zhyinch
2021-11-15 51b6c7e11c8863fe4710305431c5718a9d0d1985
Ô´Âë/ºËÐİå/Src/application/dw_app.c
@@ -1,5 +1,6 @@
#include "dw_app.h"
#include "ADC.h"
//#define TDFILTER
enum enumtagstate
{
   DISCPOLL,
@@ -13,7 +14,7 @@
   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. */
@@ -114,6 +115,14 @@
      }
   }
}
void SetNLOSNTMSettings(void)
{
    uint8_t temp;
    temp = 7;
    dwt_writetodevice(LDE_IF_ID,LDE_CFG1_OFFSET,1,&temp);
    dwt_write16bitoffsetreg(LDE_IF_ID,LDE_CFG2_OFFSET,3);
    // NTM = dwt_read32bitoffsetreg(LDE_IF_ID,LDE_CFG1_OFFSET) & LDE_CFG1_NSTDEV_MASK;
}
void Dw1000_Init(void)
{
   /* Reset and initialise DW1000.
@@ -126,7 +135,7 @@
    /* Configure DW1000. See NOTE 6 below. */
    dwt_configure(&config);//配置DW1000
   
  //  SetNLOSNTMSettings();
   
    /* Apply default antenna delay value. See NOTE 1 below. */
    dwt_setrxantennadelay(RX_ANT_DLY);      //设置接收天线延迟
@@ -306,11 +315,24 @@
   }
return max_slotpos-1;
}
void OutputUserData(u16 devid,u8* addr,u8 len)
{
   len++;
            usart_send[2] = 0x11;//正常模式
            usart_send[3] = len+4;//数据段长度
            memcpy(&usart_send[4],&devid,2);
            memcpy(&usart_send[6],addr,len);
            checksum = Checksum_u16(&usart_send[2],len+4);
            memcpy(&usart_send[len+6],&checksum,2);
            UART_PushFrame(usart_send,len+8);
}
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 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0,temp_sendlen;
u16 temp_sync_timer1,temp_sync_timer2,rec_userdata_targetid;
extern u8 userdata[50];
u8 tagrec_userdata[20],tagrec_datalen;
extern u32 getuserdata_tick;
 void NearPoll(void)
{
   static u8 mainbase_lost_count=0,flag_finalsend,flag_rxon;
@@ -339,8 +361,17 @@
   memcpy(&tx_nearpoll_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
   tx_nearpoll_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;   
   memcpy(&tx_nearpoll_msg[ANCHOR_ID_IDX],&mainbase_id,2);   
   dwt_writetxdata(13+2*nearbase_num, tx_nearpoll_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
   temp_sendlen = 0;
   if(time32_incr-getuserdata_tick<500)
   {
      temp_sendlen +=7;
      memcpy(&tx_nearpoll_msg[NEARBASEID_INDEX+nearbase_num*2],userdata,USERDATA_LEN+3);
   }else{
      tx_nearpoll_msg[NEARBASEID_INDEX+nearbase_num*2] = 0;
   }
   dwt_writetxdata(13+temp_sendlen+2*nearbase_num, tx_nearpoll_msg, 0);//将Poll包数据传给DW1000,将在开启发送时传出去
   dwt_writetxfctrl(13+temp_sendlen+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
   
   flag_finalsend=0;
@@ -428,6 +459,16 @@
                           rec_nearbasepos=0;
                           
                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                        tagrec_datalen = rx_buffer[RT_USERDATA_INDEX+2];
                        memcpy(&rec_userdata_targetid,&rx_buffer[RT_USERDATA_INDEX],2);
                        if(tagrec_datalen==USERDATA_LEN)
                        {
                           if(rec_userdata_targetid==dev_id||rec_userdata_targetid==0xffff)
                           {
                           memcpy(tagrec_userdata,&rx_buffer[RT_USERDATA_INDEX+2],tagrec_datalen+1);
                           OutputUserData(rec_nearbaseid,tagrec_userdata,tagrec_datalen);
                           }
                        }
                           nearbase_distlist[rec_nearbasepos]=temp_dist;
                        if(temp_dist!=0x1ffff)
                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
@@ -448,6 +489,7 @@
                           memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
                        if(temp_dist!=0x1ffff)
                           {
                              g_Resttimer=0;
                              #ifndef USART_INTEGRATE_OUTPUT
                              usart_send[2] = 1;//正常模式
                              usart_send[3] = 17;//数据段长度
@@ -485,6 +527,16 @@
                           }
                           
                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                        tagrec_datalen = rx_buffer[RT_USERDATA_INDEX+2];
                        memcpy(&rec_userdata_targetid,&rx_buffer[RT_USERDATA_INDEX],2);
                        if(tagrec_datalen==USERDATA_LEN)
                        {
                           if(rec_userdata_targetid==dev_id||rec_userdata_targetid==0xffff)
                           {
                           memcpy(tagrec_userdata,&rx_buffer[RT_USERDATA_INDEX+2],tagrec_datalen+1);
                           OutputUserData(rec_nearbaseid,tagrec_userdata,tagrec_datalen);
                           }
                        }
                           nearbase_distlist[rec_nearbasepos]=temp_dist;
                           
