F103基站代码
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zhyinch
2021-08-25 6e7d484264afa951a0491cb4a868580a2f0b647b 
 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c


@@ -15,6 +15,7 @@


 */




#include <string.h>


#include <math.h>


#include "dw_app.h"


#include "deca_device_api.h"


#include "deca_regs.h"


@@ -28,7 +29,9 @@


#include <stdio.h>


#include "beep.h"


#include "modbus.h"




//#define DEBUG_OUTPUT


#define TDFILTER


//#define CONSTANT_FILTER


/*------------------------------------ Marcos ------------------------------------------*/


/* Inter-ranging delay period, in milliseconds. */


#define RNG_DELAY_MS 100


@@ -65,20 +68,23 @@


#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 SIGNALPOWER           20




#define POLL                    0x01


#define RESPONSE                0x02


@@ -94,7 +100,7 @@


   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. */


@@ -104,10 +110,10 @@


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[23] = {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. */


@@ -235,12 +241,14 @@


   if(clear_judge_cnt++>1000)  //设定1S分频，每秒进一次。判断标志位大于等于2，2s没收到数据就把数据变成0xffff，不触发警报。


   {


      clear_judge_cnt=0;


      for(i=0;i<255;i++)


      for(i=0;i<100;i++)


      {


         g_flag_Taggetdist[i]++;


         if(g_flag_Taggetdist[i]>=2)


         {


            g_Tagdist[i]=0xffff;


            Modbus_HoldReg[i*2]=1;


            Modbus_HoldReg[i*2+1]=0xffff;


         }


      }


   }


@@ -275,10 +283,16 @@


   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) 


{


@@ -310,6 +324,53 @@


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


   dwt_starttx(DWT_START_TX_IMMEDIATE);


}


 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;


  }


#define CONSTANT_LEN 50


extern u16 dist_threshold;


int32_t ConstantFilter(int32_t currentdist,u8 channel)


  {


      static int32_t cs_lastdist[10],cs_lastvalid[10];


      static u8 cfstart_flag[10] = {1};


      static u8 constant_count[10] = {100};


      if(cfstart_flag[channel])


      {


        cfstart_flag[channel] = 0;


        cs_lastdist[channel] = currentdist;


      }


      if( abs(currentdist - cs_lastdist[channel])<100)


      {


          if(constant_count[channel]<CONSTANT_LEN)


              constant_count[channel]++;     


      }else{


         constant_count[channel] = 0; 


      }


      if(constant_count[channel] == CONSTANT_LEN)


      {


        cs_lastvalid[channel] = currentdist;


      }


      cs_lastdist[channel] = currentdist;


      return cs_lastvalid[channel];


  }




uint16_t g_Resttimer;


uint8_t result;


u8 tag_succ_times=0;


@@ -318,19 +379,24 @@


int8_t tag_delaytime;


extern uint16_t sync_timer;


u16 tmp_time;


extern float dw_vbat;


extern u16 slottime,max_slotnum,current_slotpos,tyncpoll_time;


void Tag_App(void)//发送模式(TAG标签)


{


   uint32_t frame_len;


   uint32_t final_tx_time;


   u32 start_poll;


   u8 i,getsync_flag=0;


   u8 bat_percent;


   //LED0_ON;


   dwt_forcetrxoff();


   g_Resttimer=0;


    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);      


   tag_succ_times = 0;


   tx_poll_msg[BATTARY_IDX] = Get_Battary();


   bat_percent=(dw_vbat-2.8)/0.5*100;


   if(bat_percent>100)


      bat_percent=100;


   tx_poll_msg[BATTARY_IDX] = bat_percent;//Get_Battary();


   tx_poll_msg[BUTTON_IDX] = !READ_KEY0;


   tx_poll_msg[SEQUENCE_IDX] = frame_seq_nb++;


   GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_RESET);


@@ -346,6 +412,9 @@


    * set by dwt_setrxaftertxdelay() has elapsed. */


   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


   start_poll = time32_incr;


               #ifdef DEBUG_OUTPUT


        printf("P包发送,基站ID: %d .\r\n",i);


            #endif


   /* 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)


@@ -374,8 +443,8 @@


      /* 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)) //判断接收到的数据是否是response数据


      { 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)) //判断接收到的数据是否是response数据


      { u16 anc_id_recv,rec_com_interval;


         /* Retrieve poll transmission and response reception timestamp. */


         poll_tx_ts = get_tx_timestamp_u64();                              //获得POLL发送时间T1


         resp_rx_ts = get_rx_timestamp_u64();                              //获得RESPONSE接收时间T4


@@ -396,7 +465,17 @@


         TIM3->CNT=tmp_time;


      }


         memcpy(&hex_dist2, &rx_buffer[DIST_IDX], 4);


            rec_firstpath_power = rx_buffer[SIGNALPOWER];


         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; //软复位回到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;//计算final包发送时间，T5=T4+Treply2


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


@@ -415,15 +494,23 @@


         dwt_writetxfctrl(sizeof(tx_final_msg), 0);//设定发送数据长度


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


         


             #ifdef DEBUG_OUTPUT


            printf("F包发送,基站ID: %d .\r\n",i);


            #endif


            


         tag_succ_times++;


         


            LED0_BLINK;


				


            g_Resttimer=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;//正常模式


               usart_send[3] = 17;//数据段长度


               usart_send[4] = frame_seq_nb;//数据段长度


@@ -431,16 +518,20 @@


               memcpy(&usart_send[7],&rx_buffer[ANCHOR_ID_IDX],2);


