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/*! ----------------------------------------------------------------------------
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* @file main.c
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* @brief Double-sided two-way ranging (DS TWR) initiator example code
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*
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*
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*
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* @attention
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*
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* Copyright 2015 (c) Decawave Ltd, Dublin, Ireland.
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*
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* All rights reserved.
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*
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* @author Decawave
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*/
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#include <string.h>
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#include <math.h>
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#include "dw_app.h"
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#include "deca_device_api.h"
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#include "deca_regs.h"
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#include "dw_driver.h"
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#include "Spi.h"
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#include "led.h"
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#include "serial_at_cmd_app.h"
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#include "Usart.h"
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#include "global_param.h"
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#include "filters.h"
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#include <stdio.h>
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#include "beep.h"
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#include "modbus.h"
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//#define DEBUG_OUTPUT
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#define TDFILTER
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//#define CONSTANT_FILTER
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/*------------------------------------ Marcos ------------------------------------------*/
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/* Inter-ranging delay period, in milliseconds. */
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#define RNG_DELAY_MS 100
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/* Default antenna delay values for 64 MHz PRF. See NOTE 1 below. */
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#define TX_ANT_DLY 0
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#define RX_ANT_DLY 32899
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/* UWB microsecond (uus) to device time unit (dtu, around 15.65 ps) conversion factor.
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* 1 uus = 512 / 499.2 µs and 1 µs = 499.2 * 128 dtu. */
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#define UUS_TO_DWT_TIME 65536
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/* Delay between frames, in UWB microseconds. See NOTE 4 below. */
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/* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
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#define POLL_TX_TO_RESP_RX_DLY_UUS 150
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/* This is the delay from Frame RX timestamp to TX reply timestamp used for calculating/setting the DW1000's delayed TX function. This includes the
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* frame length of approximately 2.66 ms with above configuration. */
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#define RESP_RX_TO_FINAL_TX_DLY_UUS 400
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/* Receive response timeout. See NOTE 5 below. */
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#define RESP_RX_TIMEOUT_UUS 600
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#define POLL_RX_TO_RESP_TX_DLY_UUS 420
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/* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
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#define RESP_TX_TO_FINAL_RX_DLY_UUS 200
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/* Receive final timeout. See NOTE 5 below. */
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#define FINAL_RX_TIMEOUT_UUS 4300
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#define SPEED_OF_LIGHT 299702547
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/* Indexes to access some of the fields in the frames defined above. */
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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 FINAL_MSG_TS_LEN 4
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#define SYNC_SEQ_IDX 5
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//common
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#define GROUP_ID_IDX 0
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#define ANCHOR_ID_IDX 1
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#define TAG_ID_IDX 5
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#define MESSAGE_TYPE_IDX 9
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//Poll
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#define ANC_TYPE_IDX 14
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#define BATTARY_IDX 15
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#define BUTTON_IDX 16
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#define SEQUENCE_IDX 17
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#define DISTNUM_INDEX 18
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#define DISTARRAY_INDEX 19
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//respose
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#define DIST_IDX 10
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#define ANCTIMEMS 14
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#define ANCTIMEUS 16
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#define ANCSEND_INTERVAL 18
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#define SIGNALPOWER 20
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#define POLL 0x01
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#define RESPONSE 0x02
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#define FINAL 0x03
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#define SYNC 0x04
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/*------------------------------------ Variables ------------------------------------------*/
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/* Default communication configuration. We use here EVK1000's default mode (mode 3). */
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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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1, /* 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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/* Frames used in the ranging process. See NOTE 2 below. */
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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 rx_resp_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'V', 'E', 'W', 'A', 0x10, 0x02, 0, 0, 0, 0};
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static uint8_t tx_final_msg[24] = {0};
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//static uint8_t rx_poll_msg[] = {0x00, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x21, 0, 0};
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static uint8_t tx_resp_msg[23] = {0};
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//static uint8_t rx_final_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x23, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
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/* Frame sequence number, incremented after each transmission. */
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static uint32_t frame_seq_nb = 0,frame_seq_nb2=0;
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/* Hold copy of status register state here for reference, so reader can examine it at a breakpoint. */
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static uint32_t status_reg = 0;
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/* Buffer to store received response message.
