zhyinch
2021-11-15 51b6c7e11c8863fe4710305431c5718a9d0d1985
Ô´Âë/ºËÐİå/Src/application/dw_app.c
@@ -1,11 +1,12 @@
#include "dw_app.h"
#include "ADC.h"
//#define TDFILTER
enum enumtagstate
{
   DISCPOLL,
   GETNEARMSG,
   NEARPOLL,
}tag_state=GETNEARMSG;
}tag_state=NEARPOLL;
static dwt_config_t config = {
   2,               /* Channel number. */
   DWT_PRF_64M,     /* Pulse repetition frequency. */
@@ -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. */
@@ -28,7 +29,7 @@
static uint8_t tx_near_msg[80] = {0};
static uint32_t frame_seq_nb = 0;
 uint32_t frame_seq_nb = 0, frame_seq_nb2 = 0;
static uint32_t status_reg = 0;
static uint8_t rx_buffer[100];
static uint64_t poll_tx_ts;
@@ -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;
@@ -339,15 +361,24 @@
   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;
   flag_rxon=1;
   neartimout_timer=0;
   get_newbase=0;
   timeout=ceil((float)nearbase_num*0.4)+3;
   timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
   //timeout=5;
   mainbase_dist=100000;
   mainbase_lost_count++;
@@ -402,7 +433,7 @@
                           temp_sync_timer2=sync_timer;
                           memcpy(&temp_sync_timer1,&rx_buffer[ANCTIMEMS],2);
                           memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
                           exsistbase_list[0]=KEEP_TIMES;
                           
                           if(g_com_map[DEV_ROLE]!=0)
                           {
@@ -426,10 +457,22 @@
//                              tyncpoll_time=(tagslotpos-1)*slottime;
                           ////////////////////////////
                           rec_nearbasepos=0;
                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                           nearbase_distlist[rec_nearbasepos]=temp_dist;
                           
                           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;
                           mainbase_lost_count=0;
                           flag_finalsend=1;
                           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;
@@ -444,7 +487,33 @@
                           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_Resttimer=0;
                              #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_nb;//数据段长度
                              if(g_com_map[DEV_ROLE])
                              {
                              memcpy(&usart_send[5],&dev_id,2);
                              memcpy(&usart_send[7],&rec_nearbaseid,2);
                              }else{
                              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;
                              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{
@@ -457,9 +526,21 @@
                              memcpy(&tx_nearfinal_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
                           }
                           
                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
                           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;
                           
                           final_msg_set_ts(&tx_nearfinal_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);                        
                           dwt_writetxdata(28+nearbase_num*4, tx_nearfinal_msg, 0);//将发送数据写入DW1000
@@ -473,8 +554,14 @@
                              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],&dev_id,2);
                              memcpy(&usart_send[7],&rec_nearbaseid,2);
                              memcpy(&usart_send[7],&rec_nearbaseid,2);
                              }else{
                              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;
                              usart_send[14] = button;
@@ -518,7 +605,7 @@
//            }
            tagslotpos=GetRandomSlotPos(rec_tagpos_binary|tagpos_binary);
            tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
      tag_state=GETNEARMSG;
      tag_state=NEARPOLL;
         }
      //   tyncpoll_time=0;
         next_nearbase_num=0;
@@ -651,13 +738,38 @@
         tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
   }
   
            #ifdef USART_INTEGRATE_OUTPUT
            usart_send[2] = 4;//正常模式
            usart_send[3] = report_num*6+2;//正常模式
            checksum = Checksum_u16(&usart_send[2],report_num*6+2);
            memcpy(&usart_send[4+report_num*6],&checksum,2);
            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)
   {
@@ -731,7 +843,7 @@
         battary = rx_buffer[BATTARY_IDX];
         button = rx_buffer[BUTTON_IDX];
         frame_seq_nb = rx_buffer[SEQUENCE_IDX];
         frame_seq_nb2 = 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
@@ -781,7 +893,7 @@
            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
         }
}
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor;
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,getrange_success=0;
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase  1 first near_base
{
   u8 motorstate;
@@ -799,7 +911,7 @@
         
         if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1])
         {
            motorstate =3;
            motorstate =0;
         }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
         {
            motorstate =2;
@@ -820,20 +932,30 @@
         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
         battary = rx_buffer[BATTARY_IDX];
         button = rx_buffer[BUTTON_IDX];
         frame_seq_nb = rx_buffer[SEQUENCE_IDX];
         frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
         if(result==0)
         {
            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
@@ -875,31 +997,44 @@
               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<100000)
               {
               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_nb;//数据段长度
               usart_send[4] = frame_seq_nb2;//数据段长度
               memcpy(&usart_send[5],&tag_id_recv,2);
               memcpy(&usart_send[7],&dev_id,2);            
               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);
@@ -908,11 +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);
@@ -938,6 +1073,7 @@
//   GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);   
   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();
   };
//GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);   
@@ -945,20 +1081,20 @@
   { u16 tag_recv_interval;
      float temp_tagpos;
   
      g_Resttimer=0;
      dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);//清除标志位
      frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//获得接收数据长度
      dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
      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
      tag_id_recv = rx_buffer[TAG_ID_IDX];
      memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
      switch(rx_buffer[MESSAGE_TYPE_IDX])
      {
//         case POLL:
//            if (anchor_type == rx_buffer[ANC_TYPE_IDX])
//            Anchor_RecPoll();
//            break;
         case SYNC:
         case SYNC:
            memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
            if(rec_syncid<current_syncid)
            {
@@ -999,8 +1135,10 @@
            }
            break;
      
         case NEAR_POLL:
         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)
            {
@@ -1015,7 +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;