From a249d25e6f162ea7e17478010864193de4681b74 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期三, 08 四月 2020 21:36:30 +0800
Subject: [PATCH] v1.20
---
源码/核心板/Src/main.c | 795 +++++++++++++-------------------------------------------
1 files changed, 186 insertions(+), 609 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..2ea73e6 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"
@@ -1,120 +1,120 @@
-/*! ----------------------------------------------------------------------------
- * @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
- *
- * Copyright 2015 (c) Decawave Ltd, Dublin, Ireland.
- *
- * All rights reserved.
- *
- * @author Decawave
- */
-#include <string.h>
-#include <stdio.h>
+
+#include "Rcc_Nvic_Systick.h"
+#include "Usart.h"
+#include "Spi.h"
+#include "led.h"
+#include "beep.h"
+#include "dw_driver.h"
+#include "dw_app.h"
+#include "stm32f10x_it.h"
+#include "serial_at_cmd_app.h"
+#include "global_param.h"
+#include "ADC.h"
+#include "modbus.h"
#include "deca_device_api.h"
-#include "deca_regs.h"
-#include "deca_sleep.h"
-#include "lcd.h"
-#include "port.h"
+#include "Flash.h"
+//#define DEBUG_MODE
-/* Example application name and version to display on LCD screen. */
-#define APP_NAME "DS TWR INIT v1.1"
+void Device_Init(void)
+{
+ RCC_Configuration();
+ //SystemInit();
+ NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x5000);
+ Nvic_Init();
+// Systick_Init();
+ TIM3_Int_Init();
+ Led_Init();
+ Beep_Init();
+ DW_GPIO_Init();
+ Uart1_Init();
+ Spi_Init();
+ ADC_Configuration();
+
+ GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
+}
+u8 anchor_type;
+u32 dev_id;
+u8 hbsend[16];
+void HeartBeatInit(void)
+{
+ u16 checksum;
+ hbsend[0]=0x55;
+ hbsend[1]=0xAA;
+ hbsend[2]=0x2;
+ hbsend[3]=0xc;
+ memcpy(&hbsend[4],&g_com_map[DEV_ID],2);
+ checksum = Checksum_u16(&hbsend[2],12);
+ memcpy(&hbsend[14],&checksum,2);
+}
+u16 tyncpoll_time;
+TrackingDiffClass *pUWBDistanceTrackingDiff;
+u8 group_id,sync_mainbase=0,synclost_timer=0;
+uint16_t vel_factor,pos_factor;
-/* Inter-ranging delay period, in milliseconds. */
-#define RNG_DELAY_MS 100
+extern u8 module_power;
+void Program_Init(void)
+{uint16_t i;
+ float temp;
+ u16 temp2;
+ Usart1ParseDataCallback = UsartParseDataHandler;
+ parameter_init();
+ //deca_sleep(1000);
+ HeartBeatInit();
+// g_com_map[DEV_ROLE]=1;
+// g_com_map[DEV_ID]=1;
+// g_com_map[COM_INTERVAL]=10;
+ OUT485_ENABLE;
-/* Default communication configuration. We use here EVK1000's default mode (mode 3). */
-static dwt_config_t config = {
- 2, /* Channel number. */
- DWT_PRF_64M, /* Pulse repetition frequency. */
- DWT_PLEN_1024, /* Preamble length. */
- DWT_PAC32, /* 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_110K, /* Data rate. */
- DWT_PHRMODE_STD, /* PHY header mode. */
- (1025 + 64 - 32) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
-};
-/* Default antenna delay values for 64 MHz PRF. See NOTE 1 below. */
-#define TX_ANT_DLY 0
-#define RX_ANT_DLY 32899
-static uint8 rx_poll_msg[] = {0x00, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x21, 0, 0};
-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};
+#ifdef DEBUG_MODE
+
+// g_com_map[COM_INTERVAL]=50;
+// g_com_map[MAX_REPORT_ANC_NUM]=3;
+// g_com_map[DEV_ID]=1;
+// g_com_map[ANC_POLL]=0;
+// g_com_map[ALARM_DISTANCE1]=100;
+ g_com_map[FILTER_COEFFICIENT]=12;
+#endif
+ //pUWBDistanceTrackingDiff = NewTrackingDiffClass(2, 4, 0.03);
+ dev_id = g_com_map[DEV_ID];
+ group_id=g_com_map[GROUP_ID];
+ vel_factor=g_com_map[FILTER_COEFFICIENT];
