V1.65

zhyinch

2022-07-21 388017aa9902a6b41dbb2adcc7cbd3cd37c38691

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -50,7 +50,7 @@
LPFilter_Frac* p_Dis_Filter;      //测距用的低通滤波器
int32_t g_Tagdist[TAG_NUM_IN_SYS];
uint8_t g_flag_Taggetdist[256];

extern u16 supergroupid;
static uint64_t get_tx_timestamp_u64(void)
{
    uint8_t ts_tab[5];
@@ -314,10 +314,10 @@
return max_slotpos-1;
}
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;

u8 anclost_times=0,usartoutput_count,usartoutput_notenough=0;
u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0,rec_extratag_battary;
u16 temp_sync_timer1,temp_sync_timer2,rec_extratag_id;
int32_t rec_extratag_dist;
 void NearPoll(void)
{
   static u8 mainbase_lost_count=0,flag_finalsend,flag_rxon;
@@ -330,6 +330,7 @@
    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;
    usartoutput_count = 0;
   GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
   if(next_nearbase_num>=MAX_NEARBASE_NUM)
   {
@@ -399,7 +400,7 @@
                     dwt_readrxdata(rx_buffer, frame_len, 0);   //读取接收数据
                     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)&&rx_buffer[GROUP_ID_IDX] == group_id) //判断接收到的数据是否是response数据
                     if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)&&(rx_buffer[GROUP_ID_IDX]==supergroupid||rx_buffer[GROUP_ID_IDX] == group_id||group_id==supergroupid)) //判断接收到的数据是否是response数据
                     {   u16 rec_nearbaseid,rec_nearbasepos;
                        int32_t temp_dist;
                        poll_tx_ts = get_tx_timestamp_u64();                              //获得POLL发送时间T1
@@ -443,8 +444,14 @@
//                              tyncpoll_time=(tagslotpos-1)*slottime;
                           ////////////////////////////
                           rec_nearbasepos=0;
									
								
                           memcpy(&rec_extratag_id,&rx_buffer[EXTRA_TAGID_INDEX],2);
                           memcpy(&rec_extratag_dist,&rx_buffer[EXTRA_TAGDIST_INDEX],4);
								
                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                           temp_dist = temp_dist&0xffffff;
                           rec_extratag_dist = rec_extratag_dist&0xffffff;
								
                           nearbase_distlist[rec_nearbasepos]=temp_dist;
                        if(temp_dist!=0x1ffff)
                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
@@ -464,10 +471,10 @@
                           dwt_writetxdata(28+nearbase_num*4, tx_nearfinal_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
                           memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
                        if(temp_dist!=0x1ffff&&g_com_map[ALARM_DISTANCE1] == 1)
                        if(temp_dist!=0x1ffff)
                           {
                              g_Resttimer=0;
                                        IWDG_Feed();
                              IWDG_Feed();
                              #ifdef USART_SINGLE_OUTPUT
                              usart_send[2] = 1;//正常模式
                              usart_send[3] = 17;//数据段长度
@@ -480,18 +487,37 @@
                              memcpy(&usart_send[5],&rec_nearbaseid,2);
                              memcpy(&usart_send[7],&dev_id,2);   
                              }                                 
                              memcpy(&usart_send[9],&rx_buffer[DIST_IDX],4);
                              usart_send[13] = battary;
                              memcpy(&usart_send[9],&temp_dist,4);
                              usart_send[13] = rx_buffer[DIST_IDX+3];
                              usart_send[14] = button;
                              checksum = Checksum_u16(&usart_send[2],17);
                              memcpy(&usart_send[19],&checksum,2);
                              UART_PushFrame(usart_send,21);
                                        usartoutput_count++;
                              #endif
                           }
                           if(rec_extratag_dist!=0x1ffff&&rec_extratag_dist!=0&&rx_buffer[GROUP_ID_IDX]!=supergroupid)
                           {
                           #ifdef USART_SINGLE_OUTPUT
                              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
                              if(g_com_map[DEV_ROLE])
                              {
                              memcpy(&usart_send[5],&rec_extratag_id,2);
                              memcpy(&usart_send[7],&rec_nearbaseid,2);		
                              }else{
                              memcpy(&usart_send[5],&rec_nearbaseid,2);
                              memcpy(&usart_send[7],&rec_extratag_id,2);	
                              }											
                              memcpy(&usart_send[9],&rec_extratag_dist,4);
                              usart_send[13] = rx_buffer[EXTRA_TAGDIST_INDEX+3];
                              usart_send[14] = button;
                              checksum = Checksum_u16(&usart_send[2],17);
                              memcpy(&usart_send[19],&checksum,2);
                              UART_PushFrame(usart_send,21);
                              #endif

                           //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
                        }
                           }
      
                           
                        }else{
@@ -503,8 +529,11 @@
                              nearbaseid_list[rec_nearbasepos] = rec_nearbaseid;
                              memcpy(&tx_nearfinal_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
                           }
									
