DM1000资料与源程序(arm与pc平台)给大家提供参考 -

/*! ----------------------------------------------------------------------------
* @file main.c
* @brief main loop for the DecaRanging application
*
* @attention
*
* Copyright 2013 (c) DecaWave Ltd, Dublin, Ireland.
*
* All rights reserved.
*
* @author DecaWave
*/
/* Includes */
#include "compiler.h"
#include "port.h"
#include "instance.h"
#include "deca_types.h"
#include "deca_spi.h"
#include "stdio.h"
extern void usb_run(void);
extern int usb_init(void);
extern void usb_printconfig(int, uint8*, int);
extern void send_usbmessage(uint8*, int);
#define DWINTERRUPT_EN (1) //set to 1 when using DW interrupt, set to 0 to poll DW1000 IRQ line
#define SOFTWARE_VER_STRING "Version 3.05 " //
#define SWS1_SRM_MODE 0x80 //slow ranging mode with PC - response is configurable and > 150 ms
#define SWS1_ANC_MODE 0x08 //anchor mode
#define SWS1_SHF_MODE 0x10 //short frame mode (6.81M) (switch S1-5)
#define SWS1_64M_MODE 0x20 // 64M PRF mode (switch S1-6)
#define SWS1_CH5_MODE 0x40 //channel 5 mode (switch S1-7)
int instance_anchaddr = 0; //0 = 0xDECA020000000001; 1 = 0xDECA020000000002; 2 = 0xDECA020000000003
//NOTE: switches TA_SW1_7 and TA_SW1_8 are used to set tag/anchor address
int dr_mode = 0;
//if instance_mode = TAG_TDOA then the device cannot be selected as anchor
int instance_mode = ANCHOR;
//int instance_mode = TAG;
//int instance_mode = TAG_TDOA;
//int instance_mode = LISTENER;
uint8 s1switch = 0;
int chan, tagaddr, ancaddr;
#define LCD_BUFF_LEN (100)
uint8 dataseq[LCD_BUFF_LEN];
uint8 dataseq1[LCD_BUFF_LEN];
int ranging = 0;
typedef struct
{
uint8 channel ;
uint8 prf ;
uint8 datarate ;
uint8 preambleCode ;
uint8 preambleLength ;
uint8 pacSize ;
uint8 nsSFD ;
uint16 sfdTO ;
} chConfig_t ;
//Configuration for DecaRanging Modes (8 default use cases selectable by the switch S1 on EVK)
chConfig_t chConfig[8] ={
//mode 1 - S1: 7 off, 6 off, 5 off
{
2, // channel
DWT_PRF_16M, // prf
DWT_BR_110K, // datarate
3, // preambleCode
DWT_PLEN_1024, // preambleLength
DWT_PAC32, // pacSize
1, // non-standard SFD
(1025 + 64 - 32) //SFD timeout
},
//mode 2
{
2, // channel
DWT_PRF_16M, // prf
DWT_BR_6M8, // datarate
3, // preambleCode
DWT_PLEN_128, // preambleLength
DWT_PAC8, // pacSize
0, // non-standard SFD
(129 + 8 - 8) //SFD timeout
},
//mode 3
{
2, // channel
DWT_PRF_64M, // prf
DWT_BR_110K, // datarate
9, // preambleCode
DWT_PLEN_1024, // preambleLength
DWT_PAC32, // pacSize
1, // non-standard SFD
(1025 + 64 - 32) //SFD timeout
},
//mode 4
{
2, // channel
DWT_PRF_64M, // prf
DWT_BR_6M8, // datarate
9, // preambleCode
DWT_PLEN_128, // preambleLength
DWT_PAC8, // pacSize
0, // non-standard SFD
(129 + 8 - 8) //SFD timeout
},
//mode 5
{
5, // channel
DWT_PRF_16M, // prf
DWT_BR_110K, // datarate
3, // preambleCode
DWT_PLEN_1024, // preambleLength
DWT_PAC32, // pacSize
1, // non-standard SFD
(1025 + 64 - 32) //SFD timeout
},
//mode 6
{
5, // channel
DWT_PRF_16M, // prf
DWT_BR_6M8, // datarate
3, // preambleCode
DWT_PLEN_128, // preambleLength
DWT_PAC8, // pacSize
0, // non-standard SFD
(129 + 8 - 8) //SFD timeout
},
//mode 7
{
5, // channel
DWT_PRF_64M, // prf
DWT_BR_110K, // datarate
9, // preambleCode
DWT_PLEN_1024, // preambleLength
DWT_PAC32, // pacSize
1, // non-standard SFD
(1025 + 64 - 32) //SFD timeout
},
//mode 8
{
5, // channel
DWT_PRF_64M, // prf
DWT_BR_6M8, // datarate
9, // preambleCode
DWT_PLEN_128, // preambleLength
DWT_PAC8, // pacSize
0, // non-standard SFD
(129 + 8 - 8) //SFD timeout
}
};
uint32 inittestapplication(uint8 s1switch);
// Restart and re-configure
void restartinstance(void)
{
instance_close() ; //shut down instance, PHY, SPI close, etc.