+ pos_factor=g_com_map[FILTER_COEFFICIENT];
+ if(dev_id==0)
+ sync_mainbase=1;
+ module_power = g_com_map[POWER];
+ if(module_power>67)
+ {
+ module_power=67;
+ }
+ g_com_map[VERSION] = 0x0114;
+ temp=(float)g_com_map[MAX_REPORT_ANC_NUM]*4/3;
+ temp2=g_com_map[DEV_ID]*g_com_map[MAX_REPORT_ANC_NUM]*4/3;
+ if(temp2<temp)
+ {
+ temp2++;
+ }
+ tyncpoll_time=g_com_map[DEV_ID]*(temp2);
+ if(g_com_map[DEV_ROLE])
+ {
+ printf("标签ID: %d .\r\n",dev_id);
+ printf("通讯间隔: %d ms.\r\n",g_com_map[COM_INTERVAL]);
+ printf("单次通讯基站数量: %d个.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
+ }else{
+ anchor_type = dev_id%g_com_map[MAX_REPORT_ANC_NUM];
+ printf("基站ID: %x .\r\n",dev_id);
+ printf("基站类型: %c .\r\n",anchor_type+0x41);
+ printf("单次通讯基站数量: %d个.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
+ }
+ OUT485_DISABLE;
+// printf("DEVICE PAIRID: %d .\r\n",g_com_map[PAIR_ID]);
+// printf("DEVICE ALARM DISTANCE: 1.%d 2.%d 3.%d .\r\n",g_com_map[ALARM_DISTANCE1],g_com_map[ALARM_DISTANCE2],g_com_map[ALARM_DISTANCE3]);
-/* 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};
-static uint8 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};
-/* Length of the common part of the message (up to and including the function code, see NOTE 2 below). */
-typedef signed long long int64;
-typedef unsigned long long uint64;
-static uint64 poll_rx_ts;
-static uint64 resp_tx_ts;
-static uint64 final_rx_ts;
-
-static double tof;
-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. */
-#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
-/* Frame sequence number, incremented after each transmission. */
-static uint32 frame_seq_nb = 0;
-
-/* Buffer to store received response message.
- * 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];
-
-/* Hold copy of status register state here for reference, so reader can examine it at a breakpoint. */
-static uint32 status_reg = 0;
-
-/* UWB microsecond (uus) to device time unit (dtu, around 15.65 ps) conversion factor.
- * 1 uus = 512 / 499.2 祍 and 1 祍 = 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 4100
-/* Receive response timeout. See NOTE 5 below. */
-#define RESP_RX_TIMEOUT_UUS 14700
-
-#define POLL_RX_TO_RESP_TX_DLY_UUS 3600
-/* 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 500
-/* Receive final timeout. See NOTE 5 below. */
-#define FINAL_RX_TIMEOUT_UUS 4300
-#define SPEED_OF_LIGHT 299702547
-/* Time-stamps of frames transmission/reception, expressed in device time units.
- * As they are 40-bit wide, we need to define a 64-bit int type to handle them. */
-typedef unsigned long long uint64;
-static uint64 poll_tx_ts;
-static uint64 resp_rx_ts;
-static uint64 final_tx_ts;
-
-/* Declaration of static functions. */
-static uint64 get_tx_timestamp_u64(void);
-static uint64 get_rx_timestamp_u64(void);
-static void final_msg_set_ts(uint8 *ts_field, uint64 ts);
+ for(i=0;i<255;i++)
+ {
+ g_Tagdist[i]=0xffff;
+ }
+}
/*! ------------------------------------------------------------------------------------------------------------------
* @fn main()
@@ -125,515 +125,92 @@
*
* @return none
*/
- static void final_msg_get_ts(const uint8 *ts_field, uint32 *ts)
-{
- int i;
- *ts = 0;
- for (i = 0; i < FINAL_MSG_TS_LEN; i++)
- {
- *ts += ts_field[i] << (i * 8);
- }
+void HeatBeat(void)
+{
+UART_PushFrame(hbsend,16);
}
- void GPIO_Toggle(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin)
+extern u8 g_start_sync_flag;
+u16 heartbeat_timer,poll_timer,sync_timer;
+void IdleTask(void)
{
- 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 ?
