From 7bd852c98c52c306e3628acedc33149ebee3cff6 Mon Sep 17 00:00:00 2001
From: guanjiao <sqrgj@163.com>
Date: 星期六, 12 五月 2018 23:35:39 +0800
Subject: [PATCH] format all the code
---
源码/核心板/Src/main.c | 579 +++++++++++++++++++++++++++++----------------------------
1 files changed, 294 insertions(+), 285 deletions(-)
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
index 640c1b3..20697f8 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
@@ -32,7 +32,8 @@
#define RNG_DELAY_MS 100
/* Default communication configuration. We use here EVK1000's default mode (mode 3). */
-static dwt_config_t config = {
+static dwt_config_t config =
+{
2, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
DWT_PLEN_1024, /* Preamble length. */
@@ -51,7 +52,7 @@
static uint8 tx_resp_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'V', 'E', 'W', 'A', 0x10, 0x02, 0, 0, 0, 0};
static uint8 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};
-
+
/* Frames used in the ranging process. See NOTE 2 below. */
static uint8 tx_poll_msg[] = {0x00, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x21, 0, 0};
static uint8 rx_resp_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'V', 'E', 'W', 'A', 0x10, 0x02, 0, 0, 0, 0};
@@ -64,7 +65,7 @@
static uint64 final_rx_ts;
static double tof;
-static double distance,dist2;
+static double distance, dist2;
int16_t dist[8];
#define ALL_MSG_COMMON_LEN 10
/* Indexes to access some of the fields in the frames defined above. */
@@ -80,7 +81,7 @@
* Its size is adjusted to longest frame that this example code is supposed to handle. */
#define RX_BUF_LEN 20
#define RX_BUF_LEN2 24
-static uint8 rx_buffer[RX_BUF_LEN+4];
+static uint8 rx_buffer[RX_BUF_LEN + 4];
/* Hold copy of status register state here for reference, so reader can examine it at a breakpoint. */
static uint32 status_reg = 0;
@@ -125,7 +126,7 @@
*
* @return none
*/
- static void final_msg_get_ts(const uint8 *ts_field, uint32 *ts)
+static void final_msg_get_ts(const uint8 *ts_field, uint32 *ts)
{
int i;
*ts = 0;
@@ -134,67 +135,67 @@
*ts += ts_field[i] << (i * 8);
}
}
- void GPIO_Toggle(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin)
+void GPIO_Toggle(GPIO_TypeDef *GPIOx, uint16_t GPIO_Pin)
{
- GPIO_WriteBit(GPIOx, GPIO_Pin, (BitAction)!GPIO_ReadOutputDataBit(GPIOx, GPIO_Pin));
+ GPIO_WriteBit(GPIOx, GPIO_Pin, (BitAction)!GPIO_ReadOutputDataBit(GPIOx, GPIO_Pin));
}
int fputc(int ch, FILE *f)
{
-USART_SendData(USART1, (unsigned char) ch);// USART1 ???? USART2 ?
+ USART_SendData(USART1, (unsigned char) ch);// USART1 ???? USART2 ?
