#include "dw_app.h"
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#define FANGCHAI 7
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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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// Multiplication factors to convert frequency offset in Hertz to PPM crystal offset
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// NB: also changes sign so a positive value means the local RX clock is running slower than the remote TX device.
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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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extern uint16_t tag_frequency;
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static uint8_t send_buffer[200],rx_buffer[200];
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static uint8_t trygetnearmsg_times,bigslot_num,tagslotpos,nearbase_num,result,outrange_times;
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static uint8_t changemainbase_count,mainbase_lost_count;
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static uint16_t frame_len,sync_timer,tmp_time,basesystimer,mainbase_id,frame_seq_nb;
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static uint16_t nearbaseid_list[MAX_NEARBASE_NUM],nearbaseid_list2[MAX_NEARBASE_NUM],rec_anc_signalpower[MAX_NEARBASE_NUM],exsistbase_list[MAX_NEARBASE_NUM];
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static uint16_t nearbase_switchdistlist[MAX_NEARBASE_NUM],u16_nearbase_distlist[MAX_NEARBASE_NUM];
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static uint32_t status_reg;
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static int32_t nearbase_distlist[MAX_NEARBASE_NUM];
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static uint64_t poll_tx_ts,resp_rx_ts,final_tx_ts;
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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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static uint8_t FindNearBasePos(uint16_t baseid)
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{
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uint8_t 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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#define REGISTER_FREQUENCY 1
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static uint8_t uwbloc_success_flag,sos_state_flag;
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static uint8_t flag_usartrec_usrdata,uartrec_usrdatalen;
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static uint8_t usartrec_usrdata[100];
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void SetUserDataToAnchor(uint8_t* buffer,uint8_t len)
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{
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flag_usartrec_usrdata = 1;
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uartrec_usrdatalen = len;
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memcpy(usartrec_usrdata,buffer,len);
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}
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int32_t test2;
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uint8_t userkey_state = 0,stationary_flag = 0,gotosleep_flag = 0,oled_button = 0,hr_value,oled_needrepley_flag = 0;
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uint32_t testtimer[10],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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extern uint8_t Pah_HRD_flag_fangchai;
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void SetANCTimestap(uint8_t i,uint8_t* pollrx,uint8_t* resptx,uint32_t resprx,uint8_t* distoffset)
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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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float clockOffsetRatio;
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double rtd_init, rtd_resp;
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static double tof,distance;
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//extern int32_t dwt_readcarrierintegrator(void);
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extern uint16_t g_Resttimer;
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void CalculateDists(void)
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{
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for(int i=0;i<11;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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if(config.chan==2)
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{
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clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_2 / 1.0e6) ;
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}
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if(config.chan==5)
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{
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clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_5 / 1.0e6) ;
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}
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rtd_init = tag_resprx[i] - (poll_tx_ts&0xffffffff);
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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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{
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nearbase_distlist[i] = distance*100+anc_distoffset[i];
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g_Resttimer=0;
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}else{
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// nearbase_distlist[i] = distance*100+anc_distoffset[i];
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}
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if(nearbase_distlist[i]>100000)
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{
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tof = 1;
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}
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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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// rtd_init = resp_rx_ts - poll_tx_ts;
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// rtd_resp = resp_tx_ts - poll_rx_ts;
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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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// nearbase_distlist[]
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}
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extern uint8_t group_id;
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#define BASELOST_STOPMOTOR_TIME 5
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static int32_t mainbase_dist,true_nearbase_distlist[MAX_NEARBASE_NUM],true_exsistbase_list[MAX_NEARBASE_NUM],ancsync_time,nextpoll_delaytime,offsettimeus;
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static uint8_t anclost_times=0;
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static uint8_t report_num,get_newbase=0;
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static uint8_t flag_finalsend,flag_getresponse,flag_rxon;
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static uint16_t current_count,start_count,end_count,lastsync_timer,true_nearbase_idlist[MAX_NEARBASE_NUM];
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static int32_t temp_dist;
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static uint8_t last_nearbase_num,next_nearbase_num,last_slotnum, para_update,para_len,tag_succ_times,recbase_num;
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static uint32_t rec_tagpos_binary;
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static int16_t offset=2700,g_commap_antdelay=0;
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uint8_t motor_state,ancnum,thistime_ancnum;
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static uint8_t rec_remotepara_state,rec_remotepara[80],t1;
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static uint32_t temp1,temp2,dw_systime;
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void NearPoll(void)
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{
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uint32_t frame_len;
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uint32_t final_tx_time;
