| | |
|---|
| | | #ifndef __DW_APP_H__ |
|---|
| | | #define __DW_APP_H__ |
|---|
| | | |
|---|
| | | #include <string.h> |
|---|
| | | #include "stm32f10x.h" |
|---|
| | | #include "filters.h" |
|---|
| | | #include "ADC.h" |
|---|
| | | #include "deca_device_api.h" |
|---|
| | | #include "deca_regs.h" |
|---|
| | | #include "dw_driver.h" |
|---|
| | | #include "Spi.h" |
|---|
| | | #include "led.h" |
|---|
| | | #include "serial_at_cmd_app.h" |
|---|
| | | #include "Usart.h" |
|---|
| | | #include "global_param.h" |
|---|
| | | #include "filters.h" |
|---|
| | | #include <stdio.h> |
|---|
| | | #include "beep.h" |
|---|
| | | #include <math.h> |
|---|
| | | |
|---|
| | | //#define USART_INTEGRATE_OUTPUT |
|---|
| | | //#define TAG_OUTPUT |
|---|
| | | //#define DEBUG_INF |
|---|
| | | //#define NEWBOARD |
|---|
| | | |
|---|
| | | //#define WORK_MODE_TAG |
|---|
| | | #define WORK_MODE_ANCHOR |
|---|
| | | |
|---|
| | | |
|---|
| | | //#define TAG_OUTPUT |
|---|
| | | #define HEX_OUTPUT |
|---|
| | | #define REPOET_ANC_NUM 4 |
|---|
| | | #define TOTAL_TAG_NUM 200 |
|---|
| | | |
|---|
| | | #define MAX_NEARBASE_NUM 12 |
|---|
| | | #define MAX_RFPOWER 60 |
|---|
| | | #define DEFAULT_RFPOWER 30 |
|---|
| | | #define REPOET_ANC_NUM 1 |
|---|
| | | #define REPOET_ANC_NUM_MIN 1 |
|---|
| | | #define TAG_ID_START 0// 0x00980000 |
|---|
| | | #define GROUP_TAG_NUM 2 |
|---|
| | | #define TAG_NUM_IN_SYS 256 |
|---|
| | | #define DFT_RAND_DLY_TIM_MS 1 |
|---|
| | | #define QUIT_SLOT_TIME 5 |
|---|
| | | #define KEEP_TIMES 3 |
|---|
| | | #define SLOT_SCALE 0.24 |
|---|
| | | #define RNG_DELAY_MS 100 |
|---|
| | | |
|---|
| | | /* Default antenna delay values for 64 MHz PRF. See NOTE 1 below. */ |
|---|
| | | #define TX_ANT_DLY 0 |
|---|
| | | #define RX_ANT_DLY 32899 |
|---|
| | | |
|---|
| | | /* UWB microsecond (uus) to device time unit (dtu, around 15.65 ps) conversion factor. |
|---|
| | | * 1 uus = 512 / 499.2 ç¥ and 1 ç¥ = 499.2 * 128 dtu. */ |
|---|
| | | #define UUS_TO_DWT_TIME 65536 |
|---|
| | | |
|---|
| | | /* Delay between frames, in UWB microseconds. See NOTE 4 below. */ |
|---|
| | | /* 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 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 410 |
|---|
| | | /* Receive response timeout. See NOTE 5 below. */ |
|---|
| | | #define RESP_RX_TIMEOUT_UUS 2000 |
|---|
| | | |
|---|
| | | #define DELAY_BETWEEN_TWO_FRAME_UUS 250 |
|---|
| | | |
|---|
| | | #define POLL_RX_TO_RESP_TX_DLY_UUS 670 |
|---|
| | | /* 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 RESP_TX_TO_FINAL_RX_DLY_UUS 0 |
|---|
| | | /* Receive final timeout. See NOTE 5 below. */ |
|---|
| | | #define FINAL_RX_TIMEOUT_UUS 4300 |
|---|
| | | |
|---|
| | | #define SPEED_OF_LIGHT 299702547 |
|---|
| | | |
|---|
| | | //MESSAGE_TYPE |
|---|
| | | #define POLL 0x01 |
|---|
| | | #define RESPONSE 0x02 |
|---|
| | | #define FINAL 0x03 |
|---|
| | | #define SYNC 0x04 |
|---|
| | | #define NEAR_MSG 0x05 |
|---|
| | | #define NEAR_POLL 0x06 |
|---|
| | | #define NEAR_RESPONSE 0x07 |
|---|
| | | #define NEAR_FINAL 0x08 |
|---|
| | | #define SPOLL 0x09 |
