1

yincheng.zhong

2025-04-19 266dcffc919008dedf2acc84f7f52a3aff83bf07

 Src/application/dw_app.c

@@ -80,8 +80,8 @@
   NEARPOLL,
    SINGLEPOLL,
}tag_state=STARTPOLL;
static dwt_config_t config = {
   2,               /* Channel number. */
 dwt_config_t config = {
   5,               /* Channel number. */
   DWT_PRF_64M,     /* Pulse repetition frequency. */
   DWT_PLEN_128,    /* Preamble length. */
   DWT_PAC8,        /* Preamble acquisition chunk size. Used in RX only. */
@@ -118,7 +118,7 @@
LPFilter_Frac* p_Dis_Filter;      //测距用的低通滤波器



void GetNearMsg(void);
static uint64_t get_tx_timestamp_u64(void)
{
    uint8_t ts_tab[5];
@@ -166,7 +166,7 @@
        *ts += ts_field[i] << (i * 8);
    }
}

extern u32 id,error_times;
void Dw1000_Init(void)
{
   /* Reset and initialise DW1000.
@@ -175,20 +175,44 @@
    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
    id =  dwt_readdevid() ;
   Spi_ChangePrescaler(SPIx_PRESCALER_FAST);   //设置为快速模式

    id =  dwt_readdevid() ;
    /* Configure DW1000. See NOTE 6 below. */
    dwt_configure(&config);//配置DW1000
   

    id =  dwt_readdevid() ;
   
    /* 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

    id =  dwt_readdevid() ;
    /* 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
}
uint8_t uwb_onflag=1;
void UWB_RXON()
{
    if(!g_com_map[MODBUS_MODE])
    {
    Dw1000_Init();
    uwb_onflag=1;
    g_com_map[UWB_ONFLAG]=uwb_onflag;
    save_com_map_to_flash();    
    }
}
void UWB_RXOFF()
{
    if(!g_com_map[MODBUS_MODE])
    {
    dwt_setinterrupt(  DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 0);
    dwt_forcetrxoff();
    dwt_entersleep();
    uwb_onflag=0;
    g_com_map[UWB_ONFLAG]=uwb_onflag;
    save_com_map_to_flash();    
    }
}
void Dw1000_App_Init(void)
{
@@ -402,7 +426,7 @@
         
         tag_succ_times++;
         
            LED0_BLINK;
//            LED0_BLINK;
            
               memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
//               if(hex_dist2!=0xffff)
@@ -610,8 +634,9 @@
    if(minddist!=0x1ffff&&minddist!=0)
    {
         trygetnearmsg_times = 0;
            tag_state = GETNEARMSG;
            tag_state = GETNEARMSG;            
            mainbase_id = mindist_ancid;   
            GetNearMsg();
    }
   
   if(getsync_flag==0)
@@ -763,6 +788,7 @@
         //tyncpoll_time=tagslotpos*slottime;
         //tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;   
         tag_state=NEARPOLL;
            outrange_times=0;
      }
   }else{
//         tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
@@ -826,24 +852,32 @@
extern int32_t dwt_readcarrierintegrator(void) ;
void CalculateDists(void)
{
    for(int i=0;i<11;i++)
    for(int i=0; i<11; i++)
    {
        rec_anc_signalpower[i] = exsistbase_list[i];
      if(exsistbase_list[i]>0)
      {
       // rec_anc_signalpower[i] = exsistbase_list[i];
        if(exsistbase_list[i]==KEEP_TIMES)
        {

          exsistbase_list[i]--;
          clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_2 / 1.0e6) ;
          rtd_init = tag_resprx[i] - poll_tx_ts;
          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>-1000&&distance<100000)
            nearbase_distlist[i] = distance*100+anc_distoffset[i];
      }else{
          nearbase_distlist[i] = 0x1ffff;
      }
    
            exsistbase_list[i]--;
#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];
            } else {  
                nearbase_distlist[i] = 0x1ffff;
            }
        } else {
            nearbase_distlist[i] = 0x1ffff;
        }

    }
}
void NearPoll(void)
@@ -1055,18 +1089,18 @@
                                    }
                           nearbase_distlist[rec_nearbasepos+1]=temp_dist;   //   nearbase_distlist[1]对应   rec_nearbaseid[0]的距离               
                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
                           if(temp_dist<salvebase_mindist&&nearbase_switchdistlist[rec_nearbasepos]==1)
                              if(temp_dist<salvebase_mindist&&nearbase_switchdistlist[rec_nearbasepos]!=0&&(nearbase_switchdistlist[rec_nearbasepos]==1||temp_dist<nearbase_switchdistlist[rec_nearbasepos]))
                           {
                              salvebase_mindist = temp_dist;
                              mindist_slavebaseid = rec_nearbaseid;
                           }
                           #ifdef SWITCHBASE_ZHUANDIAN
                                       if(temp_dist<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]>1&&temp_dist>0)
                             {
                                            mainbase_id = rec_nearbaseid;
                                            tag_state = GETNEARMSG;
                                 trygetnearmsg_times = 0;
                                        }
//                                       if(temp_dist<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]>1&&temp_dist>0)
//                             {
//                                            mainbase_id = rec_nearbaseid;
//                                            tag_state = GETNEARMSG;
//                                 trygetnearmsg_times = 0;
//                                        }
                                    #endif

