DWM1001 APIs 翻译 - 2

int dwm_node_id_get(uint64_t *p_node_id);
获取UWB node的地址.

uint64_t node_id;
dwm_node_id_get(&node_id);
printf(“node id:0x%llx \n”, node_id)

*******************************************************************************

int dwm_status_get(dwm_status_t* p_status);
读取系统状态.读完后系统状态会被自动清除.

dwm_status_t status;
int rv;
rv = dwm_status_get(&status);
if (rv == DWM_OK) {
printf("loc_data: %d\n", status.loc_data);
printf("uwbmac_joined: %d\n", status.uwbmac_joined);
printf("bh_data_ready: %d\n", status.bh_data_ready);
printf("bh_status_changed: %d\n", status.bh_status_changed);
printf("bh_initialized: %d\n", status.bh_initialized);
printf("uwb_scan_ready: %d\n", status.uwb_scan_ready);
printf("usr_data_ready: %d\n", status.usr_data_ready);
printf("usr_data_sent: %d\n", status.usr_data_sent);
printf("fwup_in_progress: %d\n", status.fwup_in_progress);
} else {
printf("error\n");
}

*******************************************************************************
dwm_int_cfg_set : 把专用GPIO配置成事件/中断驱动.  使能或者禁用
dwm_int_cfg_get: 获取配置. TLV命令 0x35  0x00, 响应 0x40  0x02  0x03 0x00

GPIO pin CORE_INT1 配成 interrupts/events, 用户则可以使用此pin作为外部中断. 中断可以通过 dwm_status_get 获取从而做出新的处理动作. 此PIN状态读取后自动清除. 此命令仅支持在 UART/SPI接口中调用. UserApp不能使用


*******************************************************************************

int dwm_enc_key_set(dwm_enc_key_t* p_key);
int dwm_enc_key_clear(void);
设置密钥/清除密钥. 密钥设置后自动生效, 同时BLE功能会被禁用.

dwm_enc_key_t key;
key.byte[0] = 0x00;
key.byte[1] = 0x11;
key.byte[2] = 0x22;
...
key.byte[15] = 0xFF;
dwm_enc_key_set(&key)

rv = dwm_enc_key_clear();
if (rv == DWM_ERR_INTERNAL)
printf(“internal error\n”)

*******************************************************************************

int dwm_nvm_usr_data_set(uint8_t* p_data, uint8_t len);
int dwm_usr_data_read(uint8_t* p_data, uint8_t* p_len);
读写用户区数据. 最大数据量为 250

uint8_t buf[DWM_NVM_USR_DATA_LEN_MAX];
uint8_t len = DWM_NVM_USR_DATA_LEN_MAX;
rv = dwm_nvm_usr_data_set(buf, len);
if ( DWM_OK == rv )
printf(“ok\n”);
else
printf(“error, %d”, rv);

len = DWM_USR_DATA_LEN_MAX;
dwm_usr_data_read(data, &len)

没有对应 UART/SPI TLV格式交互
*******************************************************************************

int dwm_gpio_irq_cfg(dwm_gpio_idx_t idx, dwm_gpio_irq_type_t irq_type, dwm_gpio_cb_t* p_cb, void* p_data);
设置某个PIN的函数回调
int dwm_gpio_irq_dis(dwm_gpio_idx_t idx);
去掉中断回调

void gpio_cb(void* p_data)
{
/* callback routine */
}
dwm_gpio_irq_cfg(DWM_GPIO_IDX_13, DWM_IRQ_TYPE_EDGE_RISING, &gpio_cb, NULL)

  dwm_gpio_irq_dis(DWM_GPIO_IDX_13);

*******************************************************************************

int dwm_i2c_read(uint8_t addr, uint8_t* p_data, uint8_t len);
int dwm_i2c_write(uint8_t addr, uint8_t* p_data, uint8_t len, bool no_stop);

同 IIC slave 交互.
Address of a slave device (only 7 LSB)
no_stop: 0 or 1. If set to 1, the stop condition is not generated on the bus after the transfer has completed (allowing for a repeated start in the next transfer)

uint8_t data[2];
const uint8_t addr = 0x33; // some address of the slave device
dwm_i2c_read(addr, data, 2);

uint8_t data[2];
const uint8_t addr = 1; // some address of the slave device
data[0] = 0xAA;
data[1] = 0xBB;
dwm_i2c_write(addr, data, 2, true)

