1

zhyinch

2019-12-19 73722f699b1f8d5badccc9c5e5171bb633ad4fe4

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -21,7 +21,7 @@
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[32] = {0};
static uint8_t tx_near_msg[80] = {0};

static uint32_t frame_seq_nb = 0;   
static uint32_t status_reg = 0;
@@ -298,7 +298,7 @@
      }
      tyncpoll_time=(tagslotpos-1)*slottime;
   }
   mainbase_id=minid;
   mainbase_id=0;//minid;
}

u8 FindNearBasePos(u16 baseid)
@@ -310,8 +310,40 @@
         return i;
   }
}
#define CHANGE_BASE_THRESHOLD  5
void NearAncSelect(void)
{static u16 last_mainbase_id,change_base_count;
   int32_t nearbase_mindist=99999, nearbase_minpos;
   u8 i;
   for(i=0;i<nearbase_num;i++)
   {
      if(nearbase_mindist<nearbase_distlist[i])
      {
         nearbase_mindist=nearbase_distlist[i];
         nearbase_minpos=i;
      }
   }
   if(nearbase_mindist<mainbase_dist-THRESHOLD_CHANGE_MAINBASE_DIST)
   {
      if(last_mainbase_id==nearbaseid_list[nearbase_minpos])
      {
         change_base_count++;
         if(change_base_count>CHANGE_BASE_THRESHOLD)
         {
            mainbase_id=last_mainbase_id;
            tag_state=GETNEARMSG;
         }
      }else{
         change_base_count=0;
      }
      last_mainbase_id=nearbaseid_list[nearbase_minpos];		
   }else{
      change_base_count=0;
   }
}
void NearPoll(void)
{
   static u8 mainbase_lost_count=0;
   uint32_t frame_len;
   uint32_t final_tx_time;
   u32 start_poll;
@@ -319,24 +351,28 @@
    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();
   tx_poll_msg[BUTTON_IDX] = !READ_KEY0;
   tx_poll_msg[SEQUENCE_IDX] = frame_seq_nb++;
   tx_poll_msg[NEARBASENUM_INDEX] = nearbase_num;
   memcpy(&tx_poll_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
	
   tx_poll_msg[ANC_TYPE_IDX] = i;	
   dwt_writetxdata(sizeof(tx_poll_msg), tx_poll_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
   dwt_writetxfctrl(sizeof(tx_poll_msg), 0);//设置超宽带发送数据长度
   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(24, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
   dwt_writetxfctrl(24, 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

   neartimout_timer=0;
   recbase_num=0;
   timeout=nearbase_num/4+2;
         while(neartimout_timer<timeout&&recbase_num<nearbase_num)
   timeout=nearbase_num/4+12;
   mainbase_dist=100000;
   mainbase_lost_count++;
         while(neartimout_timer<timeout&&recbase_num<nearbase_num+1)
         {
               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(neartimout_timer>timeout)
                        break;
               };
               if(status_reg==0xffffffff)
               {
@@ -347,15 +383,17 @@
                     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
                     //dwt_setrxtimeout(DELAY_BETWEEN_TWO_FRAME_UUS*(nearbase_num+1-recbase_num)+10);//设定接收超时时间，0位没有超时时间
                     dwt_rxenable(0);//打开接收
                     if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
                     {   u16 rec_nearbaseid,rec_nearbasepos;
                        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   
                        recbase_num++;
                        memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
                        rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
                        if(rec_nearbaseid==mainbase_id)
                        {
                           //时间同步
                           //////////////////////////////////时间同步
                           memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
                           memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
                           memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);      
@@ -372,53 +410,49 @@
                              tagslotpos=tagslotpos%(max_slotpos+1);
                              tyncpoll_time=(tagslotpos-1)*slottime;
                           ////////////////////////////
                           mainbase_lost_count=0;
                           memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);
                           final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS+DELAY_BETWEEN_TWO_FRAME_UUS*nearbase_num) * UUS_TO_DWT_TIME)) >> 8;
                           final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS+DELAY_BETWEEN_TWO_FRAME_UUS*nearbase_num+1300) * 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_final_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_final_msg[FINAL_MSG_RESP_RX_TS_IDX], resp_rx_ts);
                           final_msg_set_ts(&tx_final_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
                           dwt_writetxdata(sizeof(tx_final_msg), tx_final_msg, 0);//将发送数据写入DW1000
                           dwt_writetxfctrl(sizeof(tx_final_msg), 0);//设定发送数据长度
                           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
                           dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度
                           result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送         
                        }else{
                           final_msg_set_ts(&tx_final_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+rec_nearbasepos*4], resp_rx_ts);								
                           rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4], resp_rx_ts);								
                           memcpy(&nearbase_distlist[rec_nearbasepos],&rx_buffer[DIST_IDX],4);
                           dwt_writetxdata(28+nearbase_num*4, tx_near_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;
                           //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
                        }                        
                     }
                  }         
         }
            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
         { };			
	
