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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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/*------------------------------------ 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 10
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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 510
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/* Receive response timeout. See NOTE 5 below. */
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#define RESP_RX_TIMEOUT_UUS 1000
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#define DELAY_BETWEEN_TWO_FRAME_UUS 240
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#define POLL_RX_TO_RESP_TX_DLY_UUS 470
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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 STARTPOLL REGPOLL//#define SWITCHBASE_DIST
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//#define SWITCHBASE_ZHUANDIAN
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#define SWITCHBASE_DIST
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enum enumtagstate
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{
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REGPOLL,
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DISCPOLL,
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GETNEARMSG,
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NEARPOLL,
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SINGLEPOLL,
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}tag_state=STARTPOLL;
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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_64, /* 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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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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uint8_t tx_near_msg[180] = {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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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 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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Spi_ChangePrescaler(SPIx_PRESCALER_SLOW); //ÉèÖÃΪ¿ìËÙģʽ
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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[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, 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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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 mainbase_id;
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int32_t mainbase_dist,base_mindist;
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uint8_t trygetnearmsg_times;
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u16 mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM],nearbaseid_list[MAX_NEARBASE_NUM],nearbaseid_list2[MAX_NEARBASE_NUM];
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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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u8 recbase_num=0;
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#define CHANGE_BASE_THRESHOLD 5
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uint8_t GetRandomValue(void)
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{
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uint8_t random_value=0,temp_adc,i;
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for(i=0;i<8;i++)
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{
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temp_adc=Get_ADC_Value();
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random_value=random_value|((temp_adc&0x01)<<i);
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}
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return random_value;
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}
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u8 GetRandomSlotPos(uint32_t emptyslot)
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{
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u8 i,temp_value;
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temp_value = HAL_LPTIM_ReadCounter(&hlptim1);//GetRandomValue();
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for(i=temp_value%32;i<max_slotpos;i++)
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{
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if(((emptyslot>>i)&0x1)==0)
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{
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return i;
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}
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}
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for(i=1;i<max_slotpos;i++)
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{
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if(((emptyslot>>i)&0x1)==0)
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{
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return i;
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}
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}
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return max_slotpos-1;
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}
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void MODBUS_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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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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g_Resttimer=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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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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// 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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/* 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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/* 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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{
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IdleTask();