-while (!(USART1->SR & USART_FLAG_TXE));
+ while (!(USART1->SR & USART_FLAG_TXE));
-return (ch);
+ return (ch);
}
void USART_putc(char c)
{
- //while(!(USART2->SR & 0x00000040));
- //USART_SendData(USART2,c);
- /* e.g. write a character to the USART */
- USART_SendData(USART1, c);
+ //while(!(USART2->SR & 0x00000040));
+ //USART_SendData(USART2,c);
+ /* e.g. write a character to the USART */
+ USART_SendData(USART1, c);
- /* Loop until the end of transmission */
- while (USART_GetFlagStatus(USART1, USART_FLAG_TC) == RESET) ;
+ /* Loop until the end of transmission */
+ while (USART_GetFlagStatus(USART1, USART_FLAG_TC) == RESET) ;
}
-void USART_puts(uint8_t *s,uint8_t len)
+void USART_puts(uint8_t *s, uint8_t len)
{
- int i;
- for(i=0; i<len; i++)
- {
- USART_putc(s[i]);
- }
+ int i;
+ for(i = 0; i < len; i++)
+ {
+ USART_putc(s[i]);
+ }
}
int ld[100];
-int LP(int tmp,uint8_t channel)
+int LP(int tmp, uint8_t channel)
{
-int data;
- data = 0.7*ld[channel]+0.3*tmp;
- ld[channel]=data;
- return data;
+ int data;
+ data = 0.7 * ld[channel] + 0.3 * tmp;
+ ld[channel] = data;
+ return data;
}
-uint16_t Checksum_u16(uint8_t* pdata, uint32_t len)
+uint16_t Checksum_u16(uint8_t *pdata, uint32_t len)
{
uint16_t sum = 0;
uint32_t i;
- for(i=0; i<len; i++)
+ for(i = 0; i < len; i++)
sum += pdata[i];
sum = ~sum;
return sum;
}
void LED_blink(void)
{
- uint8_t ii;
- for (ii=0;ii<10;ii++)
-{
- GPIO_Toggle(GPIOA,LED_PIN);
- deca_sleep(100);
-}
+ uint8_t ii;
+ for (ii = 0; ii < 10; ii++)
+ {
+ GPIO_Toggle(GPIOA, LED_PIN);
+ deca_sleep(100);
+ }
}
extern volatile unsigned long time32_reset;
extern uint8_t Work_Mode;
@@ -203,16 +204,16 @@
char dist_str[16] = {0};
int32_t dis;
double dID;
-uint8_t TAG_ID,ANCHOR_ID, jumptime=0;
-uint32_t rec_dist,hex_dist;
+uint8_t TAG_ID, ANCHOR_ID, jumptime = 0;
+uint32_t rec_dist, hex_dist;
uint16_t check;
int main(void)
{
- RCC_ClocksTypeDef RCC_Clocks; /* Start with board specific hardware init. */
+ RCC_ClocksTypeDef RCC_Clocks; /* Start with board specific hardware init. */
peripherals_init();//初始化外设
-RCC_GetClocksFreq(&RCC_Clocks);
+ RCC_GetClocksFreq(&RCC_Clocks);
/* Display application name on LCD. */
- // lcd_display_str(APP_NAME);
+ // lcd_display_str(APP_NAME);
/* Reset and initialise DW1000.
* For initialisation, DW1000 clocks must be temporarily set to crystal speed. After initialisation SPI rate can be increased for optimum
@@ -234,275 +235,283 @@
dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS);//设置发送后开启接收，并设定延迟时间
dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS); //设置接收超时时间
- send[0]=0x6D; //串口数据
- send[1]=0xD6; //串口数据
+ send[0] = 0x6D; //串口数据
+ send[1] = 0xD6; //串口数据
- tx_poll_msg[6] = ANCHOR_ID; //UWB POLL 包数据
- rx_resp_msg[6] = ANCHOR_ID; //UWB RESPONSE 包数据
- tx_final_msg[6] = ANCHOR_ID;//UWB Fianl 包数据
-
- rx_poll_msg[6] = ANCHOR_ID;
- tx_resp_msg[6] = ANCHOR_ID;
- rx_final_msg[6] = ANCHOR_ID;
-
- tx_poll_msg[5] = TAG_ID;//UWB POLL 包数据
- rx_resp_msg[5] = TAG_ID;//UWB RESPONSE 包数据
- tx_final_msg[5] = TAG_ID;//UWB Fianl 包数据
+ tx_poll_msg[6] = ANCHOR_ID; //UWB POLL 包数据
+ rx_resp_msg[6] = ANCHOR_ID; //UWB RESPONSE 包数据
+ tx_final_msg[6] = ANCHOR_ID;//UWB Fianl 包数据
+
+ rx_poll_msg[6] = ANCHOR_ID;
+ tx_resp_msg[6] = ANCHOR_ID;
