#include <string.h>
|
//#include "stm32f4xx_hal.h"
|
#include "filters.h"
|
#include "ADC.h"
|
#include "deca_device_api.h"
|
#include "deca_regs.h"
|
#include "dw_driver.h"
|
#include "Spi.h"
|
#include "led.h"
|
#include "serial_at_cmd_app.h"
|
#include "Usart.h"
|
#include "global_param.h"
|
#include "filters.h"
|
#include <stdio.h>
|
#include "beep.h"
|
#include <math.h>
|
#include "TrackingDiff.h"
|
//#include "UDPClient.h"
|
//#include "Uart.h"
|
//#include "DBG.h"
|
#include "CRC.h"
|
#define DBGMSG_OUTPUT
|
#define SENDANCPARA_LEN 102
|
#define SPEED_OF_LIGHT 299702547
|
#define UUS_TO_DWT_TIME 65536
|
#define POLL_TX_TO_RESP_RX_DLY_UUS 150
|
#define RESP_RX_TO_FINAL_TX_DLY_UUS 410
|
#define RESP_RX_TIMEOUT_UUS 2000
|
#define DELAY_BETWEEN_TWO_FRAME_UUS 400
|
#define POLL_RX_TO_RESP_TX_DLY_UUS 2000
|
#define RESP_TX_TO_FINAL_RX_DLY_UUS 10
|
#define FINAL_RX_TIMEOUT_UUS 4300
|
|
#define WHITELIST1_START 0x25
|
#define WHITELIST1_END 0x26
|
#define MODBUS_ID1 0x11
|
#define FZ_NEARBASENUM_INDEX 10
|
#define FZ_NEARBASEID_INDEX 11
|
|
#define RESP_MSG_POLL_RX_TS_IDX 26
|
#define RESP_MSG_RESP_TX_TS_IDX 30
|
#define RESP_MSG_ANC_DISTOFFSET 34
|
#define MBX_ANC_NUM_IN_SYS 50
|
#define QUIT_SLOT_TIME 5
|
static uint64_t resp_tx_ts;
|
static uint64_t final_rx_ts;
|
static uint32_t status_reg,resp_tx_time,tagpos_binary;
|
static uint8_t frame_len,recpoll_len,current_syncid,new_tagid,seize_anchor,result,g_start_sync_flag;
|
static uint8_t rx_buffer[150];
|
static uint16_t anc_id_recv,tag_id_recv;
|
static uint8_t flag_syncbase,sync_seq,synclost_timer,temp_nearbaspos;
|
static uint16_t sync_timer;
|
static uint8_t send_buffer[150];
|
static uint8_t frame_seq_nb2,battary,button,ancidlist_num;
|
uint8_t rec_nearbase_num;
|
static uint16_t ancidlist_rec[TAG_NUM_IN_SYS],ancidlist_send[TAG_NUM_IN_SYS],rec_ancidlist[TAG_NUM_IN_SYS],rec_ancdistlist[TAG_NUM_IN_SYS];
|
static int16_t rec_antdelay;
|
static uint16_t taglist_num=0,taglist_pos,tmp_time;
|
static uint16_t tagid_list[TAG_NUM_IN_SYS];
|
uint8_t tagbattary_list[TAG_NUM_IN_SYS];
|
static uint8_t tagofflinetime[TAG_NUM_IN_SYS];
|
static int32_t tagdist_list[TAG_NUM_IN_SYS];
|
static uint8_t tagpos_rec[50];
|
static uint64_t poll_rx_ts;
|
static uint8_t g_flag_Taggetdist[TAG_NUM_IN_SYS],flag_tag_distsmooth[TAG_NUM_IN_SYS],misdist_num[TAG_NUM_IN_SYS];
|
static uint32_t poll_tx_ts, resp_rx_ts, final_tx_ts;
|
static uint32_t poll_rx_ts_32, resp_tx_ts_32, final_rx_ts_32;
|
static double Ra, Rb, Da, Db;
|
static int64_t tof_dtu;
|
static double tof;
|
static double distance, dist_no_bias, dist_cm;
|
extern dwt_config_t config;
|
static double firstpath_power, rx_power,rec_firstpath_power;
|
static double f1, f2, r1, r2;
