#include "mk_trace.h"
|
#include "mk_uwb.h"
|
#include "mk_phy.h"
|
#include "mk_misc.h"
|
#include "mk_power.h"
|
#include "mk_sleep_timer.h"
|
#include "lib_ranging.h"
|
#include "dw_tag.h"
|
#include "board.h"
|
#include "mk_calib.h"
|
#include <serial_at_cmd_app.h>
|
#include <global_param.h>
|
extern int TagRange(void);
|
extern Operation_step UWB_work_state;
|
|
#define CALCULATE_TIMECOUNT
|
/* Ranging period: 1s */
|
#define RANGING_PERIOD_MS (1000)
|
|
/* This is the delay from the end of the poll frame transmission to the enable of the receiver */
|
#define POLL_TX_TO_RESP_RX_DLY_US 750U //yuan700
|
|
#define RESP_RX_TO_FINAL_TX_DLY_US 550U
|
|
/* Poll delay: 1s */
|
#define POLL_DELAY 100U //yuan100U
|
|
/* Receive response timeout */
|
#define RESP_RX_TIMEOUT_US 10000 //Yuan500 10mssuccess 300jixian
|
|
/* Field index in frame */
|
#define MSG_SEQ_NUM_IDX 2
|
#define FINAL_MSG_POLL_TX_TS_IDX 10
|
#define FINAL_MSG_RESP_RX_TS_IDX 14
|
#define FINAL_MSG_FINAL_TX_TS_IDX 18
|
#define DELAY_DEFAULT 1000
|
#define DELAY_BETWEEN_TWO_FRAME_UUS 600 //yuan1400
|
#define HALF_SECOND_TIME 62400000
|
|
#define STARTPOLL DISCPOLL//#define SWITCHBASE_DIST
|
#define SWITCHBASE_ZHUANDIAN
|
#define SWITCHBASE_DIST
|
enum enumtagstate
|
{
|
|
DISCPOLL,
|
REGPOLL,
|
GETNEARMSG,
|
NEARPOLL,
|
SINGLEPOLL,
|
} tag_state=STARTPOLL;
|
static uint16_t CmpTagInList(uint16_t tagid);
|
uint16_t AddNewTagIntoList(uint16_t tagid);
|
void AnchorListUpdate(void);
|
void Rank_ANchor_list_by_dis(void);
|
struct mk_uwb_configure
|
{
|
uint8_t phy_work_mode; /* PHY_TX / PHY_RX / PHT_TX|PHY_RX */
|
struct UWB_CONFIG_T phy_cfg;
|
};
|
extern uint32_t dev_id;
|
extern uint8_t group_id;
|
/* Default communication configuration. */
|
static struct mk_uwb_configure config = {//yuan
|
.phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
|
.phy_cfg.ch_num = 5, /* Channel number. */
|
.phy_cfg.code_index = 9, /* TRX preamble code */
|
.phy_cfg.mean_prf = MEAN_PRF_64M, /* Mean prf 64/128/256M */
|
.phy_cfg.data_bit_rate = DATA_BR_6M8, /* Data rate 6.8M */
|
.phy_cfg.sync_sym = PREAM_LEN_128, /* Preamble duration, length of preamble 128 */
|
.phy_cfg.sfd_sym = NON_STD_NSFD5_8, /* Identifier for SFD sequence */
|
.phy_cfg.ranging_bit = 1, /* ranging bit set 1 */
|
.phy_cfg.trx_mode = TRX_MODE_15_4A, /* IEEE802.15.4z - BPRF mode */
|
.phy_cfg.sts_pkt_cfg = STS_PKT_CFG_0, /* SP0 Frame */
|
.phy_cfg.sts_segnum = STS_SEGNUM_BPRF_1, /* Number of STS segments in the frame */
|
.phy_cfg.sts_seglen = STS_SEGLEN_BPRF_64, /* Number of symbols in an STS segment */
|
.phy_cfg.rx_ant_id = UWB_RX_ANT_3, /* UWB RX antenna port */
