS],&tmp_time,2); |
| | | |
| | | // if(correction_time>10) |
| | | // {correction_time++;} |
| | | |
| | | /* Retrieve poll reception timestamp. */ |
| | | poll_rx_ts = get_rx_timestamp_u64();//è·å¾Pollå
æ¥æ¶æ¶é´T2 |
| | | |
| | |
| | | dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//æ¥æ¶è¶
æ¶æ¶é´ |
| | | |
| | | /* Write and send the response message. See NOTE 9 below.*/ |
| | | memcpy(&tx_resp_msg[DIST_IDX], &anchor_dist_last_frm[tag_id_recv], 2); |
| | | tx_resp_msg[ALL_MSG_SN_IDX] = frame_seq_nb; |
| | | if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS) |
| | | memcpy(&tx_resp_msg[DIST_IDX], &g_Tagdist[tag_id_recv], 4); |
| | | |
| | | dwt_writetxdata(sizeof(tx_resp_msg), tx_resp_msg, 0);//åå
¥åéæ°æ® |
| | | dwt_writetxfctrl(sizeof(tx_resp_msg), 0);//设å®åéé¿åº¦ |
| | | dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//å»¶è¿åéï¼çå¾
æ¥æ¶ |
| | | result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//å»¶è¿åéï¼çå¾
æ¥æ¶ |
| | | |
| | | battary = rx_buffer[BATTARY_IDX]; |
| | | button = rx_buffer[BUTTON_IDX]; |
| | | frame_seq_nb2 = rx_buffer[SEQUENCE_IDX]; |
| | | /* We assume that the transmission is achieved correctly, now poll for reception of expected "final" frame or error/timeout. |
| | | * See NOTE 7 below. */ |
| | | while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))///䏿æ¥è¯¢è¯çç¶æç´å°æ¥æ¶æåæè
åºç°é误 |
| | | if(result==0) |
| | | { |
| | | while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))///䏿æ¥è¯¢è¯çç¶æç´å°æ¥æ¶æåæè
åºç°é误 |
| | | { }; |
| | | |
| | | } |
| | | /* Increment frame sequence number after transmission of the response message (modulo 256). */ |
| | | frame_seq_nb++; |
| | | |
| | | if (status_reg & SYS_STATUS_RXFCG)//æ¥æ¶æå |
| | | { |
| | |
| | | |
| | | /* Check that the frame is a final message sent by "DS TWR initiator" example. |
| | | * As the sequence number field of the frame is not used in this example, it can be zeroed to ease the validation of the frame. */ |
| | | rx_buffer[ALL_MSG_SN_IDX] = 0; |
| | | if (rx_buffer[MESSAGE_TYPE_IDX] == FINAL&&rx_buffer[TAG_ID_IDX]==tag_id_recv&&rx_buffer[ANCHOR_ID_IDX]==g_com_map[DEV_ID]) //夿æ¯å¦ä¸ºFinalå
|
| | | |
| | | if (rx_buffer[GROUP_ID_IDX] == group_id&&rx_buffer[MESSAGE_TYPE_IDX] == FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,4)&&!memcmp(&rx_buffer[ANCHOR_ID_IDX],&dev_id,4)) //夿æ¯å¦ä¸ºFinalå
|
| | | { |
| | | uint32_t poll_tx_ts, resp_rx_ts, final_tx_ts; |
| | | uint32_t poll_rx_ts_32, resp_tx_ts_32, final_rx_ts_32; |
| | | double Ra, Rb, Da, Db; |
| | | int64_t tof_dtu; |
| | | |
| | | |
| | | /* Retrieve response transmission and final reception timestamps. */ |
| | | resp_tx_ts = get_tx_timestamp_u64();//è·å¾responseåéæ¶é´T3 |
| | | final_rx_ts = get_rx_timestamp_u64();//è·å¾finalæ¥æ¶æ¶é´T6 |
| | |
| | | final_msg_get_ts(&rx_buffer[FINAL_MSG_RESP_RX_TS_IDX], &resp_rx_ts); |
| | | final_msg_get_ts(&rx_buffer[FINAL_MSG_FINAL_TX_TS_IDX], &final_tx_ts); |
| | | |
| | | #ifdef CHECK_UID |
| | | if(UID_ERROR==1) |
| | | poll_rx_ts=0; |
| | | #endif |
| | | /* Compute time of flight. 32-bit subtractions give correct answers even if clock has wrapped. See NOTE 10 below. */ |
| | | poll_rx_ts_32 = (uint32_t)poll_rx_ts;//使ç¨32使°æ®è®¡ç® |
| | | resp_tx_ts_32 = (uint32_t)resp_tx_ts; |
| | |
| | | distance = tof * SPEED_OF_LIGHT;//è·ç¦»=å
é*é£è¡æ¶é´ |
| | | dist_no_bias = distance - dwt_getrangebias(config.chan, (float)distance, config.prf); //è·ç¦»åå»ç«æ£ç³»æ° |
| | | |
| | | dist_cm = dist_no_bias * 100; //dis 为åä½ä¸ºcmçè·ç¦» |
| | | dist_cm = dist_no_bias * 1000; //dis 为åä½ä¸ºcmçè·ç¦» |
| | | // dist[TAG_ID] = LP(dis, TAG_ID); //LP 为ä½é滤波å¨ï¼è®©æ°æ®æ´ç¨³å® |
| | | |
| | | /*--------------------------以ä¸ä¸ºéæµè·é»è¾------------------------*/ |
| | | LED0_BLINK; //æ¯æå䏿¬¡é讯åéªç䏿¬¡ |
| | | g_UWB_com_interval = 0; |
| | | dis_after_filter=dist_cm; |
| | | |
| | | hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10; |
| | | if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS) |
| | | { |
| | | if(hex_dist-his_dist[tag_id_recv-TAG_ID_START]<15000||misdist_num>4) |
| | | {int32_t filter_dist; |
| | | misdist_num=0; |
| | | if(hex_dist<1000000&&hex_dist>-10000) |
| | | { |
| | | #ifdef TDFILTER |
| | | NewTrackingDiffUpdate(tag_id_recv-TAG_ID_START, (float)hex_dist); |
