F103基站代码
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zhyinch
2019-11-12 503efc0a0d2ea34213ec87aea5bf63c52c2eb93a 
 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c


@@ -64,6 +64,8 @@


#define FINAL_MSG_FINAL_TX_TS_IDX 18


#define FINAL_MSG_TS_LEN 4




#define SYNC_SEQ_IDX             5




#define GROUP_ID_IDX               0


#define ANCHOR_ID_IDX             1


#define TAG_ID_IDX                5


@@ -75,11 +77,14 @@


#define BUTTON_IDX                  16


#define SEQUENCE_IDX               17


//respose


#define TIMECORRE             14


#define ANCTIMEMS             14


#define ANCTIMEUS             16


#define TAGSLOTPOS                  18




#define POLL                    0x01


#define RESPONSE                0x02


#define FINAL                  0x03


#define SYNC                     0x04




/*------------------------------------ Variables ------------------------------------------*/


/* Default communication configuration. We use here EVK1000's default mode (mode 3). */


@@ -98,11 +103,12 @@




/* Frames used in the ranging process. See NOTE 2 below. */


static uint8_t tx_poll_msg[20] = {0};


static uint8_t tx_sync_msg[14] = {0};


//static uint8_t rx_resp_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'V', 'E', 'W', 'A', 0x10, 0x02, 0, 0, 0, 0};


static uint8_t tx_final_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x23, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};


   


//static uint8_t rx_poll_msg[] = {0x00, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x21, 0, 0};


static uint8_t tx_resp_msg[18] = {0};


static uint8_t tx_resp_msg[22] = {0};


//static uint8_t rx_final_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x23, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};


   


/* Frame sequence number, incremented after each transmission. */


@@ -129,7 +135,7 @@




static double tof;


   


uint32_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;


uint8_t random_delay_tim = 0;


@@ -268,10 +274,12 @@


   tx_poll_msg[MESSAGE_TYPE_IDX]=POLL;


   tx_resp_msg[MESSAGE_TYPE_IDX]=RESPONSE;


   tx_final_msg[MESSAGE_TYPE_IDX]=FINAL;


   tx_sync_msg[MESSAGE_TYPE_IDX]=SYNC;


	


   memcpy(&tx_poll_msg[TAG_ID_IDX], &dev_id, 4);


   memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 4);


   memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 4);


	


   memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &dev_id, 4);


}   


uint16_t Checksum_u16(uint8_t* pdata, uint32_t len) 


{


@@ -292,18 +300,33 @@


   dwt_configuresleep(0x940, 0x7);


   dwt_entersleep();


}


extern uint8_t g_start_send_flag;


u8 g_start_sync_flag;


void SyncPoll(u8 sync_seq)


{


   g_start_sync_flag=1;


   dwt_forcetrxoff();


   tx_sync_msg[SYNC_SEQ_IDX]=sync_seq;


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


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


   dwt_starttx(DWT_START_TX_IMMEDIATE);


}


uint16_t g_Resttimer;


uint8_t result;


u8 tag_succ_times=0;


int32_t hex_dist;


u16 checksum;


int8_t tag_delaytime;


extern uint16_t sync_timer;


u16 tmp_time;


int32_t temp_dist;


u16 tagslotpos;


void Tag_App(void)//发送模式(TAG标签)


{


   uint32_t frame_len;


   uint32_t final_tx_time;


   u32 start_poll;


   u8 i;


   u8 i,getsync_flag=0;


   //LED0_ON;


   dwt_forcetrxoff();


   g_Resttimer=0;


@@ -313,7 +336,7 @@


   tx_poll_msg[BATTARY_IDX] = Get_Battary();


   tx_poll_msg[BUTTON_IDX] = !READ_KEY0;


   tx_poll_msg[SEQUENCE_IDX] = frame_seq_nb++;




   GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_RESET);


   for(i=0;i<g_com_map[MAX_REPORT_ANC_NUM];i++)


   {


   /* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */


@@ -360,15 +383,25 @@


         poll_tx_ts = get_tx_timestamp_u64();                              //获得POLL发送时间T1


         resp_rx_ts = get_rx_timestamp_u64();                              //获得RESPONSE接收时间T4


         


                     if(i==0)


                        {


                        tag_delaytime=rx_buffer[TIMECORRE];


                     if(tag_delaytime>g_com_map[COM_INTERVAL]/2)


                     {


                     tag_delaytime=tag_delaytime-g_com_map[COM_INTERVAL];


                     }


                        }


								


         if(getsync_flag==0)


         {


            getsync_flag=1;


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


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


         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;}


         }


         TIM3->CNT=tmp_time;


         if(tagslotpos>max_slotpos)


            tagslotpos=tagslotpos%(max_slotpos+1);


            tyncpoll_time=(tagslotpos-1)*slottime;


      }


         memcpy(&anchor_dist_last_frm[0], &rx_buffer[DIST_IDX], 4);


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


         /* Compute final message transmission time. See NOTE 9 below. */


@@ -392,14 +425,21 @@


         tag_succ_times++;


         


            LED0_BLINK;


			


//            temp_dist=anchor_dist_last_frm[0];