   }
   else
   {
         if(mainbase_lost_count>5)
         {
            tag_state=DISCPOLL;
         }
         NearAncSelect();
//            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
//         { };			
//	
//   }
//   else
//   {
   dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
      random_delay_tim = DFT_RAND_DLY_TIM_MS;
   }
//   }

}
void NearAncSelect(void)
{
   int32_t nearbase_mindist=99999, nearbase_minpos;
   u8 i;
   for(i=0;i<nearbase_num;i++)
   {
      if(nearbase_mindist<nearbase_distlist[i])
      {
         nearbase_mindist=nearbase_distlist[i];
         nearbase_minpos=i;
      }
   }
   if(nearbase_mindist<mainbase_dist-THRESHOLD_CHANGE_MAINBASE_DIST)
   {
      mainbase_id=nearbaseid_list[nearbase_minpos];
      tag_state=GETNEARMSG;
   }
}

void GetNearMsg(void)
{
   u32 start_poll,frame_len;
@@ -449,8 +483,10 @@
      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;
      }
   }
@@ -509,18 +545,18 @@
         tmp_time=TIM3->CNT;
         memcpy(&tx_resp_msg[ANCTIMEMS],&sync_timer,2);
         memcpy(&tx_resp_msg[ANCTIMEUS],&tmp_time,2);
         memcpy(&tx_resp_msg[TAGSLOTPOS],&taglist_pos,2);

         memcpy(&tx_resp_msg[TAGSLOTPOS],&taglist_pos,1);
			
         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 * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
         dwt_setdelayedtrxtime(resp_tx_time);//设置Response发送时间T3
         dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_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

         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], &tagdist_list[taglist_pos], 4);			
         memcpy(&tx_resp_msg[TAG_ID_IDX],&tag_id_recv,2);
			
         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
@@ -577,14 +613,14 @@
            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
         }
}

void Anchor_RecNearPoll(u8 ancrec_nearbasepos)
u8 misdist_num;
void Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase  1 first near_base
{
         tmp_time=TIM3->CNT;
         memcpy(&tx_resp_msg[ANCTIMEMS],&sync_timer,2);
         memcpy(&tx_resp_msg[ANCTIMEUS],&tmp_time,2);
         memcpy(&tx_resp_msg[TAGSLOTPOS],&taglist_pos,2);

         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);
         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。
@@ -592,10 +628,10 @@
         dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(nearbase_num-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

         memcpy(&tx_resp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
		
         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
         memcpy(&tx_near_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
         tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
         dwt_writetxdata(17, tx_near_msg, 0);//写入发送数据
         dwt_writetxfctrl(17, 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];
@@ -641,10 +677,12 @@
               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[tag_id_recv-TAG_ID_START])<1000)
               if(hex_dist>-1000&&hex_dist<100000)
               {
                  tagdist_list[taglist_pos] = hex_dist;
               }
               if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num>3)
               {
                  misdist_num=0;
               tagdist_list[taglist_pos] = hex_dist;	
               his_dist[taglist_pos]=hex_dist;                  
               usart_send[2] = 1;//正常模式
               usart_send[3] = 17;//数据段长度
@@ -657,14 +695,18 @@
               checksum = Checksum_u16(&usart_send[2],17);
               memcpy(&usart_send[19],&checksum,2);
               UART_PushFrame(usart_send,21);
               }else{
                  misdist_num++;
               }
            }
         }
         }else{
            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
         }
}
void Anchor_App(void)
{
   u8 send_len,nearbase_num,i;
   u8 send_len,i;
   u16 tempid;
   dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
   dwt_rxenable(0);//打开接收
@@ -708,6 +750,8 @@
         case NEAR_MSG:
            if(anc_id_recv==dev_id)
            {
               rx_buffer[TAGSLOTPOS]=taglist_pos;
               tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
               memcpy(&tx_near_msg[TAG_ID_IDX],&tag_id_recv,2);
               tx_near_msg[NEARBASENUM_INDEX]=g_com_map[NEARBASE_NUM];
               memcpy(&tx_near_msg[NEARBASEID_INDEX],&g_com_map[NEARBASE_ID1],g_com_map[NEARBASE_NUM]*2);