XRange_Tag.git - Gitblit

			@@ -33,9 +33,12 @@

			//#define USART_INTEGRATE_OUTPUT
			/------------------------------------ Marcos ------------------------------------------/
			#define FRAME_LEN_MAX (127)
			#define FRAME_LEN_MAX_EX (1023)
			#define DWT_DEVICE_ID (0xDECA0130) //!< DW1000 MP device ID
			/* Inter-ranging delay period, in milliseconds. */
			#define RNG_DELAY_MS 100

			#define PRE_TIMEOUT 5
			/* Default antenna delay values for 64 MHz PRF. See NOTE 1 below. */
			#define TX_ANT_DLY 0
			#define RX_ANT_DLY 32899
			@@ -71,7 +74,24 @@
			#define FINAL_MSG_FINAL_TX_TS_IDX 18
			#define FINAL_MSG_TS_LEN 4

			#define _UWB_4G
			//#define _UWB_4G

			//static dwt_config_t config = {
			//#ifdef _UWB_4G
			// 2, /* Channel number. */
			//#else
			// 5,
			//#endif
			// DWT_PRF_64M, /* Pulse repetition frequency. */
			// DWT_PLEN_64, /* 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. */
			// 1, /* Use non-standard SFD (Boolean) */
			// DWT_BR_6M8, /* Data rate. */
			// DWT_PHRMODE_STD, /* PHY header mode. */
			// (65 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
			//};

			static dwt_config_t config = {
			#ifdef _UWB_4G
			@@ -79,22 +99,39 @@
			#else
			5,
			#endif
			DWT_PRF_64M, /* Pulse repetition frequency. */
			DWT_PLEN_64, /* 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. */
			1, /* Use non-standard SFD (Boolean) */
			DWT_BR_6M8, /* Data rate. */
			DWT_PHRMODE_STD, /* PHY header mode. */
			(65 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
			DWT_PLEN_64, /* Preamble length. Used in TX only. */
			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. */
			1, /* 0 to use standard 8 symbol SFD, 1 to use non-standard 8 symbol, 2 for non-standard 16 symbol SFD and 3 for 4z 8 symbol SDF type */
			DWT_BR_6M8, /* Data rate. */
			DWT_PHRMODE_STD, /* PHY header mode. */
			DWT_PHRRATE_STD, /* PHY header rate. */
			(65 + 8 - 8), /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
			DWT_STS_MODE_OFF, /* STS disabled */
			DWT_STS_LEN_64,/* STS length see allowed values in Enum dwt_sts_lengths_e */
			DWT_PDOA_M0 /* PDOA mode off */
			};
			dwt_txconfig_t txconfig_options =
			{
			0x34, /* PG delay. */
			0xfdfdfdfd, /* TX power. */
			0x0 /PG count/
			};

			dwt_txconfig_t txconfig_options_ch9 =
			{
			0x34, /* PG delay. */
			0xfefefefe, /* TX power. */
			0x0 /PG count/
			};

			static uint8_t tx_poll_msg[20] = {0};
			static uint8_t tx_sync_msg[14] = {0};
			static uint8_t tx_final_msg[60] = {0};
			static uint8_t tx_resp_msg[22] = {0};
			uint8_t tx_near_msg[80] = {0};

			extern uint8_t module_power,imu_enable,motor_enable;
			static uint32_t frame_seq_nb = 0;
			static uint32_t status_reg = 0;
			static uint8_t rx_buffer[100];
			@@ -163,29 +200,54 @@
			ts += ts_field[i] << (i 8);
			}
			}

			uint32_t dw3000_id=0;
			void Dw1000_Init(void)
			{
			/* Reset and initialise DW1000.
			* For initialisation, DW1000 clocks must be temporarily set to crystal speed. After initialisation SPI rate can be increased for optimum
			* performance. */
			Reset_DW1000();//重启DW1000 /* Target specific drive of RSTn line into DW1000 low for a period. */
			Spi_ChangePrescaler(SPIx_PRESCALER_SLOW); //设置为快速模式
			dwt_initialise(DWT_LOADUCODE);//初始化DW1000
			// Reset_DW1000();//重启DW1000 /* Target specific drive of RSTn line into DW1000 low for a period. */
			// Spi_ChangePrescaler(SPIx_PRESCALER_SLOW); //设置为快速模式
			// dwt_initialise(DWT_LOADUCODE);//初始化DW1000
			Spi_ChangePrescaler(SPIx_PRESCALER_FAST); //设置为快速模式
			Reset_DW1000();//重启DW1000 /* Target specific drive of RSTn line into DW1000 low for a period. */
			delay_ms(2);
			dw3000_id=dwt_readdevid() ;
			while (!dwt_checkidlerc()) /* Need to make sure DW IC is in IDLE_RC before proceeding */
			{ };
			while (dwt_initialise(DWT_DW_INIT) == DWT_ERROR)
			{
			// _dbg_printf("INIT FAILED ");
			//while (1)
			{ };
			delay_ms(500);
			}

