本帖最后由 xiaozhi1996526 于 2019-9-23 10:55 编辑
1.POLL包和RESP包都可以正确的发送和接收，然后final包发送成功，但是接收机接收老是不对，求大神帮忙看下是什么问题，先描述一下测试的一些参数，在接收FINAL包的时候下面这一句过不去
IF (status_reg & SYS_STATUS_RXFCG)
下面分别是resp包接收完成的标志位和FINAL接收时读出来的参数resp接收完成时：
SYS_STATUS_RXFCG:4000
status_reg:0x806ff2
final接收完成时：
SYS_STATUS_RXFCG：4000
status_reg:0xa000f2
/*! ----------------------------------------------------------------------------
* @file main.c
* @brief Double-sided two-way ranging (DS TWR) responder example code
*
* This is a simple code example which acts as the responder in a DS TWR distance measurement exchange. This application waits for a "poll"
* message (recording the RX time-stamp of the poll) expected from the "DS TWR initiator" example code (companion to this application), and
* then sends a "response" message recording its TX time-stamp, after which it waits for a "final" message from the initiator to complete
* the exchange. The final message contains the remote initiator's time-stamps of poll TX, response RX and final TX. With this data and the
* local time-stamps, (of poll RX, response TX and final RX), this example application works out a value for the time-of-flight over-the-air
* and, thus, the estimated distance between the two devices, which it writes to the LCD.
*
* @attention
*
* Copyright 2015 (c) Decawave Ltd, Dublin, Ireland.
*
* All rights reserved.
*
* @author Decawave
*/
#include <stdio.h>
#include <string.h>
#include "deca_device_api.h"
#include "deca_regs.h"
#include "lcd.h"
#include "port.h"
#include "usart.h"
/* Example application name and version to display on LCD screen. */
#define APP_NAME "DS TWR RESP v1.2"
/* 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. Used in TX only. */
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, /* 0 to use standard SFD, 1 to use non-standard SFD. */
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 16436
#define RX_ANT_DLY 16436
/* Frames used in the ranging process. See NOTE 2 below. */
static uint8 rx_poll_msg[] = {0x41, 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};
/* Length of the common part of the message (up to and including the function code, see NOTE 2 below). */
#define ALL_MSG_COMMON_LEN 10
/* Index to access some of the fields in the frames involved in the process. */
#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 uint8 frame_seq_nb = 0;
/* Buffer to store received messages.
* Its size is adjusted to longest frame that this example code is supposed to handle. */
#define RX_BUF_LEN 24
static uint8 rx_buffer[RX_BUF_LEN];
/* Hold copy of status register state here for reference so that it can be examined at a debug 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 ? and 1 ? = 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 Frame RX timestamp to TX reply timestamp used for calculating/setting the DW1000's delayed TX function. This includes the
* frame length of approximately 2.46 ms with above configuration. */
#define POLL_RX_TO_RESP_TX_DLY_UUS 5600
/* 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 // ´Ó·¢ËÍÍê³Éµ½´ò¿ª½ÓÊÕµÄʱ¼ä
/* Receive final timeout. See NOTE 5 below. */
#define FINAL_RX_TIMEOUT_UUS 3300 // ½ÓÊÕÑÓ³Ù
/* Preamble timeout, in multiple of PAC size. See NOTE 6 below. */
#define PRE_TIMEOUT 8
/* Timestamps of frames transmission/reception.
* As they are 40-bit wide, we need to define a 64-bit int type to handle them. */
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;
/* Speed of light in air, in metres per second. */
#define SPEED_OF_LIGHT 299702547
/* Hold copies of computed time of flight and distance here for reference so that it can be examined at a debug breakpoint. */
static double tof;
static double distance;
/* String used to display measured distance on LCD screen (16 characters maximum). */
char dist_str[16] = {0};
/* Declaration of static functions. */
static uint64 get_tx_timestamp_u64(void);
static uint64 get_rx_timestamp_u64(void);
static void final_msg_get_ts(const uint8 *ts_field, uint32 *ts);
/*! ------------------------------------------------------------------------------------------------------------------
* @fn main()
*
* @brief Application entry point.
