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/* Copyright (c) 2015 Nordic Semiconductor. All Rights Reserved.
*
* The information contained herein is property of Nordic Semiconductor ASA.
* Terms and conditions of usage are described in detail in NORDIC
* SEMICONDUCTOR STANDARD SOFTWARE LICENSE AGREEMENT.
*
* Licensees are granted free, non-transferable use of the information. NO
* WARRANTY of ANY KIND is provided. This heading must NOT be removed from
* the file.
*
*/
#include "sdk_config.h"
#include "FreeRTOS.h"
#include "task.h"
#include "timers.h"
#include "bsp.h"
#include "boards.h"
#include "nordic_common.h"
#include "nrf_drv_clock.h"
#include "nrf_drv_spi.h"
#include "nrf_uart.h"
#include "app_util_platform.h"
#include "nrf_gpio.h"
#include "nrf_delay.h"
#include "nrf_log.h"
#include "nrf.h"
#include "app_error.h"
#include "app_util_platform.h"
#include "app_error.h"
#include <string.h>
#include "port_platform.h"
#include "deca_types.h"
#include "deca_param_types.h"
#include "deca_regs.h"
#include "deca_device_api.h"
#include "uart.h"
//-----------------dw1000----------------------------
static dwt_config_t config = {
5, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
DWT_PLEN_1024, /* Preamble length. Used in TX only. */
DWT_PAC64, /* Preamble acquisition chunk size. Used in RX only. */
10, /* TX preamble code. Used in TX only. */
10, /* RX preamble code. Used in RX only. */
0, /* 0 to use standard SFD, 1 to use non-standard SFD. */
DWT_BR_110K, /* Data rate. */
DWT_PHRMODE_STD, /* PHY header mode. */
(129 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
};
/* Preamble timeout, in multiple of PAC size. See NOTE 3 below. */
#define PRE_TIMEOUT 1000
/* Delay between frames, in UWB microseconds. See NOTE 1 below. */
#define POLL_TX_TO_RESP_RX_DLY_UUS 100
/*Should be accurately calculated during calibration*/
#define TX_ANT_DLY 16300
#define RX_ANT_DLY 16456
//--------------dw1000---end---------------
#define TASK_DELAY 200 /**< Task delay. Delays a LED0 task for 200 ms */
#define TIMER_PERIOD 2000 /**< Timer period. LED1 timer will expire after 1000 ms */
#ifdef USE_FREERTOS
TaskHandle_t ss_initiator_task_handle; /**< Reference to SS TWR Initiator FreeRTOS task. */
extern void ss_initiator_task_function (void * pvParameter);
TaskHandle_t led_toggle_task_handle; /**< Reference to LED0 toggling FreeRTOS task. */
TimerHandle_t led_toggle_timer_handle; /**< Reference to LED1 toggling FreeRTOS timer. */
#endif
#ifdef USE_FREERTOS
/**@brief LED0 task entry function.
*
* @param[in] pvParameter Pointer that will be used as the parameter for the task.
*/
static void led_toggle_task_function (void * pvParameter)
{
UNUSED_PARAMETER(pvParameter);
while (true)
{
LEDS_INVERT(BSP_LED_0_MASK);
/* Delay a task for a given number of ticks */
vTaskDelay(TASK_DELAY);
/* Tasks must be implemented to never return... */
}
}
/**@brief The function to call when the LED1 FreeRTOS timer expires.
*
* @param[in] pvParameter Pointer that will be used as the parameter for the timer.
*/
static void led_toggle_timer_callback (void * pvParameter)
{
UNUSED_PARAMETER(pvParameter);
LEDS_INVERT(BSP_LED_1_MASK);
}
#else
extern int ss_init_run(void);
#endif // #ifdef USE_FREERTOS
int main(void)
{
/* Setup some LEDs for debug Green and Blue on DWM1001-DEV */
LEDS_CONFIGURE(BSP_LED_0_MASK | BSP_LED_1_MASK | BSP_LED_2_MASK);
LEDS_ON(BSP_LED_0_MASK | BSP_LED_1_MASK | BSP_LED_2_MASK );
#ifdef USE_FREERTOS
/* Create task for LED0 blinking with priority set to 2 */
UNUSED_VARIABLE(xTaskCreate(led_toggle_task_function, "LED0", configMINIMAL_STACK_SIZE + 200, NULL, 2, &led_toggle_task_handle));
/* Start timer for LED1 blinking */
led_toggle_timer_handle = xTimerCreate( "LED1", TIMER_PERIOD, pdTRUE, NULL, led_toggle_timer_callback);
UNUSED_VARIABLE(xTimerStart(led_toggle_timer_handle, 0));
/* Create task for SS TWR Initiator set to 2 */
UNUSED_VARIABLE(xTaskCreate(ss_initiator_task_function, "SSTWR_INIT", configMINIMAL_STACK_SIZE + 200, NULL, 2, &ss_initiator_task_handle));
#endif // #ifdef USE_FREERTOS
//-------------dw1000 ini------------------------------------
/* Setup DW1000 IRQ pin */
nrf_gpio_cfg_input(DW1000_IRQ, NRF_GPIO_PIN_NOPULL); //irq
/*Initialization UART*/
boUART_Init ();
printf("Single Sided Two Way Ranging Initiator Example \r\n");
printf("abc\r\n");
/* Reset DW1000 */
reset_DW1000();
/* Set SPI clock to 2MHz */
port_set_dw1000_slowrate();
/* Init the DW1000 */
if (dwt_initialise(DWT_LOADUCODE) == DWT_ERROR)
{
//Init of DW1000 Failed
while (1) {};
}
// Set SPI to 8MHz clock
port_set_dw1000_fastrate();
/* Configure DW1000. */
dwt_configure(&config);
/* Apply default antenna delay value. See NOTE 2 below. */
dwt_setrxantennadelay(RX_ANT_DLY);
dwt_settxantennadelay(TX_ANT_DLY);
/* Set preamble timeout for expected frames. See NOTE 3 below. */
//dwt_setpreambledetecttimeout(0); // PRE_TIMEOUT
/* Set expected response's delay and timeout.
* 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);
dwt_setrxtimeout(65000); // Maximum value timeout with DW1000 is 65ms
//-------------dw1000 ini------end---------------------------
// IF WE GET HERE THEN THE LEDS WILL BLINK
#ifdef USE_FREERTOS
/* Start FreeRTOS scheduler. */
vTaskStartScheduler();
while(1)
{};
#else
// No RTOS task here so just call the main loop here.
// Loop forever responding to ranging requests.
while (1)
{
ss_init_run();
}
#endif
}
/*****************************************************************************************************************************************************
* NOTES:
*
* 1. The single-sided two-way ranging scheme implemented here has to be considered carefully as the accuracy of the distance measured is highly
* sensitive to the clock offset error between the devices and the length of the response delay between frames. To achieve the best possible
* accuracy, this response delay must be kept as low as possible. In order to do so, 6.8 Mbps data rate is used in this example and the response
* delay between frames is defined as low as possible. The user is referred to User Manual for more details about the single-sided two-way ranging
* process. NB:SEE ALSO NOTE 11.
* 2. The sum of the values is the TX to RX antenna delay, this should be experimentally determined by a calibration process. Here we use a hard coded
* value (expected to be a little low so a positive error will be seen on the resultant distance estimate. For a real production application, each
* device should have its own antenna delay properly calibrated to get good precision when performing range measurements.
* 3. 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 response frame sent by the responder at the
* 6.8M data rate used (around 200 µs).
* 4. 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.
* 5. 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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