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/*! ----------------------------------------------------------------------------
* @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 "deca_device_api.h"
#include "deca_regs.h"
#include "deca_sleep.h"
#include "lcd.h"
#include "port.h"
/* Example application name and version to display on LCD screen. */
#define APP_NAME "DS TWR INIT v1.1"
/* Inter-ranging delay period, in milliseconds. */
#define RNG_DELAY_MS 100
/* 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};
/* 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,dist,dist2;
#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 3100
/* Receive response timeout. See NOTE 5 below. */
#define RESP_RX_TIMEOUT_UUS 2700
#define POLL_RX_TO_RESP_TX_DLY_UUS 2600
/* 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);
/*! ------------------------------------------------------------------------------------------------------------------
* @fn main()
*
* @brief Application entry point.
*
* @param none
*
* @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 GPIO_Toggle(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin)
{
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++)
{
USART_putc(s[i]);
}
}
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;
int main(void)
{
/* Start with board specific hardware init. */
peripherals_init();//初始化外設(shè)
/* 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();//重啟DW1000 /* Target specific drive of RSTn line into DW1000 low for a period. */
spi_set_rate_low();//降低SPI頻率
dwt_initialise(DWT_LOADUCODE);//初始化DW1000
spi_set_rate_high();//回復(fù)SPI頻率
/* 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); //設(shè)置接收天線延遲
dwt_settxantennadelay(TX_ANT_DLY); //設(shè)置發(fā)射天線延遲
/* 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);//設(shè)置發(fā)送后開啟接收，并設(shè)定延遲時間
dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS); //設(shè)置接收超時時間
send[0]=0x6D; //串口數(shù)據(jù)
send[1]=0xD6; //串口數(shù)據(jù)
tx_poll_msg[6] = ANCHOR_ID; //UWB POLL 包數(shù)據(jù)
rx_resp_msg[6] = ANCHOR_ID; //UWB RESPONSE 包數(shù)據(jù)
tx_final_msg[6] = ANCHOR_ID;//UWB Fianl 包數(shù)據(jù)
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 包數(shù)據(jù)
rx_resp_msg[5] = TAG_ID;//UWB RESPONSE 包數(shù)據(jù)
tx_final_msg[5] = TAG_ID;//UWB Fianl 包數(shù)據(jù)
/* Loop forever initiating ranging exchanges. */
LED_blink();
if(!Work_Mode) //選擇發(fā)送模式（TAG標簽）還是接收模式(ANCHOR基站)
{
while (1) //發(fā)送模式(TAG標簽)
{
/* 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);//將Poll包數(shù)據(jù)傳給DW1000，將在開啟發(fā)送時傳出去
dwt_writetxfctrl(sizeof(tx_poll_msg), 0);//設(shè)置超寬帶發(fā)送數(shù)據(jù)長度
/* 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. */
dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//開啟發(fā)送，發(fā)送完成后等待一段時間開啟接收，等待時間在dwt_setrxaftertxdelay中設(shè)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)))//不斷查詢芯片狀態(tài)直到成功接收或者發(fā)生錯誤
{ };
/* 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);//清楚寄存器標志位
/* A frame has been received, read it into the local buffer. */
frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //獲得接收到的數(shù)據(jù)長度
if (frame_len <= RX_BUF_LEN)
{
dwt_readrxdata(rx_buffer, frame_len, 0); //讀取接收數(shù)據(jù)
}
/* 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 (memcmp(rx_buffer, rx_resp_msg, ALL_MSG_COMMON_LEN) == 0)//判斷接收到的數(shù)據(jù)是否是response數(shù)據(jù)
{
uint32 final_tx_time;
/* Retrieve poll transmission and response reception timestamp. */
poll_tx_ts = get_tx_timestamp_u64(); //獲得POLL發(fā)送時間T1
resp_rx_ts = get_rx_timestamp_u64(); //獲得RESPONSE接收時間T4
/* 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;//計算final包發(fā)送時間，T5=T4+Treply2
dwt_setdelayedtrxtime(final_tx_time);//設(shè)置final包發(fā)送時間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包實際發(fā)送時間是計算時間加上發(fā)送天線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);//將T1，T4，T5寫入發(fā)送數(shù)據(jù)