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* Its size is adjusted to longest frame that this example code is supposed to handle. */
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#define RX_BUF_LEN 24
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static uint8_t rx_buffer[RX_BUF_LEN];
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/* Time-stamps of frames transmission/reception, expressed in device time units.
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* As they are 40-bit wide, we need to define a 64-bit int type to handle them. */
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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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/* Length of the common part of the message (up to and including the function code, see NOTE 2 below). */
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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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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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int32_t g_Tagdist[TAG_NUM_IN_SYS];
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uint8_t g_flag_Taggetdist[256];
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/*------------------------------------ Functions ------------------------------------------*/
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/*! ------------------------------------------------------------------------------------------------------------------
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* @fn get_tx_timestamp_u64()
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*
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* @brief Get the TX time-stamp in a 64-bit variable.
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* /!\ This function assumes that length of time-stamps is 40 bits, for both TX and RX!
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*
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* @param none
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*
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* @return 64-bit value of the read time-stamp.
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*/
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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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/*! ------------------------------------------------------------------------------------------------------------------
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* @fn get_rx_timestamp_u64()
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*
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* @brief Get the RX time-stamp in a 64-bit variable.
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* /!\ This function assumes that length of time-stamps is 40 bits, for both TX and RX!
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*
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* @param none
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*
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* @return 64-bit value of the read time-stamp.
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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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/*! ------------------------------------------------------------------------------------------------------------------
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* @fn final_msg_set_ts()
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*
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* @brief Fill a given timestamp field in the final message with the given value. In the timestamp fields of the final
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* message, the least significant byte is at the lower address.
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*
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* @param ts_field pointer on the first byte of the timestamp field to fill
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* ts timestamp value
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*
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* @return none
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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<100;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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Modbus_HoldReg[i*2]=1;
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Modbus_HoldReg[i*2+1]=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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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[GROUP_ID_IDX], &group_id, 1);
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memcpy(&tx_final_msg[GROUP_ID_IDX], &group_id, 1);
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memcpy(&tx_resp_msg[GROUP_ID_IDX], &group_id, 1);
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memcpy(&tx_poll_msg[TAG_ID_IDX], &dev_id, 4);
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memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 4);
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memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 4);
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memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &dev_id, 4);
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memcpy(&tx_resp_msg[ANCSEND_INTERVAL], &g_com_map[COM_INTERVAL], 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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double firstpath_power, rx_power,rec_firstpath_power;
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double f1, f2, r1, r2;
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uint16_t F1,F2,F3,N,C;
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double B = 131072;
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double A = 121.74;
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double min_power;
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dwt_rxdiag_t d1;
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double LOS(dwt_rxdiag_t *dia) {
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F1 = dia->firstPathAmp1;
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F2 = dia->firstPathAmp2;
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F3 = dia->firstPathAmp3;
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N = dia->rxPreamCount;
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C = dia->maxGrowthCIR;
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firstpath_power=10* log10((F1*F1+F2*F2+F3*F3)/(N*N))-A;
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// rx_power=10*log10(C*B/(N*N))-A;
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// min_power = - 10 * log10((F1 *F1 + F2 * F2 + F3 * F3) / (C *B));
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return min_power;
