1

WXK

2023-12-27 0539458f79f9d12411d4ac71bf7aa2c1f4a32cc0

 Src/application/dw_app.c

@@ -70,8 +70,15 @@
#define FINAL_MSG_RESP_RX_TS_IDX 14
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4

//#define _UWB_4G

static dwt_config_t config = {
   5,               /* Channel number. */
#ifdef _UWB_4G
   2,               /* Channel number. */
#else
    5,
#endif
   DWT_PRF_64M,     /* Pulse repetition frequency. */
   DWT_PLEN_64,    /* Preamble length. */
   DWT_PAC8,        /* Preamble acquisition chunk size. Used in RX only. */
@@ -106,7 +113,7 @@
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

float range_lost_time = 0;


static uint64_t get_tx_timestamp_u64(void)
@@ -175,7 +182,13 @@
    /* Apply default antenna delay value. See NOTE 1 below. */
    dwt_setrxantennadelay(RX_ANT_DLY);      //设置接收天线延迟
    dwt_settxantennadelay(TX_ANT_DLY);      //设置发射天线延迟
//            dwt_configcontinuousframemode(12480);
//    dwt_writetxdata(13, usart_send, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
//   dwt_writetxfctrl(13, 0);//设置超宽带发送数据长度
//   dwt_starttx(DWT_START_TX_IMMEDIATE);//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

//while(1)
//{}
    /* Set expected response's delay and timeout. See NOTE 4 and 5 below.
     * As this example only handles one incoming frame with always the same delay and timeout, those values can be set here once for all. */
            //设置接收超时时间
@@ -321,7 +334,7 @@
int32_t test2;
uint16_t u16_nearbase_distlist[MAX_NEARBASE_NUM];
uint8_t get_newdist,notenoughdist_count;
void SetANCTimestap(uint8_t i,uint8_t* pollrx,uint8_t* resptx,uint32_t resprx,uint8_t* distoffset)
void SetANCTimestap(uint8_t i,uint8_t* pollrx,uint8_t* resptx,uint32_t resprx,uint8_t* distoffset)  //写入时间戳信息
{
    memcpy(&anc_pollrx[i],pollrx,4);
    memcpy(&anc_resptx[i],resptx,4);
@@ -329,52 +342,83 @@
    memcpy(&anc_distoffset[i],distoffset,2);
    anc_clockoffset[i] = test2;
}
void CalculateDists(void)
void CalculateDists(void)   //计算距离
{
    for(int i=0;i<11;i++)
    for(int i=0;i<MAX_NEARBASE_NUM;i++)
    {
        //rec_anc_signalpower[i] = exsistbase_list[i];
      if(exsistbase_list[i]>0)
      if(exsistbase_list[i]==KEEP_TIMES)
      {

         // exsistbase_list[i]--;
          clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_5 / 1.0e6) ;
          rtd_init = tag_resprx[i] - poll_tx_ts;
#ifdef _UWB_4G
            clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_2 / 1.0e6) ;
#else
            clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_5 / 1.0e6) ;
#endif
          rtd_init = tag_resprx[i] - poll_tx_ts&0xffffffff;
          rtd_resp = anc_resptx[i] - anc_pollrx[i];
          tof = ((rtd_init - rtd_resp * (1 - clockOffsetRatio)) / 2.0) * DWT_TIME_UNITS;
          distance = tof * SPEED_OF_LIGHT;
          if(distance>-10&&distance<1000)
            nearbase_distlist[i] = distance*100+anc_distoffset[i];
          range_lost_time=0;
      }else{
          nearbase_distlist[i] = 0x1ffff;
         // nearbase_distlist[i] = 0x1ffff;
      }
    
    }
}
float range_lost_time = 0;
extern uint8_t module_power,imu_enable,motor_enable;
void Registor_Poll(void)
{
   static u8 regpoll_count=0;
    u8 timeout;
		
