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DW1000的官方keil源程序，发上来给各位用一下
这是官方标准程序，还可以使用。
单片机源程序如下:
/*! ----------------------------------------------------------------------------
*&&@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_
static uint64 resp_tx_
static uint64 final_rx_
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
/* 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_
static uint64 resp_rx_
static uint64 final_tx_
/* 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)
{
& &
& & *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 & 0x));
& & & & //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)
{
& & & &
& & & & for(i=0; i& i++)
& & & & {
& & & & & & & & USART_putc(s[i]);
& & & & }
}
int ld[100];
int LP(int tmp,uint8_t channel)
{
& & & & data = 0.7*ld[channel]+0.3*
& & & & ld[channel]=
& & & &
}
uint16_t Checksum_u16(uint8_t* pdata, uint32_t len)
{
& & uint16_t sum = 0;
& & uint32_
& & for(i=0; i& i++)
& && &&&sum += pdata[i];
& & sum = ~
& &
}
void LED_blink(void)
{
& & & & uint8_
& & & & for (ii=0;ii&10;ii++)
{
& & & & GPIO_Toggle(GPIOA,LED_PIN);
& & & & deca_sleep(100);
}
}
extern volatile unsigned long time32_
extern uint8_t Work_M
uint32 frame_
uint8_t send[9];
char dist_str[16] = {0};
int32_
double dID;
uint8_t TAG_ID,ANCHOR_ID, jumptime=0;
uint32_t rec_dist,hex_
uint16_
int main(void)
{
& & /* Start with board specific hardware init. */
& & peripherals_init();//初始化外设
& & /* 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();//重启DW1000 /* Target specific drive of RSTn line into DW1000 low for a period. */
& & spi_set_rate_low();//降低SPI频率
& & dwt_initialise(DWT_LOADUCODE);//初始化DW1000
& & spi_set_rate_high();//回复SPI频率
& & /* 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);& & & & & & & & //设置接收天线延迟
& & dwt_settxantennadelay(TX_ANT_DLY);& & & & & & & & //设置发射天线延迟
& & /* 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);//设置发送后开启接收，并设定延迟时间
& & dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);& & & & & & & & & & & & & & & & & & & & & & & & //设置接收超时时间
& & & & & & & & send[0]=0x6D;& & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & //串口数据
& & & & & & & & send[1]=0xD6;& & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & //串口数据
& & & & & & & & tx_poll_msg[6] = ANCHOR_ID;& & & & //UWB POLL 包数据
& & & & & & & & rx_resp_msg[6] = ANCHOR_ID;& & & & //UWB RESPONSE 包数据
& & & & & & & & tx_final_msg[6] = ANCHOR_ID;//UWB Fianl 包数据
& & & & & & & &
& & & & & & & & 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 包数据
& & & & & & & & rx_resp_msg[5] = TAG_ID;//UWB RESPONSE 包数据
& & & & & & & & tx_final_msg[5] = TAG_ID;//UWB Fianl 包数据
& & /* Loop forever initiating ranging exchanges. */
& & & & & & & & LED_blink();
& & & & & & & & if(!Work_Mode)& &//选择发送模式（TAG标签）还是接收模式(ANCHOR基站)
& & & & & & & & {
& & while (1)& & & & & & & & & & & & //发送模式(TAG标签)
& & {
& && &&&/* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
& && &&&tx_poll_msg[ALL_MSG_SN_IDX] = frame_seq_
& && &&&dwt_writetxdata(sizeof(tx_poll_msg), tx_poll_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
& && &&&dwt_writetxfctrl(sizeof(tx_poll_msg), 0);//设置超宽带发送数据长度
& && &&&/* 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);//开启发送，发送完成后等待一段时间开启接收，等待时间在dwt_setrxaftertxdelay中设置
& && &&&/* 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)))//不断查询芯片状态直到成功接收或者发生错误
& && &&&{ };
& && &&&/* 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_
& && && && &/* 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;& & & & //获得接收到的数据长度
& && && && &if (frame_len &= RX_BUF_LEN)
& && && && &{
& && && && && & dwt_readrxdata(rx_buffer, frame_len, 0);& &//读取接收数据
& && && && &}
& && && && &/* 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)//判断接收到的数据是否是response数据
& && && && &{
& && && && && & uint32 final_tx_
& & & & & & & & & & & & & & & & & & & & & & & & & & & &
& && && && && & /* Retrieve poll transmission and response reception timestamp. */
& && && && && & poll_tx_ts = get_tx_timestamp_u64();& & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & //获得POLL发送时间T1
& && && && && & resp_rx_ts = get_rx_timestamp_u64();& & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & //获得RESPONSE接收时间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;//计算final包发送时间，T5=T4+Treply2
& && && && && & dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间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包实际发送时间是计算时间加上发送天线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);//将T1，T4，T5写入发送数据
& && && && && & 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_
& && && && && & dwt_writetxdata(sizeof(tx_final_msg), tx_final_msg, 0);//将发送数据写入DW1000
& && && && && & dwt_writetxfctrl(sizeof(tx_final_msg), 0);//设定发送数据长度
& && && && && & dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
& && && && && & /* Poll DW1000 until TX frame sent event set. See NOTE 8 below. */
& && && && && & while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成
& && && && && & { };
