|
/*! ----------------------------------------------------------------------------
|
* @file main.c
|
* @brief Double-sided two-way ranging (DS TWR) initiator example code
|
*
|
*
|
*
|
* @attention
|
*
|
* Copyright 2015 (c) Decawave Ltd, Dublin, Ireland.
|
*
|
* All rights reserved.
|
*
|
* @author Decawave
|
*/
|
|
#include <string.h>
|
#include <math.h>
|
#include "dw_app.h"
|
#include "deca_device_api.h"
|
#include "deca_regs.h"
|
#include "dw_driver.h"
|
#include "Spi.h"
|
#include "led.h"
|
#include "serial_at_cmd_app.h"
|
#include "Usart.h"
|
#include "global_param.h"
|
#include "filters.h"
|
#include <stdio.h>
|
#include "beep.h"
|
#include "modbus.h"
|
|
#define USART_INTEGRATE_OUTPUT
|
/*------------------------------------ Marcos ------------------------------------------*/
|
/* Inter-ranging delay period, in milliseconds. */
|
#define RNG_DELAY_MS 100
|
|
/* Default antenna delay values for 64 MHz PRF. See NOTE 1 below. */
|
#define TX_ANT_DLY 0
|
#define RX_ANT_DLY 32899
|
|
/* UWB microsecond (uus) to device time unit (dtu, around 15.65 ps) conversion factor.
|
* 1 uus = 512 / 499.2 µs and 1 µs = 499.2 * 128 dtu. */
|
#define UUS_TO_DWT_TIME 65536
|
|
/* Delay between frames, in UWB microseconds. See NOTE 4 below. */
|
/* 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. */
|
#define POLL_TX_TO_RESP_RX_DLY_UUS 150
|
/* 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
|
* frame length of approximately 2.66 ms with above configuration. */
|
#define RESP_RX_TO_FINAL_TX_DLY_UUS 410
|
|
/* Receive response timeout. See NOTE 5 below. */
|
#define RESP_RX_TIMEOUT_UUS 600
|
|
#define DELAY_BETWEEN_TWO_FRAME_UUS 400
|
|
#define POLL_RX_TO_RESP_TX_DLY_UUS 470
|
/* 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. */
|
#define RESP_TX_TO_FINAL_RX_DLY_UUS 200
|
/* Receive final timeout. See NOTE 5 below. */
|
#define FINAL_RX_TIMEOUT_UUS 4300
|
|
|
#define SPEED_OF_LIGHT 299702547
|
|
/* Indexes to access some of the fields in the frames defined above. */
|
#define FINAL_MSG_POLL_TX_TS_IDX 10
|
#define FINAL_MSG_RESP_RX_TS_IDX 14
|
#define FINAL_MSG_FINAL_TX_TS_IDX 18
|
#define FINAL_MSG_TS_LEN 4
|
|
|
enum enumtagstate
|
{
|
DISCPOLL,
|
GETNEARMSG,
|
NEARPOLL,
|
}tag_state=NEARPOLL;
|
static dwt_config_t config = {
|
2, /* Channel number. */
|
DWT_PRF_64M, /* Pulse repetition frequency. */
|
DWT_PLEN_128, /* Preamble length. */
|
DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */
|
9, /* TX preamble code. Used in TX only. */
|
9, /* RX preamble code. Used in RX only. */
|
1, /* Use non-standard SFD (Boolean) */
|
