电池标签L051工程
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yincheng.zhong
2023-08-14 45da36f7caa39b25567ca51e56b4d547b1e9109c 
 Src/application/dw_app.c


@@ -29,7 +29,7 @@


#include <stdio.h>


#include "beep.h"


#include "modbus.h"




#include "BMP390.h"


/*------------------------------------ Marcos ------------------------------------------*/


/* Inter-ranging delay period, in milliseconds. */


#define RNG_DELAY_MS 100


@@ -69,7 +69,7 @@


#define FINAL_MSG_FINAL_TX_TS_IDX 18


#define FINAL_MSG_TS_LEN 4




#define STARTPOLL  REGPOLL//#define SWITCHBASE_DIST


#define STARTPOLL  DISCPOLL//#define SWITCHBASE_DIST


#define SWITCHBASE_ZHUANDIAN


#define SWITCHBASE_DIST


enum enumtagstate


@@ -80,8 +80,8 @@


   NEARPOLL,


    SINGLEPOLL,


}tag_state=STARTPOLL;


static dwt_config_t config = {


   2,               /* Channel number. */


 dwt_config_t config = {


   5,               /* Channel number. */


   DWT_PRF_64M,     /* Pulse repetition frequency. */


   DWT_PLEN_128,    /* Preamble length. */


   DWT_PAC8,        /* Preamble acquisition chunk size. Used in RX only. */


@@ -117,8 +117,9 @@


float dis_after_filter;            //当前距离值


LPFilter_Frac* p_Dis_Filter;      //测距用的低通滤波器








void NextSlotDelayMs(int16_t delayms);


void GetNearMsg(void);


void Registor_Poll(void);


static uint64_t get_tx_timestamp_u64(void)


{


    uint8_t ts_tab[5];


@@ -221,7 +222,7 @@


}




u16 tag_time_recv[TAG_NUM_IN_SYS];


u8 usart_send[25];


u8 usart_send[40];


u8 battary,button;


extern uint8_t g_pairstart;


void tag_sleep_configuraion(void)


@@ -247,7 +248,7 @@


u8 nearbase_num;


u16 mainbase_id;


int32_t mainbase_dist,base_mindist;


uint8_t trygetnearmsg_times;


uint8_t trygetnearmsg_times,try_reg_times;


u16 mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM],nearbaseid_list0[MAX_NEARBASE_NUM],nearbaseid_list[MAX_NEARBASE_NUM],nearbaseid_list2[MAX_NEARBASE_NUM];


u8 FindNearBasePos(u16 baseid)


{


@@ -491,7 +492,7 @@


   int32_t minddist=0x1ffff,minid=-1,temp_dist;


   u8 i,j,getsync_flag=0;


    u16 mindist_ancid,random_delay_tim,tempval;


    


    NextSlotDelayMs(-2);


    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);      


   frame_seq_nb++;


@@ -609,9 +610,11 @@


}


    if(minddist!=0x1ffff&&minddist!=0)


    {


         trygetnearmsg_times = 0;


            tag_state = GETNEARMSG;


            mainbase_id = mindist_ancid;   


                  try_reg_times = 0;


            tag_state = REGPOLL;            


            mainbase_id = mindist_ancid;  


                  Registor_Poll();			


            //GetNearMsg();


    }


   


   if(getsync_flag==0)


@@ -833,12 +836,12 @@


      {




          exsistbase_list[i]--;


          clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_2 / 1.0e6) ;


          rtd_init = tag_resprx[i] - poll_tx_ts;


          clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_5 / 1.0e6) ;


          rtd_init = tag_resprx[i] - poll_tx_ts&0xffffffff;


          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)


          if(distance>-10&&distance<1000)


            nearbase_distlist[i] = distance*100+anc_distoffset[i];


      }else{


          nearbase_distlist[i] = 0x1ffff;


@@ -1055,18 +1058,18 @@


                                    }


                           nearbase_distlist[rec_nearbasepos+1]=temp_dist;   //   nearbase_distlist[1]对应   rec_nearbaseid[0]的距离               


                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);


