#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_wdt.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_app.h"
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#include "board.h"
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#include "mk_calib.h"
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#include "stdlib.h"
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#include "mk_flash.h"
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#include "global_param.h"
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#if defined(MK_SS_TWR_DW_INIT)
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extern int TagRange(void);
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void Tag_uwb_init(void);
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void TagListUpdate(void);
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/* Ranging period: 1s */
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#define RANGING_PERIOD_MS (10000)
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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 1000U //yuan400
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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_DEFAULT 1100U //Yuan500 10mssuccess 300jixian
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#define RESP_RX_TIMEOUT_US 2000000
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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 50000
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#define DELAY_BETWEEN_TWO_FRAME_UUS 400 //yuan1400
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#define HALF_SECOND_TIME 62400000
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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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uint32_t dev_id;
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uint8_t group_id;
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#ifdef DW1000
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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 = UWB_CH_NUM, /* 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_64, /* 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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#elif defined STS_MODE
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static struct mk_uwb_configure config = {
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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 = BPRF_NSFD2_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_4Z_BPRF, /* IEEE802.15.4z - BPRF mode */
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.phy_cfg.sts_pkt_cfg = STS_PKT_CFG_1, /* SP1 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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/* Use the default key and IV specified in the IEEE 802.15.4z attachment */
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static struct UWB_STS_KEY_CONFIG_T sts_iv_key = {
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.sts_vcounter = 0x1F9A3DE4,
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.sts_vupper0 = 0xD37EC3CA,
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.sts_vupper1 = 0xC44FA8FB,
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.sts_vupper2 = 0x362EEB34,
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.sts_key0 = 0x14EB220F,
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.sts_key1 = 0xF86050A8,
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.sts_key2 = 0xD1D336AA,
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.sts_key3 = 0x14148674,