& && && && && & /* Clear TXFRS event. */
& && && && && & dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//清楚标志位
& && && && && & /* Increment frame sequence number after transmission of the final message (modulo 256). */
& && && && && & frame_seq_nb++;
& & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & time32_reset = 0;
& & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & GPIO_Toggle(GPIOA,LED_PIN);//LED闪烁
& & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & jumptime = 0;
& && && && &}else{
& & & & & & & & & & & & & & & & & & & & & & & & & & & & jumptime =5;//如果通讯失败，将间隔时间增加5ms，避开因为多标签同时发送引起的冲突。
& & & & & & & & & & & & & & & & & & & & & & & & }
& && &&&}
& && &&&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);//休眠固定时间
& & }
& & & & }else{
& & & & & & & & while (1)//接收模式(ANCHOR基站)
& & {
& && &&&/* Clear reception timeout to start next ranging process. */
& && &&&dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
& && &&&/* Activate reception immediately. */
& && &&&dwt_rxenable(0);//打开接收
& && &&&/* 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)))//不断查询芯片状态直到接收成功或者出现错误
& && &&&{ };
& && &&&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);//清楚标志位
& && && && &/* A frame has been received, read it into the local buffer. */
& && && && &frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//获得接收数据长度
& && && && &if (frame_len &= RX_BUFFER_LEN)
& && && && &{
& && && && && & dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
& && && && &}
& && && && &/* 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;//为多标签通讯服务，防止一次通讯中接收到不同ID标签的数据
& & & & & & & & & & & & & & & & & & & & & & & & & & & & tx_resp_msg[5] = TAG_ID;
& & & & & & & & & & & & & & & & & & & & & & & & & & & & rx_final_msg[5] = TAG_ID;
& && && && &if (memcmp(rx_buffer, rx_poll_msg, ALL_MSG_COMMON_LEN) == 0)//判断是否是poll包数据
& && && && &{
& && && && && & uint32 resp_tx_
& && && && && & /* Retrieve poll reception timestamp. */
& && && && && & poll_rx_ts = get_rx_timestamp_u64();//获得Poll包接收时间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;//计算Response发送时间T3。
& && && && && & dwt_setdelayedtrxtime(resp_tx_time);//设置Response发送时间T3
& && && && && & /* Set expected delay and timeout for final message reception. */
& && && && && & dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS);//设置发送完成后开启接收延迟时间
& && && && && & dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间
& && && && && & /* 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_
& && && && && & dwt_writetxdata(sizeof(tx_resp_msg), tx_resp_msg, 0);//写入发送数据
& && && && && & dwt_writetxfctrl(sizeof(tx_resp_msg), 0);//设定发送长度
& && && && && & dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，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)))///不断查询芯片状态直到接收成功或者出现错误
& && && && && & { };
& && && && && & /* 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;//数据长度
& && && && && && &&&if (frame_len &= RX_BUF_LEN2)
& && && && && && &&&{
& && && && && && && && &dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
& && && && && && &&&}
& && && && && && &&&/* 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)//判断是否为Fianl包
& && && && && && &&&{
& && && && && && && && &uint32 poll_tx_ts, resp_rx_ts, final_tx_
& && && && && && && && &uint32 poll_rx_ts_32, resp_tx_ts_32, final_rx_ts_32;
& && && && && && && && &double Ra, Rb, Da, Db;
& && && && && && && && &int64 tof_
& && && && && && && && &/* Retrieve response transmission and final reception timestamps. */
& && && && && && && && &resp_tx_ts = get_tx_timestamp_u64();//获得response发送时间T3
& && && && && && && && &final_rx_ts = get_rx_timestamp_u64();//获得final接收时间T6
& && && && && && && && &/* Get timestamps embedded in the final message. */
& && && && && && && && &final_msg_get_ts(&rx_buffer[FINAL_MSG_POLL_TX_TS_IDX], &poll_tx_ts);//从接收数据中读取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_//使用32位数据计算
& && && && && && && && &resp_tx_ts_32 = (uint32)resp_tx_
& && && && && && && && &final_rx_ts_32 = (uint32)final_rx_
& && && && && && && && &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));//计算公式
& && && && && && && && &tof = tof_dtu * DWT_TIME_UNITS;
& && && && && && && && &distance = tof * SPEED_OF_LIGHT;//距离=光速*飞行时间
& & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & dist2 = distance - dwt_getrangebias(config.chan,(float)distance, config.prf);//距离减去矫正系数
& & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & &
& & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & dis = dist2*100;//dis 为单位为cm的距离
& & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & dist = LP(dis,TAG_ID);//LP 为低通滤波器，让数据更稳定
& & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & time32_reset = 0;
& & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & GPIO_Toggle(GPIOA,LED_PIN);
& & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & if (GPIO_ReadInputDataBit(GPIOA,SW2) != RESET)&&//通过拨码开关判断数据输出格式
& & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & & &
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