|
static uint16_t F1,F2,F3,N,C;
|
const double B = 131072;
|
const double A = 121.74;
|
double min_power;
|
static dwt_rxdiag_t d1;
|
static int32_t hex_dist,his_dist[TAG_NUM_IN_SYS];
|
extern uint16_t g_Resttimer;
|
static int32_t filter_dist,g_Tagdist[TAG_NUM_IN_SYS];
|
double LOS(dwt_rxdiag_t *dia) {
|
F1 = dia->firstPathAmp1;
|
F2 = dia->firstPathAmp2;
|
F3 = dia->firstPathAmp3;
|
N = dia->rxPreamCount;
|
C = dia->maxGrowthCIR;
|
|
firstpath_power=10* log10((F1*F1+F2*F2+F3*F3)/(N*N))-A;
|
rx_power=10*log10(C*B/(N*N))-A;
|
|
// min_power = - 10 * log10((F1 *F1 + F2 * F2 + F3 * F3) / (C *B));
|
return min_power;
|
}
|
static uint64_t get_tx_timestamp_u64(void)
|
{
|
uint8_t ts_tab[5];
|
uint64_t ts = 0;
|
int i;
|
dwt_readtxtimestamp(ts_tab);
|
for (i = 4; i >= 0; i--)
|
{
|
ts <<= 8;
|
ts |= ts_tab[i];
|
}
|
return ts;
|
}
|
|
static uint64_t get_rx_timestamp_u64(void)
|
{
|
uint8_t ts_tab[5];
|
uint64_t ts = 0;
|
int i;
|
dwt_readrxtimestamp(ts_tab);
|
for (i = 4; i >= 0; i--)
|
{
|
ts <<= 8;
|
ts |= ts_tab[i];
|
}
|
return ts;
|
}
|
|
static void final_msg_set_ts(uint8_t *ts_field, uint64_t ts)
|
{
|
int i;
|
for (i = 0; i < FINAL_MSG_TS_LEN; i++)
|
{
|
ts_field[i] = (uint8_t) ts;
|
ts >>= 8;
|
}
|
}
|
|
static void final_msg_get_ts(const uint8_t *ts_field, uint32_t *ts)
|
{
|
int i;
|
*ts = 0;
|
for (i = 0; i < FINAL_MSG_TS_LEN; i++)
|
{
|
*ts += ts_field[i] << (i * 8);
|
}
|
}
|
void TagListUpdate(void)
|
{
|
uint16_t i,j=0,temp[TAG_NUM_IN_SYS];
|
for(i=0;i<taglist_num;i++)
|
{
|
if(tagofflinetime[i]++<QUIT_SLOT_TIME)
|
{
|
tagid_list[j]=tagid_list[i];
|
tagofflinetime[j++]=tagofflinetime[i];
|
}
|
}
|
taglist_num=j;
|
}
|
uint16_t CmpTagInList(uint16_t tagid)
|
{uint16_t i;
|
for(i=0;i<taglist_num;i++)
|
{
|
if(memcmp(&tagid,&tagid_list[i],2)==0)
|
break;
|
}
|
tagofflinetime[i] = 0;
|
return i;
|
}
|
static void resp_msg_set_ts(uint8_t *ts_field, const uint64_t ts)
|
{
|
int i;
|
for (i = 0; i < 4; i++)
|
{
|
ts_field[i] = (ts >> (i * 8)) & 0xFF;
|
}
|
}
|
extern uint16_t current_time,start_time,end_time;
|
uint32_t uwb_timeout;
|
extern uint32_t lp_time;
|
//extern u8 uwb_timeout;
|
u16 basesystimer,uwb_losttimer;
|
uint8_t remotesend_state,remotesend_index;
|
uint16_t random_time;
|
uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos) //0 mainbase 1 first near_base
|
{
|
uint8_t motorstate;
|
// tmp_time=TIM3->CNT;
|
temp_nearbaspos = ancrec_nearbasepos;
|
memcpy(&send_buffer[ANCHOR_ID_IDX],&dev_id,2);
|
memcpy(&send_buffer[ANCTIMEMS],&basesystimer,2);
|
// memcpy(&send_buffer[ANCTIMEUS],&tmp_time,2);
|
send_buffer[TAGFREQ_IDX] = tag_frequency;
|
memcpy(&send_buffer[TAG_ID_IDX],&tag_id_recv,2);
|
