V2.30

zhyinch

2021-09-28 66b13717fce3890b464d0b43eb61b94ea7cdf56e

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -47,7 +47,7 @@
uint32_t g_UWB_com_interval = 0; 
float dis_after_filter;            //当前距离值
LPFilter_Frac* p_Dis_Filter;      //测距用的低通滤波器
uint16_t g_Tagdist[TAG_NUM_IN_SYS];
int32_t g_Tagdist[TAG_NUM_IN_SYS];
uint8_t g_flag_Taggetdist[256];

static uint64_t get_tx_timestamp_u64(void)
@@ -97,6 +97,7 @@
        *ts += ts_field[i] << (i * 8);
    }
}
extern int32_t tagdist_list[TAG_NUM_IN_SYS];
void TagDistClear(void)
{
   static uint16_t clear_judge_cnt;
@@ -109,7 +110,7 @@
         g_flag_Taggetdist[i]++;
         if(g_flag_Taggetdist[i]>=2)
         {
            g_Tagdist[i]=0xffff;
            tagdist_list[i]=0x1ffff;
         }
      }
   }
@@ -165,8 +166,8 @@
}

u16 tag_time_recv[TAG_NUM_IN_SYS];
u8 usart_send[100],usart_send_anc[100];
u8 battary,button;
u8 usart_send[150],usart_send_anc[100];
u8 battary,button,tag_frequency,tag_slotpos;
extern uint8_t g_pairstart;
void tag_sleep_configuraion(void)
{
@@ -839,6 +840,7 @@
   }
   return i;
}
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,waittagconfig_reponse,motorstate=0;
uint32_t frame_len;
uint32_t resp_tx_time;
uint8_t rec_nearbase_num,anc_report_num;
@@ -863,8 +865,7 @@
         dwt_writetxfctrl(sizeof(tx_resp_msg), 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_nb2 = rx_buffer[SEQUENCE_IDX];
         if(result==0)
         {
@@ -905,11 +906,44 @@
               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];
               if(abs(hex_dist-his_dist[taglist_pos])<1000)
                  {
                     tagdist_list[taglist_pos] = hex_dist;
                        }
                  his_dist[taglist_pos]=hex_dist;							
if(hex_dist>-1000&&hex_dist<200000)
               {
                        g_flag_Taggetdist[taglist_pos]=0;
               if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num[taglist_pos]>3)
               {
                  misdist_num[taglist_pos]=0;
               tagdist_list[taglist_pos] = hex_dist;	
               his_dist[taglist_pos]=hex_dist;	
                  g_Tagdist[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_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-firstpath_power)*10;
               usart_send[17] = tag_frequency;
               usart_send[18] = tag_slotpos;
               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
             #ifdef DEBUG_INF
             printf("序号：%d\r\n",frame_seq_nb2);
             #endif
               }else{
               //   printf("%d",hex_dist);
                  misdist_num[taglist_pos]++;
               }
            }						
            }
         }else{
            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
@@ -918,11 +952,13 @@
uint32_t time_monitor[10];
extern uint16_t configremotetagID;
extern u8 remotetag_paralen;
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,waittagconfig_reponse;
u8 finalsend=0;
u16 signalpower_list[TAG_NUM_IN_SYS];
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase  1 first near_base
{
   u8 motorstate;
	
         tmp_time=TIM3->CNT;
         memcpy(&tx_nearresp_msg[NR_NEARSWITCH_DISTANCE],&g_com_map[NEARSWITCH_DISTANCE_INDEX],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);
@@ -933,31 +969,19 @@
         dwt_setdelayedtrxtime(resp_tx_time);//设置Response发送时间T3
         dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//设置发送完成后开启接收延迟时间
         dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间
         dwt_readdiagnostics(&d1);
         if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1])
         {
            motorstate =0;
         }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
         {
            motorstate =2;
         }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE3])
         {
            motorstate =1;
         }else{
            motorstate =0;
         }
         //dwt_readdiagnostics(&d1);
         