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}
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#define CONSTANT_LEN 50
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extern u16 dist_threshold;
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int32_t ConstantFilter(int32_t currentdist,u8 channel)
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{
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static int32_t cs_lastdist[10],cs_lastvalid[10];
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static u8 cfstart_flag[10] = {1};
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static u8 constant_count[10] = {100};
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if(cfstart_flag[channel])
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{
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cfstart_flag[channel] = 0;
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cs_lastdist[channel] = currentdist;
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}
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if( abs(currentdist - cs_lastdist[channel])<100)
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{
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if(constant_count[channel]<CONSTANT_LEN)
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constant_count[channel]++;
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}else{
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constant_count[channel] = 0;
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}
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if(constant_count[channel] == CONSTANT_LEN)
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{
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cs_lastvalid[channel] = currentdist;
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}
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cs_lastdist[channel] = currentdist;
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return cs_lastvalid[channel];
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}
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#define TAGARRAY_LEN 20
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uint16_t g_Resttimer,tag_IDarray[TAGARRAY_LEN];
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uint8_t result;
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u8 tag_succ_times=0;
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int32_t hex_dist,hex_dist2,tag_distarray[TAGARRAY_LEN];
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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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u32 getdatatimer[TAGARRAY_LEN];
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#define DATALOSTTIME 2000
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extern float dw_vbat;
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extern u8 supergroupid,modbusread_start;
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extern u16 slottime,max_slotnum,current_slotpos,tyncpoll_time;
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void Tag_App(void)//·¢ËÍģʽ(TAG±êÇ©)
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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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u8 i,getsync_flag=0;
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u8 bat_percent;
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//LED0_ON;
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dwt_forcetrxoff();
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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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bat_percent=(dw_vbat-2.8)/0.5*100;
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if(bat_percent>100)
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bat_percent=100;
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tx_poll_msg[BATTARY_IDX] = bat_percent;//Get_Battary();
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tx_poll_msg[BUTTON_IDX] = !READ_KEY0;
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tx_poll_msg[SEQUENCE_IDX] = frame_seq_nb++;
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tx_poll_msg[DISTNUM_INDEX] = g_com_map[MAX_REPORT_ANC_NUM];
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for(i=0;i<g_com_map[MAX_REPORT_ANC_NUM];i++)
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{
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if(time32_incr-getdatatimer[i]>DATALOSTTIME)
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{
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tag_distarray[i] = 0x1ffff;
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}
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}
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memcpy(&tx_poll_msg[DISTARRAY_INDEX],tag_IDarray,2*g_com_map[MAX_REPORT_ANC_NUM]);
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memcpy(&tx_poll_msg[DISTARRAY_INDEX+2*g_com_map[MAX_REPORT_ANC_NUM]],tag_distarray,4*g_com_map[MAX_REPORT_ANC_NUM]);
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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(22+6*g_com_map[MAX_REPORT_ANC_NUM], tx_poll_msg, 0);//½«Poll°üÊý¾Ý´«¸øDW1000£¬½«ÔÚ¿ªÆô·¢ËÍʱ´«³öÈ¥
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dwt_writetxfctrl(22+6*g_com_map[MAX_REPORT_ANC_NUM], 0);//ÉèÖó¬¿í´ø·¢ËÍÊý¾Ý³¤¶È
|
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/* Start transmission, indicating that a response is expected so that reception is enabled automatically after the frame is sent and the delay
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* set by dwt_setrxaftertxdelay() has elapsed. */
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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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#ifdef DEBUG_OUTPUT
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printf("P°ü·¢ËÍ,»ùÕ¾ID: %d .\r\n",i);
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#endif
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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)
|
NVIC_SystemReset();
|
IdleTask();
|
|
};
|
|
/* Increment frame sequence number after transmission of the poll message (modulo 256). */
|
if(status_reg==0xffffffff)
|
{
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NVIC_SystemReset();
|
}
|
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if (status_reg & SYS_STATUS_RXFCG)//Èç¹û³É¹¦½ÓÊÕ
|
{
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/* Clear good RX frame event and TX frame sent in the DW1000 status register. */
|
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//Çå³þ¼Ä´æÆ÷±ê־λ
|
|
/* A frame has been received, read it into the local buffer. */
|
frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //»ñµÃ½ÓÊÕµ½µÄÊý¾Ý³¤¶È
|
|
dwt_readrxdata(rx_buffer, frame_len, 0); //¶ÁÈ¡½ÓÊÕÊý¾Ý
|
|
|
/* Check that the frame is the expected response from the companion "DS TWR responder" example.