+ rx_final_msg[6] = ANCHOR_ID;
+
+ tx_poll_msg[5] = TAG_ID;//UWB POLL 包数据
+ rx_resp_msg[5] = TAG_ID;//UWB RESPONSE 包数据
+ tx_final_msg[5] = TAG_ID;//UWB Fianl 包数据
/* Loop forever initiating ranging exchanges. */
- LED_blink();
- if(!Work_Mode) //选择发送模式（TAG标签）还是接收模式(ANCHOR基站)
- {
- while (1) //发送模式(TAG标签)
+ LED_blink();
+ if(!Work_Mode) //选择发送模式（TAG标签）还是接收模式(ANCHOR基站)
{
- /* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
- tx_poll_msg[ALL_MSG_SN_IDX] = frame_seq_nb;
- dwt_writetxdata(sizeof(tx_poll_msg), tx_poll_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
- dwt_writetxfctrl(sizeof(tx_poll_msg), 0);//设置超宽带发送数据长度
-
- /* 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);//开启发送，发送完成后等待一段时间开启接收，等待时间在dwt_setrxaftertxdelay中设置
-
- /* 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)))//不断查询芯片状态直到成功接收或者发生错误
- { };
-
- /* Increment frame sequence number after transmission of the poll message (modulo 256). */
- frame_seq_nb++;
-
- if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
+ while (1) //发送模式(TAG标签)
{
- uint32 frame_len;
+ /* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
+ tx_poll_msg[ALL_MSG_SN_IDX] = frame_seq_nb;
+ dwt_writetxdata(sizeof(tx_poll_msg), tx_poll_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+ dwt_writetxfctrl(sizeof(tx_poll_msg), 0);//设置超宽带发送数据长度
- /* Clear good RX frame event and TX frame sent in the DW1000 status register. */
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚寄存器标志位
+ /* 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);//开启发送，发送完成后等待一段时间开启接收，等待时间在dwt_setrxaftertxdelay中设置
- /* A frame has been received, read it into the local buffer. */
- frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //获得接收到的数据长度
+ /* 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)))//不断查询芯片状态直到成功接收或者发生错误
+ { };
+
+ /* Increment frame sequence number after transmission of the poll message (modulo 256). */
+ frame_seq_nb++;
+
+ if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
+ {
+ uint32 frame_len;
+
+ /* Clear good RX frame event and TX frame sent in the DW1000 status register. */
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚寄存器标志位
+
+ /* A frame has been received, read it into the local buffer. */
+ frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //获得接收到的数据长度
dwt_readrxdata(rx_buffer, frame_len, 0); //读取接收数据
- /* 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[9]==0x10)//判断接收到的数据是否是response数据
- {
- uint32 final_tx_time;
-
-
- /* Retrieve poll transmission and response reception timestamp. */
- poll_tx_ts = get_tx_timestamp_u64(); //获得POLL发送时间T1
- resp_rx_ts = get_rx_timestamp_u64(); //获得RESPONSE接收时间T4
-
- memcpy(&dist[TAG_ID],&rx_buffer[11],2);
-
- /* 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;//计算final包发送时间，T5=T4+Treply2
- dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
-
- /* Final TX timestamp is the transmission time we programmed plus the TX antenna delay. */
- final_tx_ts = (((uint64)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final包实际发送时间是计算时间加上发送天线delay
-
- /* Write all timestamps in the final message. See NOTE 10 below. */
- final_msg_set_ts(&tx_final_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据
- final_msg_set_ts(&tx_final_msg[FINAL_MSG_RESP_RX_TS_IDX], resp_rx_ts);
