From 1906f7b280eeb7a8f5dbfda96c9485fba4a74de2 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期三, 21 二月 2024 15:14:37 +0800
Subject: [PATCH] 移植最新逻辑，能同步，能测距，能读取，能写。
---
Src/application/dw_app.c | 444 ++++++-------------------------------------------------
1 files changed, 51 insertions(+), 393 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index d1ffd22..51d8aa7 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -15,6 +15,7 @@
*/
#include <string.h>
+#include <math.h>
#include "dw_app.h"
#include "deca_device_api.h"
#include "deca_regs.h"
@@ -28,7 +29,9 @@
#include <stdio.h>
#include "beep.h"
#include "modbus.h"
+#include "CRC.h"
+//#define USART_INTEGRATE_OUTPUT
/*------------------------------------ Marcos ------------------------------------------*/
/* Inter-ranging delay period, in milliseconds. */
#define RNG_DELAY_MS 100
@@ -41,20 +44,24 @@
* 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 800
-/* Receive response timeout. See NOTE 5 below. */
-#define RESP_RX_TIMEOUT_UUS 600
+///* 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 410
-#define POLL_RX_TO_RESP_TX_DLY_UUS 420
-/* 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 200
-/* Receive final timeout. See NOTE 5 below. */
-#define FINAL_RX_TIMEOUT_UUS 4300
+///* Receive response timeout. See NOTE 5 below. */
+//#define RESP_RX_TIMEOUT_UUS 600
+
+//#define DELAY_BETWEEN_TWO_FRAME_UUS 400
+
+////#define POLL_RX_TO_RESP_TX_DLY_UUS 470
+///* 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 200
+///* Receive final timeout. See NOTE 5 below. */
+//#define FINAL_RX_TIMEOUT_UUS 4300
+
#define SPEED_OF_LIGHT 299702547
@@ -64,31 +71,14 @@
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4
-#define SYNC_SEQ_IDX 5
+//#define _UWB_4G
-#define GROUP_ID_IDX 0
-#define ANCHOR_ID_IDX 1
-#define TAG_ID_IDX 5
-#define MESSAGE_TYPE_IDX 9
-#define DIST_IDX 10
-//Poll
-#define ANC_TYPE_IDX 14
-#define BATTARY_IDX 15
-#define BUTTON_IDX 16
-#define SEQUENCE_IDX 17
-//respose
-#define ANCTIMEMS 14
-#define ANCTIMEUS 16
-
-#define POLL 0x01
-#define RESPONSE 0x02
-#define FINAL 0x03
-#define SYNC 0x04
-
-/*------------------------------------ Variables ------------------------------------------*/
-/* Default communication configuration. We use here EVK1000's default mode (mode 3). */
static dwt_config_t config = {
+#ifdef _UWB_4G
2, /* Channel number. */
+#else
+ 5,
+#endif
DWT_PRF_64M, /* Pulse repetition frequency. */
DWT_PLEN_128, /* Preamble length. */
DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */
@@ -100,188 +90,34 @@
(129 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
};
-/* Frames used in the ranging process. See NOTE 2 below. */
-static uint8_t tx_poll_msg[20] = {0};
-static uint8_t tx_sync_msg[14] = {0};
-//static uint8_t rx_resp_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'V', 'E', 'W', 'A', 0x10, 0x02, 0, 0, 0, 0};
-static uint8_t 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};
-
-//static uint8_t rx_poll_msg[] = {0x00, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x21, 0, 0};
-static uint8_t tx_resp_msg[20] = {0};
-//static uint8_t 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};
-
-/* Frame sequence number, incremented after each transmission. */
-static uint32_t frame_seq_nb = 0,frame_seq_nb2=0;
-
-/* Hold copy of status register state here for reference, so reader can examine it at a breakpoint. */
-static uint32_t status_reg = 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 24
-static uint8_t rx_buffer[RX_BUF_LEN];
-
-/* 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. */
-static uint64_t poll_tx_ts;
-static uint64_t resp_rx_ts;
-static uint64_t final_tx_ts;
-
-/* Length of the common part of the message (up to and including the function code, see NOTE 2 below). */
-static uint64_t poll_rx_ts;