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};
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/* Increment frame sequence number after transmission of the poll message (modulo 256). */
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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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/* Clear good RX frame event and TX frame sent in the DW1000 status register. */
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dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//Çå³þ¼Ä´æÆ÷±ê־λ
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/* A frame has been received, read it into the local buffer. */
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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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/* Check that the frame is the expected response from the companion "DS TWR responder" example.
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* 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] == group_id&&rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,4)) //ÅжϽÓÊÕµ½µÄÊý¾ÝÊÇ·ñÊÇresponseÊý¾Ý
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{ u16 anc_id_recv,rec_com_interval;
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/* Retrieve poll transmission and response reception timestamp. */
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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&&g_com_map[DEV_ROLE])
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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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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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}
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// memcpy(&hex_dist2, &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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// memcpy(&rec_com_interval,&rx_buffer[ANCSEND_INTERVAL], 2);
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// if(rec_com_interval>4&&rec_com_interval!=g_com_map[COM_INTERVAL])
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// {
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// g_com_map[COM_INTERVAL]=rec_com_interval;
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// save_com_map_to_flash();
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// // delay_ms(100);
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// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader
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// }
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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 timestamp is the transmission time we programmed plus the TX antenna delay. */
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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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/* Write all timestamps in the final message. See NOTE 10 below. */
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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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/* Write and send final message. See NOTE 7 below. */
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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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memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
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// if(hex_dist2!=0xffff)
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// {
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// g_Tagdist[anc_id_recv]= hex_dist2;
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// g_flag_Taggetdist[anc_id_recv]=0;
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//
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// if(!g_com_map[MODBUS_MODE])
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// {
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// hex_dist2 = hex_dist2;
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// usart_send[2] = 1;//Õý³£Ä£Ê½
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// usart_send[3] = 17;//Êý¾Ý¶Î³¤¶È
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// usart_send[4] = frame_seq_nb;//Êý¾Ý¶Î³¤¶È
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// memcpy(&usart_send[5],&dev_id,2);
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// memcpy(&usart_send[7],&rx_buffer[ANCHOR_ID_IDX],2);
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//
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// memcpy(&usart_send[9],&hex_dist2,4);
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// usart_send[13] = bat_percent;
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// usart_send[14] = button;
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// checksum = Checksum_u16(&usart_send[2],17);
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// memcpy(&usart_send[19],&checksum,2);
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// UART_PushFrame(usart_send,21);
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// }
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// }
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// memcpy(&Modbus_HoldReg[anc_id_recv*2],&hex_dist,4);
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/* Poll DW1000 until TX frame sent event set. See NOTE 8 below. */
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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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/* Increment frame sequence number after transmission of the final message (modulo 256). */
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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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/* Clear RX error events in the DW1000 status register. */
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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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// deca_sleep(10);
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}