         if(new_tagid)
         {
            tagdist_list[taglist_pos]=0x1ffff;
            memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
         }else{
            memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
            tagdist_list[taglist_pos]=0x1ffff;	
         }
            memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
            memcpy(&tx_nearresp_msg[ANC_SIGNALPOWER],&signalpower_list[taglist_pos],2);
         tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
         tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
         tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
         waittagconfig_reponse=0;
            finalsend = 0;
         if(pwtag.remain_time>0)
            {uint8_t i;
               for(i=0;i<pwtag.groupnum;i++)
@@ -968,20 +992,26 @@
                     tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
                     remotetag_paralen = 2+3;
                     remotetag_para[0] = 2;
                     remotetag_para[1] = 6;
                     remotetag_para[1] = pwtag.index;
                     remotetag_para[2] = 2;
                     memcpy(&remotetag_para[3],&pwtag.group_interval[i],2);
                     memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,remotetag_paralen);
                     dwt_writetxdata(22+remotetag_paralen, tx_nearresp_msg, 0);//写入发送数据
                     dwt_writetxfctrl(22+remotetag_paralen, 0);//设定发送长度		
                     dwt_writetxdata(24+remotetag_paralen, tx_nearresp_msg, 0);//写入发送数据
                     dwt_writetxfctrl(24+remotetag_paralen, 0);//设定发送长度		
                     remotesend_state=0;
                            finalsend = 1;
                     break;
                  }            
               }
                }else{
                    
                }
               
            }else{
                  dwt_writetxdata(22, tx_nearresp_msg, 0);//写入发送数据
                  dwt_writetxfctrl(22, 0);//设定发送长度
            if(finalsend == 0)
                {
                    memcpy(&tx_nearresp_msg[MAXRANGE_DISTANCE],&g_com_map[MAXRANGDIST_INDEX],2);
                  dwt_writetxdata(28, tx_nearresp_msg, 0);//写入发送数据
                  dwt_writetxfctrl(28, 0);//设定发送长度
            }
               
//          if(remotesend_state&&tag_id_recv==configremotetagID)
@@ -994,9 +1024,6 @@

         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_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
@@ -1054,15 +1081,17 @@
               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];
               g_flag_Taggetdist[taglist_pos]=0;
					
               if(hex_dist>-1000&&hex_dist<200000)
               {
                        g_flag_Taggetdist[taglist_pos]=0;
               if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num[taglist_pos]>3)
               {
                  misdist_num[taglist_pos]=0;
               tagdist_list[taglist_pos] = hex_dist;   
               his_dist[taglist_pos]=hex_dist;   
                  g_Tagdist[taglist_pos]=hex_dist;	
                    g_Tagdist[taglist_pos]=hex_dist;	
                    signalpower_list[taglist_pos] = ((uint8_t)firstpath_power<<8)|(uint8_t)((rx_power-firstpath_power)*10);
            #ifndef USART_INTEGRATE_OUTPUT
               usart_send[2] = 1;//正常模式 
               usart_send[3] = 17;//数据段长度
@@ -1074,9 +1103,11 @@
               usart_send[14] = button;
               usart_send[15] = firstpath_power;
               usart_send[16] = (rx_power-firstpath_power)*10;
               usart_send[17] = tag_frequency;
               usart_send[18] = tag_slotpos;
               checksum = Checksum_u16(&usart_send[2],17);
               memcpy(&usart_send[19],&checksum,2);
               UART_PushFrame(usart_send,21);
            //   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);
@@ -1090,9 +1121,9 @@
                  misdist_num[taglist_pos]++;
               }
            }
               if(rx_buffer[TAGCONFIGSUCCESS_INDEX]==1&&waittagconfig_reponse)
               if(rx_buffer[TAGCONFIGSUCCESS_INDEX]==1)
               {
                  waittagconfig_reponse = 0;
					
                  remotesend_state = 0;
                  usart_send[2] = 7;//正常模式 
                  usart_send[3] = 5;//数据段长度
@@ -1110,12 +1141,15 @@
            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
         }
}

extern int32_t intheight;
extern u16 synclost_count;
uint32_t current_syncid=0xffffffff,synclost_timer;
extern u8 flag_syncbase,waitsync_flag;
u8 tagpos_rec[50],tagpos_send[50],ancidlist_num;
u8 tagpos_rec[50],tagpos_send[50],ancidlist_num,zero_matrix[100]={0};
u16 ancidlist_rec[20],ancidlist_send[20];
u16 recnearbaselist_id[30],rec_taganc_signalpower_list[11];
int32_t recnearbaselist_dist[30];
int16_t rec_tagheight;
void Anchor_App(void)
{
   
