From d74cb2bd098186eef245b733aae6945db77a7431 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期五, 28 七月 2023 18:11:40 +0800
Subject: [PATCH] 修复bug，可以跟dw3000的接收端测距。
---
Src/application/dw_app.c | 157 ++++++++++++++++++++++++++++++++++++----------------
1 files changed, 109 insertions(+), 48 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index deaf7f0..ad53ef6 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -33,9 +33,7 @@
//#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
@@ -73,7 +71,7 @@
#define FINAL_MSG_RESP_RX_TS_IDX 14
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4
-
+extern dwt_rxdiag_t rx_diag;
//#define _UWB_4G
//static dwt_config_t config = {
@@ -97,9 +95,9 @@
#ifdef _UWB_4G
2, /* Channel number. */
#else
- 5,
+ 9,
#endif
- DWT_PLEN_64, /* Preamble length. Used in TX only. */
+ DWT_PLEN_128, /* 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. */
@@ -107,7 +105,7 @@
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. */
+ (129 + 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 */
@@ -212,7 +210,7 @@
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() ;
+// 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)
@@ -231,22 +229,23 @@
while (1)
{ };
}
-
+ dw3000_id=dwt_read32bitreg(SYS_STATUS_ID);;
/* 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_configciadiag(1);
// 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);
-
+// dwt_setlnapamode(DWT_LNA_ENABLE|DWT_PA_ENABLE);
+// dwt_entersleep();
+// dwt_setleds(DWT_LEDS_ENABLE | DWT_LEDS_INIT_BLINK);
+// dw3000_id=dwt_read32bitreg(SYS_STATUS_ID);;
// _dbg_printf("spi 基站 成功\n");
}
void Dw1000_App_Init(void)
@@ -281,8 +280,8 @@
extern uint8_t g_pairstart;
void tag_sleep_configuraion(void)
{
- dwt_configuresleep(0x940, 0x7);
- dwt_entersleep();
+// dwt_configuresleep(0x940, 0x7);
+// dwt_entersleep();
}
extern uint8_t g_start_send_flag;
@@ -412,7 +411,7 @@
#else
clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_5 / 1.0e6) ;
#endif
- rtd_init = tag_resprx[i] - poll_tx_ts;
+ rtd_init = tag_resprx[i] - poll_tx_ts&0xffffffff;
rtd_resp = anc_resptx[i] - anc_pollrx[i];
tof = ((rtd_init - rtd_resp * (1 - clockOffsetRatio)) / 2.0) * DWT_TIME_UNITS;
distance = tof * SPEED_OF_LIGHT;
@@ -485,10 +484,14 @@
memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&u16_nearbase_distlist,nearbase_num*2);
tx_near_msg[MESSAGE_TYPE_IDX] = MBX_POLL;
memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
+// HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8, GPIO_PIN_SET);
+//delay_us(600);
+//HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8, GPIO_PIN_RESET);
dwt_writetxdata(13+4*nearbase_num, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
dwt_writetxfctrl(13+4*nearbase_num, 0);//设置超宽带发送数据长度
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
+ status_reg = dwt_read32bitreg(SYS_STATUS_ID);
tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
para_update = 0;
get_newbase = 0;
@@ -497,7 +500,7 @@
flag_getresponse=0;
start_count=HAL_LPTIM_ReadCounter(&hlptim1);
recbase_num=0;
- timeout=nearbase_num*SLOT_SCALE+10;
+ timeout=nearbase_num*SLOT_SCALE+20;
end_count=start_count+(timeout<<2);
if(end_count>=32768)
{end_count-=32768;}
@@ -542,16 +545,17 @@
{
NVIC_SystemReset();
}
- if (status_reg & SYS_STATUS_RXFCG_BIT_MASK)//如果成功接收
+ if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
{
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG_BIT_MASK | SYS_STATUS_TXFRS_BIT_MASK);//清楚寄存器标志位
+ 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) & 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
dwt_rxenable(0);//打开接收
if (rx_buffer[MESSAGE_TYPE_IDX] == MBX_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)&&rx_buffer[GROUP_ID_IDX]==group_id) //判断接收到的数据是否是response数据
- {
+ {
+// dwt_readdiagnostics(&rx_diag);
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
recbase_num++;
@@ -643,7 +647,7 @@
}
}
}else{
- dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG_BIT_MASK| SYS_STATUS_ALL_RX_ERR);
+ dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