|
* As the sequence number field of the frame is not relevant, it is cleared to simplify the validation of the frame. */
|
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if ((rx_buffer[GROUP_ID_IDX]==supergroupid||rx_buffer[GROUP_ID_IDX] == group_id||group_id==supergroupid)&&rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,4)) //ÅжϽÓÊÕµ½µÄÊý¾ÝÊÇ·ñÊÇresponseÊý¾Ý
|
{ u16 anc_id_recv,rec_com_interval;
|
/* Retrieve poll transmission and response reception timestamp. */
|
poll_tx_ts = get_tx_timestamp_u64(); //»ñµÃPOLL·¢ËÍʱ¼äT1
|
resp_rx_ts = get_rx_timestamp_u64(); //»ñµÃRESPONSE½ÓÊÕʱ¼äT4
|
|
if(getsync_flag==0&&g_com_map[DEV_ROLE])
|
{
|
getsync_flag=1;
|
memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
|
memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],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;
|
}
|
memcpy(&hex_dist2, &rx_buffer[DIST_IDX], 4);
|
memcpy(&tag_distarray[i], &rx_buffer[DIST_IDX], 4);
|
memcpy(&tag_IDarray[i],&rx_buffer[ANCHOR_ID_IDX],2);
|
rec_firstpath_power = rx_buffer[SIGNALPOWER];
|
memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
|
memcpy(&rec_com_interval,&rx_buffer[ANCSEND_INTERVAL], 2);
|
if(rec_com_interval>4&&rec_com_interval!=g_com_map[COM_INTERVAL])
|
{
|
g_com_map[COM_INTERVAL]=rec_com_interval;
|
save_com_map_to_flash();
|
delay_ms(100);
|
SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader
|
}
|
|
/* Compute final message transmission time. See NOTE 9 below. */
|
final_tx_time = (resp_rx_ts + (RESP_RX_TO_FINAL_TX_DLY_UUS * UUS_TO_DWT_TIME)) >> 8;//¼ÆËãfinal°ü·¢ËÍʱ¼ä£¬T5=T4+Treply2
|
dwt_setdelayedtrxtime(final_tx_time);//ÉèÖÃfinal°ü·¢ËÍʱ¼äT5
|
|
/* Final TX timestamp is the transmission time we programmed plus the TX antenna delay. */
|
final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final°üʵ¼Ê·¢ËÍʱ¼äÊǼÆËãʱ¼ä¼ÓÉÏ·¢ËÍÌìÏßdelay
|
|
/* Write all timestamps in the final message. See NOTE 10 below. */
|
final_msg_set_ts(&tx_final_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//½«T1£¬T4£¬T5дÈë·¢ËÍÊý¾Ý
|
final_msg_set_ts(&tx_final_msg[FINAL_MSG_RESP_RX_TS_IDX], resp_rx_ts);
|
final_msg_set_ts(&tx_final_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
|
|
/* Write and send final message. See NOTE 7 below. */
|
|
dwt_writetxdata(sizeof(tx_final_msg), tx_final_msg, 0);//½«·¢ËÍÊý¾ÝдÈëDW1000
|
dwt_writetxfctrl(sizeof(tx_final_msg), 0);//É趨·¢ËÍÊý¾Ý³¤¶È
|
result=dwt_starttx(DWT_START_TX_DELAYED);//É趨ΪÑÓ³Ù·¢ËÍ
|
|
#ifdef DEBUG_OUTPUT
|
printf("F°ü·¢ËÍ,»ùÕ¾ID: %d .\r\n",i);
|
#endif
|
getdatatimer[i] = time32_incr;
|
tag_succ_times++;
|
|
LED0_BLINK;
|
g_Resttimer=0;
|
memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
|
if(hex_dist2!=0xffff)
|
{
|
g_Tagdist[anc_id_recv]= hex_dist2;
|
g_flag_Taggetdist[anc_id_recv]=0;