*
* @param none
*
* @return none
*/
int ret;
int main(void)
{
/* Start with board specific hardware init. */
peripherals_init();
uart_init(115200);
/* 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(); /* Target specific drive of RSTn line into DW1000 low for a period. */
spi_set_rate_low();
if (dwt_initialise(DWT_LOADUCODE) == DWT_ERROR)
{
//lcd_display_str("INIT FAILED");
while (1)
{ };
}
spi_set_rate_high();
/* Configure DW1000. See NOTE 7 below. */
dwt_configure(&config);
/* Apply default antenna delay value. See NOTE 1 below. */
dwt_setrxantennadelay(RX_ANT_DLY);
dwt_settxantennadelay(TX_ANT_DLY);
/* Set preamble timeout for expected frames. See NOTE 6 below. */
dwt_setpreambledetecttimeout(PRE_TIMEOUT);
/* Loop forever responding to ranging requests. */
while (1)
{
/* Clear reception timeout to start next ranging process. */
dwt_setrxtimeout(0);
/* Activate reception immediately. */
dwt_rxenable(DWT_START_RX_IMMEDIATE);
/* 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_TO | SYS_STATUS_ALL_RX_ERR)))
{ };
if (status_reg & SYS_STATUS_RXFCG)
{
printf("POOL:%lx status_reg:%lx\r\n",SYS_STATUS_RXFCG,status_reg);
uint32 frame_len;
/* Clear good RX frame event in the DW1000 status register. */
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);
/* A frame has been received, read it into the local buffer. */
frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;
if (frame_len <= RX_BUFFER_LEN)
{
dwt_readrxdata(rx_buffer, frame_len, 0);
}
/* 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;
if (memcmp(rx_buffer, rx_poll_msg, ALL_MSG_COMMON_LEN) == 0)
{
uint32 resp_tx_time;
/* Retrieve poll reception timestamp. */
poll_rx_ts = get_rx_timestamp_u64();
/* Set send time for response. See NOTE 9 below. */
resp_tx_time = (poll_rx_ts + (POLL_RX_TO_RESP_TX_DLY_UUS * UUS_TO_DWT_TIME)) >> 8;
dwt_setdelayedtrxtime(resp_tx_time);
/* Set expected delay and timeout for final message reception. See NOTE 4 and 5 below. */
dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS);
dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);
/* Write and send the response message. See NOTE 10 below.*/
tx_resp_msg[ALL_MSG_SN_IDX] = frame_seq_nb;
dwt_writetxdata(sizeof(tx_resp_msg), tx_resp_msg, 0); /* Zero offset in TX buffer. */
dwt_writetxfctrl(sizeof(tx_resp_msg), 0, 1); /* Zero offset in TX buffer, ranging. */
ret = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);
/* If dwt_starttx() returns an error, abandon this ranging exchange and proceed to the next one. See NOTE 11 below. */
if (ret == DWT_ERROR)
{
continue;
}
/* Poll for reception of expected "final" frame or error/timeout. See NOTE 8 below. */
while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_TO | SYS_STATUS_ALL_RX_ERR)))
{ };
/* Increment frame sequence number after transmission of the response message (modulo 256). */
frame_seq_nb++;
printf("final:%lx status_reg:%lx\r\n",SYS_STATUS_RXFCG,status_reg);
if (status_reg & SYS_STATUS_RXFCG) //
{
/* 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);
/* A frame has been received, read it into the local buffer. */
frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;
if (frame_len <= RX_BUF_LEN)
{
dwt_readrxdata(rx_buffer, frame_len, 0);
}
/* 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)
{
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();
final_rx_ts = get_rx_timestamp_u64();
/* Get timestamps embedded in the final message. */
final_msg_get_ts(&rx_buffer[FINAL_MSG_POLL_TX_TS_IDX], &poll_tx_ts);
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 12 below. */
poll_rx_ts_32 = (uint32)poll_rx_ts;
resp_tx_ts_32 = (uint32)resp_tx_ts;
final_rx_ts_32 = (uint32)final_rx_ts;