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};
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#else //MKmode
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/* Default communication configuration. */
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static struct mk_uwb_configure config = {
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.phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
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.phy_cfg.ch_num = 9, /* Channel number. */
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.phy_cfg.code_index = 9, /* TX preamble code. */
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.phy_cfg.mean_prf = MEAN_PRF_64M, /* Data rate 6.8M */
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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 = BPRF_NSFD2_8, /* Identifier for SFD sequence */
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.phy_cfg.ranging_bit = 1, /* ranging bit set. */
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.phy_cfg.trx_mode = TRX_MODE_15_4Z_BPRF, /* 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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#endif
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///* Default communication configuration. */
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//static struct mk_uwb_configure config = {
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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 = 3, /* TX preamble code. */
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// .phy_cfg.mean_prf = MEAN_PRF_16M, /* Data rate 6.8M */
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// .phy_cfg.data_bit_rate = DATA_BR_110K, /* data rate 6.8M. */
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// .phy_cfg.sync_sym = PREAM_LEN_1024, /* Preamble duration, length of preamble 128 */
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// .phy_cfg.sfd_sym = NSFD_64, /* Identifier for SFD sequence */
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// .phy_cfg.ranging_bit = 1, /* ranging bit set. */
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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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/* Buffer to store received frame */
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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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uint16_t taglist_total_num,taglist_current_index; //µ±Ç°Áбí×ÜÊýÁ¿
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uint32_t start_receive_count,end_receive_count,poll_timeout,current_count,temp_resp;
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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],temp_index; //±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],rec_nearbaseid,rec_nearbasepos;
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uint16_t u16_nearbase_distlist[MAX_NEARBASE_NUM];
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uint32_t temp_count1=0;
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uint32_t temp_count2=0;
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uint32_t temp_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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extern uint8_t bat_percent;
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uint32_t count1,count2;
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extern uint32_t reboot_num;