|
|
if(!g_com_map[MODBUS_MODE])
|
{
|
hex_dist2 = hex_dist2;
|
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],&dev_id,2);
|
memcpy(&usart_send[7],&rx_buffer[ANCHOR_ID_IDX],2);
|
|
memcpy(&usart_send[9],&hex_dist2,4);
|
usart_send[13] = bat_percent;
|
usart_send[14] = button;
|
usart_send[15] = rec_firstpath_power;
|
checksum = Checksum_u16(&usart_send[2],17);
|
memcpy(&usart_send[19],&checksum,2);
|
UART_PushFrame(usart_send,21);
|
}
|
Modbus_HoldReg[anc_id_recv*2]=hex_dist2>>16;
|
Modbus_HoldReg[anc_id_recv*2+1]=hex_dist2;
|
}
|
// memcpy(&Modbus_HoldReg[anc_id_recv*2],&hex_dist,4);
|
/* Poll DW1000 until TX frame sent event set. See NOTE 8 below. */
|
if(result==0)
|
{
|
|
while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//²»¶Ï²éѯоƬ״ֱ̬µ½·¢ËÍÍê³É
|
{ };
|
}
|
/* Clear TXFRS event. */
|
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//Çå³ý±ê־λ
|
|
/* Increment frame sequence number after transmission of the final message (modulo 256). */
|
|
random_delay_tim = 0;
|
}
|
else
|
{
|
random_delay_tim = DFT_RAND_DLY_TIM_MS; //Èç¹ûͨѶʧ°Ü£¬½«¼ä¸ôʱ¼äÔö¼Ó5ms£¬±Ü¿ªÒòΪ¶à±êǩͬʱ·¢ËÍÒýÆðµÄ³åÍ»¡£
|
}
|
}
|
else
|
{
|
#ifdef DEBUG_OUTPUT
|
printf("R°üʧ°Ü´íÎóÐÅÏ¢: %x .\r\n",status_reg);
|
#endif
|
/* Clear RX error events in the DW1000 status register. */
|
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
|
random_delay_tim = DFT_RAND_DLY_TIM_MS;
|
}
|
// deca_sleep(10);
|
}
|
// dwt_entersleep();
|
if(tag_succ_times<1)
|
{
|
tyncpoll_time=(current_slotpos--%max_slotnum)*slottime;
|
}
|
|
/* Execute a delay between ranging exchanges. */
|
if(modbusread_start)
|
{
|
Modbus_03_Solve();
|
}
|
}
|
|
int8_t correction_time;
|
extern uint8_t sync_seq;
|
|
//#define CHECK_UID
|
extern uint8_t UID_ERROR;
|
u16 ancrec_IDarray[TAGARRAY_LEN];
|
u32 ancrec_distarray[TAGARRAY_LEN];
|
u32 ancrec_distnum;
|
u8 misdist_num[TAG_NUM_IN_SYS];
|
void Anchor_App(void)
|
{
|
uint32_t frame_len;
|
uint32_t resp_tx_time;
|
/* Clear reception timeout to start next ranging process. */
|
dwt_setrxtimeout(0);//É趨½ÓÊÕ³¬Ê±Ê±¼ä£¬0λûÓг¬Ê±Ê±¼ä
|
|
/* Activate reception immediately. */
|
dwt_rxenable(0);//´ò¿ª½ÓÊÕ
|
|
/* Poll for reception of a frame or error/timeout. See NOTE 7 below. */
|
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();
|
};
|
|
if (status_reg & SYS_STATUS_RXFCG)//³É¹¦½ÓÊÕ
|
{ u16 tag_recv_interval;
|
/* Clear good RX frame event in the DW1000 status register. */
|
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);//Çå³ý±ê־λ
|
|
/* A frame has been received, read it into the local buffer. */
|
frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//»ñµÃ½ÓÊÕÊý¾Ý³¤¶È
|
|
dwt_readrxdata(rx_buffer, frame_len, 0);//¶ÁÈ¡½ÓÊÕÊý¾Ý
|
|
|
/* Check that the frame is a poll sent by "DS TWR initiator" example.