			// /* Configure DW1000. See NOTE 6 below. */
			// dwt_configure(&config);//配置DW1000
			if(dwt_configure(&config)) /* if the dwt_configure returns DWT_ERROR either the PLL or RX calibration has failed the host should reset the device */
			{
			// _dbg_printf((unsigned char *)"CONFIG FAILED ");
			while (1)
			{ };
			}

			/* Configure DW1000. See NOTE 6 below. */
			dwt_configure(&config);//配置DW1000



			/* Configure the TX spectrum parameters (power, PG delay and PG count) */
			dwt_configuretxrf(&txconfig_options_ch9);
			/* Apply default antenna delay value. See NOTE 1 below. */
			dwt_setrxantennadelay(RX_ANT_DLY); //设置接收天线延迟
			dwt_settxantennadelay(TX_ANT_DLY); //设置发射天线延迟


			// dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS);
			// dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
			// dwt_setpreambledetecttimeout(PRE_TIMEOUT);
			/* Next can enable TX/RX states output on GPIOs 5 and 6 to help debug, and also TX/RX LEDs
			* Note, in real low power applications the LEDs should not be used. */
			dwt_setlnapamode(DWT_LNA_ENABLE\|DWT_PA_ENABLE);
			dwt_setleds(DWT_LEDS_ENABLE \| DWT_LEDS_INIT_BLINK);

			/* 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. */
			//设置接收超时时间
			// _dbg_printf("spi 基站成功\n");
			}
			void Dw1000_App_Init(void)
			{
			@@ -362,7 +424,7 @@

			}
			}
			extern uint8_t module_power,imu_enable,motor_enable;

			void Registor_Poll(void)
			{
			static u8 regpoll_count=0;
			@@ -382,7 +444,7 @@
			start_count=HAL_LPTIM_ReadCounter(&hlptim1);
			timeout=50;
			end_count=start_count+(timeout<<2);
			while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_TXFRS)))//不断查询芯片状态直到成功接收或者发生错误
			while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_TXFRS_BIT_MASK)))//不断查询芯片状态直到成功接收或者发生错误
			{
			current_count=HAL_LPTIM_ReadCounter(&hlptim1);
			if(current_count>=end_count&&current_count<end_count+15000)
			@@ -445,7 +507,7 @@
			while(current_count<end_count\|\|current_count>end_count+15000)
			{
			current_count=HAL_LPTIM_ReadCounter(&hlptim1);
			while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG \| SYS_STATUS_ALL_RX_ERR)))//不断查询芯片状态直到成功接收或者发生错误
			while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG_BIT_MASK \| SYS_STATUS_ALL_RX_ERR)))//不断查询芯片状态直到成功接收或者发生错误
			{
			if(flag_finalsend&&flag_ancreadpara)
			{
			@@ -480,10 +542,10 @@
			{
			NVIC_SystemReset();
			}
			if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
			if (status_reg & SYS_STATUS_RXFCG_BIT_MASK)//如果成功接收
			{
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG \| SYS_STATUS_TXFRS);//清楚寄存器标志位
			frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //获得接收到的数据长度
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG_BIT_MASK \| SYS_STATUS_TXFRS_BIT_MASK);//清楚寄存器标志位
			frame_len = dwt_read32bitreg(RX_FINFO_ID) & FRAME_LEN_MAX_EX; //获得接收到的数据长度
			dwt_readrxdata(rx_buffer, frame_len, 0); //读取接收数据
			test2 = dwt_readcarrierintegrator();
			dwt_setrxtimeout(0);//DELAY_BETWEEN_TWO_FRAME_UUS*(nearbase_num+1-recbase_num)+10);//设定接收超时时间，0位没有超时时间
			@@ -581,7 +643,7 @@
			}
			}
			}else{
			dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG\| SYS_STATUS_ALL_RX_ERR);
			dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG_BIT_MASK\| SYS_STATUS_ALL_RX_ERR);
			if(flag_rxon)
			{dwt_rxenable(0);
			}
			@@ -589,7 +651,7 @@
			// dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG\| SYS_STATUS_ALL_RX_ERR);
			}
			dwt_forcetrxoff();
			dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG\| SYS_STATUS_ALL_RX_ERR);
			dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG_BIT_MASK\| SYS_STATUS_ALL_RX_ERR);
			CalculateDists();
			j = 0;
			next_nearbase_num = 0;
			@@ -640,7 +702,7 @@
			exsistbase_list[i] = true_exsistbase_list[i];
			}

			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR\| SYS_STATUS_TXFRS \|SYS_STATUS_RXFCG);
			dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR\| SYS_STATUS_TXFRS_BIT_MASK \|SYS_STATUS_RXFCG_BIT_MASK);
			//HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);

			if(para_update==1)