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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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tag_num_tosend = taglist_total_num-taglist_current_index;
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if(tag_num_tosend>SEND_GROUP_MAX_NUM) //Õâ´Î·¢µÄÊýÁ¿
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{
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tag_num_tosend = SEND_GROUP_MAX_NUM;
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}
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memcpy(&uwb_sendbuffer[7],&g_com_map[VERSION],2);
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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] = tag_num_tosend;
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memcpy(&uwb_sendbuffer[NEARBASEID_INDEX],&taglist_id[taglist_current_index],tag_num_tosend*2);//»ùÕ¾id
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memcpy(&uwb_sendbuffer[NEARBASEID_INDEX+tag_num_tosend*2],&taglist_dist[taglist_current_index],tag_num_tosend*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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/**
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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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uint32_t temp_rx_first_stamp,temp_rx_second_stamp;
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uint16_t temp_rx_first_id,temp_rx_second_id;
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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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//tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);
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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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// if(temp_rx_first_stamp==0)
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// {
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// temp_rx_first_stamp=(uint32_t)resp_rx_ts_i64;
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// memcpy(&temp_rx_first_id,&rx_buf[1],2);
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// }else{
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// memcpy(&temp_rx_second_id,&rx_buf[1],2);
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// temp_rx_second_stamp=(uint32_t)resp_rx_ts_i64;
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// }
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temp_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_count2=phy_timer_count_get();
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}
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//tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//Á¢¼´¿ªÆô½ÓÊܲ¢ÉèÖÃ0³¬Ê±
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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_count1;
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temp_flag=1;
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}
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}
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//×¢Ò⣺ÒòΪÐÂ×¢²áµÄ±êÇ©²¢²»ÖªµÀ»ùÕ¾ÒѾÊÕµ½ÁË£¬ËùÒÔÒªÔÚÏÂÒ»°üÁ¢¿Ì½«ÐµıêÇ©ID·¢³ö£¬·ñÔò±êÇ©»áÒ»Ö±ÇÀÕ¼»ùÕ¾µÄpoll°ü¡£
|
//·½·¨Êǽ«ÐÂ×¢²áµÄ±êÇ©Ìí¼Óµ½Ï´η¢Ë͵ıêÇ©ÁбíÍ·²¿£¬ÆäËû±êÇ©ÒÀ´ÎÏòºóŲ¶¯¡£
|
uint16_t AddNewTagIntoList(uint16_t tagid)
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{
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uint16_t newindex_cal = taglist_current_index+SEND_GROUP_MAX_NUM;//µ±Ç°Ë÷Òý+25£¬ÎªÏ´ÎË÷ÒýÒª·¢³öµÄÖµµÄ×î´óÖµ£¬Èç¹û×ÜÊýСÓÚÕâ¸öÖµ£¬¼´¿É·Åµ½×îºóÃæ¡£
