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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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//#define _UWB_4G
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static dwt_config_t config = {
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#ifdef _UWB_4G
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2, /* Channel number. */
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#else
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5,
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#endif
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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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(65 + 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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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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uint32_t uwbid=0;
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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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// 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), 1);
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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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// dwt_setrxtimeout(1000);//É趨½ÓÊÕ³¬Ê±Ê±¼ä£¬0λûÓг¬Ê±Ê±¼ä
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// dwt_rxenable(0);//´ò¿ª½ÓÊÕ
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// uwbid=dwt_readdevid();
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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[100];
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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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//
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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 current_freq,rec_freq;
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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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//float freqlost_count = 0;
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//void TagFreqProcess(u8 freq)
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//{
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// if(freq>MAX_ANCFREQ||freq==0)
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// {
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// return;
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// }
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// if(freq==tag_frequency||freq>tag_frequency)
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// {
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// tag_frequency = freq;
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// freqlost_count = 0;
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// }
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//}
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//#define FREQ_OFFSET_MULTIPLIER (998.4e6/2.0/1024.0/131072.0)
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//#define FREQ_OFFSET_MULTIPLIER_110KB (998.4e6/2.0/8192.0/131072.0)
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//#define HERTZ_TO_PPM_MULTIPLIER_CHAN_1 (-1.0e6/3494.4e6)
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//#define HERTZ_TO_PPM_MULTIPLIER_CHAN_2 (-1.0e6/3993.6e6)
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//#define HERTZ_TO_PPM_MULTIPLIER_CHAN_3 (-1.0e6/4492.8e6)
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//#define HERTZ_TO_PPM_MULTIPLIER_CHAN_5 (-1.0e6/6489.6e6)
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//u16 rec_maxrangelen;//rec_anc_signalpower[MAX_NEARBASE_ANCNUM];
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//float clockOffsetRatio;
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//double rtd_init, rtd_resp;
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//double tof,distance;
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//extern int32_t dwt_readcarrierintegrator(void) ;
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//uint32_t testtimer2,anc_pollrx[MAX_NEARBASE_NUM],anc_resptx[MAX_NEARBASE_NUM],tag_resprx[MAX_NEARBASE_NUM];
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//int32_t anc_clockoffset[MAX_NEARBASE_NUM];
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//int16_t anc_distoffset[MAX_NEARBASE_NUM];
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//int32_t test2;
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//uint16_t u16_nearbase_distlist[MAX_NEARBASE_NUM];