if(flag_rxon)
{dwt_rxenable(0);
}
@@ -651,7 +655,7 @@
// dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
}
dwt_forcetrxoff();
- dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG_BIT_MASK| SYS_STATUS_ALL_RX_ERR);
+ dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
CalculateDists();
j = 0;
next_nearbase_num = 0;
@@ -702,7 +706,7 @@
exsistbase_list[i] = true_exsistbase_list[i];
}
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS_BIT_MASK |SYS_STATUS_RXFCG_BIT_MASK);
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
//HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
if(para_update==1)
@@ -744,38 +748,95 @@
}
u8 regpoll_count;
u32 id;
+ u8 iderror_count = 0;
void Tag_App(void)//发送模式(TAG标签)
-{
-
- //LED0_ON;
+{
+
+// time1=freqlost_count;
+// HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_RESET);
+// delay_us(1000);
+// HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_SET);
+// delay_ms(2);
+// while(!dwt_checkidlerc()) //check in IDLE_RC before proceeding
+// {
+// }
id = dwt_readdevid() ;
while (DWT_DEVICE_ID != id)
{
- u8 iderror_count = 0;
+ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_RESET);
+ delay_us(1000);
+ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_SET);
+ delay_ms(2);
id = dwt_readdevid() ;
- if(iderror_count++>100)
- {
- printf("UWB芯片ID错误");
- break;
- }
+
+ iderror_count++;
}
- delay_us(100);
- g_Resttimer=0;
- if(freqlost_count>FREQ_LOST_TIME)
- {
- if(regpoll_count++>11) //待机状态1分钟上传一次基站状态
- {
- regpoll_count = 0;
- Registor_Poll();
- }
- }else{
- if(regpoll_count++>59)//测距状态1分钟上传一次基站状态
- {
- regpoll_count = 0;
- Registor_Poll();
- }
- }
+
+ dwt_restoreconfig();
+
+
+
+ iderror_count=0;
+
NearPoll();
+ dwt_restoreconfig();
+ dwt_configuresleep(DWT_CONFIG, DWT_PRES_SLEEP | DWT_WAKE_CSN | DWT_WAKE_WUP | DWT_SLP_EN);
dwt_entersleep();
bat_percent=Get_VDDVlotage();
}
+
+//static uint8_t tx_msg[] = {0xC5, 0, 'D', 'E', 'C', 'A', 'W', 'A', 'V', 'E'};
+///* Index to access to sequence number of the blink frame in the tx_msg array. */
+//#define BLINK_FRAME_SN_IDX 1
+
+//#define FRAME_LENGTH sizeof(tx_msg)+FCS_LEN//The real length that is going to be transmitted
+
+///* Inter-frame delay period, in milliseconds. */
+//#define TX_DELAY_MS 1000
+
+//void Tag_App666(void)//发送模式(TAG标签)
+//{
+// while (1)
+// {
+// /* Write frame data to DW IC and prepare transmission. See NOTE 3 below. */
+// dwt_writetxdata(FRAME_LENGTH-FCS_LEN, tx_msg, 0); /* Zero offset in TX buffer. Data does not include the CRC */
+// /* In this example since the length of the transmitted frame does not change,
+// * nor the other parameters of the dwt_writetxfctrl function, the
+// * dwt_writetxfctrl call could be outside the main while(1) loop.
+// */
+// dwt_writetxfctrl(FRAME_LENGTH, 0); /* Zero offset in TX buffer, no ranging. */
+
+// /* Start transmission. */
+// dwt_starttx(DWT_START_TX_IMMEDIATE);
+
+// /* Poll DW IC until TX frame sent event set. See NOTE 4 below.
+// * STATUS register is 5 bytes long but, as the event we are looking at is in the first byte of the register, we can use this simplest API
+// * function to access it.*/
+// while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS_BIT_MASK))
+// { };
+
+// //Sleep(200); /* If using LEDs we need to add small delay to see the TX LED blink */
+
+// /* Put DW IC to sleep. Go to IDLE state after wakeup*/
+// dwt_entersleep(DWT_DW_IDLE);
+
+// /* Execute a delay between transmissions. */
+
+// delay_ms(1000);
+// /* Wake DW IC up. See NOTE 5 below. */
+// HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_RESET);
+// delay_us(1000);
+// HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_SET);
+
+// delay_ms(2);
+// while(!dwt_checkidlerc()) //check in IDLE_RC before proceeding
+// {
+// }
+
+// /* Restore the required configurations on wake */
+// dwt_restoreconfig();
+
+// /* Increment the blink frame sequence number (modulo 256). */
+// tx_msg[BLINK_FRAME_SN_IDX]++;
+// }
+//}
\ No newline at end of file
--
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