|
if(newindex_cal>=taglist_total_num) //Èç¹ûµ±Ç°Ë÷ÒýÊÇ×îºóÒ»°ü£¬ÄÇô¾Í¼Óµ½×ÜË÷ÒýµÄºóÃ棬Èç¹û²»ÊǾͼӵ½ÏÂÒ»´ÎÆðʼË÷ÒýλÖá£
|
{
|
newindex_cal = taglist_total_num;
|
|
}else{
|
for(uint16_t i=taglist_total_num;i>newindex_cal;i--) //´ÓºóÍùǰŲµØ·½??¾ÍÊDzåÈë
|
{
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taglist_id[i]=taglist_id[i-1];
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taglist_dist[i]=taglist_dist[i-1];
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taglist_keeptime[i]=taglist_keeptime[i-1];
|
}
|
}
|
taglist_total_num++;
|
taglist_id[newindex_cal] = tagid;
|
taglist_dist[newindex_cal] = 0;
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taglist_keeptime[newindex_cal] = KEEP_TIMES;
|
return newindex_cal;
|
}
|
uint8_t FindNearBasePos(uint16_t baseid)//Ñ°ÕÒµ±Ç°ÁбíÖеĻùÕ¾·µ»ØË÷Òý
|
{
|
uint8_t i;
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for(i=0;i<nearbase_num;i++)
|
{
|
if(baseid==nearbaseid_list[i])
|
return i;
|
}
|
if(i==nearbase_num)
|
return nearbase_num;
|
}
|
|
void AnchorListUpdate(void)
|
{
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next_nearbase_num = 0;
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int j=0;
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for(int i=0;i<nearbase_num;i++)
|
{
|
if(exsistbase_list[i]>0)
|
{
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exsistbase_list[i]--;
|
next_nearbase_num++;
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true_exsistbase_list[j]=exsistbase_list[i];
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true_nearbase_idlist[j]=nearbaseid_list[i];
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true_nearbase_distlist[j++]=nearbase_distlist[i];
|
|
}
|
}
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nearbase_num = next_nearbase_num;//¸üÐÂÏÖ´æ»ùÕ¾Êý
|
last_nearbase_num = next_nearbase_num;//¸üе±Ç°»ùÕ¾Êý
|
}
|
int temp_j;
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void TagListUpdate(void)
|
{
|
uint16_t i,j=0,temp[TAG_NUM_IN_SYS];
|
for(i=0;i<taglist_total_num;i++)
|
{
|
if(taglist_keeptime[i]-->0)
|
{
|
taglist_id[j]=taglist_id[i];
|
taglist_keeptime[j++]=taglist_keeptime[i];//×Ô¶¯¸²¸Ç£¬¼´´ÓÇ°ÍùºóÑ°ÕÒ´æ»îʱ¼äΪ0µÄ±êÇ©£¬²¢°ÑËüÓúóÃæÀëµÃ×î½üµÄµÚÒ»¸öÓÐЧ´æ»îµÄ±êÇ©¸²¸Ç£¬ÄÇô×îºójµÄÖµ¾ÍÊǵ±Ç°ÓÐЧ¸öÊý
|
}
|
}
|
temp_j=j;
|
taglist_total_num=j;
|
}
|
void Rank_ANchor_list_by_dis(void)//°´ÕÕÄ¿Ç°µÄ»ùÕ¾¾àÀë½øÐÐðÅÝÅÅÐòÓÃÁÙʱÊý×鷽ʽ½«×î½üµÄ·Åµ½×îÇ°Ã棬×îÔ¶µÄ·Åµ½×îºóÃæ
|
{
|
for(int i=0;i<last_nearbase_num-1;i++)
|
{
|
for(int j=0;j<last_nearbase_num-1;j++)
|
{
|
if(true_nearbase_distlist[j]>true_nearbase_distlist[j+1])
|
{
|
uint32_t temp_dist,temp_id,temp_exsis;
|
temp_dist=true_nearbase_distlist[j];
|
temp_id = true_nearbase_idlist[j];
|
temp_exsis=true_exsistbase_list[i];
|
true_nearbase_distlist[j]=true_nearbase_distlist[j+1];
|
true_nearbase_idlist[j]=true_nearbase_idlist[j+1];
|
true_exsistbase_list[j]=true_exsistbase_list[j+1];
|
|
true_nearbase_distlist[j+1]=temp_dist;
|
true_nearbase_idlist[j+1]=temp_id;
|
true_exsistbase_list[j+1]=temp_exsis;
|
}
|
}
|
}
|
for (int i=0;i<last_nearbase_num;i++)
|
{
|
nearbaseid_list[i]=true_nearbase_idlist[i];
|
nearbase_distlist[i]=true_nearbase_distlist[i];
|
exsistbase_list[i] = true_exsistbase_list[i];
|
}
|
}
|
uint16_t CmpTagInList(uint16_t tagid)//ÕÒÕâ¸öÐÂÒ»°üµÄ»ùÕ¾ÔÚ²»ÔÚÏÖ´æµÄtaglistÖÐÔڵĻ°¶ÔӦλÖøüдæ»îʱ¼ä£¬²»ÔÚ¾ÍÔö¼Ó£¨È·±£ÓÐЧÊýÁ¿Ð¡ÓÚ×î´óÉèÖÃÊý£©
|
{
|
uint16_t temp;
|
for(uint8_t i=0;i<taglist_total_num;i++)
|
{
|
if(memcmp(&tagid,&taglist_id[i],2)==0)
|
{
|
taglist_keeptime[i] = KEEP_TIMES;
|
return i;
|
}
|
}
|
if(taglist_total_num<MAX_TAG_LIST_NUM)
