F103基站代码
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zhyinch
2020-04-27 5bfa1bc693623159c5059067f8db7589fabd04a1 
 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c


@@ -22,7 +22,9 @@


static uint8_t tx_sync_msg[14] = {0};


static uint8_t tx_final_msg[60] = {0};


static uint8_t tx_resp_msg[22] = {0};


static uint8_t tx_near_msg[80] = {0};


static uint8_t tx_nearpoll_msg[80] = {0};


static uint8_t tx_nearresp_msg[80] = {0};


static uint8_t tx_nearfinal_msg[80] = {0};




static uint32_t frame_seq_nb = 0;   


static uint32_t status_reg = 0;


@@ -144,8 +146,9 @@


   memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 2);


   memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 2);


   memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &dev_id, 2);


   memcpy(&tx_near_msg[ANCHOR_ID_IDX], &dev_id, 2);


   memcpy(&tx_near_msg[TAG_ID_IDX], &dev_id, 2);


   memcpy(&tx_nearresp_msg[ANCHOR_ID_IDX], &dev_id, 2);


   memcpy(&tx_nearpoll_msg[TAG_ID_IDX], &dev_id, 2);


   memcpy(&tx_nearfinal_msg[TAG_ID_IDX], &dev_id, 2);


}   


uint16_t Checksum_u16(uint8_t* pdata, uint32_t len) 


{


@@ -158,7 +161,7 @@


}




u16 tag_time_recv[TAG_NUM_IN_SYS];


u8 usart_send[25];


u8 usart_send[100],usart_send_anc[100];


u8 battary,button;


extern uint8_t g_pairstart;


void tag_sleep_configuraion(void)


@@ -238,7 +241,7 @@


   }


}


u8 anclost_times=0;


u8 exsistbase_list[MAX_NEARBASE_NUM];


u8 exsistbase_list[MAX_NEARBASE_NUM],report_num;


void NearPoll(void)


{


   static u8 mainbase_lost_count=0,flag_finalsend;


@@ -247,6 +250,7 @@


   uint32_t final_tx_time;


   u32 start_poll;


   u8 i,j,getsync_flag=0,timeout;


//   printf("%d",sync_timer);


      dwt_forcetrxoff();


    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);      


@@ -257,14 +261,15 @@


   }


   //nearbase_num=0;


   recbase_num=0;


   tx_near_msg[BATTARY_IDX] = Get_Battary();


   tx_near_msg[BUTTON_IDX] = !READ_KEY0;


   tx_near_msg[SEQUENCE_IDX] = frame_seq_nb++;


   tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;


   memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);


   tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;	


   memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);	


   dwt_writetxdata(13+2*nearbase_num, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去


	


   tx_nearpoll_msg[BATTARY_IDX] = Get_Battary();


   tx_nearpoll_msg[BUTTON_IDX] = !READ_KEY0;


   tx_nearpoll_msg[SEQUENCE_IDX] = frame_seq_nb++;


   tx_nearpoll_msg[NEARBASENUM_INDEX] = nearbase_num;


   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


   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




@@ -318,7 +323,7 @@


                        {


                        nearbaseid_list[0]=rec_nearbaseid;


                        nearbase_num=1;


                        memcpy(&tx_near_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);


                        memcpy(&tx_nearfinal_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);


                        }


                        if(rec_nearbaseid==nearbaseid_list[0])


                        {


@@ -326,8 +331,8 @@


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


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


                           exsistbase_list[0]=1;


//                           memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);		


									


////                           memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);		


//									


                           tmp_time=tmp_time+450;


                           if(tmp_time>999)


                           {


@@ -354,14 +359,15 @@


                           temp2=final_tx_time+((100*UUS_TO_DWT_TIME)>>8);


                        //   dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5


                           final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final包实际发送时间是计算时间加上发送天线delay


                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据


                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX], resp_rx_ts);


                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);


                           tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;


                           dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//将发送数据写入DW1000


                           final_msg_set_ts(&tx_nearfinal_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据


                           final_msg_set_ts(&tx_nearfinal_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX], resp_rx_ts);


                           final_msg_set_ts(&tx_nearfinal_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);


                           tx_nearfinal_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;


                           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


                           if(temp_dist!=0x1ffff)


                           {


                           #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


@@ -373,6 +379,7 @@


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


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


                              UART_PushFrame(usart_send,21);


                           #endif


                           }


                           //result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送         


                        }else{


@@ -381,19 +388,20 @@


                           {


                              nearbase_num++;


                              nearbaseid_list[nearbase_num] = rec_nearbaseid;


                              memcpy(&tx_near_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);


                              memcpy(&tx_nearfinal_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);


                           }


                           


                           exsistbase_list[rec_nearbasepos]=1;


                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);


                           nearbase_distlist[rec_nearbasepos]=temp_dist;


                           


                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);								


                           dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//将发送数据写入DW1000


                           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


                           dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度


                           LED0_BLINK;


                           if(temp_dist!=0x1ffff)


                           {


                              #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


@@ -405,6 +413,7 @@


                              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         


@@ -454,11 +463,25 @@


               }         


            }


         }


         report_num=0;


   for (i=0;i<nearbase_num;i++)


         {


            nearbaseid_list[i]=true_nearbase_idlist[i];


         nearbase_distlist[i]=true_nearbase_distlist[i];


            nearbase_distlist[i]=true_nearbase_distlist[i];


            if(nearbase_distlist[i]!=0x1ffff)


            {


               memcpy(&usart_send[4+6*report_num],&nearbaseid_list[i],2);


               memcpy(&usart_send[6+6*report_num],&nearbase_distlist[i],4);


               report_num++;


