#include <string.h>
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#include "ADC.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 <stdio.h>
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#include <math.h>
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#define SPEED_OF_LIGHT 299702547
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#define UUS_TO_DWT_TIME 65536
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#define POLL_TX_TO_RESP_RX_DLY_UUS 150
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#define RESP_RX_TO_FINAL_TX_DLY_UUS 410
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#define RESP_RX_TIMEOUT_UUS 2000
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#define DELAY_BETWEEN_TWO_FRAME_UUS 400
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#define POLL_RX_TO_RESP_TX_DLY_UUS 670
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#define RESP_TX_TO_FINAL_RX_DLY_UUS 10
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#define FINAL_RX_TIMEOUT_UUS 4300
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static u8 tag_succ_times=0;
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static u16 checksum;
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static int8_t tag_delaytime;
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extern uint16_t sync_timer;
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static int32_t temp_dist;
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static u16 tagslotpos;
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static u8 recbase_num=0;
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static 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;
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static u8 anclost_times=0 , mainbase_lost_count=0;
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static u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
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static u8 flag_finalsend,flag_getresponse,flag_rxon;
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static uint16_t current_count,start_count,end_count,lastsync_timer;
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extern u16 bigslot_num;
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static u8 nearbase_num=0,last_nearbase_num,next_nearbase_num,last_slotnum, para_update,para_len;
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static u32 rec_tagpos_binary;
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static int16_t offset=4700,temptimer;
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static u8 rec_remotepara_state,rec_remotepara[80],neartimout_timer;
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static u8 frame_seq_nb;
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static u16 mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM],nearbaseid_list[MAX_NEARBASE_NUM],nearbaseid_list2[MAX_NEARBASE_NUM];
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static 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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static uint8_t rx_buffer[100];
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static uint64_t poll_tx_ts;
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static uint64_t resp_rx_ts;
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static uint64_t final_tx_ts;
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static uint64_t poll_rx_ts;
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static uint64_t resp_tx_ts;
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static uint64_t final_rx_ts;
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static uint32_t status_reg = 0;
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extern uint8_t tx_near_msg[80];
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static uint8_t motor_state,result;
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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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u8 send_buffer[100];
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#define FZ_NEARBASENUM_INDEX 10
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#define FZ_NEARBASEID_INDEX 11
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void FZNearPoll(void)
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{
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uint32_t temp1,temp2,dw_systime;
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uint32_t frame_len;
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uint32_t final_tx_time;
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u32 start_poll;
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u8 i,j,getsync_flag=0,timeout;
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dwt_setrxaftertxdelay(10); //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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//GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
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if(next_nearbase_num>=MAX_NEARBASE_NUM)
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{
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next_nearbase_num = MAX_NEARBASE_NUM-1;
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}
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HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
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last_nearbase_num=next_nearbase_num;
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nearbase_num=next_nearbase_num;
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recbase_num=0;
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motor_state=0;
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memcpy(&send_buffer[TAG_ID_IDX], &dev_id, 2);
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send_buffer[GROUP_ID_IDX] = group_id;
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send_buffer[BATTARY_IDX] = bat_percent;
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//tx_near_msg[BUTTON_IDX] = !GET_USERKEY|stationary_flag<<1;
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send_buffer[SEQUENCE_IDX] = frame_seq_nb++;
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send_buffer[FZ_NEARBASENUM_INDEX] = nearbase_num;
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memcpy(&send_buffer[FZ_NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
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send_buffer[MESSAGE_TYPE_IDX] = NEAR_POLL;
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memcpy(&send_buffer[ANCHOR_ID_IDX],&mainbase_id,2);
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dwt_writetxdata(35, send_buffer, 0);//½«Poll°üÊý¾Ý´«¸øDW1000£¬½«ÔÚ¿ªÆô·¢ËÍʱ´«³öÈ¥
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dwt_writetxfctrl(35, 0);//ÉèÖó¬¿í´ø·¢ËÍÊý¾Ý³¤¶È
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dwt_starttx(DWT_START_TX_IMMEDIATE| DWT_RESPONSE_EXPECTED);//¿ªÆô·¢ËÍ£¬·¢ËÍÍê³ÉºóµÈ´ýÒ»¶Îʱ¼ä¿ªÆô½ÓÊÕ£¬µÈ´ýʱ¼äÔÚdwt_setrxaftertxdelayÖÐÉèÖÃ
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tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
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para_update = 0;
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flag_finalsend=0;
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flag_rxon=1;
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flag_getresponse=0;
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neartimout_timer = 0;
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recbase_num=0;
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timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
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current_count=HAL_LPTIM_ReadCounter(&hlptim1);
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end_count=start_count+(timeout<<5);
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if(end_count>=32768)
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{end_count-=32768;}
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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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if(flag_finalsend)
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{
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dw_systime=dwt_readsystimestamphi32();
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if(dw_systime>temp1&&dw_systime<temp2)