- 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);//将发送数据写入DW1000
- dwt_writetxfctrl(sizeof(tx_final_msg), 0);//设定发送数据长度
- dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
-
- if (GPIO_ReadInputDataBit(GPIOA,SW2) != RESET) //通过拨码开关判断数据输出格式
- {
- dID=TAG_ID;
- printf("TAG_ID: %2.0f ", dID);
- dID=ANCHOR_ID;
- printf("ANCHOR_ID: %2.0f ", dID);
- printf("Distance: %5.0f cm\n", (double)dist[TAG_ID]);
- }else{
- send[2] = ANCHOR_ID;
- send[3] = TAG_ID;
-
- memcpy(&send[4],&dist[TAG_ID],2);
- check=Checksum_u16(&send[2],6);
- memcpy(&send[8],&check,2);
- USART_puts(send,10);
- }
- /* Poll DW1000 until TX frame sent event set. See NOTE 8 below. */
- while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成
- { };
-
- /* Clear TXFRS event. */
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//清楚标志位
-
- /* Increment frame sequence number after transmission of the final message (modulo 256). */
- frame_seq_nb++;
- time32_reset = 0;
- GPIO_Toggle(GPIOA,LED_PIN);//LED闪烁
- jumptime = 0;
- }else{
- jumptime =5;//如果通讯失败，将间隔时间增加5ms，避开因为多标签同时发送引起的冲突。
- }
- }
- else
- {
- /* Clear RX error events in the DW1000 status register. */
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
- jumptime =5;
- }
-
- /* Execute a delay between ranging exchanges. */
- deca_sleep(RNG_DELAY_MS+jumptime);//休眠固定时间
- }
- }else{
- while (1)//接收模式(ANCHOR基站)
- {
- /* Clear reception timeout to start next ranging process. */
- dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
-
- /* Activate reception immediately. */
- dwt_rxenable(0);//打开接收
-
- /* 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)))//不断查询芯片状态直到接收成功或者出现错误
- { };
-
- if (status_reg & SYS_STATUS_RXFCG)//成功接收
- {
-
-
- /* Clear good RX frame event in the DW1000 status register. */
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);//清楚标志位
-
- /* A frame has been received, read it into the local buffer. */
- frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//获得接收数据长度
-
- dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
-
-
- /* 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;
- TAG_ID = rx_buffer[5];
- rx_poll_msg[5] = TAG_ID;//为多标签通讯服务，防止一次通讯中接收到不同ID标签的数据
- tx_resp_msg[5] = TAG_ID;
- rx_final_msg[5] = TAG_ID;
- if (rx_buffer[9]==0x21)//判断是否是poll包数据
- {
- uint32 resp_tx_time;
-
- /* Retrieve poll reception timestamp. */
- poll_rx_ts = get_rx_timestamp_u64();//获得Poll包接收时间T2
-
- /* Set send time for response. See NOTE 8 below. */
- resp_tx_time = (poll_rx_ts + (POLL_RX_TO_RESP_TX_DLY_UUS * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
- dwt_setdelayedtrxtime(resp_tx_time);//设置Response发送时间T3
-
- /* Set expected delay and timeout for final message reception. */
- dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS);//设置发送完成后开启接收延迟时间
- dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间
-
- /* Write and send the response message. See NOTE 9 below.*/
- memcpy(&tx_resp_msg[11],&dist[TAG_ID],2);
- tx_resp_msg[ALL_MSG_SN_IDX] = frame_seq_nb;
- dwt_writetxdata(sizeof(tx_resp_msg), tx_resp_msg, 0);//写入发送数据
- dwt_writetxfctrl(sizeof(tx_resp_msg), 0);//设定发送长度
- dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，等待接收
-
- /* 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)))///不断查询芯片状态直到接收成功或者出现错误
