F103基站代码
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zhyinch
2020-10-29 382decb66116a76f5c7bff9e1a9c4e728b9444a6 
 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c


@@ -9,11 +9,11 @@


static dwt_config_t config = {


   2,               /* Channel number. */


   DWT_PRF_64M,     /* Pulse repetition frequency. */


   DWT_PLEN_128,    /* Preamble length. */


   DWT_PLEN_64,    /* Preamble length. */


   DWT_PAC8,        /* Preamble acquisition chunk size. Used in RX only. */


   9,               /* TX preamble code. Used in TX only. */


   9,               /* RX preamble code. Used in RX only. */


   0,               /* Use non-standard SFD (Boolean) */


   1,               /* Use non-standard SFD (Boolean) */


   DWT_BR_6M8,      /* Data rate. */


   DWT_PHRMODE_STD, /* PHY header mode. */


   (129 + 8 - 8)    /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */


@@ -38,7 +38,7 @@


static uint64_t resp_tx_ts;


static uint64_t final_rx_ts;


static double tof;


int32_t anchor_dist_last_frm[TAG_NUM_IN_SYS],his_dist[TAG_NUM_IN_SYS];   ;	


int32_t anchor_dist_last_frm[TAG_NUM_IN_SYS],his_dist[TAG_NUM_IN_SYS];


uint32_t tag_id = 0;


uint32_t tag_id_recv = 0;


uint32_t anc_id_recv = 0;


@@ -309,11 +309,30 @@


   }


return max_slotpos-1;


}


dwt_rxdiag_t d1;


u8 test=0;


u8 anclost_times=0;


u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;


u16 temp_sync_timer1,temp_sync_timer2;


 double firstpath_power, rx_power;


  double f1, f2, r1, r2;


uint16_t F1,F2,F3,N,C;


double B = 131072;


double A = 121.74;


double min_power;


double LOS(dwt_rxdiag_t *dia) {


     F1 = dia->firstPathAmp1;


     F2 = dia->firstPathAmp2;


     F3 = dia->firstPathAmp3;


     N = dia->rxPreamCount;


     C = dia->maxGrowthCIR;


    


    firstpath_power=10* log10((F1*F1+F2*F2+F3*F3)/(N*N))-A;


    rx_power=10*log10(C*B/(N*N))-A;




   // min_power =  - 10 * log10((F1 *F1 + F2 * F2 + F3 * F3) / (C *B));


    return min_power;


  }


void Poll(void)


{


   uint32_t frame_len;


@@ -506,7 +525,7 @@


   flag_rxon=1;


   neartimout_timer=0;


   get_newbase=0;


   timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;


   timeout=ceil((float)nearbase_num*SLOT_SCALE)+2;


   //timeout=5;


   mainbase_dist=100000;


   mainbase_lost_count++;


@@ -896,12 +915,14 @@


            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);


         }


}


uint32_t time_monitor[10];


extern uint16_t configremotetagID;


extern u8 remotetag_paralen;


u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,waittagconfig_reponse;


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


{


   u8 motorstate;


   time_monitor[0] = sync_timer*1000+TIM3->CNT;


         tmp_time=TIM3->CNT;


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


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


@@ -909,11 +930,11 @@


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


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




         resp_tx_time = (poll_rx_ts + ((POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。


         resp_tx_time = (poll_rx_ts + ((POLL_RX_TO_RESP_TX_DLY_UUS+(ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。


         dwt_setdelayedtrxtime(resp_tx_time);//设置Response发送时间T3


         dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//设置发送完成后开启接收延迟时间


         dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间


			


         dwt_readdiagnostics(&d1);


         if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1])


         {


            motorstate =0;


@@ -1003,6 +1024,10 @@


               int64_t tof_dtu;


               resp_tx_ts = get_tx_timestamp_u64();//获得response发送时间T3


               final_rx_ts = get_rx_timestamp_u64();//获得final接收时间T6




               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


					


               final_msg_get_ts(&rx_buffer[FINAL_MSG_POLL_TX_TS_IDX], &poll_tx_ts);//从接收数据中读取T1，T4，T5


               final_msg_get_ts(&rx_buffer[FINAL_MSG_RESP_RX_NEARBASE_IDX+ancrec_nearbasepos*4], &resp_rx_ts);


               final_msg_get_ts(&rx_buffer[FINAL_MSG_FINAL_TX_TS_IDX], &final_tx_ts);


@@ -1010,6 +1035,7 @@


               poll_rx_ts_32 = (uint32_t)poll_rx_ts;//使用32位数据计算


               resp_tx_ts_32 = (uint32_t)resp_tx_ts;


               final_rx_ts_32 = (uint32_t)final_rx_ts;


               time_monitor[1] = sync_timer*1000+TIM3->CNT;	


               Ra = (double)(resp_rx_ts - poll_tx_ts);//Tround1 = T4 - T1


               Rb = (double)(final_rx_ts_32 - resp_tx_ts_32);//Tround2 = T6 - T3


               Da = (double)(final_tx_ts - resp_rx_ts);//Treply2 = T5 - T4


@@ -1018,7 +1044,11 @@


               tof = tof_dtu * DWT_TIME_UNITS;


               distance = tof * SPEED_OF_LIGHT;//距离=光速*飞行时间


               dist_no_bias = distance - dwt_getrangebias(config.chan, (float)distance, config.prf); //距离减去矫正系数


               dist_cm = dist_no_bias * 100; //dis ä¸ºå•ä½ä¸ºcm的距离				


               dist_cm = dist_no_bias * 100; //dis ä¸ºå•ä½ä¸ºcm的距离		


//               dwt_readdiagnostics(&d1);


//               time_monitor[2] = sync_timer*1000+TIM3->CNT;	


//               LOS(&d1);		


//               time_monitor[3] = sync_timer*1000+TIM3->CNT;					


               /*--------------------------以下为非测距逻辑------------------------*/


               //dist_cm=33000;