-static uint64_t resp_tx_ts;
-static uint64_t final_rx_ts;
-
-static double tof;
-
-int32_t anchor_dist_last_frm[TAG_NUM_IN_SYS],his_dist[TAG_NUM_IN_SYS]; ;
-uint32_t tag_id = 0;
-uint32_t tag_id_recv = 0;
-uint8_t random_delay_tim = 0;
-
-double distance, dist_no_bias, dist_cm;
-
-uint32_t g_UWB_com_interval = 0;
-float dis_after_filter; //当前距离值
-LPFilter_Frac* p_Dis_Filter; //测距用的低通滤波器
-
-int32_t g_Tagdist[TAG_NUM_IN_SYS];
-uint8_t g_flag_Taggetdist[256];
-/*------------------------------------ Functions ------------------------------------------*/
-
-
-/*! ------------------------------------------------------------------------------------------------------------------
- * @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_t get_tx_timestamp_u64(void)
-{
- uint8_t ts_tab[5];
- uint64_t 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_t get_rx_timestamp_u64(void)
-{
- uint8_t ts_tab[5];
- uint64_t 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_t *ts_field, uint64_t ts)
-{
- int i;
- for (i = 0; i < FINAL_MSG_TS_LEN; i++)
- {
- ts_field[i] = (uint8_t) ts;
- ts >>= 8;
- }
-}
-
-static void final_msg_get_ts(const uint8_t *ts_field, uint32_t *ts)
-{
- int i;
- *ts = 0;
- for (i = 0; i < FINAL_MSG_TS_LEN; i++)
- {
- *ts += ts_field[i] << (i * 8);
- }
-}
-void TagDistClear(void)
-{
- static uint16_t clear_judge_cnt;
- uint16_t i;
- if(clear_judge_cnt++>1000) //设定1S分频，每秒进一次。判断标志位大于等于2，2s没收到数据就把数据变成0xffff，不触发警报。
- {
- clear_judge_cnt=0;
- for(i=0;i<255;i++)
- {
- g_flag_Taggetdist[i]++;
- if(g_flag_Taggetdist[i]>=20)
- {
- g_Tagdist[i]=0xffff;
- }
- }
- }
-}
-
+uint32_t uwbid=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
+ 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
/* Configure DW1000. See NOTE 6 below. */
dwt_configure(&config);//配置DW1000
+// dwt_setinterrupt( DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);
/* 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_setrxtimeout(1000);//设定接收超时时间，0位没有超时时间
+// dwt_rxenable(0);//打开接收
+// uwbid=dwt_readdevid();
/* 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
}
-void Dw1000_App_Init(void)
-{
-//g_com_map[DEV_ID] = 0x0b;
- tx_poll_msg[MESSAGE_TYPE_IDX]=POLL;
- tx_resp_msg[MESSAGE_TYPE_IDX]=RESPONSE;
- tx_final_msg[MESSAGE_TYPE_IDX]=FINAL;
- tx_sync_msg[MESSAGE_TYPE_IDX]=SYNC;
-
- memcpy(&tx_poll_msg[TAG_ID_IDX], &dev_id, 4);
- memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 4);
- memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 4);
- memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &dev_id, 4);
-}
uint16_t Checksum_u16(uint8_t* pdata, uint32_t len)
{
uint16_t sum = 0;
@@ -292,209 +128,31 @@
return sum;
}
-uint16_t tag_time_recv[TAG_NUM_IN_SYS];
-uint8_t usart_send[25];
-uint8_t battary,button;
+u16 tag_time_recv[TAG_NUM_IN_SYS];
+u8 usart_send[100];
+u8 battary,button;
extern uint8_t g_pairstart;
void tag_sleep_configuraion(void)
{
dwt_configuresleep(0x940, 0x7);
dwt_entersleep();
-}
-uint8_t g_start_send_flag;
-uint8_t g_start_sync_flag;
-void SyncPoll(uint8_t sync_seq)
-{
- g_start_sync_flag=1;
- dwt_forcetrxoff();
- tx_sync_msg[SYNC_SEQ_IDX]=sync_seq;
- dwt_writetxdata(sizeof(tx_sync_msg), tx_sync_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
- dwt_writetxfctrl(sizeof(tx_sync_msg), 0);//设置超宽带发送数据长度
- dwt_starttx(DWT_START_TX_IMMEDIATE);
}
-uint16_t g_Resttimer;
-uint8_t result;
-uint8_t tag_succ_times=0;
-int32_t hex_dist,hex_dist2;
-uint16_t checksum;
-int8_t tag_delaytime;
-extern uint16_t sync_timer;
-uint16_t tmp_time,sync_count;
-uint32_t time32_incr;uint32_t frame_len;
-void Tag_App(void)//发送模式(TAG标签)
+u32 id;
+void UWB_Wkup(void)
{
-
- uint32_t final_tx_time;
- uint32_t start_poll,id;
- uint8_t i,getsync_flag=0;
- //LED0_ON;
- //dwt_forcetrxoff();
- id = dwt_readdevid() ;
- while (DWT_DEVICE_ID != id)
+