Ra = (double)(resp_rx_ts - poll_tx_ts);
Rb = (double)(final_rx_ts_32 - resp_tx_ts_32);
Da = (double)(final_tx_ts - resp_rx_ts);
Db = (double)(resp_tx_ts_32 - poll_rx_ts_32);
tof_dtu = (int64)((Ra * Rb - Da * Db) / (Ra + Rb + Da + Db));
tof = tof_dtu * DWT_TIME_UNITS;
distance = tof * SPEED_OF_LIGHT;
/* Display computed distance on LCD. */
printf("DIST: %3.2f m", distance);
//lcd_display_str(dist_str);
}
}
else
{
/* Clear RX error/timeout events in the DW1000 status register. */
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_TO | SYS_STATUS_ALL_RX_ERR);
/* Reset RX to properly reinitialise LDE operation. */
dwt_rxreset();
}
}
}
else
{
/* Clear RX error/timeout events in the DW1000 status register. */
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_TO | SYS_STATUS_ALL_RX_ERR);
/* Reset RX to properly reinitialise LDE operation. */
dwt_rxreset();
}
}
}
/*! ------------------------------------------------------------------------------------------------------------------
* @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 get_tx_timestamp_u64(void)
{
uint8 ts_tab[5];
uint64 ts = 0;
int i;
dwt_readtxtimestamp(ts_tab);
for (i = 4; i >= 0; i--)
{
ts <<= 8;
ts |= ts_tab;
}
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 get_rx_timestamp_u64(void)
{
uint8 ts_tab[5];
uint64 ts = 0;
int i;
dwt_readrxtimestamp(ts_tab);
for (i = 4; i >= 0; i--)
{
ts <<= 8;
ts |= ts_tab;
}
return ts;
}
/*! ------------------------------------------------------------------------------------------------------------------
* @fn final_msg_get_ts()
*
* @brief Read a given timestamp value from the final message. 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 read
* ts timestamp value
*
* @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 * 8);
}
}
/*****************************************************************************************************************************************************
* NOTES:
*
* 1. The sum of the values is the TX to RX antenna delay, experimentally determined by a calibration process. Here we use a hard coded typical value
* but, in a real application, each device should have its own antenna delay properly calibrated to get the best possible precision when performing
* range measurements.
* 2. The messages here are similar to those used in the DecaRanging ARM application (shipped with EVK1000 kit). They comply with the IEEE
* 802.15.4 standard MAC data frame encoding and they are following the ISO/IEC:24730-62:2013 standard. The messages used are:
* - a poll message sent by the initiator to trigger the ranging exchange.
* - a response message sent by the responder allowing the initiator to go on with the process
* - a final message sent by the initiator to complete the exchange and provide all information needed by the responder to compute the
* time-of-flight (distance) estimate.
* The first 10 bytes of those frame are common and are composed of the following fields:
* - byte 0/1: frame control (0x8841 to indicate a data frame using 16-bit addressing).
* - byte 2: sequence number, incremented for each new frame.
* - byte 3/4: PAN ID (0xDECA).
* - byte 5/6: destination address, see NOTE 3 below.
* - byte 7/8: source address, see NOTE 3 below.
* - byte 9: function code (specific values to indicate which message it is in the ranging process).
* The remaining bytes are specific to each message as follows:
* Poll message:
* - no more data
* Response message:
* - byte 10: activity code (0x02 to tell the initiator to go on with the ranging exchange).
* - byte 11/12: activity parameter, not used for activity code 0x02.
* Final message:
* - byte 10 -> 13: poll message transmission timestamp.