*******************************************************************************

void dwm_evt_listener_register(uint32_t evt_id_map, void* p_context);
注册时间的监听回调. 用户通过 dwm_evt_wait来等待事件. 事件会在LocationEngine计算位置结束后被触发.此API只能在用户程序中调用, 不能用于 UART/SPI TLV. 在休眠模式下, 此事件会唤醒node.
evt_id_map: 需要注意的事件组合.
p_context: 在回调函数中要引入的数据.
dwm_evt_listener_register(DWM_EVT_LOC_READY | DWM_EVT_USR_DATA_READY | DWM_EVT_USR_DATA_SENT | DWM_EVT_UWB_SCAN_READY | DWM_EVT_BH_INITIALIZED | DWM_EVT_UWBMAC_JOINED_CHANGED, NULL)

*******************************************************************************

int dwm_evt_wait(dwm_evt_t *p_evt);
等待 DWM 模块的事件发生, 内部有 event buffer, 可能溢出. 但 event buffer 为空时, dwm_evt_wait 会阻塞并进入sleep模式, 直到有 event 发生.

void on_dwm_evt(dwm_evt_t *p_evt)
{
  int i;
  switch (p_evt->header.id) {
      /* New location data */
      case DWM_EVT_LOC_READY: //LocateEngine 计算位置已经结束, 打印当前位置
        printf("\nT:%lu ", dwm_systime_us_get());
        if (p_evt->loc.pos_available) {
          printf("POS:[%ld,%ld,%ld,%u] ", p_evt->loc.pos.x, p_evt->loc.pos.y, p_evt->loc.pos.z, p_evt->loc.pos.qf);
        }
        else {
           printf("Location engine is disabled\n");
        }
        for (i = 0; i < p_evt->loc.anchors.dist.cnt; ++i) { 
          //LocateEngine 计算位置已经结束, 打印与各个anchor之间的距离信息.
          printf("DIST%d:", i);
          printf("0x%04X", (unsigned int)(p_evt->loc.anchors.dist.addr[i] & 0xffff));
          if (i < p_evt->loc.anchors.an_pos.cnt) {
             printf("[%ld,%ld,%ld]",
             p_evt->loc.anchors.an_pos.pos[i].x,
             p_evt->loc.anchors.an_pos.pos[i].y,
             p_evt->loc.anchors.an_pos.pos[i].z);
           }
           printf("=[%lu,%u] ", p_evt->loc.anchors.dist.dist[i],
           p_evt->loc.anchors.dist.qf[i]);
        }
        printf("\n");
        break;

      case DWM_EVT_USR_DATA_READY: //有用户自定义数据来到
        printf("hex:");
        for (i = 0; i < p_evt->header.len - sizeof(dwm_evt_hdr_t); ++i) {
            printf("%02x ", p_evt->usr_data[i]);
        }
        printf("\n");
        break;

        case DWM_EVT_USR_DATA_SENT: //用户自定义数据发送完毕.
          printf("iot sent\n");
          break;

        case DWM_EVT_UWB_SCAN_READY: //UWB 扫描结束.扫描结果打印
          printf("[mode,rssi]: ");
          for (i = 0; i < p_evt->uwb_scan.cnt; ++i) {
            printf("[%u, %d]", p_evt->uwb_scan.mode[i], p_evt->uwb_scan.rssi[i]);
          }
          printf("\n");
          break;

        case DWM_EVT_BH_INITIALIZED_CHANGED:
          printf("backhaul available = %d\n", p_evt->bh_initialized);
          break;

        case DWM_EVT_UWBMAC_JOINED_CHANGED:
          printf("UWBMAC joined = %d\n", p_evt->uwbmac_joined);
          break;
        default:
          break;
        }
        /* Indicate the application has finished the tasks and can now */
        dwm_sleep();
      } //end switch
      …
      int rv;
      dwm_evt_t evt;
      rv = dwm_evt_wait(&evt);
      if (rv == DWM_ERR_OVERRUN) {
        printf("event buffer overflow\n");
      }
      else {
        on_dwm_evt(&evt); //递归调用.
      }
}