            


               memcpy(&usart_send[9],&hex_dist2,4);


               usart_send[13] = battary;


               usart_send[13] = bat_percent;


               usart_send[14] = button;


                    usart_send[15] = rec_firstpath_power;


               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)


         {while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成


         {


			


            while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成


         { };


      }


         /* Clear TXFRS event. */


@@ -457,6 +548,9 @@


   }


   else


   {


          #ifdef DEBUG_OUTPUT


            printf("R包失败错误信息: %x .\r\n",status_reg);


            #endif


      /* Clear RX error events in the DW1000 status register. */


      dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);


      random_delay_tim = DFT_RAND_DLY_TIM_MS;


@@ -464,22 +558,26 @@


//   deca_sleep(10);


}


//   dwt_entersleep();


   if(tag_succ_times<g_com_map[MIN_REPORT_ANC_NUM])


   if(tag_succ_times<1)


   {


   //poll_timer +=time32_incr&0x7+3;


      tyncpoll_time=(current_slotpos--%max_slotnum)*slottime;


   }




   /* Execute a delay between ranging exchanges. */


   


}




int8_t correction_time;


extern uint8_t sync_seq;




//#define CHECK_UID


extern uint8_t UID_ERROR;




u8 misdist_num[TAG_NUM_IN_SYS];


void Anchor_App(void)


{


   uint32_t frame_len;


   uint32_t resp_tx_time;


	


   /* Clear reception timeout to start next ranging process. */


   dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间




@@ -490,7 +588,6 @@


   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();


      g_Resttimer=0;


   };




   if (status_reg & SYS_STATUS_RXFCG)//成功接收


@@ -519,7 +616,7 @@


//         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])) //判断是否是poll包数据


      if (rx_buffer[GROUP_ID_IDX] == group_id&&rx_buffer[MESSAGE_TYPE_IDX] == POLL&&(anchor_type == rx_buffer[ANC_TYPE_IDX])) //判断是否是poll包数据


      {


         tmp_time=TIM3->CNT;


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


@@ -541,8 +638,9 @@




         /* 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);


            tx_resp_msg[SIGNALPOWER] = firstpath_power;


            


         dwt_writetxdata(sizeof(tx_resp_msg), tx_resp_msg, 0);//写入发送数据


         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


@@ -552,6 +650,9 @@


         frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];


         /* We assume that the transmission is achieved correctly, now poll for reception of expected "final" frame or error/timeout.


          * See NOTE 7 below. */


            #ifdef DEBUG_OUTPUT


            printf("收到POLL包，标签ID: %d .\r\n",tag_id_recv);


            #endif


         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


@@ -573,7 +674,7 @@


            /* 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)) //判断是否为Final包


            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)) //判断是否为Final包


            {


               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;


@@ -589,6 +690,10 @@


               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;//使用32位数据计算


               resp_tx_ts_32 = (uint32_t)resp_tx_ts;


@@ -603,26 +708,41 @@


               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•ä½ä¸ºcm的距离


               dist_cm = dist_no_bias * 1000; //dis ä¸ºå•ä½ä¸ºcm的距离


//               dist[TAG_ID] = LP(dis, TAG_ID); //LP ä¸ºä½Žé€šæ»¤æ³¢å™¨ï¼Œè®©æ•°æ®æ›´ç¨³å®š


					


               dwt_readdiagnostics(&d1);


               LOS(&d1);


               /*--------------------------以下为非测距逻辑------------------------*/


             #ifdef DEBUG_OUTPUT


            printf("收到FINAL包，标签ID: %d .\r\n",tag_id_recv);


            #endif


               LED0_BLINK; //每成功一次通讯则闪烁一次


               g_UWB_com_interval = 0;


               dis_after_filter=dist_cm;


               hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET];


               if(hex_dist>1000)


               {hex_dist=hex_dist;}


               if(hex_dist<100000&&hex_dist>-1000)


               g_Resttimer=0;


               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)


               if(abs(hex_dist-his_dist[tag_id_recv-TAG_ID_START])<dist_threshold||misdist_num[tag_id_recv-TAG_ID_START]>4)


               {


                  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;


               }


                  int32_t filter_dist;


                  misdist_num[tag_id_recv-TAG_ID_START]=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


                        


                        #ifdef  CONSTANT_FILTER


                        filter_dist = ConstantFilter(filter_dist,tag_id_recv-TAG_ID_START);


                        #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])


@@ -636,27 +756,33 @@


                  memcpy(&usart_send[9],&anchor_dist_last_frm[tag_id_recv-TAG_ID_START],4);


                  usart_send[13] = battary;


                  usart_send[14] = button;


                        usart_send[15] = firstpath_power;


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


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


                  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{


                  LED0_BLINK;


               }						


					


               }


               else{


                  misdist_num[tag_id_recv-TAG_ID_START]++;


               }


            }


            }


         }else{


            /* Clear RX error events in the DW1000 status register. */


            #ifdef DEBUG_OUTPUT


            printf("F包失败错误信息: %x .\r\n",status_reg);


            #endif


            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);


         }


      }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;


@@ -667,6 +793,9 @@


   }


   else


   {


         #ifdef DEBUG_OUTPUT


            printf("P包失败错误信息: %x .\r\n",status_reg);


            #endif


      /* Clear RX error events in the DW1000 status register. */


      dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);


   }