poll_rx_ts = get_rx_timestamp_u64();//»ñµÃPoll°ü½ÓÊÕʱ¼äT2
|
|
if(rec_nearbase_num == ancrec_nearbasepos)//ÇÀռģʽ
|
{
|
random_time = (GetLPTime()%100);
|
resp_tx_time = (poll_rx_ts+((random_time+rec_nearbase_num*20 + POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//¼ÆËãResponse·¢ËÍʱ¼äT3¡£
|
|
}else{
|
resp_tx_time = (poll_rx_ts + ((rec_nearbase_num*20+POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//¼ÆËãResponse·¢ËÍʱ¼äT3¡£
|
}
|
dwt_setdelayedtrxtime(resp_tx_time);//ÉèÖÃResponse·¢ËÍʱ¼äT3
|
dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//ÉèÖ÷¢ËÍÍê³Éºó¿ªÆô½ÓÊÕÑÓ³Ùʱ¼ä
|
dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//½ÓÊÕ³¬Ê±Ê±¼ä
|
resp_tx_ts = (((uint64_t)(resp_tx_time & 0xFFFFFFFEUL)) << 8) ;
|
|
/* Write all timestamps in the final message. See NOTE 8 below. */
|
resp_msg_set_ts(&send_buffer[RESP_MSG_POLL_RX_TS_IDX], poll_rx_ts);
|
resp_msg_set_ts(&send_buffer[RESP_MSG_RESP_TX_TS_IDX], resp_tx_ts);
|
memcpy(&send_buffer[RESP_MSG_ANC_DISTOFFSET],&g_com_map[DIST_OFFSET],2);
|
if(new_tagid)
|
{
|
tagdist_list[taglist_pos]=0x1ffff;
|
memcpy(&send_buffer[DIST_IDX], &tagdist_list[taglist_pos], 4);
|
}else{
|
memcpy(&send_buffer[DIST_IDX], &tagdist_list[taglist_pos], 4);
|
}
|
motorstate =0;
|
if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1]||tagdist_list[taglist_pos]<0)
|
{
|
motorstate =0;
|
}
|
else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
|
{
|
if(flag_tag_distsmooth[taglist_pos])
|
{motorstate =2;
|
}else{
|
motorstate =0;
|
}
|
}else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE3])
|
{
|
if(flag_tag_distsmooth[taglist_pos])
|
{motorstate =1;
|
}else{
|
motorstate =0;
|
}
|
}
|
send_buffer[GROUP_ID_IDX] = group_id;
|
// send_buffer[MAINBASE_INDEX]=flag_syncbase;
|
send_buffer[MESSAGE_TYPE_IDX]=MBX_RESPONSE;
|
send_buffer[MOTORSTATE_INDEX]=motorstate;//(remotesend_state<<4)|motorstate;
|
send_buffer[MOTORSTATE_INDEX]&=0x0f;
|
remotesend_state = 0;
|
|
// for(uint8_t i=0;i<PWTAG_MAXGROUPNUM;i++)
|
// {
|
// if(pwtag[i].remain_time!=0)
|
// {
|
// if(pwtag[i].id==tag_id_recv)
|
// {
|
// uint16_t calCRC;
|
// uint8_t remotetag_para[10],remotetag_paralen;
|
// remotesend_state=1;
|
// remotesend_index = i;
|
// if(pwtag[i].index==200)
|
// {remotesend_state = 2;}
|
// send_buffer[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
|
// remotetag_paralen = 2+3+2;
|
// remotetag_para[0] = 2;
|
// remotetag_para[1] = pwtag[i].index;
|
// remotetag_para[2] = 2;
|
// memcpy(&remotetag_para[3],&pwtag[i].value,2);
|
// calCRC = CRC_Compute(remotetag_para,5);
|
// memcpy(&remotetag_para[5],&calCRC,2);
|
// memcpy(&send_buffer[REMOTEPARA_INDEX],remotetag_para,remotetag_paralen);
|
// dwt_writetxdata(24+remotetag_paralen, send_buffer, 0);//дÈë·¢ËÍÊý¾Ý