|
* As the sequence number field of the frame is not relevant, it is cleared to simplify the validation of the frame. */
|
|
|
//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],4);
|
memcpy(&tx_resp_msg[TAG_ID_IDX],&tag_id_recv,4);
|
//tx_resp_msg[TAG_ID_IDX] = tag_id_recv;
|
// if(tag_recv_timer>tag_time_recv[tag_id_recv-TAG_ID_START])
|
// { tag_recv_interval = tag_recv_timer - tag_time_recv[tag_id_recv];
|
// }else{
|
// tag_recv_interval = tag_recv_timer + 65535 - tag_time_recv[tag_id_recv];
|
// }
|
|
if ((rx_buffer[GROUP_ID_IDX]==supergroupid||rx_buffer[GROUP_ID_IDX] == group_id||group_id==supergroupid)&&rx_buffer[MESSAGE_TYPE_IDX] == POLL&&(anchor_type == rx_buffer[ANC_TYPE_IDX])) //ÅжÏÊÇ·ñÊÇpoll°üÊý¾Ý
|
{
|
tmp_time=TIM3->CNT;
|
memcpy(&tx_resp_msg[ANCTIMEMS],&sync_timer,2);
|
memcpy(&tx_resp_msg[ANCTIMEUS],&tmp_time,2);
|
|
// if(correction_time>10)
|
// {correction_time++;}
|
|
/* Retrieve poll reception timestamp. */
|
poll_rx_ts = get_rx_timestamp_u64();//»ñµÃPoll°ü½ÓÊÕʱ¼äT2
|
ancrec_distnum = rx_buffer[DISTNUM_INDEX];
|
memcpy(ancrec_IDarray,&rx_buffer[DISTARRAY_INDEX],2*g_com_map[MAX_REPORT_ANC_NUM]);
|
memcpy(ancrec_distarray,&rx_buffer[DISTARRAY_INDEX+2*g_com_map[MAX_REPORT_ANC_NUM]],4*g_com_map[MAX_REPORT_ANC_NUM]);
|
/* Set send time for response. See NOTE 8 below. */
|
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
|
|
/* Set expected delay and timeout for final message reception. */
|
dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS);//ÉèÖ÷¢ËÍÍê³Éºó¿ªÆô½ÓÊÕÑÓ³Ùʱ¼ä
|
dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//½ÓÊÕ³¬Ê±Ê±¼ä
|
|
/* Write and send the response message. See NOTE 9 below.*/
|
if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS)
|
memcpy(&tx_resp_msg[DIST_IDX], &g_Tagdist[tag_id_recv], 4);
|
tx_resp_msg[SIGNALPOWER] = firstpath_power;
|
|
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_nb2 = rx_buffer[SEQUENCE_IDX];
|
/* We assume that the transmission is achieved correctly, now poll for reception of expected "final" frame or error/timeout.