|---|
| | | |
|---|
| | | #define REG_POLL 0x10 |
|---|
| | | #define REG_RESPONSE 0x11 |
|---|
| | | //General |
|---|
| | | #define GROUP_ID_IDX 0 |
|---|
| | | #define ANCHOR_ID_IDX 1 |
|---|
| | | #define TAG_ID_IDX 5 |
|---|
| | | #define MESSAGE_TYPE_IDX 9 |
|---|
| | | //Poll |
|---|
| | | #define ANC_TYPE_IDX 14 |
|---|
| | | //respose |
|---|
| | | #define DIST_IDX 10 |
|---|
| | | #define ANCTIMEMS 14 |
|---|
| | | #define ANCTIMEUS 16 |
|---|
| | | #define MAINBASE_INDEX 18 |
|---|
| | | #define MOTORSTATE_INDEX 19 |
|---|
| | | #define NR_NEARSWITCH_DISTANCE 20 |
|---|
| | | #define REMOTEPARA_INDEX 22 |
|---|
| | | |
|---|
| | | #define TAGSLOTPOS 7 |
|---|
| | | //Final |
|---|
| | | #define TAGCONFIGSUCCESS_INDEX 7 |
|---|
| | | #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_RESP_RX_NEARBASE_IDX 22 |
|---|
| | | #define FINAL_MSG_TS_LEN 4 |
|---|
| | | //SYNC |
|---|
| | | #define ANCHOR_ID_IDX 1 |
|---|
| | | #define SYNC_SEQ_IDX 5 |
|---|
| | | //NEAR MSG |
|---|
| | | #define NEARMSG_EMPTYSLOTPOS_INDEX 1 //RESPONSE |
|---|
| | | #define NEARBASENUM_INDEX 18 |
|---|
| | | #define NEARBASEID_INDEX 19 |
|---|
| | | //NEAR POLL |
|---|
| | | #define SEQUENCE_IDX 3 |
|---|
| | | #define BATTARY_IDX 4 |
|---|
| | | #define BUTTON_IDX 7 |
|---|
| | | #define SEQUENCEH_IDX 8 |
|---|
| | | #define NEARP_TAGFREQ_INDEX 10 |
|---|
| | | #define NEARP_TAGSLOTPOS_INDEX 12 |
|---|
| | | //REG RESPONSE |
|---|
| | | #define REGR_TAGFREQ_INDEX 10 |
|---|
| | | #define REGR_TAGSLOTPOS_INDEX 12 |
|---|
| | | #define REGR_BASENUM_INDEX 18 |
|---|
| | | #define REGR_BASEID_INDEX 19 |
|---|
| | | |
|---|
| | | #define REMOTEPARA_LEN 18 |
|---|
| | | #define THRESHOLD_CHANGE_MAINBASE_DIST 500 |
|---|
| | | extern u8 neartimout_timer; |
|---|
| | | extern u16 slottime,tyncpoll_time,max_slotpos; |
|---|
| | | extern u16 poll_timer,tag_timer; |
|---|
| | | extern int8_t tag_delaytime; |
|---|
| | | extern u32 dev_id; |
|---|
| | | extern u8 anchor_type; |
|---|
| | | extern volatile uint32_t time32_incr; |
|---|
| | | extern u16 tag_recv_timer; |
|---|
| | | extern double dist_cm; |
|---|
| | | extern uint32_t g_UWB_com_interval; |
|---|
| | | extern float dis_after_filter; |
|---|
| | | extern LPFilter_Frac* p_Dis_Filter; //æµè·ç¨çä½éæ»¤æ³¢å¨ |
|---|
| | | extern u8 usart_send[16]; |
|---|
| | | extern u8 usart_send[150],usart_send_anc[100],flag_syncbase,remotesend_state, remotetag_para[30];; |
|---|
| | | |
|---|
| | | void IdleTask(void); |
|---|
| | | uint16_t Checksum_u16(uint8_t* pdata, uint32_t len); |
|---|
| | | void Dw1000_Init(void); |
|---|
| | | void Tag_App(void); |
|---|
| | | void Anchor_App(void); |
|---|
| | | void tag_sleep_configuraion(void); |
|---|
| | | extern uint16_t g_Tagdist[256]; |
|---|
| | | extern int32_t g_Tagdist[TAG_NUM_IN_SYS]; |
|---|
| | | extern uint8_t g_flag_Taggetdist[256]; |
|---|
| | | extern void TagDistClear(void); |
|---|
| | | void Dw1000_App_Init(void); |
|---|
| | | void TagListUpdate(void); |
|---|
| | | void SyncPoll(u8 sync_seq); |
|---|
| | | u8 GetRandomSlotPos(uint32_t emptyslot); |
|---|
| | | #endif |
|---|