|
// dwt_writetxfctrl(24+remotetag_paralen, 0);//É趨·¢Ëͳ¤¶È
|
//
|
// //finalsend = 1;
|
// break;
|
// }
|
// }
|
// }
|
|
dwt_writetxdata(38, send_buffer, 0);//дÈë·¢ËÍÊý¾Ý
|
dwt_writetxfctrl(38, 0);//É趨·¢Ëͳ¤¶È
|
result = dwt_starttx(DWT_START_TX_DELAYED);
|
// if(remotesend_state==0)
|
// {
|
// dwt_writetxdata(38, send_buffer, 0);//дÈë·¢ËÍÊý¾Ý
|
// dwt_writetxfctrl(38, 0);//É趨·¢Ëͳ¤¶È
|
// result = dwt_starttx(DWT_START_TX_DELAYED);
|
//// uwb_timeout = 0;
|
// if(result == 0)
|
uwb_timeout=lp_time;
|
while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_TXFRS )))///²»¶Ï²éѯоƬ״ֱ̬µ½½ÓÊճɹ¦»òÕß³öÏÖ´íÎó
|
{
|
// current_time=HAL_LPTIM_ReadCounter(&hlptim1);
|
// if(current_time>end_time||current_time<end_time+15000)
|
// break;
|
if(lp_time-uwb_timeout>2)
|
break;
|
};
|
// }else{
|
// result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//ÑÓ³Ù·¢ËÍ£¬µÈ´ý½ÓÊÕ
|
|
|
// if(result==0)
|
// {
|
// while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_sync_flag)///²»¶Ï²éѯоƬ״ֱ̬µ½½ÓÊճɹ¦»òÕß³öÏÖ´íÎó
|
// { };
|
// }else{
|
// if(g_com_map[MODBUS_ID1]==1)
|
// {
|
// #ifdef DBGMSG_OUTPUT
|
// printf("·¢Ëͳ¬Ê±");
|
// #endif
|
// }
|
// result++;
|
// }
|
// if(!(status_reg& SYS_STATUS_RXFCG))
|
// {
|
// dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
|
// dwt_rxenable(0);
|
// while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_sync_flag)///²»¶Ï²éѯоƬ״ֱ̬µ½½ÓÊճɹ¦»òÕß³öÏÖ´íÎó
|
// { };
|
// }
|
|
// if (status_reg & SYS_STATUS_RXFCG)//½ÓÊճɹ¦
|
// {
|
//
|
// dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//Çå³þ±ê־λ
|
// frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;//Êý¾Ý³¤¶È
|
// dwt_readrxdata(rx_buffer, frame_len, 0);//¶ÁÈ¡½ÓÊÕÊý¾Ý
|
// if(rx_buffer[MESSAGE_TYPE_IDX] == MBX_PRAAREPLY)
|
// {
|
// u16 calCRC,recCRC,rec_commap[SENDANCPARA_LEN];
|
// calCRC = CRC_Compute(&rx_buffer[MESSAGE_PARAREPLY_IDX],SENDANCPARA_LEN);
|
// memcpy(&recCRC,&rx_buffer[MESSAGE_PARAREPLY_IDX+SENDANCPARA_LEN],2);
|
// if(memcmp(&recCRC,&calCRC,2)==0)
|
// {
|
// uint8_t buffer_len,datalen,tempindex;
|
// char send_buffer[200];
|
// memcpy(rec_commap,&rx_buffer[MESSAGE_PARAREPLY_IDX],SENDANCPARA_LEN);
|
// pwtag[remotesend_index].remain_time = 0;
|
// buffer_len = sprintf(send_buffer,"$replypara_anchor,");
|
// datalen = sprintf(&send_buffer[buffer_len],"%x,",pwtag[remotesend_index].id);
|
// buffer_len += datalen;
|
// for(uint16_t i=0;i<SENDANCPARA_LEN/2;i++)
|
// {
|
// datalen = sprintf(&send_buffer[buffer_len],"%d,",rec_commap[i]);
|
// buffer_len += datalen;
|
// }
|
// send_buffer[buffer_len++] = 'e';
|
// send_buffer[buffer_len++] = 'n';
|
// send_buffer[buffer_len++] = 'd';
|
// send_buffer[buffer_len++] = 0x0d;
