#include "mk_trace.h"
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#include "mk_uwb.h"
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#include "mk_phy.h"
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#include "mk_misc.h"
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#include "mk_power.h"
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#include "mk_sleep_timer.h"
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#include "lib_ranging.h"
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#include "dw_tag.h"
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#include "board.h"
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#include "mk_calib.h"
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#include <serial_at_cmd_app.h>
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#include <global_param.h>
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#include <global_param.h>
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#include "mk_flash.h"
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extern int TagRange(void);
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extern Operation_step UWB_work_state;
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#define CALCULATE_TIMECOUNT
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/* Ranging period: 1s */
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#define RANGING_PERIOD_MS (1000)
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/* This is the delay from the end of the poll frame transmission to the enable of the receiver */
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#define POLL_TX_TO_RESP_RX_DLY_US 750U //yuan700
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#define RESP_RX_TO_FINAL_TX_DLY_US 550U
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/* Poll delay: 1s */
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#define POLL_DELAY 100U //yuan100U
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/* Receive response timeout */
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#define RESP_RX_TIMEOUT_US 1000 //Yuan500 10mssuccess 300jixian
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/* Field index in frame */
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#define MSG_SEQ_NUM_IDX 2
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#define FINAL_MSG_POLL_TX_TS_IDX 10
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#define FINAL_MSG_RESP_RX_TS_IDX 14
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#define FINAL_MSG_FINAL_TX_TS_IDX 18
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#define DELAY_DEFAULT 1000
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#define DELAY_BETWEEN_TWO_FRAME_UUS 600 //yuan1400
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#define HALF_SECOND_TIME 62400000
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#define STARTPOLL DISCPOLL//#define SWITCHBASE_DIST
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#define SWITCHBASE_ZHUANDIAN
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#define SWITCHBASE_DIST
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enum enumtagstate
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{
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DISCPOLL,
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REGPOLL,
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GETNEARMSG,
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NEARPOLL,
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SINGLEPOLL,
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} tag_state=STARTPOLL;
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static uint16_t CmpTagInList(uint16_t tagid);
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uint16_t AddNewTagIntoList(uint16_t tagid);
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void AnchorListUpdate(void);
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void Rank_ANchor_list_by_dis(void);
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struct mk_uwb_configure
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{
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uint8_t phy_work_mode; /* PHY_TX / PHY_RX / PHT_TX|PHY_RX */
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struct UWB_CONFIG_T phy_cfg;
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};
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extern uint32_t dev_id;
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extern uint8_t group_id;
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/* Default communication configuration. */
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static struct mk_uwb_configure config = {//yuan
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.phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
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.phy_cfg.ch_num = 5, /* Channel number. */
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.phy_cfg.code_index = 9, /* TRX preamble code */
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.phy_cfg.mean_prf = MEAN_PRF_64M, /* Mean prf 64/128/256M */
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.phy_cfg.data_bit_rate = DATA_BR_6M8, /* Data rate 6.8M */
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.phy_cfg.sync_sym = PREAM_LEN_128, /* Preamble duration, length of preamble 128 */
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.phy_cfg.sfd_sym = NON_STD_NSFD5_8, /* Identifier for SFD sequence */
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.phy_cfg.ranging_bit = 1, /* ranging bit set 1 */
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.phy_cfg.trx_mode = TRX_MODE_15_4A, /* IEEE802.15.4z - BPRF mode */
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.phy_cfg.sts_pkt_cfg = STS_PKT_CFG_0, /* SP0 Frame */
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.phy_cfg.sts_segnum = STS_SEGNUM_BPRF_1, /* Number of STS segments in the frame */
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.phy_cfg.sts_seglen = STS_SEGLEN_BPRF_64, /* Number of symbols in an STS segment */
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.phy_cfg.rx_ant_id = UWB_RX_ANT_3, /* UWB RX antenna port */
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};
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static uint8_t rx_buf[150];
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static uint8_t uwb_sendbuffer[150];
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/* Frames used in the ranging process
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* Poll message:
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* - byte 0 - 1: 0x8841 to indicate a data frame using 16-bit addressing.
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* - byte 2: sequence number, incremented for each new frame.
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* - byte 3 - 4: PAN Id 0x4B4d
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* - byte 5 - 6: Destination address
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* - byte 7 - 8: Source address
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* - byte 9: Message type (0x02 RANGING_POLL / 0x03 RANGING_RESPONSE / 0x04 RANGING_FINAL)
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* Response message:
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* - byte 10: activity code (0x07 to tell the initiator to go on with the ranging exchange)
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* Final message:
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* - byte 10 - 13: poll message transmission timestamp.
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* - byte 14 - 17: response message reception timestamp.
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* - byte 18 - 21: final message transmission timestamp.
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*/
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//static uint8_t tx_poll_msg[] = {0x41, 0x88, 0, 0x4D, 0x4B, 0x53, 0x45, 0x4D, 0x49, 0x02};
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//static uint8_t rx_resp_msg[] = {0x41, 0x88, 0, 0x4D, 0x4B, 0x4D, 0x49, 0x53, 0x45, 0x03, 0x07};
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//static uint8_t tx_final_msg[] = {0x41, 0x88, 0, 0x4D, 0x4B, 0x53, 0x45, 0x4D, 0x49, 0x04, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
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/* Count value of phy counter when transmitting and receiving frames */
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static uint32_t poll_tx_en_start_u32;
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static uint32_t resp_rx_en_start_u32;
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static uint32_t final_tx_en_start_u32;
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/* 41 bits timestamps of frames transmission/reception. */
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static int64_t poll_tx_ts_i64;
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static int64_t resp_rx_ts_i64;
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static int64_t final_tx_ts_i64;
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/* Frame sequence number, incremented after each transmission. */
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static uint8_t frame_seq_nb = 0;
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static volatile uint16_t rx_state;
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static volatile uint16_t rx_state1;
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static volatile uint16_t rx_length;
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//DW
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uint16_t rec_nearbaseid;
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uint8_t temp_tag_num;
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int32_t test2;
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static uint8_t receive_flag=0;
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static uint8_t rec_tag_index,tag_num_tosend;
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static uint32_t start_receive_count,end_receive_count,poll_timeout,current_count,temp_resp;
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uint16_t taglist_total_num,taglist_current_index; //µ±Ç°Áбí×ÜÊýÁ¿
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uint8_t taglist_keeptime[MAX_TAG_LIST_NUM]; //ÿ¸ö±êÇ©´æ»îʱ¼ä
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uint16_t taglist_id[MAX_TAG_LIST_NUM],taglist_dist[MAX_TAG_LIST_NUM]; //±êÇ©¾àÀëºÍ±êÇ©µÄID
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int32_t mainbase_dist,nearbase_distlist[MAX_NEARBASE_NUM],true_nearbase_distlist[MAX_NEARBASE_NUM],true_exsistbase_list[MAX_NEARBASE_NUM],ancsync_time,nextpoll_delaytime,offsettimeus;
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uint8_t anclost_times=0 , mainbase_lost_count=0,exsistbase_list[MAX_NEARBASE_NUM],get_newbase=0,nearbase_num,last_nearbase_num,next_nearbase_num;
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uint16_t nearbaseid_list[MAX_NEARBASE_NUM],mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM];
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uint16_t u16_nearbase_distlist[MAX_NEARBASE_NUM];
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uint32_t temp_tag_count1=0;
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uint32_t temp_tag_count2=0;
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uint32_t temp_tag_count3=0;
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uint32_t temp_count4=0;
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uint32_t tempflag=0;
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int32_t freq_offset,freq_offset_filter;
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int temp_flag,poll_tx_num,resp_rx_num;
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extern double distance;
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uint32_t count1,count2;
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extern double distance_tag;
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enum SIMPLE_FSM_T
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{
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SIMPLE_IDLE = 0,
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SIMPLE_POLL = 1,
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SIMPLE_RESPONSE = 2,
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SIMPLE_FINAL = 3,
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};
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void uwb_poll_buffer_construct(void)
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{
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for(uint8_t i=0;i<nearbase_num;i++) //±êÇ©¾àÀë32λת³É16λ
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{
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u16_nearbase_distlist[i] = nearbase_distlist[i];
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}
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uwb_sendbuffer[GROUP_ID_IDX] = group_id;
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memcpy(&uwb_sendbuffer[TAG_ID_IDX],&dev_id,2);
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//uwb_sendbuffer[BATTARY_IDX] = bat_percent;
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uwb_sendbuffer[SEQUENCE_IDX] = frame_seq_nb++;
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uwb_sendbuffer[NEARBASENUM_INDEX] = nearbase_num;
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memcpy(&uwb_sendbuffer[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);//»ùÕ¾id
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memcpy(&uwb_sendbuffer[NEARBASEID_INDEX+nearbase_num*2],&u16_nearbase_distlist,nearbase_num*2);
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uwb_sendbuffer[MESSAGE_TYPE_IDX] = MBX_POLL;
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memcpy(&uwb_sendbuffer[ANCHOR_ID_IDX],&mainbase_id,2);
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}
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static enum SIMPLE_FSM_T state = SIMPLE_IDLE;
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/**
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* @brief Correct TX timestamp of the ranging frame.