*******************************************************************************

int dwm_wake_up(void);
防止线程进入sleep模式. 只能在 thread context被调用.
/* THREAD 1: sleep and block*/
dwm_sleep();
/*do something*/
...
/*THREAD 2: wait until event */
dwm_evt_wait(&evt);
/*unblock dwm_sleep()*/
dwm_wake_up()

*******************************************************************************
Backhaul API functions:  当 node 配置成 bridge 时. ( dwm_cfg_anchor_set 可以设置 uwb_mode)
通过SPI接口进行交互时. 使用这些API进行周期性的数据交互.
dwm_bh_status_get : 获取 Backhaul  状态.
dwm_backhaul_xfer: 发送数据, 读取数据.  downlink_byte_cnt
*******************************************************************************
*******************************************************************************
UART shell 的命令:
115200 8N1 进入. 1秒内三次Enter按键(或者发送三个0x0D), 把Uart从GenericMode切换到ShellMode.  敲入退回到GenericMode.
?  : 显示帮助信息.
点击(此处)折叠或打开

dwm> ?
Usage: <command> [arg0] [arg1]
Build-in commands:
** Command group: Base **
?: this help
help: this help
quit: quit  退回到 Generic Mode.

** Command group: GPIO **
gc: GPIO clear        可以使用 gc 13: 把 gpio13置为 0
gg: GPIO get          gg 13  -->  gpio13: 0
gs: GPIO set          gs 13 --> gpio13: 1
gt: GPIO toggle       反转指定的IO, 例如gt 13

** Command group: SYS **
f: Show free memory on the heap  返回 [000014.560 INF] mem: free=3888 alloc=9184 tot=13072
ps: Show running threads
pms: Show PM tasks
reset: Reboot the system          重启复位模块.
si: System info                   包括BLE地址/ENC的使能标记/node配置/PANID/node addr/版本号等
ut: Show device uptime            已经运行的时间. uptime: 00:07:49.210 0 days (469210 ms)
frst: Factory reset

** Command group: SENS **  //加速计
twi: General purpose TWI read      twi   [bytes to read (1 or 2)] 读取寄存器值
    例如: dwm> twi 0x33 0x0f 1  -->  twi: addr=0x33, reg[0x0f]=0x33
aid: Read ACC device ID            dwm> aid --> acc: 0x33
av: Read ACC values            --> acc: x = 240, y = -3792, z = 16240

** Command group: LE **  //LocationEngine 结果显示
les: Show meas. and pos. 持续显示LE结果(tag的位置以及和各个anchor的距离), 同样命令可以终止显示, 在输入一次命令又开始显示. 类似的输出为. anchorID[anchorPos]=distance.  est[估算的位置和置信度]
     1151[5.00,8.00,2.25]=6.48 0CA8[0.00,8.00,2.25]=6.51 111C[5.00,0.00,2.25]=3.18
     1150[0.00,0.00,2.25]=3.16 le_us=2576 est[2.57,1.98,1.68,100]
lec: Show meas. and pos. in CSV
    显示的类似输出
        DIST,4 /*anchor的个数*/,AN0,1151/*AnchorID*/,5.00,8.00,2.25/*anchorPos*/,6.44/*distance*/,AN1,0CA8,0.00,8.00,2.25,6.50,AN2,111C,5.00,0.00,2.25,3.24,AN3,1150,0.00,0.00,2.25,3.19,POS,2.55,2.01,1.71/*LE计算之后评估位置*/,98 /*结果的置信度*/

lep: Show pos. in CSV 仅仅显示LE计算后的评估结果.  例如: POS,2.57,2.00,1.67,97

** Command group: UWBMAC **  //Node 设置. 命令之后需要敲入两次 Enter 按键.
nmg: Get node mode       返回: mode: tn (act,twr,np,nole)
nmp: Set mode to PN (passive)
nmo: Set mode to PN (off)    Enable passive offline option and resets the node.
nma: Set mode to AN          Configures node to as anchor, active and reset the node.
nmi: Set mode to AIN         Configures node to as anchor - initiator, active and reset the node.
nmt: Set mode to TN          Configures node to as tag, active and reset the node.
nmtl: Set mode to TN-LP      Configures node to as tag, active, low power and resets the node.
nmb: Set mode to BN:  bridge node.
bpc: Toggle BW/TxPWR comp
la: Show AN list           Show anchor list.
lb: Show BN list           Show bridge list.
nis: Set Network ID
nls: Set node label
stg: Get stats
stc: Clear stats

scs: Stationary configuration set. Sets sensitivity (valid args are 0,1,2)
scg: Stationary configuration get  --> sensitivity=1