DWT_BR_6M8, /* Data rate. */
|
DWT_PHRMODE_STD, /* PHY header mode. */
|
(129 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
|
};
|
static uint8_t tx_poll_msg[20] = {0};
|
static uint8_t tx_sync_msg[14] = {0};
|
static uint8_t tx_final_msg[60] = {0};
|
static uint8_t tx_resp_msg[22] = {0};
|
uint8_t tx_near_msg[80] = {0};
|
|
static uint32_t frame_seq_nb = 0;
|
static uint32_t status_reg = 0;
|
static uint8_t rx_buffer[100];
|
static uint64_t poll_tx_ts;
|
static uint64_t resp_rx_ts;
|
static uint64_t final_tx_ts;
|
static uint64_t poll_rx_ts;
|
static uint64_t resp_tx_ts;
|
static uint64_t final_rx_ts;
|
static double tof;
|
int32_t anchor_dist_last_frm[TAG_NUM_IN_SYS],his_dist[TAG_NUM_IN_SYS]; ;
|
uint32_t tag_id = 0;
|
uint32_t tag_id_recv = 0;
|
uint32_t anc_id_recv = 0;
|
uint8_t random_delay_tim = 0;
|
double distance, dist_no_bias, dist_cm;
|
uint32_t g_UWB_com_interval = 0;
|
float dis_after_filter; //µ±Ç°¾àÀëÖµ
|
LPFilter_Frac* p_Dis_Filter; //²â¾àÓõĵÍͨÂ˲¨Æ÷
|
|
|
|
static uint64_t get_tx_timestamp_u64(void)
|
{
|
uint8_t ts_tab[5];
|
uint64_t ts = 0;
|
int i;
|
dwt_readtxtimestamp(ts_tab);
|
for (i = 4; i >= 0; i--)
|
{
|
ts <<= 8;
|
ts |= ts_tab[i];
|
}
|
return ts;
|
}
|
|
static uint64_t get_rx_timestamp_u64(void)
|
{
|
uint8_t ts_tab[5];
|
uint64_t ts = 0;
|
int i;
|
dwt_readrxtimestamp(ts_tab);
|
for (i = 4; i >= 0; i--)
|
{
|
ts <<= 8;
|
ts |= ts_tab[i];
|
}
|
return ts;
|
}
|
|
static void final_msg_set_ts(uint8_t *ts_field, uint64_t ts)
|
{
|
int i;
|
for (i = 0; i < FINAL_MSG_TS_LEN; i++)
|
{
|
ts_field[i] = (uint8_t) ts;
|
ts >>= 8;
|
}
|
}
|
|
static void final_msg_get_ts(const uint8_t *ts_field, uint32_t *ts)
|
{
|
int i;
|
*ts = 0;
|
for (i = 0; i < FINAL_MSG_TS_LEN; i++)
|
{
|
*ts += ts_field[i] << (i * 8);
|
}
|
}
|
|
void Dw1000_Init(void)
|
{
|
/* Reset and initialise DW1000.
|
* For initialisation, DW1000 clocks must be temporarily set to crystal speed. After initialisation SPI rate can be increased for optimum
|
* performance. */
|
Reset_DW1000();//ÖØÆôDW1000 /* Target specific drive of RSTn line into DW1000 low for a period. */
|
Spi_ChangePrescaler(SPIx_PRESCALER_SLOW); //ÉèÖÃΪ¿ìËÙģʽ
|
dwt_initialise(DWT_LOADUCODE);//³õʼ»¯DW1000
|
Spi_ChangePrescaler(SPIx_PRESCALER_FAST); //ÉèÖÃΪ¿ìËÙģʽ
|
|
/* Configure DW1000. See NOTE 6 below. */
|
dwt_configure(&config);//ÅäÖÃDW1000
|
|
|
|
/* Apply default antenna delay value. See NOTE 1 below. */
|
dwt_setrxantennadelay(RX_ANT_DLY); //ÉèÖýÓÊÕÌìÏßÑÓ³Ù
|
dwt_settxantennadelay(TX_ANT_DLY); //ÉèÖ÷¢ÉäÌìÏßÑÓ³Ù
|
|
/* Set expected response's delay and timeout. See NOTE 4 and 5 below.