|
};
|
///* Default communication configuration. */
|
//static struct mk_uwb_configure config = {
|
// .phy_work_mode = (uint8_t)(PHY_TX | PHY_RX),
|
// .phy_cfg.ch_num = 5, /* Channel number. */
|
// .phy_cfg.code_index = 3, /* TX preamble code. */
|
// .phy_cfg.mean_prf = MEAN_PRF_16M, /* Data rate 6.8M */
|
// .phy_cfg.data_bit_rate = DATA_BR_110K, /* data rate 6.8M. */
|
// .phy_cfg.sync_sym = PREAM_LEN_1024, /* Preamble duration, length of preamble 128 */
|
// .phy_cfg.sfd_sym = NSFD_64, /* Identifier for SFD sequence */
|
// .phy_cfg.ranging_bit = 1, /* ranging bit set. */
|
// .phy_cfg.trx_mode = TRX_MODE_15_4A, /* IEEE802.15.4z - BPRF mode */
|
// .phy_cfg.sts_pkt_cfg = STS_PKT_CFG_0, /* SP0 Frame */
|
// .phy_cfg.sts_segnum = STS_SEGNUM_BPRF_1, /* Number of STS segments in the frame */
|
// .phy_cfg.sts_seglen = STS_SEGLEN_BPRF_64, /* Number of symbols in an STS segment */
|
// .phy_cfg.rx_ant_id = UWB_RX_ANT_3, /* UWB RX antenna port */
|
//};
|
/* Buffer to store received frame */
|
static uint8_t rx_buf[150];
|
static uint8_t uwb_sendbuffer[150];
|
/* Frames used in the ranging process
|
* Poll message:
|
* - byte 0 - 1: 0x8841 to indicate a data frame using 16-bit addressing.
|
* - byte 2: sequence number, incremented for each new frame.
|
* - byte 3 - 4: PAN Id 0x4B4d
|
* - byte 5 - 6: Destination address
|
* - byte 7 - 8: Source address
|
* - byte 9: Message type (0x02 RANGING_POLL / 0x03 RANGING_RESPONSE / 0x04 RANGING_FINAL)
|
* Response message:
|
* - byte 10: activity code (0x07 to tell the initiator to go on with the ranging exchange)
|
* Final message:
|
* - byte 10 - 13: poll message transmission timestamp.
|
* - byte 14 - 17: response message reception timestamp.
|
* - byte 18 - 21: final message transmission timestamp.
|
*/
|
//static uint8_t tx_poll_msg[] = {0x41, 0x88, 0, 0x4D, 0x4B, 0x53, 0x45, 0x4D, 0x49, 0x02};
|
//static uint8_t rx_resp_msg[] = {0x41, 0x88, 0, 0x4D, 0x4B, 0x4D, 0x49, 0x53, 0x45, 0x03, 0x07};
|
//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};
|
|
/* Count value of phy counter when transmitting and receiving frames */
|
static uint32_t poll_tx_en_start_u32;
|
static uint32_t resp_rx_en_start_u32;
|
static uint32_t final_tx_en_start_u32;
|
|
/* 41 bits timestamps of frames transmission/reception. */
|
static int64_t poll_tx_ts_i64;
|
static int64_t resp_rx_ts_i64;
|
static int64_t final_tx_ts_i64;
|
|
/* Frame sequence number, incremented after each transmission. */
|
static uint8_t frame_seq_nb = 0;
|
|
static volatile uint16_t rx_state;
|
static volatile uint16_t rx_state1;
|