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uint32_t start_poll;
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uint8_t i,j,getsync_flag=0,timeout;
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dwt_setrxaftertxdelay(10); //ÉèÖ÷¢Ëͺó¿ªÆô½ÓÊÕ£¬²¢É趨ÑÓ³Ùʱ¼ä
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dwt_setrxtimeout(4000);
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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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for(uint8_t i=0;i<MAX_NEARBASE_NUM;i++)
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{
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u16_nearbase_distlist[i] = nearbase_distlist[i];
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}
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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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memcpy(&send_buffer[GROUP_ID_IDX], &group_id, 1);
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send_buffer[BATTARY_IDX] = Get_Battary();
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send_buffer[BUTTON_IDX] = 0;
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send_buffer[SEQUENCE_IDX] = frame_seq_nb++;
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send_buffer[NEARBASENUM_INDEX] = nearbase_num;
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ancnum = nearbase_num;
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memcpy(&send_buffer[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
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memcpy(&send_buffer[NEARBASEID_INDEX+nearbase_num*2],&u16_nearbase_distlist,nearbase_num*2);
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send_buffer[MESSAGE_TYPE_IDX] = NEAR_POLL;
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memcpy(&send_buffer[NEARBASEID_INDEX+nearbase_num*4],&g_commap_antdelay,2);
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memcpy(&send_buffer[ANCHOR_ID_IDX],&mainbase_id,2);
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memcpy(&send_buffer[TAG_ID_IDX],&dev_id, 2);
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dwt_writetxdata(15+4*nearbase_num, send_buffer, 0);//½«Poll°üÊý¾Ý´«¸øDW1000£¬½«ÔÚ¿ªÆô·¢ËÍʱ´«³öÈ¥
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dwt_writetxfctrl(15+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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// send_buffer[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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recbase_num=0;
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mainbase_dist=100000;
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mainbase_lost_count++;
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start_count=HAL_LPTIM_ReadCounter(&hlptim1);
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timeout=ceil((float)nearbase_num*SLOT_SCALE)+8;
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end_count=start_count+(timeout<<5);
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if(end_count>=32768)
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{
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end_count-=32768;
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}
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current_count=HAL_LPTIM_ReadCounter(&hlptim1);
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get_newbase=0;
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while(current_count<end_count||current_count>end_count+15000)
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{
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while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//²»¶Ï²éѯоƬ״ֱ̬µ½³É¹¦½ÓÊÕ»òÕß·¢Éú´íÎó
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{
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current_count=HAL_LPTIM_ReadCounter(&hlptim1);
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if(current_count>=end_count&¤t_count<end_count+15000)
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break;
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}
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if(status_reg==0xffffffff)
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{
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NVIC_SystemReset();
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}
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if (status_reg & SYS_STATUS_RXFCG)//Èç¹û³É¹¦½ÓÊÕ
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{
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dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//Çå³þ¼Ä´æÆ÷±ê־λ
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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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test2 = dwt_readcarrierintegrator();
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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( !memcmp(&rx_buffer[TAG_ID_IDX],&dw_devid,2))
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// {printf("1");}
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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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{ uint16_t rec_nearbaseid,rec_nearbasepos;
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poll_tx_ts = get_tx_timestamp_u64(); //»ñµÃPOLL·¢ËÍʱ¼äT1
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resp_rx_ts = get_rx_timestamp_u64(); //»ñµÃRESPONSE½ÓÊÕʱ¼äT4
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recbase_num++;
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memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
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if(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(&send_buffer[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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SetANCTimestap(0,&rx_buffer[RESP_MSG_POLL_RX_TS_IDX],&rx_buffer[RESP_MSG_RESP_TX_TS_IDX],\
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resp_rx_ts,&rx_buffer[RESP_MSG_ANC_DISTOFFSET]);
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rec_nearbasepos=0;
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exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
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// temp_dist = nearbase_distlist[0];
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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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rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;
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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(&send_buffer[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//½«T1£¬T4£¬T5дÈë·¢ËÍÊý¾Ý
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// final_msg_set_ts(&send_buffer[FINAL_MSG_RESP_RX_NEARBASE_IDX], resp_rx_ts);
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// final_msg_set_ts(&send_buffer[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
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// send_buffer[MESSAGE_TYPE_IDX]=NEAR_FINAL;
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// send_buffer[GROUP_ID_IDX] = group_id;
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// dwt_writetxdata(28+nearbase_num*4, send_buffer, 0);//½«·¢ËÍÊý¾ÝдÈëDW1000
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// dwt_writetxfctrl(28+nearbase_num*4, 0);//É趨·¢ËÍÊý¾Ý³¤¶È
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flag_getresponse=1;
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}else{
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rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
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if(rec_nearbasepos>=last_nearbase_num) //·¢ÏÖеĻùÕ¾
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{
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get_newbase=1;
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nearbase_num++;
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nearbaseid_list[rec_nearbasepos] = rec_nearbaseid;
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memcpy(&send_buffer[ANCHOR_ID_IDX],&rec_nearbaseid,2);
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}