- { };
-
- /* Increment frame sequence number after transmission of the response message (modulo 256). */
- frame_seq_nb++;
-
- if (status_reg & SYS_STATUS_RXFCG)//接收成功
+ /* 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[9] == 0x10) //判断接收到的数据是否是response数据
{
- /* Clear good RX frame event and TX frame sent in the DW1000 status register. */
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚标志位
+ uint32 final_tx_time;
- /* A frame has been received, read it into the local buffer. */
- frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;//数据长度
- dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
-
+ /* Retrieve poll transmission and response reception timestamp. */
+ poll_tx_ts = get_tx_timestamp_u64(); //获得POLL发送时间T1
+ resp_rx_ts = get_rx_timestamp_u64(); //获得RESPONSE接收时间T4
- /* 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[9]==0x23)//判断是否为Fianl包
+ memcpy(&dist[TAG_ID], &rx_buffer[11], 2);
+
+ /* 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;//计算final包发送时间，T5=T4+Treply2
+ dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
+
+ /* Final TX timestamp is the transmission time we programmed plus the TX antenna delay. */
+ final_tx_ts = (((uint64)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final包实际发送时间是计算时间加上发送天线delay
+
+ /* Write all timestamps in the final message. See NOTE 10 below. */
+ final_msg_set_ts(&tx_final_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据
+ final_msg_set_ts(&tx_final_msg[FINAL_MSG_RESP_RX_TS_IDX], resp_rx_ts);
+ 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);//将发送数据写入DW1000
+ dwt_writetxfctrl(sizeof(tx_final_msg), 0);//设定发送数据长度
+ dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
+
+ if (GPIO_ReadInputDataBit(GPIOA, SW2) != RESET) //通过拨码开关判断数据输出格式
{
- uint32 poll_tx_ts, resp_rx_ts, final_tx_ts;
- uint32 poll_rx_ts_32, resp_tx_ts_32, final_rx_ts_32;
- double Ra, Rb, Da, Db;
- int64 tof_dtu;
-
- /* Retrieve response transmission and final reception timestamps. */
- resp_tx_ts = get_tx_timestamp_u64();//获得response发送时间T3
- final_rx_ts = get_rx_timestamp_u64();//获得final接收时间T6
-
- /* Get timestamps embedded in the final message. */
- final_msg_get_ts(&rx_buffer[FINAL_MSG_POLL_TX_TS_IDX], &poll_tx_ts);//从接收数据中读取T1，T4，T5
- 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);
-
- /* Compute time of flight. 32-bit subtractions give correct answers even if clock has wrapped. See NOTE 10 below. */
- poll_rx_ts_32 = (uint32)poll_rx_ts;//使用32位数据计算
- resp_tx_ts_32 = (uint32)resp_tx_ts;
- final_rx_ts_32 = (uint32)final_rx_ts;
- Ra = (double)(resp_rx_ts - poll_tx_ts);//Tround1 = T4 - T1
- Rb = (double)(final_rx_ts_32 - resp_tx_ts_32);//Tround2 = T6 - T3
- Da = (double)(final_tx_ts - resp_rx_ts);//Treply2 = T5 - T4
- Db = (double)(resp_tx_ts_32 - poll_rx_ts_32);//Treply1 = T3 - T2
- tof_dtu = (int64)((Ra * Rb - Da * Db) / (Ra + Rb + Da + Db));//计算公式
-
- tof = tof_dtu * DWT_TIME_UNITS;
- distance = tof * SPEED_OF_LIGHT;//距离=光速*飞行时间
- dist2 = distance - dwt_getrangebias(config.chan,(float)distance, config.prf);//距离减去矫正系数
-
- dis = dist2*100;//dis 为单位为cm的距离
- dist[TAG_ID] = LP(dis,TAG_ID);//LP 为低通滤波器，让数据更稳定
- time32_reset = 0;
- GPIO_Toggle(GPIOA,LED_PIN);
- if (GPIO_ReadInputDataBit(GPIOA,SW2) != RESET) //通过拨码开关判断数据输出格式