                          memcpy(&rec_extratag_id,&rx_buffer[EXTRA_TAGID_INDEX],2);
                           memcpy(&rec_extratag_dist,&rx_buffer[EXTRA_TAGDIST_INDEX],4);
                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                           temp_dist = temp_dist&0xffffff;
                           rec_extratag_dist = rec_extratag_dist&0xffffff;
                           nearbase_distlist[rec_nearbasepos]=temp_dist;
                           
                           if(temp_dist!=0x1ffff)
@@ -516,7 +545,7 @@
                           LED0_BLINK;
//                           memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
//                           tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
                           if(temp_dist!=0x1ffff&&g_com_map[ALARM_DISTANCE1] == 1)
                           if(temp_dist!=0x1ffff)
                           {
                              #ifdef USART_SINGLE_OUTPUT
                              usart_send[2] = 1;//正常模式
@@ -530,18 +559,41 @@
                              memcpy(&usart_send[5],&rec_nearbaseid,2);
                              memcpy(&usart_send[7],&dev_id,2);   
                              }                                 
                              memcpy(&usart_send[9],&rx_buffer[DIST_IDX],4);
                              usart_send[13] = battary;
                              memcpy(&usart_send[9],&temp_dist,4);
                              usart_send[13] = rx_buffer[DIST_IDX+3];  //电量集成到距离里面输出了
                              usart_send[14] = button;
                              checksum = Checksum_u16(&usart_send[2],17);
                              memcpy(&usart_send[19],&checksum,2);
                              UART_PushFrame(usart_send,21);
                                        usartoutput_count++;
                              #endif

                           //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
                        }
                           if(rec_extratag_dist!=0x1ffff&&rec_extratag_dist!=0&&rx_buffer[GROUP_ID_IDX]!=supergroupid)
                           {
                           #ifdef USART_SINGLE_OUTPUT
                              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
                              if(g_com_map[DEV_ROLE])
                              {
                              memcpy(&usart_send[5],&rec_extratag_id,2);
                              memcpy(&usart_send[7],&rec_nearbaseid,2);		
                              }else{
                              memcpy(&usart_send[5],&rec_nearbaseid,2);
                              memcpy(&usart_send[7],&rec_extratag_id,2);	
                              }			
                              memcpy(&usart_send[9],&rec_extratag_dist,4);
                              usart_send[13] = rx_buffer[EXTRA_TAGDIST_INDEX+3];
                              usart_send[14] = button;
                              checksum = Checksum_u16(&usart_send[2],17);
                              memcpy(&usart_send[19],&checksum,2);
                              UART_PushFrame(usart_send,21);
                              #endif
                           }
                     }                           
                     }
                  }else{
@@ -650,6 +702,15 @@
//         }else{
//            anclost_times=0;
//         }
        if(usartoutput_count>=2)
        {
            usartoutput_notenough = 0;
        }else{
            if(usartoutput_notenough++>10)
            {
                SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
            }
        }
dwt_forcetrxoff();
   dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
}
@@ -741,6 +802,7 @@
u16 tagid_list[TAG_NUM_IN_SYS];
u8 tagofflinetime[TAG_NUM_IN_SYS];
int32_t tagdist_list[TAG_NUM_IN_SYS];
u8 tagseq_list[TAG_NUM_IN_SYS];
void TagListUpdate(void)
{
   u16 i,j=0,temp[TAG_NUM_IN_SYS];
@@ -842,6 +904,26 @@
            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
         }
}
 double firstpath_power, rx_power,rec_firstpath_power;
  double f1, f2, r1, r2;
uint16_t F1,F2,F3,N,C;
double B = 131072;
double A = 121.74;
double min_power;
 dwt_rxdiag_t d1;
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;
  }
u16 smallcar_idlist[10]={0x4052,0x4032,0x4055,0x4034,0x4016,0x4010,0x4036,0x4027,0x4024,0x4047};
extern u16 dist_threshold;
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,getrange_success=0;
@@ -874,7 +956,10 @@
         }else{
            motorstate =0;
         }
			