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// dwt_entersleep();
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/* Execute a delay between ranging exchanges. */
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delay_ms(30);
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}
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int32_t mainbase_dist,nearbase_switchdistlist[MAX_NEARBASE_NUM],nearbase_distlist[MAX_NEARBASE_NUM],true_nearbase_distlist[MAX_NEARBASE_NUM],true_exsistbase_list[MAX_NEARBASE_NUM],ancsync_time,nextpoll_delaytime,offsettimeus;
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u8 anclost_times=0 , mainbase_lost_count=0;
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u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
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u8 flag_finalsend,flag_getresponse,flag_rxon;
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uint16_t current_count,start_count,end_count,lastsync_timer;
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extern u16 bigslot_num;
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u8 nearbase_num=0,last_nearbase_num,next_nearbase_num,last_slotnum, para_update,para_len,stationary_flag=0;
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u32 rec_tagpos_binary;
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int16_t offset=4700,temptimer;
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u8 motor_state,rec_remotepara_state,rec_remotepara[80];
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#define SINGLEPOLL_BASENUM 15
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uint16_t singlepoll_baseid[20]={0x8166,0x9804,0x9689,0x9686,0x8279,0x9815,0x9803,0x9814,0x9687,0x9774,0x8278,0x9743,0x9688,0x9771,0x8277};
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int32_t singlepoll_basedist[20];
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extern u8 userkey_state;
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extern float motor_keeptime;
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uint8_t changemainbase_count=0,gotosleep_flag,singlepoll_i;
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uint32_t frame_len;
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int32_t salvebase_mindist;
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int16_t intheight;
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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,j,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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frame_seq_nb++;
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for(singlepoll_i=0;singlepoll_i<SINGLEPOLL_BASENUM;singlepoll_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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nearbase_num = SINGLEPOLL_BASENUM;
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tx_near_msg[BATTARY_IDX] = bat_percent;
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tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2;
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tx_near_msg[SEQUENCE_IDX] = frame_seq_nb;
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tx_near_msg[SEQUENCEH_IDX] = (frame_seq_nb)>>8;
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tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
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memcpy(&tx_near_msg[NEARBASEID_INDEX],&singlepoll_baseid,nearbase_num*2);
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memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&singlepoll_basedist,nearbase_num*4+4);
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intheight+=g_com_map[HEIGHTOFFEST_INDEX];
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memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6],&intheight,2);
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tx_near_msg[MESSAGE_TYPE_IDX] = SPOLL;
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tx_near_msg[NEARP_TAGFREQ_INDEX] = tag_frequency;
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tx_near_msg[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;
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memcpy(&tx_near_msg[ANCHOR_ID_IDX],&singlepoll_baseid[singlepoll_i],2);
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dwt_writetxdata(28+6*nearbase_num, tx_near_msg, 0);//½«Poll°üÊý¾Ý´«¸øDW1000£¬½«ÔÚ¿ªÆô·¢ËÍʱ´«³öÈ¥
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dwt_writetxfctrl(28+6*nearbase_num, 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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/* 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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{
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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)&&!memcmp(&rx_buffer[ANCHOR_ID_IDX],&singlepoll_baseid[singlepoll_i],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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current_count=HAL_LPTIM_ReadCounter(&hlptim1);
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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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ancsync_time=((sync_timer)*1000+tmp_time);
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last_slotnum=current_slotnum;
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temptimer = sync_timer-10;
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if(temptimer<0)
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{temptimer+=1000;}
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//current_slotnum=((float)temptimer/(SLOTTIME_MS*bigslot_num))+1;
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if(current_slotnum==last_slotnum-1)
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{flag_getresponse=1;}
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lastsync_timer=sync_timer;
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//offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
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SetNextPollTime(tagslotpos);
