Merge branch '免布线基站' of http://47.108.70.204:60062/r/XRange_Tag into 免布线基站

yincheng.zhong

2024-05-13 3dc93e0626cf3dcf3c265f902da8a7de5070f083

 Src/application/dw_app.c

@@ -70,8 +70,15 @@
#define FINAL_MSG_RESP_RX_TS_IDX 14
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4

//#define _UWB_4G

static dwt_config_t config = {
   5,               /* Channel number. */
#ifdef _UWB_4G
   2,               /* Channel number. */
#else
    5,
#endif
   DWT_PRF_64M,     /* Pulse repetition frequency. */
   DWT_PLEN_64,    /* Preamble length. */
   DWT_PAC8,        /* Preamble acquisition chunk size. Used in RX only. */
@@ -321,7 +328,7 @@
int32_t test2;
uint16_t u16_nearbase_distlist[MAX_NEARBASE_NUM];
uint8_t get_newdist,notenoughdist_count;
void SetANCTimestap(uint8_t i,uint8_t* pollrx,uint8_t* resptx,uint32_t resprx,uint8_t* distoffset)
void SetANCTimestap(uint8_t i,uint8_t* pollrx,uint8_t* resptx,uint32_t resprx,uint8_t* distoffset)  //写入时间戳信息
{
    memcpy(&anc_pollrx[i],pollrx,4);
    memcpy(&anc_resptx[i],resptx,4);
@@ -329,7 +336,7 @@
    memcpy(&anc_distoffset[i],distoffset,2);
    anc_clockoffset[i] = test2;
}
void CalculateDists(void)
void CalculateDists(void)   //计算距离
{
    for(int i=0;i<MAX_NEARBASE_NUM;i++)
    {
@@ -338,7 +345,11 @@
      {

         // exsistbase_list[i]--;
          clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_5 / 1.0e6) ;
#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;
          rtd_resp = anc_resptx[i] - anc_pollrx[i];
          tof = ((rtd_init - rtd_resp * (1 - clockOffsetRatio)) / 2.0) * DWT_TIME_UNITS;
@@ -346,10 +357,39 @@
          if(distance>-10&&distance<1000)
            nearbase_distlist[i] = distance*100+anc_distoffset[i];
      }else{
         // nearbase_distlist[i] = 0x1ffff;
          nearbase_distlist[i] = 0x1ffff;
      }
    
    }
}
extern uint8_t module_power,imu_enable,motor_enable;
void Registor_Poll(void)
{
   static u8 regpoll_count=0;
    u8 timeout;
		
      tx_near_msg[MESSAGE_TYPE_IDX] = MBX_REG;
        tx_near_msg[REGP_TAGSTATE_INDEX] = !GET_USERKEY<<2|imu_enable<<1|motor_enable;
      tx_near_msg[REGP_FREQUENCY_INDEX] = bat_percent;
      tx_near_msg[REGP_POWER_INDEX] = module_power;
      memcpy(&tx_near_msg[REGP_VERSION_INDEX],&g_com_map[VERSION],2);	
      memcpy(&tx_near_msg[REGP_IMUTHRES_INDEX],&g_com_map[GROUP_ID],2);
      memcpy(&tx_near_msg[REGP_NOMOVESLEEPTIME_INDEX],&g_com_map[DIST_OFFSET],2);
        memcpy(&tx_near_msg[REGP_HEIGHTOFFSET_INDEX],&g_com_map[MAX_REPORT_ANC_NUM],2);
      dwt_writetxdata(23, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
      dwt_writetxfctrl(23, 0);//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
        start_count=HAL_LPTIM_ReadCounter(&hlptim1);
        timeout=50;
        end_count=start_count+(timeout<<2);
        while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_TXFRS)))//不断查询芯片状态直到成功接收或者发生错误
        { 
            current_count=HAL_LPTIM_ReadCounter(&hlptim1);
           if(current_count>=end_count&&current_count<end_count+15000)
                        break;
            
        };	
               
}
float range_lost_time = 0;
u16 rec_nearbaseid,rec_nearbasepos;
@@ -369,12 +409,8 @@
   {
      nearbase_num = MAX_NEARBASE_NUM-1;
   }
//   HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
//   last_nearbase_num=next_nearbase_num;
//   nearbase_num=next_nearbase_num;
   recbase_num=0;
//   motor_state=0;
    for(uint8_t i=0;i<nearbase_num;i++)
    for(uint8_t i=0;i<nearbase_num;i++)   //标签距离32位转成16位
    {
        u16_nearbase_distlist[i] = nearbase_distlist[i];
    }
@@ -419,7 +455,7 @@
                        
                        dwt_forcetrxoff();
                        flag_rxon=0;
                                if(flag_ancreadpara)
                                if(flag_ancreadpara)   //只有在读取参数的时候需要回复
                                {
                                    u16 calCRC;
                                  tx_near_msg[MESSAGE_TYPE_IDX] = MBX_PRAAREPLY;  
@@ -494,11 +530,6 @@
                              if(sync_timer>=1010)
                                 {sync_timer=0;}
                           }
                        //   TIM3->CNT=tmp_time;
//                           if(tagslotpos>max_slotpos)
//                              tagslotpos=tagslotpos%(max_slotpos+1);
//                              tyncpoll_time=(tagslotpos-1)*slottime;
                           ////////////////////////////
                           rec_nearbasepos=0;
                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;

@@ -524,28 +555,6 @@
                           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);
									
								
                           //时间同步
//                           ancsync_time=((sync_timer)*1000+tmp_time);	
//                           last_slotnum=current_slotnum;
//                           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);
//                           if(rec_remotepara_state==1)
//                           {
//                                      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);
                           SetANCTimestap(rec_nearbasepos,&rx_buffer[RESP_MSG_POLL_RX_TS_IDX],&rx_buffer[RESP_MSG_RESP_TX_TS_IDX],resp_rx_ts,&rx_buffer[RESP_MSG_ANC_DISTOFFSET]);
@@ -569,11 +578,6 @@
               
                           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			
                           //dwt_writetxdata(4,&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4], FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4);//将发送数据写入DW1000
                        }                        
                     }
                  }else{
@@ -629,25 +633,12 @@
         }
         
         report_num=0;
//            if(last_nearbase_num>4)
//            {
//                last_nearbase_num = 5;
//            }
   for (i=0;i<last_nearbase_num;i++)
         {
            nearbaseid_list[i]=true_nearbase_idlist[i];
            nearbase_distlist[i]=true_nearbase_distlist[i];
                exsistbase_list[i] = true_exsistbase_list[i];
         }
//            #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
            
   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);
@@ -689,7 +680,7 @@
        }
    }
}

u8 regpoll_count;
u32 id;
void Tag_App(void)//发送模式(TAG标签)
{
@@ -708,6 +699,20 @@
    }
    delay_us(100);
   g_Resttimer=0;
    if(freqlost_count>FREQ_LOST_TIME)
    {
        if(regpoll_count++>11) //待机状态1分钟上传一次基站状态
        {
            regpoll_count = 0;
            Registor_Poll();
        }
    }else{
        if(regpoll_count++>59)//测距状态1分钟上传一次基站状态
        {
            regpoll_count = 0;
            Registor_Poll();
        }
    }
   NearPoll();
   dwt_entersleep();
    bat_percent=Get_VDDVlotage();