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/*! ----------------------------------------------------------------------------
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* @file main.c
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* @brief Double-sided two-way ranging (DS TWR) initiator example code
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*
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*
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*
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* @attention
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*
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* Copyright 2015 (c) Decawave Ltd, Dublin, Ireland.
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*
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* All rights reserved.
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*
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* @author Decawave
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*/
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#include <string.h>
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#include <math.h>
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#include "dw_app.h"
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#include "deca_device_api.h"
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#include "deca_regs.h"
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#include "dw_driver.h"
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#include "Spi.h"
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#include "led.h"
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#include "serial_at_cmd_app.h"
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#include "Usart.h"
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#include "global_param.h"
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#include "filters.h"
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#include <stdio.h>
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#include "beep.h"
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#include "modbus.h"
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///*------------------------------------ Marcos ------------------------------------------*/
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///* Inter-ranging delay period, in milliseconds. */
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#define RNG_DELAY_MS 100
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///* Default antenna delay values for 64 MHz PRF. See NOTE 1 below. */
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#define TX_ANT_DLY 0
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#define RX_ANT_DLY 32899
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///* UWB microsecond (uus) to device time unit (dtu, around 15.65 ps) conversion factor.
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// * 1 uus = 512 / 499.2 µs and 1 µs = 499.2 * 128 dtu. */
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//#define UUS_TO_DWT_TIME 65536
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///* Delay between frames, in UWB microseconds. See NOTE 4 below. */
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///* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
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//#define POLL_TX_TO_RESP_RX_DLY_UUS 10
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///* This is the delay from Frame RX timestamp to TX reply timestamp used for calculating/setting the DW1000's delayed TX function. This includes the
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// * frame length of approximately 2.66 ms with above configuration. */
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//#define RESP_RX_TO_FINAL_TX_DLY_UUS 1000
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///* Receive response timeout. See NOTE 5 below. */
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//#define RESP_RX_TIMEOUT_UUS 4000
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//#define DELAY_BETWEEN_TWO_FRAME_UUS 240
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//#define POLL_RX_TO_RESP_TX_DLY_UUS 470
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///* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
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//#define RESP_TX_TO_FINAL_RX_DLY_UUS 200
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///* Receive final timeout. See NOTE 5 below. */
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//#define FINAL_RX_TIMEOUT_UUS 4300
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//#define SPEED_OF_LIGHT 299702547
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///* Indexes to access some of the fields in the frames defined above. */
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//#define FINAL_MSG_POLL_TX_TS_IDX 10
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//#define FINAL_MSG_RESP_RX_TS_IDX 14
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//#define FINAL_MSG_FINAL_TX_TS_IDX 18
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//#define FINAL_MSG_TS_LEN 4
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//#define SUIJI_SHIJIANPIAN
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//#ifdef SUIJI_SHIJIANPIAN
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//#define STARTPOLL DISCPOLL//#define SWITCHBASE_DIST
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//#else
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//#define STARTPOLL REGPOLL
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//#endif
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//#define SWITCHBASE_ZHUANDIAN
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//#define SWITCHBASE_DIST
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//enum enumtagstate
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//{
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// REGPOLL,
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// DISCPOLL,
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// GETNEARMSG,
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// NEARPOLL,
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// SINGLEPOLL,
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//}tag_state=STARTPOLL;
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//#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_128, /* Preamble length. */
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// DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */
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// 9, /* TX preamble code. Used in TX only. */
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// 9, /* RX preamble code. Used in RX only. */
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// 1, /* Use non-standard SFD (Boolean) */
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// DWT_BR_6M8, /* Data rate. */
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// DWT_PHRMODE_STD, /* PHY header mode. */
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// (129 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
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//};
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dwt_config_t config = {
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5, /* Channel number. */
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DWT_PRF_64M, /* Pulse repetition frequency. */
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DWT_PLEN_1024, /* Preamble length. */
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DWT_PAC32, /* 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_110K, /* Data rate. */
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DWT_PHRMODE_STD, /* PHY header mode. */
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(1025 + 64 - 32) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
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};
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//static uint8_t tx_poll_msg[20] = {0};
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//static uint8_t tx_sync_msg[14] = {0};
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//static uint8_t tx_final_msg[60] = {0};
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//static uint8_t tx_resp_msg[22] = {0};
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// uint8_t tx_near_msg[180] = {0};
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//static uint32_t frame_seq_nb = 0;
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//static uint32_t status_reg = 0;
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//static uint8_t rx_buffer[100];
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//static uint64_t poll_tx_ts;
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//static uint64_t resp_rx_ts;
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//static uint64_t final_tx_ts;
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//static uint64_t poll_rx_ts;
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//static uint64_t resp_tx_ts;
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//static uint64_t final_rx_ts;
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//int32_t anchor_dist_last_frm[TAG_NUM_IN_SYS],his_dist[TAG_NUM_IN_SYS]; ;
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//uint32_t tag_id = 0;
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//uint32_t tag_id_recv = 0;
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//uint32_t anc_id_recv = 0;
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//uint8_t random_delay_tim = 0;
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//double distance, dist_no_bias, dist_cm;
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//uint32_t g_UWB_com_interval = 0;
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//float dis_after_filter; //µ±Ç°¾àÀëÖµ
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//LPFilter_Frac* p_Dis_Filter; //²â¾àÓõĵÍͨÂ˲¨Æ÷
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//static uint64_t get_tx_timestamp_u64(void)
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//{
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// uint8_t ts_tab[5];
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// uint64_t ts = 0;
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// int i;
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// dwt_readtxtimestamp(ts_tab);
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// for (i = 4; i >= 0; i--)
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// {
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// ts <<= 8;
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// ts |= ts_tab[i];
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// }
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// return ts;
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//}
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//static uint64_t get_rx_timestamp_u64(void)
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//{
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// uint8_t ts_tab[5];
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// uint64_t ts = 0;
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// int i;
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// dwt_readrxtimestamp(ts_tab);
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// for (i = 4; i >= 0; i--)
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// {
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// ts <<= 8;
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// ts |= ts_tab[i];
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// }
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// return ts;
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//}
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//static void final_msg_set_ts(uint8_t *ts_field, uint64_t ts)
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//{
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// int i;
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// for (i = 0; i < FINAL_MSG_TS_LEN; i++)
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// {
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// ts_field[i] = (uint8_t) ts;
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// ts >>= 8;
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// }
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//}
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//static void final_msg_get_ts(const uint8_t *ts_field, uint32_t *ts)
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//{
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// int i;
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// *ts = 0;
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// for (i = 0; i < FINAL_MSG_TS_LEN; i++)
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// {
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// *ts += ts_field[i] << (i * 8);
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// }
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//}
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void Dw1000_Init(void)
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{
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/* Reset and initialise DW1000.
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* For initialisation, DW1000 clocks must be temporarily set to crystal speed. After initialisation SPI rate can be increased for optimum
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* performance. */
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Reset_DW1000();//ÖØÆôDW1000 /* Target specific drive of RSTn line into DW1000 low for a period. */
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Spi_ChangePrescaler(SPIx_PRESCALER_SLOW); //ÉèÖÃΪ¿ìËÙģʽ
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dwt_initialise(DWT_LOADUCODE);//³õʼ»¯DW1000
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Spi_ChangePrescaler(SPIx_PRESCALER_FAST); //ÉèÖÃΪ¿ìËÙģʽ
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/* Configure DW1000. See NOTE 6 below. */
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dwt_configure(&config);//ÅäÖÃDW1000
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/* Apply default antenna delay value. See NOTE 1 below. */
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dwt_setrxantennadelay(RX_ANT_DLY); //ÉèÖýÓÊÕÌìÏßÑÓ³Ù
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dwt_settxantennadelay(TX_ANT_DLY); //ÉèÖ÷¢ÉäÌìÏßÑÓ³Ù
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/* Set expected response's delay and timeout. See NOTE 4 and 5 below.