spi_peripheral_init(); //re initialise SPI...
inittestapplication(s1switch) ; //re-initialise instance/device
} // end restartinstance()
//NOTE: Channel 5 is not supported for the non-discovery mode
int decarangingmode(uint8 s1switch)
{
int mode = 0;
if(s1switch & SWS1_SHF_MODE)
{
mode = 1;
}
if(s1switch & SWS1_64M_MODE)
{
mode = mode + 2;
}
if(s1switch & SWS1_CH5_MODE)
{
mode = mode + 4;
}
return mode;
}
uint32 inittestapplication(uint8 s1switch)
{
uint32 devID ;
instanceConfig_t instConfig;
int result;
SPI_ConfigFastRate(SPI_BaudRatePrescaler_32); //max SPI before PLLs configured is ~4M
//this is called here to wake up the device (i.e. if it was in sleep mode before the restart)
devID = instancereaddeviceid() ;
if(DWT_DEVICE_ID != devID) //if the read of device ID fails, the DW1000 could be asleep
{
port_SPIx_clear_chip_select(); //CS low
Sleep(1); //200 us to wake up then waits 5ms for DW1000 XTAL to stabilise
port_SPIx_set_chip_select(); //CS high
Sleep(7);
devID = instancereaddeviceid() ;
// SPI not working or Unsupported Device ID
if(DWT_DEVICE_ID != devID)
return(-1) ;
//clear the sleep bit - so that after the hard reset below the DW does not go into sleep
dwt_softreset();
}
//reset the DW1000 by driving the RSTn line low
reset_DW1000();
result = instance_init() ;
if (0 > result) return(-1) ; // Some failure has occurred
SPI_ConfigFastRate(SPI_BaudRatePrescaler_4); //increase SPI to max
devID = instancereaddeviceid() ;
if (DWT_DEVICE_ID != devID) // Means it is NOT MP device
{
// SPI not working or Unsupported Device ID
return(-1) ;
}
if(s1switch & SWS1_ANC_MODE)
{
instance_mode = ANCHOR;
led_on(LED_PC6);
}
else
{
instance_mode = TAG;
led_on(LED_PC7);
}
instancesetrole(instance_mode) ; // Set this instance role
instance_init_s(instance_mode);
dr_mode = decarangingmode(s1switch);
instConfig.channelNumber = chConfig[dr_mode].channel ;
instConfig.preambleCode = chConfig[dr_mode].preambleCode ;
instConfig.pulseRepFreq = chConfig[dr_mode].prf ;
instConfig.pacSize = chConfig[dr_mode].pacSize ;
instConfig.nsSFD = chConfig[dr_mode].nsSFD ;
instConfig.sfdTO = chConfig[dr_mode].sfdTO ;
instConfig.dataRate = chConfig[dr_mode].datarate ;
instConfig.preambleLen = chConfig[dr_mode].preambleLength ;
instance_config(&instConfig) ; // Set operating channel etc
instancesettagsleepdelay(POLL_SLEEP_DELAY, BLINK_SLEEP_DELAY); //set the Tag sleep time
instance_init_timings();
return devID;
}
/**
**===========================================================================
**
** Abstract: main program
**
**===========================================================================
*/
void process_dwRSTn_irq(void)
{
instance_notify_DW1000_inIDLE(1);
}
#if (DWINTERRUPT_EN == 1)
void process_deca_irq(void)
{
do{
instance_process_irq(0);
}while(port_CheckEXT_IRQ() == 1); //while IRQ line active (ARM can only do edge sensitive interrupts)
}
#else
void process_deca_irq(void)
{
while(dwt_checkIRQ() == 1)
{
instance_process_irq(0);
} //while IRQ line active
}
#endif
void initLCD(void)
{
uint8 initseq[9] = { 0x39, 0x14, 0x55, 0x6D, 0x78, 0x38 /*0x3C*/, 0x0C, 0x01, 0x06 };
uint8 command = 0x0;
int j = 100000;
writetoLCD( 9, 0, initseq); //init seq