-
-while (!(USART1->SR & USART_FLAG_TXE));
-
-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);
-
- /* Loop until the end of transmission */
- while (USART_GetFlagStatus(USART1, USART_FLAG_TC) == RESET) ;
-}
-
-void USART_puts(uint8_t *s,uint8_t len)
-{
- int i;
- for(i=0; i<len; i++)
+ g_start_sync_flag=0;
+ UART_CheckReceive();
+ UART_CheckSend();
+ if(heartbeat_timer>1000)
{
- USART_putc(s[i]);
+ heartbeat_timer=0;
+ if(g_com_map[HEARTBEAT]&&g_com_map[DEV_ROLE]==0)
+ HeatBeat();
}
-}
-int ld[100];
-int LP(int tmp,uint8_t channel)
-{
-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 sum = 0;
- uint32_t 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);
-}
-}
-extern volatile unsigned long time32_reset;
-extern uint8_t Work_Mode;
-uint32 frame_len;
-uint8_t send[9];
-char dist_str[16] = {0};
-int32_t dis;
-double dID;
-uint8_t TAG_ID,ANCHOR_ID, jumptime=0;
-uint32_t rec_dist,hex_dist;
-uint16_t check;
+
+ if(g_com_map[CNT_UPDATE]==1)
+ {
+ uint32_t result = 0;
+ u16 tmp = 0xAAAA;
+ __disable_irq();
+ result = FLASH_Prepare(0x8004A38, 2);
+ if(result)
+ result = FLASH_Write(0x8004A38, (const uint8_t*)&tmp, 2);
+ __enable_irq();
+ printf("进入升级模式\r\n");
+ g_com_map[CNT_UPDATE]=0;
+ save_com_map_to_flash();
+ delay_ms(100);
+ // STMFLASH_Write_NoCheck(0x8004A38,0xAAAA);
+ // Delay_ms(100);
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
+ if(g_com_map[CNT_REBOOT]==1)
+ {
+ g_com_map[CNT_REBOOT]=0;
+ g_com_map[MAP_SIGN_INDEX]=0;
+ save_com_map_to_flash();
+ delay_ms(100);
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
+ if(g_com_map[CNT_RESTART]==1)
+ {
+ g_com_map[CNT_RESTART]=0;
+ save_com_map_to_flash();
+ delay_ms(100);
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
+
+ }
+uint16_t temp;
+float dw_vbat;
int main(void)
{
- RCC_ClocksTypeDef RCC_Clocks; /* Start with board specific hardware init. */
- peripherals_init();//初始化外设
-RCC_GetClocksFreq(&RCC_Clocks);
- /* Display application name on LCD. */
- // 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
- * performance. */
- reset_DW1000();//重启DW1000 /* Target specific drive of RSTn line into DW1000 low for a period. */
- spi_set_rate_low();//降低SPI频率
- dwt_initialise(DWT_LOADUCODE);//初始化DW1000
- spi_set_rate_high();//回复SPI频率
-
- /* Configure DW1000. See NOTE 6 below. */
- dwt_configure(&config);//配置DW1000
-
- /* 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
-
- /* 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
-
- 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
+
+ Device_Init();
+ Program_Init();
+ Dw1000_Init();
+ delay_ms(10);
+ Dw1000_App_Init();
/* 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)
- {
- /* 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
+ RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE);
+ usart_send[0]=0x55;
+ usart_send[1]=0xAA;
+ Modbus_RegMap();
+ while(1)
+ {
+ if(g_start_send_flag)
+ {
+ g_start_send_flag = 0;
+ temp=dwt_readtempvbat(1);
+ dw_vbat=(float)(temp&0xff-173)/173+3.3;
+ if(dw_vbat>2.8)
+ Tag_App();
+ }//else{
+ IdleTask();
+// }
+//
+if(g_com_map[DEV_ROLE]==0)
+ Anchor_App();
- /* 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
- {
- 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
- {
- /* 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);
- }
- }
-
}
}
-/*! ------------------------------------------------------------------------------------------------------------------
- * @fn get_tx_timestamp_u64()
- *
- * @brief Get the TX time-stamp in a 64-bit variable.
- * /!\ This function assumes that length of time-stamps is 40 bits, for both TX and RX!
- *
- * @param none
- *
- * @return 64-bit value of the read time-stamp.
- */
-static uint64 get_tx_timestamp_u64(void)
-{
- uint8 ts_tab[5];
- uint64 ts = 0;
- int i;
- dwt_readtxtimestamp(ts_tab);
- for (i = 4; i >= 0; i--)
- {
- ts <<= 8;
- ts |= ts_tab[i];
- }
- return ts;
-}
-/*! ------------------------------------------------------------------------------------------------------------------
- * @fn get_rx_timestamp_u64()
- *
- * @brief Get the RX time-stamp in a 64-bit variable.
- * /!\ This function assumes that length of time-stamps is 40 bits, for both TX and RX!
- *
- * @param none
- *
- * @return 64-bit value of the read time-stamp.
- */
-static uint64 get_rx_timestamp_u64(void)
-{
- uint8 ts_tab[5];
- uint64 ts = 0;
- int i;
- dwt_readrxtimestamp(ts_tab);
- for (i = 4; i >= 0; i--)
- {
- ts <<= 8;
- ts |= ts_tab[i];
- }
- return ts;
-}
-/*! ------------------------------------------------------------------------------------------------------------------
- * @fn final_msg_set_ts()
- *
- * @brief Fill a given timestamp field in the final message with the given value. In the timestamp fields of the final
- * message, the least significant byte is at the lower address.
- *
- * @param ts_field pointer on the first byte of the timestamp field to fill
- * ts timestamp value
- *
- * @return none
- */
-static void final_msg_set_ts(uint8 *ts_field, uint64 ts)
-{
- int i;
- for (i = 0; i < FINAL_MSG_TS_LEN; i++)
- {
- ts_field[i] = (uint8) ts;
- ts >>= 8;
- }
-}
-
-/*****************************************************************************************************************************************************
- * 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.
- ****************************************************************************************************************************************************/
--
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