      tx_near_msg[MESSAGE_TYPE_IDX] = MBX_REG;
        tx_near_msg[REGP_TAGSTATE_INDEX] = !GET_USERKEY<<2|imu_enable<<1|motor_enable;
      tx_near_msg[REGP_FREQUENCY_INDEX] = bat_percent;
      tx_near_msg[REGP_POWER_INDEX] = module_power;
      memcpy(&tx_near_msg[REGP_VERSION_INDEX],&g_com_map[VERSION],2);	
      memcpy(&tx_near_msg[REGP_IMUTHRES_INDEX],&g_com_map[GROUP_ID],2);
      memcpy(&tx_near_msg[REGP_NOMOVESLEEPTIME_INDEX],&g_com_map[DIST_OFFSET],2);
        memcpy(&tx_near_msg[REGP_HEIGHTOFFSET_INDEX],&g_com_map[MAX_REPORT_ANC_NUM],2);
      dwt_writetxdata(23, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
      dwt_writetxfctrl(23, 0);//设置超宽带发送数据长度
      dwt_starttx(DWT_START_TX_IMMEDIATE);//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_count=HAL_LPTIM_ReadCounter(&hlptim1);
        timeout=50;
        end_count=start_count+(timeout<<2);
        while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_TXFRS)))//不断查询芯片状态直到成功接收或者发生错误
        { 
            current_count=HAL_LPTIM_ReadCounter(&hlptim1);
           if(current_count>=end_count&&current_count<end_count+15000)
                        break;
            
        };	
               
}
u16 numceshi;
u16 rec_nearbaseid,rec_nearbasepos;
extern  u16 poll_startcount;
void NearPoll(void)
{
   
   uint32_t temp1,temp2,dw_systime;
   uint32_t frame_len;
   uint32_t final_tx_time;
   u32 start_poll;
   u8 i,j,getsync_flag=0,timeout,flag_ancreadpara=0;
   u32 start_poll,timeout;
   u8 i,j,getsync_flag=0,flag_ancreadpara=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(10000);		
    dwt_setrxtimeout(0);		
   tag_succ_times = 0;
      //GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
   if(next_nearbase_num>=MAX_NEARBASE_NUM)
   if(nearbase_num>=MAX_NEARBASE_NUM)
   {
      next_nearbase_num = MAX_NEARBASE_NUM-1;
      nearbase_num = MAX_NEARBASE_NUM-1;
   }
   HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
   last_nearbase_num=next_nearbase_num;
   nearbase_num=next_nearbase_num;
   recbase_num=0;
//   motor_state=0;
    for(uint8_t i=0;i<nearbase_num;i++)
    for(uint8_t i=0;i<nearbase_num;i++)   //标签距离32位转成16位
    {
        u16_nearbase_distlist[i] = nearbase_distlist[i];
    }
@@ -389,8 +433,19 @@
   memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);   
   dwt_writetxdata(13+4*nearbase_num, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
   dwt_writetxfctrl(13+4*nearbase_num, 0);//设置超宽带发送数据长度
    current_count=HAL_LPTIM_ReadCounter(&hlptim1);
      while(current_count<poll_startcount||current_count>poll_startcount+16384)
      {
         current_count=HAL_LPTIM_ReadCounter(&hlptim1);
         if(current_count<poll_startcount-300)
         {
            break;
         }
      }
        
   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
	
    HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_RESET);
   numceshi++;
   tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
   para_update = 0;
    get_newbase = 0;
@@ -399,42 +454,44 @@
   flag_getresponse=0;
   start_count=HAL_LPTIM_ReadCounter(&hlptim1);
   recbase_num=0;
   timeout=nearbase_num*SLOT_SCALE+4;
   end_count=start_count+(timeout<<5);
   timeout=nearbase_num*SLOT_SCALE+100; //单位0.1ms
   end_count=start_count+(timeout<<2);
   if(end_count>=32768)
   {end_count-=32768;}
   mainbase_dist=100000;
   mainbase_lost_count++;
   current_count=HAL_LPTIM_ReadCounter(&hlptim1);
         while(current_count<end_count||current_count>end_count+15000)
 //           while(1)
         {
            current_count=HAL_LPTIM_ReadCounter(&hlptim1);
               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(flag_finalsend)
                  {
                     dw_systime=dwt_readsystimestamphi32();
                     if(dw_systime>temp1&&dw_systime<temp2)
                     {
								