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* As this example only handles one incoming frame with always the same delay and timeout, those values can be set here once for all. */
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//ÉèÖýÓÊÕ³¬Ê±Ê±¼ä
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}
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//void Dw1000_App_Init(void)
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//{
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////g_com_map[DEV_ID] = 0x0b;
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// //tag_state=DISCPOLL;
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// tx_poll_msg[MESSAGE_TYPE_IDX]=POLL;
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// tx_resp_msg[MESSAGE_TYPE_IDX]=RESPONSE;
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// tx_final_msg[MESSAGE_TYPE_IDX]=FINAL;
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// tx_sync_msg[MESSAGE_TYPE_IDX]=SYNC;
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//
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// memcpy(&tx_poll_msg[GROUP_ID_IDX], &group_id, 1);
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// memcpy(&tx_final_msg[GROUP_ID_IDX], &group_id, 1);
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// memcpy(&tx_resp_msg[GROUP_ID_IDX], &group_id, 1);
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//
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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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int16_t target_offsettime = 850;
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int32_t error_time;
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u32 temptime,delaytime,expect_anctime;
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int16_t poll_offsettime=-6900,clockoffset;
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extern u16 slotpos_intoatl, slotpos;
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extern u16 bigslot_num;
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u8 pd_i;
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extern u16 tagslotpos;
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void NextPollDelay(u32 anchor_time)
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{
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//tagslotpos = 0;
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error_time = anchor_time-expect_anctime;
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if(error_time<2000&&error_time>0)
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clockoffset += (target_offsettime-error_time)*0.1;
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for(pd_i=0; pd_i<tag_frequency; pd_i++)
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{
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slotpos_intoatl = pd_i*bigslot_num+tagslotpos;
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temptime = (slotpos_intoatl*SLOTTIME_MS+100)*100;
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if(anchor_time<temptime-5000)
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{
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current_slotnum = pd_i;
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delaytime = temptime-anchor_time+poll_offsettime+clockoffset;
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expect_anctime = temptime;
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return ;
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}
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}
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temptime = (tagslotpos*SLOTTIME_MS+100+10000)*100;
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expect_anctime = temptime-1000000;
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delaytime = temptime-anchor_time+poll_offsettime+clockoffset;
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return ;
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}
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u16 lpcount,poll_startcount,last_lpcount;
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u16 waketopolltimeus = 3200;
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#define BASENUM_COMTIME 244
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u32 last_anchor_time;
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static u16 current_count;
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void SetLPTimer(u32 anchor_time,u8 nearbase_num)
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{
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NextPollDelay(anchor_time);
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current_count=HAL_LPTIM_ReadCounter(&hlptim1);
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lpcount = current_count+delaytime/LPTIMER_LSB+(10-nearbase_num)*8;
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poll_startcount = lpcount+(waketopolltimeus)/LPTIMER_LSB;
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if(poll_startcount>=32768)
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{
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poll_startcount -=32768;
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}
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if(lpcount>=32768)
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{
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lpcount -=32768;
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}
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__HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
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last_lpcount = lpcount;
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}
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void NextSlotDelayMs(int16_t delayms)
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{
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current_slotnum++;
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if(current_slotnum>=tag_frequency)
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{
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current_slotnum = 0;
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lpcount = last_lpcount+31457/tag_frequency+1311+32.767*delayms;//(float)(delayms+40)*32.767 ;//(200/tag_frequency+delayms)*4.8*1000/LPTIMER_LSB
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} else {
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lpcount = last_lpcount+31457/tag_frequency+32.767*delayms;//(float)(200/tag_frequency*48+delayms*10)*3.3 ;
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}
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if(lpcount>=32768)
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{
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lpcount -=32768;
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}
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poll_startcount = lpcount+(waketopolltimeus)/LPTIMER_LSB;
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if(poll_startcount>=32768)
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{
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poll_startcount -=32768;
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}
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__HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
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last_lpcount = lpcount;
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}
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void WaitUntilPollStart(void)
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{
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current_count=HAL_LPTIM_ReadCounter(&hlptim1);
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while(current_count<poll_startcount||current_count>poll_startcount+16384)
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{
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current_count=HAL_LPTIM_ReadCounter(&hlptim1);
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if(current_count<poll_startcount-300)
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{
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break;
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}
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}
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}
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//u16 tag_time_recv[TAG_NUM_IN_SYS];
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//u8 usart_send[250];
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//u8 battary,button;
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//extern uint8_t g_pairstart;
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//void tag_sleep_configuraion(void)
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//{
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// dwt_configuresleep(0x940, 0x7);
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// dwt_entersleep();
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//}
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//extern uint8_t g_start_send_flag;
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//uint16_t g_Resttimer;
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//uint8_t result;
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//u8 tag_succ_times=0;
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//int32_t hex_dist;
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//u16 checksum;
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//int8_t tag_delaytime;
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//extern uint16_t sync_timer;
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//u16 tmp_time;
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//int32_t temp_dist;
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//u16 tagslotpos;
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//u16 anclist_num=0,anclist_pos; //list ×ÜÊýÁ¿ºÍµ±Ç°Î»ÖÃ
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//u16 ancid_list[TAG_NUM_IN_SYS];
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//u8 nearbase_num;
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//u16 mainbase_id;
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//int32_t mainbase_dist,base_mindist;
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//uint8_t trygetnearmsg_times;
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//u16 mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM],nearbaseid_list0[MAX_NEARBASE_NUM],nearbaseid_list[MAX_NEARBASE_NUM],nearbaseid_list2[MAX_NEARBASE_NUM];
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//u8 FindNearBasePos(u16 baseid)
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//{
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// u8 i;
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// for(i=0;i<nearbase_num;i++)
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// {
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// if(baseid==nearbaseid_list[i])
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// return i;
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// }
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//}
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//u8 recbase_num=0;
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//#define CHANGE_BASE_THRESHOLD 5
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//uint8_t GetRandomValue(void)
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//{
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// uint8_t random_value=0,temp_adc,i;
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// for(i=0;i<8;i++)
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// {
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// temp_adc=Get_ADC_Value();
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// random_value=random_value|((temp_adc&0x01)<<i);
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// }
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// return random_value;
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//}
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//u8 GetRandomSlotPos(uint32_t emptyslot)
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//{
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// u8 i,temp_value;
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// temp_value = HAL_LPTIM_ReadCounter(&hlptim1);//GetRandomValue();
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// for(i=temp_value%32;i<max_slotpos;i++)
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// {
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// if(((emptyslot>>i)&0x1)==0)
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// {
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// return i;
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// }
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// }
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//
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// for(i=1;i<max_slotpos;i++)
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// {
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// if(((emptyslot>>i)&0x1)==0)
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// {
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// return i;
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// }
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// }
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//return max_slotpos-1;
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//}
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//void MODBUS_Poll(void)
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//{
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// uint32_t frame_len;
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// uint32_t final_tx_time;
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// u32 start_poll;
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// u8 i,getsync_flag=0;
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// u8 bat_percent;
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// //LED0_ON;
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// //dwt_forcetrxoff();
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// g_Resttimer=0;
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// dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //ÉèÖ÷¢Ëͺó¿ªÆô½ÓÊÕ£¬²¢É趨ÑÓ³Ùʱ¼ä
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// dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
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// tag_succ_times = 0;
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// if(bat_percent>100)
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// bat_percent=100;
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// tx_poll_msg[BATTARY_IDX] = bat_percent;//Get_Battary();
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//// tx_poll_msg[BUTTON_IDX] = !READ_KEY0;
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// tx_poll_msg[SEQUENCE_IDX] = frame_seq_nb++;
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//// GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_RESET);
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// for(i=0;i<g_com_map[MAX_REPORT_ANC_NUM];i++)
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// {
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// /* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
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// tx_poll_msg[ANC_TYPE_IDX] = i;
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//
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// dwt_writetxdata(sizeof(tx_poll_msg), tx_poll_msg, 0);//½«Poll°üÊý¾Ý´«¸øDW1000£¬½«ÔÚ¿ªÆô·¢ËÍʱ´«³öÈ¥
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// dwt_writetxfctrl(sizeof(tx_poll_msg), 0);//ÉèÖó¬¿í´ø·¢ËÍÊý¾Ý³¤¶È
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// /* Start transmission, indicating that a response is expected so that reception is enabled automatically after the frame is sent and the delay
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// * set by dwt_setrxaftertxdelay() has elapsed. */
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// dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//¿ªÆô·¢ËÍ£¬·¢ËÍÍê³ÉºóµÈ´ýÒ»¶Îʱ¼ä¿ªÆô½ÓÊÕ£¬µÈ´ýʱ¼äÔÚdwt_setrxaftertxdelayÖÐÉèÖÃ
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//// start_poll = time32_incr;
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// /* We assume that the transmission is achieved correctly, poll for reception of a frame or error/timeout. See NOTE 8 below. */
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// while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//²»¶Ï²éѯоƬ״ֱ̬µ½³É¹¦½ÓÊÕ»òÕß·¢Éú´íÎó
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// {
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// IdleTask();
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//
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// };
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// /* Increment frame sequence number after transmission of the poll message (modulo 256). */
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// if(status_reg==0xffffffff)
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// {
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// NVIC_SystemReset();
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// }
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// if (status_reg & SYS_STATUS_RXFCG)//Èç¹û³É¹¦½ÓÊÕ
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// {
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// /* Clear good RX frame event and TX frame sent in the DW1000 status register. */
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// dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//Çå³þ¼Ä´æÆ÷±ê־λ
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// /* A frame has been received, read it into the local buffer. */
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// frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //»ñµÃ½ÓÊÕµ½µÄÊý¾Ý³¤¶È
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// dwt_readrxdata(rx_buffer, frame_len, 0); //¶ÁÈ¡½ÓÊÕÊý¾Ý
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|
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// /* Check that the frame is the expected response from the companion "DS TWR responder" example.