| | | filter_dist=pos_predict[tag_id_recv-TAG_ID_START]/10; |
| | | #else |
| | | filter_dist=hex_dist/10; |
| | | #endif |
| | | anchor_dist_last_frm[tag_id_recv-TAG_ID_START]=filter_dist; |
| | | g_Tagdist[tag_id_recv]= filter_dist; |
| | | |
| | | his_dist[tag_id_recv-TAG_ID_START]=hex_dist; |
| | | g_flag_Taggetdist[tag_id_recv]=0; |
| | | if(!g_com_map[MODBUS_MODE]) |
| | | { |
| | | usart_send[2] = 1;//æ£å¸¸æ¨¡å¼ |
| | | usart_send[3] = 17;//æ°æ®æ®µé¿åº¦ |
| | | usart_send[4] = frame_seq_nb2;//æ°æ®æ®µé¿åº¦ |
| | | memcpy(&usart_send[5],&tag_id_recv,2); |
| | | memcpy(&usart_send[7],&dev_id,2); |
| | | |
| | | memcpy(&usart_send[9],&anchor_dist_last_frm[tag_id_recv-TAG_ID_START],4); |
| | | usart_send[13] = battary; |
| | | usart_send[14] = button; |
| | | checksum = Checksum_u16(&usart_send[2],17); |
| | | memcpy(&usart_send[19],&checksum,2); |
| | | UART_PushFrame(usart_send,21); |
| | | } |
| | | // memcpy(&Modbus_HoldReg[tag_id_recv*2],&anchor_dist_last_frm[tag_id_recv-TAG_ID_START],4); |
| | | Modbus_HoldReg[tag_id_recv*2]=g_Tagdist[tag_id_recv-TAG_ID_START]>>16; |
| | | Modbus_HoldReg[tag_id_recv*2+1]=g_Tagdist[tag_id_recv-TAG_ID_START]; |
| | | //dis_after_filter = LP_Frac_Update(p_Dis_Filter, dist_cm); |
| | | |
| | | } |
| | | |
| | | }else{ |
| | | misdist_num++; |
| | | } |
| | | } |
| | | } |
| | | else |
| | | { |
| | | } |
| | | }else{ |
| | | /* Clear RX error events in the DW1000 status register. */ |
| | | dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR); |
| | | } |
| | | }else if(rx_buffer[MESSAGE_TYPE_IDX] == SYNC) |
| | | { |
| | | if(rx_buffer[SYNC_SEQ_IDX]<sync_seq&&sync_mainbase==0) |
| | | { |
| | | sync_seq=rx_buffer[SYNC_SEQ_IDX]+1; |
| | | TIM3->CNT = sync_seq*325%1000+15; |
| | | sync_timer = sync_seq*325/1000; |
| | | SyncPoll(sync_seq); |
| | | } |
| | | } |
| | | } |
| | |
| | | } |
| | | } |
| | | |
| | | /***************************************************************************************************************************************************** |
| | | * NOTES: |
| | | * |
| | | * 1. The sum of the values is the TX to RX antenna delay, experimentally determined by a calibration process. Here we use a hard coded typical value |
| | | * but, in a real application, each device should have its own antenna delay properly calibrated to get the best possible precision when performing |
| | | * range measurements. |
| | | * 2. The messages here are similar to those used in the DecaRanging ARM application (shipped with EVK1000 kit). They comply with the IEEE |
| | | * 802.15.4 standard MAC data frame encoding and they are following the ISO/IEC:24730-62:2013 standard. The messages used are: |
| | | * - a poll message sent by the initiator to trigger the ranging exchange. |
| | | * - a response message sent by the responder allowing the initiator to go on with the process |
| | | * - a final message sent by the initiator to complete the exchange and provide all information needed by the responder to compute the |
| | | * time-of-flight (distance) estimate. |
| | | * The first 10 bytes of those frame are common and are composed of the following fields: |
| | | * - byte 0/1: frame control (0x8841 to indicate a data frame using 16-bit addressing). |
| | | * - byte 2: sequence number, incremented for each new frame. |
| | | * - byte 3/4: PAN TAG_ID (0xDECA). |
| | | * - byte 5/6: destination address, see NOTE 3 below. |
| | | * - byte 7/8: source address, see NOTE 3 below. |
| | | * - byte 9: function code (specific values to indicate which message it is in the ranging process). |
| | | * The remaining bytes are specific to each message as follows: |
| | | * Poll message: |
| | | * - no more data |
| | | * Response message: |
| | | * - byte 10: activity code (0x02 to tell the initiator to go on with the ranging exchange). |
| | | * - byte 11/12: activity parameter, not used here for activity code 0x02. |
| | | * Final message: |
| | | * - byte 10 -> 13: poll message transmission timestamp. |
| | | * - byte 14 -> 17: response message reception timestamp. |
| | | * - byte 18 -> 21: final message transmission timestamp. |
| | | * All messages end with a 2-byte checksum automatically set by DW1000. |
