XRange_Tag.git - Gitblit

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

			#include "config_options.h"
			/------------------------------------ Marcos ------------------------------------------/
			/* Inter-ranging delay period, in milliseconds. */
			#define RNG_DELAY_MS 100
			@@ -54,7 +54,7 @@

			#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. */
			@@ -76,23 +76,38 @@
			GETNEARMSG,
			NEARPOLL,
			}tag_state=GETNEARMSG;
			//static dwt_config_t config = {
			// 2, /* 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. */
			// 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. */
			//};
			static dwt_config_t config = {
			2, /* 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) */
			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. */
			5, /* Channel number. */
			DWT_PLEN_128, /* Preamble length. Used in TX only. */
			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. */
			1, /* 0 to use standard 8 symbol SFD, 1 to use non-standard 8 symbol, 2 for non-standard 16 symbol SFD and 3 for 4z 8 symbol SDF type */
			DWT_BR_6M8, /* Data rate. */
			DWT_PHRMODE_STD, /* PHY header mode. */
			DWT_PHRRATE_STD, /* PHY header rate. */
			(129 + 8 - 8), /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
			DWT_STS_MODE_OFF, /* STS disabled */
			DWT_STS_LEN_64,/* STS length see allowed values in Enum dwt_sts_lengths_e */
			DWT_PDOA_M0 /* PDOA mode off */
			};
			static uint8_t tx_poll_msg[20] = {0};
			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;
			@@ -163,7 +178,7 @@
			ts += ts_field[i] << (i 8);
			}
			}

			extern dwt_txconfig_t txconfig_options;
			void Dw1000_Init(void)
			{
			/* Reset and initialise DW1000.
			@@ -171,18 +186,20 @@
			* performance. */
			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
			dwt_initialise(DWT_DW_INIT);//初始化DW1000
			Spi_ChangePrescaler(SPIx_PRESCALER_FAST); //设置为快速模式

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


			dwt_configuretxrf(&txconfig_options);

			/* 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_setlnapamode(DWT_LNA_PA_DISABLE);
			dwt_configuresleep(DWT_PRESRV_SLEEP \| DWT_CONFIG, DWT_WAKE_CS \| DWT_WAKE_WK\| DWT_SLP_EN);
			dwt_entersleep(0);
			/* 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
			@@ -219,8 +236,8 @@
			extern uint8_t g_pairstart;
			void tag_sleep_configuraion(void)
			{
			dwt_configuresleep(0x940, 0x7);
			dwt_entersleep();
			// dwt_configuresleep(0x940, 0x7);
			// dwt_entersleep();
			}
			extern uint8_t g_start_send_flag;

			@@ -266,7 +283,7 @@
			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)
			@@ -291,10 +308,10 @@
			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 motor_state,rec_remotepara_state,rec_remotepara[30];
			u8 motor_state,rec_remotepara_state,rec_remotepara[80];
			void NearPoll(void)
			{

			@@ -315,24 +332,31 @@
			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;
			dwt_configcontinuousframemode(12800,5);
			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

			dwt_writetxfctrl(13+2*nearbase_num, 0,1);//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)
			{
			IdleTask();
			}
			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)+2;
			timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
			end_count=start_count+(timeout<<5);
			if(end_count>=32768)
			{end_count-=32768;}
			@@ -373,7 +397,7 @@
			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
			@@ -410,7 +434,8 @@
			exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
			memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
			nearbase_distlist[rec_nearbasepos]=temp_dist;
			motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
			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;
			@@ -425,16 +450,18 @@
			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
			dwt_writetxfctrl(28+nearbase_num*4, 0,1);//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;
			@@ -485,16 +512,21 @@
			memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
			nearbase_distlist[rec_nearbasepos]=temp_dist;

			if(motor_state<rx_buffer[MOTORSTATE_INDEX]&&rx_buffer[MOTORSTATE_INDEX]!=3)
			if(motor_state<(rx_buffer[MOTORSTATE_INDEX]&0xf)&&(rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
			{
			motor_state=rx_buffer[MOTORSTATE_INDEX];
			}

			if(rec_remotepara_state&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2))
			{
			para_update = 1;
			tx_near_msg[TAGCONFIGSUCCESS_INDEX] = 1;
			para_len = frame_len-22;
			memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],para_len);
			}
			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_writetxfctrl(28+nearbase_num*4, 0,1);//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
			@@ -509,6 +541,8 @@
			}
			// 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;
			@@ -523,7 +557,7 @@
			// }
			tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
			tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
			// SetNextPollTime(tyncpoll_time);
			SetNextPollTime(tyncpoll_time);
			}
			// tyncpoll_time=0;
			next_nearbase_num=0;
			@@ -579,7 +613,22 @@
			{
			nearbase_distlist[i]=0x1ffff;
			}

			if(para_update)
			{
			uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
			pack_msgtype = rec_remotepara[0];
			pack_index = rec_remotepara[1];
			pack_length = rec_remotepara[2];
			if(pack_msgtype==2)
			{
			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();
			}
			}
			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);

			@@ -595,12 +644,13 @@
			}
			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
			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_writetxfctrl(12, 0,1);//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. */
			@@ -623,7 +673,7 @@
			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;
			}
			@@ -632,9 +682,10 @@
			}
			}

			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)
			@@ -660,5 +711,5 @@
			//GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_RESET);
			break;
			}
			dwt_entersleep();
			dwt_entersleep(0);
			}