V1.47 2

yincheng.zhong

2023-02-28 27956a4435c7cc37eee8fb908565b4ca8b1119ae

 Src/application/dw_app.c

@@ -29,7 +29,9 @@
#include <stdio.h>
#include "beep.h"
#include "modbus.h"
#include "CRC.h"

//#define USART_INTEGRATE_OUTPUT
/*------------------------------------ Marcos ------------------------------------------*/
/* Inter-ranging delay period, in milliseconds. */
#define RNG_DELAY_MS 100
@@ -47,14 +49,14 @@
#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. */
@@ -68,22 +70,14 @@
#define FINAL_MSG_RESP_RX_TS_IDX 14
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4


enum enumtagstate
{
   DISCPOLL,
   GETNEARMSG,
   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 +86,7 @@
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 +260,7 @@
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 +285,26 @@
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;
u8 current_freq,rec_freq;
u8 motor_state,rec_remotepara_state,rec_remotepara[80];
extern u16 last_lpcount;
float freqlost_count = 0;
void TagFreqProcess(u8 freq)
{
    if(freq>MAX_ANCFREQ||freq==0)
    {
        return;
    }
    if(freq==tag_frequency||freq>tag_frequency)
    {
        tag_frequency = freq;
        freqlost_count = 0;
    }
}

void NearPoll(void)
{
   
@@ -301,9 +312,9 @@
   uint32_t frame_len;
   uint32_t final_tx_time;
   u32 start_poll;
   u8 i,j,getsync_flag=0,timeout;
   u8 i,j,getsync_flag=0,timeout,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(RESP_RX_TIMEOUT_UUS);		
    dwt_setrxtimeout(10000);		
   tag_succ_times = 0;
      //GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
   if(next_nearbase_num>=MAX_NEARBASE_NUM)
@@ -314,24 +325,27 @@
   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;	
   tx_near_msg[MESSAGE_TYPE_IDX] = MBX_POLL;	
   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_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=nearbase_num*SLOT_SCALE+4;
   end_count=start_count+(timeout<<5);
   if(end_count>=32768)
   {end_count-=32768;}
@@ -351,6 +365,16 @@
                        
                        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
                                }
                        dwt_setdelayedtrxtime(final_tx_time);
                        result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送   
                        flag_finalsend=0;
@@ -372,12 +396,23 @@
                     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] == 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
                     {   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   
                        recbase_num++;
                        memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
                                rec_remotepara_state = rx_buffer[MOTORSTATE_INDEX]>>4;
                                TagFreqProcess(rx_buffer[TAGFREQ_IDX]);
                                if(rec_remotepara_state != 0)
                                {   
                                    para_update = rec_remotepara_state;
                                    memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],7);
                                    if(para_update==2)
                                    {
                                        flag_ancreadpara = 1;                                     
                                    }
                                }
                        if(last_nearbase_num==0)
                        {
                           get_newbase=1;
@@ -409,6 +444,9 @@
                           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;
									
                           
                           mainbase_lost_count=0;
                           flag_finalsend=1;
@@ -421,41 +459,35 @@
                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据
                           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[MESSAGE_TYPE_IDX]=MBX_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_time*1000+g_com_map[COM_INTERVAL]*1000-((ancsync_time)%(g_com_map[COM_INTERVAL]*1000))-4300;
//                           if(abs(ancsync_time-910000)<1000)
//                           SetNextPollTime(tyncpoll_time);
//                           if(rec_remotepara_state==1)
//                           {
//                           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	
//                                      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 +503,15 @@
                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                           nearbase_distlist[rec_nearbasepos]=temp_dist;
                           
                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);								
                           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         
@@ -490,24 +526,13 @@
                  }         
               //   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);
         nearbase_num=recbase_num;
      j=0;
         if(exsistbase_list[0]==0)
         {
//          u8 temp_adc,random_value;
//            random_value=0;
//            for(i=0;i<8;i++)
//            {
//               temp_adc=Get_ADC_Value();
//               random_value=random_value|((temp_adc&0x01)<<i);
//            }
            tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
            tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;	
      //      SetNextPollTime(tyncpoll_time);
         }
         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;
      //   tyncpoll_time=0;
         next_nearbase_num=0;
            j = 0;
         for(i=0;i<last_nearbase_num+get_newbase;i++)
         {
            if(exsistbase_list[i]>0)
@@ -519,10 +544,11 @@
               exsistbase_list[i]--;
            }
         }

         if(recbase_num<3)
         {next_nearbase_num=next_nearbase_num;}
               last_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_nearbase_num = next_nearbase_num;
         for(i=0;i<last_nearbase_num-1;i++)
         {
            for(j=0;j<last_nearbase_num-1;j++)
@@ -549,97 +575,86 @@
         {
            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);

}
u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32];
void GetNearMsg(void)
{
   u32 start_poll,frame_len;
if(nearmsg_mainbase)
   {nearmsg_mainbase=0;
   }else{
   nearmsg_mainbase=1;
   }
   memcpy(&tx_near_msg[ANCHOR_ID_IDX],&nearmsg_mainbase,2);
   memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);
   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
  dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);	
   dwt_writetxdata(12, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
   dwt_writetxfctrl(12, 0);//设置超宽带发送数据长度
   dwt_starttx(DWT_START_TX_IMMEDIATE| DWT_RESPONSE_EXPECTED);

   /* 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)))//不断查询芯片状态直到成功接收或者发生错误
   {
   };
   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
      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
      if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_MSG&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
      {
         nearbase_num=rx_buffer[NEARBASENUM_INDEX];
         memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
         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;
         tyncpoll_time=tagslotpos*slottime;
         tag_state=NEARPOLL;
      }
   }else{
         tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
   }
//HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
if(para_update==1)
    {   
        uint16_t calCRC;
        calCRC = CRC_Compute(rec_remotepara,5);
        if(memcmp(&calCRC,&rec_remotepara[5],2)==0)
        {   uint8_t pack_msgtype,pack_index,pack_length;
            pack_msgtype = rec_remotepara[0];
            pack_index = rec_remotepara[1]*2;
            pack_length = rec_remotepara[2];
            if(pack_msgtype==2)
            {
                if( pack_index == 1)//MOTOR_ONTIME_INDEX)
                {
               
               //     motor_keeptime = rec_remotepara[3];
                }else if(pack_index == CNT_UPDATE)
                        {
                              if(rec_remotepara[3]==2)
                              {
                                     EnterUWBUpdateMode();
                              }
                        }								
                           else{
                    if(pack_index<200)
                    {
                        memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
                        //返回一个error状态
                        //SendComMap(pack_datalen,pack_index);
                        save_com_map_to_flash();
                        delay_ms(100);
                        NVIC_SystemReset();
                    }
                }
            }
        }
    }
}

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) 
   while (DWT_DEVICE_ID != id) 
    {
         id =  dwt_readdevid() ;
        u8 iderror_count = 0;
        id =  dwt_readdevid() ;
        if(iderror_count++>100)
        {
            printf("UWB芯片ID错误");
            break;
        }
    }

    delay_us(100);
   g_Resttimer=0;
//   tag_state=DISCPOLL;
   switch(tag_state)
   {
      case DISCPOLL:
      //   Poll();
         break;
      case GETNEARMSG:

            GetNearMsg();
	 
         break;
      case NEARPOLL:
         //GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_SET);
         NearPoll();
         //GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_RESET);
         break;
   }
   NearPoll();
   dwt_entersleep();
    bat_percent=Get_VDDVlotage();
}