#include "dw_app.h"
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enum enumtagstate
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{
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DISCPOLL,
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GETNEARMSG,
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NEARPOLL,
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}tag_state;
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static dwt_config_t config = {
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2, /* Channel number. */
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DWT_PRF_64M, /* Pulse repetition frequency. */
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DWT_PLEN_128, /* Preamble length. */
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DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */
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9, /* TX preamble code. Used in TX only. */
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9, /* RX preamble code. Used in RX only. */
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0, /* Use non-standard SFD (Boolean) */
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DWT_BR_6M8, /* Data rate. */
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DWT_PHRMODE_STD, /* PHY header mode. */
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(129 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
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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[80] = {0};
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static uint32_t frame_seq_nb = 0;
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static uint32_t status_reg = 0;
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static uint8_t rx_buffer[100];
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static uint64_t poll_tx_ts;
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static uint64_t resp_rx_ts;
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static uint64_t final_tx_ts;
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static uint64_t poll_rx_ts;
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static uint64_t resp_tx_ts;
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static uint64_t final_rx_ts;
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static double tof;
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int32_t anchor_dist_last_frm[TAG_NUM_IN_SYS],his_dist[TAG_NUM_IN_SYS]; ;
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uint32_t tag_id = 0;
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uint32_t tag_id_recv = 0;
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uint32_t anc_id_recv = 0;
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uint8_t random_delay_tim = 0;
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double distance, dist_no_bias, dist_cm;
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uint32_t g_UWB_com_interval = 0;
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float dis_after_filter; //µ±Ç°¾àÀëÖµ
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LPFilter_Frac* p_Dis_Filter; //²â¾àÓõĵÍͨÂ˲¨Æ÷
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uint16_t g_Tagdist[TAG_NUM_IN_SYS];
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uint8_t g_flag_Taggetdist[256];
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static uint64_t get_tx_timestamp_u64(void)
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{
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uint8_t ts_tab[5];
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uint64_t ts = 0;
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int i;
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dwt_readtxtimestamp(ts_tab);
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for (i = 4; i >= 0; i--)
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{
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ts <<= 8;
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ts |= ts_tab[i];
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}
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return ts;
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}
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static uint64_t get_rx_timestamp_u64(void)
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{
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uint8_t ts_tab[5];
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uint64_t ts = 0;
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int i;
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dwt_readrxtimestamp(ts_tab);
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for (i = 4; i >= 0; i--)
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{
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ts <<= 8;
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ts |= ts_tab[i];
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}
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return ts;
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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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static void final_msg_get_ts(const uint8_t *ts_field, uint32_t *ts)
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{
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int i;
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*ts = 0;
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for (i = 0; i < FINAL_MSG_TS_LEN; i++)
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{
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*ts += ts_field[i] << (i * 8);
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}
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}
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void TagDistClear(void)
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{
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static uint16_t clear_judge_cnt;
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uint16_t i;
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if(clear_judge_cnt++>1000) //É趨1S·ÖƵ£¬Ã¿Ãë½øÒ»´Î¡£Åжϱê־λ´óÓÚµÈÓÚ2£¬2sûÊÕµ½Êý¾Ý¾Í°ÑÊý¾Ý±ä³É0xffff£¬²»´¥·¢¾¯±¨¡£
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{
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clear_judge_cnt=0;
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for(i=0;i<255;i++)
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{
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g_flag_Taggetdist[i]++;
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if(g_flag_Taggetdist[i]>=2)
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{
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g_Tagdist[i]=0xffff;
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}
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}
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}
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}
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void Dw1000_Init(void)
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{
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/* Reset and initialise DW1000.
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* For initialisation, DW1000 clocks must be temporarily set to crystal speed. After initialisation SPI rate can be increased for optimum
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* performance. */
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Reset_DW1000();//ÖØÆôDW1000 /* Target specific drive of RSTn line into DW1000 low for a period. */
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dwt_initialise(DWT_LOADUCODE);//³õʼ»¯DW1000
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Spi_ChangePrescaler(SPIx_PRESCALER_FAST); //ÉèÖÃΪ¿ìËÙģʽ
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/* Configure DW1000. See NOTE 6 below. */
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dwt_configure(&config);//ÅäÖÃDW1000
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/* Apply default antenna delay value. See NOTE 1 below. */
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dwt_setrxantennadelay(RX_ANT_DLY); //ÉèÖýÓÊÕÌìÏßÑÓ³Ù
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dwt_settxantennadelay(TX_ANT_DLY); //ÉèÖ÷¢ÉäÌìÏßÑÓ³Ù
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/* Set expected response's delay and timeout. See NOTE 4 and 5 below.