|
temp = AddNewTagIntoList(tagid);
|
return temp;
|
}
|
uint32_t count_index;
|
int tt=1;
|
float freqlost_count;
|
void Tag_uwb_init(void)
|
{
|
// The following peripherals will be initialized in the uwb_open function
|
// phy/mac/aes/lsp/phy timers initialized
|
uwb_open();
|
#ifdef STS_MODE
|
// Set STS key and IV
|
phy_sts_key_configure(&sts_iv_key);
|
#endif
|
// Set calibration parameters
|
uwb_calibration_params_set(config.phy_cfg.ch_num);
|
#ifdef STS_MODE
|
|
// set advanced parameters
|
struct PHY_ADV_CONFIG_T adv_config = {
|
.thres_fap_detect = 40,
|
.nth_scale_factor = 4,
|
.ranging_performance_mode = 3,
|
.skip_weakest_port_en = 0,
|
};
|
#else
|
// set advanced parameters
|
struct PHY_ADV_CONFIG_T adv_config = {
|
.thres_fap_detect = 40,
|
.nth_scale_factor = 4,
|
.ranging_performance_mode = 0,
|
.skip_weakest_port_en = 0,
|
};
|
#endif
|
phy_adv_params_configure(&adv_config);
|
|
// uwb configure
|
uwb_configure(config.phy_work_mode, board_param.tx_power_fcc[CALIB_CH(config.phy_cfg.ch_num)], &config.phy_cfg);
|
#if (defined STS_MODE) || (defined MK_MODE)
|
ranging_lib_init();
|
#endif
|
ranging_frame_type_set(config.phy_cfg.sts_pkt_cfg);
|
|
}
|
int sleep_time_step=SLEEP_COUNT;
|
int rand_temp;
|
static uint16_t source_id;
|
uint8_t rec_index,rec_secdelay;
|
uint16_t rec_value;
|
uint8_t readgcom_flag;
|
uint16_t wg_report_id;
|
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[DEST_ID_IDX],2))
|
{
|
memcpy(&source_id,&rx_buf[SOURCE_ID_IDX],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[PWTAG_RW_FLAG_IDX])
|
{
|
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||rec_wenjian_daxiao==0)
|
{}//Îļþ¹ý´ó£¬³¬³ö·¶Î§
|
else
|
{
|
final_bag_num=(rec_wenjian_daxiao/ONE_BAG_DAXIAO)+1;
|
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£Ê½,½ÓÊÕÎļþ´óС%d\r\n",rec_wenjian_daxiao);
|
}
|
break;
|
}
|
break;
|
}
|
// }
|
}
|
}
|
int TagRange(void)
|
{
|
if(readgcom_flag)
|
{
|
readgcom_flag=0;
|
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;
|
uwb_sendbuffer[MSG_TYPE_IDX] = LORA_MSGTYPE_READPARARESP;
|
uwb_sendbuffer[MSG_LENGTH] = data_length+11;
|
memcpy(&uwb_sendbuffer[SOURCE_ID_IDX],&g_com_map[DEV_ID],2);
|
memcpy(&uwb_sendbuffer[DEST_ID_IDX],&wg_report_id,2);
|
uwb_sendbuffer[RP_CMD_IDX] = WGRSP_RWTAG_READ;
|
uwb_sendbuffer[RP_INDEX_IDX] = 2;
|
uwb_sendbuffer[RP_LEN_IDX] = data_length;
|
memcpy(&uwb_sendbuffer[9], &g_com_map[1], data_length);
|
checksum = Checksum_u16(uwb_sendbuffer,11+data_length);
|
memcpy(&uwb_sendbuffer[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(uwb_sendbuffer,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{
|
phy_timer_open(1, IRQ_PRIORITY_HIGH);
|
// Register rx interrupt callback function
|
mac_register_process_handler(tx_int_callback, rx_int_callback);
|
//taglist_total_num=50;//²âÊÔ
|
|
uwb_poll_buffer_construct();
|
temp_tag_num=0;//ÁÙʱÊýÁ¿Îª0
|
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(uwb_sendbuffer,13+4*tag_num_tosend,1,poll_tx_en_start_u32);//Á¢¼´·¢ËÍ
|
#ifdef BOXING
|
gpio_pin_set(IO_PIN_5);//²âÊÔ
|
#endif
|
//LOG_INFO(TRACE_MODULE_APP, "½øÈë²â¾à",poll_tx_num,resp_rx_num,distance);
|
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
|
#ifdef BOXING
|
gpio_pin_clr(IO_PIN_5);//²âÊÔ
|
gpio_pin_set(IO_PIN_5);//²âÊÔ
|
#endif
|
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(1, resp_rx_en_start_u32, RESP_RX_TIMEOUT_US);//¿ªÆô½ÓÊܲ¢ÉèÖýÓÊÕ³¬Ê±
|
tempflag=uwb_rx(1,resp_rx_en_start_u32, RESP_RX_TIMEOUT_US);
|
|
|
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
|
poll_timeout=US_TO_PHY_TIMER_COUNT(RESP_RX_TIMEOUT_US_DEFAULT)+tag_num_tosend*US_TO_PHY_TIMER_COUNT(DELAY_BETWEEN_TWO_FRAME_UUS);
|
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();
|
count_index=end_receive_count+HALF_SECOND_TIME;
|
// if(tt){
|
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_count2=phy_timer_count_get();
|
while(mac_is_busy())//µÈ´ý½ÓÊÕÍê³É
|
{
|
IdleTask();
|
current_count=phy_timer_count_get();
|
if(current_count>end_receive_count&¤t_count<end_receive_count+HALF_SECOND_TIME)
|
{
|
break;
|
}
|
}
|
|
temp_count3=phy_timer_count_get();
|
if(receive_flag==1)//³É¹¦½ÓÊÕÊý¾Ý
|
{
|
receive_flag=0;
|
tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//Á¢¼´¿ªÆô½ÓÊܲ¢ÉèÖÃ0³¬Ê±
|
//½ÓÊճɹ¦ÔòÅжÏÊÇ·ñΪͬһ×é
|
if(rx_buf[MESSAGE_TYPE_IDX] == MBX_POLL)//ÊÕµ½ÊÇÆäËûµÄ»ùÕ¾µÄPOLL°ü
|
{
|
rand_temp=rand()%10;
|
sleep_timer_start(__MS_TO_32K_CNT(SLEEP_COUNT-rand_temp));//²âÊÔ
|
}else if (rx_buf[MESSAGE_TYPE_IDX] == MBX_RESPONSE&&!memcmp(&rx_buf[TAG_ID_IDX],&dev_id,2)&&rx_buf[GROUP_ID_IDX]==group_id) //ÅжϽÓÊÕµ½µÄÊý¾ÝÊÇ·ñÊÇresponseÊý¾Ý
|
{
|
reboot_num=0;//Çå0¸´Î»¼à²âÊýÖµ
|
memcpy(&rec_nearbaseid,&rx_buf[ANCHOR_ID_IDX],2);
|
rec_tag_index = CmpTagInList(rec_nearbaseid);//µ±Ç°ÐÂÀ´µÄÕâ°üÊý¾Ý²åÈ뵱ǰ±íÖеÄλÖÃË÷Òý
|
//rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
|
freqlost_count = 0;
|
temp_index =rec_tag_index -taglist_current_index;
|
SetANCTimestap(temp_index,&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);
|
// if(rec_nearbasepos>=nearbase_num) //·¢ÏÖеĻùÕ¾
|
// {
|
// //get_newbase=1;
|
// nearbase_num++;
|
// nearbaseid_list[rec_nearbasepos] = rec_nearbaseid;
|
// }
|
// exsistbase_list[rec_nearbasepos]=KEEP_TIMES;//¸üдæ»îʱ¼ä
|
|
memset(rx_buf, 0, sizeof(rx_buf));//Çå¿Õ½ÓÊÕµ½µÄÓÃÍêµÄÊý×é
|
rx_length=0;//Çå0³¤¶È
|
//uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//Á¢¼´¿ªÆô½ÓÊܲ¢ÉèÖÃ0³¬Ê±
|
// while(mac_is_busy());
|
//break;//³É¹¦½ÓÊÕ¾ÍÍ˳ö
|
}else if(rx_buf[MSG_TYPE_IDX]==LORA_MSGTYPE_WGRESPTAG){
|
Uwb_Update();
|
}
|
|
// #ifdef BOXING
|
// gpio_pin_clr(IO_PIN_5);//²âÊÔ
|
// #endif
|
}else if(receive_flag==2){//½ÓÊÕ³ö´í
|
receive_flag=0;
|
tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//Á¢¼´¿ªÆô½ÓÊܲ¢ÉèÖÃ0³¬Ê±
|
// sleep_timer_start(__MS_TO_32K_CNT(SLEEP_COUNT-phy_timer_count_get()%30));//²âÊÔ
|
// sleep_time_step=SLEEP_COUNT-phy_timer_count_get()%10;
|
//tempflag=uwb_rx(0, 0, RESP_RX_TIMEOUT_US);//Á¢¼´¿ªÆô½ÓÊܲ¢ÉèÖÃ0³¬Ê±
|
temp_count3=phy_timer_count_get();
|
// while(mac_is_busy());
|
temp_count1=phy_timer_count_get();
|
}
|
#ifdef BOXING
|
gpio_pin_clr(IO_PIN_5);//²âÊÔ
|
gpio_pin_set(IO_PIN_5);//²âÊÔ
|
#endif
|
}
|
// }
|
#ifdef BOXING
|
gpio_pin_clr(IO_PIN_5);//²âÊÔ
|
#endif
|
delay_us(1);
|
uwb_rx_force_off(1);
|
//dwt_forecetrxoff();
|
CalculateDists(poll_tx_ts_i64); //¼ÆËã¾àÀë²¢¸üоàÀë±í
|
|
//Calculate_battery_percent();
|
|
//LOG_INFO(TRACE_MODULE_APP,"ÏÖ´æ²â¾àÊý %d id1:%04x dist:%d .\r\n",taglist_total_num,taglist_id[0],(int16_t)taglist_dist[0]);
|
//AnchorListUpdate();//¸üдæ»î»ùÕ¾Áбí
|
TagListUpdate();
|
taglist_current_index+=tag_num_tosend;
|
if(taglist_current_index>=taglist_total_num||taglist_total_num<=SEND_GROUP_MAX_NUM) //Èç¹û±êÇ©µ±Ç°index´óÓÚ×Üindex£¬»òÕß×Ü»ùÕ¾ÊýÁ¿Ð¡ÓÚµÈÓÚ25£¬Ôò´Ó0¿ªÊ¼index¡£Ò»¸öÊÇÒѾ·¢ÍêÒ»ÂÖÁË£¬Ò»¸öÊDz»¹»×î´ó·¢ËÍÊý
|
taglist_current_index = 0;
|
//Rank_ANchor_list_by_dis();//ðÅÝÅÅÐòÖØа´¾àÀëÖØÐÂÅÅÁлùÕ¾Áбí×îС¾àÀë´æ»õ»ùÕ¾·Åµ½×îÇ°Ãæ
|
}
|
}
|
#endif
|
uint16_t UpdateCRC16(uint16_t crcIn, uint8_t byte)
|
{
|
uint32_t crc = crcIn;
|
uint32_t in = byte|0x100;
|
|
do
|
{
|
crc <<= 1;
|
in <<= 1;
|
|
if(in&0x100)
|
{
|
++crc;
|
}
|
|
if(crc&0x10000)
|
{
|
crc ^= 0x1021;
|
}
|
} while(!(in&0x10000));