|
* See NOTE 7 below. */
|
#ifdef DEBUG_OUTPUT
|
printf("ÊÕµ½POLL°ü£¬±êÇ©ID: %d .\r\n",tag_id_recv);
|
#endif
|
if(result==0)
|
{
|
while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))///²»¶Ï²éѯоƬ״ֱ̬µ½½ÓÊճɹ¦»òÕß³öÏÖ´íÎó
|
{ };
|
}
|
/* Increment frame sequence number after transmission of the response message (modulo 256). */
|
|
if (status_reg & SYS_STATUS_RXFCG)//½ÓÊճɹ¦
|
{
|
/* Clear good RX frame event and TX frame sent in the DW1000 status register. */
|
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//Çå³þ±ê־λ
|
|
/* A frame has been received, read it into the local buffer. */
|
frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;//Êý¾Ý³¤¶È
|
|
dwt_readrxdata(rx_buffer, frame_len, 0);//¶ÁÈ¡½ÓÊÕÊý¾Ý
|
|
|
/* Check that the frame is a final message sent by "DS TWR initiator" example.
|
* As the sequence number field of the frame is not used in this example, it can be zeroed to ease the validation of the frame. */
|
|
if ((rx_buffer[GROUP_ID_IDX]==supergroupid||rx_buffer[GROUP_ID_IDX] == group_id||group_id==supergroupid)&&rx_buffer[MESSAGE_TYPE_IDX] == FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,4)&&!memcmp(&rx_buffer[ANCHOR_ID_IDX],&dev_id,4)) //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;
|
|
/* Retrieve response transmission and final reception timestamps. */
|
resp_tx_ts = get_tx_timestamp_u64();//»ñµÃresponse·¢ËÍʱ¼äT3
|
final_rx_ts = get_rx_timestamp_u64();//»ñµÃfinal½ÓÊÕʱ¼äT6
|
|
/* Get timestamps embedded in the final message. */
|
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);
|
|
#ifdef CHECK_UID
|
if(UID_ERROR==1)
|
poll_rx_ts=0;
|
#endif
|
/* Compute time of flight. 32-bit subtractions give correct answers even if clock has wrapped. See NOTE 10 below. */
|
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 * 1000; //dis Ϊµ¥Î»ÎªcmµÄ¾àÀë
|
// dist[TAG_ID] = LP(dis, TAG_ID); //LP ΪµÍͨÂ˲¨Æ÷£¬ÈÃÊý¾Ý¸üÎȶ¨
|
dwt_readdiagnostics(&d1);
|
LOS(&d1);
|
/*--------------------------ÒÔÏÂΪ·Ç²â¾àÂß¼------------------------*/
|
#ifdef DEBUG_OUTPUT
|
printf("ÊÕµ½FINAL°ü£¬±êÇ©ID: %d .\r\n",tag_id_recv);
|
#endif
|
LED0_BLINK; //ÿ³É¹¦Ò»´ÎͨѶÔòÉÁ˸һ´Î
|
g_UWB_com_interval = 0;
|
g_Resttimer=0;
|
hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10;
|
if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS)
|
{
|
if(abs(hex_dist-his_dist[tag_id_recv-TAG_ID_START])<dist_threshold||misdist_num[tag_id_recv-TAG_ID_START]>4)
|
{u8 i;
|
int32_t filter_dist;
|
misdist_num[tag_id_recv-TAG_ID_START]=0;
|
if(hex_dist<1000000&&hex_dist>-10000)
|
{
|
#ifdef TDFILTER
|
NewTrackingDiffUpdate(tag_id_recv-TAG_ID_START, (float)hex_dist);
|
filter_dist=pos_predict[tag_id_recv-TAG_ID_START]/10;
|
#else
|