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// * As the sequence number field of the frame is not relevant, it is cleared to simplify the validation of the frame. */
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//
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// if (rx_buffer[GROUP_ID_IDX] == group_id&&rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,4)) //ÅжϽÓÊÕµ½µÄÊý¾ÝÊÇ·ñÊÇresponseÊý¾Ý
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// { u16 anc_id_recv,rec_com_interval;
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// /* Retrieve poll transmission and response reception timestamp. */
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// poll_tx_ts = get_tx_timestamp_u64(); //»ñµÃPOLL·¢ËÍʱ¼äT1
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// resp_rx_ts = get_rx_timestamp_u64(); //»ñµÃRESPONSE½ÓÊÕʱ¼äT4
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//
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// if(getsync_flag==0&&g_com_map[DEV_ROLE])
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// {
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// getsync_flag=1;
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// memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
|
// memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
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// tmp_time=tmp_time+450;
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// if(tmp_time>999)
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// {
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// tmp_time-=999;
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// sync_timer++;
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// if(sync_timer>=1010)
|
// {sync_timer=0;}
|
// }
|
// // TIM3->CNT=tmp_time;
|
// }
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// // memcpy(&hex_dist2, &rx_buffer[DIST_IDX], 4);
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// memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
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// // memcpy(&rec_com_interval,&rx_buffer[ANCSEND_INTERVAL], 2);
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//// if(rec_com_interval>4&&rec_com_interval!=g_com_map[COM_INTERVAL])
|
//// {
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//// g_com_map[COM_INTERVAL]=rec_com_interval;
|
//// save_com_map_to_flash();
|
//// // delay_ms(100);
|
//// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader
|
//// }
|
//
|
// /* Compute final message transmission time. See NOTE 9 below. */
|
// final_tx_time = (resp_rx_ts + (RESP_RX_TO_FINAL_TX_DLY_UUS * UUS_TO_DWT_TIME)) >> 8;//¼ÆËãfinal°ü·¢ËÍʱ¼ä£¬T5=T4+Treply2
|
// dwt_setdelayedtrxtime(final_tx_time);//ÉèÖÃfinal°ü·¢ËÍʱ¼äT5
|
|
// /* Final TX timestamp is the transmission time we programmed plus the TX antenna delay. */
|
// final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final°üʵ¼Ê·¢ËÍʱ¼äÊǼÆËãʱ¼ä¼ÓÉÏ·¢ËÍÌìÏßdelay
|
|
// /* Write all timestamps in the final message. See NOTE 10 below. */
|
// final_msg_set_ts(&tx_final_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//½«T1£¬T4£¬T5дÈë·¢ËÍÊý¾Ý
|
// final_msg_set_ts(&tx_final_msg[FINAL_MSG_RESP_RX_TS_IDX], resp_rx_ts);
|
// final_msg_set_ts(&tx_final_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
|
|
// /* Write and send final message. See NOTE 7 below. */
|
//
|
// dwt_writetxdata(sizeof(tx_final_msg), tx_final_msg, 0);//½«·¢ËÍÊý¾ÝдÈëDW1000
|
// dwt_writetxfctrl(sizeof(tx_final_msg), 0);//É趨·¢ËÍÊý¾Ý³¤¶È
|
// result=dwt_starttx(DWT_START_TX_DELAYED);//É趨ΪÑÓ³Ù·¢ËÍ
|
//
|
// tag_succ_times++;
|
//
|
// LED0_BLINK;
|
//
|
// memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
|
//// if(hex_dist2!=0xffff)
|
//// {
|
//// g_Tagdist[anc_id_recv]= hex_dist2;
|
//// g_flag_Taggetdist[anc_id_recv]=0;
|
////
|
//// if(!g_com_map[MODBUS_MODE])
|
//// {
|
//// hex_dist2 = hex_dist2;
|
//// usart_send[2] = 1;//Õý³£Ä£Ê½
|
//// usart_send[3] = 17;//Êý¾Ý¶Î³¤¶È
|
//// usart_send[4] = frame_seq_nb;//Êý¾Ý¶Î³¤¶È
|
//// memcpy(&usart_send[5],&dev_id,2);
|
//// memcpy(&usart_send[7],&rx_buffer[ANCHOR_ID_IDX],2);
|
////
|
//// memcpy(&usart_send[9],&hex_dist2,4);
|
//// usart_send[13] = bat_percent;
|
//// usart_send[14] = button;
|
//// checksum = Checksum_u16(&usart_send[2],17);
|
//// memcpy(&usart_send[19],&checksum,2);
|
//// UART_PushFrame(usart_send,21);
|
//// }
|
//// }
|
// // memcpy(&Modbus_HoldReg[anc_id_recv*2],&hex_dist,4);
|
// /* Poll DW1000 until TX frame sent event set. See NOTE 8 below. */
|
// if(result==0)
|
// {while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//²»¶Ï²éѯоƬ״ֱ̬µ½·¢ËÍÍê³É
|
// { };
|
// }
|
// /* Clear TXFRS event. */
|
// dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//Çå³ý±ê־λ
|
|
// /* Increment frame sequence number after transmission of the final message (modulo 256). */
|
|
// random_delay_tim = 0;
|
// }
|
// else
|
// {
|
// random_delay_tim = DFT_RAND_DLY_TIM_MS; //Èç¹ûͨѶʧ°Ü£¬½«¼ä¸ôʱ¼äÔö¼Ó5ms£¬±Ü¿ªÒòΪ¶à±êǩͬʱ·¢ËÍÒýÆðµÄ³åÍ»¡£
|
// }
|
// }
|
// else
|
// {
|
// /* Clear RX error events in the DW1000 status register. */
|
// dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
|
// random_delay_tim = DFT_RAND_DLY_TIM_MS;
|
// }
|
//// deca_sleep(10);
|
//}
|
//// dwt_entersleep();
|
|
|
// /* Execute a delay between ranging exchanges. */
|
// delay_ms(30);
|
|
//}
|
//int32_t mainbase_dist,nearbase_switchdistlist[MAX_NEARBASE_NUM],nearbase_distlist[MAX_NEARBASE_NUM],true_nearbase_distlist[MAX_NEARBASE_NUM],true_exsistbase_list[MAX_NEARBASE_NUM],ancsync_time,nextpoll_delaytime,offsettimeus;
|
//u8 anclost_times=0 , mainbase_lost_count=0;
|