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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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singlepoll_basedist[singlepoll_i] = temp_dist;
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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&&temp_dist!=0)
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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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// trygetnearmsg_times=10*tag_frequency;
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// mindist=temp_dist;
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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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// singlepoll_basedist[singlepoll_i] = 0x1ffff;
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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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// singlepoll_basedist[singlepoll_i] = 0x1ffff;
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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=minid;
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// mainbase_id = 0x4;
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}
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u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32],mainbase_type;;
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void GetNearMsg(void)
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{
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u32 start_poll,frame_len;
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//mainbase_id = 0x9724;
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memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
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memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);
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tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
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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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dwt_writetxdata(12, tx_near_msg, 0);//½«Poll°üÊý¾Ý´«¸øDW1000£¬½«ÔÚ¿ªÆô·¢ËÍʱ´«³öÈ¥
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dwt_writetxfctrl(12, 0);//ÉèÖó¬¿í´ø·¢ËÍÊý¾Ý³¤¶È
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dwt_starttx(DWT_START_TX_IMMEDIATE| DWT_RESPONSE_EXPECTED);
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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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{
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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] == NEAR_MSG&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //ÅжϽÓÊÕµ½µÄÊý¾ÝÊÇ·ñÊÇresponseÊý¾Ý
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{
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nearbase_num=rx_buffer[NEARBASENUM_INDEX];
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memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
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// tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
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//tagslotpos=rx_buffer[TAGSLOTPOS];
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memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
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memcpy(nearbaseid_list2,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
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//slottime=ceil((nearbase_num+2)*0.3)+1;
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//tyncpoll_time=tagslotpos*slottime;
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//tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;
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tag_state=NEARPOLL;
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}
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}else{
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// tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
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}
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}
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void NearPoll(void)
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{
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uint32_t temp1,temp2,dw_systime,mindist_slavebaseid;
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uint32_t final_tx_time;
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u32 start_poll;
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u8 i,j,getsync_flag=0,timeout;
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// USART_putc(current_slotnum);
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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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salvebase_mindist=999999;
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if(next_nearbase_num>=MAX_NEARBASE_NUM)
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{
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next_nearbase_num = MAX_NEARBASE_NUM-1;
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}
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// HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
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recbase_num=0;
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// motor_state=0;
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tx_near_msg[BATTARY_IDX] = bat_percent;
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tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2;
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tx_near_msg[SEQUENCE_IDX] = frame_seq_nb;
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tx_near_msg[SEQUENCEH_IDX] = (frame_seq_nb++)>>8;
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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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memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&nearbase_distlist,nearbase_num*4+4);
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if(intheight!=0)