                  }                        
@@ -1094,23 +1128,27 @@
            if(salvebase_mindist<mainbase_dist- THRESHOLD_CHANGE_MAINBASE_DIST )
            {
               changemainbase_count++;
               if(changemainbase_count>tag_frequency*2)
               if(changemainbase_count>2)
               {
                              mainbase_id = mindist_slavebaseid;
                              tag_state = GETNEARMSG;
                              trygetnearmsg_times = 0;
                        changemainbase_count = 0;
                        mainbase_id = mindist_slavebaseid;
                        tag_state = GETNEARMSG;                    
                        trygetnearmsg_times = 0;
                        GetNearMsg();
               }
            }else{
               changemainbase_count = 0;
            }
         #endif
         }else if(mainbase_lost_count>5*tag_frequency)
         }else if(mainbase_lost_count>10)
         {
                mainbase_lost_count = 0;
            tag_state = DISCPOLL;
                DiscPoll();
         }   
         if(mainbase_lost_count!=0)
         {
            if(mainbase_lost_count<=tag_frequency*1)
            if(mainbase_lost_count<=5)
            {NextSlotDelayMs(0);
            }else{
               NextSlotDelayMs(0);
@@ -1167,6 +1205,7 @@
                if(nearbaseid_list[i]!=nearbaseid_list2[i])
                {
                    tag_state = GETNEARMSG;
                    GetNearMsg();
                           trygetnearmsg_times = 0;
                           nearbaseid_list0[i]=1;
                }
@@ -1212,10 +1251,10 @@
      IdleTask();
      
   };
      if(status_reg==0xffffffff)
               {
                  NVIC_SystemReset();
               }
//      if(status_reg==0xffffffff)
//               {
//                  NVIC_SystemReset();
//               }
               if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
                  {
                     dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚寄存器标志位            
@@ -1263,45 +1302,49 @@
                     }
}
u32 id,error_times=0;

extern float Height;
extern IWDG_HandleTypeDef hiwdg;
void Tag_App(void)//发送模式(TAG标签)
{
   
   //LED0_ON;
   SPIx_CS_GPIO->BRR = SPIx_CS;
   delay_us(700);
   SPIx_CS_GPIO->BSRR = SPIx_CS;
   id =  dwt_readdevid() ;
       while (DWT_DEVICE_ID != id) 
    {
      //   Dw1000_Init();
         id =  dwt_readdevid() ;
        IdleTask();	
        if(error_times++>20)
        {
            printf("DW ID ERROR.\r\n");
            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
        }
    }
//   //LED0_ON;
//   SPIx_CS_GPIO->BRR = SPIx_CS;
//   delay_us(700);
//   SPIx_CS_GPIO->BSRR = SPIx_CS;
//   id =  dwt_readdevid() ;
//       while (DWT_DEVICE_ID != id) 
//    {
//      //   Dw1000_Init();
//         id =  dwt_readdevid() ;
//        IdleTask();	
//        if(error_times++>20)
//        {
//            printf("DW ID ERROR.\r\n");
//            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
//        }
//    }
//    Dw1000_Init();
    dwt_forcetrxoff();
    dwt_setinterrupt(  DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 0);
    error_times = 0;
    HAL_IWDG_Refresh(&hiwdg);
   switch(tag_state)
   {
      case REGPOLL:
         LED_LG_ON;		
//         LED_LG_ON;		
         Registor_Poll();         
         LED_LG_OFF;
//         LED_LG_OFF;
         break;
      case DISCPOLL:
         LED_LG_ON;		
//         LED_LG_ON;		
         DiscPoll();
         LED_LG_OFF;
//         LED_LG_OFF;
         break;
      case GETNEARMSG:
         trygetnearmsg_times++;   
         LED_LG_ON;
//         LED_LG_ON;
            GetNearMsg();    
      LED_LG_OFF;
//      LED_LG_OFF;
      if(trygetnearmsg_times>5)
      {
         tag_state = STARTPOLL;
@@ -1317,5 +1360,8 @@
            break;
   }
     userkey_state = !GET_USERKEY;
   dwt_entersleep();
           dwt_forcetrxoff();
       dwt_setinterrupt(  DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);
      dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
        dwt_rxenable(0);
}