电池标签L051工程
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yincheng.zhong
2023-04-20 4109f0604cd4d1221929497df94b69ec2c54a4ed 
 Src/application/dw_app.c


@@ -71,16 +71,16 @@


#define FINAL_MSG_FINAL_TX_TS_IDX 18


#define FINAL_MSG_TS_LEN 4


static dwt_config_t config = {


   2,               /* Channel number. */


   5,               /* Channel number. */


   DWT_PRF_64M,     /* Pulse repetition frequency. */


   DWT_PLEN_128,    /* Preamble length. */


   DWT_PLEN_64,    /* 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. */


   (65 + 8 - 8)    /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */


};


static uint8_t tx_poll_msg[20] = {0};


static uint8_t tx_sync_msg[14] = {0};


@@ -97,7 +97,6 @@


static uint64_t poll_rx_ts;


static uint64_t resp_tx_ts;


static uint64_t final_rx_ts;


static double tof;


int32_t anchor_dist_last_frm[TAG_NUM_IN_SYS],his_dist[TAG_NUM_IN_SYS];   ;   


uint32_t tag_id = 0;


uint32_t tag_id_recv = 0;


@@ -304,7 +303,55 @@


        freqlost_count = 0;


    }


}


#define FREQ_OFFSET_MULTIPLIER          (998.4e6/2.0/1024.0/131072.0)


#define FREQ_OFFSET_MULTIPLIER_110KB    (998.4e6/2.0/8192.0/131072.0)




#define HERTZ_TO_PPM_MULTIPLIER_CHAN_1     (-1.0e6/3494.4e6)


#define HERTZ_TO_PPM_MULTIPLIER_CHAN_2     (-1.0e6/3993.6e6)


#define HERTZ_TO_PPM_MULTIPLIER_CHAN_3     (-1.0e6/4492.8e6)


#define HERTZ_TO_PPM_MULTIPLIER_CHAN_5     (-1.0e6/6489.6e6)


u16 rec_maxrangelen;//rec_anc_signalpower[MAX_NEARBASE_ANCNUM];


float clockOffsetRatio;


double rtd_init, rtd_resp;


double tof,distance;


extern int32_t dwt_readcarrierintegrator(void) ;


uint32_t testtimer[10],testtimer2,anc_pollrx[11],anc_resptx[11],tag_resprx[11];


int32_t anc_clockoffset[11];


int16_t anc_distoffset[11];


int32_t test2;


uint8_t get_newdist,notenoughdist_count;


void SetANCTimestap(uint8_t i,uint8_t* pollrx,uint8_t* resptx,uint32_t resprx,uint8_t* distoffset)


{


    memcpy(&anc_pollrx[i],pollrx,4);


    memcpy(&anc_resptx[i],resptx,4);


    memcpy(&tag_resprx[i],&resprx,4);


    memcpy(&anc_distoffset[i],distoffset,2);


    anc_clockoffset[i] = test2;


}


void CalculateDists(void)


{


    for(int i=0;i<11;i++)


    {


        //rec_anc_signalpower[i] = exsistbase_list[i];


      if(exsistbase_list[i]>0)


      {




          exsistbase_list[i]--;


          clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_5 / 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;


      }


    


    }


}


float range_lost_time = 0;


u16 rec_nearbaseid,rec_nearbasepos;


void NearPoll(void)


{


   


@@ -332,14 +379,16 @@


   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);


    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&nearbase_distlist,nearbase_num*2);


   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_writetxdata(13+4*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+4*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;


    get_newbase = 0;


   flag_finalsend=0;


   flag_rxon=1;


   flag_getresponse=0;


@@ -375,8 +424,8 @@


                                  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	


//                        dwt_setdelayedtrxtime(final_tx_time);


//                        result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送	


                        flag_finalsend=0;


                        break;


                     }


@@ -394,10 +443,11 @@


                     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


                            test2 = dwt_readcarrierintegrator();


                     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] == 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++;


@@ -422,6 +472,9 @@


                        }


                        if(rec_nearbaseid==nearbaseid_list[0])


                        {


                                     exsistbase_list[0]=KEEP_TIMES;


                                   SetANCTimestap(0,&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]);




                           //////////////////////////////////时间同步


                           memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);


                           memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);


@@ -490,7 +543,8 @@


//                           } 


                        }else{


                           rec_nearbasepos=FindNearBasePos(rec_nearbaseid);


									


                           SetANCTimestap(rec_nearbasepos+1,&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]);




                              if(rec_nearbasepos>=last_nearbase_num)          //发现新的基站


                           {


                              get_newbase=1;


@@ -548,6 +602,8 @@


         {


                last_lpcount+= HAL_LPTIM_ReadCounter(&hlptim1)%(g_com_map[COM_INTERVAL]*16);


         }


            if(nearbase_num==4)


            {nearbase_num=4;}


            last_nearbase_num = next_nearbase_num;


         for(i=0;i<last_nearbase_num-1;i++)


         {


@@ -571,26 +627,24 @@


         }


         


         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];


            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


//            #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++)


         {


@@ -598,6 +652,7 @@


         }


   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);


            CalculateDists();


if(para_update==1)


    {   


        uint16_t calCRC;


@@ -605,7 +660,7 @@


        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_index = rec_remotepara[1];


            pack_length = rec_remotepara[2];


            if(pack_msgtype==2)


            {


@@ -613,7 +668,14 @@


                {


               


               //     motor_keeptime = rec_remotepara[3];


                }else{


                }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);


@@ -645,6 +707,7 @@


            break;


        }


    }


    delay_us(100);


   g_Resttimer=0;


   NearPoll();


   dwt_entersleep();