filter_dist=hex_dist/10;
|
#endif
|
|
#ifdef CONSTANT_FILTER
|
filter_dist = ConstantFilter(filter_dist,tag_id_recv-TAG_ID_START);
|
#endif
|
anchor_dist_last_frm[tag_id_recv-TAG_ID_START]=filter_dist;
|
g_Tagdist[tag_id_recv]= filter_dist;
|
|
|
|
his_dist[tag_id_recv-TAG_ID_START]=hex_dist;
|
g_flag_Taggetdist[tag_id_recv]=0;
|
if(!g_com_map[MODBUS_MODE])
|
{
|
for(i=0;i<g_com_map[MAX_REPORT_ANC_NUM];i++)
|
{
|
if(ancrec_distarray[i] !=0x1ffff)
|
{
|
usart_send[2] = 1;//Õý³£Ä£Ê½
|
usart_send[3] = 17;//Êý¾Ý¶Î³¤¶È
|
usart_send[4] = frame_seq_nb2;//Êý¾Ý¶Î³¤¶È
|
memcpy(&usart_send[5],&tag_id_recv,2);
|
memcpy(&usart_send[7],&ancrec_IDarray[i],2);
|
|
memcpy(&usart_send[9],&ancrec_distarray[i],4);
|
usart_send[13] = battary;
|
usart_send[14] = button;
|
usart_send[15] = firstpath_power;
|
checksum = Checksum_u16(&usart_send[2],17);
|
memcpy(&usart_send[19],&checksum,2);
|
UART_PushFrame(usart_send,21);
|
|
}
|
}
|
// usart_send[2] = 1;//Õý³£Ä£Ê½
|
// usart_send[3] = 17;//Êý¾Ý¶Î³¤¶È
|
// usart_send[4] = frame_seq_nb2;//Êý¾Ý¶Î³¤¶È
|
// memcpy(&usart_send[5],&tag_id_recv,2);
|
// memcpy(&usart_send[7],&dev_id,2);
|
//
|
// memcpy(&usart_send[9],&anchor_dist_last_frm[tag_id_recv-TAG_ID_START],4);
|
// usart_send[13] = battary;
|
// usart_send[14] = button;
|
// usart_send[15] = firstpath_power;
|
// checksum = Checksum_u16(&usart_send[2],17);
|
// memcpy(&usart_send[19],&checksum,2);
|
// UART_PushFrame(usart_send,21);
|
}
|
|
// Modbus_HoldReg[tag_id_recv*2]=g_Tagdist[tag_id_recv-TAG_ID_START]>>16;
|
// Modbus_HoldReg[tag_id_recv*2+1]=g_Tagdist[tag_id_recv-TAG_ID_START];
|
for(i=0;i<g_com_map[MAX_REPORT_ANC_NUM];i++)
|
{
|
Modbus_HoldReg[tag_id_recv*3*g_com_map[MAX_REPORT_ANC_NUM]+3*i] = ancrec_IDarray[i];
|
Modbus_HoldReg[tag_id_recv*3*g_com_map[MAX_REPORT_ANC_NUM]+3*i+1] = ancrec_distarray[i]>>16;
|
Modbus_HoldReg[tag_id_recv*3*g_com_map[MAX_REPORT_ANC_NUM]+3*i+2] = ancrec_distarray[i];
|
}
|
|
}
|
|
}
|
else{
|
misdist_num[tag_id_recv-TAG_ID_START]++;
|
}
|
}
|
}
|
}else{
|
/* Clear RX error events in the DW1000 status register. */
|
#ifdef DEBUG_OUTPUT
|
printf("F°üʧ°Ü´íÎóÐÅÏ¢: %x .\r\n",status_reg);
|
#endif
|
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
|
}
|
}else if(rx_buffer[MESSAGE_TYPE_IDX] == SYNC)
|
{
|
if(rx_buffer[SYNC_SEQ_IDX]<sync_seq&&sync_mainbase==0)
|
{
|
sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
|
TIM3->CNT = sync_seq*325%1000+15;
|
sync_timer = sync_seq*325/1000;
|
SyncPoll(sync_seq);
|
}
|
}
|
}
|
else
|
{
|
#ifdef DEBUG_OUTPUT
|
printf("P°üʧ°Ü´íÎóÐÅÏ¢: %x .\r\n",status_reg);
|
#endif
|
/* Clear RX error events in the DW1000 status register. */
|
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
|
}
|
}
|