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intheight+=g_com_map[HEIGHTOFFEST_INDEX];
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memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6+4],&intheight,2);
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tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;
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tx_near_msg[NEARP_TAGFREQ_INDEX] = tag_frequency;
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tx_near_msg[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;
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memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
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dwt_writetxdata(28+6*nearbase_num, tx_near_msg, 0);//½«Poll°üÊý¾Ý´«¸øDW1000£¬½«ÔÚ¿ªÆô·¢ËÍʱ´«³öÈ¥
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dwt_writetxfctrl(28+6*nearbase_num, 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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// for(i=0;i<nearbase_num+1;i++)
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// {
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// nearbase_distlist[i] = 0x1ffff;
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// }
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tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
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para_update = 0;
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flag_finalsend=0;
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flag_rxon=1;
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flag_getresponse=0;
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start_count=HAL_LPTIM_ReadCounter(&hlptim1);
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recbase_num=0;
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timeout=ceil((float)nearbase_num*SLOT_SCALE)+2;
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end_count=start_count+(timeout<<5);
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if(end_count>=32768)
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{end_count-=32768;}
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mainbase_dist=100000;
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mainbase_lost_count++;
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current_count=HAL_LPTIM_ReadCounter(&hlptim1);
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while(current_count<end_count||current_count>end_count+15000)
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{
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current_count=HAL_LPTIM_ReadCounter(&hlptim1);
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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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{
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current_count=HAL_LPTIM_ReadCounter(&hlptim1);
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if(current_count>=end_count&¤t_count<end_count+15000)
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break;
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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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dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);//É趨½ÓÊÕ³¬Ê±Ê±¼ä£¬0λûÓг¬Ê±Ê±¼ä
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dwt_rxenable(0);//´ò¿ª½ÓÊÕ
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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] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //ÅжϽÓÊÕµ½µÄÊý¾ÝÊÇ·ñÊÇresponseÊý¾Ý
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{ u16 rec_nearbaseid,rec_nearbasepos;
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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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recbase_num++;
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memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
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if(rec_nearbaseid==mainbase_id)
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{
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//////////////////////////////////ʱ¼äͬ²½
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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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current_count=HAL_LPTIM_ReadCounter(&hlptim1);
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dwt_forcetrxoff();
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final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS) * UUS_TO_DWT_TIME)) >> 8;
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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_near_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//½«T1£¬T4£¬T5дÈë·¢ËÍÊý¾Ý
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final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+nearbase_num*4], resp_rx_ts);
|
final_msg_set_ts(&tx_near_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
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tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
|
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if(rec_remotepara_state&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2))
|
{
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para_update = 1;
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tx_near_msg[TAGCONFIGSUCCESS_INDEX] = 1;
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para_len = frame_len-22;
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memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],para_len);
|
}
|
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
|
userkey_state = !GET_USERKEY;
|
|
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
|
mainbase_dist=temp_dist;
|
nearbase_distlist[0] = temp_dist;
|
base_mindist = 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);
|
|
|
flag_getresponse=1;
|
//ʱ¼äͬ²½
|
tmp_time=tmp_time+450;
|
if(tmp_time>999)
|
{
|
tmp_time-=999;
|
sync_timer++;
|
if(sync_timer>=1000)
|
{sync_timer=0;}
|
}
|
ancsync_time=((sync_timer)*1000+tmp_time);
|
last_slotnum=current_slotnum;
|