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* As this example only handles one incoming frame with always the same delay and timeout, those values can be set here once for all. */
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//ÉèÖýÓÊÕ³¬Ê±Ê±¼ä
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}
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void Dw1000_App_Init(void)
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{
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//g_com_map[DEV_ID] = 0x0b;
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tag_state=DISCPOLL;
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tx_poll_msg[MESSAGE_TYPE_IDX]=POLL;
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tx_resp_msg[MESSAGE_TYPE_IDX]=RESPONSE;
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tx_final_msg[MESSAGE_TYPE_IDX]=FINAL;
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tx_sync_msg[MESSAGE_TYPE_IDX]=SYNC;
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memcpy(&tx_poll_msg[TAG_ID_IDX], &dev_id, 2);
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memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 2);
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memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 2);
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memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &dev_id, 2);
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memcpy(&tx_near_msg[ANCHOR_ID_IDX], &dev_id, 2);
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memcpy(&tx_near_msg[TAG_ID_IDX], &dev_id, 2);
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}
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uint16_t Checksum_u16(uint8_t* pdata, uint32_t len)
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{
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uint16_t sum = 0;
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uint32_t i;
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for(i=0; i<len; i++)
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sum += pdata[i];
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sum = ~sum;
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return sum;
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}
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u16 tag_time_recv[TAG_NUM_IN_SYS];
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u8 usart_send[25];
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u8 battary,button;
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extern uint8_t g_pairstart;
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void tag_sleep_configuraion(void)
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{
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dwt_configuresleep(0x940, 0x7);
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dwt_entersleep();
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}
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extern uint8_t g_start_send_flag;
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u8 g_start_sync_flag;
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void SyncPoll(u8 sync_seq)
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{
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g_start_sync_flag=1;
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dwt_forcetrxoff();
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tx_sync_msg[SYNC_SEQ_IDX]=sync_seq;
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dwt_writetxdata(sizeof(tx_sync_msg), tx_sync_msg, 0);//½«Poll°üÊý¾Ý´«¸øDW1000£¬½«ÔÚ¿ªÆô·¢ËÍʱ´«³öÈ¥
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dwt_writetxfctrl(sizeof(tx_sync_msg), 0);//ÉèÖó¬¿í´ø·¢ËÍÊý¾Ý³¤¶È
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dwt_starttx(DWT_START_TX_IMMEDIATE);
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}
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uint16_t g_Resttimer;
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uint8_t result;
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u8 tag_succ_times=0;
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int32_t hex_dist;
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u16 checksum;
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int8_t tag_delaytime;
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extern uint16_t sync_timer;
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u16 tmp_time;
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int32_t temp_dist;
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u16 tagslotpos;
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u16 anclist_num=0,anclist_pos; //list ×ÜÊýÁ¿ºÍµ±Ç°Î»ÖÃ
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u16 ancid_list[TAG_NUM_IN_SYS];
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u8 nearbase_num;