while(j--);
command = 0x2 ; //return cursor home
writetoLCD( 1, 0, &command);
command = 0x1 ; //clear screen
writetoLCD( 1, 0, &command);
}
/*
* @brief switch_mask - bitmask of testing switches (currently 7 switches)
* switchbuff[] - switch name to test
* *switch_fn[]() - corresponded to switch test function
**/
#define switch_mask (0x7F)
const uint8 switchbuf[]={0, TA_SW1_3 , TA_SW1_4 , TA_SW1_5 , TA_SW1_6 , TA_SW1_7 , TA_SW1_8 };
typedef int (* switch_handler_t)(uint16) ;
const switch_handler_t switch_fn[] ={ is_button_low, \
is_switch_on, is_switch_on, is_switch_on,\
is_switch_on, is_switch_on, is_switch_on };
/*
* @fn test_application_run
* @brief test application for production pre-test procedure
**/
void test_application_run(void)
{
char dataseq[2][40];
uint8 j, switchStateOn, switchStateOff;
switchStateOn=0;
switchStateOff=0;
led_on(LED_ALL); // show all LED OK
Sleep(1000);
dataseq[0][0] = 0x1 ; //clear screen
writetoLCD( 1, 0, (const uint8 *) &dataseq);
dataseq[0][0] = 0x2 ; //return cursor home
writetoLCD( 1, 0, (const uint8 *) &dataseq);
/* testing SPI to DW1000*/
writetoLCD( 40, 1, (const uint8 *) "TESTING ");
writetoLCD( 40, 1, (const uint8 *) "SPI, U2, S2, S3 ");
Sleep(1000);
if(inittestapplication(s1switch) == (uint32)-1)
{
writetoLCD( 40, 1, (const uint8 *) "SPI, U2, S2, S3 ");
writetoLCD( 40, 1, (const uint8 *) "-- TEST FAILS --");
while(1); //stop
}
writetoLCD( 40, 1, (const uint8 *) "SPI, U2, S2, S3 ");
writetoLCD( 40, 1, (const uint8 *) " TEST OK ");
Sleep(1000);
/* testing of switch S2 */
dataseq[0][0] = 0x1 ; //clear screen
writetoLCD( 1, 0, (const uint8 *) &dataseq);
while( (switchStateOn & switchStateOff) != switch_mask )
{
memset(&dataseq, ' ', sizeof(dataseq));
strcpy(&dataseq[0][0], (const char *)"SWITCH");
strcpy(&dataseq[1][0], (const char *)"toggle");
//switch 7-1
for (j=0;j<sizeof(switchbuf);j++)
{
if( switch_fn[j](switchbuf[j]) ) //execute current switch switch_fn
{
dataseq[0][8+j]='O';
switchStateOn |= 0x01<<j;
switchStateOff &= ~(0x01<<j);//all switches finaly should be in off state
}else{
dataseq[1][8+j]='O';
switchStateOff |=0x01<<j;
}
}
writetoLCD(40, 1, (const uint8 *) &dataseq[0][0]);
writetoLCD(40, 1, (const uint8 *) &dataseq[1][0]);
Sleep(100);
}
led_off(LED_ALL);
writetoLCD( 40, 1, (const uint8 *) " Preliminary ");
writetoLCD( 40, 1, (const uint8 *) " TEST OKAY ");
while(1);
}
void setLCDline1(uint8 s1switch)
{
uint8 command = 0x2 ; //return cursor home
writetoLCD( 1, 0, &command);
sprintf((char*)&dataseq[0], "DecaRanging %02x", s1switch);
writetoLCD( 40, 1, dataseq); //send some data
sprintf((char*)&dataseq1[0], " ");
writetoLCD( 16, 1, dataseq1); //send some data
}
/*
* @fn main()
* @brief main entry point
**/
int main(void)
{
int i = 0;
int toggle = 1;
double range_result = 0;
double avg_result = 0;
led_off(LED_ALL); //turn off all the LEDs
peripherals_init();
spi_peripheral_init();
Sleep(1000); //wait for LCD to power on
initLCD();
memset(dataseq, 0, LCD_BUFF_LEN);
memcpy(dataseq, (const uint8 *) "DECAWAVE ", 16);
writetoLCD( 40, 1, dataseq); //send some data
memcpy(dataseq, (const uint8 *) SOFTWARE_VER_STRING, 16); // Also set at line #26 (Should make this from single value !!!)