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);//將發(fā)送數(shù)據(jù)寫入DW1000
dwt_writetxfctrl(sizeof(tx_final_msg), 0);//設(shè)定發(fā)送數(shù)據(jù)長度
dwt_starttx(DWT_START_TX_DELAYED);//設(shè)定為延遲發(fā)送
/* Poll DW1000 until TX frame sent event set. See NOTE 8 below. */
while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不斷查詢芯片狀態(tài)直到發(fā)送完成
{ };
/* Clear TXFRS event. */
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//清楚標志位
/* Increment frame sequence number after transmission of the final message (modulo 256). */
frame_seq_nb++;
time32_reset = 0;
GPIO_Toggle(GPIOA,LED_PIN);//LED閃爍
jumptime = 0;
}else{
jumptime =5;//如果通訊失敗，將間隔時間增加5ms，避開因為多標簽同時發(fā)送引起的沖突。
}
}
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);//休眠固定時間
}
}else{
while (1)//接收模式(ANCHOR基站)
{
/* Clear reception timeout to start next ranging process. */
dwt_setrxtimeout(0);//設(shè)定接收超時時間，0位沒有超時時間
/* Activate reception immediately. */
dwt_rxenable(0);//打開接收
/* 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)))//不斷查詢芯片狀態(tài)直到接收成功或者出現(xiàn)錯誤
{ };
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);//清楚標志位
/* A frame has been received, read it into the local buffer. */
frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//獲得接收數(shù)據(jù)長度
if (frame_len <= RX_BUFFER_LEN)
{
dwt_readrxdata(rx_buffer, frame_len, 0);//讀取接收數(shù)據(jù)
}
/* 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;//為多標簽通訊服務(wù)，防止一次通訊中接收到不同ID標簽的數(shù)據(jù)
tx_resp_msg[5] = TAG_ID;
rx_final_msg[5] = TAG_ID;
if (memcmp(rx_buffer, rx_poll_msg, ALL_MSG_COMMON_LEN) == 0)//判斷是否是poll包數(shù)據(jù)
{
uint32 resp_tx_time;
/* Retrieve poll reception timestamp. */
poll_rx_ts = get_rx_timestamp_u64();//獲得Poll包接收時間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;//計算Response發(fā)送時間T3。
dwt_setdelayedtrxtime(resp_tx_time);//設(shè)置Response發(fā)送時間T3
/* Set expected delay and timeout for final message reception. */
dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS);//設(shè)置發(fā)送完成后開啟接收延遲時間
dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超時時間
/* Write and send the response message. See NOTE 9 below.*/
// memcpy(&tx_resp_msg[11],&dis,4);
tx_resp_msg[ALL_MSG_SN_IDX] = frame_seq_nb;
dwt_writetxdata(sizeof(tx_resp_msg), tx_resp_msg, 0);//寫入發(fā)送數(shù)據(jù)
dwt_writetxfctrl(sizeof(tx_resp_msg), 0);//設(shè)定發(fā)送長度
dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延遲發(fā)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)))///不斷查詢芯片狀態(tài)直到接收成功或者出現(xiàn)錯誤
{ };
/* 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);//清楚標志位
/* A frame has been received, read it into the local buffer. */
frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;//數(shù)據(jù)長度
if (frame_len <= RX_BUF_LEN2)
{
dwt_readrxdata(rx_buffer, frame_len, 0);//讀取接收數(shù)據(jù)
}
/* 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 (memcmp(rx_buffer, rx_final_msg, ALL_MSG_COMMON_LEN) == 0)//判斷是否為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();//獲得response發(fā)送時間T3
final_rx_ts = get_rx_timestamp_u64();//獲得final接收時間T6
/* Get timestamps embedded in the final message. */
final_msg_get_ts(&rx_buffer[FINAL_MSG_POLL_TX_TS_IDX], &poll_tx_ts);//從接收數(shù)據(jù)中讀取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位數(shù)據(jù)計算
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));//計算公式
tof = tof_dtu * DWT_TIME_UNITS;
distance = tof * SPEED_OF_LIGHT;//距離=光速*飛行時間
dist2 = distance - dwt_getrangebias(config.chan,(float)distance, config.prf);//距離減去矯正系數(shù)
dis = dist2*100;//dis 為單位為cm的距離
dist = LP(dis,TAG_ID);//LP 為低通濾波器，讓數(shù)據(jù)更穩(wěn)定
time32_reset = 0;
GPIO_Toggle(GPIOA,LED_PIN);
if (GPIO_ReadInputDataBit(GPIOA,SW2) != RESET) //通過撥碼開關(guān)判斷數(shù)據(jù)輸出格式
……………………
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