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*
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* @param[in] timestamp PHY timer count of TX
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* @return TX timestamp (unit: 15.65ps)
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*/
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static int64_t ranging_tx_time_correct(uint32_t timestamp)
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{
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int64_t tx_timestamp = ranging_tx_time(timestamp);
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// correct antenna delay (TX using the same antenna as RX)
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tx_timestamp += ranging_ant_delays_get(config.phy_cfg.rx_ant_id) / 2;
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return tx_timestamp;
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}
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static void final_msg_set_ts(uint8_t *ts_field, uint64_t ts)
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{
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int i;
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for (i = 0; i < FINAL_MSG_TS_LEN; i++)
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{
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ts_field[i] = (uint8_t) ts;
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ts >>= 8;
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}
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}
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/**
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* @brief Correct RX timestamp of the ranging frame.
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*
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* @param[in] ind MAC RX report
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* @return RX timestamp (unit: 15.65ps)
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*/
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static int64_t ranging_rx_time_correct(const struct MAC_HW_REPORT_T *ind)
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{
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int64_t rx_timestamp = ranging_rx_time(ind);
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// correct antenna delay
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rx_timestamp -= ranging_ant_delays_get(config.phy_cfg.rx_ant_id) / 2;
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return rx_timestamp;
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}
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/* RX done process handler. */
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static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
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{
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// Power off radio
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power_off_radio();
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rx_state = rx_report->err_code;
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/** UWB RX success */
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if (rx_state == UWB_RX_OK)
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{
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/* Received data does not contain FCS */
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rx_length = rx_report->pkt_len;
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memcpy(rx_buf, rx_report->pkt_data, rx_length);
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/* Calculate rx timestamp */
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resp_rx_ts_i64 = ranging_rx_time_correct(rx_report);
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temp_tag_count1=phy_timer_count_get();
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//»ñÈ¡·¢Éä¶ËʱÖÓÆ«²î
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resp_rx_num++;
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freq_offset=phy_freq_offset_get();
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freq_offset_filter=average_filter(freq_offset);//»ñȡƵƫ
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// int32_t ppm = freq_offset_filter / (int32_t)(ch_center_freq_map[UWB_CH_NUM] * 1e-6);
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// calib_xtal38m4_load_cap_auto_tune(ppm);//ÀûÓõçÈݵ÷Õû¾§ÕñÊÊÅäƵƫӦÔÚÍêÕûµÄÒ»°üÖ®ºóµ÷Õû£¬ÐèÒª¹Ø±ÕXTAL_AUTO_TUNE_EN ºê¶¨Òå±ÜÃâÊÕ°üÖÐ;У׼µ¼Ö²â¾à´íÎó
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//LOG_INFO(TRACE_MODULE_APP, "poll_tx_num is %d,resp_rx_num is %d,distance is %lf\r\n",poll_tx_num,resp_rx_num,distance);
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receive_flag=1;
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}
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else
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{
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/* UWB_PLD_ERR payload error */
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/* UWB_PHR_ERR PHR error */
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/* UWB_SFD_ERR Sfd error */
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/* UWB_BD_ERR Preamble detection error */
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/* UWB_TO_ERR Receive timeout */
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/* UWB_STS_ERR STS error */
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rx_state1=rx_report->err_code;
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rx_length = 0;
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receive_flag=2;
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temp_tag_count2=phy_timer_count_get();
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}
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}
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/* TX done process handler. */
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static void tx_int_callback(struct MAC_HW_REPORT_T *tx_report)
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{
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// Power off radio
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power_off_radio();
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/** UWB TX success */
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if (tx_report->err_code == UWB_TX_OK)