|
* As this example only handles one incoming frame with always the same delay and timeout, those values can be set here once for all. */
|
//ÉèÖýÓÊÕ³¬Ê±Ê±¼ä
|
}
|
void Dw1000_App_Init(void)
|
{
|
//g_com_map[DEV_ID] = 0x0b;
|
//tag_state=DISCPOLL;
|
tx_poll_msg[MESSAGE_TYPE_IDX]=POLL;
|
tx_resp_msg[MESSAGE_TYPE_IDX]=RESPONSE;
|
tx_final_msg[MESSAGE_TYPE_IDX]=FINAL;
|
tx_sync_msg[MESSAGE_TYPE_IDX]=SYNC;
|
|
memcpy(&tx_poll_msg[TAG_ID_IDX], &dev_id, 2);
|
memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 2);
|
memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 2);
|
memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &dev_id, 2);
|
memcpy(&tx_near_msg[ANCHOR_ID_IDX], &dev_id, 2);
|
memcpy(&tx_near_msg[TAG_ID_IDX], &dev_id, 2);
|
}
|
uint16_t Checksum_u16(uint8_t* pdata, uint32_t len)
|
{
|
uint16_t sum = 0;
|
uint32_t i;
|
for(i=0; i<len; i++)
|
sum += pdata[i];
|
sum = ~sum;
|
return sum;
|
}
|
|
u16 tag_time_recv[TAG_NUM_IN_SYS];
|
u8 usart_send[25];
|
u8 battary,button;
|
extern uint8_t g_pairstart;
|
void tag_sleep_configuraion(void)
|
{
|
dwt_configuresleep(0x940, 0x7);
|
dwt_entersleep();
|
}
|
extern uint8_t g_start_send_flag;
|
|
uint16_t g_Resttimer;
|
uint8_t result;
|
u8 tag_succ_times=0;
|
int32_t hex_dist;
|
u16 checksum;
|
int8_t tag_delaytime;
|
extern uint16_t sync_timer;
|
u16 tmp_time;
|
int32_t temp_dist;
|
u16 tagslotpos;
|
|
u16 anclist_num=0,anclist_pos; //list ×ÜÊýÁ¿ºÍµ±Ç°Î»ÖÃ
|
u16 ancid_list[TAG_NUM_IN_SYS];
|
u8 nearbase_num;
|
u16 mainbase_id;
|
int32_t mainbase_dist;
|
uint8_t trygetnearmsg_times;
|
u16 nearbaseid_list[MAX_NEARBASE_NUM],mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM];
|
u8 FindNearBasePos(u16 baseid)
|
{
|
u8 i;
|
for(i=0;i<nearbase_num;i++)
|
{
|
if(baseid==nearbaseid_list[i])
|
return i;
|
}
|
}
|
u8 recbase_num=0;
|
#define CHANGE_BASE_THRESHOLD 5
|
uint8_t GetRandomValue(void)
|
{
|
uint8_t random_value=0,temp_adc,i;
|
for(i=0;i<8;i++)
|
{
|
temp_adc=Get_ADC_Value();
|
random_value=random_value|((temp_adc&0x01)<<i);
|
}
|
return random_value;
|
}
|
u8 GetRandomSlotPos(uint32_t emptyslot)
|
{
|
u8 i,temp_value;
|
temp_value = HAL_LPTIM_ReadCounter(&hlptim1);//GetRandomValue();
|
for(i=temp_value%32;i<max_slotpos;i++)
|
{
|
if(((emptyslot>>i)&0x1)==0)
|
{
|
return i;
|
}
|
}
|
|
for(i=1;i<max_slotpos;i++)
|
{
|
if(((emptyslot>>i)&0x1)==0)
|
{
|
return i;
|
}
|
}
|
return max_slotpos-1;
|
}
|
|
int32_t mainbase_dist,nearbase_distlist[MAX_NEARBASE_NUM],true_nearbase_distlist[MAX_NEARBASE_NUM],true_exsistbase_list[MAX_NEARBASE_NUM],ancsync_time,nextpoll_delaytime,offsettimeus;
|
u8 anclost_times=0 , mainbase_lost_count=0;
|
u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
|
u8 flag_finalsend,flag_getresponse,flag_rxon;
|
uint16_t current_count,start_count,end_count,lastsync_timer;
|
|
u8 nearbase_num=0,last_nearbase_num,next_nearbase_num,last_slotnum, para_update,para_len,stationary_flag=0;
|
u32 rec_tagpos_binary;
|
int16_t offset=2700;
|
u8 motor_state,rec_remotepara_state,rec_remotepara[80];
|
void NearPoll(void)
|
{
|
|
uint32_t temp1,temp2,dw_systime;
|
uint32_t frame_len;
|
uint32_t final_tx_time;
|
u32 start_poll;
|
u8 i,j,getsync_flag=0,timeout;
|
dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //ÉèÖ÷¢Ëͺó¿ªÆô½ÓÊÕ£¬²¢É趨ÑÓ³Ùʱ¼ä
|
dwt_setrxtimeout(10000);
|
tag_succ_times = 0;
|
//GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
|
if(next_nearbase_num>=MAX_NEARBASE_NUM)
|
{
|
next_nearbase_num = MAX_NEARBASE_NUM-1;
|
}
|
HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
|
last_nearbase_num=next_nearbase_num;
|
nearbase_num=next_nearbase_num;
|
recbase_num=0;
|
// motor_state=0;
|
tx_near_msg[GROUP_ID_IDX] = group_id;
|
tx_near_msg[BATTARY_IDX] = bat_percent;
|
tx_near_msg[BUTTON_IDX] = !GET_USERKEY|stationary_flag<<1;
|
tx_near_msg[SEQUENCE_IDX] = frame_seq_nb++;
|
tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
|
memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
|
tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;
|
memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
|
dwt_writetxdata(13+2*nearbase_num, tx_near_msg, 0);//½«Poll°üÊý¾Ý´«¸øDW1000£¬½«ÔÚ¿ªÆô·¢ËÍʱ´«³öÈ¥
|
dwt_writetxfctrl(13+2*nearbase_num, 0);//ÉèÖó¬¿í´ø·¢ËÍÊý¾Ý³¤¶È
|
dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//¿ªÆô·¢ËÍ£¬·¢ËÍÍê³ÉºóµÈ´ýÒ»¶Îʱ¼ä¿ªÆô½ÓÊÕ£¬µÈ´ýʱ¼äÔÚdwt_setrxaftertxdelayÖÐÉèÖÃ
|
|
tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
|
para_update = 0;
|
flag_finalsend=0;
|
flag_rxon=1;
|
flag_getresponse=0;
|
start_count=HAL_LPTIM_ReadCounter(&hlptim1);
|
recbase_num=0;
|
timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
|
end_count=start_count+(timeout<<5);
|
if(end_count>=32768)
|
{end_count-=32768;}
|
mainbase_dist=100000;
|
mainbase_lost_count++;
|
current_count=HAL_LPTIM_ReadCounter(&hlptim1);
|
while(current_count<end_count||current_count>end_count+15000)
|
{
|
current_count=HAL_LPTIM_ReadCounter(&hlptim1);
|
while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//²»¶Ï²éѯоƬ״ֱ̬µ½³É¹¦½ÓÊÕ»òÕß·¢Éú´íÎó
|
{
|
if(flag_finalsend)
|
{
|
dw_systime=dwt_readsystimestamphi32();
|
if(dw_systime>temp1&&dw_systime<temp2)
|
{
|
|
dwt_forcetrxoff();
|
flag_rxon=0;
|
dwt_setdelayedtrxtime(final_tx_time);
|
result=dwt_starttx(DWT_START_TX_DELAYED);//É趨ΪÑÓ³Ù·¢ËÍ
|
flag_finalsend=0;
|
break;
|
}
|
}
|
current_count=HAL_LPTIM_ReadCounter(&hlptim1);
|
if(current_count>=end_count&¤t_count<end_count+15000)
|
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(0);//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)&&rx_buffer[GROUP_ID_IDX]==group_id) //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(last_nearbase_num==0)
|
{
|
get_newbase=1;
|
nearbaseid_list[0]=rec_nearbaseid;
|
nearbase_num=1;
|
memcpy(&tx_near_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
|
}
|
if(rec_nearbaseid==nearbaseid_list[0])
|
{
|
//////////////////////////////////ʱ¼äͬ²½
|
memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
|
memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
|
current_count=HAL_LPTIM_ReadCounter(&hlptim1);
|
// memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
|
tmp_time=tmp_time+450;
|
if(tmp_time>999)
|
{
|
tmp_time-=999;
|
sync_timer++;
|
if(sync_timer>=1010)
|
{sync_timer=0;}
|
}
|
// TIM3->CNT=tmp_time;
|
// if(tagslotpos>max_slotpos)
|
// tagslotpos=tagslotpos%(max_slotpos+1);
|
// tyncpoll_time=(tagslotpos-1)*slottime;
|
////////////////////////////
|
rec_nearbasepos=0;
