From ac3eb3210f17aedfed086520c022befb28f7599c Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期三, 19 七月 2023 17:46:10 +0800
Subject: [PATCH] 测试提交
---
Src/application/dw_app.c | 292 ++++++++++++++++++++++++++++++++++++++++++++-------------
1 files changed, 223 insertions(+), 69 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 0ac5c30..23728f9 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 (0xDECA0302) //!< 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
@@ -70,24 +73,65 @@
#define FINAL_MSG_RESP_RX_TS_IDX 14
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4
+
+//#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 = {
- 5, /* Channel number. */
- 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. */
+#ifdef _UWB_4G
+ 2, /* Channel number. */
+#else
+ 5,
+#endif
+ 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. */
+ 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. */
+ (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 */
};
+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];
@@ -156,29 +200,55 @@
*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
-
- /* Configure DW1000. See NOTE 6 below. */
- dwt_configure(&config);//配置DW1000
-
-
-
+ 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)
+ { };
+ }
+ dw3000_id=dwt_read32bitreg(SYS_STATUS_ID);;
+ /* Configure the TX spectrum parameters (power, PG delay and PG count) */
+ dwt_configuretxrf(&txconfig_options);
/* 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. */
- //设置接收超时时间
+
+
+// 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_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)
{
@@ -212,8 +282,8 @@
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;
@@ -338,8 +408,12 @@
{
// exsistbase_list[i]--;
- clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_5 / 1.0e6) ;
- rtd_init = tag_resprx[i] - poll_tx_ts;
+#ifdef _UWB_4G
+ clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_2 / 1.0e6) ;
+#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&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;
@@ -351,7 +425,7 @@
}
}
-extern uint8_t module_power,imu_enable,motor_enable;
+
void Registor_Poll(void)
{
static u8 regpoll_count=0;
@@ -371,7 +445,7 @@
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)
@@ -412,10 +486,14 @@
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;
@@ -424,7 +502,7 @@
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;}
@@ -434,7 +512,7 @@
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)
{
@@ -469,10 +547,10 @@
{
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
@@ -570,7 +648,7 @@
}
}
}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);
}
@@ -578,7 +656,7 @@
// 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;
@@ -629,7 +707,7 @@
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)
@@ -671,38 +749,114 @@
}
u8 regpoll_count;
u32 id;
+ u8 iderror_count = 0;
+float time1=0;
+float time2=0;
+float time3=0;
+uint32_t temp23;
void Tag_App(void)//发送模式(TAG标签)
-{
-
- //LED0_ON;
- id = dwt_readdevid() ;
- while (DWT_DEVICE_ID != id)
+{
+
+ 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
{
- u8 iderror_count = 0;
- id = dwt_readdevid() ;
- if(iderror_count++>100)
- {
- printf("UWB芯片ID错误");
- break;
- }
}
- 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();
+// id = dwt_readdevid() ;
+// while (DWT_DEVICE_ID != id)
+// {
+//
+// id = dwt_readdevid() ;
+//// if(iderror_count++>100)
+//// {
+//// printf("UWB芯片ID错误");
+//// break;
+//// }
+// iderror_count++;
+// }
+temp23 = dwt_read32bitreg(CHAN_CTRL_ID) ;
+
+// iderror_count=0;
+// 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();
+// }
+// }
+ time2=freqlost_count;
NearPoll();
+ time3=freqlost_count;
+// dwt_configuresleep(DWT_CONFIG, DWT_PRES_SLEEP | DWT_WAKE_CSN | DWT_WAKE_WUP | DWT_SLP_EN);
dwt_entersleep();
- bat_percent=Get_VDDVlotage();
+// 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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