| | |
| | | */ |
| | | |
| | | #include <string.h> |
| | | #include <math.h> |
| | | #include "dw_app.h" |
| | | #include "deca_device_api.h" |
| | | #include "deca_regs.h" |
| | |
| | | #include <stdio.h> |
| | | #include "beep.h" |
| | | #include "modbus.h" |
| | | |
| | | //#define DEBUG_OUTPUT |
| | | /*------------------------------------ Marcos ------------------------------------------*/ |
| | | /* Inter-ranging delay period, in milliseconds. */ |
| | | #define RNG_DELAY_MS 100 |
| | |
| | | #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 |
| | |
| | | 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. */ |
| | |
| | | if(clear_judge_cnt++>1000) //设å®1Såé¢ï¼æ¯ç§è¿ä¸æ¬¡ã夿æ å¿ä½å¤§äºçäº2ï¼2s没æ¶å°æ°æ®å°±ææ°æ®åæ0xffffï¼ä¸è§¦åè¦æ¥ã |
| | | { |
| | | 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]>=20) |
| | | if(g_flag_Taggetdist[i]>=2) |
| | | { |
| | | g_Tagdist[i]=0xffff; |
| | | Modbus_HoldReg[i*2]=1; |
| | | Modbus_HoldReg[i*2+1]=0xffff; |
| | | } |
| | | } |
| | | } |
| | |
| | | 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) |
| | | { |
| | |
| | | dwt_writetxfctrl(sizeof(tx_sync_msg), 0);//设置è¶
宽带åéæ°æ®é¿åº¦ |
| | | 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; |
| | | } |
| | | uint16_t g_Resttimer; |
| | | uint8_t result; |
| | | u8 tag_succ_times=0; |
| | |
| | | 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)//å鿍¡å¼(TAGæ ç¾) |
| | | { |
| | | 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åéåå¼å¯æ¥æ¶ï¼å¹¶è®¾å®å»¶è¿æ¶é´ |
| | | 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); |
| | |
| | | * set by dwt_setrxaftertxdelay() has elapsed. */ |
| | | dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//å¼å¯åéï¼åé宿åçå¾
䏿®µæ¶é´å¼å¯æ¥æ¶ï¼çå¾
æ¶é´å¨dwt_setrxaftertxdelayä¸è®¾ç½® |
| | | start_poll = time32_incr; |
| | | #ifdef DEBUG_OUTPUT |
| | | printf("På
åé,åºç«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)))//䏿æ¥è¯¢è¯çç¶æç´å°æåæ¥æ¶æè
åçé误 |
| | | { if(time32_incr - start_poll>20) |
| | |
| | | /* 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(&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 |
| | |
| | | dwt_writetxfctrl(sizeof(tx_final_msg), 0);//设å®åéæ°æ®é¿åº¦ |
| | | result=dwt_starttx(DWT_START_TX_DELAYED);//设å®ä¸ºå»¶è¿åé |
| | | |
| | | #ifdef DEBUG_OUTPUT |
| | | printf("Få
åé,åºç«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(!g_com_map[MODBUS_MODE]&&hex_dist2!=0xffff) |
| | | 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+(int16_t)g_com_map[DIST_OFFSET]; |
| | | 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[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))//䏿æ¥è¯¢è¯çç¶æç´å°åé宿 |
| | | { |
| | | |
| | | while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//䏿æ¥è¯¢è¯çç¶æç´å°åé宿 |
| | | { }; |
| | | } |
| | | /* Clear TXFRS event. */ |
| | |
| | | } |
| | | else |
| | | { |
| | | #ifdef DEBUG_OUTPUT |
| | | printf("Rå
失败é误信æ¯: %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; |
| | |
| | | // 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 TDFILTER |
| | | //#define CHECK_UID |
| | | extern uint8_t UID_ERROR; |
| | | extern u16 dist_threshold; |
| | | u8 misdist_num[TAG_NUM_IN_SYS]; |
| | | 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´ |
| | | |
| | |
| | | while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag&&!g_start_sync_flag)//䏿æ¥è¯¢è¯çç¶æç´å°æ¥æ¶æåæè
åºç°é误 |
| | | { |
| | | IdleTask(); |
| | | g_Resttimer=0; |
| | | }; |
| | | |
| | | if (status_reg & SYS_STATUS_RXFCG)//æåæ¥æ¶ |
| | |
| | | // 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], &g_Tagdist[tag_id_recv], 4); |
| | | |
| | | tx_resp_msg[SIGNALPOWER] = firstpath_power; |
| | | |
| | | dwt_writetxdata(sizeof(tx_resp_msg), tx_resp_msg, 0);//åå
¥åéæ°æ® |
| | | dwt_writetxfctrl(sizeof(tx_resp_msg), 0);//设å®åéé¿åº¦ |
| | | result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//å»¶è¿åéï¼çå¾
æ¥æ¶ |
| | |
| | | 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("æ¶å°POLLå
ï¼æ ç¾ID: %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)))///䏿æ¥è¯¢è¯çç¶æç´å°æ¥æ¶æåæè
åºç°é误 |
| | |
| | | /* 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; |
| | |
| | | |
| | | 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® |
| | | |
| | | dwt_readdiagnostics(&d1); |
| | | LOS(&d1); |
| | | /*--------------------------以ä¸ä¸ºéæµè·é»è¾------------------------*/ |
| | | #ifdef DEBUG_OUTPUT |
| | | printf("æ¶å°FINALå
ï¼æ ç¾ID: %d .\r\n",tag_id_recv); |
| | | #endif |
| | | LED0_BLINK; //æ¯æå䏿¬¡é讯åéªç䏿¬¡ |
| | | g_UWB_com_interval = 0; |
| | | |
| | | 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(hex_dist-his_dist[tag_id_recv-TAG_ID_START]<15000||misdist_num>4) |
| | | {int32_t filter_dist; |
| | | misdist_num=0; |
| | | if(abs(hex_dist-his_dist[tag_id_recv-TAG_ID_START])<dist_threshold||misdist_num[tag_id_recv-TAG_ID_START]>4) |
| | | { |
| | | int32_t filter_dist; |
| | | misdist_num[tag_id_recv-TAG_ID_START]=0; |
| | | if(hex_dist<1000000&&hex_dist>-10000) |
| | | { |
| | | #ifdef TDFILTER |
| | |
| | | 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); |
| | |
| | | //dis_after_filter = LP_Frac_Update(p_Dis_Filter, dist_cm); |
| | | } |
| | | |
| | | }else{ |
| | | misdist_num++; |
| | | } |
| | | else{ |
| | | misdist_num[tag_id_recv-TAG_ID_START]++; |
| | | } |
| | | } |
| | | } |
| | | }else{ |
| | | /* Clear RX error events in the DW1000 status register. */ |
| | | #ifdef DEBUG_OUTPUT |
| | | printf("Få
失败é误信æ¯: %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; |
| | |
| | | } |
| | | else |
| | | { |
| | | #ifdef DEBUG_OUTPUT |
| | | printf("På
失败é误信æ¯: %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); |
| | | } |