//u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
|
//u8 flag_finalsend,flag_getresponse,flag_rxon;
|
//uint16_t current_count,start_count,end_count,lastsync_timer;
|
//extern u16 bigslot_num;
|
//u8 nearbase_num=0,last_nearbase_num,next_nearbase_num,last_slotnum, para_update,para_len,stationary_flag=0;
|
//u32 rec_tagpos_binary;
|
//int16_t offset=4700,temptimer;
|
//u8 motor_state,rec_remotepara_state,rec_remotepara[80];
|
|
|
//#define SINGLEPOLL_BASENUM 5
|
//uint16_t singlepoll_baseid[20]={0x8166,0x9804,0x9689,0x9686,0x8279,0x9815,0x9803,0x9814,0x9687,0x9774,0x8278,0x9743,0x9688,0x9771,0x8277};
|
//int32_t singlepoll_basedist[20];
|
|
extern u8 userkey_state;
|
//extern float motor_keeptime;
|
//uint8_t changemainbase_count=0,gotosleep_flag,singlepoll_i;
|
//uint32_t frame_len;
|
//int32_t salvebase_mindist;
|
//int16_t intheight;
|
//static uint8_t send_buffer[200];
|
//void DiscPoll(void)
|
//{
|
// uint32_t frame_len;
|
// uint32_t final_tx_time;
|
// u32 start_poll;
|
// int32_t minddist=0x1ffff,minid=-1,temp_dist;
|
// u8 i,j,getsync_flag=0;
|
// u16 mindist_ancid,random_delay_tim,tempval;
|
//
|
// dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //ÉèÖ÷¢Ëͺó¿ªÆô½ÓÊÕ£¬²¢É趨ÑÓ³Ùʱ¼ä
|
// dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
|
// frame_seq_nb++;
|
// for(uint8_t singlepoll_i=0;singlepoll_i<10;singlepoll_i++)
|
// {
|
//
|
|
// /* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
|
// nearbase_num = 0;
|
//
|
// // send_buffer[BATTARY_IDX] = bat_percent;
|
// //send_buffer[BUTTON_IDX] = !GET_USERKEY|stationary_flag<<1|gotosleep_flag<<2;
|
// send_buffer[SEQUENCE_IDX] = frame_seq_nb;
|
// send_buffer[SEQUENCEH_IDX] = (frame_seq_nb)>>8;
|
// send_buffer[NEARBASENUM_INDEX] = nearbase_num;
|
//
|
//// memcpy(&send_buffer[NEARBASEID_INDEX],&singlepoll_baseid,nearbase_num*2);
|
//// memcpy(&send_buffer[NEARBASEID_INDEX+nearbase_num*2],&singlepoll_basedist,nearbase_num*4+4);
|
//// intheight+=g_com_map[HEIGHTOFFEST_INDEX];
|
// // memcpy(&send_buffer[NEARBASEID_INDEX+nearbase_num*6],&intheight,2);
|
// send_buffer[MESSAGE_TYPE_IDX] = DISCOVERPOLL;
|
//// singlepoll_basedist[singlepoll_i]= 0x1ffff;
|
// send_buffer[NEARP_TAGFREQ_INDEX] = tag_frequency;
|
// send_buffer[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;
|
// send_buffer[ANCHOR_ID_IDX] = singlepoll_i;
|
// memcpy(&send_buffer[TAG_ID_IDX],&dev_id,2);
|
// dwt_writetxdata(28+6*nearbase_num, send_buffer, 0);//½«Poll°üÊý¾Ý´«¸øDW1000£¬½«ÔÚ¿ªÆô·¢ËÍʱ´«³öÈ¥
|
// dwt_writetxfctrl(28+6*nearbase_num, 0);//ÉèÖó¬¿í´ø·¢ËÍÊý¾Ý³¤¶È
|
// dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//¿ªÆô·¢ËÍ£¬·¢ËÍÍê³ÉºóµÈ´ýÒ»¶Îʱ¼ä¿ªÆô½ÓÊÕ£¬µÈ´ýʱ¼äÔÚdwt_setrxaftertxdelayÖÐÉèÖÃ
|
|
//
|
// /* We assume that the transmission is achieved correctly, poll for reception of a frame or error/timeout. See NOTE 8 below. */
|
// while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//²»¶Ï²éѯоƬ״ֱ̬µ½³É¹¦½ÓÊÕ»òÕß·¢Éú´íÎó
|
// {
|
// };
|
// if(status_reg==0xffffffff)
|
// {
|
// NVIC_SystemReset();
|
// }
|
// if (status_reg & SYS_STATUS_RXFCG)//Èç¹û³É¹¦½ÓÊÕ
|
// {
|
// dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//Çå³þ¼Ä´æÆ÷±ê־λ
|
// frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //»ñµÃ½ÓÊÕµ½µÄÊý¾Ý³¤¶È
|
// dwt_readrxdata(rx_buffer, frame_len, 0); //¶ÁÈ¡½ÓÊÕÊý¾Ý
|
//
|
// if (rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //ÅжϽÓÊÕµ½µÄÊý¾ÝÊÇ·ñÊÇresponseÊý¾Ý
|
// {
|
// poll_tx_ts = get_tx_timestamp_u64(); //»ñµÃPOLL·¢ËÍʱ¼äT1
|
// resp_rx_ts = get_rx_timestamp_u64(); //»ñµÃRESPONSE½ÓÊÕʱ¼äT4
|
// if(getsync_flag==0)
|
// {
|
// getsync_flag=1;
|
// 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;}
|
// }
|
|
// //offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
|
//// SetNextPollTime(tagslotpos);
|
// }
|
// memcpy(&send_buffer[NEARBASEID_INDEX+singlepoll_i*2],&rx_buffer[ANCHOR_ID_IDX],2);
|
// memcpy(&temp_dist, &rx_buffer[DIST_IDX], 4);
|
// memcpy(&send_buffer[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
|
// // singlepoll_basedist[singlepoll_i] = temp_dist;
|
// // memcpy(&singlepoll_baseid[singlepoll_i], &rx_buffer[ANCHOR_ID_IDX], 2);
|
//
|
// if(temp_dist<minddist)
|
// {
|
// minddist = temp_dist;
|
// memcpy(&mindist_ancid,&rx_buffer[ANCHOR_ID_IDX],2);
|
//
|
// }
|
// send_buffer[MESSAGE_TYPE_IDX] = DISCOVERFINAL;
|
// /* Compute final message transmission time. See NOTE 9 below. */
|
// final_tx_time = (resp_rx_ts + (600 * UUS_TO_DWT_TIME)) >> 8;//¼ÆËãfinal°ü·¢ËÍʱ¼ä£¬T5=T4+Treply2
|
// 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(&send_buffer[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//½«T1£¬T4£¬T5дÈë·¢ËÍÊý¾Ý
|
// final_msg_set_ts(&send_buffer[FINAL_MSG_RESP_RX_TS_IDX], resp_rx_ts);
|
// final_msg_set_ts(&send_buffer[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
|
// dwt_writetxdata(25,send_buffer, 0);//½«·¢ËÍÊý¾ÝдÈëDW1000
|
// dwt_writetxfctrl(25, 0);//É趨·¢ËÍÊý¾Ý³¤¶È
|
// result=dwt_starttx(DWT_START_TX_DELAYED);//É趨ΪÑÓ³Ù·¢ËÍ
|
//
|
//
|
// if(result==0)
|
// {while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//²»¶Ï²éѯоƬ״ֱ̬µ½·¢ËÍÍê³É
|
// { };
|
// }
|
// /* Clear TXFRS event. */
|
// dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//Çå³ý±ê־λ
|
// random_delay_tim = 0;
|
// }
|
// else
|
// {
|
// // singlepoll_basedist[singlepoll_i] = 0x1ffff;
|
// random_delay_tim = DFT_RAND_DLY_TIM_MS; //Èç¹ûͨѶʧ°Ü£¬½«¼ä¸ôʱ¼äÔö¼Ó5ms£¬±Ü¿ªÒòΪ¶à±êǩͬʱ·¢ËÍÒýÆðµÄ³åÍ»¡£
|
// }
|
// }
|
// else
|
// {
|
// // singlepoll_basedist[singlepoll_i] = 0x1ffff;
|
// dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
|
// random_delay_tim = DFT_RAND_DLY_TIM_MS;
|
// }
|
// // delay_ms(1);
|
//}
|
// if(minddist!=0x1ffff&&minddist!=0)
|