+ SPIx_CS_GPIO->BRR = SPIx_CS;
+ delay_us(600);
+ SPIx_CS_GPIO->BSRR = SPIx_CS;
+ id = dwt_readdevid() ;
+ while (0xDECA0130!=id)
{
- id = dwt_readdevid() ;
- }
- g_Resttimer=0;
- 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);
- tag_succ_times = 0;
- tx_poll_msg[BATTARY_IDX] = Get_Battary();
- //tx_poll_msg[BUTTON_IDX] = !READ_KEY0;
- tx_poll_msg[SEQUENCE_IDX] = frame_seq_nb++;
-
- for(i=0;i<g_com_map[MAX_REPORT_ANC_NUM];i++)
- {
- /* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
- tx_poll_msg[ANC_TYPE_IDX] = i;
-
- 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. */
- result=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
- start_poll = time32_incr;
- /* 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
- {
- status_reg = dwt_read32bitreg(SYS_STATUS_ID);
-// if(time32_incr - start_poll>20)
-// NVIC_SystemReset();
- // IdleTask();
-
- };
-
- /* Increment frame sequence number after transmission of the poll message (modulo 256). */
- if(status_reg==0xffffffff)
- {
- // NVIC_SystemReset();
- }
-
- if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
- {
- /* 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. */
-
- if (rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,4)) //判断接收到的数据是否是response数据
- { uint16_t anc_id_recv;
- /* 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
-
- if(getsync_flag==0&&g_com_map[DEV_ROLE])
- {
- getsync_flag=1;
- memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
- memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
- tmp_time=tmp_time+450;
- if(tmp_time>999)
- {
- tmp_time-=999;
- sync_timer++;
- if(sync_timer>=1010)
- {sync_timer=0;}
- }
- sync_count=(sync_timer*1000+tmp_time)/LPTIMER_LSB;
- __HAL_LPTIM_CNT_SET(&hlptim1, sync_count);
- for(i=0;i<100;i++)
- {
- lastpoll_count = slot_startcount+i*interval_count;
- if(lastpoll_count>sync_count)
- {
- __HAL_LPTIM_COMPARE_SET(&hlptim1, lastpoll_count);
- break;
- }
- }
-
-
- // TIM3->CNT=tmp_time;
- }
- memcpy(&hex_dist2, &rx_buffer[DIST_IDX], 4);
- memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
- /* 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_t)(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. */
-
- 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
- result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
-
- tag_succ_times++;
-
- LED0_BLINK;
-
- memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
-// g_Tagdist[anc_id_recv]= hex_dist;
-// g_flag_Taggetdist[anc_id_recv]=0;
- if(!g_com_map[MODBUS_MODE])
- {
- usart_send[2] = 1;//正常模式
- usart_send[3] = 17;//数据段长度
- usart_send[4] = frame_seq_nb;//数据段长度
- memcpy(&usart_send[5],&dev_id,2);
- memcpy(&usart_send[7],&rx_buffer[ANCHOR_ID_IDX],2);
-
- memcpy(&usart_send[9],&hex_dist2,4);
- usart_send[13] = battary;
- usart_send[14] = button;
- checksum = Checksum_u16(&usart_send[2],17);
- memcpy(&usart_send[19],&checksum,2);
- UART_PushFrame(usart_send,21);
- }
- // memcpy(&Modbus_HoldReg[anc_id_recv*2],&hex_dist,4);
- /* Poll DW1000 until TX frame sent event set. See NOTE 8 below. */
- if(result==0)
- {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);//清除标志位
-
- /* Increment frame sequence number after transmission of the final message (modulo 256). */
-
- random_delay_tim = 0;
- }
- else
- {
- random_delay_tim = DFT_RAND_DLY_TIM_MS; //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);
- random_delay_tim = DFT_RAND_DLY_TIM_MS;
- }
-// deca_sleep(10);
+ u8 iderror_count = 0;
+ id = dwt_readdevid() ;
+ if(iderror_count++>100)
+ {
+ printf("UWB芯片ID错误");
+ break;
+ }
+ }
}
- dwt_entersleep();
-// if(tag_succ_times<g_com_map[MIN_REPORT_ANC_NUM])
-// {
-// //poll_timer +=time32_incr&0x7+3;
-// }
-//HAL_PWR_EnterSLEEPMode(PWR_MAINREGULATOR_ON, PWR_SLEEPENTRY_WFI);
- /* Execute a delay between ranging exchanges. */
-
-}
-
-
-
--
Gitblit v1.9.3