static volatile uint16_t rx_length;
|
//DW
|
uint16_t rec_nearbaseid;
|
uint8_t temp_tag_num;
|
int32_t test2;
|
static uint8_t receive_flag=0;
|
static uint8_t rec_tag_index,tag_num_tosend;
|
|
static uint32_t start_receive_count,end_receive_count,poll_timeout,current_count,temp_resp;
|
uint16_t taglist_total_num,taglist_current_index; //µ±Ç°Áбí×ÜÊýÁ¿
|
uint8_t taglist_keeptime[MAX_TAG_LIST_NUM]; //ÿ¸ö±êÇ©´æ»îʱ¼ä
|
uint16_t taglist_id[MAX_TAG_LIST_NUM],taglist_dist[MAX_TAG_LIST_NUM]; //±êÇ©¾àÀëºÍ±êÇ©µÄID
|
|
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;
|
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;
|
uint16_t nearbaseid_list[MAX_NEARBASE_NUM],mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM];
|
uint16_t u16_nearbase_distlist[MAX_NEARBASE_NUM];
|
uint32_t temp_tag_count1=0;
|
uint32_t temp_tag_count2=0;
|
uint32_t temp_tag_count3=0;
|
uint32_t temp_count4=0;
|
uint32_t tempflag=0;
|
int32_t freq_offset,freq_offset_filter;
|
int temp_flag,poll_tx_num,resp_rx_num;
|
extern double distance;
|
uint32_t count1,count2;
|
extern double distance_tag;
|
enum SIMPLE_FSM_T
|
{
|
SIMPLE_IDLE = 0,
|
SIMPLE_POLL = 1,
|
SIMPLE_RESPONSE = 2,
|
SIMPLE_FINAL = 3,
|
};
|
void uwb_poll_buffer_construct(void)
|
{
|
for(uint8_t i=0;i<nearbase_num;i++) //±êÇ©¾àÀë32λת³É16λ
|
{
|
u16_nearbase_distlist[i] = nearbase_distlist[i];
|
}
|
uwb_sendbuffer[GROUP_ID_IDX] = group_id;
|
memcpy(&uwb_sendbuffer[TAG_ID_IDX],&dev_id,2);
|
//uwb_sendbuffer[BATTARY_IDX] = bat_percent;
|
uwb_sendbuffer[SEQUENCE_IDX] = frame_seq_nb++;
|
uwb_sendbuffer[NEARBASENUM_INDEX] = nearbase_num;
|
memcpy(&uwb_sendbuffer[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);//»ùÕ¾id
|
memcpy(&uwb_sendbuffer[NEARBASEID_INDEX+nearbase_num*2],&u16_nearbase_distlist,nearbase_num*2);
|
uwb_sendbuffer[MESSAGE_TYPE_IDX] = MBX_POLL;
|
memcpy(&uwb_sendbuffer[ANCHOR_ID_IDX],&mainbase_id,2);
|
}
|
|
static enum SIMPLE_FSM_T state = SIMPLE_IDLE;
|
|
/**
|
* @brief Correct TX timestamp of the ranging frame.
|
*
|
* @param[in] timestamp PHY timer count of TX
|
* @return TX timestamp (unit: 15.65ps)
|
*/
|
static int64_t ranging_tx_time_correct(uint32_t timestamp)
|
{
|
int64_t tx_timestamp = ranging_tx_time(timestamp);
|
|
// correct antenna delay (TX using the same antenna as RX)
|
tx_timestamp += ranging_ant_delays_get(config.phy_cfg.rx_ant_id) / 2;
|
|
return tx_timestamp;
|
}
|
static void final_msg_set_ts(uint8_t *ts_field, uint64_t ts)
|
{
|
int i;
|
for (i = 0; i < FINAL_MSG_TS_LEN; i++)
|
{
|
ts_field[i] = (uint8_t) ts;
|
ts >>= 8;
|
}
|
}
|
/**
|
* @brief Correct RX timestamp of the ranging frame.