            }


         }


         #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


//         if(mainbase_lost_count>5)


//         {


//            //tag_state=DISCPOLL;


@@ -480,49 +503,48 @@




}




void GetNearMsg(void)


{


   u32 start_poll,frame_len;


   memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);


   memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);


   tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;


	


   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);	


   dwt_writetxdata(12, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去


   dwt_writetxfctrl(12, 0);//设置超宽带发送数据长度


   dwt_starttx(DWT_START_TX_IMMEDIATE| DWT_RESPONSE_EXPECTED);


   start_poll = time32_incr;


   /* We assume that the transmission is achieved correctly, poll for reception of a frame or error/timeout. See NOTE 8 below. */


   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成功接收或者发生错误


   { if(time32_incr - start_poll>20)


      NVIC_SystemReset();


   };


   if(status_reg==0xffffffff)


   {


      NVIC_SystemReset();


   }


   if (status_reg & SYS_STATUS_RXFCG)//如果成功接收


   {


      dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚寄存器标志位


      frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;   //获得接收到的数据长度


      dwt_readrxdata(rx_buffer, frame_len, 0);   //读取接收数据


      if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_MSG&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据


      {


         nearbase_num=rx_buffer[NEARBASENUM_INDEX];


         tagslotpos=rx_buffer[TAGSLOTPOS];


         memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);


         slottime=ceil((nearbase_num+2)*0.3)+1;


         tyncpoll_time=tagslotpos*slottime;


         tag_state=NEARPOLL;


      }


   }


}


//void GetNearMsg(void)


//{


//   u32 start_poll,frame_len;


//   memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);


//   memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);


//   tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;


//	


//   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);	


//   dwt_writetxdata(12, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去


//   dwt_writetxfctrl(12, 0);//设置超宽带发送数据长度


//   dwt_starttx(DWT_START_TX_IMMEDIATE| DWT_RESPONSE_EXPECTED);


//   start_poll = time32_incr;


//   /* We assume that the transmission is achieved correctly, poll for reception of a frame or error/timeout. See NOTE 8 below. */


//   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成功接收或者发生错误


//   { if(time32_incr - start_poll>20)


//      NVIC_SystemReset();


//   };


//   if(status_reg==0xffffffff)


//   {


//      NVIC_SystemReset();


//   }


//   if (status_reg & SYS_STATUS_RXFCG)//如果成功接收


//   {


//      dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚寄存器标志位


//      frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;   //获得接收到的数据长度


//      dwt_readrxdata(rx_buffer, frame_len, 0);   //读取接收数据


//      if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_MSG&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据


//      {


//         nearbase_num=rx_buffer[NEARBASENUM_INDEX];


//         tagslotpos=rx_buffer[TAGSLOTPOS];


//         memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);


//         slottime=ceil((nearbase_num+2)*0.3)+1;


//         tyncpoll_time=tagslotpos*slottime;


//         tag_state=NEARPOLL;


//      }


//   }


//}




void Tag_App(void)//发送模式(TAG标签)


{


   //LED0_ON;


   dwt_forcetrxoff();


   g_Resttimer=0;


   NearPoll();


}


@@ -557,7 +579,7 @@


}


uint32_t frame_len;


uint32_t resp_tx_time;


uint8_t rec_nearbase_num;


uint8_t rec_nearbase_num,anc_report_num;


void Anchor_RecPoll(void)


{


         tmp_time=TIM3->CNT;


@@ -635,10 +657,10 @@


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


{


         tmp_time=TIM3->CNT;


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


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


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


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


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


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


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


         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。


@@ -649,13 +671,13 @@


         if(new_tagid)


         {


            tagdist_list[taglist_pos]=0x1ffff;


            memcpy(&tx_near_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);


            memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);


         }else{


            memcpy(&tx_near_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);


            memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);


         }


   


         tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;


         dwt_writetxdata(20, tx_near_msg, 0);//写入发送数据


         tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;


         dwt_writetxdata(20, tx_nearresp_msg, 0);//写入发送数据


         dwt_writetxfctrl(20, 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




@@ -676,7 +698,7 @@


            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚标志位


            frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;//数据长度


            dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据


         if(seize_anchor&&memcmp(&rx_buffer[ANCHOR_ID_IDX],&dev_id,2))


         if(seize_anchor&&memcmp(&rx_buffer[ANCHOR_ID_IDX],&dev_id,2)) //抢占anchor å¤±è´¥


         {


            return 1;


         }


@@ -716,7 +738,8 @@


               {


                  misdist_num=0;


               tagdist_list[taglist_pos] = hex_dist;   


               his_dist[taglist_pos]=hex_dist;						


               his_dist[taglist_pos]=hex_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


@@ -728,6 +751,11 @@


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


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


               UART_PushFrame(usart_send,21);


            #else		


               memcpy(&usart_send_anc[4+6*anc_report_num],&tag_id_recv,2);


               memcpy(&usart_send_anc[6+6*anc_report_num],&tagdist_list[taglist_pos],4);


               anc_report_num++;


            #endif


               }else{


                  misdist_num++;


               }


@@ -813,14 +841,14 @@


                memcpy(&tempid,&rx_buffer[NEARBASEID_INDEX+i*2],2);


               if(tempid==dev_id)


               {


                  seize_anchor=0;


                  seize_anchor=0;  //非抢占。已存在列表中


                  Anchor_RecNearPoll(i);   


                  break;


               }                  


            }


               if(i==rec_nearbase_num)


               {


                  seize_anchor=1;


                  seize_anchor=1;   //抢占anchor


                  Anchor_RecNearPoll(i);   


               }