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//uint8_t get_newdist,notenoughdist_count;
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//void SetANCTimestap(uint8_t i,uint8_t* pollrx,uint8_t* resptx,uint32_t resprx,uint8_t* distoffset) //дÈëʱ¼ä´ÁÐÅÏ¢
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//{
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// memcpy(&anc_pollrx[i],pollrx,4);
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// memcpy(&anc_resptx[i],resptx,4);
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// memcpy(&tag_resprx[i],&resprx,4);
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// memcpy(&anc_distoffset[i],distoffset,2);
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// anc_clockoffset[i] = test2;
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//}
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//void CalculateDists(void) //¼ÆËã¾àÀë
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//{
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// for(int i=0;i<MAX_NEARBASE_NUM;i++)
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// {
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// //rec_anc_signalpower[i] = exsistbase_list[i];
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// if(exsistbase_list[i]==KEEP_TIMES)
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// {
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// // exsistbase_list[i]--;
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//#ifdef _UWB_4G
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// clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_2 / 1.0e6) ;
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//#else
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// clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_5 / 1.0e6) ;
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//#endif
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// rtd_init = tag_resprx[i] - poll_tx_ts;
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// rtd_resp = anc_resptx[i] - anc_pollrx[i];
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// tof = ((rtd_init - rtd_resp * (1 - clockOffsetRatio)) / 2.0) * DWT_TIME_UNITS;
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// distance = tof * SPEED_OF_LIGHT;
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// if(distance>-10&&distance<1000)
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// nearbase_distlist[i] = distance*100+anc_distoffset[i];
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// }else{
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// // nearbase_distlist[i] = 0x1ffff;
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// }
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//
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// }
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//}
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//extern uint8_t module_power,imu_enable,motor_enable;
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//void Registor_Poll(void)
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//{
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// static u8 regpoll_count=0;
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// u8 timeout;
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//
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// tx_near_msg[MESSAGE_TYPE_IDX] = MBX_REG;
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// tx_near_msg[REGP_TAGSTATE_INDEX] = !GET_USERKEY<<2|imu_enable<<1|motor_enable;
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// tx_near_msg[REGP_FREQUENCY_INDEX] = bat_percent;
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// tx_near_msg[REGP_POWER_INDEX] = module_power;
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// memcpy(&tx_near_msg[REGP_VERSION_INDEX],&g_com_map[VERSION],2);
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// memcpy(&tx_near_msg[REGP_IMUTHRES_INDEX],&g_com_map[GROUP_ID],2);
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// memcpy(&tx_near_msg[REGP_NOMOVESLEEPTIME_INDEX],&g_com_map[DIST_OFFSET],2);
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// memcpy(&tx_near_msg[REGP_HEIGHTOFFSET_INDEX],&g_com_map[MAX_REPORT_ANC_NUM],2);
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// dwt_writetxdata(23, tx_near_msg, 0);//½«Poll°üÊý¾Ý´«¸øDW1000£¬½«ÔÚ¿ªÆô·¢ËÍʱ´«³öÈ¥
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// dwt_writetxfctrl(23, 0);//ÉèÖó¬¿í´ø·¢ËÍÊý¾Ý³¤¶È
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// dwt_starttx(DWT_START_TX_IMMEDIATE);//¿ªÆô·¢ËÍ£¬·¢ËÍÍê³ÉºóµÈ´ýÒ»¶Îʱ¼ä¿ªÆô½ÓÊÕ£¬µÈ´ýʱ¼äÔÚdwt_setrxaftertxdelayÖÐÉèÖÃ