                           if(temp_dist<salvebase_mindist&&nearbase_switchdistlist[rec_nearbasepos]==1)


                              if(temp_dist<salvebase_mindist&&nearbase_switchdistlist[rec_nearbasepos]!=0&&(nearbase_switchdistlist[rec_nearbasepos]==1||temp_dist<nearbase_switchdistlist[rec_nearbasepos]))


                           {


                              salvebase_mindist = temp_dist;


                              mindist_slavebaseid = rec_nearbaseid;


                           }


                           #ifdef SWITCHBASE_ZHUANDIAN


                                       if(temp_dist<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]>1&&temp_dist>0)


                             {


                                            mainbase_id = rec_nearbaseid;


                                            tag_state = GETNEARMSG;


                                 trygetnearmsg_times = 0;


                                        }


//                                       if(temp_dist<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]>1&&temp_dist>0)


//                             {


//                                            mainbase_id = rec_nearbaseid;


//                                            tag_state = GETNEARMSG;


//                                 trygetnearmsg_times = 0;


//                                        }


                                    #endif




                  }                        


@@ -1094,23 +1097,27 @@


            if(salvebase_mindist<mainbase_dist- THRESHOLD_CHANGE_MAINBASE_DIST )


            {


               changemainbase_count++;


               if(changemainbase_count>tag_frequency*2)


               if(changemainbase_count>2)


               {


                              mainbase_id = mindist_slavebaseid;


                              tag_state = GETNEARMSG;


                              trygetnearmsg_times = 0;


                        changemainbase_count = 0;


                        mainbase_id = mindist_slavebaseid;


                        tag_state = GETNEARMSG;                    


                        trygetnearmsg_times = 0;


                        GetNearMsg();


               }


            }else{


               changemainbase_count = 0;


            }


         #endif


         }else if(mainbase_lost_count>5*tag_frequency)


         }else if(mainbase_lost_count>10)


         {


                mainbase_lost_count = 0;


            tag_state = DISCPOLL;


                DiscPoll();


         }   


         if(mainbase_lost_count!=0)


         {


            if(mainbase_lost_count<=tag_frequency*1)


            if(mainbase_lost_count<=5)


            {NextSlotDelayMs(0);


            }else{


               NextSlotDelayMs(0);


@@ -1167,6 +1174,7 @@


                if(nearbaseid_list[i]!=nearbaseid_list2[i])


                {


                    tag_state = GETNEARMSG;


                    GetNearMsg();


                           trygetnearmsg_times = 0;


                           nearbaseid_list0[i]=1;


                }


@@ -1196,9 +1204,10 @@


    dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);      




      tx_near_msg[REGP_TAGSTATE_INDEX] = !GET_USERKEY<<2|imu_enable<<1|motor_enable;


      tx_near_msg[MESSAGE_TYPE_IDX] = REG_POLL;	


      tx_near_msg[MESSAGE_TYPE_IDX] = REG_POLL2;	


      tx_near_msg[REGP_FREQUENCY_INDEX] = 1000/g_com_map[COM_INTERVAL];


      tx_near_msg[REGP_POWER_INDEX] = module_power;


      memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);	


      memcpy(&tx_near_msg[REGP_VERSION_INDEX],&g_com_map[VERSION],2);   


      memcpy(&tx_near_msg[REGP_IMUTHRES_INDEX],&g_com_map[IMU_THRES],2);


      memcpy(&tx_near_msg[REGP_NOMOVESLEEPTIME_INDEX],&g_com_map[NOMOVESLEEP_TIME],2);


@@ -1258,39 +1267,85 @@


                           memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);


                           memcpy(nearbaseid_list2,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);


                           if(tagslotpos!=255)


                                        tag_state = DISCPOLL;


                           {


                              trygetnearmsg_times = 0;


                    tag_state = GETNEARMSG;


                              GetNearMsg();


                           }


                        }


                     }


}


u32 id,error_times=0;




extern float Height;


extern float Altitude;


void QiyaJizhan_Send(void)