|
exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
|
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
|
nearbase_distlist[rec_nearbasepos]=temp_dist;
|
if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
|
motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
|
rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;
|
|
mainbase_lost_count=0;
|
flag_finalsend=1;
|
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+500) * UUS_TO_DWT_TIME)) >> 8;
|
temp1=final_tx_time-((850*UUS_TO_DWT_TIME)>>8);
|
temp2=final_tx_time+((100*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;
|
tx_near_msg[GROUP_ID_IDX] = group_id;
|
|
dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//½«·¢ËÍÊý¾ÝдÈëDW1000
|
dwt_writetxfctrl(28+nearbase_num*4, 0);//É趨·¢ËÍÊý¾Ý³¤¶È
|
flag_getresponse=1;
|
memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
|
|
|
//ʱ¼äͬ²½
|
ancsync_time=((sync_timer)*1000+tmp_time);
|
last_slotnum=current_slotnum;
|
current_slotnum=((float)sync_timer/g_com_map[COM_INTERVAL])+1;
|
if(current_slotnum==last_slotnum-1)
|
{flag_getresponse=1;}
|
lastsync_timer=sync_timer;
|
offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
|
SetNextPollTime(tyncpoll_time);
|
// if(rec_remotepara_state==1)
|
// {
|
// memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],REMOTEPARA_LEN);
|
// memcpy(&g_com_map[COM_INTERVAL],&rec_remotepara[0],8);
|
// memcpy(&g_com_map[POWER],&rec_remotepara[8],10);
|
// if(g_com_map[COM_INTERVAL]>0&&g_com_map[COM_INTERVAL]<1000&&g_com_map[POWER]<67&&g_com_map[POWER]>0)
|
// {save_com_map_to_flash();
|
// delay_ms(100);
|
// }
|
// NVIC_SystemReset();
|
// }
|
}else{
|
rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
|
|
if(rec_nearbasepos>=last_nearbase_num) //·¢ÏÖеĻùÕ¾
|
{
|
get_newbase=1;
|
nearbase_num++;
|
nearbaseid_list[rec_nearbasepos] = rec_nearbaseid;
|
memcpy(&tx_near_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
|
}
|
|
exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
|
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
|
nearbase_distlist[rec_nearbasepos]=temp_dist;
|
|
if(motor_state<(rx_buffer[MOTORSTATE_INDEX]&0xf)&&(rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
|
{
|
motor_state=rx_buffer[MOTORSTATE_INDEX];
|
}
|
final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
|
dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//½«·¢ËÍÊý¾ÝдÈëDW1000
|
dwt_writetxfctrl(28+nearbase_num*4, 0);//É趨·¢ËÍÊý¾Ý³¤¶È
|
|
|
//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
|
}
|
}
|
}else{
|
dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
|
if(flag_rxon)
|
{dwt_rxenable(0);
|
}
|
}
|
// dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
|
}
|
if(mainbase_lost_count>tag_frequency*BASELOST_STOPMOTOR_TIME)
|
{motor_state=0; }
|
dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
|
nearbase_num=recbase_num;
|
j=0;
|
if(exsistbase_list[0]==0)
|
{
|
// u8 temp_adc,random_value;
|
// random_value=0;
|
// for(i=0;i<8;i++)
|
// {
|
// temp_adc=Get_ADC_Value();
|
// random_value=random_value|((temp_adc&0x01)<<i);
|
// }
|
tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
|
tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
|
SetNextPollTime(tyncpoll_time);