         if(frame_seq_nb2!=tagseq_list[taglist_pos]+1)
            {
                tagdist_list[taglist_pos]=0x1ffff;
            }
         if(new_tagid)
         {
            tagdist_list[taglist_pos]=0x1ffff;
@@ -882,19 +967,29 @@
         }else{
            memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
         }
            tx_nearresp_msg[GROUP_ID_IDX] = group_id;
      tx_nearresp_msg[GROUP_ID_IDX] = group_id;
         tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
         tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
         tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
         if(remotesend_state)
         {
             memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,REMOTEPARA_LEN);
            dwt_writetxdata(22+REMOTEPARA_LEN, tx_nearresp_msg, 0);//写入发送数据
            dwt_writetxfctrl(22+REMOTEPARA_LEN, 0);//设定发送长度		
         }else{
         dwt_writetxdata(22, tx_nearresp_msg, 0);//写入发送数据
         dwt_writetxfctrl(22, 0);//设定发送长度
         }
         tx_nearresp_msg[MOTORSTATE_INDEX]=0;//(remotesend_state<<4)|motorstate;
//         if(remotesend_state)
//         {
//             memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,REMOTEPARA_LEN);
//            dwt_writetxdata(22+REMOTEPARA_LEN, tx_nearresp_msg, 0);//写入发送数据
//            dwt_writetxfctrl(22+REMOTEPARA_LEN, 0);//设定发送长度		
//         }else{
            if(taglist_pos==1)
            {
               memcpy(&tx_nearresp_msg[EXTRA_TAGID_INDEX], &tagid_list[0], 2);
               memcpy(&tx_nearresp_msg[EXTRA_TAGDIST_INDEX], &tagdist_list[0], 4);
            }
             if(taglist_pos==0)
            {
               memcpy(&tx_nearresp_msg[EXTRA_TAGID_INDEX], &tagid_list[1], 2);
               memcpy(&tx_nearresp_msg[EXTRA_TAGDIST_INDEX], &tagdist_list[1], 4);
            }					
            dwt_writetxdata(28, tx_nearresp_msg, 0);//写入发送数据
            dwt_writetxfctrl(28, 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

         
@@ -916,13 +1011,13 @@
         {
            return 1;
         }
         if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)&&group_id==rx_buffer[GROUP_ID_IDX]) //判断是否为Final包
         if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)&&(rx_buffer[GROUP_ID_IDX]==supergroupid||rx_buffer[GROUP_ID_IDX] == group_id||group_id==supergroupid)) //判断是否为Final包
            {
               uint32_t poll_tx_ts, resp_rx_ts, final_tx_ts;
               uint32_t poll_rx_ts_32, resp_tx_ts_32, final_rx_ts_32;
               double Ra, Rb, Da, Db;
               int64_t tof_dtu;
                    u8 si;
          u8 si;
               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
               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
@@ -940,7 +1035,9 @@
               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 * 1000; //dis ä¸ºå•ä½ä¸ºcm的距离				
               dist_cm = dist_no_bias * 1000; //dis ä¸ºå•ä½ä¸ºcm的距离	
               dwt_readdiagnostics(&d1);
               LOS(&d1);					
               /*--------------------------以下为非测距逻辑------------------------*/
               //dist_cm=33000;
               getrange_success = 1;
@@ -966,13 +1063,13 @@
                  #ifdef TDFILTER
                  NewTrackingDiffUpdate(taglist_pos, (float)hex_dist);
                  filter_dist = pos_predict[taglist_pos]/10;
                        filter_speed = vel_predict[taglist_pos]/10;
                        //filter_speed = vel_predict[taglist_pos];
                        newmeasure = 1;
                  #else
                  filter_dist=hex_dist/10;
                  #endif
                  misdist_num[taglist_pos]=0;
               tagdist_list[taglist_pos] = filter_dist;	
               tagdist_list[taglist_pos] = filter_dist;
               his_dist[taglist_pos]=hex_dist;   
                        if(hex_dist>0)
                  {
@@ -980,6 +1077,7 @@
                        }else{
                            g_Tagdist[taglist_pos]= 1;
                        }
                        tagseq_list[taglist_pos] = frame_seq_nb2;
            #ifdef USART_SINGLE_OUTPUT
               usart_send[2] = 1;//正常模式 
               usart_send[3] = 17;//数据段长度
@@ -989,8 +1087,11 @@
                            if(tagdist_list[taglist_pos]<=0)
                                tagdist_list[taglist_pos]=10;
               memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
               tagdist_list[taglist_pos] =tagdist_list[taglist_pos]| (battary<<24);
               usart_send[13] = battary;
               usart_send[14] = button;
               usart_send[15] = firstpath_power;
               usart_send[16] = rx_power;
               checksum = Checksum_u16(&usart_send[2],17);
               memcpy(&usart_send[19],&checksum,2);
               UART_PushFrame(usart_send,21);
@@ -1045,7 +1146,7 @@
      memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
      //将收到的tag_id分别写入各次通讯的包中，为多标签通讯服务，防止一次通讯中接收到不同ID标签的数据
      memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
       if(group_id==rx_buffer[GROUP_ID_IDX])
       if((rx_buffer[GROUP_ID_IDX]==supergroupid||rx_buffer[GROUP_ID_IDX] == group_id||group_id==supergroupid))
       {
      switch(rx_buffer[MESSAGE_TYPE_IDX])
      {
@@ -1102,7 +1203,7 @@
            memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
                memcpy(&rec_ancidlist,&rx_buffer[NEARBASEID_INDEX],2*rec_nearbase_num);
                memcpy(&rec_ancdistlist,&rx_buffer[NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
                memcpy(&rec_antdelay,&rx_buffer[NEARBASEID_INDEX+nearbase_num*4],2);
                memcpy(&rec_antdelay,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*4],2);
            #ifdef USART_ALL_OUTPUT
                    usart_send[2] = 0x0c;//正常模式 
               usart_send[3] = 8+rec_nearbase_num*4;//数据段长度