| | |
| | | #define FINAL_MSG_TS_LEN 4 |
| | | |
| | | #define SYNC_SEQ_IDX 5 |
| | | |
| | | //common |
| | | #define GROUP_ID_IDX 0 |
| | | #define ANCHOR_ID_IDX 1 |
| | | #define TAG_ID_IDX 5 |
| | | #define MESSAGE_TYPE_IDX 9 |
| | | #define DIST_IDX 10 |
| | | |
| | | //Poll |
| | | #define ANC_TYPE_IDX 14 |
| | | #define BATTARY_IDX 15 |
| | | #define BUTTON_IDX 16 |
| | | #define SEQUENCE_IDX 17 |
| | | //respose |
| | | #define DIST_IDX 10 |
| | | #define ANCTIMEMS 14 |
| | | #define ANCTIMEUS 16 |
| | | #define ANCSEND_INTERVAL 18 |
| | | |
| | | #define POLL 0x01 |
| | | #define RESPONSE 0x02 |
| | |
| | | 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. */ |
| | |
| | | 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 tx_final_msg[24] = {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[20] = {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. */ |
| | |
| | | tx_final_msg[MESSAGE_TYPE_IDX]=FINAL; |
| | | tx_sync_msg[MESSAGE_TYPE_IDX]=SYNC; |
| | | |
| | | memcpy(&tx_poll_msg[GROUP_ID_IDX], &group_id, 1); |
| | | memcpy(&tx_final_msg[GROUP_ID_IDX], &group_id, 1); |
| | | memcpy(&tx_resp_msg[GROUP_ID_IDX], &group_id, 1); |
| | | |
| | | 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); |
| | | |
| | | memcpy(&tx_resp_msg[ANCSEND_INTERVAL], &g_com_map[COM_INTERVAL], 2); |
| | | } |
| | | uint16_t Checksum_u16(uint8_t* pdata, uint32_t len) |
| | | { |
| | |
| | | uint16_t g_Resttimer; |
| | | uint8_t result; |
| | | u8 tag_succ_times=0; |
| | | int32_t hex_dist; |
| | | int32_t hex_dist,hex_dist2; |
| | | u16 checksum; |
| | | int8_t tag_delaytime; |
| | | extern uint16_t sync_timer; |
| | |
| | | /* Check that the frame is the expected response from the companion "DS TWR responder" example. |
| | | * As the sequence number field of the frame is not relevant, it is cleared to simplify the validation of the frame. */ |
| | | |
| | | if (rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,4)) //å¤ææ¥æ¶å°çæ°æ®æ¯å¦æ¯responseæ°æ® |
| | | { u16 anc_id_recv; |
| | | if (rx_buffer[GROUP_ID_IDX] == group_id&&rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,4)) //å¤ææ¥æ¶å°çæ°æ®æ¯å¦æ¯responseæ°æ® |
| | | { u16 anc_id_recv,rec_com_interval; |
| | | /* Retrieve poll transmission and response reception timestamp. */ |
| | | poll_tx_ts = get_tx_timestamp_u64(); //è·å¾POLLåéæ¶é´T1 |
| | | resp_rx_ts = get_rx_timestamp_u64(); //è·å¾RESPONSEæ¥æ¶æ¶é´T4 |
| | |
| | | } |
| | | TIM3->CNT=tmp_time; |
| | | } |
| | | memcpy(&anchor_dist_last_frm[0], &rx_buffer[DIST_IDX], 4); |
| | | memcpy(&hex_dist2, &rx_buffer[DIST_IDX], 4); |
| | | memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4); |
| | | memcpy(&rec_com_interval,&rx_buffer[ANCSEND_INTERVAL], 2); |
| | | if(rec_com_interval>4&&rec_com_interval!=g_com_map[COM_INTERVAL]) |
| | | { |
| | | g_com_map[COM_INTERVAL]=rec_com_interval; |
| | | save_com_map_to_flash(); |
| | | delay_ms(100); |
| | | SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软å¤ä½åå°bootloader |
| | | } |
| | | |
| | | /* Compute final message transmission time. See NOTE 9 below. */ |
| | | final_tx_time = (resp_rx_ts + (RESP_RX_TO_FINAL_TX_DLY_UUS * UUS_TO_DWT_TIME)) >> 8;//计ç®finalå
åéæ¶é´ï¼T5=T4+Treply2 |
| | | dwt_setdelayedtrxtime(final_tx_time);//设置finalå
åéæ¶é´T5 |
| | |
| | | tag_succ_times++; |
| | | |
| | | LED0_BLINK; |
| | | hex_dist = anchor_dist_last_frm[0]; |
| | | |
| | | memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2); |
| | | // g_Tagdist[anc_id_recv]= hex_dist; |
| | | // g_flag_Taggetdist[anc_id_recv]=0; |
| | | if(hex_dist2!=0xffff) |
| | | { |
| | | g_Tagdist[anc_id_recv]= hex_dist2; |
| | | g_flag_Taggetdist[anc_id_recv]=0; |
| | | |
| | | if(!g_com_map[MODBUS_MODE]) |
| | | { |
| | | hex_dist2 = hex_dist2; |
| | | usart_send[2] = 1;//æ£å¸¸æ¨¡å¼ |
| | | usart_send[3] = 17;//æ°æ®æ®µé¿åº¦ |
| | | usart_send[4] = frame_seq_nb;//æ°æ®æ®µé¿åº¦ |
| | | memcpy(&usart_send[5],&dev_id,2); |
| | | memcpy(&usart_send[7],&rx_buffer[ANCHOR_ID_IDX],2); |
| | | |
| | | memcpy(&usart_send[9],&hex_dist,4); |
| | | memcpy(&usart_send[9],&hex_dist2,4); |
| | | 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); |
| | | } |
| | | } |
| | | // memcpy(&Modbus_HoldReg[anc_id_recv*2],&hex_dist,4); |
| | | /* Poll DW1000 until TX frame sent event set. See NOTE 8 below. */ |
| | | if(result==0) |
| | |
| | | // deca_sleep(10); |
| | | } |
| | | // dwt_entersleep(); |
| | | if(tag_succ_times<g_com_map[MIN_REPORT_ANC_NUM]) |
| | | { |
| | | //poll_timer +=time32_incr&0x7+3; |
| | | } |
| | | // if(tag_succ_times<g_com_map[MIN_REPORT_ANC_NUM]) |
| | | // { |
| | | // //poll_timer +=time32_incr&0x7+3; |
| | | // } |
| | | |
| | | /* Execute a delay between ranging exchanges. */ |
| | | |
| | | } |
| | | int8_t correction_time; |
| | | extern uint8_t sync_seq; |
| | | |
| | | #define TDFILTER |
| | | //#define CHECK_UID |
| | | extern uint8_t UID_ERROR; |
| | | void Anchor_App(void) |
| | | { |
| | | uint32_t frame_len; |
| | | uint32_t resp_tx_time; |
| | | |
| | | static u8 misdist_num; |
| | | /* Clear reception timeout to start next ranging process. */ |
| | | dwt_setrxtimeout(0);//è®¾å®æ¥æ¶è¶
æ¶æ¶é´ï¼0使²¡æè¶
æ¶æ¶é´ |
| | | |
| | |
| | | // tag_recv_interval = tag_recv_timer + 65535 - tag_time_recv[tag_id_recv]; |
| | | // } |
| | | |
| | | if (rx_buffer[MESSAGE_TYPE_IDX] == POLL&&(anchor_type == rx_buffer[ANC_TYPE_IDX])) //夿æ¯å¦æ¯pollå
æ°æ® |
| | | if (rx_buffer[GROUP_ID_IDX] == group_id&&rx_buffer[MESSAGE_TYPE_IDX] == POLL&&(anchor_type == rx_buffer[ANC_TYPE_IDX])) //夿æ¯å¦æ¯pollå
æ°æ® |
| | | { |
| | | tmp_time=TIM3->CNT; |
| | | memcpy(&tx_resp_msg[ANCTIMEMS],&sync_timer,2); |
| | |
| | | |
| | | /* Write and send the response message. See NOTE 9 below.*/ |
| | | if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS) |
| | | memcpy(&tx_resp_msg[DIST_IDX], &anchor_dist_last_frm[tag_id_recv-TAG_ID_START], 4); |
| | | memcpy(&tx_resp_msg[DIST_IDX], &g_Tagdist[tag_id_recv], 4); |
| | | |
| | | dwt_writetxdata(sizeof(tx_resp_msg), tx_resp_msg, 0);//åå
¥åéæ°æ® |
| | | dwt_writetxfctrl(sizeof(tx_resp_msg), 0);//设å®åéé¿åº¦ |
| | |
| | | /* Check that the frame is a final message sent by "DS TWR initiator" example. |
| | | * As the sequence number field of the frame is not used in this example, it can be zeroed to ease the validation of the frame. */ |
| | | |
| | | if (rx_buffer[MESSAGE_TYPE_IDX] == FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,4)&&!memcmp(&rx_buffer[ANCHOR_ID_IDX],&dev_id,4)) //夿æ¯å¦ä¸ºFinalå
|
| | | if (rx_buffer[GROUP_ID_IDX] == group_id&&rx_buffer[MESSAGE_TYPE_IDX] == FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,4)&&!memcmp(&rx_buffer[ANCHOR_ID_IDX],&dev_id,4)) //夿æ¯å¦ä¸ºFinalå
|
| | | { |
| | | uint32_t poll_tx_ts, resp_rx_ts, final_tx_ts; |
| | | uint32_t poll_rx_ts_32, resp_tx_ts_32, final_rx_ts_32; |