|
*
|
* @param[in] ind MAC RX report
|
* @return RX timestamp (unit: 15.65ps)
|
*/
|
static int64_t ranging_rx_time_correct(const struct MAC_HW_REPORT_T *ind)
|
{
|
int64_t rx_timestamp = ranging_rx_time(ind);
|
|
// correct antenna delay
|
rx_timestamp -= ranging_ant_delays_get(config.phy_cfg.rx_ant_id) / 2;
|
|
return rx_timestamp;
|
}
|
|
/* RX done process handler. */
|
static void rx_int_callback(struct MAC_HW_REPORT_T *rx_report)
|
{
|
// Power off radio
|
power_off_radio();
|
|
rx_state = rx_report->err_code;
|
|
/** UWB RX success */
|
if (rx_state == UWB_RX_OK)
|
{
|
/* Received data does not contain FCS */
|
rx_length = rx_report->pkt_len;
|
memcpy(rx_buf, rx_report->pkt_data, rx_length);
|
/* Calculate rx timestamp */
|
resp_rx_ts_i64 = ranging_rx_time_correct(rx_report);
|
temp_tag_count1=phy_timer_count_get();
|
//»ñÈ¡·¢Éä¶ËʱÖÓÆ«²î
|
resp_rx_num++;
|
freq_offset=phy_freq_offset_get();
|
freq_offset_filter=average_filter(freq_offset);//»ñȡƵƫ
|
// int32_t ppm = freq_offset_filter / (int32_t)(ch_center_freq_map[UWB_CH_NUM] * 1e-6);
|
// 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
|
//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);
|
receive_flag=1;
|
|
}
|
else
|
{
|
/* UWB_PLD_ERR payload error */
|
/* UWB_PHR_ERR PHR error */
|
/* UWB_SFD_ERR Sfd error */
|
/* UWB_BD_ERR Preamble detection error */
|
/* UWB_TO_ERR Receive timeout */
|
/* UWB_STS_ERR STS error */
|
rx_state1=rx_report->err_code;
|
rx_length = 0;
|
receive_flag=2;
|
temp_tag_count2=phy_timer_count_get();
|
|
}
|
|
}
|
|
/* TX done process handler. */
|
static void tx_int_callback(struct MAC_HW_REPORT_T *tx_report)
|
{
|
// Power off radio
|
power_off_radio();
|
|
/** UWB TX success */
|
if (tx_report->err_code == UWB_TX_OK)
|
{
|
poll_tx_num++;
|
temp_count4=phy_timer_count_get();//²âÊÔ
|
if(temp_flag){
|
count2=phy_timer_count_get();
|
temp_flag=0;
|
return;
|
}
|
count1=temp_tag_count1;
|
temp_flag=1;
|
}
|
}
|
uint16_t time111=5000;
|
void SetLPTimer(uint16_t time)
|
{
|
sleep_timer_stop();
|
if(time==0)
|
{
|
time111=5000;
|
sleep_timer_start(__MS_TO_32K_CNT(time111));
|
}
|
else
|
{
|
time111=time111+time;
|
if(time111>5100)
|
{
|
time111=5000;
|
}
|
sleep_timer_start(__MS_TO_32K_CNT(time111));//²âÊÔ
|
}
|
}
|
|
////×¢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)
|
//{
|
// uint16_t newindex_cal = taglist_current_index+25;//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
|
// {
|
// taglist_id[i]=taglist_id[i-1];
|
// taglist_dist[i]=taglist_dist[i-1];
|
// taglist_keeptime[i]=taglist_keeptime[i-1];
|
// }
|
// }
|
// taglist_total_num++;
|
// taglist_id[newindex_cal] = tagid;
|
// taglist_dist[newindex_cal] = 0;
|
// taglist_keeptime[newindex_cal] = TAG_KEEPTIMES;
|
// return newindex_cal;
|
//}
|
uint8_t FindNearBasePos(uint16_t baseid)//Ñ°ÕÒµ±Ç°ÁбíÖеĻùÕ¾·µ»ØË÷Òý
|
{
|
uint8_t i;
|
for(i=0;i<nearbase_num;i++)
|
{
|
if(baseid==nearbaseid_list[i])
|
return i;
|
}
|
if(i==nearbase_num)
|
return nearbase_num;
|
}
|
|
//void AnchorListUpdate(void)
|
//{
|
// next_nearbase_num = 0;
|
// int j=0;
|
// for(int i=0;i<nearbase_num;i++)
|
// {
|
// if(exsistbase_list[i]>0)
|
// {
|
// exsistbase_list[i]--;
|
// next_nearbase_num++;
|
// true_exsistbase_list[j]=exsistbase_list[i];
|
// true_nearbase_idlist[j]=nearbaseid_list[i];
|
// true_nearbase_distlist[j++]=nearbase_distlist[i];
|
//
|
// }
|