current_slotnum=((float)(sync_timer*10 - tagslotpos*SLOTTIME_MS)/(SLOTTIME_MS*bigslot_num))+1;
|
if(current_slotnum==last_slotnum-1)
|
{flag_getresponse=1;}
|
lastsync_timer=sync_timer;
|
offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
|
SetNextPollTime(tagslotpos);
|
if(result==0)
|
{while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//²»¶Ï²éѯоƬ״ֱ̬µ½·¢ËÍÍê³É
|
{ };}
|
break;
|
}else{
|
|
rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
|
exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
|
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
|
memcpy(&nearbase_switchdistlist[rec_nearbasepos],&rx_buffer[NR_NEARSWITCH_DISTANCE],2);
|
nearbase_distlist[rec_nearbasepos+1]=temp_dist; // nearbase_distlist[1]¶ÔÓ¦ rec_nearbaseid[0]µÄ¾àÀë
|
final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
|
if(temp_dist<salvebase_mindist)
|
{
|
salvebase_mindist = temp_dist;
|
mindist_slavebaseid = rec_nearbaseid;
|
}
|
#ifdef SWITCHBASE_ZHUANDIAN
|
if(temp_dist<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]!=0&&temp_dist>0)
|
{
|
mainbase_id = rec_nearbaseid;
|
tag_state = GETNEARMSG;
|
}
|
#endif
|
|
}
|
}
|
}else{
|
dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
|
if(recbase_num!=nearbase_num+1)
|
{dwt_rxenable(0); }
|
// if(flag_rxon)
|
// {
|
// dwt_rxenable(0);
|
// }
|
}
|
// dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
|
}
|
if(flag_finalsend!=1)
|
{flag_finalsend = 2;}
|
dwt_forcetrxoff();
|
dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
|
|
if(mainbase_lost_count==0)
|
{
|
#ifdef SWITCHBASE_DIST
|
if(salvebase_mindist<mainbase_dist- THRESHOLD_CHANGE_MAINBASE_DIST )
|
{
|
changemainbase_count++;
|
if(changemainbase_count>tag_frequency*2)
|
{
|
mainbase_id = mindist_slavebaseid;
|
tag_state = GETNEARMSG;
|
}
|
}else{
|
changemainbase_count = 0;
|
}
|
#endif
|
}else if(mainbase_lost_count>10*tag_frequency)
|
{
|
tag_state = STARTPOLL;
|
}
|
|
if(para_update)
|
{
|
uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
|
pack_msgtype = rec_remotepara[0];
|
pack_index = rec_remotepara[1];
|
pack_length = rec_remotepara[2];
|
if(pack_msgtype==2)
|
{
|
if( pack_index == MOTOR_ONTIME_INDEX)
|
{
|
if(motor_keeptime==0)
|
motor_keeptime = rec_remotepara[3];
|
}else{
|
if(pack_index<200)
|
{
|
memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
|
//·µ»ØÒ»¸öerror״̬
|
//SendComMap(pack_datalen,pack_index);
|
save_com_map_to_flash();
|
delay_ms(100);
|
NVIC_SystemReset();
|
}
|
}
|
}
|
}
|
for(i=0;i<nearbase_num;i++)
|
{
|
if(nearbaseid_list[i]!=nearbaseid_list2[i])
|
{
|
tag_state = GETNEARMSG;
|
}
|
}
|
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);
|
|
}
|
extern uint8_t module_power,imu_enable,motor_enable;
|
|
void Registor_Poll(void)
|
{
|
static u8 regpoll_count=0;
|
tag_frequency = REGISTER_FREQUENCY;
|
bigslot_num = TOTAL_SLOTNUM/tag_frequency;
|
regpoll_count++;
|
if(regpoll_count%2)
|
{
|
if(tagslotpos--<2)
|
tagslotpos=TOTAL_SLOTNUM;
|
}
|
SetNextPollTime(tagslotpos);
|
dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //ÉèÖ÷¢Ëͺó¿ªÆô½ÓÊÕ£¬²¢É趨ÑÓ³Ùʱ¼ä
|
dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
|
|
tx_near_msg[REGP_TAGSTATE_INDEX] = !GET_USERKEY<<2|imu_enable<<1|motor_enable;
|
tx_near_msg[MESSAGE_TYPE_IDX] = REG_POLL;
|
tx_near_msg[REGP_FREQUENCY_INDEX] = 1000/g_com_map[COM_INTERVAL];
|
tx_near_msg[REGP_POWER_INDEX] = module_power;
|
memcpy(&tx_near_msg[REGP_VERSION_INDEX],&g_com_map[VERSION],2);
|
memcpy(&tx_near_msg[REGP_IMUTHRES_INDEX],&g_com_map[IMU_THRES],2);
|
memcpy(&tx_near_msg[REGP_NOMOVESLEEPTIME_INDEX],&g_com_map[NOMOVESLEEP_TIME],2);
|
memcpy(&tx_near_msg[REGP_HEIGHTOFFSET_INDEX],&g_com_map[HEIGHTOFFEST_INDEX],2);
|
dwt_writetxdata(23, tx_near_msg, 0);//½«Poll°üÊý¾Ý´«¸øDW1000£¬½«ÔÚ¿ªÆô·¢ËÍʱ´«³öÈ¥
|
dwt_writetxfctrl(23, 0);//ÉèÖó¬¿í´ø·¢ËÍÊý¾Ý³¤¶È
|
dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//¿ªÆô·¢ËÍ£¬·¢ËÍÍê³ÉºóµÈ´ýÒ»¶Îʱ¼ä¿ªÆô½ÓÊÕ£¬µÈ´ýʱ¼äÔÚdwt_setrxaftertxdelayÖÐÉèÖÃ
|
while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//²»¶Ï²éѯоƬ״ֱ̬µ½³É¹¦½ÓÊÕ»òÕß·¢Éú´íÎó
|
{
|
IdleTask();
|
|
};
|
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] == REG_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //ÅжϽÓÊÕµ½µÄÊý¾ÝÊÇ·ñÊÇresponseÊý¾Ý
|
{ u16 rec_nearbaseid,rec_nearbasepos;
|
|
memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
|
tag_frequency = rx_buffer[REGR_TAGFREQ_INDEX];
|
bigslot_num = TOTAL_SLOTNUM/tag_frequency;
|
tagslotpos = rx_buffer[REGR_TAGSLOTPOS_INDEX];
|
//////////////////////////////////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;}
|
}
|
ancsync_time=((sync_timer)*1000+tmp_time);
|
last_slotnum=current_slotnum;
|
temptimer = sync_timer-10;
|
if(temptimer<0)
|
{temptimer+=1000;}
|
current_slotnum=((float)temptimer/(SLOTTIME_MS*bigslot_num))+1;
|
if(current_slotnum==last_slotnum-1)
|
{flag_getresponse=1;}
|
lastsync_timer=sync_timer;
|
offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
|
// SetNextPollTime(tagslotpos);
|
mainbase_id=rec_nearbaseid;
|
nearbase_num=rx_buffer[NEARBASENUM_INDEX];
|
memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
|
memcpy(nearbaseid_list2,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
|
if(tagslotpos!=255)
|
tag_state = NEARPOLL;
|
}
|
}
|
}
|
u32 id,error_times=0;
|
|
extern float Height;
|
void Tag_App(void)//·¢ËÍģʽ(TAG±êÇ©)
|
{
|
|
//LED0_ON;
|
SPIx_CS_GPIO->BRR = SPIx_CS;
|
delay_us(700);
|
GetPressAndHeight();
|
intheight = Height*100;
|
SPIx_CS_GPIO->BSRR = SPIx_CS;
|
id = dwt_readdevid() ;
|
while (DWT_DEVICE_ID != id)
|
{
|
// Dw1000_Init();
|
id = dwt_readdevid() ;
|
IdleTask();
|
if(error_times++>20)
|
{
|
printf("DW ID ERROR.\r\n");
|
SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader
|
}
|
}
|
error_times = 0;
|
switch(tag_state)
|
{
|
case REGPOLL:
|
LED_LG_ON;
|
Registor_Poll();
|
LED_LG_OFF;
|
break;
|
case DISCPOLL:
|
LED_LG_ON;
|
Poll();
|
LED_LG_OFF;
|
break;
|
case GETNEARMSG:
|
trygetnearmsg_times--;
|
LED_LG_ON;
|
GetNearMsg();
|
LED_LG_OFF;
|
if(trygetnearmsg_times==0)
|
{
|
tag_state = STARTPOLL;
|
}
|
break;
|
case NEARPOLL:
|
NearPoll();
|
break;
|
case SINGLEPOLL:
|
Poll();
|
break;
|
}
|
userkey_state = !GET_USERKEY;
|
dwt_entersleep();
|
}
|