|
|
return (crc&0xffffu);
|
}
|
|
/**
|
* @brief Cal CRC16 for YModem Packet
|
* @param data
|
* @param length
|
* @retval CRC value
|
*/
|
uint16_t Cal_CRC16(const uint8_t* data, uint32_t size)
|
{
|
uint32_t crc = 0;
|
const uint8_t* dataEnd = data+size;
|
|
while(data<dataEnd)
|
{
|
crc = UpdateCRC16(crc,*data++);
|
}
|
crc = UpdateCRC16(crc,0);
|
crc = UpdateCRC16(crc,0);
|
|
return (crc&0xffffu);
|
}
|
void delay_ms(uint32_t nTimer)
|
{
|
uint32_t i=1000*nTimer;
|
delay_us(i);
|
}
|
uint8_t send_lora_data[250];
|
uint16_t muqiandeshengjibao;
|
static uint16_t current_count1,target_count1,end_count1,start_count1;
|
uint8_t huifushengjibaoerror_num;
|
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);
|
Tag_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
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poll_tx_ts_i64 = ranging_tx_time_correct(poll_tx_en_start_u32 + phy_shr_duration());//ÐÞÕýʱ¼ä´Á
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temp_count1=phy_timer_count_get();
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while(mac_is_busy());//µÈ´ý·¢ËÍÍê³É
|
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__disable_irq();
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result=flash_open(FLASH_ID0,NULL);
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flash_read(FLASH_ID0, APP2_ADRESS, (uint8_t*)&flash_shuju, 2);
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if(flash_shuju!=0xffff/*&&flash_shuju!=0x0000*/)
|
{
|
while(1)
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{
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flash_erase(FLASH_ID0,APP2_ADRESS,APP_SIZE);
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delay_ms(500);
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flash_read(FLASH_ID0, APP2_ADRESS, (uint8_t*)&flash_shuju, 2);
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if(flash_shuju==0xffff/*&&flash_shuju!=0x0000*/)
|
{break;}
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}
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}
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__enable_irq();
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while(1)
|
{
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uwb_rx_force_off(1);
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send_lora_data[MSG_TYPE_IDX]=LORA_MSGTYPE_UPDATEFILE_REQUEST;
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memcpy(&send_lora_data[SOURCE_ID_IDX],&dev_id,2);//Íø¹ØID Õ¼ÓÃ2¸ö×Ö½Ú
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memcpy(&send_lora_data[DEST_ID_IDX],&wangguan_up_id,2);//±êÇ©»òÕß»ùÕ¾µÄÉ豸ID 2¸ö×Ö½Ú
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// send_lora_data[MUQIAN_BAG]=muqiandeshengjibao;
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memcpy(&send_lora_data[MUQIAN_BAG],&muqiandeshengjibao,2);
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crc16=Checksum_u16(send_lora_data,8);
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memcpy(&send_lora_data[8],&crc16,2);
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lora_up_rec_flag=0;
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// LOG_INFO(TRACE_MODULE_APP, "ÕýÔÚÇëÇóµÚ%d°ü\r\n",muqiandeshengjibao);
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jindu=(muqiandeshengjibao*100)/final_bag_num;
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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();
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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);
|
}
|
}
|