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u16 nearbaseid_list[10],mainbase_id;
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int32_t mainbase_dist,nearbase_distlist[10];
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void Poll(void)
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{
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uint32_t frame_len;
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uint32_t final_tx_time;
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u32 start_poll;
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int32_t mindist=999999,minid=-1,temp_dist;
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u8 i,getsync_flag=0;
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dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //ÉèÖ÷¢Ëͺó¿ªÆô½ÓÊÕ£¬²¢É趨ÑÓ³Ùʱ¼ä
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dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
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tag_succ_times = 0;
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GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_RESET);
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for(i=0;i<g_com_map[MAX_REPORT_ANC_NUM];i++)
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{
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/* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
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tx_poll_msg[ANC_TYPE_IDX] = i;
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dwt_writetxdata(sizeof(tx_poll_msg), tx_poll_msg, 0);//½«Poll°üÊý¾Ý´«¸øDW1000£¬½«ÔÚ¿ªÆô·¢ËÍʱ´«³öÈ¥
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dwt_writetxfctrl(sizeof(tx_poll_msg), 0);//ÉèÖó¬¿í´ø·¢ËÍÊý¾Ý³¤¶È
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dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//¿ªÆô·¢ËÍ£¬·¢ËÍÍê³ÉºóµÈ´ýÒ»¶Îʱ¼ä¿ªÆô½ÓÊÕ£¬µÈ´ýʱ¼äÔÚdwt_setrxaftertxdelayÖÐÉèÖÃ
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start_poll = time32_incr;
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/* We assume that the transmission is achieved correctly, poll for reception of a frame or error/timeout. See NOTE 8 below. */
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while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//²»¶Ï²éѯоƬ״ֱ̬µ½³É¹¦½ÓÊÕ»òÕß·¢Éú´íÎó
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{ if(time32_incr - start_poll>20)
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NVIC_SystemReset();
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};
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if(status_reg==0xffffffff)
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{
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NVIC_SystemReset();
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}
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if (status_reg & SYS_STATUS_RXFCG)//Èç¹û³É¹¦½ÓÊÕ
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{
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dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//Çå³þ¼Ä´æÆ÷±ê־λ
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frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //»ñµÃ½ÓÊÕµ½µÄÊý¾Ý³¤¶È
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dwt_readrxdata(rx_buffer, frame_len, 0); //¶ÁÈ¡½ÓÊÕÊý¾Ý
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if (rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //ÅжϽÓÊÕµ½µÄÊý¾ÝÊÇ·ñÊÇresponseÊý¾Ý
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{
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poll_tx_ts = get_tx_timestamp_u64(); //»ñµÃPOLL·¢ËÍʱ¼äT1
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resp_rx_ts = get_rx_timestamp_u64(); //»ñµÃRESPONSE½ÓÊÕʱ¼äT4
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if(getsync_flag==0)
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{
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getsync_flag=1;
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memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
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memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
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memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
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tmp_time=tmp_time+450;
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if(tmp_time>999)
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{
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tmp_time-=999;
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sync_timer++;
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if(sync_timer>=1010)
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{sync_timer=0;}
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}
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TIM3->CNT=tmp_time;