                        dwt_forcetrxoff();
                        flag_rxon=0;
                                if(flag_ancreadpara)
                                {
                                    u16 calCRC;
                                  tx_near_msg[MESSAGE_TYPE_IDX] = MBX_PRAAREPLY;  
                                  memcpy(&tx_near_msg[MESSAGE_PARAREPLY_IDX],g_com_map,SENDANCPARA_LEN);
                                  calCRC = CRC_Compute((uint8_t*)g_com_map,SENDANCPARA_LEN);
                                  memcpy(&tx_near_msg[MESSAGE_PARAREPLY_IDX+SENDANCPARA_LEN],&calCRC,2);
                                  dwt_writetxdata(14+SENDANCPARA_LEN, tx_near_msg, 0);//将发送数据写入DW1000
                                  dwt_writetxfctrl(14+SENDANCPARA_LEN, 0);//设定发送数据长度
                                }
//                  if(flag_finalsend&&flag_ancreadpara)
//                  {
//                     dw_systime=dwt_readsystimestamphi32();
//                     if(dw_systime>temp1&&dw_systime<temp2)
//                     {
//								
//                        dwt_forcetrxoff();
//                        flag_rxon=0;
//                                if(flag_ancreadpara)   //只有在读取参数的时候需要回复
//                                {
//                                    u16 calCRC;
//                                  tx_near_msg[MESSAGE_TYPE_IDX] = MBX_PRAAREPLY;  
//                                  memcpy(&tx_near_msg[MESSAGE_PARAREPLY_IDX],g_com_map,SENDANCPARA_LEN);
//                                  calCRC = CRC_Compute((uint8_t*)g_com_map,SENDANCPARA_LEN);
//                                  memcpy(&tx_near_msg[MESSAGE_PARAREPLY_IDX+SENDANCPARA_LEN],&calCRC,2);
//                                  dwt_writetxdata(14+SENDANCPARA_LEN, tx_near_msg, 0);//将发送数据写入DW1000
//                                  dwt_writetxfctrl(14+SENDANCPARA_LEN, 0);//设定发送数据长度
//                                
//                        dwt_setdelayedtrxtime(final_tx_time);
//                        result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送   
                        flag_finalsend=0;
                        break;
                     }
                  }
//                                }
//                        flag_finalsend=0;
//                        break;
//                     }
//                  }
                     current_count=HAL_LPTIM_ReadCounter(&hlptim1);
                   if(current_count>=end_count&&current_count<end_count+15000)
                        break;
@@ -449,16 +506,20 @@
                     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
                            test2 = dwt_readcarrierintegrator();
                            poll_tx_ts = get_tx_timestamp_u64();                              //获得POLL发送时间T1
                            resp_rx_ts = get_rx_timestamp_u64();
                     dwt_setrxtimeout(0);//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] == MBX_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)&&rx_buffer[GROUP_ID_IDX]==group_id) //判断接收到的数据是否是response数据
                     {   
                        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	
//                        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_remotepara_state = rx_buffer[MOTORSTATE_INDEX]>>4;
                                TagFreqProcess(rx_buffer[TAGFREQ_IDX]);
//                                TagFreqProcess(rx_buffer[TAGFREQ_IDX]);
//                                if(rec_nearbaseid==0x9002)
//                                {rec_remotepara_state = rx_buffer[MOTORSTATE_INDEX]>>4;}
                                if(rec_remotepara_state != 0)
                                {   
                                    para_update = rec_remotepara_state;
@@ -493,15 +554,9 @@
                              if(sync_timer>=1010)
                                 {sync_timer=0;}
                           }
                        //   TIM3->CNT=tmp_time;
//                           if(tagslotpos>max_slotpos)
//                              tagslotpos=tagslotpos%(max_slotpos+1);
//                              tyncpoll_time=(tagslotpos-1)*slottime;
                           ////////////////////////////
                           rec_nearbasepos=0;
                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                           nearbase_distlist[rec_nearbasepos]=temp_dist;

                           if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
                              motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
                           
@@ -524,33 +579,11 @@
                           dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度
                           flag_getresponse=1;
                           memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
									
								
                           //时间同步
                           ancsync_time=((sync_timer)*1000+tmp_time);	
                           last_slotnum=current_slotnum;
                           current_slotnum=((float)sync_timer/g_com_map[COM_INTERVAL])+1;
                           if(current_slotnum==last_slotnum-1)
                           {flag_getresponse=1;}
                           lastsync_timer=sync_timer;
                           offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
//                           SetNextPollTime(tyncpoll_time);
//                           if(rec_remotepara_state==1)
//                           {
//                                      memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],REMOTEPARA_LEN);
//                              memcpy(&g_com_map[COM_INTERVAL],&rec_remotepara[0],8);
//                              memcpy(&g_com_map[POWER],&rec_remotepara[8],10);
//                                        if(g_com_map[COM_INTERVAL]>0&&g_com_map[COM_INTERVAL]<1000&&g_com_map[POWER]<67&&g_com_map[POWER]>0)
//                              {save_com_map_to_flash();
//                              delay_ms(100);										
//                                        }
//                                        NVIC_SystemReset();
//                           } 
                        }else{
                           rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
                           SetANCTimestap(rec_nearbasepos,&rx_buffer[RESP_MSG_POLL_RX_TS_IDX],&rx_buffer[RESP_MSG_RESP_TX_TS_IDX],resp_rx_ts,&rx_buffer[RESP_MSG_ANC_DISTOFFSET]);