|
// send_buffer[buffer_len++] = 0x0a;
|
// UDPClient_Uploadhex((uint8_t*)send_buffer,buffer_len);
|
//
|
// }
|
// }
|
// if(seize_anchor&&memcmp(&rx_buffer[ANCHOR_ID_IDX],&dev_id,2)) //ÇÀÕ¼anchor ʧ°Ü
|
// {
|
// if(g_com_map[MODBUS_ID1]==1)
|
// {
|
// #ifdef DBGMSG_OUTPUT
|
// printf("ÇÀռʧ°Ü");
|
// #endif
|
// }
|
// return 1;
|
// }
|
// if (rx_buffer[MESSAGE_TYPE_IDX] == MBX_FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)&&group_id==rx_buffer[GROUP_ID_IDX]) //ÅжÏÊÇ·ñΪFinal°ü
|
// {
|
|
//
|
// resp_tx_ts = get_tx_timestamp_u64();//»ñµÃresponse·¢ËÍʱ¼äT3
|
// final_rx_ts = get_rx_timestamp_u64();//»ñµÃfinal½ÓÊÕʱ¼äT6
|
// final_msg_get_ts(&rx_buffer[FINAL_MSG_POLL_TX_TS_IDX], &poll_tx_ts);//´Ó½ÓÊÕÊý¾ÝÖжÁÈ¡T1£¬T4£¬T5
|
// final_msg_get_ts(&rx_buffer[FINAL_MSG_RESP_RX_NEARBASE_IDX+ancrec_nearbasepos*4], &resp_rx_ts);
|
// final_msg_get_ts(&rx_buffer[FINAL_MSG_FINAL_TX_TS_IDX], &final_tx_ts);
|
|
// // testtime[0] = time32_incr*1000+TIM3->CNT;
|
// poll_rx_ts_32 = (uint32_t)poll_rx_ts;//ʹÓÃ32λÊý¾Ý¼ÆËã
|
// resp_tx_ts_32 = (uint32_t)resp_tx_ts;
|
// final_rx_ts_32 = (uint32_t)final_rx_ts;
|
// Ra = (double)(resp_rx_ts - poll_tx_ts);//Tround1 = T4 - T1
|
// Rb = (double)(final_rx_ts_32 - resp_tx_ts_32);//Tround2 = T6 - T3
|
// Da = (double)(final_tx_ts - resp_rx_ts);//Treply2 = T5 - T4
|
// Db = (double)(resp_tx_ts_32 - poll_rx_ts_32);//Treply1 = T3 - T2
|
// tof_dtu = (int64_t)((Ra * Rb - Da * Db) / (Ra + Rb + Da + Db));//¼ÆË㹫ʽ
|
// tof = tof_dtu * DWT_TIME_UNITS;
|
// distance = tof * SPEED_OF_LIGHT;//¾àÀë=¹âËÙ*·ÉÐÐʱ¼ä
|
//#ifdef DW3000
|
// dist_no_bias = distance;
|
//#else
|
// dist_no_bias = distance - dwt_getrangebias(config.chan, (float)distance, config.prf); //¾àÀë¼õÈ¥½ÃÕýϵÊý
|
//#endif
|
// dist_cm = dist_no_bias * 1000; //dis Ϊµ¥Î»ÎªcmµÄ¾àÀë
|
//// dwt_readdiagnostics(&d1);
|
//// LOS(&d1);
|
// /*--------------------------ÒÔÏÂΪ·Ç²â¾àÂß¼------------------------*/
|
// //dist_cm=33000;
|
// // LED0_BLINK; //ÿ³É¹¦Ò»´ÎͨѶÔòÉÁ˸һ´Î
|
//// UWBLED_BLINK;
|
// uwb_losttimer = 0;
|
// dis_after_filter=dist_cm;
|
// hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10;
|
|
// if(recpoll_len==rec_nearbase_num*4+15)
|
// {
|
// hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10-rec_antdelay*10;
|
// }
|
//
|
// g_flag_Taggetdist[taglist_pos]=0;
|
//
|
// if(hex_dist>-100000&&hex_dist<2000000)
|
// {
|
// if(abs(hex_dist-his_dist[taglist_pos])<10000)
|
// {
|
// flag_tag_distsmooth[taglist_pos] =1;
|
// }else{
|
// flag_tag_distsmooth[taglist_pos] =0;
|
// }
|
// if(abs(hex_dist-his_dist[taglist_pos])<10000||misdist_num[taglist_pos]>3)
|
// {
|
// uint16_t checksum;
|
// g_Resttimer=0;
|
// // IWDG_Feed();
|
// #ifdef TDFILTER
