XRange_Tag.git - Gitblit

			@@ -30,6 +30,7 @@
			#include "beep.h"
			#include "modbus.h"

			#define USART_INTEGRATE_OUTPUT
			/------------------------------------ Marcos ------------------------------------------/
			/* Inter-ranging delay period, in milliseconds. */
			#define RNG_DELAY_MS 100
			@@ -47,14 +48,14 @@
			#define POLL_TX_TO_RESP_RX_DLY_UUS 150
			/* This is the delay from Frame RX timestamp to TX reply timestamp used for calculating/setting the DW1000's delayed TX function. This includes the
			* frame length of approximately 2.66 ms with above configuration. */
			#define RESP_RX_TO_FINAL_TX_DLY_UUS 1550
			#define RESP_RX_TO_FINAL_TX_DLY_UUS 410

			/* Receive response timeout. See NOTE 5 below. */
			#define RESP_RX_TIMEOUT_UUS 600

			#define DELAY_BETWEEN_TWO_FRAME_UUS 600
			#define DELAY_BETWEEN_TWO_FRAME_UUS 400

			#define POLL_RX_TO_RESP_TX_DLY_UUS 420
			#define POLL_RX_TO_RESP_TX_DLY_UUS 470
			/* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
			#define RESP_TX_TO_FINAL_RX_DLY_UUS 200
			/* Receive final timeout. See NOTE 5 below. */
			@@ -77,13 +78,13 @@
			NEARPOLL,
			}tag_state=GETNEARMSG;
			static dwt_config_t config = {
			2, /* Channel number. */
			5, /* Channel number. */
			DWT_PRF_64M, /* Pulse repetition frequency. */
			DWT_PLEN_128, /* Preamble length. */
			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. */
			@@ -92,7 +93,7 @@
			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[80] = {0};
			uint8_t tx_near_msg[80] = {0};

			static uint32_t frame_seq_nb = 0;
			static uint32_t status_reg = 0;
			@@ -266,7 +267,7 @@
			u8 GetRandomSlotPos(uint32_t emptyslot)
			{
			u8 i,temp_value;
			temp_value = GetRandomValue();
			temp_value = HAL_LPTIM_ReadCounter(&hlptim1);//GetRandomValue();
			for(i=temp_value%32;i<max_slotpos;i++)
			{
			if(((emptyslot>>i)&0x1)==0)
			@@ -291,9 +292,11 @@
			u8 flag_finalsend,flag_getresponse,flag_rxon;
			uint16_t current_count,start_count,end_count,lastsync_timer;

			u8 nearbase_num=0,last_nearbase_num,next_nearbase_num,last_slotnum;
			u8 nearbase_num=0,last_nearbase_num,next_nearbase_num,last_slotnum, para_update,para_len,stationary_flag=0;
			u32 rec_tagpos_binary;
			int16_t offset=2700;
			extern int16_t g_commap_antdelay;
			u8 motor_state,rec_remotepara_state,rec_remotepara[80];
			void NearPoll(void)
			{

			@@ -314,24 +317,28 @@
			last_nearbase_num=next_nearbase_num;
			nearbase_num=next_nearbase_num;
			recbase_num=0;

			tx_near_msg[BATTARY_IDX] = Get_Battary();
			//tx_near_msg[BUTTON_IDX] = !READ_KEY0;
			// motor_state=0;
			tx_near_msg[GROUP_ID_IDX] = group_id;
			tx_near_msg[BATTARY_IDX] = bat_percent;
			tx_near_msg[BUTTON_IDX] = !GET_USERKEY\|stationary_flag<<1;
			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[NEARBASEID_INDEX+nearbase_num*4],&g_commap_antdelay,2);
			memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
			dwt_writetxdata(13+2*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+2*nearbase_num, 0);//设置超宽带发送数据长度
			dwt_writetxdata(15+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(15+4*nearbase_num, 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

			tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
			para_update = 0;
			flag_finalsend=0;
			flag_rxon=1;
			flag_getresponse=0;
			start_count=HAL_LPTIM_ReadCounter(&hlptim1);
			recbase_num=0;
			timeout=ceil((float)nearbase_num*0.6)+20;
			timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
			end_count=start_count+(timeout<<5);
			if(end_count>=32768)
			{end_count-=32768;}
			@@ -372,7 +379,7 @@
			dwt_readrxdata(rx_buffer, frame_len, 0); //读取接收数据
			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] == 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
			if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_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
			{ 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
			@@ -409,6 +416,9 @@
			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;
			rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;

			mainbase_lost_count=0;
			flag_finalsend=1;
			@@ -422,40 +432,34 @@
			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;
			tx_near_msg[GROUP_ID_IDX] = group_id;