// {
|
// trygetnearmsg_times = 0;
|
// tag_state = GETNEARMSG;
|
// mainbase_id = mindist_ancid;
|
// }
|
//
|
// if(getsync_flag==0)
|
// {
|
//// tagslotpos--;
|
//// if(tagslotpos==0||tagslotpos>max_slotpos)
|
//// {
|
//// tagslotpos=max_slotpos;
|
//// }
|
//// tyncpoll_time=(tagslotpos-1)*slottime;
|
// }
|
//// mainbase_id=minid;
|
//// mainbase_id = 0x4;
|
//}
|
//int16_t target_offsettime = 850;
|
////#define TAGET_OFFSETTIME 940
|
//#define MAX_NEARBASE_ANCNUM 11
|
//u16 rec_maxrangelen,rec_anc_signalpower[MAX_NEARBASE_ANCNUM];
|
//u8 outrange_times;
|
//extern u32 synctimer;
|
//u32 target_time=100;
|
//u8 pd_i;
|
//u32 temptime,delaytime,expect_anctime;
|
//int32_t error_time;
|
//u16 delaycount;
|
//int16_t poll_offsettime=-6900,clockoffset;
|
//extern u16 slotpos_intoatl, slotpos;
|
//void NextPollDelay(u32 anchor_time)
|
//{
|
// //tagslotpos = 0;
|
// error_time = anchor_time-expect_anctime;
|
// if(error_time<2000&&error_time>0)
|
// clockoffset += (target_offsettime-error_time)*0.1;
|
// for(pd_i=0;pd_i<tag_frequency;pd_i++)
|
// {
|
// slotpos_intoatl = pd_i*bigslot_num+tagslotpos;
|
// temptime = (slotpos_intoatl*SLOTTIME_MS+100)*100;
|
// if(anchor_time<temptime-5000)
|
// {
|
// current_slotnum = pd_i;
|
// delaytime = temptime-anchor_time+poll_offsettime+clockoffset;
|
// expect_anctime = temptime;
|
// return ;
|
// }
|
// }
|
// temptime = (tagslotpos*SLOTTIME_MS+100+10000)*100;
|
// expect_anctime = temptime-1000000;
|
// delaytime = temptime-anchor_time+poll_offsettime+clockoffset;
|
// return ;
|
//}
|
//u16 lpcount,poll_startcount,last_lpcount;
|
//u16 waketopolltimeus = 3200;
|
//#define BASENUM_COMTIME 244
|
//u32 last_anchor_time;
|
//void SetLPTimer(u32 anchor_time)
|
//{
|
// NextPollDelay(anchor_time);
|
// current_count=HAL_LPTIM_ReadCounter(&hlptim1);
|
// lpcount = current_count+delaytime/LPTIMER_LSB+(10-nearbase_num)*8;
|
// poll_startcount = lpcount+(waketopolltimeus)/LPTIMER_LSB;
|
// if(poll_startcount>=32768)
|
// {
|
// poll_startcount -=32768;
|
// }
|
// if(lpcount>=32768)
|
// {
|
// lpcount -=32768;
|
// }
|
// __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
|
// last_lpcount = lpcount;
|
// }
|
|
//void NextSlotDelayMs(int16_t delayms)
|
//{
|
// current_slotnum++;
|
// if(current_slotnum>=tag_frequency)
|
// {
|
// current_slotnum = 0;
|
// lpcount = last_lpcount+31457/tag_frequency+1311+32.767*delayms;//(float)(delayms+40)*32.767 ;//(200/tag_frequency+delayms)*4.8*1000/LPTIMER_LSB
|
// }else{
|
// lpcount = last_lpcount+31457/tag_frequency+32.767*delayms;//(float)(200/tag_frequency*48+delayms*10)*3.3 ;
|
// }
|
// if(lpcount>=32768)
|
// {
|
// lpcount -=32768;
|
// }
|
// poll_startcount = lpcount+(waketopolltimeus)/LPTIMER_LSB;
|
// if(poll_startcount>=32768)
|
// {
|
// poll_startcount -=32768;
|
// }
|
// __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
|
// last_lpcount = lpcount;
|
//}
|
|
//u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32],mainbase_type;;
|
//void GetNearMsg(void)
|
//{
|
// u32 start_poll,frame_len;
|
// u8 nearmsg_i=0;
|
// NextSlotDelayMs(0);
|
// for(nearmsg_i=0;nearmsg_i<MAX_NEARBASE_NUM;nearmsg_i++)
|
// {
|
// nearbase_distlist[nearmsg_i] = 0x1ffff;
|
// }
|
////mainbase_id = 0x1;
|
// memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
|
// memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);
|
// tx_near_msg[MESSAGE_TYPE_IDX] = POS_MSG;
|
//
|
//
|
// dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //ÉèÖ÷¢Ëͺó¿ªÆô½ÓÊÕ£¬²¢É趨ÑÓ³Ùʱ¼ä
|
// dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
|
// dwt_writetxdata(12, tx_near_msg, 0);//½«Poll°üÊý¾Ý´«¸øDW1000£¬½«ÔÚ¿ªÆô·¢ËÍʱ´«³öÈ¥
|
// dwt_writetxfctrl(12, 0);//ÉèÖó¬¿í´ø·¢ËÍÊý¾Ý³¤¶È
|
// current_count=HAL_LPTIM_ReadCounter(&hlptim1);
|
// while(current_count<poll_startcount||current_count>poll_startcount+16384)
|
// {
|
// current_count=HAL_LPTIM_ReadCounter(&hlptim1);
|
// if(current_count<poll_startcount-300)
|
// {
|
// break;
|
// }
|
// }
|
// dwt_starttx(DWT_START_TX_IMMEDIATE| DWT_RESPONSE_EXPECTED);
|
// NextSlotDelayMs(0);
|
// /* We assume that the transmission is achieved correctly, poll for reception of a frame or error/timeout. See NOTE 8 below. */
|
// while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//²»¶Ï²éѯоƬ״ֱ̬µ½³É¹¦½ÓÊÕ»òÕß·¢Éú´íÎó
|
// {
|
// };
|
// if(status_reg==0xffffffff)
|
// {
|
// NVIC_SystemReset();
|
// }
|
// if (status_reg & SYS_STATUS_RXFCG)//Èç¹û³É¹¦½ÓÊÕ
|
// {
|
// dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//Çå³þ¼Ä´æÆ÷±ê־λ
|
// frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //»ñµÃ½ÓÊÕµ½µÄÊý¾Ý³¤¶È
|
// dwt_readrxdata(rx_buffer, frame_len, 0); //¶ÁÈ¡½ÓÊÕÊý¾Ý
|
// if (rx_buffer[MESSAGE_TYPE_IDX] == POS_MSG&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //ÅжϽÓÊÕµ½µÄÊý¾ÝÊÇ·ñÊÇresponseÊý¾Ý
|
// {
|
// nearbase_num=rx_buffer[NEARBASENUM_INDEX];
|
// memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
|
// // tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
|
// //tagslotpos=rx_buffer[TAGSLOTPOS];
|
// memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
|
// memcpy(nearbaseid_list2,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
|
// //slottime=ceil((nearbase_num+2)*0.3)+1;
|
// //tyncpoll_time=tagslotpos*slottime;
|
// //tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;
|
// tag_state=NEARPOLL;
|
// }
|
// }else{
|
//// tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
|
// }
|
//}
|
//void SendHuiZongData(void)
|
//{
|
// usart_send[0] = 0x55;
|
// usart_send[1] = 0xaa;
|
// usart_send[2] = 0x0c;//Õý³£Ä£Ê½
|
// usart_send[3] = 15+8*(nearbase_num+1);//Êý¾Ý¶Î³¤¶È
|
// memcpy(&usart_send[4],&dev_id,2);
|