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if(tagslotpos>max_slotpos)
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tagslotpos=tagslotpos%(max_slotpos+1);
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tyncpoll_time=(tagslotpos-1)*slottime;
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}
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memcpy(&temp_dist, &rx_buffer[DIST_IDX], 4);
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memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
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/* Compute final message transmission time. See NOTE 9 below. */
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final_tx_time = (resp_rx_ts + (RESP_RX_TO_FINAL_TX_DLY_UUS * UUS_TO_DWT_TIME)) >> 8;//¼ÆËãfinal°ü·¢ËÍʱ¼ä£¬T5=T4+Treply2
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dwt_setdelayedtrxtime(final_tx_time);//ÉèÖÃfinal°ü·¢ËÍʱ¼äT5
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final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final°üʵ¼Ê·¢ËÍʱ¼äÊǼÆËãʱ¼ä¼ÓÉÏ·¢ËÍÌìÏßdelay
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final_msg_set_ts(&tx_final_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//½«T1£¬T4£¬T5дÈë·¢ËÍÊý¾Ý
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final_msg_set_ts(&tx_final_msg[FINAL_MSG_RESP_RX_TS_IDX], resp_rx_ts);
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final_msg_set_ts(&tx_final_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
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dwt_writetxdata(sizeof(tx_final_msg), tx_final_msg, 0);//½«·¢ËÍÊý¾ÝдÈëDW1000
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dwt_writetxfctrl(sizeof(tx_final_msg), 0);//É趨·¢ËÍÊý¾Ý³¤¶È
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result=dwt_starttx(DWT_START_TX_DELAYED);//É趨ΪÑÓ³Ù·¢ËÍ
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tag_succ_times++;
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LED0_BLINK;
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if(temp_dist<mindist)
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{
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memcpy(&minid, &rx_buffer[ANCHOR_ID_IDX], 4);
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tag_state=GETNEARMSG;
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}
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if(result==0)
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{while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//²»¶Ï²éѯоƬ״ֱ̬µ½·¢ËÍÍê³É
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{ };
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}
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/* Clear TXFRS event. */
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dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//Çå³ý±ê־λ
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random_delay_tim = 0;
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}
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else
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{
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random_delay_tim = DFT_RAND_DLY_TIM_MS; //Èç¹ûͨѶʧ°Ü£¬½«¼ä¸ôʱ¼äÔö¼Ó5ms£¬±Ü¿ªÒòΪ¶à±êǩͬʱ·¢ËÍÒýÆðµÄ³åÍ»¡£
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}
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}
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else
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{
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dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
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random_delay_tim = DFT_RAND_DLY_TIM_MS;
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}
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}
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if(getsync_flag==0)
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{
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tagslotpos--;
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if(tagslotpos==0||tagslotpos>max_slotpos)
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{
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tagslotpos=max_slotpos;
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}
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tyncpoll_time=(tagslotpos-1)*slottime;
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}
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mainbase_id=0;//minid;
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}
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u8 FindNearBasePos(u16 baseid)
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{
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u8 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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}
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#define CHANGE_BASE_THRESHOLD 5
