From 187d5a216bff2485bb98869e3b96a46ab2e2d808 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期一, 17 七月 2023 16:54:24 +0800
Subject: [PATCH] 改为dw3000，代码修改结束，没有测试，先提交一下。
---
Src/application/dw_app.c | 128 +++++++++++++++++++++++++++++++-----------
1 files changed, 95 insertions(+), 33 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index ffaba58..deaf7f0 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -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&¤t_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)
--
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