|
// NewTrackingDiffUpdate(taglist_pos, (float)hex_dist);
|
// filter_dist = pos_predict[taglist_pos]/10;
|
// filter_speed = vel_predict[taglist_pos]/10;
|
// newmeasure = 1;
|
// #else
|
// filter_dist=hex_dist/10;
|
// #endif
|
// misdist_num[taglist_pos]=0;
|
// tagdist_list[taglist_pos] = filter_dist;
|
// his_dist[taglist_pos]=hex_dist;
|
// if(hex_dist>0)
|
// {
|
// g_Tagdist[taglist_pos]=hex_dist/10;
|
// }else{
|
// g_Tagdist[taglist_pos]= 0x2ffff;
|
// }
|
// #ifdef USART_SINGLE_OUTPUT
|
// usart_send[0]=0x55;
|
// usart_send[1]=0xAA;
|
// usart_send[2] = 1;//Õý³£Ä£Ê½
|
// usart_send[3] = 17;//Êý¾Ý¶Î³¤¶È
|
// usart_send[4] = frame_seq_nb2;//Êý¾Ý¶Î³¤¶È
|
// memcpy(&usart_send[5],&tag_id_recv,2);
|
// memcpy(&usart_send[7],&dev_id,2);
|
// if(tagdist_list[taglist_pos]<=0)
|
// tagdist_list[taglist_pos]=0x2ffff;
|
// memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
|
// usart_send[13] = battary;
|
// usart_send[14] = button;
|
// usart_send[15] = firstpath_power;
|
// usart_send[16] = rx_power;
|
// checksum = Checksum_u16(&usart_send[2],17);
|
// memcpy(&usart_send[19],&checksum,2);
|
// //HexToAsciiSendUDP(usart_send,21);
|
// #ifdef DBGMSG_OUTPUT
|
// if(g_com_map[MODBUS_ID1]==1)
|
// {
|
// printf("²â¾à³É¹¦%d",g_Tagdist[taglist_pos]);
|
// }
|
// #endif
|
// // PushAnchorDataArray(tag_id_recv,tagdist_list[taglist_pos],battary);
|
// if(uwbled == LEDOFF )
|
// {uwbled = BLUE;
|
// }else{
|
// uwbled = LEDOFF;
|
// }
|
// if(DBG_GetMode() == DBG_MODE_CFG||DBG_GetMode() == DBG_MODE_CHARGE)
|
// {
|
// UART_HandleTypeDef *pstUartHandle = HIDO_NULL;
|
// Uart_GetHandle(UART_ID_DBG, (HIDO_VOID **)&pstUartHandle);
|
// // HAL_UART_Transmit(pstUartHandle, usart_send, 21, 1000);
|
// }
|
// #else
|
// memcpy(&usart_send_anc[4+6*anc_report_num],&tag_id_recv,2);
|
// memcpy(&usart_send_anc[6+6*anc_report_num],&tagdist_list[taglist_pos],4);
|
// anc_report_num++;
|
// #endif
|
// }else{
|
// if(g_com_map[MODBUS_ID1]==1)
|
// {
|
// #ifdef DBGMSG_OUTPUT
|
// printf("²â¾à´íÎó");
|
// #endif
|
// }
|
//
|
// // printf("%d",hex_dist);
|
// misdist_num[taglist_pos]++;
|
// }
|
// }
|
// if(remotesend_state == 1)
|
// {
|
// uint8_t buffer_len,datalen,tempindex;
|
// char send_buffer[100];
|
// pwtag[remotesend_index].remain_time = 0;
|
// if(pwtag[remotesend_index].index==ANCHOR_UPDATE)
|
// {
|
// if(pwtag[remotesend_index].value == 2)
|
// {
|
// StartAnchorUpdateProcess(pwtag[remotesend_index].id);
|
// }
|
// }
|
// buffer_len = sprintf(send_buffer,"$confirmwrite_anchor,");
|
// datalen = sprintf(&send_buffer[buffer_len],"%x,1",pwtag[remotesend_index].id);
|
// buffer_len += datalen;
|
// send_buffer[buffer_len++] = 0x0d;
|