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// start_count=HAL_LPTIM_ReadCounter(&hlptim1);
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// timeout=50;
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// end_count=start_count+(timeout<<2);
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// while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_TXFRS)))//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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// };
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//
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//}
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//float range_lost_time = 0;
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//u16 rec_nearbaseid,rec_nearbasepos;
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//void NearPoll(void)
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//{
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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(0);
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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(nearbase_num>=MAX_NEARBASE_NUM)
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// {
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// nearbase_num = MAX_NEARBASE_NUM-1;
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// }
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// recbase_num=0;
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// for(uint8_t i=0;i<nearbase_num;i++) //±êÇ©¾àÀë32λת³É16λ
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// {
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// u16_nearbase_distlist[i] = nearbase_distlist[i];
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// }
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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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// memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&u16_nearbase_distlist,nearbase_num*2);
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// tx_near_msg[MESSAGE_TYPE_IDX] = MBX_POLL;
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// memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
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// dwt_writetxdata(13+4*nearbase_num, tx_near_msg, 0);//½«Poll°üÊý¾Ý´«¸øDW1000£¬½«ÔÚ¿ªÆô·¢ËÍʱ´«³öÈ¥
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// dwt_writetxfctrl(13+4*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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//
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// tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
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// para_update = 0;
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// get_newbase = 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+10;
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// end_count=start_count+(timeout<<2);
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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);
|
// while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//²»¶Ï²éѯоƬ״ֱ̬µ½³É¹¦½ÓÊÕ»òÕß·¢Éú´íÎó
|
// {
|
// if(flag_finalsend&&flag_ancreadpara)
|
// {
|
// dw_systime=dwt_readsystimestamphi32();
|
// if(dw_systime>temp1&&dw_systime<temp2)
|
// {
|
//
|
// dwt_forcetrxoff();
|
// flag_rxon=0;
|
// if(flag_ancreadpara) //Ö»ÓÐÔÚ¶ÁÈ¡²ÎÊýµÄʱºòÐèÒª»Ø¸´
|
// {
|
// u16 calCRC;
|
// tx_near_msg[MESSAGE_TYPE_IDX] = MBX_PRAAREPLY;
|
// memcpy(&tx_near_msg[MESSAGE_PARAREPLY_IDX],g_com_map,SENDANCPARA_LEN);
|
// calCRC = CRC_Compute((uint8_t*)g_com_map,SENDANCPARA_LEN);
|
// memcpy(&tx_near_msg[MESSAGE_PARAREPLY_IDX+SENDANCPARA_LEN],&calCRC,2);
|
// dwt_writetxdata(14+SENDANCPARA_LEN, tx_near_msg, 0);//½«·¢ËÍÊý¾ÝдÈëDW1000
|
// dwt_writetxfctrl(14+SENDANCPARA_LEN, 0);//É趨·¢ËÍÊý¾Ý³¤¶È
|
//
|
// dwt_setdelayedtrxtime(final_tx_time);
|
// result=dwt_starttx(DWT_START_TX_DELAYED);//É趨ΪÑÓ³Ù·¢ËÍ
|
// }
|
// flag_finalsend=0;
|
// break;
|
// }
|
// }
|
// current_count=HAL_LPTIM_ReadCounter(&hlptim1);
|
// if(current_count>=end_count&¤t_count<end_count+15000)
|
// break;
|
// };
|
// if(status_reg==0xffffffff)
|
// {
|
// NVIC_SystemReset();
|
// }
|
// if (status_reg & SYS_STATUS_RXFCG)//Èç¹û³É¹¦½ÓÊÕ
|
// {
|
// dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//Çå³þ¼Ä´æÆ÷±ê־λ
|
// frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //»ñµÃ½ÓÊÕµ½µÄÊý¾Ý³¤¶È
|
// dwt_readrxdata(rx_buffer, frame_len, 0); //¶ÁÈ¡½ÓÊÕÊý¾Ý
|
// test2 = dwt_readcarrierintegrator();
|
// dwt_setrxtimeout(0);//DELAY_BETWEEN_TWO_FRAME_UUS*(nearbase_num+1-recbase_num)+10);//É趨½ÓÊÕ³¬Ê±Ê±¼ä£¬0λûÓг¬Ê±Ê±¼ä