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void NearAncSelect(void)
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{static u16 last_mainbase_id,change_base_count;
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int32_t nearbase_mindist=99999, nearbase_minpos;
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u8 i;
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for(i=0;i<nearbase_num;i++)
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{
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if(nearbase_mindist<nearbase_distlist[i])
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{
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nearbase_mindist=nearbase_distlist[i];
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nearbase_minpos=i;
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}
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}
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if(nearbase_mindist<mainbase_dist-THRESHOLD_CHANGE_MAINBASE_DIST)
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{
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if(last_mainbase_id==nearbaseid_list[nearbase_minpos])
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{
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change_base_count++;
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if(change_base_count>CHANGE_BASE_THRESHOLD)
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{
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mainbase_id=last_mainbase_id;
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tag_state=GETNEARMSG;
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}
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}else{
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change_base_count=0;
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}
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last_mainbase_id=nearbaseid_list[nearbase_minpos];
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}else{
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change_base_count=0;
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}
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}
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void NearPoll(void)
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{
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static u8 mainbase_lost_count=0;
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uint32_t frame_len;
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uint32_t final_tx_time;
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u32 start_poll;
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u8 i,getsync_flag=0,recbase_num,timeout;
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dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //ÉèÖ÷¢Ëͺó¿ªÆô½ÓÊÕ£¬²¢É趨ÑÓ³Ùʱ¼ä
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dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
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tag_succ_times = 0;
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tx_near_msg[BATTARY_IDX] = Get_Battary();
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tx_near_msg[BUTTON_IDX] = !READ_KEY0;
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tx_near_msg[SEQUENCE_IDX] = frame_seq_nb++;
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tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
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memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
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tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;
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memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
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dwt_writetxdata(24, tx_near_msg, 0);//½«Poll°üÊý¾Ý´«¸øDW1000£¬½«ÔÚ¿ªÆô·¢ËÍʱ´«³öÈ¥
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dwt_writetxfctrl(24, 0);//ÉèÖó¬¿í´ø·¢ËÍÊý¾Ý³¤¶È
|
dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//¿ªÆô·¢ËÍ£¬·¢ËÍÍê³ÉºóµÈ´ýÒ»¶Îʱ¼ä¿ªÆô½ÓÊÕ£¬µÈ´ýʱ¼äÔÚdwt_setrxaftertxdelayÖÐÉèÖÃ
|
|
neartimout_timer=0;
|
recbase_num=0;
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timeout=nearbase_num/4+12;
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mainbase_dist=100000;
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mainbase_lost_count++;
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while(neartimout_timer<timeout&&recbase_num<nearbase_num+1)
|
{
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while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//²»¶Ï²éѯоƬ״ֱ̬µ½³É¹¦½ÓÊÕ»òÕß·¢Éú´íÎó
|
{
|
if(neartimout_timer>timeout)
|
break;
|
};
|
if(status_reg==0xffffffff)
|
{
|
NVIC_SystemReset();
|
}
|
if (status_reg & SYS_STATUS_RXFCG)//Èç¹û³É¹¦½ÓÊÕ
|
{
|
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//Çå³þ¼Ä´æÆ÷±ê־λ