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{
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poll_tx_num++;
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temp_count4=phy_timer_count_get();//²âÊÔ
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if(temp_flag){
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count2=phy_timer_count_get();
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temp_flag=0;
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return;
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}
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count1=temp_tag_count1;
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temp_flag=1;
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}
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}
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#ifdef _UWB_1HZ
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uint16_t time111=1000;
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void SetLPTimer(uint16_t time)
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{
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sleep_timer_stop();
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if(time==0)
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{
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time111=1000;
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sleep_timer_start(__MS_TO_32K_CNT(time111));
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}
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else
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{
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time111=time111+time;
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if(time111>1100)
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{
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time111=1000;
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}
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sleep_timer_start(__MS_TO_32K_CNT(time111));//²âÊÔ
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}
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}
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#else
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uint16_t time111=5000;
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void SetLPTimer(uint16_t time)
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{
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sleep_timer_stop();
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if(time==0)
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{
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time111=5000;
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sleep_timer_start(__MS_TO_32K_CNT(time111));
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}
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else
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{
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time111=time111+time;
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if(time111>5100)
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{
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time111=5000;
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}
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sleep_timer_start(__MS_TO_32K_CNT(time111));//²âÊÔ
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}
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}
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#endif
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uint8_t FindNearBasePos(uint16_t baseid)//Ñ°ÕÒµ±Ç°ÁбíÖеĻùÕ¾·µ»ØË÷Òý
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{
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uint8_t i;
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for(i=0;i<nearbase_num;i++)
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{
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if(baseid==nearbaseid_list[i])
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return i;
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}
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if(i==nearbase_num)
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return nearbase_num;
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}
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static uint16_t CmpTagInList(uint16_t tagid)//ÕÒÕâ¸öÐÂÒ»°üµÄ»ùÕ¾ÔÚ²»ÔÚÏÖ´æµÄtaglistÖÐÔڵĻ°¶ÔӦλÖøüдæ»îʱ¼ä£¬²»ÔÚ¾ÍÔö¼Ó£¨È·±£ÓÐЧÊýÁ¿Ð¡ÓÚ×î´óÉèÖÃÊý£©
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{
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uint16_t temp;
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for(uint8_t i=0;i<taglist_total_num;i++)
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{
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if(memcmp(&tagid,&taglist_id[i],2)==0)
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{
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taglist_keeptime[i] = TAG_KEEPTIMES;
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return i;
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}
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}
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if(taglist_total_num<MAX_TAG_LIST_NUM)
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temp = AddNewTagIntoList(tagid);
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return temp;
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}
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static uint8_t tx_poll_msg[20] = {0};
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static uint8_t tx_sync_msg[14] = {0};
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static uint8_t tx_final_msg[60] = {0};
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static uint8_t tx_resp_msg[22] = {0};
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static uint8_t tx_near_msg[180] = {0};
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uint32_t rec_tagpos_binary;
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uint16_t nearbaseid_list2[MAX_NEARBASE_NUM];
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uint8_t module_power,imu_enable,motor_enable;
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extern uint8_t bat_percent;
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extern uint16_t tag_frequency;