{


   GetPressAndHeight();


   intheight =Altitude*100;


   nearbase_num = 0;


   mainbase_id = 0x1234;


   usart_send[0] = 0x55;


   usart_send[1] = 0xaa;


   usart_send[2] = 0x0c;//正常模式 


   usart_send[3] = 15+8*(nearbase_num+1);//数据段长度


   memcpy(&usart_send[4],&dev_id,2);


   usart_send[6] = frame_seq_nb;


   usart_send[7] = frame_seq_nb++>>8;


   usart_send[8] = bat_percent;


   usart_send[9] = tx_near_msg[BUTTON_IDX];




   memcpy(&usart_send[10],&intheight,2);


   usart_send[12] = tag_frequency;


   usart_send[13] = tagslotpos;


   usart_send[14] = 0;


   usart_send[15] = 0;


   usart_send[16] = nearbase_num+1;


   memcpy(&usart_send[17],&mainbase_id,2);


   memcpy(&usart_send[19],&nearbaseid_list,2*nearbase_num);


   memcpy(&usart_send[19+nearbase_num*2],&nearbase_distlist,4*nearbase_num+4);


   memcpy(&usart_send[19+nearbase_num*6+4],&rec_anc_signalpower,2*nearbase_num+2);




   checksum = Checksum_u16(&usart_send[2],23+8*nearbase_num);


   memcpy(&usart_send[25+8*nearbase_num],&checksum,2);


   USART_puts(usart_send,27+8*nearbase_num);


   //HexToAsciiSendUDP(usart_send,27+8*nearbase_num);


}


void Tag_App(void)//发送模式(TAG标签)


{


   


   //LED0_ON;


   SPIx_CS_GPIO->BRR = SPIx_CS;


   delay_us(700);


   SPIx_CS_GPIO->BSRR = SPIx_CS;


   id =  dwt_readdevid() ;


       while (DWT_DEVICE_ID != id) 


    {


      //   Dw1000_Init();


         id =  dwt_readdevid() ;


        IdleTask();	


        if(error_times++>20)


        {


            printf("DW ID ERROR.\r\n");


            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   


        }


    }


//   //LED0_ON;


//   SPIx_CS_GPIO->BRR = SPIx_CS;


//   delay_us(700);


//   SPIx_CS_GPIO->BSRR = SPIx_CS;


//   id =  dwt_readdevid() ;


//       while (DWT_DEVICE_ID != id) 


//    {


//      //   Dw1000_Init();


//         id =  dwt_readdevid() ;


//        IdleTask();	


//        if(error_times++>20)


//        {


//            printf("DW ID ERROR.\r\n");


//            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   


//        }


//    }


#ifdef QIYA_JIZHAN


QiyaJizhan_Send();


#else


  // Dw1000_Init();


   dwt_forcetrxoff();


    error_times = 0;


   switch(tag_state)


   {


      case REGPOLL:


         LED_LG_ON;      


         Registor_Poll();			


         Registor_Poll();


         if(try_reg_times++>5)


         {


            tag_state = STARTPOLL;


         }


         LED_LG_OFF;


//        GetPressAndHeight();


         break;


      case DISCPOLL:


         LED_LG_ON;      


@@ -1298,24 +1353,31 @@


         LED_LG_OFF;


         break;


      case GETNEARMSG:


         trygetnearmsg_times++;	


			


         LED_LG_ON;


            GetNearMsg();    


      LED_LG_OFF;


      if(trygetnearmsg_times>5)


      if(trygetnearmsg_times++>5)


      {


         tag_state = STARTPOLL;


      }


         break;


      case NEARPOLL:   


         NearPoll();


         //GetPressAndHeight();


         //intheight = Height*100;


      //   GetPressAndHeight();


      //   intheight =Altitude*100;


         break;


        case SINGLEPOLL:


          //  Poll();


            break;


   }


   GetPressAndHeight();


         intheight =Altitude*100;


     userkey_state = !GET_USERKEY;


   dwt_entersleep();


           dwt_forcetrxoff();


       dwt_setinterrupt(  DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);


      dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间


        dwt_rxenable(0);


#endif


   //dwt_entersleep();


}