|
frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //»ñµÃ½ÓÊÕµ½µÄÊý¾Ý³¤¶È
|
dwt_readrxdata(rx_buffer, frame_len, 0); //¶ÁÈ¡½ÓÊÕÊý¾Ý
|
//dwt_setrxtimeout(DELAY_BETWEEN_TWO_FRAME_UUS*(nearbase_num+1-recbase_num)+10);//É趨½ÓÊÕ³¬Ê±Ê±¼ä£¬0λûÓг¬Ê±Ê±¼ä
|
dwt_rxenable(0);//´ò¿ª½ÓÊÕ
|
if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //ÅжϽÓÊÕµ½µÄÊý¾ÝÊÇ·ñÊÇresponseÊý¾Ý
|
{ u16 rec_nearbaseid,rec_nearbasepos;
|
poll_tx_ts = get_tx_timestamp_u64(); //»ñµÃPOLL·¢ËÍʱ¼äT1
|
resp_rx_ts = get_rx_timestamp_u64(); //»ñµÃRESPONSE½ÓÊÕʱ¼äT4
|
recbase_num++;
|
memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
|
if(rec_nearbaseid==mainbase_id)
|
{
|
//////////////////////////////////ʱ¼äͬ²½
|
memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
|
memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
|
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;}
|
}
|
TIM3->CNT=tmp_time;
|
if(tagslotpos>max_slotpos)
|
tagslotpos=tagslotpos%(max_slotpos+1);
|
tyncpoll_time=(tagslotpos-1)*slottime;
|
////////////////////////////
|
mainbase_lost_count=0;
|
memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);
|
final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS+DELAY_BETWEEN_TWO_FRAME_UUS*nearbase_num+1300) * UUS_TO_DWT_TIME)) >> 8;
|
dwt_setdelayedtrxtime(final_tx_time);//ÉèÖÃfinal°ü·¢ËÍʱ¼äT5
|
final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final°üʵ¼Ê·¢ËÍʱ¼äÊǼÆËãʱ¼ä¼ÓÉÏ·¢ËÍÌìÏßdelay
|
final_msg_set_ts(&tx_near_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//½«T1£¬T4£¬T5дÈë·¢ËÍÊý¾Ý
|
final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX], resp_rx_ts);
|
final_msg_set_ts(&tx_near_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
|
tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
|
dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//½«·¢ËÍÊý¾ÝдÈëDW1000
|
dwt_writetxfctrl(28+nearbase_num*4, 0);//É趨·¢ËÍÊý¾Ý³¤¶È
|
result=dwt_starttx(DWT_START_TX_DELAYED);//É趨ΪÑÓ³Ù·¢ËÍ
|
}else{
|
rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
|
final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4], resp_rx_ts);
|
memcpy(&nearbase_distlist[rec_nearbasepos],&rx_buffer[DIST_IDX],4);
|
dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//½«·¢ËÍÊý¾ÝдÈëDW1000
|
dwt_writetxfctrl(28+nearbase_num*4, 0);//É趨·¢ËÍÊý¾Ý³¤¶È
|
LED0_BLINK;
|
//dwt_setdelayedtrxtime(final_tx_time);//ÉèÖÃfinal°ü·¢ËÍʱ¼äT5
|
// result=dwt_starttx(DWT_START_TX_DELAYED);//É趨ΪÑÓ³Ù·¢ËÍ
|
//dwt_writetxdata(4,&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4], FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4);//½«·¢ËÍÊý¾ÝдÈëDW1000
|
}
|
}
|
}
|
}
|
if(mainbase_lost_count>5)
|
{
|
tag_state=DISCPOLL;
|
}
|
NearAncSelect();
|
// if(result==0)
|
// {while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//²»¶Ï²éѯоƬ״ֱ̬µ½·¢ËÍÍê³É
|
// { };
|
//
|
// }
|
// else
|
// {
|
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
|
// }
|
|
}
|
|
void GetNearMsg(void)
|
{
|
u32 start_poll,frame_len;
|
memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
|
memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);
|
tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
|
|
dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //ÉèÖ÷¢Ëͺó¿ªÆô½ÓÊÕ£¬²¢É趨ÑÓ³Ùʱ¼ä
|
dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
|
dwt_writetxdata(12, tx_near_msg, 0);//½«Poll°üÊý¾Ý´«¸øDW1000£¬½«ÔÚ¿ªÆô·¢ËÍʱ´«³öÈ¥
|
dwt_writetxfctrl(12, 0);//ÉèÖó¬¿í´ø·¢ËÍÊý¾Ý³¤¶È
|
dwt_starttx(DWT_START_TX_IMMEDIATE| DWT_RESPONSE_EXPECTED);
|
start_poll = time32_incr;
|
/* We assume that the transmission is achieved correctly, poll for reception of a frame or error/timeout. See NOTE 8 below. */
|
while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//²»¶Ï²éѯоƬ״ֱ̬µ½³É¹¦½ÓÊÕ»òÕß·¢Éú´íÎó
|
{ if(time32_incr - start_poll>20)
|
NVIC_SystemReset();
|
};
|
if(status_reg==0xffffffff)
|
{
|
NVIC_SystemReset();
|
}
|
if (status_reg & SYS_STATUS_RXFCG)//Èç¹û³É¹¦½ÓÊÕ
|
{
|
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//Çå³þ¼Ä´æÆ÷±ê־λ
|
frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //»ñµÃ½ÓÊÕµ½µÄÊý¾Ý³¤¶È
|
dwt_readrxdata(rx_buffer, frame_len, 0); //¶ÁÈ¡½ÓÊÕÊý¾Ý
|
if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_MSG&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //ÅжϽÓÊÕµ½µÄÊý¾ÝÊÇ·ñÊÇresponseÊý¾Ý
|
{
|
nearbase_num=rx_buffer[NEARBASENUM_INDEX];
|
tagslotpos=rx_buffer[TAGSLOTPOS];
|
memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
|
slottime=ceil((nearbase_num+2)*0.3)+1;
|
tyncpoll_time=tagslotpos*slottime;
|
tag_state=NEARPOLL;
|
}
|
}
|
}
|
void Tag_App(void)//·¢ËÍģʽ(TAG±êÇ©)
|
{
|
//LED0_ON;
|
dwt_forcetrxoff();
|
g_Resttimer=0;
|
switch(tag_state)
|
{
|
case DISCPOLL:
|
Poll();
|
break;
|
case GETNEARMSG:
|
GetNearMsg();
|
break;
|
case NEARPOLL:
|
NearPoll();
|
break;
|
}
|
}
|
|
int8_t correction_time;
|
extern uint8_t sync_seq;
|
u16 taglist_num=0,taglist_pos;
|
u16 tagid_list[TAG_NUM_IN_SYS];
|
u8 tagofflinetime[TAG_NUM_IN_SYS];