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uint16_t bigslot_num;
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uint16_t tagslotpos;
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uint8_t trygetnearmsg_times,try_reg_times;
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uint8_t tag_succ_times=0;
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int32_t salvebase_mindist;
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uint8_t recbase_num=0;
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#define MAX_NEARBASE_ANCNUM 11
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uint16_t rec_maxrangelen,rec_anc_signalpower[MAX_NEARBASE_ANCNUM];
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uint8_t flag_finalsend,flag_getresponse,flag_rxon;
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uint8_t nearbase_num=0,last_nearbase_num,next_nearbase_num,last_slotnum, para_update,para_len,stationary_flag=0;
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int32_t temp_dist;
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void GetNearMsg(void)
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{
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uint32_t start_poll,frame_len;
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uint8_t nearmsg_i=0;
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// NextSlotDelayMs(0);
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phy_timer_open(1, IRQ_PRIORITY_HIGH);
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mac_register_process_handler(tx_int_callback, rx_int_callback);
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for(nearmsg_i=0; nearmsg_i<MAX_NEARBASE_NUM; nearmsg_i++)
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{
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nearbase_distlist[nearmsg_i] = 0x1ffff;
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}
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//mainbase_id = 0x1;
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memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
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memcpy(&tx_near_msg[TAG_ID_IDX],&g_com_map[DEV_ID],2);
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tx_near_msg[MESSAGE_TYPE_IDX] = POS_MSG;
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//·¢ËͱØÐëÒªÑÓʱ·¢ËͲſÉÒÔÓÃÓÚ²â¾à·ñÔòÁ¢¼´·¢ËÍ»á»ñȡʱ¼ä´Á²»¶Ô£¬ÐèÒª¼ÆËã³ÌÐòÔËÐÐʱ¼ä£¬±ÜÃâÉèÖùýȥʱ¼ä
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poll_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(POLL_DELAY);
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tempflag=uwb_tx(tx_near_msg,12,1,poll_tx_en_start_u32);//Á¢¼´·¢ËÍ
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poll_tx_ts_i64 = ranging_tx_time_correct(poll_tx_en_start_u32 + phy_shr_duration());//ÐÞÕýʱ¼ä´Á
|
// temp_count1=phy_timer_count_get();
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while(mac_is_busy());//µÈ´ý·¢ËÍÍê³É
|
// temp_count2=phy_timer_count_get();
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//ÉèÖ÷¢ËͶàÉÙsºó½ÓÊÕ°´target¶ÀÁ¢Ê±¼äÆðµãËã+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_USΪ·¢ËͺóÒª¶à¾Ã¿ªÆô½ÓÊÕʱ¼ä
|
resp_rx_en_start_u32 = poll_tx_en_start_u32+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_US);
|
temp_resp=resp_rx_en_start_u32;
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tempflag=uwb_rx(0,0, RESP_RX_TIMEOUT_US);
|
while(mac_is_busy())//µÈ´ý½ÓÊÕÍê³É
|
{
|
IdleTask();
|
}
|
if(receive_flag==1)//³É¹¦½ÓÊÕÊý¾Ý
|
{
|
receive_flag=0;
|
if (rx_buf[MESSAGE_TYPE_IDX] == POS_MSG&&!memcmp(&rx_buf[TAG_ID_IDX],&dev_id,2)) //ÅжϽÓÊÕµ½µÄÊý¾ÝÊÇ·ñÊÇresponseÊý¾Ý
|
{
|
nearbase_num=rx_buf[NEARBASENUM_INDEX];
|
memcpy(&rec_tagpos_binary,&rx_buf[NEARMSG_EMPTYSLOTPOS_INDEX],4);
|
// tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
|
//tagslotpos=rx_buffer[TAGSLOTPOS];
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memcpy(nearbaseid_list,&rx_buf[NEARBASEID_INDEX],nearbase_num*2);
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memcpy(nearbaseid_list2,&rx_buf[NEARBASEID_INDEX],nearbase_num*2);
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//slottime=ceil((nearbase_num+2)*0.3)+1;
|
//tyncpoll_time=tagslotpos*slottime;
|
//tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;
|
tag_state=NEARPOLL;
|
}
|
}
|
else {
|
// tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
|
}
|
}
|
void Registor_Poll(void)
|
{
|
static uint8_t regpoll_count=0;
|
mainbase_lost_count = 0;
|
phy_timer_open(1, IRQ_PRIORITY_HIGH);
|
mac_register_process_handler(tx_int_callback, rx_int_callback);
|
// tag_frequency = REGISTER_FREQUENCY;
|
// bigslot_num = TOTAL_SLOTNUM/tag_frequency;
|
// regpoll_count++;
|
// if(regpoll_count%2)
|
// {
|
// if(tagslotpos--<2)
|
// tagslotpos=TOTAL_SLOTNUM;
|
// }
|
// //SetNextPollTime(tagslotpos);
|
// NextSlotDelayMs(-2);
|
// tx_near_msg[REGP_TAGSTATE_INDEX] = !GET_USERKEY<<2|imu_enable<<1|motor_enable;
|
tx_near_msg[REGP_TAGSTATE_INDEX] = 0;
|
tx_near_msg[MESSAGE_TYPE_IDX] = REG_POLL2;
|
tx_near_msg[REGP_FREQUENCY_INDEX] = 1000/g_com_map[COM_INTERVAL];
|
tx_near_msg[REGP_POWER_INDEX] = module_power;
|
memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
|
memcpy(&tx_near_msg[REGP_VERSION_INDEX],&g_com_map[VERSION],2);
|
memcpy(&tx_near_msg[REGP_IMUTHRES_INDEX],&g_com_map[IMU_THRES],2);
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memcpy(&tx_near_msg[REGP_NOMOVESLEEPTIME_INDEX],&g_com_map[NOMOVESLEEP_TIME],2);
|
// tx_near_msg[REGP_BATTARY_INDEX] = bat_percent;
|
|
poll_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(POLL_DELAY);
|
tempflag=uwb_tx(tx_near_msg,23,1,poll_tx_en_start_u32);//Á¢¼´·¢ËÍ
|
poll_tx_ts_i64 = ranging_tx_time_correct(poll_tx_en_start_u32 + phy_shr_duration());//ÐÞÕýʱ¼ä´Á
|
// temp_count1=phy_timer_count_get();
|
while(mac_is_busy());//µÈ´ý·¢ËÍÍê³É
|
|
resp_rx_en_start_u32 = poll_tx_en_start_u32+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_US);
|
temp_resp=resp_rx_en_start_u32;
|
tempflag=uwb_rx(0,0, RESP_RX_TIMEOUT_US);
|
while(mac_is_busy())//µÈ´ý½ÓÊÕÍê³É
|
{
|
IdleTask();
|
}
|
if(receive_flag==1)//³É¹¦½ÓÊÕÊý¾Ý
|
{
|
receive_flag=0;
|
if (rx_buf[MESSAGE_TYPE_IDX] == REG_RESPONSE&&!memcmp(&rx_buf[TAG_ID_IDX],&dev_id,2)) //ÅжϽÓÊÕµ½µÄÊý¾ÝÊÇ·ñÊÇresponseÊý¾Ý
|
{
|
uint16_t rec_nearbaseid,rec_nearbasepos;
|
memcpy(&rec_nearbaseid,&rx_buf[ANCHOR_ID_IDX],2);
|
tag_frequency = rx_buf[REGR_TAGFREQ_INDEX];
|
bigslot_num = TOTAL_SLOTNUM/tag_frequency;
