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
			@@ -76,17 +76,32 @@
			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};
			@@ -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;

			@@ -315,19 +332,23 @@
			last_nearbase_num=next_nearbase_num;
			nearbase_num=next_nearbase_num;
			recbase_num=0;
			motor_state=0;

			// 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;
			@@ -376,7 +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
			@@ -429,10 +450,10 @@
			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);

			@@ -504,7 +525,7 @@
			}
			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
			@@ -520,6 +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;
			@@ -621,12 +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. */
			@@ -658,9 +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)
			@@ -686,5 +711,5 @@
			//GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_RESET);
			break;
			}
			dwt_entersleep();
			dwt_entersleep(0);
			}