			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
			flag_getresponse=1;
			memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);

			tyncpoll_time=0;

			//时间同步
			ancsync_time=((sync_timer)*1000+tmp_time);
			last_slotnum=current_slotnum;
			current_slotnum=round((float)sync_timer/g_com_map[COM_INTERVAL])+1;
			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);

			// count_offset=sync_count-current_count-143;
			// current_slottimes=(ancsync_time-10000)/(g_com_map[COM_INTERVAL]*1000);
			// nextpoll_delaytime=tyncpoll_time1000+g_com_map[COM_INTERVAL]1000-((ancsync_time)%(g_com_map[COM_INTERVAL]*1000))-4300;
			// if(abs(ancsync_time-910000)<1000)
			// {
			// nextpoll_delaytime+=10000;
			// }
			// if(nextpoll_delaytime<2000)
			// {
			// nextpoll_delaytime+=g_com_map[COM_INTERVAL]*1000;
			// }
			// lastpoll_count= current_count+(nextpoll_delaytime)/LPTIMER_LSB;
			// if(lastpoll_count>LPTIMER_1S_COUNT)
			// lastpoll_count-=LPTIMER_1S_COUNT;
			// __HAL_LPTIM_COMPARE_SET(&hlptim1, lastpoll_count);
			/////////////////////////////////////////
			// dwt_setdelayedtrxtime(final_tx_time);
			// result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
			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);

			@@ -471,11 +475,14 @@
			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)
			{
			motor_state=rx_buffer[MOTORSTATE_INDEX];
			}
			final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
			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
			@@ -490,9 +497,11 @@
			}
			// dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG\| SYS_STATUS_ALL_RX_ERR);
			}
			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_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG\| SYS_STATUS_ALL_RX_ERR);
			nearbase_num=recbase_num;
			j=0;
			j=0;
			if(exsistbase_list[0]==0)
			{
			// u8 temp_adc,random_value;
			@@ -504,7 +513,7 @@
			// }
			tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
			tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
			// SetNextPollTime(tyncpoll_time);
			SetNextPollTime(tyncpoll_time);
			}
			// tyncpoll_time=0;
			next_nearbase_num=0;
			@@ -549,18 +558,27 @@
			{
			nearbaseid_list[i]=true_nearbase_idlist[i];
			nearbase_distlist[i]=true_nearbase_distlist[i];
			if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==0xa)
			if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==KEEP_TIMES)
			{
			memcpy(&usart_send[4+6*report_num],&nearbaseid_list[i],2);
			memcpy(&usart_send[6+6*report_num],&nearbase_distlist[i],4);
			report_num++;
			}
			}
			#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);

			@@ -576,6 +594,7 @@
			}
			memcpy(&tx_near_msg[ANCHOR_ID_IDX],&nearmsg_mainbase,2);
			memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);
			tx_near_msg[GROUP_ID_IDX] = group_id;
			tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;

			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
			@@ -604,7 +623,7 @@
			tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
			//tagslotpos=rx_buffer[TAGSLOTPOS];
			memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
			slottime=ceil((nearbase_num+2)*0.3)+1;
			//slottime=ceil((nearbase_num+2)*0.3)+1;
			tyncpoll_time=tagslotpos*slottime;
			tag_state=NEARPOLL;
			}
			@@ -612,10 +631,10 @@
			tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
			}
			}

			u32 id;
			void Tag_App(void)//发送模式(TAG标签)
			{
			u32 id;

			//LED0_ON;
			id = dwt_readdevid() ;
			while (DWT_DEVICE_ID != id)