                           if(temp_dist!=0x1ffff)
@@ -694,12 +746,30 @@
            UART_PushFrame(usart_send,6+report_num*6);
         #endif
}
 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;
  }
void Tag_App(void)//发送模式(TAG标签)
{
   //LED0_ON;
   dwt_forcetrxoff();
   g_Resttimer=0;
      GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);   
   switch(tag_state)
   {
@@ -862,14 +932,24 @@
         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
            temp_sendlen = 0;
         if(time32_incr-getuserdata_tick<500)
         {
            temp_sendlen+=7;
            memcpy(&tx_nearresp_msg[RT_USERDATA_INDEX],userdata,USERDATA_LEN+3);
         }else{
            tx_nearresp_msg[RT_USERDATA_INDEX] = 0;
         }
         dwt_writetxdata(22+temp_sendlen, tx_nearresp_msg, 0);//写入发送数据
         dwt_writetxfctrl(22+temp_sendlen, 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
@@ -917,23 +997,34 @@
               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•位为cm的距离
               dist_cm = dist_no_bias * 1000; //dis ä¸ºå•位为cm的距离
               dwt_readdiagnostics(&d1);
               LOS(&d1);
               /*--------------------------以下为非测距逻辑------------------------*/
               //dist_cm=33000;
               getrange_success = 1;
               g_Resttimer=0;
               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];
               hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10;
               g_flag_Taggetdist[taglist_pos]=0;
               if(hex_dist>-1000&&hex_dist<200000)
               {
               if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num[taglist_pos]>3)
               {
            //   if(hex_dist>0&&hex_dist<2000000)
               //{
               //if(abs(hex_dist-his_dist[taglist_pos])<10000||misdist_num[taglist_pos]>3)
               //{
                  int32_t filter_dist;
                  #ifdef TDFILTER
                  NewTrackingDiffUpdate(taglist_pos, (float)hex_dist);
                  filter_dist=pos_predict[taglist_pos]/10;
                  #else
                  filter_dist=hex_dist/10;
                  #endif
                  misdist_num[taglist_pos]=0;
               tagdist_list[taglist_pos] = hex_dist;
               tagdist_list[taglist_pos] = filter_dist;
               his_dist[taglist_pos]=hex_dist;   
                  g_Tagdist[taglist_pos]=hex_dist;
            #ifndef USART_INTEGRATE_OUTPUT
                  g_Tagdist[taglist_pos]=filter_dist;
             #ifndef USART_INTEGRATE_OUTPUT
               usart_send[2] = 1;//正常模式 
               usart_send[3] = 17;//数据段长度
               usart_send[4] = frame_seq_nb2;//数据段长度
@@ -942,6 +1033,8 @@
               memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
               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);
@@ -950,11 +1043,11 @@
               memcpy(&usart_send_anc[6+6*anc_report_num],&tagdist_list[taglist_pos],4);
               anc_report_num++;
            #endif
               }else{
               //   printf("%d",hex_dist);
                  misdist_num[taglist_pos]++;
               }
            }
//               }else{
//               //   printf("%d",hex_dist);
//                  misdist_num[taglist_pos]++;
//               }
//            }
         }
         }else{
               //printf("%x/n",status_reg);
@@ -1001,8 +1094,7 @@
//            if (anchor_type == rx_buffer[ANC_TYPE_IDX])
//            Anchor_RecPoll();
//            break;
         case SYNC:
            g_Resttimer=0;
         case SYNC:
            memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
            if(rec_syncid<current_syncid)
            {
@@ -1043,9 +1135,10 @@
            }
            break;
      
         case NEAR_POLL:
            g_Resttimer=0;
         case NEAR_POLL:
            memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
         if(tag_id_recv>=g_com_map[WHITELIST1_START]&&tag_id_recv<=g_com_map[WHITELIST1_END])
         {break;}
            taglist_pos=CmpTagInList(tag_id_recv);
            if(taglist_pos==taglist_num)
            {
@@ -1060,7 +1153,16 @@
          temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime);
            tagpos_rec[(u8)temp_tagpos]=1;
            rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
            tagrec_datalen = rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*2+2];
            memcpy(&rec_userdata_targetid,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*2],2);
            if(tagrec_datalen==USERDATA_LEN)
            {
               if(rec_userdata_targetid==dev_id||rec_userdata_targetid==0xffff)
               {
               memcpy(tagrec_userdata,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*2+2],tagrec_datalen+1);
               OutputUserData(tag_id_recv,tagrec_userdata,tagrec_datalen);
               }
            }
            if(rec_nearbase_num>ancidlist_num)
               {
                  ancidlist_num=rec_nearbase_num;