// send_buffer[buffer_len++] = 0x0a;
|
// UDPClient_Uploadhex((uint8_t*)send_buffer,buffer_len);
|
// }
|
// }
|
// }else{
|
// if(g_com_map[MODBUS_ID1]==1)
|
// {
|
// #ifdef DBGMSG_OUTPUT
|
// printf("final״̬´íÎó:%x",status_reg);
|
// #endif
|
// }
|
//
|
// //printf("%x/n",status_reg);
|
// dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
|
// }
|
// }
|
}
|
uint16_t target_tagid[12] = {0x1316,0x1394,0x1265,0x1318,0x1306,0x1304,0x1376,0x1312,0x1277,0x1388,0x1140,0x1392};
|
void Anchor_App(void)
|
{
|
|
u8 send_len,i;
|
u16 tempid;
|
uint32_t rec_syncid;
|
uint16_t checksum;
|
|
start_time=HAL_LPTIM_ReadCounter(&hlptim1);
|
end_time=start_time+((32768/1000)*20);
|
if(end_time>=30000)
|
{end_time-=30000;}
|
current_time=HAL_LPTIM_ReadCounter(&hlptim1);
|
while(current_time<end_time||current_time>end_time+15000)
|
{
|
current_time=HAL_LPTIM_ReadCounter(&hlptim1);
|
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
|
// g_start_sync_flag=0;
|
|
dwt_setrxtimeout(0);//É趨½ÓÊÕ³¬Ê±Ê±¼ä£¬0λûÓг¬Ê±Ê±¼ä
|
dwt_rxenable(0);//´ò¿ª½ÓÊÕ
|
|
// GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
|
uwb_timeout=lp_time;
|
while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//²»¶Ï²éѯоƬ״ֱ̬µ½½ÓÊճɹ¦»òÕß³öÏÖ´íÎó
|
{
|
// current_time=HAL_LPTIM_ReadCounter(&hlptim1);
|
// if(current_time>end_time||current_time<end_time+15000)
|
// break;
|
// IdleTask();
|
if(lp_time-uwb_timeout>2)
|
break;
|
};
|
//GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);
|
// delay_us(g_com_map[NEARBASE_ID2]);
|
|
// status_reg = dwt_read32bitreg(SYS_STATUS_ID);
|
// dwt_setinterrupt( DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 0);
|
if (status_reg & SYS_STATUS_RXFCG)//³É¹¦½ÓÊÕ
|
{ uint16_t tag_recv_interval;
|
float temp_tagpos;
|
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);//Çå³ý±ê־λ
|
|
frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//»ñµÃ½ÓÊÕÊý¾Ý³¤¶È
|
recpoll_len = frame_len;
|
dwt_readrxdata(rx_buffer, frame_len, 0);//¶ÁÈ¡½ÓÊÕÊý¾Ý
|
memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
|
//½«ÊÕµ½µÄtag_id·Ö±ðдÈë¸÷´ÎͨѶµÄ°üÖУ¬Îª¶à±êǩͨѶ·þÎñ£¬·ÀÖ¹Ò»´ÎͨѶÖнÓÊÕµ½²»Í¬ID±êÇ©µÄÊý¾Ý
|
memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
|
switch(rx_buffer[MESSAGE_TYPE_IDX])
|
{uint8_t target_tagi;
|
case MBX_REG:
|
// dwt_readdiagnostics(&d1);
|
// LOS(&d1);
|
// usart_send[2]=0x14;
|
// usart_send[3]=20;
|
// memcpy(&usart_send[4],&dev_id,2);
|
// memcpy(&usart_send[6],&tag_id_recv,2);
|
// memcpy(&usart_send[8],&rx_buffer[10],9);
|
// usart_send[17] = firstpath_power;
|
// memcpy(&usart_send[18],&rx_buffer[19],2);
|
// checksum = Checksum_u16(&usart_send[2],20);
|
// memcpy(&usart_send[22],&checksum,2);
|
// HexToAsciiSendUDP(usart_send,24);
|