// nearbase_num = next_nearbase_num;//¸üÐÂÏÖ´æ»ùÕ¾Êý
|
// last_nearbase_num = next_nearbase_num;//¸üе±Ç°»ùÕ¾Êý
|
// }
|
//}
|
|
//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[j];
|
// 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];
|
// }
|
//}
|
static 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] = TAG_KEEPTIMES;
|
return i;
|
}
|
}
|
if(taglist_total_num<MAX_TAG_LIST_NUM)
|
temp = AddNewTagIntoList(tagid);
|
return temp;
|
}
|
|
static uint8_t tx_poll_msg[20] = {0};
|
static uint8_t tx_sync_msg[14] = {0};
|
static uint8_t tx_final_msg[60] = {0};
|
static uint8_t tx_resp_msg[22] = {0};
|
static uint8_t tx_near_msg[180] = {0};
|
uint32_t rec_tagpos_binary;
|
uint16_t nearbaseid_list2[MAX_NEARBASE_NUM];
|
uint8_t module_power,imu_enable,motor_enable;
|
extern uint8_t bat_percent;
|
extern uint16_t tag_frequency;
|
uint16_t bigslot_num;
|
uint16_t tagslotpos;
|
uint8_t trygetnearmsg_times,try_reg_times;
|
uint8_t tag_succ_times=0;
|
int32_t salvebase_mindist;
|
uint8_t recbase_num=0;
|
#define MAX_NEARBASE_ANCNUM 11
|
uint16_t rec_maxrangelen,rec_anc_signalpower[MAX_NEARBASE_ANCNUM];
|
uint8_t flag_finalsend,flag_getresponse,flag_rxon;
|
uint8_t nearbase_num=0,last_nearbase_num,next_nearbase_num,last_slotnum, para_update,para_len,stationary_flag=0;
|
int32_t temp_dist;
|
void GetNearMsg(void)
|
{
|
uint32_t start_poll,frame_len;
|
uint8_t nearmsg_i=0;
|
// NextSlotDelayMs(0);
|
phy_timer_open(1, IRQ_PRIORITY_HIGH);
|
mac_register_process_handler(tx_int_callback, rx_int_callback);
|
for(nearmsg_i=0; nearmsg_i<MAX_NEARBASE_NUM; nearmsg_i++)
|
{
|
nearbase_distlist[nearmsg_i] = 0x1ffff;
|
}
|
//mainbase_id = 0x1;
|
memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
|
memcpy(&tx_near_msg[TAG_ID_IDX],&g_com_map[DEV_ID],2);
|
tx_near_msg[MESSAGE_TYPE_IDX] = POS_MSG;
|
//·¢ËͱØÐëÒªÑÓʱ·¢ËͲſÉÒÔÓÃÓÚ²â¾à·ñÔòÁ¢¼´·¢ËÍ»á»ñȡʱ¼ä´Á²»¶Ô£¬ÐèÒª¼ÆËã³ÌÐòÔËÐÐʱ¼ä£¬±ÜÃâÉèÖùýȥʱ¼ä
|
poll_tx_en_start_u32 = phy_timer_count_get()+US_TO_PHY_TIMER_COUNT(POLL_DELAY);
|
tempflag=uwb_tx(tx_near_msg,12,1,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();
|
//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;
|
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];
|
memcpy(nearbaseid_list,&rx_buf[NEARBASEID_INDEX],nearbase_num*2);
|
memcpy(nearbaseid_list2,&rx_buf[NEARBASEID_INDEX],nearbase_num*2);
|
//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);
|
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;
|
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;
|
|
tag_succ_times = 0;
|
salvebase_mindist=999999;
|
get_newdist = 0;
|
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;
|
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 = 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(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(30000);//¶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];
|
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±
|
}
|
}
|
//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±
|
}
|
//gpio_pin_clr(IO_PIN_5);//²âÊÔ
|
}
|
delay_us(1);
|
uwb_rx_force_off(1);
|
CalculateDists(poll_tx_ts_i64); //¼ÆËã¾àÀë²¢¸üоàÀë±í
|
// 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)
|
{
|
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 = 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(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);
|
}
|