// usart_send[6] = frame_seq_nb;
|
// usart_send[7] = frame_seq_nb>>8;
|
// usart_send[8] = bat_percent;
|
// usart_send[9] = tx_near_msg[BUTTON_IDX];
|
|
// memcpy(&usart_send[10],&intheight,2);
|
// usart_send[12] = tag_frequency;
|
// usart_send[13] = tagslotpos;
|
// usart_send[14] = 0;
|
// usart_send[15] = 0;
|
// usart_send[16] = nearbase_num+1;
|
// memcpy(&usart_send[17],&mainbase_id,2);
|
// memcpy(&usart_send[19],&nearbaseid_list,2*nearbase_num);
|
// memcpy(&usart_send[19+nearbase_num*2],&nearbase_distlist,4*nearbase_num+4);
|
// memcpy(&usart_send[19+nearbase_num*6+4],&rec_anc_signalpower,2*nearbase_num+2);
|
//
|
// checksum = Checksum_u16(&usart_send[2],23+8*nearbase_num);
|
// memcpy(&usart_send[25+8*nearbase_num],&checksum,2);
|
// USART_puts(usart_send,27+8*nearbase_num);
|
// //HexToAsciiSendUDP(usart_send,27+8*nearbase_num);
|
//}
|
//#define FREQ_OFFSET_MULTIPLIER (998.4e6/2.0/1024.0/131072.0)
|
//#define FREQ_OFFSET_MULTIPLIER_110KB (998.4e6/2.0/8192.0/131072.0)
|
|
//// Multiplication factors to convert frequency offset in Hertz to PPM crystal offset
|
//// NB: also changes sign so a positive value means the local RX clock is running slower than the remote TX device.
|
|
//#define HERTZ_TO_PPM_MULTIPLIER_CHAN_1 (-1.0e6/3494.4e6)
|
//#define HERTZ_TO_PPM_MULTIPLIER_CHAN_2 (-1.0e6/3993.6e6)
|
//#define HERTZ_TO_PPM_MULTIPLIER_CHAN_3 (-1.0e6/4492.8e6)
|
//#define HERTZ_TO_PPM_MULTIPLIER_CHAN_5 (-1.0e6/6489.6e6)
|
//int32_t test2;
|
//uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
|
//uint8_t motor_flag;
|
//uint32_t testtimer[10],testtimer2,anc_pollrx[11],anc_resptx[11],tag_resprx[11];
|
//int32_t anc_clockoffset[11];
|
//int16_t anc_distoffset[11];
|
//extern uint8_t Pah_HRD_flag_fangchai;
|
//uint8_t get_newdist,notenoughdist_count;
|
//void SetANCTimestap(uint8_t i,uint8_t* pollrx,uint8_t* resptx,uint32_t resprx,uint8_t* distoffset)
|
//{
|
// memcpy(&anc_pollrx[i],pollrx,4);
|
// memcpy(&anc_resptx[i],resptx,4);
|
// memcpy(&tag_resprx[i],&resprx,4);
|
// memcpy(&anc_distoffset[i],distoffset,2);
|
// anc_clockoffset[i] = test2;
|
//}
|
//float clockOffsetRatio;
|
//double rtd_init, rtd_resp;
|
//double tof,distance;
|
//extern int32_t dwt_readcarrierintegrator(void) ;
|
//void CalculateDists(void)
|
//{
|
// for(int i=0;i<11;i++)
|
// {
|
// rec_anc_signalpower[i] = exsistbase_list[i];
|
// if(exsistbase_list[i]==KEEP_TIMES)
|
// {
|
|
// exsistbase_list[i]--;
|
//#ifdef _UWB_4G
|
// clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_2 / 1.0e6) ;
|
//#else
|
// clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_5 / 1.0e6) ;
|
//#endif
|
// rtd_init = tag_resprx[i] - poll_tx_ts&0xffffffff;
|
// rtd_resp = anc_resptx[i] - anc_pollrx[i];
|
// tof = ((rtd_init - rtd_resp * (1 - clockOffsetRatio)) / 2.0) * DWT_TIME_UNITS;
|
// distance = tof * SPEED_OF_LIGHT;
|
// if(distance>-10&&distance<1000)
|
// {
|
// nearbase_distlist[i] = distance*100+anc_distoffset[i];
|
//// if(nearbase_distlist[i]>4000)
|
//// {
|
//// nearbase_distlist[i] = 4100;
|
//// }
|
// }
|
// }else{
|
// nearbase_distlist[i] = 0x1ffff;
|
// }
|
//
|
// }
|
//}
|
//void NearPoll(void)
|
//{
|
//
|
// uint32_t temp1,temp2,dw_systime,mindist_slavebaseid;
|
// static u8 notenoughdist_count=0;
|
// uint32_t final_tx_time;
|
// u32 start_poll;
|
// u8 i,j,getsync_flag=0,timeout,get_newdist;
|
// // USART_putc(current_slotnum);
|
// dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //ÉèÖ÷¢Ëͺó¿ªÆô½ÓÊÕ£¬²¢É趨ÑÓ³Ùʱ¼ä
|
// dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
|
// tag_succ_times = 0;
|
// salvebase_mindist=999999;
|
// get_newdist = 0;
|
// if(next_nearbase_num>=MAX_NEARBASE_NUM)
|
// {
|
// next_nearbase_num = MAX_NEARBASE_NUM-1;
|
// }
|
// if(nearbase_num>10)
|
// {nearbase_num = 10;}
|
//// HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
|
|
// recbase_num=0;
|
//// motor_state=0;
|
// if(motor_state!=0&&motor_state!=3)
|
// {
|
// motor_flag = 1;
|
// }else{
|
// motor_flag = 0;
|
// }
|
//
|
// tx_near_msg[BATTARY_IDX] = bat_percent;
|
// tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2|motor_flag<<5;
|
// tx_near_msg[SEQUENCE_IDX] = frame_seq_nb;
|
// tx_near_msg[SEQUENCEH_IDX] = (frame_seq_nb++)>>8;
|
// tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
|
// memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
|
// memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&nearbase_distlist,nearbase_num*4+4);
|
// memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6+4],&rec_anc_signalpower,nearbase_num*2+2);
|
|
//
|
// if(intheight!=0)
|
// intheight+=g_com_map[HEIGHTOFFEST_INDEX];
|
//
|
// memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*8+6],&intheight,2);
|
// tx_near_msg[MESSAGE_TYPE_IDX] = POS_POLL;
|
//
|
// tx_near_msg[NEARP_TAGFREQ_INDEX] = tag_frequency;
|
// tx_near_msg[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;
|
|
// memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
|
// dwt_writetxdata(29+8*nearbase_num, tx_near_msg, 0);//½«Poll°üÊý¾Ý´«¸øDW1000£¬½«ÔÚ¿ªÆô·¢ËÍʱ´«³öÈ¥
|
// dwt_writetxfctrl(29+8*nearbase_num, 0);//ÉèÖó¬¿í´ø·¢ËÍÊý¾Ý³¤¶È
|
// current_count=HAL_LPTIM_ReadCounter(&hlptim1);
|
//
|
// while(current_count<poll_startcount||current_count>poll_startcount+16384)
|
// {
|
// current_count=HAL_LPTIM_ReadCounter(&hlptim1);
|
// if(current_count<poll_startcount-300)
|
// {
|
// break;
|
// }
|
// }
|
// dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//¿ªÆô·¢ËÍ£¬·¢ËÍÍê³ÉºóµÈ´ýÒ»¶Îʱ¼ä¿ªÆô½ÓÊÕ£¬µÈ´ýʱ¼äÔÚdwt_setrxaftertxdelayÖÐÉèÖÃ
|
//// HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_RESET);
|
//// for(i=0;i<nearbase_num+1;i++)
|
//// {
|
//// nearbase_distlist[i] = 0x1ffff;