- {
- dID=TAG_ID;
- printf("TAG_ID: %2.0f ", dID);
- dID=ANCHOR_ID;
- printf("ANCHOR_ID: %2.0f ", dID);
+ dID = TAG_ID;
+ printf("TAG_ID: %2.0f ", dID);
+ dID = ANCHOR_ID;
+ printf("ANCHOR_ID: %2.0f ", dID);
printf("Distance: %5.0f cm\n", (double)dist[TAG_ID]);
- }else{
- send[2] = ANCHOR_ID;
- send[3] = TAG_ID;
-
- memcpy(&send[4],&dist[TAG_ID],2);
- check=Checksum_u16(&send[2],6);
- memcpy(&send[8],&check,2);
- USART_puts(send,10);
- }
-
}
+ else
+ {
+ send[2] = ANCHOR_ID;
+ send[3] = TAG_ID;
+
+ memcpy(&send[4], &dist[TAG_ID], 2);
+ check = Checksum_u16(&send[2], 6);
+ memcpy(&send[8], &check, 2);
+ USART_puts(send, 10);
+ }
+ /* Poll DW1000 until TX frame sent event set. See NOTE 8 below. */
+ while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成
+ { };
+
+ /* Clear TXFRS event. */
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//清楚标志位
+
+ /* Increment frame sequence number after transmission of the final message (modulo 256). */
+ frame_seq_nb++;
+ time32_reset = 0;
+ GPIO_Toggle(GPIOA, LED_PIN); //LED闪烁
+ jumptime = 0;
}
else
{
- /* Clear RX error events in the DW1000 status register. */
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
+ jumptime = 5; //如果通讯失败，将间隔时间增加5ms，避开因为多标签同时发送引起的冲突。
}
}
- }
- else
- {
- /* Clear RX error events in the DW1000 status register. */
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
+ else
+ {
+ /* Clear RX error events in the DW1000 status register. */
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
+ jumptime = 5;
+ }
+
+ /* Execute a delay between ranging exchanges. */
+ deca_sleep(RNG_DELAY_MS + jumptime); //休眠固定时间
}
}
-
-
- }
+ else
+ {
+ while (1)//接收模式(ANCHOR基站)
+ {
+ /* Clear reception timeout to start next ranging process. */
+ dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
+
+ /* Activate reception immediately. */
+ dwt_rxenable(0);//打开接收
+
+ /* 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)))//不断查询芯片状态直到接收成功或者出现错误
+ { };
+
+ if (status_reg & SYS_STATUS_RXFCG)//成功接收
+ {
+
+
+ /* Clear good RX frame event in the DW1000 status register. */
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);//清楚标志位
+
+ /* A frame has been received, read it into the local buffer. */
+ frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//获得接收数据长度
+
+ dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
+
+
+ /* 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;
+ TAG_ID = rx_buffer[5];
+ rx_poll_msg[5] = TAG_ID;//为多标签通讯服务，防止一次通讯中接收到不同ID标签的数据
+ tx_resp_msg[5] = TAG_ID;
+ rx_final_msg[5] = TAG_ID;
+ if (rx_buffer[9] == 0x21) //判断是否是poll包数据
+ {
+ uint32 resp_tx_time;
+
+ /* Retrieve poll reception timestamp. */
+ poll_rx_ts = get_rx_timestamp_u64();//获得Poll包接收时间T2
+
+ /* Set send time for response. See NOTE 8 below. */
+ resp_tx_time = (poll_rx_ts + (POLL_RX_TO_RESP_TX_DLY_UUS * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
+ dwt_setdelayedtrxtime(resp_tx_time);//设置Response发送时间T3
+
+ /* Set expected delay and timeout for final message reception. */
+ dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS);//设置发送完成后开启接收延迟时间
+ dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间
+
+ /* Write and send the response message. See NOTE 9 below.*/
+ memcpy(&tx_resp_msg[11], &dist[TAG_ID], 2);
