//ex_05b_ds_twr_resp

//ex_05b_ds_twr_resp

#ifdef EX_05B_DEF

#include <stdio.h>

#include <string.h>

#include "deca_device_api.h"

#include "deca_regs.h"

//#include "lcd.h"

#include "deca_spi.h"

#include "port.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[] = //这里接收的数据内容其实就是发送端的 tx_poll_msg 数据要保持一致

{

0x41, 0x88,

0,

0xCA, 0xDE,//理解为厂家的ID 3 4

'W', 'A',

'V', 'E',

0x21, //0X21表示 poll消息

0,0 //最后两个字节是校验和

};

static uint8 tx_resp_msg[] =

{0x41, 0x88,

0,

0xCA, 0xDE,//理解为厂家的ID 3 4

'V', 'E',

'W', 'A',

0x10, //我的理解是0X10表示 resp消息

0x02, //告诉对方我还需要你的响应

0, 0,

0, 0};//最后两个字节是校验和

static uint8 rx_final_msg[] =

{0x41, 0x88,

0, //帧的序号

0xCA, 0xDE,//理解为厂家的ID 3 4

'W', 'A',

'V', 'E',

0x23, //我的理解是0x23表示 final消息

0, 0, 0, 0, //10-13 poll时间戳

0, 0, 0, 0, //14-17 resp时间戳

0, 0, 0, 0, //18-21 final时间戳

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

//final消息数组中时间戳的索引

#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.用于存储接收消息的缓冲区

* Its size is adjusted to longest frame that this example code is supposed to handle.

* 它的大小调整为此示例代码应该处理的最长帧。

*/

#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.

*在此处保存状态寄存器状态的副本以供参考，以便可以在调试断点处对其进行检查。*/

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 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 2750 //poll_rx发送后到resp_tx的延时,

/* 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 3300

/* 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 dw_main(void)

{

/* 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. */

port_set_dw1000_slowrate();

if (dwt_initialise(DWT_LOADUCODE) == DWT_ERROR)

{

// lcd_display_str("INIT FAILED");

while (1)

{ };

}

port_set_dw1000_fastrate();

/* Configure DW1000. See NOTE 7 below. */

dwt_configure(&config);

/*

get_hc32_chip_96bit_id(mcuID,sizeof(mcuID));

for(idx=0; idx<6; idx++)

{

rx_poll_msg[3+idx]= tx_resp_msg[3+idx] =*(mcuID+idx);

}

// Register RX call-back.

dwt_setcallbacks(&Dwm1000_tx_conf_cb, &Dwm1000_rx_ok_cb

,&Dwm1000_rx_to_cb,&Dwm1000_rx_err_cb);

dwt_setinterrupt(

DWT_INT_TFRS //frame sent

| DWT_INT_RFCG //frame received with good CRC

| DWT_INT_RPHE //receiver PHY header error

| DWT_INT_RFCE //receiver CRC error

| DWT_INT_RXOVRR

| DWT_INT_RFTO

,1);

*/

/* Apply default antenna delay value. See NOTE 1 below. */

dwt_setrxantennadelay(RX_ANT_DLY);//配置天线的延时.

dwt_settxantennadelay(TX_ANT_DLY);

dwt_setleds(DWT_LEDS_ENABLE);

/* Set preamble timeout for expected frames. See NOTE 6 below. */

/*6. 前导码超时允许接收方在报头未启动的情况下停止侦听（这可能是因为响应方超出范围或未收到要响应的消息）。

*这样可以节省监听未传入消息的电力浪费。对于短距离应用，我们建议最小前导码超时为 5 个 PAC，

*对于更具挑战性的长距离、NLOS 或嘈杂环境，我们建议使用更大的值（例如，在前导码长度的 50% 到 80% 范围内）。*/

dwt_setpreambledetecttimeout(PRE_TIMEOUT);//设置前导码检测的延时,超市自动休眠.

/* Loop forever responding to ranging requests. */

while (1)

{

/* Clear reception timeout to start next ranging测距 process. */

/*The dwt_setrxtimeout() function sets the receiver to timeout (and disable) when no frame is

received within the specified time(在指定的时间内没有帧被接收到产生超时错误).