writetoLCD( 16, 1, dataseq); //send some data
Sleep(1000);
#ifdef USB_SUPPORT
// enable the USB functionality
usb_init();
Sleep(1000);
#endif
s1switch = is_button_low(0) << 1 // is_switch_on(TA_SW1_2) << 2
| is_switch_on(TA_SW1_3) << 2
| is_switch_on(TA_SW1_4) << 3
| is_switch_on(TA_SW1_5) << 4
| is_switch_on(TA_SW1_6) << 5
| is_switch_on(TA_SW1_7) << 6
| is_switch_on(TA_SW1_8) << 7;
port_DisableEXT_IRQ(); //disable ScenSor IRQ until we configure the device
//test EVB1000 - used in EVK1000 production
if((is_button_low(0) == S1_SWITCH_ON) && (is_switch_on(TA_SW1_8) == S1_SWITCH_ON)) //using BOOT1 switch for test
{
test_application_run(); //does not return....
}
else
if(is_switch_on(TA_SW1_3) == S1_SWITCH_OFF)
{
int j = 1000000;
uint8 command;
memset(dataseq, 0, LCD_BUFF_LEN);
while(j--);
//command = 0x1 ; //clear screen
//writetoLCD( 1, 0, &command);
command = 0x2 ; //return cursor home
writetoLCD( 1, 0, &command);
memcpy(dataseq, (const uint8 *) "DECAWAVE ", 12);
writetoLCD( 40, 1, dataseq); //send some data
#ifdef USB_SUPPORT //this is set in the port.h file
memcpy(dataseq, (const uint8 *) "USB to SPI ", 12);
#else
#endif
writetoLCD( 16, 1, dataseq); //send some data
j = 1000000;
while(j--);
command = 0x2 ; //return cursor home
writetoLCD( 1, 0, &command);
#ifdef USB_SUPPORT //this is set in the port.h file
// enable the USB functionality
//usb_init();
NVIC_DisableDECAIRQ();
// Do nothing in foreground -- allow USB application to run, I guess on the basis of USB interrupts?
while (1) // loop forever
{
usb_run();
}
#endif
return 1;
}
else //run DecaRanging application
{
uint8 dataseq[LCD_BUFF_LEN];
uint8 command = 0x0;
command = 0x2 ; //return cursor home
writetoLCD( 1, 0, &command);
memset(dataseq, ' ', LCD_BUFF_LEN);
memcpy(dataseq, (const uint8 *) "DECAWAVE RANGE", 15);
writetoLCD( 15, 1, dataseq); //send some data
led_off(LED_ALL);
#ifdef USB_SUPPORT //this is set in the port.h file
usb_printconfig(16, (uint8 *)SOFTWARE_VER_STRING, s1switch);
#endif
if(inittestapplication(s1switch) == (uint32)-1)
{
led_on(LED_ALL); //to display error....
dataseq[0] = 0x2 ; //return cursor home
writetoLCD( 1, 0, &dataseq[0]);
memset(dataseq, ' ', LCD_BUFF_LEN);
memcpy(dataseq, (const uint8 *) "ERROR ", 12);
writetoLCD( 40, 1, dataseq); //send some data
memcpy(dataseq, (const uint8 *) " INIT FAIL ", 12);
writetoLCD( 40, 1, dataseq); //send some data
return 0; //error
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