|
//// }
|
//
|
// tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
|
// para_update = 0;
|
// flag_finalsend=0;
|
// flag_rxon=1;
|
// flag_getresponse=0;
|
// start_count=HAL_LPTIM_ReadCounter(&hlptim1);
|
// recbase_num=0;
|
// timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
|
// end_count=start_count+(timeout<<5);
|
// if(end_count>=32768)
|
// {end_count-=32768;}
|
// mainbase_dist=100000;
|
// mainbase_lost_count++;
|
// current_count=HAL_LPTIM_ReadCounter(&hlptim1);
|
// while(current_count<end_count||current_count>end_count+15000)
|
// {
|
// 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
|
// {
|
// 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);//É趨½ÓÊÕ³¬Ê±Ê±¼ä£¬0λûÓг¬Ê±Ê±¼ä
|
// dwt_rxenable(0);//´ò¿ª½ÓÊÕ
|
// //HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_SET);
|
// if (rx_buffer[MESSAGE_TYPE_IDX] == POS_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //ÅжϽÓÊÕµ½µÄÊý¾ÝÊÇ·ñÊÇresponseÊý¾Ý
|
// { u16 rec_nearbaseid,rec_nearbasepos;
|
// 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);
|
// if(rec_nearbaseid==mainbase_id)
|
// {
|
// 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);
|
// dwt_forcetrxoff();
|
//// final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS) * UUS_TO_DWT_TIME)) >> 8;
|
//// 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+nearbase_num*4], 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]=POS_FINAL;
|
// rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;
|
// if(rec_remotepara_state&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2))
|
// {
|
// para_update = 1;
|
// tx_near_msg[TAGCONFIGSUCCESS_INDEX] = 1;
|
// para_len = frame_len-22;
|
// memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],para_len);
|
// }
|
//// dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//½«·¢ËÍÊý¾ÝдÈëDW1000
|
//// dwt_writetxfctrl(28+nearbase_num*4, 0);//É趨·¢ËÍÊý¾Ý³¤¶È
|
//// dwt_setdelayedtrxtime(final_tx_time);//ÉèÖÃfinal°ü·¢ËÍʱ¼äT5
|
//// result=dwt_starttx(DWT_START_TX_DELAYED);//É趨ΪÑÓ³Ù·¢ËÍ
|
// userkey_state = !GET_USERKEY;
|
|
// //memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
|
// temp_dist = nearbase_distlist[0];
|
// if(temp_dist!=nearbase_distlist[0])
|
// {
|
// get_newdist++;
|
// }
|
// mainbase_dist=temp_dist;
|
// nearbase_distlist[0] = temp_dist;
|
// base_mindist = temp_dist;
|
// if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
|
// motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
|
// if(frame_len==38)
|
// {
|
// memcpy(&rec_maxrangelen,&rx_buffer[MAXRANGE_DISTANCE],2);
|
// memcpy(&rec_anc_signalpower[0],&rx_buffer[ANC_SIGNALPOWER],2);
|
// if(mainbase_dist>rec_maxrangelen&&mainbase_dist>0&&rec_maxrangelen!=0)
|
// {
|
// if(outrange_times++>OUTRANGE_RESTARTTIMES)
|
// {
|
// tag_state = STARTPOLL;
|
// }
|
// }else{
|
// outrange_times = 0;
|
// }
|
// }
|
//
|
//
|
//
|
// mainbase_lost_count=0;
|
// flag_finalsend=1;
|
//// memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);
|
//
|
|
// flag_getresponse=1;
|
// //ʱ¼äͬ²½
|
// tmp_time=tmp_time+450;
|
// if(tmp_time>999)
|
// {
|
// tmp_time-=999;
|
// sync_timer++;
|
// if(sync_timer>=1000)
|
// {sync_timer=0;}
|
// }
|
// ancsync_time=((sync_timer)*1000+tmp_time);
|
// SetLPTimer(ancsync_time);
|
//// if(result==0)
|
//// {while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//²»¶Ï²éѯоƬ״ֱ̬µ½·¢ËÍÍê³É
|
//// { };}
|
////HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_RESET);
|
// break;
|
// }else{
|
//
|
// rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
|
// SetANCTimestap(rec_nearbasepos+1,&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]);
|
//
|
// exsistbase_list[rec_nearbasepos+1]=KEEP_TIMES;
|
// //memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
|
// temp_dist = nearbase_distlist[rec_nearbasepos+1];
|
// if(frame_len==38)
|
// memcpy(&rec_anc_signalpower[rec_nearbasepos+1],&rx_buffer[ANC_SIGNALPOWER],2);
|
// memcpy(&nearbase_switchdistlist[rec_nearbasepos],&rx_buffer[NR_NEARSWITCH_DISTANCE],2);
|
// if(temp_dist!=nearbase_distlist[rec_nearbasepos+1])
|
// {
|
// get_newdist++;
|
// }
|
// nearbase_distlist[rec_nearbasepos+1]=temp_dist; // nearbase_distlist[1]¶ÔÓ¦ rec_nearbaseid[0]µÄ¾àÀë
|
// final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
|
// if(temp_dist<salvebase_mindist&&nearbase_switchdistlist[rec_nearbasepos]==1)
|
// {
|
// salvebase_mindist = temp_dist;
|
// mindist_slavebaseid = rec_nearbaseid;
|
// }
|
// #ifdef SWITCHBASE_ZHUANDIAN
|
// if(temp_dist<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]>1&&temp_dist>0)
|
// {
|
// mainbase_id = rec_nearbaseid;
|
// tag_state = GETNEARMSG;
|
// trygetnearmsg_times = 0;
|
// }
|
// #endif
|
|
// }
|
// }
|
// // HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_RESET);
|
// }else{
|
// dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
|
// if(recbase_num!=nearbase_num+1)
|
// {dwt_rxenable(0); }
|
// // if(flag_rxon)
|
//// {
|
// // dwt_rxenable(0);
|
//// }
|
// }
|
// // dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
|
// }
|
// if(flag_finalsend!=1)
|
// {flag_finalsend = 2;}
|
// dwt_forcetrxoff();
|
// dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
|
//// HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_SET);
|
// if(mainbase_lost_count==0)
|
// {
|
// #ifdef SWITCHBASE_DIST
|
// if(salvebase_mindist<mainbase_dist- THRESHOLD_CHANGE_MAINBASE_DIST )
|
// {
|
// changemainbase_count++;
|
// if(changemainbase_count>tag_frequency*2)
|
// {
|
// mainbase_id = mindist_slavebaseid;
|
// tag_state = GETNEARMSG;
|
// trygetnearmsg_times = 0;
|
// }
|
// }else{
|
// changemainbase_count = 0;
|
// }
|