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SetANCTimestap(rec_nearbasepos,&rx_buffer[RESP_MSG_POLL_RX_TS_IDX],&rx_buffer[RESP_MSG_RESP_TX_TS_IDX],\
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resp_rx_ts,&rx_buffer[RESP_MSG_ANC_DISTOFFSET]);
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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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//// temp_dist = nearbase_distlist[rec_nearbasepos];
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//// nearbase_distlist[rec_nearbasepos]=temp_dist;
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if(motor_state<(rx_buffer[MOTORSTATE_INDEX]&0xf)&&(rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
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{
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motor_state=rx_buffer[MOTORSTATE_INDEX];
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}
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final_msg_set_ts(&send_buffer[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
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dwt_writetxdata(28+nearbase_num*4, send_buffer, 0);//½«·¢ËÍÊý¾ÝдÈëDW1000
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dwt_writetxfctrl(28+nearbase_num*4, 0);//É趨·¢ËÍÊý¾Ý³¤¶È
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//dwt_setdelayedtrxtime(final_tx_time);//ÉèÖÃfinal°ü·¢ËÍʱ¼äT5
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// result=dwt_starttx(DWT_START_TX_DELAYED);//É趨ΪÑÓ³Ù·¢ËÍ
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//dwt_writetxdata(4,&send_buffer[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4], FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4);//½«·¢ËÍÊý¾ÝдÈëDW1000
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}
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}
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}else{
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dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
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if(flag_rxon)
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{dwt_rxenable(0);
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}
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}
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// dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
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}
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if(mainbase_lost_count>tag_frequency*BASELOST_STOPMOTOR_TIME)
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{motor_state=0; }
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dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
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nearbase_num=recbase_num;
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j=0;
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CalculateDists();
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delay_us(10);
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if(exsistbase_list[0]==0)
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{
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}
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// tyncpoll_time=0;
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next_nearbase_num=0;
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for(i=0;i<last_nearbase_num+get_newbase;i++)
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{
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if(exsistbase_list[i]>0)
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{
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next_nearbase_num++;
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true_exsistbase_list[j]=exsistbase_list[i];
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true_nearbase_idlist[j]=nearbaseid_list[i];
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true_nearbase_distlist[j++]=nearbase_distlist[i];
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exsistbase_list[i]--;
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}
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}
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if(recbase_num<3)
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{next_nearbase_num=next_nearbase_num;}
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last_nearbase_num = next_nearbase_num;
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for(i=0;i<last_nearbase_num-1;i++)
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{
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for(j=0;j<last_nearbase_num-1;j++)
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{
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if(true_nearbase_distlist[j]>true_nearbase_distlist[j+1])
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{
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uint32_t temp_dist,temp_id,temp_exsis;
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temp_dist=true_nearbase_distlist[j];
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temp_id = true_nearbase_idlist[j];
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temp_exsis=true_exsistbase_list[i];
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true_nearbase_distlist[j]=true_nearbase_distlist[j+1];
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true_nearbase_idlist[j]=true_nearbase_idlist[j+1];
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true_exsistbase_list[j]=true_exsistbase_list[j+1];
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true_nearbase_distlist[j+1]=temp_dist;
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true_nearbase_idlist[j+1]=temp_id;
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true_exsistbase_list[j+1]=temp_exsis;
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}
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}
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}
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report_num=0;
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for (i=0;i<last_nearbase_num;i++)
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{
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nearbaseid_list[i]=true_nearbase_idlist[i];
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nearbase_distlist[i]=true_nearbase_distlist[i];
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if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==KEEP_TIMES)
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{
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//memcpy(&usart_send[4+6*report_num],&nearbaseid_list[i],2);
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//memcpy(&usart_send[6+6*report_num],&nearbase_distlist[i],4);
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report_num++;
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}
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}
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#ifdef USART_INTEGRATE_OUTPUT
|
usart_send[0] = 0x55;
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usart_send[1] = 0xAA;
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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);
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memcpy(&usart_send[4+report_num*6],&checksum,2);
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USART_puts(usart_send,6+report_num*6);
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#endif
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// for(i=0;i<MAX_NEARBASE_NUM;i++)
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// {
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// nearbase_distlist[i]=0x1ffff;
|
// }
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if(recbase_num!=next_nearbase_num)
|
{ uint16_t current_count1,lpcount1;
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current_count1=HAL_LPTIM_ReadCounter(&hlptim1);
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lpcount1 = current_count1+current_count1%200+3276;//²â¾à¶ª°ü¾Í¸Ä³É10hz
|
if(lpcount1>=32768)
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{
|
lpcount1 -=32768;
|
}
|
__HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount1);
|
}
|
thistime_ancnum = recbase_num;
|
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
|
}
|