|
}
|
// tyncpoll_time=0;
|
next_nearbase_num=0;
|
for(i=0;i<last_nearbase_num+get_newbase;i++)
|
{
|
if(exsistbase_list[i]>0)
|
{
|
next_nearbase_num++;
|
true_exsistbase_list[j]=exsistbase_list[i];
|
true_nearbase_idlist[j]=nearbaseid_list[i];
|
true_nearbase_distlist[j++]=nearbase_distlist[i];
|
exsistbase_list[i]--;
|
}
|
}
|
|
if(recbase_num<3)
|
{next_nearbase_num=next_nearbase_num;}
|
last_nearbase_num = next_nearbase_num;
|
for(i=0;i<last_nearbase_num-1;i++)
|
{
|
for(j=0;j<last_nearbase_num-1;j++)
|
{
|
if(true_nearbase_distlist[j]>true_nearbase_distlist[j+1])
|
{
|
u32 temp_dist,temp_id,temp_exsis;
|
temp_dist=true_nearbase_distlist[j];
|
temp_id = true_nearbase_idlist[j];
|
temp_exsis=true_exsistbase_list[i];
|
true_nearbase_distlist[j]=true_nearbase_distlist[j+1];
|
true_nearbase_idlist[j]=true_nearbase_idlist[j+1];
|
true_exsistbase_list[j]=true_exsistbase_list[j+1];
|
|
true_nearbase_distlist[j+1]=temp_dist;
|
true_nearbase_idlist[j+1]=temp_id;
|
true_exsistbase_list[j+1]=temp_exsis;
|
}
|
}
|
}
|
|
report_num=0;
|
for (i=0;i<last_nearbase_num;i++)
|
{
|
nearbaseid_list[i]=true_nearbase_idlist[i];
|
nearbase_distlist[i]=true_nearbase_distlist[i];
|
if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==KEEP_TIMES)
|
{
|
memcpy(&usart_send[4+6*report_num],&nearbaseid_list[i],2);
|
memcpy(&usart_send[6+6*report_num],&nearbase_distlist[i],4);
|
report_num++;
|
}
|
}
|
#ifdef USART_INTEGRATE_OUTPUT
|
usart_send[0] = 0x55;
|
usart_send[1] = 0xAA;
|
usart_send[2] = 4;//Õý³£Ä£Ê½
|
usart_send[3] = report_num*6+2;//Õý³£Ä£Ê½
|
checksum = Checksum_u16(&usart_send[2],report_num*6+2);
|
memcpy(&usart_send[4+report_num*6],&checksum,2);
|
USART_puts(usart_send,6+report_num*6);
|
#endif
|
|
for(i=0;i<MAX_NEARBASE_NUM;i++)
|
{
|
nearbase_distlist[i]=0x1ffff;
|
}
|
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
|
HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
|
|
}
|
u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32];
|
void GetNearMsg(void)
|
{
|
u32 start_poll,frame_len;
|
if(nearmsg_mainbase)
|
{nearmsg_mainbase=0;
|
}else{
|
nearmsg_mainbase=1;
|
}
|
memcpy(&tx_near_msg[ANCHOR_ID_IDX],&nearmsg_mainbase,2);
|
memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);
|
tx_near_msg[GROUP_ID_IDX] = group_id;
|
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);
|
|
/* 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(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];
|
memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
|
tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
|
//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;
|
}
|
}else{
|
tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
|
}
|
}
|
u32 id;
|
void Tag_App(void)//·¢ËÍģʽ(TAG±êÇ©)
|
{
|
|
//LED0_ON;
|
id = dwt_readdevid() ;
|
while (DWT_DEVICE_ID != id)
|
{
|
id = dwt_readdevid() ;
|
}
|
|
g_Resttimer=0;
|
// tag_state=DISCPOLL;
|
switch(tag_state)
|
{
|
case DISCPOLL:
|
// Poll();
|
break;
|
case GETNEARMSG:
|
|
GetNearMsg();
|
|
break;
|
case NEARPOLL:
|
//GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_SET);
|
NearPoll();
|
//GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_RESET);
|
break;
|
}
|
dwt_entersleep();
|
}
|