| | | * 3. Source and destination addresses are hard coded constants in this example to keep it simple but for a real product every device should have a |
| | | * unique TAG_ID. Here, 16-bit addressing is used to keep the messages as short as possible but, in an actual application, this should be done only |
| | | * after an exchange of specific messages used to define those short addresses for each device participating to the ranging exchange. |
| | | * 4. Delays between frames have been chosen here to ensure proper synchronisation of transmission and reception of the frames between the initiator |
| | | * and the responder and to ensure a correct accuracy of the computed distance. The user is referred to DecaRanging ARM Source Code Guide for more |
| | | * details about the timings involved in the ranging process. |
| | | * 5. This timeout is for complete reception of a frame, i.e. timeout duration must take into account the length of the expected frame. Here the value |
| | | * is arbitrary but chosen large enough to make sure that there is enough time to receive the complete response frame sent by the responder at the |
| | | * 110k data rate used (around 3 ms). |
| | | * 6. In a real application, for optimum performance within regulatory limits, it may be necessary to set TX pulse bandwidth and TX power, (using |
| | | * the dwt_configuretxrf API call) to per device calibrated values saved in the target system or the DW1000 OTP memory. |
| | | * 7. dwt_writetxdata() takes the full size of the message as a parameter but only copies (size - 2) bytes as the check-sum at the end of the frame is |
| | | * automatically appended by the DW1000. This means that our variable could be two bytes shorter without losing any data (but the sizeof would not |
| | | * work anymore then as we would still have to indicate the full length of the frame to dwt_writetxdata()). It is also to be noted that, when using |
| | | * delayed send, the time set for transmission must be far enough in the future so that the DW1000 IC has the time to process and start the |
| | | * transmission of the frame at the wanted time. If the transmission command is issued too late compared to when the frame is supposed to be sent, |
| | | * this is indicated by an error code returned by dwt_starttx() API call. Here it is not tested, as the values of the delays between frames have |
| | | * been carefully defined to avoid this situation. |
| | | * 8. We use polled mode of operation here to keep the example as simple as possible but all status events can be used to generate interrupts. Please |
| | | * refer to DW1000 User Manual for more details on "interrupts". It is also to be noted that STATUS register is 5 bytes long but, as the event we |
| | | * use are all in the first bytes of the register, we can use the simple dwt_read32bitreg() API call to access it instead of reading the whole 5 |
| | | * bytes. |
| | | * 9. As we want to send final TX timestamp in the final message, we have to compute it in advance instead of relying on the reading of DW1000 |
| | | * register. Timestamps and delayed transmission time are both expressed in device time units so we just have to add the desired response delay to |
| | | * response RX timestamp to get final transmission time. The delayed transmission time resolution is 512 device time units which means that the |
| | | * lower 9 bits of the obtained value must be zeroed. This also allows to encode the 40-bit value in a 32-bit words by shifting the all-zero lower |
| | | * 8 bits. |
| | | * 10. In this operation, the high order byte of each 40-bit timestamps is discarded. This is acceptable as those time-stamps are not separated by |
| | | * more than 2**32 device time units (which is around 67 ms) which means that the calculation of the round-trip delays (needed in the |
| | | * time-of-flight computation) can be handled by a 32-bit subtraction. |
| | | * 11. The user is referred to DecaRanging ARM application (distributed with EVK1000 product) for additional practical example of usage, and to the |
| | | * DW1000 API Guide for more details on the DW1000 driver functions. |
| | | ****************************************************************************************************************************************************/ |