电池标签L051工程
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zhyinch
2020-04-09 1059b6d24c634e20aa8d63412792239b607b4020 
 Src/application/dw_app.c


@@ -46,7 +46,7 @@


#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 800


#define RESP_RX_TO_FINAL_TX_DLY_UUS 850


/* Receive response timeout. See NOTE 5 below. */


#define RESP_RX_TIMEOUT_UUS 600




@@ -65,20 +65,22 @@


#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 POLL                    0x01


#define RESPONSE                0x02


@@ -104,10 +106,10 @@


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[22] = {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. */


@@ -254,7 +256,7 @@


    Reset_DW1000();//重启DW1000 /* Target specific drive of RSTn line into DW1000 low for a period. */


      Spi_ChangePrescaler(SPIx_PRESCALER_SLOW);   //设置为快速模式


    dwt_initialise(DWT_LOADUCODE);//初始化DW1000


   Spi_ChangePrescaler(SPIx_PRESCALER_FAST);   //设置为快速模式


     Spi_ChangePrescaler(SPIx_PRESCALER_FAST);   //设置为快速模式




    /* Configure DW1000. See NOTE 6 below. */


    dwt_configure(&config);//配置DW1000


@@ -276,6 +278,10 @@


   tx_resp_msg[MESSAGE_TYPE_IDX]=RESPONSE;


   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);


@@ -319,8 +325,11 @@


uint16_t checksum;


int8_t tag_delaytime;


extern uint16_t sync_timer;


uint16_t tmp_time,sync_count;


uint32_t time32_incr;uint32_t frame_len;


uint16_t tmp_time,current_slottimes;


uint32_t time32_incr;


int32_t ancsync_time;


uint32_t frame_len;


int32_t count_offset,nextpoll_delaytime;


void Tag_App(void)//发送模式(TAG标签)


{


   


@@ -338,7 +347,7 @@


    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[BATTARY_IDX] = bat_percent;


   //tx_poll_msg[BUTTON_IDX] = !READ_KEY0;


   tx_poll_msg[SEQUENCE_IDX] = frame_seq_nb++;




@@ -384,8 +393,8 @@


      /* 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


      { uint16_t 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


      { uint16_t anc_id_recv,current_count,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


@@ -403,23 +412,20 @@


            if(sync_timer>=1010)


               {sync_timer=0;}


         }


         sync_count=(sync_timer*1000+tmp_time)/LPTIMER_LSB;


         __HAL_LPTIM_CNT_SET(&hlptim1, sync_count);


         for(i=0;i<100;i++)


         {


            lastpoll_count = slot_startcount+i*interval_count;


            if(lastpoll_count>sync_count)


            {


             __HAL_LPTIM_COMPARE_SET(&hlptim1, lastpoll_count);


               break;


            }		


         }


         




      //   TIM3->CNT=tmp_time;


      }


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


         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


@@ -437,10 +443,34 @@


         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


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


		


         ancsync_time=((sync_timer+0)*1000+tmp_time);


         current_count=HAL_LPTIM_ReadCounter(&hlptim1);


      //   count_offset=sync_count-current_count-143;


      //   current_slottimes=(ancsync_time-10000)/(g_com_map[COM_INTERVAL]*1000);


         nextpoll_delaytime=tyncpoll_time*1000+g_com_map[COM_INTERVAL]*1000-((ancsync_time-10000)%(g_com_map[COM_INTERVAL]*1000))-5150;


         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);


			


//         printf("ancsync_time: %u     \r\n ",ancsync_time);


//         printf("current_slottimes: %u   ",current_slottimes);


//         printf("nextpoll_delaytime: %u   ",nextpoll_delaytime);


//         printf("current_count: %u   ",current_count);


//         printf("lastpoll_count: %u",lastpoll_count);


		


         


         tag_succ_times++;


         


            LED0_BLINK;


            


               memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);


//               g_Tagdist[anc_id_recv]=   hex_dist;


@@ -458,7 +488,7 @@


               usart_send[14] = button;


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


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


               UART_PushFrame(usart_send,21);


         //      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. */