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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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#include "CRC.h"
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//#define USART_INTEGRATE_OUTPUT
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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 410
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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 DELAY_BETWEEN_TWO_FRAME_UUS 400
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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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enum enumtagstate
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{
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DISCPOLL,
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GETNEARMSG,
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NEARPOLL,
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}tag_state=NEARPOLL;
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static dwt_config_t config = {
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5, /* 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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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[80] = {0};
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static uint32_t frame_seq_nb = 0;
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static uint32_t status_reg = 0;
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static uint8_t rx_buffer[100];
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static uint64_t poll_tx_ts;
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static uint64_t resp_rx_ts;
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static uint64_t final_tx_ts;
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static uint64_t poll_rx_ts;
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static uint64_t resp_tx_ts;
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static uint64_t final_rx_ts;
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static double tof;
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int32_t anchor_dist_last_frm[TAG_NUM_IN_SYS],his_dist[TAG_NUM_IN_SYS]; ;
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uint32_t tag_id = 0;
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uint32_t tag_id_recv = 0;
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uint32_t anc_id_recv = 0;
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uint8_t random_delay_tim = 0;
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double distance, dist_no_bias, dist_cm;
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uint32_t g_UWB_com_interval = 0;
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float dis_after_filter; //µ±Ç°¾àÀëÖµ
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LPFilter_Frac* p_Dis_Filter; //²â¾àÓõĵÍͨÂ˲¨Æ÷
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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[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;
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uint8_t trygetnearmsg_times;
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u16 nearbaseid_list[MAX_NEARBASE_NUM],mainbase_id,true_nearbase_idlist[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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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;
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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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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=2700;
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u8 motor_state,rec_remotepara_state,rec_remotepara[80];
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extern u16 last_lpcount;
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void NearPoll(void)
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{
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uint32_t temp1,temp2,dw_systime;
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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,j,getsync_flag=0,timeout,flag_ancreadpara=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(10000);
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tag_succ_times = 0;
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//GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
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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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last_nearbase_num=next_nearbase_num;
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nearbase_num=next_nearbase_num;
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recbase_num=0;
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// motor_state=0;
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tx_near_msg[GROUP_ID_IDX] = group_id;
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tx_near_msg[BATTARY_IDX] = bat_percent;
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tx_near_msg[BUTTON_IDX] = !GET_USERKEY|stationary_flag<<1;
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tx_near_msg[SEQUENCE_IDX] = frame_seq_nb++;
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tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
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memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
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tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;
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memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
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dwt_writetxdata(13+2*nearbase_num, tx_near_msg, 0);//½«Poll°üÊý¾Ý´«¸øDW1000£¬½«ÔÚ¿ªÆô·¢ËÍʱ´«³öÈ¥
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dwt_writetxfctrl(13+2*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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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=nearbase_num*SLOT_SCALE+4;
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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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if(flag_finalsend)
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{
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dw_systime=dwt_readsystimestamphi32();
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if(dw_systime>temp1&&dw_systime<temp2)
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{
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dwt_forcetrxoff();
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flag_rxon=0;
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if(flag_ancreadpara)
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{
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u16 calCRC;
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tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_PRAAREPLY;
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memcpy(&tx_near_msg[MESSAGE_PARAREPLY_IDX],g_com_map,SENDANCPARA_LEN);
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calCRC = CRC_Compute((uint8_t*)g_com_map,SENDANCPARA_LEN);
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memcpy(&tx_near_msg[MESSAGE_PARAREPLY_IDX+SENDANCPARA_LEN],&calCRC,2);
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dwt_writetxdata(14+SENDANCPARA_LEN, tx_near_msg, 0);//½«·¢ËÍÊý¾ÝдÈëDW1000
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dwt_writetxfctrl(14+SENDANCPARA_LEN, 0);//É趨·¢ËÍÊý¾Ý³¤¶È
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}
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dwt_setdelayedtrxtime(final_tx_time);
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result=dwt_starttx(DWT_START_TX_DELAYED);//É趨ΪÑÓ³Ù·¢ËÍ
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flag_finalsend=0;
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break;
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}
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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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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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dwt_setrxtimeout(0);//DELAY_BETWEEN_TWO_FRAME_UUS*(nearbase_num+1-recbase_num)+10);//É趨½ÓÊÕ³¬Ê±Ê±¼ä£¬0λûÓг¬Ê±Ê±¼ä
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dwt_rxenable(0);//´ò¿ª½ÓÊÕ
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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
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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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rec_remotepara_state = rx_buffer[MOTORSTATE_INDEX]>>4;
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if(rec_remotepara_state != 0)
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{
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para_update = rec_remotepara_state;
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memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],7);
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if(para_update==2)
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{
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flag_ancreadpara = 1;
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}
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}
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if(last_nearbase_num==0)
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{
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get_newbase=1;
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nearbaseid_list[0]=rec_nearbaseid;
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nearbase_num=1;
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memcpy(&tx_near_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
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}
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if(rec_nearbaseid==nearbaseid_list[0])
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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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// memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
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tmp_time=tmp_time+450;
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if(tmp_time>999)
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{
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tmp_time-=999;
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sync_timer++;
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if(sync_timer>=1010)
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{sync_timer=0;}
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}
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// TIM3->CNT=tmp_time;
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// if(tagslotpos>max_slotpos)
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// tagslotpos=tagslotpos%(max_slotpos+1);
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// tyncpoll_time=(tagslotpos-1)*slottime;
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////////////////////////////
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rec_nearbasepos=0;
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exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
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memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
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nearbase_distlist[rec_nearbasepos]=temp_dist;
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if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
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motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
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|
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mainbase_lost_count=0;
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flag_finalsend=1;
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memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);
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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;
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temp1=final_tx_time-((850*UUS_TO_DWT_TIME)>>8);
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temp2=final_tx_time+((100*UUS_TO_DWT_TIME)>>8);
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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_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], resp_rx_ts);
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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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tx_near_msg[GROUP_ID_IDX] = group_id;
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dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//½«·¢ËÍÊý¾ÝдÈëDW1000
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dwt_writetxfctrl(28+nearbase_num*4, 0);//É趨·¢ËÍÊý¾Ý³¤¶È
|
flag_getresponse=1;
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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;
|
// tyncpoll_time=0;
|
next_nearbase_num=0;
|
j = 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(mainbase_lost_count>1&&exsistbase_list[0] != 0)
|
{
|
last_lpcount+= HAL_LPTIM_ReadCounter(&hlptim1)%(g_com_map[COM_INTERVAL]*16);
|
}
|
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);
|
if(para_update==1)
|
{
|
uint16_t calCRC;
|
calCRC = CRC_Compute(rec_remotepara,5);
|
if(memcmp(&calCRC,&rec_remotepara[5],2)==0)
|
{ uint8_t pack_msgtype,pack_index,pack_length;
|
pack_msgtype = rec_remotepara[0];
|
pack_index = rec_remotepara[1];
|
pack_length = rec_remotepara[2];
|
if(pack_msgtype==2)
|
{
|
if( pack_index == 1)//MOTOR_ONTIME_INDEX)
|
{
|
|
// 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();
|
}
|
}
|
}
|
}
|
}
|
}
|
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();
|
bat_percent=Get_VDDVlotage();
|
}
|