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{
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dwt_forcetrxoff();
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flag_rxon=0;
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dwt_setdelayedtrxtime(final_tx_time);
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result=dwt_starttx(DWT_START_TX_DELAYED);//É趨ΪÑÓ³Ù·¢ËÍ
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flag_finalsend=0;
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break;
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}
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}
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current_count=HAL_LPTIM_ReadCounter(&hlptim1);
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if(current_count>=end_count&¤t_count<end_count+15000)
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break;
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};
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if(status_reg==0xffffffff)
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{
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NVIC_SystemReset();
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}
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if (status_reg & SYS_STATUS_RXFCG)//Èç¹û³É¹¦½ÓÊÕ
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{
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dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//Çå³þ¼Ä´æÆ÷±ê־λ
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frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //»ñµÃ½ÓÊÕµ½µÄÊý¾Ý³¤¶È
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dwt_readrxdata(rx_buffer, frame_len, 0); //¶ÁÈ¡½ÓÊÕÊý¾Ý
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dwt_setrxtimeout(0);//DELAY_BETWEEN_TWO_FRAME_UUS*(nearbase_num+1-recbase_num)+10);//É趨½ÓÊÕ³¬Ê±Ê±¼ä£¬0λûÓг¬Ê±Ê±¼ä
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dwt_rxenable(0);//´ò¿ª½ÓÊÕ
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if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)&&rx_buffer[GROUP_ID_IDX]==group_id) //ÅжϽÓÊÕµ½µÄÊý¾ÝÊÇ·ñÊÇresponseÊý¾Ý
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{ u16 rec_nearbaseid,rec_nearbasepos;
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poll_tx_ts = get_tx_timestamp_u64(); //»ñµÃPOLL·¢ËÍʱ¼äT1
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resp_rx_ts = get_rx_timestamp_u64(); //»ñµÃRESPONSE½ÓÊÕʱ¼äT4
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recbase_num++;
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memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
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if(last_nearbase_num==0)
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{
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get_newbase=1;
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nearbaseid_list[0]=rec_nearbaseid;
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nearbase_num=1;
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memcpy(&tx_near_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
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}
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if(rec_nearbaseid==nearbaseid_list[0])
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{
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//////////////////////////////////ʱ¼äͬ²½
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// TIM3->CNT=tmp_time;
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// if(tagslotpos>max_slotpos)
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// tagslotpos=tagslotpos%(max_slotpos+1);
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// tyncpoll_time=(tagslotpos-1)*slottime;
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////////////////////////////
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rec_nearbasepos=0;
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exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
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memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
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nearbase_distlist[rec_nearbasepos]=temp_dist;
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if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
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motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
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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) ;//final°üʵ¼Ê·¢ËÍʱ¼äÊǼÆËãʱ¼ä¼ÓÉÏ·¢ËÍÌìÏßdelay
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final_msg_set_ts(&tx_near_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//½«T1£¬T4£¬T5дÈë·¢ËÍÊý¾Ý
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final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX], resp_rx_ts);
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final_msg_set_ts(&tx_near_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
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tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
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tx_near_msg[GROUP_ID_IDX] = group_id;
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dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//½«·¢ËÍÊý¾ÝдÈëDW1000
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dwt_writetxfctrl(28+nearbase_num*4, 0);//É趨·¢ËÍÊý¾Ý³¤¶È
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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(&tx_near_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
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}
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exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
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memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
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nearbase_distlist[rec_nearbasepos]=temp_dist;
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if(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(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
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dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//½«·¢ËÍÊý¾ÝдÈëDW1000
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dwt_writetxfctrl(28+nearbase_num*4, 0);//É趨·¢ËÍÊý¾Ý³¤¶È
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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,&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4], FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4);//½«·¢ËÍÊý¾ÝдÈëDW1000
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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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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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if(exsistbase_list[0]==0)
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{
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// u8 temp_adc,random_value;
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// random_value=0;
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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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tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
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tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
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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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u32 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
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usart_send[0] = 0x55;
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usart_send[1] = 0xAA;
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usart_send[2] = 4;//Õý³£Ä£Ê½
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usart_send[3] = report_num*6+2;//Õý³£Ä£Ê½
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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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}
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dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
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}
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