F103基站代码
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zhyinch
2020-04-02 0781da980b9359a5542bacba06b6a60b0508650c 
 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c


@@ -193,6 +193,7 @@


u8 nearbase_num;


u16 nearbaseid_list[10],mainbase_id;


int32_t mainbase_dist,nearbase_distlist[10];


uint8_t trygetnearmsg_times;


void Poll(void)


{


   uint32_t frame_len;


@@ -269,6 +270,8 @@


         {


            memcpy(&minid, &rx_buffer[ANCHOR_ID_IDX], 4);


            tag_state=GETNEARMSG;


            trygetnearmsg_times=5;


            mindist=temp_dist;


         }


         if(result==0)


         {while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成


@@ -310,14 +313,15 @@


         return i;


   }


}


u8 recbase_num=0;


#define CHANGE_BASE_THRESHOLD  5


void NearAncSelect(void)


{static u16 last_mainbase_id,change_base_count;


   int32_t nearbase_mindist=99999, nearbase_minpos;


   u8 i;


   for(i=0;i<nearbase_num;i++)


   for(i=0;i<recbase_num-1;i++)


   {


      if(nearbase_mindist<nearbase_distlist[i])


      if(nearbase_mindist>nearbase_distlist[i])


      {


         nearbase_mindist=nearbase_distlist[i];


         nearbase_minpos=i;


@@ -341,13 +345,15 @@


      change_base_count=0;


   }


}


u8 anclost_times=0;


void NearPoll(void)


{


   static u8 mainbase_lost_count=0;


   static u8 mainbase_lost_count=0,flag_finalsend;


   uint32_t temp1,temp2,dw_systime;


   uint32_t frame_len;


   uint32_t final_tx_time;


   u32 start_poll;


   u8 i,getsync_flag=0,recbase_num,timeout;


   u8 i,getsync_flag=0,timeout;


    dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS);         //设置发送后开启接收，并设定延迟时间


    dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);      


   tag_succ_times = 0;


@@ -358,19 +364,35 @@


   memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);


   tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;   


   memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);   


   dwt_writetxdata(24, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去


   dwt_writetxfctrl(24, 0);//设置超宽带发送数据长度


   dwt_writetxdata(13+2*nearbase_num, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去


   dwt_writetxfctrl(13+2*nearbase_num, 0);//设置超宽带发送数据长度


   dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//开启发送，发送完成后等待一段时间开启接收，等待时间在dwt_setrxaftertxdelay中设置




   for(i=0;i<nearbase_num;i++)


   nearbase_distlist[i]=0xffff;


	


   flag_finalsend=0;


   neartimout_timer=0;


   recbase_num=0;


   timeout=nearbase_num/4+12;


   timeout=nearbase_num/4+2;


   mainbase_dist=100000;


   mainbase_lost_count++;


         while(neartimout_timer<timeout&&recbase_num<nearbase_num+1)


         while(neartimout_timer<timeout)


         {


               while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//不断查询芯片状态直到成功接收或者发生错误


               {


                  if(flag_finalsend)


                  {


                     dw_systime=dwt_readsystimestamphi32();


                     if(dw_systime>temp1&&dw_systime<temp2)


                     {


                        flag_finalsend=0;


                        dwt_forcetrxoff();


                        dwt_setdelayedtrxtime(final_tx_time);


                        result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送	


                        break;


                     }


                  }


                   if(neartimout_timer>timeout)


                        break;


               };


@@ -383,7 +405,7 @@


                     dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚寄存器标志位


                     frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;   //获得接收到的数据长度


                     dwt_readrxdata(rx_buffer, frame_len, 0);   //读取接收数据


                     dwt_setrxtimeout(DELAY_BETWEEN_TWO_FRAME_UUS+120);//设定接收超时时间，0位没有超时时间


                     dwt_setrxtimeout(0);//DELAY_BETWEEN_TWO_FRAME_UUS*(nearbase_num+1-recbase_num)+10);//设定接收超时时间，0位没有超时时间


                     dwt_rxenable(0);//打开接收


                     if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据


                     {   u16 rec_nearbaseid,rec_nearbasepos;


@@ -396,7 +418,7 @@


                           //////////////////////////////////时间同步


                           memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);


                           memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);


                           memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);		


//                           memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);		


                           tmp_time=tmp_time+450;


                           if(tmp_time>999)


                           {


@@ -406,14 +428,17 @@


                                 {sync_timer=0;}


                           }


                           TIM3->CNT=tmp_time;


                           if(tagslotpos>max_slotpos)


                              tagslotpos=tagslotpos%(max_slotpos+1);


                              tyncpoll_time=(tagslotpos-1)*slottime;


//                           if(tagslotpos>max_slotpos)


//                              tagslotpos=tagslotpos%(max_slotpos+1);


//                              tyncpoll_time=(tagslotpos-1)*slottime;


                           ////////////////////////////


                           mainbase_lost_count=0;


                           flag_finalsend=1;


                           memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);


                           final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS+DELAY_BETWEEN_TWO_FRAME_UUS*nearbase_num+130) * UUS_TO_DWT_TIME)) >> 8;


                           dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5


                           final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS+DELAY_BETWEEN_TWO_FRAME_UUS*nearbase_num+500) * UUS_TO_DWT_TIME)) >> 8;


                           temp1=final_tx_time-((350*UUS_TO_DWT_TIME)>>8);


                           temp2=final_tx_time+((100*UUS_TO_DWT_TIME)>>8);


                        //   dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5


                           final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final包实际发送时间是计算时间加上发送天线delay


                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据


                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX], resp_rx_ts);


@@ -421,7 +446,18 @@


                           tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;