// #endif
|
// }else if(mainbase_lost_count>5*tag_frequency)
|
// {
|
// tag_state = DISCPOLL;
|
// }
|
// if(mainbase_lost_count!=0)
|
// {
|
// if(mainbase_lost_count<=tag_frequency*1)
|
// {NextSlotDelayMs(0);
|
// }else{
|
// NextSlotDelayMs(0);
|
// }
|
// }
|
//CalculateDists();
|
// if(para_update)
|
// {
|
//
|
// pack_msgtype = rec_remotepara[0];
|
// pack_index = rec_remotepara[1];
|
// pack_length = rec_remotepara[2];
|
// if(pack_msgtype==2)
|
// {
|
// if( pack_index == MOTOR_ONTIME_INDEX)
|
// {
|
// if(motor_keeptime==0)
|
// motor_keeptime = rec_remotepara[3];
|
// }else if( pack_index == 2*COM_INTERVAL)
|
// {
|
// if(memcmp(&g_com_map[COM_INTERVAL],&rec_remotepara[3],2)!=0)
|
// {
|
// memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
|
// save_com_map_to_flash();
|
// tag_frequency = 1000/g_com_map[COM_INTERVAL];
|
// bigslot_num = TOTAL_SLOTNUM/tag_frequency;
|
// }
|
// }
|
// 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();
|
// }
|
// }
|
// }
|
// }
|
//// if(get_newdist>=2)
|
//// {
|
//// notenoughdist_count = 0;
|
//// }else{
|
//// if(notenoughdist_count++>10)
|
//// {
|
//// notenoughdist_count = 0;
|
//// tag_state = DISCPOLL;
|
//// }
|
//// }
|
// for(i=0;i<nearbase_num;i++)
|
// {
|
// if(nearbaseid_list[i]!=nearbaseid_list2[i])
|
// {
|
// tag_state = GETNEARMSG;
|
// trygetnearmsg_times = 0;
|
// nearbaseid_list0[i]=1;
|
// }
|
// }
|
// SendHuiZongData();
|
// dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
|
////HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
|
|
//}
|
//extern uint8_t module_power,imu_enable,motor_enable;
|
//void Registor_Poll(void)
|
//{
|
// static u8 regpoll_count=0;
|
// mainbase_lost_count = 0;
|
// tag_frequency = REGISTER_FREQUENCY;
|
// bigslot_num = TOTAL_SLOTNUM/tag_frequency;
|
// regpoll_count++;
|
// if(regpoll_count%2)
|
// {
|
// if(tagslotpos--<2)
|
// tagslotpos=TOTAL_SLOTNUM;
|
// }
|
// //SetNextPollTime(tagslotpos);
|
// NextSlotDelayMs(-2);
|
//
|
// dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //ÉèÖ÷¢Ëͺó¿ªÆô½ÓÊÕ£¬²¢É趨ÑÓ³Ùʱ¼ä
|
// dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
|
|
// tx_near_msg[REGP_TAGSTATE_INDEX] = !GET_USERKEY<<2|imu_enable<<1|motor_enable;
|
// tx_near_msg[MESSAGE_TYPE_IDX] = REG_POLL;
|
// tx_near_msg[REGP_FREQUENCY_INDEX] = 1000/g_com_map[COM_INTERVAL];
|
// tx_near_msg[REGP_POWER_INDEX] = module_power;
|
// memcpy(&tx_near_msg[REGP_VERSION_INDEX],&g_com_map[VERSION],2);
|
// memcpy(&tx_near_msg[REGP_IMUTHRES_INDEX],&g_com_map[IMU_THRES],2);
|
// memcpy(&tx_near_msg[REGP_NOMOVESLEEPTIME_INDEX],&g_com_map[NOMOVESLEEP_TIME],2);
|
// send_buffer[REGP_BATTARY_INDEX] = bat_percent;
|
//// memcpy(&tx_near_msg[REGP_HEIGHTOFFSET_INDEX],&g_com_map[HEIGHTOFFEST_INDEX],2);
|
// dwt_writetxdata(23, tx_near_msg, 0);//½«Poll°üÊý¾Ý´«¸øDW1000£¬½«ÔÚ¿ªÆô·¢ËÍʱ´«³öÈ¥
|
// dwt_writetxfctrl(23, 0);//ÉèÖó¬¿í´ø·¢ËÍÊý¾Ý³¤¶È
|
// dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//¿ªÆô·¢ËÍ£¬·¢ËÍÍê³ÉºóµÈ´ýÒ»¶Îʱ¼ä¿ªÆô½ÓÊÕ£¬µÈ´ýʱ¼äÔÚdwt_setrxaftertxdelayÖÐÉèÖÃ
|
// while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//²»¶Ï²éѯоƬ״ֱ̬µ½³É¹¦½ÓÊÕ»òÕß·¢Éú´íÎó
|
// {
|
// IdleTask();
|
//
|
// };
|
// if(status_reg==0xffffffff)
|
// {
|
// NVIC_SystemReset();
|
// }
|
// if (status_reg & SYS_STATUS_RXFCG)//Èç¹û³É¹¦½ÓÊÕ
|
// {
|
// dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//Çå³þ¼Ä´æÆ÷±ê־λ
|
// frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //»ñµÃ½ÓÊÕµ½µÄÊý¾Ý³¤¶È
|
// dwt_readrxdata(rx_buffer, frame_len, 0); //¶ÁÈ¡½ÓÊÕÊý¾Ý
|
// if (rx_buffer[MESSAGE_TYPE_IDX] == REG_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //ÅжϽÓÊÕµ½µÄÊý¾ÝÊÇ·ñÊÇresponseÊý¾Ý
|
// { u16 rec_nearbaseid,rec_nearbasepos;
|
//
|
// memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
|
// tag_frequency = rx_buffer[REGR_TAGFREQ_INDEX];
|
// bigslot_num = TOTAL_SLOTNUM/tag_frequency;
|
// tagslotpos = rx_buffer[REGR_TAGSLOTPOS_INDEX];
|
// //////////////////////////////////ʱ¼äͬ²½
|
// memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
|
// memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
|
// current_count=HAL_LPTIM_ReadCounter(&hlptim1);
|
//// memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
|
// tmp_time=tmp_time+450;
|
// if(tmp_time>999)
|
// {
|
// tmp_time-=999;
|
// sync_timer++;
|
// if(sync_timer>=1010)
|
// {sync_timer=0;}
|
// }
|
// ancsync_time=((sync_timer)*1000+tmp_time);
|
// SetLPTimer(ancsync_time);
|
//// last_slotnum=current_slotnum;
|
//// temptimer = sync_timer-10;
|
//// if(temptimer<0)
|
//// {temptimer+=1000;}
|
//// current_slotnum=((float)temptimer/(SLOTTIME_MS*bigslot_num))+1;
|
//// if(current_slotnum==last_slotnum-1)
|
//// {flag_getresponse=1;}
|
//// lastsync_timer=sync_timer;
|
//// offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
|
//// SetNextPollTime(tagslotpos);
|
// mainbase_id=rec_nearbaseid;
|
// nearbase_num=rx_buffer[NEARBASENUM_INDEX];
|
// memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
|
// memcpy(nearbaseid_list2,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
|
// if(tagslotpos!=255)
|
// tag_state = DISCPOLL;
|
// }
|
// }
|
//}
|
u32 id,error_times=0;
|
|
extern float Height;
|
void Tag_App(void)//·¢ËÍģʽ(TAG±êÇ©)
|
{
|
|
//LED0_ON;
|
SPIx_CS_GPIO->BRR = SPIx_CS;
|
delay_us(700);
|
SPIx_CS_GPIO->BSRR = SPIx_CS;
|
id = dwt_readdevid() ;
|
while (DWT_DEVICE_ID != id)
|
{
|
// Dw1000_Init();
|
id = dwt_readdevid() ;
|
IdleTask();
|
if(error_times++>20)
|
{
|
printf("DW ID ERROR.\r\n");
|
SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //Èí¸´Î»»Øµ½bootloader
|
}
|
}
|
error_times = 0;
|
SwitchTagState();
|
userkey_state = !GET_USERKEY;
|
dwt_entersleep();
|
}
|