+ tx_resp_msg[ALL_MSG_SN_IDX] = frame_seq_nb;
+ dwt_writetxdata(sizeof(tx_resp_msg), tx_resp_msg, 0);//写入发送数据
+ dwt_writetxfctrl(sizeof(tx_resp_msg), 0);//设定发送长度
+ dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，等待接收
+
+ /* 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)))///不断查询芯片状态直到接收成功或者出现错误
+ { };
+
+ /* Increment frame sequence number after transmission of the response message (modulo 256). */
+ frame_seq_nb++;
+
+ if (status_reg & SYS_STATUS_RXFCG)//接收成功
+ {
+ /* Clear good RX frame event and TX frame sent in the DW1000 status register. */
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚标志位
+
+ /* A frame has been received, read it into the local buffer. */
+ frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;//数据长度
+
+ dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
+
+
+ /* 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[9] == 0x23) //判断是否为Fianl包
+ {
+ uint32 poll_tx_ts, resp_rx_ts, final_tx_ts;
+ uint32 poll_rx_ts_32, resp_tx_ts_32, final_rx_ts_32;
+ double Ra, Rb, Da, Db;
+ int64 tof_dtu;
+
+ /* Retrieve response transmission and final reception timestamps. */
+ resp_tx_ts = get_tx_timestamp_u64();//获得response发送时间T3
+ final_rx_ts = get_rx_timestamp_u64();//获得final接收时间T6
+
+ /* Get timestamps embedded in the final message. */
+ final_msg_get_ts(&rx_buffer[FINAL_MSG_POLL_TX_TS_IDX], &poll_tx_ts);//从接收数据中读取T1，T4，T5
+ 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);
+
+ /* Compute time of flight. 32-bit subtractions give correct answers even if clock has wrapped. See NOTE 10 below. */
+ poll_rx_ts_32 = (uint32)poll_rx_ts;//使用32位数据计算
+ resp_tx_ts_32 = (uint32)resp_tx_ts;
+ final_rx_ts_32 = (uint32)final_rx_ts;
+ Ra = (double)(resp_rx_ts - poll_tx_ts);//Tround1 = T4 - T1
+ Rb = (double)(final_rx_ts_32 - resp_tx_ts_32);//Tround2 = T6 - T3
+ Da = (double)(final_tx_ts - resp_rx_ts);//Treply2 = T5 - T4
+ Db = (double)(resp_tx_ts_32 - poll_rx_ts_32);//Treply1 = T3 - T2
+ tof_dtu = (int64)((Ra * Rb - Da * Db) / (Ra + Rb + Da + Db));//计算公式
+
+ tof = tof_dtu * DWT_TIME_UNITS;
+ distance = tof * SPEED_OF_LIGHT;//距离=光速*飞行时间
+ dist2 = distance - dwt_getrangebias(config.chan, (float)distance, config.prf); //距离减去矫正系数
+
+ dis = dist2 * 100; //dis 为单位为cm的距离
+ dist[TAG_ID] = LP(dis, TAG_ID); //LP 为低通滤波器，让数据更稳定
+ time32_reset = 0;
+ GPIO_Toggle(GPIOA, LED_PIN);
+ if (GPIO_ReadInputDataBit(GPIOA, SW2) != RESET) //通过拨码开关判断数据输出格式
+ {
+ dID = TAG_ID;
+ printf("TAG_ID: %2.0f ", dID);
+ dID = ANCHOR_ID;
+ printf("ANCHOR_ID: %2.0f ", dID);
+ printf("Distance: %5.0f cm\n", (double)dist[TAG_ID]);
+ }
+ else
+ {
+ send[2] = ANCHOR_ID;
+ send[3] = TAG_ID;
+
+ memcpy(&send[4], &dist[TAG_ID], 2);
+ check = Checksum_u16(&send[2], 6);
+ memcpy(&send[8], &check, 2);
+ USART_puts(send, 10);
+ }
+
+ }
+ }
+ else
+ {
+ /* Clear RX error events in the DW1000 status register. */
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
+ }
+ }
+ }
+ else
+ {
+ /* Clear RX error events in the DW1000 status register. */
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
+ }
+ }
+
+
+ }
}
/*! ------------------------------------------------------------------------------------------------------------------
--
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