break;
|
case MBX_POLL:
|
if(group_id==rx_buffer[GROUP_ID_IDX])
|
{
|
dwt_readdiagnostics(&d1);
|
LOS(&d1);
|
if(firstpath_power<-100)
|
{
|
break;
|
}
|
frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
|
battary = rx_buffer[BATTARY_IDX];
|
button = rx_buffer[BUTTON_IDX];
|
rec_nearbase_num=rx_buffer[FZ_NEARBASENUM_INDEX];
|
memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
|
memcpy(&rec_ancidlist,&rx_buffer[FZ_NEARBASEID_INDEX],2*rec_nearbase_num);
|
memcpy(&rec_ancdistlist,&rx_buffer[FZ_NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
|
memcpy(&rec_antdelay,&rx_buffer[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
|
uwb_losttimer = 0;
|
// wltag_state=RANGE;
|
for(u8 i=0;i<rec_nearbase_num;i++)
|
{
|
if(rec_ancidlist[i] == dev_id)
|
{
|
// PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],-(int8_t)firstpath_power);
|
|
// PushAnchorDataArray(tag_id_recv,rec_ancdistlist[i],battary);
|
}
|
}
|
// #ifdef USART_ALL_OUTPUT
|
usart_send[2] = 0x0c;//Õý³£Ä£Ê½
|
usart_send[3] = 8+rec_nearbase_num*4;//Êý¾Ý¶Î³¤¶È
|
usart_send[4] = frame_seq_nb2;//Êý¾Ý¶Î³¤¶È
|
usart_send[5] = battary;
|
usart_send[6] = button;
|
usart_send[7] = rec_nearbase_num;
|
memcpy(&usart_send[8],&tag_id_recv,2);
|
memcpy(&usart_send[10],&rec_ancidlist,2*rec_nearbase_num);
|
memcpy(&usart_send[10+rec_nearbase_num*2],&rec_ancdistlist,2*rec_nearbase_num);
|
checksum = Checksum_u16(&usart_send[2],8+4*rec_nearbase_num);
|
memcpy(&usart_send[10+4*rec_nearbase_num],&checksum,2);
|
// UART_PushFrame(usart_send,12+rec_nearbase_num*4);
|
// #endif
|
|
taglist_pos=CmpTagInList(tag_id_recv);
|
if(taglist_num>=TAG_NUM_IN_SYS)
|
break;
|
if(taglist_pos==taglist_num)
|
{
|
taglist_pos=taglist_num;
|
tagid_list[taglist_num++]=tag_id_recv;
|
|
new_tagid=1;
|
}else{
|
new_tagid=0;
|
}
|
temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime);
|
tagpos_rec[(uint8_t)temp_tagpos]=1;
|
|
|
if(rec_nearbase_num>ancidlist_num)
|
{
|
ancidlist_num=rec_nearbase_num;
|
memcpy(ancidlist_rec,&rx_buffer[FZ_NEARBASEID_INDEX],rec_nearbase_num*2);
|
}
|
|
for(i=0;i<rec_nearbase_num;i++)
|
{
|
memcpy(&tempid,&rx_buffer[FZ_NEARBASEID_INDEX+i*2],2);
|
if(tempid==dev_id)
|
{
|
seize_anchor=0; //·ÇÇÀÕ¼¡£ÒÑ´æÔÚÁбíÖÐ
|
Anchor_RecNearPoll(i);
|
break;
|
}
|
}
|
if(i==rec_nearbase_num)
|
{
|
seize_anchor=1; //ÇÀÕ¼anchor
|
Anchor_RecNearPoll(i);
|
}
|
}
|
|
break;
|
}
|
|
}else{
|
// if(g_com_map[MODBUS_ID1]==1)
|
// {
|
// if(g_com_map[MODBUS_ID1]==1)
|
// {
|
// #ifdef DBGMSG_OUTPUT
|
// if(g_com_map[MODBUS_ID1]==1)
|
// {
|
// printf("POLL״̬´íÎó:%x",status_reg);
|
// }
|
// #endif
|
// }
|
// }
|
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
|
}
|
|
}
|
dwt_forcetrxoff();
|
|
}
|