|
// dwt_rxenable(0);//´ò¿ª½ÓÊÕ
|
// if (rx_buffer[MESSAGE_TYPE_IDX] == MBX_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)&&rx_buffer[GROUP_ID_IDX]==group_id) //ÅжϽÓÊÕµ½µÄÊý¾ÝÊÇ·ñÊÇresponseÊý¾Ý
|
// {
|
// poll_tx_ts = get_tx_timestamp_u64(); //»ñµÃPOLL·¢ËÍʱ¼äT1
|
// resp_rx_ts = get_rx_timestamp_u64(); //»ñµÃRESPONSE½ÓÊÕʱ¼äT4
|
// recbase_num++;
|
// memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
|
// rec_remotepara_state = rx_buffer[MOTORSTATE_INDEX]>>4;
|
// TagFreqProcess(rx_buffer[TAGFREQ_IDX]);
|
// if(rec_remotepara_state != 0)
|
// {
|
// para_update = rec_remotepara_state;
|
// memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],7);
|
// if(para_update==2)
|
// {
|
// flag_ancreadpara = 1;
|
// }
|
// }
|
// if(last_nearbase_num==0)
|
// {
|
// get_newbase=1;
|
// nearbaseid_list[0]=rec_nearbaseid;
|
// nearbase_num=1;
|
// memcpy(&tx_near_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
|
// }
|
// if(rec_nearbaseid==nearbaseid_list[0])
|
// {
|
// exsistbase_list[0]=KEEP_TIMES;
|
// SetANCTimestap(0,&rx_buffer[RESP_MSG_POLL_RX_TS_IDX],&rx_buffer[RESP_MSG_RESP_TX_TS_IDX],resp_rx_ts,&rx_buffer[RESP_MSG_ANC_DISTOFFSET]);
|
|
// //////////////////////////////////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;}
|
// }
|
// rec_nearbasepos=0;
|
// exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
|
|
// if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
|
// motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
|
//
|
//
|
// mainbase_lost_count=0;
|
// flag_finalsend=1;
|
// memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);
|
// final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS+DELAY_BETWEEN_TWO_FRAME_UUS*nearbase_num+500) * UUS_TO_DWT_TIME)) >> 8;
|
// temp1=final_tx_time-((850*UUS_TO_DWT_TIME)>>8);
|
// temp2=final_tx_time+((100*UUS_TO_DWT_TIME)>>8);
|
// // dwt_setdelayedtrxtime(final_tx_time);//ÉèÖÃfinal°ü·¢ËÍʱ¼äT5
|
// final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final°üʵ¼Ê·¢ËÍʱ¼äÊǼÆËãʱ¼ä¼ÓÉÏ·¢ËÍÌìÏßdelay
|
// final_msg_set_ts(&tx_near_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//½«T1£¬T4£¬T5дÈë·¢ËÍÊý¾Ý
|
// final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX], resp_rx_ts);
|
// final_msg_set_ts(&tx_near_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
|
// tx_near_msg[MESSAGE_TYPE_IDX]=MBX_FINAL;
|
// tx_near_msg[GROUP_ID_IDX] = group_id;
|
//
|
// dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//½«·¢ËÍÊý¾ÝдÈëDW1000
|
// dwt_writetxfctrl(28+nearbase_num*4, 0);//É趨·¢ËÍÊý¾Ý³¤¶È
|
// flag_getresponse=1;
|
// memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
|
// }else{
|
// rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
|
// SetANCTimestap(rec_nearbasepos,&rx_buffer[RESP_MSG_POLL_RX_TS_IDX],&rx_buffer[RESP_MSG_RESP_TX_TS_IDX],resp_rx_ts,&rx_buffer[RESP_MSG_ANC_DISTOFFSET]);
|
|
// 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;
|
|
//
|
// 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
|
// }
|
// }
|
// }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);
|
// }
|
// dwt_forcetrxoff();
|
// dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
|
// CalculateDists();
|
// j = 0;
|
// next_nearbase_num = 0;
|
// for(i=0;i<nearbase_num;i++)
|
// {
|
// if(exsistbase_list[i]>0)
|
// {
|
// exsistbase_list[i]--;
|
// next_nearbase_num++;
|
// true_exsistbase_list[j]=exsistbase_list[i];
|
// true_nearbase_idlist[j]=nearbaseid_list[i];
|
// true_nearbase_distlist[j++]=nearbase_distlist[i];
|
//
|
// }
|
// }
|
// nearbase_num = next_nearbase_num;
|
// 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];
|
// exsistbase_list[i] = true_exsistbase_list[i];
|
// }
|
//
|
// 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 == CNT_UPDATE)
|
// {
|
// if(rec_remotepara[3]==2)
|
// {
|
// EnterUWBUpdateMode();
|
// }
|
// }
|
// 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 regpoll_count;
|
//u32 id;
|
//void Tag_App(void)//·¢ËÍģʽ(TAG±êÇ©)
|
//{
|
//
|
// //LED0_ON;
|
// id = dwt_readdevid() ;
|
// while (DWT_DEVICE_ID != id)
|
// {
|
// u8 iderror_count = 0;
|
// id = dwt_readdevid() ;
|
// if(iderror_count++>100)
|
// {
|
// printf("UWBоƬID´íÎó");
|
// break;
|
// }
|
// }
|
// delay_us(100);
|
// g_Resttimer=0;
|
// if(freqlost_count>FREQ_LOST_TIME)
|
// {
|
// if(regpoll_count++>11) //´ý»ú״̬1·ÖÖÓÉÏ´«Ò»´Î»ùվ״̬
|
// {
|
// regpoll_count = 0;
|
// Registor_Poll();
|
// }
|
// }else{
|
// if(regpoll_count++>59)//²â¾à״̬1·ÖÖÓÉÏ´«Ò»´Î»ùվ״̬
|
// {
|
// regpoll_count = 0;
|
// Registor_Poll();
|
// }
|
// }
|
// NearPoll();
|
// dwt_entersleep();
|
// bat_percent=Get_VDDVlotage();
|
//}
|