*This function should be called before the dwt_rxenable()

function is called to turn on the receiver. The time parameter used here is in 1.0256 us (512/499.2

MHz) units. The maximum RX timeout is ~ 65 ms.

*/

dwt_setrxtimeout(0);//基站第一步接收. 所以, 设置rx超时

/* Activate reception immediately. */

dwt_rxenable(DWT_START_RX_IMMEDIATE);

/* Poll for reception of a frame or error/timeout. See NOTE 8 below. */

/*8. 我们在这里使用轮询操作模式，以使示例尽可能简单，但所有状态事件都可用于生成中断。

有关“中断”的更多详细信息，请参阅 DW1000 用户手册。还需要注意的是，STATUS 寄存器的长度为 5 个字节，

但由于我们使用的事件都在寄存器的第一个字节中，因此我们可以使用简单的 dwt_read32bitreg（）

API 调用来访问它，而不是读取整个 5 个字节。*/

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)

{

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. */

/*检查帧是否是“DS TWR 发起方”示例发送的轮询。由于帧的序列号字段不相关，因此清除该字段以简化帧的验证。*/

rx_buffer[ALL_MSG_SN_IDX] = 0; //消息序号设置0

if (memcmp(rx_buffer, rx_poll_msg, ALL_MSG_COMMON_LEN) == 0)// 基站第一次检测接收 判断是否poll帧

{

uint32 resp_tx_time;

int ret;

/* Retrieve poll reception timestamp. */

poll_rx_ts = get_rx_timestamp_u64();//T2的时间戳 获取poll帧的接收时间戳

/* Set send time for response. See NOTE 9 below. */

/*9.时间戳和延迟传输时间都以设备时间单位表示，因此我们只需将所需的响应延迟添加到轮询 RX 时间戳即可获得响应传输时间。

延迟传输时间分辨率为 512 个设备时间单位，这意味着所获得值的较低 9 位必须归零。

这也允许通过将全零的低 8 位移动来对 32 位字中的 40 位值进行编码。*/

resp_tx_time = (poll_rx_ts + (POLL_RX_TO_RESP_TX_DLY_UUS * UUS_TO_DWT_TIME)) >> 8;//这里相当于T3时间戳. resp发送的绝对时间

dwt_setdelayedtrxtime(resp_tx_time);//设置发送延时,绝对时间

/* Set expected delay and timeout for final message reception. See NOTE 4 and 5 below. */

dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS);//设置发送延时, 相对时间

dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS); //设置接收final的超时时间.

/* Write and send the response message. See NOTE 10 below.*/

tx_resp_msg[ALL_MSG_SN_IDX] = frame_seq_nb;//帧序号

dwt_writetxdata(sizeof(tx_resp_msg), tx_resp_msg, 0); /*resp帧准备发送出去 */

dwt_writetxfctrl(sizeof(tx_resp_msg), 0, 1); /* 写发送帧控制寄存器,告诉dwm10000发送多少个数据*/

ret = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED); //将resp真正发送出去,并且告诉dwm1000这个帧需要对方回复

/* If dwt_starttx() returns an error, abandon this ranging exchange and proceed to the next one. See NOTE 11 below. */

if (ret == DWT_ERROR) //检查是否正确发送

{

continue;

}

/* Poll for reception of expected "final" frame or error/timeout. See NOTE 8 below.

* 轮询接收想要的final帧. 或者错误/超时等问题

*/

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++;

if (status_reg & SYS_STATUS_RXFCG)//如果接收到一个完整的帧

{

/* 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);//清除接收帧和发送帧标志位.

/* A frame has been received, read it into the local buffer. */

frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;//读取接收帧信息中的帧长度

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) /*判断是否接收到final帧*/

{

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); //读取final帧中的时间矬

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; //计算距离

/* Display computed distance on LCD. */

sprintf(dist_str, "DIST: %3.2f m", distance);

//lcd_display_str(dist_str);

printf(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[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 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[i];

}

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] << (i * 8);

}

}

#endif

/*****************************************************************************************************************************************************

* 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.

****************************************************************************************************************************************************/