                              if(rec_nearbasepos>=last_nearbase_num)          //发现新的基站
                           if(rec_nearbasepos>=last_nearbase_num)          //发现新的基站
                           {
                              get_newbase=1;
                              nearbase_num++;
@@ -559,8 +592,7 @@
                           }
                           
                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                           nearbase_distlist[rec_nearbasepos]=temp_dist;

                           
                           if(motor_state<(rx_buffer[MOTORSTATE_INDEX]&0xf)&&(rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
                           {
@@ -570,11 +602,6 @@
               
                           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
								

                           //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
                        }                        
                     }
                  }else{
@@ -585,27 +612,27 @@
                  }         
               //   dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
         }
         if(mainbase_lost_count>tag_frequency*BASELOST_STOPMOTOR_TIME)
         {motor_state=0; }
            dwt_forcetrxoff();
            dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
            nearbase_num=recbase_num;
      //   tyncpoll_time=0;
         next_nearbase_num=0;
            CalculateDists();
            j = 0;
         for(i=0;i<last_nearbase_num+get_newbase;i++)
            next_nearbase_num = 0;
         for(i=0;i<nearbase_num;i++)
         {
            if(exsistbase_list[i]>0)
            {		
            {	
                    exsistbase_list[i]--;	
               next_nearbase_num++;
               true_exsistbase_list[j]=exsistbase_list[i];
               true_nearbase_idlist[j]=nearbaseid_list[i];         
               true_nearbase_distlist[j++]=nearbase_distlist[i];
               exsistbase_list[i]--;
					
            }
         }
            if(mainbase_lost_count>1&&exsistbase_list[0] != 0)
            nearbase_num = next_nearbase_num;
            if(mainbase_lost_count>1)//&&exsistbase_list[0] != 0)
         {
                last_lpcount+= HAL_LPTIM_ReadCounter(&hlptim1)%(g_com_map[COM_INTERVAL]*16);
                last_lpcount-= HAL_LPTIM_ReadCounter(&hlptim1)%(g_com_map[COM_INTERVAL]*16);
         }
            last_nearbase_num = next_nearbase_num;
         for(i=0;i<last_nearbase_num-1;i++)
@@ -630,32 +657,16 @@
         }
         
         report_num=0;
//            if(last_nearbase_num>4)
//            {
//                last_nearbase_num = 5;
//            }
   for (i=0;i<last_nearbase_num;i++)
         {
            nearbaseid_list[i]=true_nearbase_idlist[i];
            nearbase_distlist[i]=true_nearbase_distlist[i];
                exsistbase_list[i] = true_exsistbase_list[i];
         }
//            #ifdef USART_INTEGRATE_OUTPUT	
//                usart_send[0] = 0x55;     
//                usart_send[1] = 0xAA;              
//            usart_send[2] = 4;//正常模式
//            usart_send[3] = report_num*6+2;//正常模式
//            checksum = Checksum_u16(&usart_send[2],report_num*6+2);
//            memcpy(&usart_send[4+report_num*6],&checksum,2);
//            USART_puts(usart_send,6+report_num*6);
//         #endif
            
         for(i=0;i<MAX_NEARBASE_NUM;i++)
         {
            nearbase_distlist[i]=0x1ffff;
         }
   dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
//HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
            CalculateDists();
            
if(para_update==1)
    {   
        uint16_t calCRC;
@@ -693,7 +704,7 @@
        }
    }
}

u8 regpoll_count;
u32 id;
void Tag_App(void)//发送模式(TAG标签)
{
@@ -712,6 +723,20 @@
    }
    delay_us(100);
   g_Resttimer=0;
//    if(freqlost_count>FREQ_LOST_TIME)
//    {
//        if(regpoll_count++>11) //待机状态1分钟上传一次基站状态
//        {
//            regpoll_count = 0;
//            Registor_Poll();
//        }
//    }else{
//        if(regpoll_count++>59)//测距状态1分钟上传一次基站状态
//        {
//            regpoll_count = 0;
//            Registor_Poll();
//        }
//    }
   NearPoll();
   dwt_entersleep();
    bat_percent=Get_VDDVlotage();