@@ -1148,9 +1182,93 @@
      switch(rx_buffer[MESSAGE_TYPE_IDX])
      {
         uint16_t checksum;
         case POLL:
            if (anchor_type == rx_buffer[ANC_TYPE_IDX])
            case DISCOVERPOLL:
                if (anchor_type == rx_buffer[ANCHOR_ID_IDX])
                {
                taglist_pos=CmpTagInList(tag_id_recv);
            if(taglist_pos==taglist_num)
            {
               taglist_pos=taglist_num;
               tagid_list[taglist_num++]=tag_id_recv;
					
               new_tagid=1;
            }else{
               new_tagid=0;
            }
            tagofflinetime[taglist_pos]=0;
                
                rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
                if(rec_nearbase_num>=30)
                {
                    break;
                }
                battary = rx_buffer[BATTARY_IDX];
                button = rx_buffer[BUTTON_IDX];
                frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
         tag_frequency = rx_buffer[NEARP_TAGFREQ_INDEX];
         tag_slotpos = rx_buffer[NEARP_TAGSLOTPOS_INDEX];
               
      ////////////////基站汇总模式数据          
               memcpy(&rec_tagheight,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*6],2);
                memcpy(&recnearbaselist_id,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
                memcpy(&recnearbaselist_dist,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*2],rec_nearbase_num*4);
            Anchor_RecPoll();
                }
                break;
         case SPOLL:
            //if (anchor_type == rx_buffer[ANC_TYPE_IDX])
            if(dev_id==anc_id_recv)
            {
                taglist_pos=CmpTagInList(tag_id_recv);
            if(taglist_pos==taglist_num)
            {
               taglist_pos=taglist_num;
               tagid_list[taglist_num++]=tag_id_recv;
					
               new_tagid=1;
            }else{
               new_tagid=0;
            }
            tagofflinetime[taglist_pos]=0;
                
                rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
                if(rec_nearbase_num>=30)
                {
                    break;
                }
                battary = rx_buffer[BATTARY_IDX];
                button = rx_buffer[BUTTON_IDX];
                frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
         tag_frequency = rx_buffer[NEARP_TAGFREQ_INDEX];
         tag_slotpos = rx_buffer[NEARP_TAGSLOTPOS_INDEX];
               
      ////////////////基站汇总模式数据          
               memcpy(&rec_tagheight,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*6],2);
                memcpy(&recnearbaselist_id,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
                memcpy(&recnearbaselist_dist,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*2],rec_nearbase_num*4);
                usart_send[2] = 0x0c;//正常模式 
               usart_send[3] = 15+8*(rec_nearbase_num);//数据段长度
               memcpy(&usart_send[4],&tag_id_recv,2);
                    usart_send[6] = rx_buffer[SEQUENCE_IDX];
                    usart_send[7] = rx_buffer[SEQUENCEH_IDX];
               usart_send[8] = battary;
                    usart_send[9] = button;
                    memcpy(&usart_send[10],&rec_tagheight,2);
               usart_send[12] = tag_frequency;
                    usart_send[13] = tag_slotpos;
                    usart_send[14] = 0;
                    usart_send[15] = 0;
               usart_send[16] = rec_nearbase_num;
                   
                    memcpy(&usart_send[17],&recnearbaselist_id,2*rec_nearbase_num);
                    memcpy(&usart_send[17+rec_nearbase_num*2],&recnearbaselist_dist,4*rec_nearbase_num);
               memcpy(&usart_send[17+rec_nearbase_num*6],zero_matrix,2*rec_nearbase_num);
                    
               checksum = Checksum_u16(&usart_send[2],15+8*rec_nearbase_num);
               memcpy(&usart_send[17+8*rec_nearbase_num],&checksum,2);
               UART_PushFrame(usart_send,19+8*rec_nearbase_num);
            Anchor_RecPoll();
            }
            break;
         case SYNC:         
            memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
@@ -1185,7 +1303,7 @@
      case REG_POLL:   
         for(i=0;i<MAX_REGTAGNUM;i++)
      {
         if(tag_id_recv==regtag_map.tagid[i])
         if(tag_id_recv==regtag_map.tagid[i]&&regtag_map.remain_time[i]>0)
         {
               tx_near_msg[REGR_TAGSLOTPOS_INDEX]=regtag_map.tag_slotpos[i];
               tx_near_msg[REGR_TAGFREQ_INDEX] = regtag_map.tag_frequency[i];
@@ -1200,6 +1318,7 @@
               dwt_writetxfctrl(send_len, 0);//设置超宽带发送数据长度
               dwt_starttx(DWT_START_TX_IMMEDIATE);
               regtag_map.tagid[i] = 0;
            break;
         }
      