|
int32_t tagdist_list[TAG_NUM_IN_SYS];
|
void TagListUpdate(void)
|
{
|
u16 i,j=0,temp[TAG_NUM_IN_SYS];
|
for(i=0;i<taglist_num;i++)
|
{
|
if(tagofflinetime[i]++<QUIT_SLOT_TIME)
|
{
|
tagid_list[j]=tagid_list[i];
|
tagofflinetime[j++]=tagofflinetime[i];
|
}
|
}
|
taglist_num=j;
|
}
|
u16 CmpTagInList(u16 tagid)
|
{u16 i;
|
for(i=0;i<taglist_num;i++)
|
{
|
if(memcmp(&tagid,&tagid_list[i],2)==0)
|
return i+1;
|
}
|
return 0;
|
}
|
uint32_t frame_len;
|
uint32_t resp_tx_time;
|
void Anchor_RecPoll(void)
|
{
|
tmp_time=TIM3->CNT;
|
memcpy(&tx_resp_msg[ANCTIMEMS],&sync_timer,2);
|
memcpy(&tx_resp_msg[ANCTIMEUS],&tmp_time,2);
|
memcpy(&tx_resp_msg[TAGSLOTPOS],&taglist_pos,1);
|
|
poll_rx_ts = get_rx_timestamp_u64();//»ñµÃPoll°ü½ÓÊÕʱ¼äT2
|
|
resp_tx_time = (poll_rx_ts + (POLL_RX_TO_RESP_TX_DLY_UUS * UUS_TO_DWT_TIME)) >> 8;//¼ÆËãResponse·¢ËÍʱ¼äT3¡£
|
dwt_setdelayedtrxtime(resp_tx_time);//ÉèÖÃResponse·¢ËÍʱ¼äT3
|
dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS);//ÉèÖ÷¢ËÍÍê³Éºó¿ªÆô½ÓÊÕÑÓ³Ùʱ¼ä
|
dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//½ÓÊÕ³¬Ê±Ê±¼ä
|
|
memcpy(&tx_resp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
|
memcpy(&tx_resp_msg[TAG_ID_IDX],&tag_id_recv,2);
|
|
dwt_writetxdata(sizeof(tx_resp_msg), tx_resp_msg, 0);//дÈë·¢ËÍÊý¾Ý
|
dwt_writetxfctrl(sizeof(tx_resp_msg), 0);//É趨·¢Ëͳ¤¶È
|
result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//ÑÓ³Ù·¢ËÍ£¬µÈ´ý½ÓÊÕ
|
|
battary = rx_buffer[BATTARY_IDX];
|
button = rx_buffer[BUTTON_IDX];
|
frame_seq_nb = rx_buffer[SEQUENCE_IDX];
|
if(result==0)
|
{
|
while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))///²»¶Ï²éѯоƬ״ֱ̬µ½½ÓÊճɹ¦»òÕß³öÏÖ´íÎó
|
{ };
|
}
|
if (status_reg & SYS_STATUS_RXFCG)//½ÓÊճɹ¦
|
{
|
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//Çå³þ±ê־λ
|
frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;//Êý¾Ý³¤¶È
|
dwt_readrxdata(rx_buffer, frame_len, 0);//¶ÁÈ¡½ÓÊÕÊý¾Ý
|
if (rx_buffer[MESSAGE_TYPE_IDX] == FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)) //ÅжÏÊÇ·ñΪFinal°ü
|
{
|
uint32_t poll_tx_ts, resp_rx_ts, final_tx_ts;
|
uint32_t poll_rx_ts_32, resp_tx_ts_32, final_rx_ts_32;
|
double Ra, Rb, Da, Db;
|
int64_t tof_dtu;
|
resp_tx_ts = get_tx_timestamp_u64();//»ñµÃresponse·¢ËÍʱ¼äT3
|
final_rx_ts = get_rx_timestamp_u64();//»ñµÃfinal½ÓÊÕʱ¼äT6
|
final_msg_get_ts(&rx_buffer[FINAL_MSG_POLL_TX_TS_IDX], &poll_tx_ts);//´Ó½ÓÊÕÊý¾ÝÖжÁÈ¡T1£¬T4£¬T5
|
final_msg_get_ts(&rx_buffer[FINAL_MSG_RESP_RX_TS_IDX], &resp_rx_ts);
|
final_msg_get_ts(&rx_buffer[FINAL_MSG_FINAL_TX_TS_IDX], &final_tx_ts);
|
poll_rx_ts_32 = (uint32_t)poll_rx_ts;//ʹÓÃ32λÊý¾Ý¼ÆËã
|
resp_tx_ts_32 = (uint32_t)resp_tx_ts;
|
final_rx_ts_32 = (uint32_t)final_rx_ts;
|
Ra = (double)(resp_rx_ts - poll_tx_ts);//Tround1 = T4 - T1
|
Rb = (double)(final_rx_ts_32 - resp_tx_ts_32);//Tround2 = T6 - T3
|
Da = (double)(final_tx_ts - resp_rx_ts);//Treply2 = T5 - T4
|
Db = (double)(resp_tx_ts_32 - poll_rx_ts_32);//Treply1 = T3 - T2
|
tof_dtu = (int64_t)((Ra * Rb - Da * Db) / (Ra + Rb + Da + Db));//¼ÆË㹫ʽ
|
tof = tof_dtu * DWT_TIME_UNITS;
|
distance = tof * SPEED_OF_LIGHT;//¾àÀë=¹âËÙ*·ÉÐÐʱ¼ä
|
dist_no_bias = distance - dwt_getrangebias(config.chan, (float)distance, config.prf); //¾àÀë¼õÈ¥½ÃÕýϵÊý
|
dist_cm = dist_no_bias * 100; //dis Ϊµ¥Î»ÎªcmµÄ¾àÀë
|
/*--------------------------ÒÔÏÂΪ·Ç²â¾àÂß¼------------------------*/
|
//dist_cm=33000;
|
|
LED0_BLINK; //ÿ³É¹¦Ò»´ÎͨѶÔòÉÁ˸һ´Î
|
dis_after_filter=dist_cm;
|
hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET];
|
if(abs(hex_dist-his_dist[tag_id_recv-TAG_ID_START])<1000)
|
{
|
tagdist_list[taglist_pos] = hex_dist;
|
}
|
his_dist[taglist_pos]=hex_dist;
|
}
|
}else{
|
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
|
}
|
}
|
u8 misdist_num;
|
void Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
|
{
|
tmp_time=TIM3->CNT;
|
memcpy(&tx_near_msg[ANCTIMEMS],&sync_timer,2);
|
memcpy(&tx_near_msg[ANCTIMEUS],&tmp_time,2);
|
memcpy(&tx_near_msg[TAGSLOTPOS],&taglist_pos,2);
|
memcpy(&tx_near_msg[TAG_ID_IDX],&tag_id_recv,2);
|
poll_rx_ts = get_rx_timestamp_u64();//»ñµÃPoll°ü½ÓÊÕʱ¼äT2
|
|
resp_tx_time = (poll_rx_ts + ((POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//¼ÆËãResponse·¢ËÍʱ¼äT3¡£
|
dwt_setdelayedtrxtime(resp_tx_time);//ÉèÖÃResponse·¢ËÍʱ¼äT3
|
dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(nearbase_num-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//ÉèÖ÷¢ËÍÍê³Éºó¿ªÆô½ÓÊÕÑÓ³Ùʱ¼ä
|
dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//½ÓÊÕ³¬Ê±Ê±¼ä
|
|
memcpy(&tx_near_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
|
tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
|
dwt_writetxdata(17, tx_near_msg, 0);//дÈë·¢ËÍÊý¾Ý
|
dwt_writetxfctrl(17, 0);//É趨·¢Ëͳ¤¶È
|
result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//ÑÓ³Ù·¢ËÍ£¬µÈ´ý½ÓÊÕ
|
|
battary = rx_buffer[BATTARY_IDX];
|
button = rx_buffer[BUTTON_IDX];
|
frame_seq_nb = rx_buffer[SEQUENCE_IDX];
|
if(result==0)
|
{
|
while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))///²»¶Ï²éѯоƬ״ֱ̬µ½½ÓÊճɹ¦»òÕß³öÏÖ´íÎó
|
{ };
|
}
|
if (status_reg & SYS_STATUS_RXFCG)//½ÓÊճɹ¦
|
{
|
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//Çå³þ±ê־λ
|
frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;//Êý¾Ý³¤¶È
|
dwt_readrxdata(rx_buffer, frame_len, 0);//¶ÁÈ¡½ÓÊÕÊý¾Ý
|
if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)) //ÅжÏÊÇ·ñΪFinal°ü
|
{
|
uint32_t poll_tx_ts, resp_rx_ts, final_tx_ts;
|
uint32_t poll_rx_ts_32, resp_tx_ts_32, final_rx_ts_32;
|
double Ra, Rb, Da, Db;
|
int64_t tof_dtu;
|
resp_tx_ts = get_tx_timestamp_u64();//»ñµÃresponse·¢ËÍʱ¼äT3
|
final_rx_ts = get_rx_timestamp_u64();//»ñµÃfinal½ÓÊÕʱ¼äT6
|
final_msg_get_ts(&rx_buffer[FINAL_MSG_POLL_TX_TS_IDX], &poll_tx_ts);//´Ó½ÓÊÕÊý¾ÝÖжÁÈ¡T1£¬T4£¬T5
|
final_msg_get_ts(&rx_buffer[FINAL_MSG_RESP_RX_NEARBASE_IDX+ancrec_nearbasepos*4], &resp_rx_ts);
|
final_msg_get_ts(&rx_buffer[FINAL_MSG_FINAL_TX_TS_IDX], &final_tx_ts);
|
|
poll_rx_ts_32 = (uint32_t)poll_rx_ts;//ʹÓÃ32λÊý¾Ý¼ÆËã
|
resp_tx_ts_32 = (uint32_t)resp_tx_ts;
|
final_rx_ts_32 = (uint32_t)final_rx_ts;
|
Ra = (double)(resp_rx_ts - poll_tx_ts);//Tround1 = T4 - T1
|
Rb = (double)(final_rx_ts_32 - resp_tx_ts_32);//Tround2 = T6 - T3
|
Da = (double)(final_tx_ts - resp_rx_ts);//Treply2 = T5 - T4
|
Db = (double)(resp_tx_ts_32 - poll_rx_ts_32);//Treply1 = T3 - T2
|
tof_dtu = (int64_t)((Ra * Rb - Da * Db) / (Ra + Rb + Da + Db));//¼ÆË㹫ʽ
|
tof = tof_dtu * DWT_TIME_UNITS;
|
distance = tof * SPEED_OF_LIGHT;//¾àÀë=¹âËÙ*·ÉÐÐʱ¼ä
|
dist_no_bias = distance - dwt_getrangebias(config.chan, (float)distance, config.prf); //¾àÀë¼õÈ¥½ÃÕýϵÊý
|
dist_cm = dist_no_bias * 100; //dis Ϊµ¥Î»ÎªcmµÄ¾àÀë
|
/*--------------------------ÒÔÏÂΪ·Ç²â¾àÂß¼------------------------*/
|
//dist_cm=33000;
|
|
LED0_BLINK; //ÿ³É¹¦Ò»´ÎͨѶÔòÉÁ˸һ´Î
|
dis_after_filter=dist_cm;
|
hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET];
|
if(hex_dist>-1000&&hex_dist<100000)
|
{
|
if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num>3)
|
{
|
misdist_num=0;
|
tagdist_list[taglist_pos] = hex_dist;
|
his_dist[taglist_pos]=hex_dist;
|
usart_send[2] = 1;//Õý³£Ä£Ê½
|
usart_send[3] = 17;//Êý¾Ý¶Î³¤¶È
|
usart_send[4] = frame_seq_nb;//Êý¾Ý¶Î³¤¶È
|
memcpy(&usart_send[5],&tag_id_recv,2);
|
memcpy(&usart_send[7],&dev_id,2);
|
memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
|
usart_send[13] = battary;
|
usart_send[14] = button;
|
checksum = Checksum_u16(&usart_send[2],17);
|
memcpy(&usart_send[19],&checksum,2);
|
UART_PushFrame(usart_send,21);
|
}else{
|
misdist_num++;
|
}
|
}
|
}
|
}else{
|
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
|
}
|
}
|
void Anchor_App(void)
|
{
|
u8 send_len,i;
|
u16 tempid;
|
dwt_setrxtimeout(0);//É趨½ÓÊÕ³¬Ê±Ê±¼ä£¬0λûÓг¬Ê±Ê±¼ä
|
dwt_rxenable(0);//´ò¿ª½ÓÊÕ
|
while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag&&!g_start_sync_flag)//²»¶Ï²éѯоƬ״ֱ̬µ½½ÓÊճɹ¦»òÕß³öÏÖ´íÎó
|
{
|
IdleTask();
|
g_Resttimer=0;
|
};
|
|
if (status_reg & SYS_STATUS_RXFCG)//³É¹¦½ÓÊÕ
|
{ u16 tag_recv_interval;
|
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);//Çå³ý±ê־λ
|
frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//»ñµÃ½ÓÊÕÊý¾Ý³¤¶È
|
dwt_readrxdata(rx_buffer, frame_len, 0);//¶ÁÈ¡½ÓÊÕÊý¾Ý
|
//½«ÊÕµ½µÄtag_id·Ö±ðдÈë¸÷´ÎͨѶµÄ°üÖУ¬Îª¶à±êǩͨѶ·þÎñ£¬·ÀÖ¹Ò»´ÎͨѶÖнÓÊÕµ½²»Í¬ID±êÇ©µÄÊý¾Ý
|
//tag_id_recv = rx_buffer[TAG_ID_IDX];
|
memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
|
memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
|
taglist_pos=CmpTagInList(tag_id_recv);
|
if(taglist_pos==0)
|
{
|
tagid_list[taglist_num++]=tag_id_recv;
|
taglist_pos=taglist_num;
|
}
|
tagofflinetime[taglist_pos-1]=0;
|
switch(rx_buffer[MESSAGE_TYPE_IDX])
|
{
|
case POLL:
|
if (anchor_type == rx_buffer[ANC_TYPE_IDX])
|
Anchor_RecPoll();
|
break;
|
case SYNC:
|
if(rx_buffer[SYNC_SEQ_IDX]<sync_seq)
|
{
|
sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
|
TIM3->CNT = sync_seq*325%1000+15;
|
sync_timer = sync_seq*325/1000;
|
SyncPoll(sync_seq);
|
}
|
break;
|
case NEAR_MSG:
|
if(anc_id_recv==dev_id)
|
{
|
rx_buffer[TAGSLOTPOS]=taglist_pos;
|
tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
|
memcpy(&tx_near_msg[TAG_ID_IDX],&tag_id_recv,2);
|
tx_near_msg[NEARBASENUM_INDEX]=g_com_map[NEARBASE_NUM];
|
memcpy(&tx_near_msg[NEARBASEID_INDEX],&g_com_map[NEARBASE_ID1],g_com_map[NEARBASE_NUM]*2);
|
send_len=11+g_com_map[NEARBASE_NUM]*2+2;
|
dwt_writetxdata(send_len, tx_near_msg, 0);//½«Poll°üÊý¾Ý´«¸øDW1000£¬½«ÔÚ¿ªÆô·¢ËÍʱ´«³öÈ¥
|
dwt_writetxfctrl(send_len, 0);//ÉèÖó¬¿í´ø·¢ËÍÊý¾Ý³¤¶È
|
dwt_starttx(DWT_START_TX_IMMEDIATE);
|
}
|
break;
|
|
case NEAR_POLL:
|
nearbase_num=rx_buffer[NEARBASENUM_INDEX];
|
if(anc_id_recv==dev_id)
|
{
|
Anchor_RecNearPoll(0);
|
}else{
|
for(i=0;i<nearbase_num;i++)
|
{
|
memcpy(&tempid,&rx_buffer[NEARBASEID_INDEX+i*2],2);
|
if(tempid==dev_id)
|
Anchor_RecNearPoll(i+1);
|
}
|
}
|
break;
|
|
}
|
|
}
|
else
|
{
|
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
|
}
|
}
|