                           dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//将发送数据写入DW1000


                           dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度


                           result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送			


                              usart_send[2] = 1;//正常模式


                              usart_send[3] = 17;//数据段长度


                              usart_send[4] = frame_seq_nb;//数据段长度


                              memcpy(&usart_send[5],&dev_id,2);


                              memcpy(&usart_send[7],&rec_nearbaseid,2);				


                              memcpy(&usart_send[9],&rx_buffer[DIST_IDX],4);


                              usart_send[13] = battary;


                              usart_send[14] = button;


                              checksum = Checksum_u16(&usart_send[2],17);


                              memcpy(&usart_send[19],&checksum,2);


                              UART_PushFrame(usart_send,21);


                           //result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送			


                        }else{


                           rec_nearbasepos=FindNearBasePos(rec_nearbaseid);


                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4], resp_rx_ts);                        


@@ -429,27 +465,44 @@


                           dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//将发送数据写入DW1000


                           dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度


                           LED0_BLINK;


                              usart_send[2] = 1;//正常模式


                              usart_send[3] = 17;//数据段长度


                              usart_send[4] = frame_seq_nb;//数据段长度


                              memcpy(&usart_send[5],&dev_id,2);


                              memcpy(&usart_send[7],&rec_nearbaseid,2);				


                              memcpy(&usart_send[9],&rx_buffer[DIST_IDX],4);


                              usart_send[13] = battary;


                              usart_send[14] = button;


                              checksum = Checksum_u16(&usart_send[2],17);


                              memcpy(&usart_send[19],&checksum,2);


                              UART_PushFrame(usart_send,21);




                           //dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5


                        //   result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送         


                           //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);//将发送数据写入DW1000


                        }                        


                     }


                  }         


                  dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);


         }


         if(mainbase_lost_count>5)


         {


            tag_state=DISCPOLL;


         }


         NearAncSelect();


//            if(result==0)


//         {while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成


//         { };			


//	


//   }


//   else


//   {


         if(recbase_num<g_com_map[MIN_REPORT_ANC_NUM] )


         {


            anclost_times++;


            if(anclost_times>3)


            {


               tagslotpos=poll_tx_ts%(max_slotpos+1);


            }


         }else{


            anclost_times=0;


         }




   dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);


//   }






}




@@ -491,6 +544,7 @@


      }


   }


}




void Tag_App(void)//发送模式(TAG标签)


{


   //LED0_ON;


@@ -502,10 +556,18 @@


         Poll();


         break;


      case GETNEARMSG:


         GetNearMsg();


      //   if(trygetnearmsg_times--!=0)


         {GetNearMsg();


         }


//         else{


//            tag_state=DISCPOLL;


//         }


	 


         break;


      case NEARPOLL:


         //GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_SET);


         NearPoll();


         //GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_RESET);


         break;


   }


}


@@ -613,13 +675,13 @@


            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);


         }


}




u8 misdist_num;


void Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase  1 first near_base


{


         tmp_time=TIM3->CNT;


         memcpy(&tx_near_msg[ANCTIMEMS],&sync_timer,2);


         memcpy(&tx_near_msg[ANCTIMEUS],&tmp_time,2);


         memcpy(&tx_near_msg[TAGSLOTPOS],&taglist_pos,1);


         memcpy(&tx_near_msg[TAGSLOTPOS],&taglist_pos,2);


         memcpy(&tx_near_msg[TAG_ID_IDX],&tag_id_recv,2);


         poll_rx_ts = get_rx_timestamp_u64();//获得Poll包接收时间T2




@@ -630,8 +692,8 @@




         memcpy(&tx_near_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);


         tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;


         dwt_writetxdata(17, tx_near_msg, 0);//写入发送数据


         dwt_writetxfctrl(17, 0);//设定发送长度


         dwt_writetxdata(20, tx_near_msg, 0);//写入发送数据


         dwt_writetxfctrl(20, 0);//设定发送长度


         result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，等待接收




         battary = rx_buffer[BATTARY_IDX];


@@ -639,8 +701,10 @@


         frame_seq_nb = rx_buffer[SEQUENCE_IDX];


         if(result==0)


         {


            while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))///不断查询芯片状态直到接收成功或者出现错误


            while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_sync_flag)///不断查询芯片状态直到接收成功或者出现错误


         { };


      }else{


         result++;


      }


         if (status_reg & SYS_STATUS_RXFCG)//接收成功


         {


@@ -677,10 +741,12 @@


               LED0_BLINK; //每成功一次通讯则闪烁一次


               dis_after_filter=dist_cm;


               hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET];


               if(abs(hex_dist-his_dist[tag_id_recv-TAG_ID_START])<1000)


               if(hex_dist>-1000&&hex_dist<100000)


               {


                  tagdist_list[taglist_pos] = hex_dist;


               }


               if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num>3)


               {


                  misdist_num=0;


               tagdist_list[taglist_pos] = hex_dist;	


               his_dist[taglist_pos]=hex_dist;                  


               usart_send[2] = 1;//正常模式


               usart_send[3] = 17;//数据段长度


@@ -693,7 +759,11 @@


               checksum = Checksum_u16(&usart_send[2],17);


               memcpy(&usart_send[19],&checksum,2);


               UART_PushFrame(usart_send,21);


               }else{


                  misdist_num++;


               }


            }


         }


         }else{


            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);


         }


@@ -702,6 +772,7 @@


{


   u8 send_len,i;


   u16 tempid;


   g_start_sync_flag=0;


   dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间


   dwt_rxenable(0);//打开接收


   while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag&&!g_start_sync_flag)//不断查询芯片状态直到接收成功或者出现错误