//            if(anchor_dist_last_frm[0]>1000000)


//            {


//               temp_dist=anchor_dist_last_frm[0]-0xffffffff;


//               temp_dist+=0xffff;


//               anchor_dist_last_frm[0]=temp_dist;


//            }




               


               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],&rx_buffer[ANCHOR_ID_IDX],2);


               hex_dist = anchor_dist_last_frm[0];;


               hex_dist = anchor_dist_last_frm[0]+(int16_t)g_com_map[DIST_OFFSET];


               memcpy(&usart_send[9],&hex_dist,4);


               usart_send[13] = battary;


               usart_send[14] = button;


@@ -430,19 +470,48 @@


      dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);


      random_delay_tim = DFT_RAND_DLY_TIM_MS;


   }


//   deca_sleep(10);


}


//   dwt_entersleep();


   if(tag_succ_times<g_com_map[MIN_REPORT_ANC_NUM])


   {


   //poll_timer +=time32_incr&0x7+3;


   }




   /* Execute a delay between ranging exchanges. */


if(getsync_flag==0)


{


tagslotpos--;


      if(tagslotpos==0||tagslotpos>max_slotpos)


   {		


      tagslotpos=max_slotpos;	


   }


   tyncpoll_time=(tagslotpos-1)*slottime;


}


   


}




int8_t correction_time;


extern uint8_t g_start_send_flag;


extern uint8_t sync_seq;


u16 taglist_num=0,taglist_pos;


u16 tagid_list[TAG_NUM_IN_SYS];


u8 tagofflinetime[TAG_NUM_IN_SYS];


void TagListUpdate(void)


{


   u16 i,j=0,temp[TAG_NUM_IN_SYS];


   for(i=0;i<taglist_num;i++)


   {


      if(tagofflinetime[i]++<QUIT_SLOT_TIME)


      {


         tagid_list[j]=tagid_list[i];


         tagofflinetime[j++]=tagofflinetime[i];


      }


   }


   taglist_num=j;


}


u16 CmpTagInList(u16 tagid)


{u16 i;


   for(i=0;i<taglist_num;i++)


   {


      if(memcmp(&tagid,&tagid_list[i],2)==0)


         return i+1;


   }


   return 0;


}




void Anchor_App(void)


{


   uint32_t frame_len;


@@ -455,7 +524,7 @@


   dwt_rxenable(0);//打开接收




   /* Poll for reception of a frame or error/timeout. See NOTE 7 below. */


   while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag)//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_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


   { 


      IdleTask();


      g_Resttimer=0;


@@ -480,19 +549,19 @@


      //tag_id_recv = rx_buffer[TAG_ID_IDX];


      memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],4);


      memcpy(&tx_resp_msg[TAG_ID_IDX],&tag_id_recv,4);


      //tx_resp_msg[TAG_ID_IDX] = tag_id_recv;


//      if(tag_recv_timer>tag_time_recv[tag_id_recv-TAG_ID_START])


//      {   tag_recv_interval =  tag_recv_timer - tag_time_recv[tag_id_recv];


//      }else{


//         tag_recv_interval = tag_recv_timer + 65535 - tag_time_recv[tag_id_recv];


//      }


		


      taglist_pos=CmpTagInList(tag_id_recv);


      if(taglist_pos==0)


      {


         tagid_list[taglist_num++]=tag_id_recv;


         taglist_pos=taglist_num;


      }


      tagofflinetime[taglist_pos-1]=0;


      if (rx_buffer[MESSAGE_TYPE_IDX] == POLL&&(anchor_type == rx_buffer[ANC_TYPE_IDX])) //判断是否是poll包数据


      {


         correction_time=tag_timer-tag_id_recv*3;


                     if(correction_time == g_com_map[COM_INTERVAL])


                        correction_time = 0;


                        tx_resp_msg[TIMECORRE] = correction_time;


         tmp_time=TIM3->CNT;


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


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


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


//                     if(correction_time>10)


//                     {correction_time++;}


                     


@@ -575,10 +644,11 @@


//               dist[TAG_ID] = LP(dis, TAG_ID); //LP ä¸ºä½Žé€šæ»¤æ³¢å™¨ï¼Œè®©æ•°æ®æ›´ç¨³å®š


               


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


               //dist_cm=33000;


					


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


               g_UWB_com_interval = 0;


               dis_after_filter=dist_cm;


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


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


                  if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS)


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


               {


@@ -599,15 +669,21 @@


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


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


               UART_PushFrame(usart_send,21);




					


               //dis_after_filter = LP_Frac_Update(p_Dis_Filter, dist_cm);




            }


         }else{


            /* Clear RX error events in the DW1000 status register. */


            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);


         }


      }else if(rx_buffer[MESSAGE_TYPE_IDX] == SYNC)


      {


         if(rx_buffer[SYNC_SEQ_IDX]<sync_seq)


      //   if(rx_buffer[SYNC_SEQ_IDX]==2)


         {


            sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;


            TIM3->CNT = sync_seq*325%1000+15;


            sync_timer = sync_seq*325/1000;


            SyncPoll(sync_seq);


         }


      }


   }


   else