| | |
| | | final_msg_get_ts(&rx_buffer[FINAL_MSG_RESP_RX_TS_IDX], &resp_rx_ts); |
| | | final_msg_get_ts(&rx_buffer[FINAL_MSG_FINAL_TX_TS_IDX], &final_tx_ts); |
| | | |
| | | #ifdef CHECK_UID |
| | | if(UID_ERROR==1) |
| | | poll_rx_ts=0; |
| | | #endif |
| | | /* Compute time of flight. 32-bit subtractions give correct answers even if clock has wrapped. See NOTE 10 below. */ |
| | | poll_rx_ts_32 = (uint32_t)poll_rx_ts;//使ç¨32使°æ®è®¡ç® |
| | | resp_tx_ts_32 = (uint32_t)resp_tx_ts; |
| | |
| | | distance = tof * SPEED_OF_LIGHT;//è·ç¦»=å
é*é£è¡æ¶é´ |
| | | dist_no_bias = distance - dwt_getrangebias(config.chan, (float)distance, config.prf); //è·ç¦»åå»ç«æ£ç³»æ° |
| | | |
| | | dist_cm = dist_no_bias * 100; //dis 为åä½ä¸ºcmçè·ç¦» |
| | | dist_cm = dist_no_bias * 1000; //dis 为åä½ä¸ºcmçè·ç¦» |
| | | // dist[TAG_ID] = LP(dis, TAG_ID); //LP 为ä½é滤波å¨ï¼è®©æ°æ®æ´ç¨³å® |
| | | |
| | | /*--------------------------以ä¸ä¸ºéæµè·é»è¾------------------------*/ |
| | | LED0_BLINK; //æ¯æå䏿¬¡é讯åéªç䏿¬¡ |
| | | g_UWB_com_interval = 0; |
| | | dis_after_filter=dist_cm; |
| | | hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]; |
| | | if(hex_dist<100000&&hex_dist>-1000) |
| | | |
| | | hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10; |
| | | if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS) |
| | | { |
| | | if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS) |
| | | { |
| | | if(abs(hex_dist-his_dist[tag_id_recv-TAG_ID_START])<1000) |
| | | { |
| | | g_Tagdist[tag_id_recv-TAG_ID_START] = hex_dist; |
| | | anchor_dist_last_frm[tag_id_recv-TAG_ID_START] = hex_dist; |
| | | g_Tagdist[tag_id_recv]= hex_dist; |
| | | } |
| | | if(hex_dist-his_dist[tag_id_recv-TAG_ID_START]<15000||misdist_num>4) |
| | | {int32_t filter_dist; |
| | | misdist_num=0; |
| | | if(hex_dist<1000000&&hex_dist>-10000) |
| | | { |
| | | #ifdef TDFILTER |
| | | NewTrackingDiffUpdate(tag_id_recv-TAG_ID_START, (float)hex_dist); |
| | | filter_dist=pos_predict[tag_id_recv-TAG_ID_START]/10; |
| | | #else |
| | | filter_dist=hex_dist/10; |
| | | #endif |
| | | anchor_dist_last_frm[tag_id_recv-TAG_ID_START]=filter_dist; |
| | | g_Tagdist[tag_id_recv]= filter_dist; |
| | | |
| | | his_dist[tag_id_recv-TAG_ID_START]=hex_dist; |
| | | g_flag_Taggetdist[tag_id_recv]=0; |
| | | if(!g_com_map[MODBUS_MODE]) |
| | |
| | | UART_PushFrame(usart_send,21); |
| | | } |
| | | // memcpy(&Modbus_HoldReg[tag_id_recv*2],&anchor_dist_last_frm[tag_id_recv-TAG_ID_START],4); |
| | | Modbus_HoldReg[tag_id_recv*2]=anchor_dist_last_frm[tag_id_recv-TAG_ID_START]>>16; |
| | | Modbus_HoldReg[tag_id_recv*2+1]=anchor_dist_last_frm[tag_id_recv-TAG_ID_START]; |
| | | Modbus_HoldReg[tag_id_recv*2]=g_Tagdist[tag_id_recv-TAG_ID_START]>>16; |
| | | Modbus_HoldReg[tag_id_recv*2+1]=g_Tagdist[tag_id_recv-TAG_ID_START]; |
| | | //dis_after_filter = LP_Frac_Update(p_Dis_Filter, dist_cm); |
| | | } |
| | | } |
| | | |
| | | }else{ |
| | | misdist_num++; |
| | | } |
| | | } |
| | | } |
| | | }else{ |
| | | /* Clear RX error events in the DW1000 status register. */ |
| | |
| | | } |
| | | }else if(rx_buffer[MESSAGE_TYPE_IDX] == SYNC) |
| | | { |
| | | if(rx_buffer[SYNC_SEQ_IDX]<sync_seq) |
| | | // if(rx_buffer[SYNC_SEQ_IDX]==2) |
| | | if(rx_buffer[SYNC_SEQ_IDX]<sync_seq&&sync_mainbase==0) |
| | | { |
| | | sync_seq=rx_buffer[SYNC_SEQ_IDX]+1; |
| | | TIM3->CNT = sync_seq*325%1000+15; |