|
tagslotpos = rx_buf[REGR_TAGSLOTPOS_INDEX];
|
//////////////////////////////////ʱ¼äͬ²½
|
// memcpy(&sync_timer,&rx_buf[ANCTIMEMS],2);
|
// memcpy(&tmp_time,&rx_buf[ANCTIMEUS],2);
|
// current_count=HAL_LPTIM_ReadCounter(&hlptim1);
|
//// memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
|
// tmp_time=tmp_time+450;
|
// if(tmp_time>999)
|
// {
|
// tmp_time-=999;
|
// sync_timer++;
|
// if(sync_timer>=1010)
|
// {
|
// sync_timer=0;
|
// }
|
// }
|
// ancsync_time=((sync_timer)*1000+tmp_time);
|
// SetLPTimer(ancsync_time,0);
|
mainbase_id=rec_nearbaseid;
|
nearbase_num=rx_buf[NEARBASENUM_INDEX];
|
memcpy(nearbaseid_list,&rx_buf[NEARBASEID_INDEX],nearbase_num*2);
|
memcpy(nearbaseid_list2,&rx_buf[NEARBASEID_INDEX],nearbase_num*2);
|
if(tagslotpos!=255)
|
{
|
trygetnearmsg_times = 0;
|
tag_state = GETNEARMSG;
|
GetNearMsg();
|
}
|
}
|
}
|
}
|
uint8_t ggggg;
|
uint8_t xiaobiaoqian_flag;
|
uint8_t readgcom_flag;
|
uint16_t wg_report_id;
|
int rand_temp;
|
static uint16_t source_id;
|
uint8_t rec_index,rec_secdelay;
|
uint16_t rec_value;
|
uint8_t readgcom_flag;
|
uint16_t rec_wenjian_daxiao;
|
uint16_t wangguan_up_id;
|
uint8_t shengji_flag,time=5;
|
uint8_t LoraUp_flag;
|
extern uint16_t final_bag_num;
|
uint16_t checksum1;
|
void Uwb_Update(void)
|
{
|
|
checksum1=Checksum_u16(rx_buf,rx_length-2);
|
if(!memcmp(&checksum1,&rx_buf[rx_length-2],2))
|
if(!memcmp(&dev_id,&rx_buf[4],2))
|
{
|
memcpy(&source_id,&rx_buf[2],2);
|
// if(wg_state==WG_Lost)
|
// {
|
// wg_state = WG_Connected;
|
wg_report_id = source_id;
|
// }
|
// if(!memcmp(&wg_report_id,&rx_buf[SOURCE_ID_IDX],2))
|
// {
|
// wg_lost_count = 0;
|
// loraled=GREEN;
|
switch(rx_buf[9])
|
{
|
case WGRSP_RWTAG_READ:
|
readgcom_flag = 1;
|
// LoraSendComMap(WGRSP_RWTAG_READ);
|
break;
|
case WGRSP_RWTAG_WRITE:
|
rec_index = rx_buf[PWTAG_WRITE_IDX_IDX];
|
if(rec_index<=DEV_ID)
|
{break;}
|
memcpy(&rec_value,&rx_buf[PWTAG_WRITE_VALUE_IDX],2);
|
if(g_com_map[rec_index/2]==rec_value)
|
{break;}
|
g_com_map[rec_index/2] = rec_value;
|
save_com_map_to_flash();
|
delay_us(60000);
|
NVIC_SystemReset();
|
break;
|
case WGRSP_RWTAG_UPDATE:
|
rec_index = rx_buf[PWTAG_WRITE_IDX_IDX];
|
switch(rec_index)
|
{
|
case 0xaa: //Éý¼¶Ï·¢
|
memcpy(&rec_wenjian_daxiao,&rx_buf[11],2);//Îļþ´óС
|
if(rec_wenjian_daxiao>APP_SIZE/100||rec_wenjian_daxiao==0)
|
{}//Îļþ¹ý´ó£¬³¬³ö·¶Î§
|
else
|
{
|
final_bag_num=rec_wenjian_daxiao;
|
memcpy(&wangguan_up_id,&rx_buf[SOURCE_ID_IDX],2);//Íø¹ØID Õ¼ÓÃ2¸ö×Ö½Ú
|
shengji_flag=1;
|
LoraUp_flag=1;
|
LOG_INFO(TRACE_MODULE_APP, "½øÈëÉý¼¶Ä£Ê½,ÐèÒª½ÓÊÕµÄÎļþ°üÊý%d\r\n",rec_wenjian_daxiao);
|
}
|
break;
|
}
|
break;
|
}
|
// }
|
}
|
}
|
uint8_t readgcom_flag1;
|
uint32_t current_count11,current_count22,current_count33,current_count44,current_count55;
|
void DiscPoll2(void)
|
{
|
uint32_t temp1,temp2,dw_systime,mindist_slavebaseid,mindist;
|
static uint8_t notenoughdist_count=0;
|
uint32_t final_tx_time;
|
uint32_t start_poll;
|
uint8_t i,j,getsync_flag=0,timeout,get_newdist;
|
xiaobiaoqian_flag=0;
|
tag_succ_times = 0;
|
salvebase_mindist=999999;
|
get_newdist = 0;
|
if(readgcom_flag)
|
{
|
readgcom_flag=0;
|
readgcom_flag1=1;
|
phy_timer_open(1, IRQ_PRIORITY_HIGH);
|
mac_register_process_handler(tx_int_callback, rx_int_callback);
|
uint8_t data_length = 0x50;
|
uint16_t checksum = 0;
|
tx_near_msg[0] = 0x39;
|
tx_near_msg[1] = data_length+11;
|
memcpy(&tx_near_msg[2],&g_com_map[DEV_ID],2);
|
memcpy(&tx_near_msg[4],&wg_report_id,2);
|
tx_near_msg[6] = 2;
|
tx_near_msg[7] = 2;
|
tx_near_msg[8] = data_length;
|
memcpy(&tx_near_msg[9], &g_com_map[1], data_length);
|
checksum = Checksum_u16(tx_near_msg,11+data_length);
|
memcpy(&tx_near_msg[11+data_length],&checksum,2);
|
// Radio.Send(uwb_sendbuffer,data_length+13);
|
// Delay_Ms(100);
|
poll_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(POLL_DELAY);//·¢ËͱØÐëÒªÑÓʱ·¢ËͲſÉÒÔÓÃÓÚ²â¾à·ñÔòÁ¢¼´·¢ËÍ»á»ñȡʱ¼ä´Á²»¶Ô£¬ÐèÒª¼ÆËã³ÌÐòÔËÐÐʱ¼ä£¬±ÜÃâÉèÖùýȥʱ¼ä
|
tempflag=uwb_tx(tx_near_msg,data_length+13,1,poll_tx_en_start_u32);//Á¢¼´·¢ËÍ
|
poll_tx_ts_i64 = ranging_tx_time_correct(poll_tx_en_start_u32 + phy_shr_duration());//ÐÞÕýʱ¼ä´Á
|
// temp_count1=phy_timer_count_get();
|
while(mac_is_busy());//µÈ´ý·¢ËÍÍê³É
|
}
|
else
|
{
|
if(next_nearbase_num>=MAX_NEARBASE_NUM)
|
{
|
next_nearbase_num = MAX_NEARBASE_NUM-1;
|
}
|
nearbase_num = 10;
|
recbase_num=0;
|
phy_timer_open(1, IRQ_PRIORITY_HIGH);
|
mac_register_process_handler(tx_int_callback, rx_int_callback);
|
tx_near_msg[BATTARY_IDX] = bat_percent;
|
// tx_near_msg[BUTTON_IDX] = 0/*userkey_state|stationary_flag<<1|gotosleep_flag<<2|motor_flag<<5*/;
|
tx_near_msg[SEQUENCE_IDX] = frame_seq_nb;
|
// tx_near_msg[SEQUENCEH_IDX] = (frame_seq_nb++)>>8;
|
memcpy(&tx_near_msg[7],&g_com_map[VERSION],2);
|
memcpy(&tx_near_msg[5],&g_com_map[DEV_ID],2);
|
tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
|
memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
|
memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&nearbase_distlist,nearbase_num*4+4);
|
memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6+4],&rec_anc_signalpower,nearbase_num*2+2);
|
// if(intheight!=0)
|
// intheight+=g_com_map[HEIGHTOFFEST_INDEX];
|
// memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*8+6],&intheight,2);
|
tx_near_msg[MESSAGE_TYPE_IDX] = DISCOVERPOLL2;
|
tx_near_msg[NEARP_TAGFREQ_INDEX] = tag_frequency;
|
tx_near_msg[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;
|
memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
|
|
poll_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(POLL_DELAY);//·¢ËͱØÐëÒªÑÓʱ·¢ËͲſÉÒÔÓÃÓÚ²â¾à·ñÔòÁ¢¼´·¢ËÍ»á»ñȡʱ¼ä´Á²»¶Ô£¬ÐèÒª¼ÆËã³ÌÐòÔËÐÐʱ¼ä£¬±ÜÃâÉèÖùýȥʱ¼ä
|
tempflag=uwb_tx(tx_near_msg,29+8*nearbase_num,1,poll_tx_en_start_u32);//Á¢¼´·¢ËÍ
|
|
poll_tx_ts_i64 = ranging_tx_time_correct(poll_tx_en_start_u32 + phy_shr_duration());//ÐÞÕýʱ¼ä´Á
|
temp_tag_count1=phy_timer_count_get();
|
while(mac_is_busy());//µÈ´ý·¢ËÍÍê³É
|
|
tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
|
para_update = 0;
|
flag_finalsend=0;
|
flag_rxon=1;
|
flag_getresponse=0;
|
|
temp_tag_count2=phy_timer_count_get();
|
resp_rx_en_start_u32 = temp_tag_count2+ US_TO_PHY_TIMER_COUNT(600);//ÉèÖ÷¢ËͶàÉÙsºó½ÓÊÕ°´target¶ÀÁ¢Ê±¼äÆðµãËã+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_USΪ·¢ËͺóÒª¶à¾Ã¿ªÆô½ÓÊÕʱ¼ä
|
temp_resp=resp_rx_en_start_u32;
|
tempflag=uwb_rx(1,resp_rx_en_start_u32, RESP_RX_TIMEOUT_US);
|
// tempflag=uwb_rx(0,0, 3000);
|
receive_flag =0;
|
start_receive_count=phy_timer_count_get();
|
poll_timeout=US_TO_PHY_TIMER_COUNT(600);//¶àÒ»¸ö¶à0.4msĬÈÏ0.4ms¼ÆËãΪ0.125*4*100000,ĬÈÏ¿ªÆô1mss
|
end_receive_count=start_receive_count+poll_timeout;
|
if(end_receive_count>=UINT32_MAX)
|
{end_receive_count-=UINT32_MAX;}
|
current_count=phy_timer_count_get();
|
mainbase_dist=100000;
|
mainbase_lost_count++;
|
// while(current_count<end_receive_count||current_count>end_receive_count+HALF_SECOND_TIME)//Ñ»·½ÓÊÜ°üÌå,ÈôΪ124.8KÔòÊÇ+62400000
|
// {
|
|
current_count=phy_timer_count_get();//²»¶Ïˢе±Ç°¼ÆÊýÆ÷Öµ
|
temp_tag_count2=phy_timer_count_get();
|
while(mac_is_busy());//µÈ´ý½ÓÊÕÍê³É
|
temp_tag_count3=phy_timer_count_get();
|
if(receive_flag==1)//³É¹¦½ÓÊÕÊý¾Ý
|
{
|
receive_flag=0;
|
|
//½ÓÊճɹ¦ÔòÅжÏÊÇ·ñΪͬһ×é
|
if (rx_buf[MESSAGE_TYPE_IDX] == POS_RESPONSE&&!memcmp(&rx_buf[TAG_ID_IDX],&dev_id,2)) //ÅжϽÓÊÕµ½µÄÊý¾ÝÊÇ·ñÊÇresponseÊý¾Ý
|
{
|
uint16_t rec_nearbaseid,rec_nearbasepos;
|
recbase_num++;
|
memcpy(&rec_nearbaseid,&rx_buf[ANCHOR_ID_IDX],2);
|
rec_nearbasepos = recbase_num;
|
nearbaseid_list[recbase_num] = rec_nearbaseid;
|
SetANCTimestap(rec_nearbasepos,&rx_buf[RESP_MSG_POLL_RX_TS_IDX],&rx_buf[RESP_MSG_RESP_TX_TS_IDX],(uint32_t)resp_rx_ts_i64,&rx_buf[RESP_MSG_ANC_DISTOFFSET],test2,(uint32_t)poll_tx_ts_i64);//Õâ¸öÊǸĹýµÄ²ÎÊý
|
exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
|
temp_dist = nearbase_distlist[rec_nearbasepos];
|
if(rx_buf[0]==0xff)
|
{xiaobiaoqian_flag=1;}
|
current_count11=phy_timer_count_get();
|
// tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//Á¢¼´¿ªÆô½ÓÊܲ¢ÉèÖÃ0³¬Ê±
|
}
|
else if(rx_buf[MSG_TYPE_IDX]==LORA_MSGTYPE_WGRESPTAG)
|
{
|
Uwb_Update();
|
}
|
else
|
{
|
current_count22=phy_timer_count_get();
|
if(recbase_num!=nearbase_num+1)
|
{
|
// tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//Á¢¼´¿ªÆô½ÓÊܲ¢ÉèÖÃ0³¬Ê±
|
}
|
}
|
//gpio_pin_clr(IO_PIN_5);//²âÊÔ
|
|
}
|
else if(receive_flag==2)
|
{//½ÓÊÕ³ö´í
|
receive_flag=0;
|
ggggg++;
|
// tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//Á¢¼´¿ªÆô½ÓÊܲ¢ÉèÖÃ0³¬Ê±
|
current_count33=phy_timer_count_get();
|
}
|
//gpio_pin_clr(IO_PIN_5);//²âÊÔ
|
// }
|
delay_us(1);
|
uwb_rx_force_off(1);
|
current_count44=phy_timer_count_get();
|
// if(readgcom_flag1==0)
|
// {
|
CalculateDists(poll_tx_ts_i64); //¼ÆËã¾àÀë²¢¸üоàÀë±í
|
// }
|
// readgcom_flag1=0;
|
// AnchorListUpdate();//¸üдæ»î»ùÕ¾Áбí
|
// Rank_ANchor_list_by_dis();//ðÅÝÅÅÐòÖØа´¾àÀëÖØÐÂÅÅÁлùÕ¾Áбí×îС¾àÀë´æ»õ»ùÕ¾·Åµ½×îÇ°Ãæ
|
for(i=0; i<11; i++)
|
{
|
if(mindist>nearbase_distlist[i])
|
{
|
mindist = nearbase_distlist[i];
|
mindist_slavebaseid = nearbaseid_list[i];
|
|
}
|
}
|
if(mindist!=0x1ffff&&xiaobiaoqian_flag==0)
|
{
|
mainbase_id = mindist_slavebaseid;
|
try_reg_times = 0;
|
tag_state = REGPOLL;
|
}
|
}
|
}
|
|
uint8_t qiehuan_flag;
|
uint8_t motor_state,rec_remotepara_state,rec_remotepara[80];
|
uint8_t motor_flag;
|
extern uint8_t userkey_state;
|
int32_t base_mindist;
|
uint8_t changemainbase_count=0,gotosleep_flag,singlepoll_i;
|
uint8_t outrange_times;
|
uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
|
float motor_keeptime;
|
int32_t mainbase_dist,nearbase_switchdistlist[MAX_NEARBASE_NUM],nearbase_distlist[MAX_NEARBASE_NUM],true_nearbase_distlist[MAX_NEARBASE_NUM],true_exsistbase_list[MAX_NEARBASE_NUM],ancsync_time,nextpoll_delaytime,offsettimeus;
|
void NearPoll(void)
|
{
|
|
uint32_t temp1,temp2,dw_systime,mindist_slavebaseid;
|
static uint8_t notenoughdist_count=0;
|
uint32_t final_tx_time;
|
uint32_t start_poll;
|
uint8_t i,j,getsync_flag=0,timeout,get_newdist;
|
tag_succ_times = 0;
|
salvebase_mindist=999999;
|
get_newdist = 0;
|
phy_timer_open(1, IRQ_PRIORITY_HIGH);
|
mac_register_process_handler(tx_int_callback, rx_int_callback);
|
if(next_nearbase_num>=MAX_NEARBASE_NUM)
|
{
|
next_nearbase_num = MAX_NEARBASE_NUM-1;
|
}
|
if(nearbase_num>10)
|
{
|
nearbase_num = 10;
|
}
|
recbase_num=0;
|
// motor_state=0;
|
if(motor_state!=0&&motor_state!=3)
|
{
|
motor_flag = 1;
|
} else {
|
motor_flag = 0;
|
}
|
|
tx_near_msg[BATTARY_IDX] = bat_percent;
|
tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2|motor_flag<<5;
|
tx_near_msg[SEQUENCE_IDX] = frame_seq_nb;
|
tx_near_msg[SEQUENCEH_IDX] = (frame_seq_nb++)>>8;
|
tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
|
memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
|
memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&nearbase_distlist,nearbase_num*4+4);
|
memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6+4],&rec_anc_signalpower,nearbase_num*2+2);
|
|
|
// if(intheight!=0)
|
// intheight+=g_com_map[HEIGHTOFFEST_INDEX];
|
// memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*8+6],&intheight,2);
|
tx_near_msg[MESSAGE_TYPE_IDX] = POS_POLL;
|
|
tx_near_msg[NEARP_TAGFREQ_INDEX] = tag_frequency;
|
tx_near_msg[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;
|
|
memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
|
|
poll_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(POLL_DELAY);//·¢ËͱØÐëÒªÑÓʱ·¢ËͲſÉÒÔÓÃÓÚ²â¾à·ñÔòÁ¢¼´·¢ËÍ»á»ñȡʱ¼ä´Á²»¶Ô£¬ÐèÒª¼ÆËã³ÌÐòÔËÐÐʱ¼ä£¬±ÜÃâÉèÖùýȥʱ¼ä
|
tempflag=uwb_tx(tx_near_msg,29+8*nearbase_num,1,poll_tx_en_start_u32);//Á¢¼´·¢ËÍ
|
|
poll_tx_ts_i64 = ranging_tx_time_correct(poll_tx_en_start_u32 + phy_shr_duration());//ÐÞÕýʱ¼ä´Á
|
temp_tag_count1=phy_timer_count_get();
|
while(mac_is_busy());//µÈ´ý·¢ËÍÍê³É
|
|
tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
|
para_update = 0;
|
flag_finalsend=0;
|
flag_rxon=1;
|
flag_getresponse=0;
|
recbase_num=0;
|
|
temp_tag_count2=phy_timer_count_get();
|
resp_rx_en_start_u32 = temp_tag_count2+ US_TO_PHY_TIMER_COUNT(600);//ÉèÖ÷¢ËͶàÉÙsºó½ÓÊÕ°´target¶ÀÁ¢Ê±¼äÆðµãËã+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_USΪ·¢ËͺóÒª¶à¾Ã¿ªÆô½ÓÊÕʱ¼ä
|
temp_resp=resp_rx_en_start_u32;
|
tempflag=uwb_rx(1, resp_rx_en_start_u32, RESP_RX_TIMEOUT_US);//¿ªÆô½ÓÊܲ¢ÉèÖýÓÊÕ³¬Ê±
|
// tempflag=uwb_rx(0,0, RESP_RX_TIMEOUT_US);
|
receive_flag =0;
|
start_receive_count=phy_timer_count_get();
|
poll_timeout=nearbase_num*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS)+US_TO_PHY_TIMER_COUNT(RESP_RX_TIMEOUT_US);//¶àÒ»¸ö¶à0.4msĬÈÏ0.4ms¼ÆËãΪ0.125*4*100000,ĬÈÏ¿ªÆô1mss
|
end_receive_count=start_receive_count+poll_timeout;
|
if(end_receive_count>=UINT32_MAX)
|
{end_receive_count-=UINT32_MAX;}
|
current_count=phy_timer_count_get();
|
mainbase_dist=100000;
|
mainbase_lost_count++;
|
|
while(current_count<end_receive_count||current_count>end_receive_count+HALF_SECOND_TIME)//Ñ»·½ÓÊÜ°üÌå,ÈôΪ124.8KÔòÊÇ+62400000
|
{
|
|
current_count=phy_timer_count_get();//²»¶Ïˢе±Ç°¼ÆÊýÆ÷Öµ
|
temp_tag_count2=phy_timer_count_get();
|
while(mac_is_busy());//µÈ´ý½ÓÊÕÍê³É
|
temp_tag_count3=phy_timer_count_get();
|
if(receive_flag==1)//³É¹¦½ÓÊÕÊý¾Ý
|
{
|
receive_flag=0;
|
|
//½ÓÊճɹ¦ÔòÅжÏÊÇ·ñΪͬһ×é
|
if (rx_buf[MESSAGE_TYPE_IDX] == POS_RESPONSE&&!memcmp(&rx_buf[TAG_ID_IDX],&dev_id,2)) //ÅжϽÓÊÕµ½µÄÊý¾ÝÊÇ·ñÊÇresponseÊý¾Ý
|
{
|
uint16_t rec_nearbaseid,rec_nearbasepos;
|
recbase_num++;
|
memcpy(&rec_nearbaseid,&rx_buf[ANCHOR_ID_IDX],2);
|
if(rec_nearbaseid==mainbase_id)
|
{
|
exsistbase_list[0]=KEEP_TIMES;
|
SetANCTimestap(0,&rx_buf[RESP_MSG_POLL_RX_TS_IDX],&rx_buf[RESP_MSG_RESP_TX_TS_IDX],(uint32_t)resp_rx_ts_i64,&rx_buf[RESP_MSG_ANC_DISTOFFSET],test2,(uint32_t)poll_tx_ts_i64);
|
//////////////////////////////////ʱ¼äͬ²½
|
// memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
|
// memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
|
// current_count=HAL_LPTIM_ReadCounter(&hlptim1);
|
|
rec_remotepara_state=rx_buf[MOTORSTATE_INDEX]>>4;
|
if(rec_remotepara_state&&!memcmp(&rx_buf[TAG_ID_IDX],&dev_id,2))
|
{
|
para_update = 1;
|
tx_near_msg[TAGCONFIGSUCCESS_INDEX] = 1;
|
para_len = rx_length-22;
|
memcpy(rec_remotepara,&rx_buf[REMOTEPARA_INDEX],para_len);
|
}
|
// userkey_state = !GET_USERKEY;
|
temp_dist = nearbase_distlist[0];
|
if(temp_dist!=nearbase_distlist[0])
|
{
|
get_newdist++;
|
}
|
mainbase_dist=temp_dist;
|
nearbase_distlist[0] = temp_dist;
|
base_mindist = temp_dist;
|
if((rx_buf[MOTORSTATE_INDEX]&0xf)!=3)
|
motor_state=rx_buf[MOTORSTATE_INDEX]&0xf;
|
if(rx_length==38)
|
{
|
memcpy(&rec_maxrangelen,&rx_buf[MAXRANGE_DISTANCE],2);
|
memcpy(&rec_anc_signalpower[0],&rx_buf[ANC_SIGNALPOWER],2);
|
if(mainbase_dist>rec_maxrangelen&&mainbase_dist>0&&rec_maxrangelen!=0)
|
{
|
if(outrange_times++>OUTRANGE_RESTARTTIMES)
|
{
|
tag_state = STARTPOLL;
|
}
|
} else {
|
outrange_times = 0;
|
}
|
}
|
mainbase_lost_count=0;
|
flag_finalsend=1;
|
flag_getresponse=1;
|
// //ʱ¼äͬ²½
|
// tmp_time=tmp_time+450;
|
// if(tmp_time>999)
|
// {
|
// tmp_time-=999;
|
// sync_timer++;
|
// if(sync_timer>=1000)
|
// {
|
// sync_timer=0;
|
// }
|
// }
|
// ancsync_time=((sync_timer)*1000+tmp_time);
|
// SetLPTimer(ancsync_time,nearbase_num);
|
break;
|
}
|
else
|
{
|
rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
|
SetANCTimestap(rec_nearbasepos+1,&rx_buf[RESP_MSG_POLL_RX_TS_IDX],&rx_buf[RESP_MSG_RESP_TX_TS_IDX],(uint32_t)resp_rx_ts_i64,&rx_buf[RESP_MSG_ANC_DISTOFFSET],test2,(uint32_t)poll_tx_ts_i64);
|
|
exsistbase_list[rec_nearbasepos+1]=KEEP_TIMES;
|
temp_dist = nearbase_distlist[rec_nearbasepos+1];
|
if(rx_length==38)
|
memcpy(&rec_anc_signalpower[rec_nearbasepos+1],&rx_buf[ANC_SIGNALPOWER],2);
|
memcpy(&nearbase_switchdistlist[rec_nearbasepos],&rx_buf[NR_NEARSWITCH_DISTANCE],2);
|
if(temp_dist!=nearbase_distlist[rec_nearbasepos+1])
|
{
|
get_newdist++;
|
}
|
nearbase_distlist[rec_nearbasepos+1]=temp_dist; // nearbase_distlist[1]¶ÔÓ¦ rec_nearbaseid[0]µÄ¾àÀë
|
final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], (uint32_t)resp_rx_ts_i64);
|
if(temp_dist<salvebase_mindist&&nearbase_switchdistlist[rec_nearbasepos]!=0&&(nearbase_switchdistlist[rec_nearbasepos]==1||temp_dist<nearbase_switchdistlist[rec_nearbasepos]))
|
{
|
salvebase_mindist = temp_dist;
|
mindist_slavebaseid = rec_nearbaseid;
|
}
|
tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//Á¢¼´¿ªÆô½ÓÊܲ¢ÉèÖÃ0³¬Ê±
|
}
|
}else
|
{
|
if(recbase_num!=nearbase_num+1)
|
{
|
tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//Á¢¼´¿ªÆô½ÓÊܲ¢ÉèÖÃ0³¬Ê±
|
}
|
}
|
}
|
else if(receive_flag==2)
|
{
|
if(recbase_num!=nearbase_num+1)
|
{
|
tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//Á¢¼´¿ªÆô½ÓÊܲ¢ÉèÖÃ0³¬Ê±
|
}
|
}
|
}
|
if(flag_finalsend!=1)
|
{
|
flag_finalsend = 2;
|
}
|
delay_us(1);
|
uwb_rx_force_off(1);
|
if(mainbase_lost_count==0)
|
{
|
SetLPTimer(0);
|
#ifdef SWITCHBASE_DIST
|
if(salvebase_mindist<mainbase_dist- THRESHOLD_CHANGE_MAINBASE_DIST )
|
{
|
changemainbase_count++;
|
if(changemainbase_count>2)
|
{
|
changemainbase_count = 0;
|
mainbase_id = mindist_slavebaseid;
|
tag_state = GETNEARMSG;
|
trygetnearmsg_times = 0;
|
GetNearMsg();
|
qiehuan_flag=1;
|
}
|
} else {
|
changemainbase_count = 0;
|
}
|
#endif
|
} else if(mainbase_lost_count>10)
|
{
|
mainbase_lost_count = 0;
|
tag_state = DISCPOLL;
|
DiscPoll2();
|
SetLPTimer(16);
|
}
|
if(mainbase_lost_count!=0)
|
{
|
// if(mainbase_lost_count<=5)
|
// { NextSlotDelayMs(0);
|
// } else {
|
// NextSlotDelayMs(0);
|
// }
|
SetLPTimer(11);
|
}
|
if(qiehuan_flag)
|
{qiehuan_flag=0;}
|
else
|
{CalculateDists(poll_tx_ts_i64);}
|
// AnchorListUpdate();//¸üдæ»î»ùÕ¾Áбí
|
// Rank_ANchor_list_by_dis();//ðÅÝÅÅÐòÖØа´¾àÀëÖØÐÂÅÅÁлùÕ¾Áбí×îС¾àÀë´æ»õ»ùÕ¾·Åµ½×îÇ°Ãæ
|
if(para_update)
|
{
|
|
pack_msgtype = rec_remotepara[0];
|
pack_index = rec_remotepara[1];
|
pack_length = rec_remotepara[2];
|
if(pack_msgtype==2)
|
{
|
if( pack_index == MOTOR_ONTIME_INDEX)
|
{
|
if(motor_keeptime==0)
|
motor_keeptime = rec_remotepara[3];
|
} else if( pack_index == 2*COM_INTERVAL)
|
{
|
if(memcmp(&g_com_map[COM_INTERVAL],&rec_remotepara[3],2)!=0)
|
{
|
memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
|
save_com_map_to_flash();
|
tag_frequency = 1000/g_com_map[COM_INTERVAL];
|
bigslot_num = TOTAL_SLOTNUM/tag_frequency;
|
}
|
}
|
else {
|
if(pack_index<200)
|
{
|
memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
|
//·µ»ØÒ»¸öerror״̬
|
//SendComMap(pack_datalen,pack_index);
|
save_com_map_to_flash();
|
delay_ms(100);
|
NVIC_SystemReset();
|
}
|
}
|
}
|
}
|
for(i=0; i<nearbase_num; i++)
|
{
|
if(nearbaseid_list[i]!=nearbaseid_list2[i])
|
{
|
tag_state = GETNEARMSG;
|
GetNearMsg();
|
trygetnearmsg_times = 0;
|
// nearbaseid_list0[i]=1;
|
}
|
}
|
TagListUpdate();
|
}
|
|
|
void SwitchTagState(void)
|
{
|
switch(tag_state)
|
{
|
case REGPOLL:
|
// LED_LG_ON;
|
Registor_Poll();
|
if(try_reg_times++>5)
|
{
|
tag_state = STARTPOLL;
|
}
|
outrange_times = 0;
|
mainbase_lost_count = 0;
|
// LED_LG_OFF;
|
// GetPressAndHeight();
|
break;
|
case DISCPOLL:
|
// LED_LG_ON;
|
DiscPoll2();
|
// LED_LG_OFF;
|
break;
|
case GETNEARMSG:
|
|
// LED_LG_ON;
|
GetNearMsg();
|
// LED_LG_OFF;
|
outrange_times = 0;
|
mainbase_lost_count = 0;
|
if(trygetnearmsg_times++>5)
|
{
|
tag_state = STARTPOLL;
|
}
|
break;
|
case NEARPOLL:
|
NearPoll();
|
break;
|
case SINGLEPOLL:
|
// Poll();
|
break;
|
}
|
}
|
|
void Dw1000_App_Init(void)
|
{
|
//g_com_map[DEV_ID] = 0x0b;
|
//tag_state=DISCPOLL;
|
tx_poll_msg[MESSAGE_TYPE_IDX]=POLL;
|
tx_resp_msg[MESSAGE_TYPE_IDX]=RESPONSE;
|
tx_final_msg[MESSAGE_TYPE_IDX]=FINAL;
|
tx_sync_msg[MESSAGE_TYPE_IDX]=SYNC;
|
|
memcpy(&tx_poll_msg[GROUP_ID_IDX], &group_id, 1);
|
memcpy(&tx_final_msg[GROUP_ID_IDX], &group_id, 1);
|
memcpy(&tx_resp_msg[GROUP_ID_IDX], &group_id, 1);
|
|
memcpy(&tx_poll_msg[TAG_ID_IDX], &g_com_map[DEV_ID], 2);
|
memcpy(&tx_final_msg[TAG_ID_IDX], &g_com_map[DEV_ID], 2);
|
memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &g_com_map[DEV_ID], 2);
|
memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &g_com_map[DEV_ID], 2);
|
memcpy(&tx_near_msg[ANCHOR_ID_IDX], &g_com_map[DEV_ID], 2);
|
memcpy(&tx_near_msg[TAG_ID_IDX], &g_com_map[DEV_ID], 2);
|
}
|
|
extern uint8_t send_lora_data[250];
|
uint16_t muqiandeshengjibao;
|
static uint16_t current_count1,target_count1,end_count1,start_count1;
|
uint8_t huifushengjibaoerror_num;
|
extern uint16_t final_bag_num;
|
uint16_t testflag;
|
uint32_t Zhongjian_data[60];
|
uint8_t shengji_flag;
|
uint16_t wangguan_up_id;
|
uint8_t huifushengjibao_flag;
|
uint8_t LoraUp_flag;
|
uint16_t rec_wenjian_daxiao;
|
uint8_t lora_up_rec_flag;
|
uint16_t flash_shuju;
|
static uint32_t status_reg;
|
static uint32_t frame_len;
|
void LoraUp_Poll(void)
|
{ uint16_t result ;
|
uint16_t crc16;
|
uint8_t jindu;
|
if(shengji_flag)
|
{
|
uwb_rx_force_off(1);
|
Uwb_init();
|
phy_timer_open(1, IRQ_PRIORITY_HIGH);
|
mac_register_process_handler(tx_int_callback, rx_int_callback);
|
|
send_lora_data[MSG_TYPE_IDX]=LORA_MSGTYPE_UPDATE_CONFIRM;
|
memcpy(&send_lora_data[SOURCE_ID_IDX],&dev_id,2);//Íø¹ØID Õ¼ÓÃ2¸ö×Ö½Ú
|
memcpy(&send_lora_data[DEST_ID_IDX],&wangguan_up_id,2);//±êÇ©»òÕß»ùÕ¾µÄÉ豸ID 2¸ö×Ö½Ú
|
// send_lora_data[MUQIAN_BAG]=0xFF;
|
crc16=Checksum_u16(send_lora_data,6);
|
memcpy(&send_lora_data[6],&crc16,2);
|
huifushengjibao_flag=0;
|
LoraUp_flag=1;
|
|
poll_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(POLL_DELAY);//·¢ËͱØÐëÒªÑÓʱ·¢ËͲſÉÒÔÓÃÓÚ²â¾à·ñÔòÁ¢¼´·¢ËÍ»á»ñȡʱ¼ä´Á²»¶Ô£¬ÐèÒª¼ÆËã³ÌÐòÔËÐÐʱ¼ä£¬±ÜÃâÉèÖùýȥʱ¼ä
|
tempflag=uwb_tx(send_lora_data,8+2,1,poll_tx_en_start_u32);//Á¢¼´·¢ËÍ
|
poll_tx_ts_i64 = ranging_tx_time_correct(poll_tx_en_start_u32 + phy_shr_duration());//ÐÞÕýʱ¼ä´Á
|
// temp_count1=phy_timer_count_get();
|
while(mac_is_busy());//µÈ´ý·¢ËÍÍê³É
|
|
__disable_irq();
|
result=flash_open(FLASH_ID0,NULL);
|
flash_read(FLASH_ID0, APP2_ADRESS, (uint8_t*)&flash_shuju, 2);
|
if(flash_shuju!=0xffff/*&&flash_shuju!=0x0000*/)
|
{
|
while(1)
|
{
|
flash_erase(FLASH_ID0,APP2_ADRESS,APP_SIZE);
|
delay_ms(500);
|
flash_read(FLASH_ID0, APP2_ADRESS, (uint8_t*)&flash_shuju, 2);
|
if(flash_shuju==0xffff/*&&flash_shuju!=0x0000*/)
|
{break;}
|
}
|
}
|
__enable_irq();
|
while(1)
|
{
|
uwb_rx_force_off(1);
|
send_lora_data[MSG_TYPE_IDX]=LORA_MSGTYPE_UPDATEFILE_REQUEST;
|
memcpy(&send_lora_data[SOURCE_ID_IDX],&dev_id,2);//Íø¹ØID Õ¼ÓÃ2¸ö×Ö½Ú
|
memcpy(&send_lora_data[DEST_ID_IDX],&wangguan_up_id,2);//±êÇ©»òÕß»ùÕ¾µÄÉ豸ID 2¸ö×Ö½Ú
|
// send_lora_data[MUQIAN_BAG]=muqiandeshengjibao;
|
memcpy(&send_lora_data[MUQIAN_BAG],&muqiandeshengjibao,2);
|
crc16=Checksum_u16(send_lora_data,8);
|
memcpy(&send_lora_data[8],&crc16,2);
|
lora_up_rec_flag=0;
|
// LOG_INFO(TRACE_MODULE_APP, "ÕýÔÚÇëÇóµÚ%d°ü\r\n",muqiandeshengjibao);
|
jindu=(muqiandeshengjibao*100)/final_bag_num;
|
LOG_INFO(TRACE_MODULE_APP, "Éý¼¶½ø¶È%d\r\n",jindu);
|
// wdt_ping(WDT_ID0);//ι¹·
|
poll_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(POLL_DELAY);//·¢ËͱØÐëÒªÑÓʱ·¢ËͲſÉÒÔÓÃÓÚ²â¾à·ñÔòÁ¢¼´·¢ËÍ»á»ñȡʱ¼ä´Á²»¶Ô£¬ÐèÒª¼ÆËã³ÌÐòÔËÐÐʱ¼ä£¬±ÜÃâÉèÖùýȥʱ¼ä
|
tempflag=uwb_tx(send_lora_data,10+2,1,poll_tx_en_start_u32);//Á¢¼´·¢ËÍ
|
poll_tx_ts_i64 = ranging_tx_time_correct(poll_tx_en_start_u32 + phy_shr_duration());//ÐÞÕýʱ¼ä´Á
|
// temp_count1=phy_timer_count_get();
|
while(mac_is_busy());//µÈ´ý·¢ËÍÍê³É
|
// temp_count2=phy_timer_count_get();
|
resp_rx_en_start_u32 = poll_tx_en_start_u32+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_US);//ÉèÖ÷¢ËͶàÉÙsºó½ÓÊÕ°´target¶ÀÁ¢Ê±¼äÆðµãËã+ US_TO_PHY_TIMER_COUNT(POLL_TX_TO_RESP_RX_DLY_USΪ·¢ËͺóÒª¶à¾Ã¿ªÆô½ÓÊÕʱ¼ä
|
temp_resp=resp_rx_en_start_u32;
|
tempflag=uwb_rx(0,0, 50000);
|
|
while(mac_is_busy())
|
{}
|
if(receive_flag==1)//³É¹¦½ÓÊÕÊý¾Ý
|
{ uint16_t result12;
|
|
__disable_irq();
|
crc16=Cal_CRC16(rx_buf,DATA_IDX+ONE_BAG_DAXIAO);
|
|
if(!memcmp(&muqiandeshengjibao,&rx_buf[MUQIAN_BAG],2)&&!memcmp(&crc16,&rx_buf[DATA_IDX+ONE_BAG_DAXIAO],2)&&!memcmp(&dev_id,&rx_buf[DEST_ID_IDX],2)&& !memcmp(&wangguan_up_id,&rx_buf[SOURCE_ID_IDX],2))
|
{
|
result=flash_open(FLASH_ID0,NULL);
|
memcpy(Zhongjian_data,&rx_buf[DATA_IDX],ONE_BAG_DAXIAO);
|
result12=flash_write_nbytes(FLASH_ID0, APP2_ADRESS+ONE_BAG_DAXIAO*muqiandeshengjibao, (uint8_t*)Zhongjian_data, ONE_BAG_DAXIAO);
|
while(!result12==0)
|
{
|
result12=flash_write_nbytes(FLASH_ID0, APP2_ADRESS+ONE_BAG_DAXIAO*muqiandeshengjibao, (uint8_t*)Zhongjian_data, ONE_BAG_DAXIAO);
|
delay_ms(10);
|
}
|
if(result12==0)
|
{
|
// if(muqiandeshengjibao==650)
|
// {
|
// delay_ms(10);
|
// }
|
muqiandeshengjibao++;
|
huifushengjibaoerror_num=0;
|
delay_ms(10);
|
}
|
}
|
__enable_irq();
|
}
|
else
|
{
|
delay_ms(500);
|
huifushengjibaoerror_num++;
|
if(huifushengjibaoerror_num>=20)
|
{
|
huifushengjibaoerror_num=0;
|
muqiandeshengjibao=0;
|
delay_ms(500);
|
NVIC_SystemReset();
|
break;
|
}
|
uwb_rx_force_off(1);
|
}
|
if(muqiandeshengjibao==final_bag_num)
|
{
|
send_lora_data[MSG_TYPE_IDX]=0x99;
|
memcpy(&send_lora_data[SOURCE_ID_IDX],&dev_id,2);//Íø¹ØID Õ¼ÓÃ2¸ö×Ö½Ú
|
memcpy(&send_lora_data[DEST_ID_IDX],&wangguan_up_id,2);//±êÇ©»òÕß»ùÕ¾µÄÉ豸ID 2¸ö×Ö½Ú
|
crc16=Checksum_u16(send_lora_data,6);
|
memcpy(&send_lora_data[6],&crc16,2);
|
huifushengjibao_flag=0;
|
LoraUp_flag=1;
|
LOG_INFO(TRACE_MODULE_APP, "ÕýÔÚ·¢ËÍ×îºóÒ»°ü\r\n");
|
poll_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(POLL_DELAY);//·¢ËͱØÐëÒªÑÓʱ·¢ËͲſÉÒÔÓÃÓÚ²â¾à·ñÔòÁ¢¼´·¢ËÍ»á»ñȡʱ¼ä´Á²»¶Ô£¬ÐèÒª¼ÆËã³ÌÐòÔËÐÐʱ¼ä£¬±ÜÃâÉèÖùýȥʱ¼ä
|
tempflag=uwb_tx(send_lora_data,8+2,1,poll_tx_en_start_u32);//Á¢¼´·¢ËÍ
|
poll_tx_ts_i64 = ranging_tx_time_correct(poll_tx_en_start_u32 + phy_shr_duration());//ÐÞÕýʱ¼ä´Á
|
// temp_count1=phy_timer_count_get();
|
while(mac_is_busy());//µÈ´ý·¢ËÍÍê³É
|
|
uint16_t tmp11 ,result11;
|
tmp11=0XDDDD;
|
result=flash_open(FLASH_ID0,NULL);
|
result11=flash_erase(FLASH_ID0,APP_1OR2_ADRESS,0x1000);
|
if(result11==0)
|
flash_write_nbytes(FLASH_ID0, APP_1OR2_ADRESS, (uint8_t*)&tmp11, 2);
|
__disable_irq();
|
delay_ms(500);
|
NVIC_SystemReset();
|
}
|
}
|
uwb_rx_force_off(1);
|
}
|
}
|