** Command group: API **
tlv: Send TLV frame:  例如 dwm> tlv type len [value]
aurs: Set upd rate    aurs
aurg: Get upd rate
apg: Get pos          Get position of the node 返回: x:100 y:120 z:2500 qf:100
aps: Set pos          例如: dwm> aps 100 120 2500
acas: Set anchor config   acas
    例如:  dwm> acas 0 0 1 1 2 0
acts: Set tag config      acts
    例如:  dwm> acts 0 1 0 1 1 0 0 0
aks: Sets encryption key
    例如: aks 00112233445566778899aabbccddeeff
akc: Clears encryption key and disables encryption
ans: Writes user data to non-volatile memory
    例如: dwm> ans 00112233445566778899aabbccddeeff00112233
ang: Reads data from non-volatile memory.

utpg: Get transmit power of the DW1000 查看发送功率 --> utpg: pg_delay=xC5 tx_power=x29496989
utps: Set transmit power of the DW1000 设置发送功率 utps
    例如 utps 0xc2 0x28486888
udi: Toggle displaying of IoT data received via backhaul. 显示downlink的用户自定义数据.
uui: Send uplink IoT data via backhaul  uui  [cnt]
    例如: uui 11223344 100  100位重复发送的次数.

** Tips **
Press Enter to repeat the last command  Enter键为重复上次的输入命令.

*******************************************************************************
*******************************************************************************
BLE API
BLE GATT Model: 数据为小端字节序.
network node service UUID   680c21d9-c946-4c1f-9c11-baa1c21329e7

uuid	name	length	value	flags
Std. GAP service, label  0x2A00	Label	Var	UTF-8 encoded string.  label is part of the standard mandatory GAP service (0x1800) under the standard name characteristic (0x2A00).	RW
3f0afd88-7770-46b0-b5e7-9fc099598964	Operation mode	2 bytes		RW
80f9d8bc-3bff-45bb-a181-2d6a37991208	Network  ID	2 bytes	PAN ID	RW
a02b947e-df97-4516-996a-1882521e0ead	Location data mode	1 bytes	0 - Position 1 - Distances 2 - Position + distances	RW
003bbdf2-c634-4b3d-ab56-7ec889b89a37	Location data	106B max		RO
f4a67d7d-379d-4183-9c03-4b6ea5103291	Proxy positions	76 B max	Used by the module as a notification about new tag positions for the BLE central ● 1 byte: number of elements (max 5) ● [sequence] tag position: 2-byte node id, 13-byte position	RO
1e63b1eb-d4ed-444e-af54-c1e965192501	Device Info	29 bytes	Node ID (8 bytes), HW version (4 bytes), FW1 version (4 bytes), FW2 version (4 bytes), FW1 checksum (4 bytes), FW2 checksum (4 bytes), Operation flags (1 byte)	RO
0eb2bc59-baf1-4c1c-8535-8a0204c69de5	Statistics	120 bytes	Node statistics	RO
5955aa10-e085-4030-8aa6-bdfac89ac32b	FW update push	37 B max	Used to send structured data (FW update packets) to the module (BLE peripheral), the size is set according to max transmission unit (MTU).	WO
9eed0e27-09c0-4d1c-bd92-7c441daba850	FW update poll	9 bytes	Used by the module as a response/notification for the BLE central	RO
ed83b848-da03-4a0a-a2dc-8b401080e473	Disconnect	1 bytes	Used to explicitly disconnect from BLE peripheral by writing value=1 (workaround due to android behavior)	WO

BLE 广播
    让其他的设备知道自己的存在. broadcast payload  为 [length, type, ]
    anchor/tag 广播的内容仅为  presence + operation mode, 因为BLE的报文太小不足以承载位置等信息.
   最大为31字节.
     1.  前 3 字节为 固定 flags.
     2.  剩下的 28 字节可以被用户自定义, 建议采用 [length, type, ]的组合.

*******************************************************************************
TLV 的类型列表