* - byte 14 -> 17: response message reception timestamp.
* - byte 18 -> 21: final message transmission timestamp.
* All messages end with a 2-byte checksum automatically set by DW1000.
* 3. Source and destination addresses are hard coded constants in this example to keep it simple but for a real product every device should have a
* unique ID. Here, 16-bit addressing is used to keep the messages as short as possible but, in an actual application, this should be done only
* after an exchange of specific messages used to define those short addresses for each device participating to the ranging exchange.
* 4. Delays between frames have been chosen here to ensure proper synchronisation of transmission and reception of the frames between the initiator
* and the responder and to ensure a correct accuracy of the computed distance. The user is referred to DecaRanging ARM Source Code Guide for more
* details about the timings involved in the ranging process.
* 5. This timeout is for complete reception of a frame, i.e. timeout duration must take into account the length of the expected frame. Here the value
* is arbitrary but chosen large enough to make sure that there is enough time to receive the complete final frame sent by the responder at the
* 110k data rate used (around 3.5 ms).
* 6. The preamble timeout allows the receiver to stop listening in situations where preamble is not starting (which might be because the responder is
* out of range or did not receive the message to respond to). This saves the power waste of listening for a message that is not coming. We
* recommend a minimum preamble timeout of 5 PACs for short range applications and a larger value (e.g. in the range of 50% to 80% of the preamble
* length) for more challenging longer range, NLOS or noisy environments.
* 7. In a real application, for optimum performance within regulatory limits, it may be necessary to set TX pulse bandwidth and TX power, (using
* the dwt_configuretxrf API call) to per device calibrated values saved in the target system or the DW1000 OTP memory.
* 8. We use polled mode of operation here to keep the example as simple as possible but all status events can be used to generate interrupts. Please
* refer to DW1000 User Manual for more details on "interrupts". It is also to be noted that STATUS register is 5 bytes long but, as the event we
* use are all in the first bytes of the register, we can use the simple dwt_read32bitreg() API call to access it instead of reading the whole 5
* bytes.
* 9. Timestamps and delayed transmission time are both expressed in device time units so we just have to add the desired response delay to poll RX
* timestamp to get response transmission time. The delayed transmission time resolution is 512 device time units which means that the lower 9 bits
* of the obtained value must be zeroed. This also allows to encode the 40-bit value in a 32-bit words by shifting the all-zero lower 8 bits.
* 10. dwt_writetxdata() takes the full size of the message as a parameter but only copies (size - 2) bytes as the check-sum at the end of the frame is
* automatically appended by the DW1000. This means that our variable could be two bytes shorter without losing any data (but the sizeof would not
* work anymore then as we would still have to indicate the full length of the frame to dwt_writetxdata()).
* 11. When running this example on the EVB1000 platform with the POLL_RX_TO_RESP_TX_DLY response delay provided, the dwt_starttx() is always
* successful. However, in cases where the delay is too short (or something else interrupts the code flow), then the dwt_starttx() might be issued
* too late for the configured start time. The code below provides an example of how to handle this condition: In this case it abandons the
* ranging exchange and simply goes back to awaiting another poll message. If this error handling code was not here, a late dwt_starttx() would
* result in the code flow getting stuck waiting subsequent RX event that will will never come. The companion "initiator" example (ex_05a) should
* timeout from awaiting the "response" and proceed to send another poll in due course to initiate another ranging exchange.
* 12. The high order byte of each 40-bit time-stamps is discarded here. This is acceptable as, on each device, those time-stamps are not separated by
* more than 2**32 device time units (which is around 67 ms) which means that the calculation of the round-trip delays can be handled by a 32-bit
* subtraction.
* 13. The user is referred to DecaRanging ARM application (distributed with EVK1000 product) for additional practical example of usage, and to the
* DW1000 API Guide for more details on the DW1000 driver functions.
****************************************************************************************************************************************************/
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