      }
@@ -1213,13 +1332,15 @@
         memcpy(&usart_send[6],&tag_id_recv,2);
         memcpy(&usart_send[8],&rx_buffer[10],9);
         usart_send[17] = firstpath_power;
            memcpy(&usart_send[18],&rx_buffer[19],2);
         checksum = Checksum_u16(&usart_send[2],20);
         memcpy(&usart_send[22],&checksum,2);
         UART_PushFrame(usart_send,24);
      }
      break;
         case NEAR_POLL:      
      //   GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_SET);					
      //   GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_SET);	
               
            memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
            taglist_pos=CmpTagInList(tag_id_recv);
            if(taglist_pos==taglist_num)
@@ -1232,14 +1353,55 @@
               new_tagid=0;
            }
            tagofflinetime[taglist_pos]=0;
          temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime);
                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];
			
                if(rec_nearbase_num>30)
                {
                    break;
                }
                battary = rx_buffer[BATTARY_IDX];
                button = rx_buffer[BUTTON_IDX];
                frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
         tag_frequency = rx_buffer[NEARP_TAGFREQ_INDEX];
         tag_slotpos = rx_buffer[NEARP_TAGSLOTPOS_INDEX];
      ////////////////基站汇总模式数据          
                memcpy(&rec_tagheight,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*8+6],2);
                memcpy(&recnearbaselist_id,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
                memcpy(&recnearbaselist_dist,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*2],rec_nearbase_num*4+4);
                memcpy(&rec_taganc_signalpower_list,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*6+4],rec_nearbase_num*2+2);
                if(anc_id_recv == dev_id )
                {
                usart_send[2] = 0x0c;//正常模式 
               usart_send[3] = 15+8*(rec_nearbase_num+1);//数据段长度
               memcpy(&usart_send[4],&tag_id_recv,2);
                    usart_send[6] = rx_buffer[SEQUENCE_IDX];
                    usart_send[7] = rx_buffer[SEQUENCEH_IDX];
               usart_send[8] = battary;
                    usart_send[9] = button;

                    memcpy(&usart_send[10],&rec_tagheight,2);
               usart_send[12] = tag_frequency;
                    usart_send[13] = tag_slotpos;
                    usart_send[14] = 0;
                    usart_send[15] = 0;
               usart_send[16] = rec_nearbase_num+1;
                    memcpy(&usart_send[17],&anc_id_recv,2);
                    memcpy(&usart_send[19],&recnearbaselist_id,2*rec_nearbase_num);
                    memcpy(&usart_send[19+rec_nearbase_num*2],&recnearbaselist_dist,4*rec_nearbase_num+4);
                memcpy(&usart_send[19+rec_nearbase_num*6+4],&rec_taganc_signalpower_list,2*rec_nearbase_num+2);
                    
               checksum = Checksum_u16(&usart_send[2],23+8*rec_nearbase_num);
               memcpy(&usart_send[25+8*rec_nearbase_num],&checksum,2);
               UART_PushFrame(usart_send,27+8*rec_nearbase_num);
                }
    //////////////////////////////////////////////////////////////            
                
                
GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_SET);   
         if(anc_id_recv==dev_id)
         {
            Anchor_RecNearPoll(0);	
            Anchor_RecNearPoll(rec_nearbase_num);	
         }else{
               
            for(i=0;i<rec_nearbase_num;i++)
@@ -1249,7 +1411,7 @@
               {
                  
                  seize_anchor=0;  //非抢占。已存在列表中
                  Anchor_RecNearPoll(i+1);	
                  Anchor_RecNearPoll(i);	
                  break;
               }                  
            }
@@ -1260,7 +1422,8 @@
//                  seize_anchor=1;   //抢占anchor
//                  Anchor_RecNearPoll(i);   
//               }

//                    if(tag_id_recv==0x4008)
//                    printf("标签高度: %d,基站高度: %d,高度差： %d. \r\n",rec_tagheight,intheight,intheight-rec_tagheight);
            
            break;
          default: