XRange_Tag.git - Gitblit

			@@ -30,6 +30,7 @@
			#include "beep.h"
			#include "modbus.h"

			#define USART_INTEGRATE_OUTPUT
			/------------------------------------ Marcos ------------------------------------------/
			/* Inter-ranging delay period, in milliseconds. */
			#define RNG_DELAY_MS 100
			@@ -75,7 +76,7 @@
			DISCPOLL,
			GETNEARMSG,
			NEARPOLL,
			}tag_state=GETNEARMSG;
			}tag_state=NEARPOLL;
			static dwt_config_t config = {
			2, /* Channel number. */
			DWT_PRF_64M, /* Pulse repetition frequency. */
			@@ -83,7 +84,7 @@
			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) */
			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. */
			@@ -295,6 +296,7 @@
			u32 rec_tagpos_binary;
			int16_t offset=2700;
			u8 motor_state,rec_remotepara_state,rec_remotepara[80];
			extern u16 last_lpcount;
			void NearPoll(void)
			{

			@@ -304,7 +306,7 @@
			u32 start_poll;
			u8 i,j,getsync_flag=0,timeout;
			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_setrxtimeout(10000);
			tag_succ_times = 0;
			//GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
			if(next_nearbase_num>=MAX_NEARBASE_NUM)
			@@ -316,7 +318,7 @@
			nearbase_num=next_nearbase_num;
			recbase_num=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++;
			@@ -376,7 +378,7 @@
			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
			@@ -429,7 +431,7 @@
			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
			@@ -445,37 +447,18 @@
			{flag_getresponse=1;}
			lastsync_timer=sync_timer;
			offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
			SetNextPollTime(tyncpoll_time);
			if(rec_remotepara_state&&rec_remotepara_state!=g_com_map[REMOTEPARA_STATE])
			{
			g_com_map[REMOTEPARA_STATE]=rec_remotepara_state;
			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);
			save_com_map_to_flash();
			delay_ms(100);
			NVIC_SystemReset();

			}

			// count_offset=sync_count-current_count-143;
			// current_slottimes=(ancsync_time-10000)/(g_com_map[COM_INTERVAL]*1000);
			// nextpoll_delaytime=tyncpoll_time1000+g_com_map[COM_INTERVAL]1000-((ancsync_time)%(g_com_map[COM_INTERVAL]*1000))-4300;
			// if(abs(ancsync_time-910000)<1000)
			// SetNextPollTime(tyncpoll_time);
			// if(rec_remotepara_state==1)
			// {
			// nextpoll_delaytime+=10000;
			// }
			// if(nextpoll_delaytime<2000)
			// {
			// nextpoll_delaytime+=g_com_map[COM_INTERVAL]*1000;
			// }
			// lastpoll_count= current_count+(nextpoll_delaytime)/LPTIMER_LSB;
			// if(lastpoll_count>LPTIMER_1S_COUNT)
			// lastpoll_count-=LPTIMER_1S_COUNT;
			// __HAL_LPTIM_COMPARE_SET(&hlptim1, lastpoll_count);
			/////////////////////////////////////////
			// dwt_setdelayedtrxtime(final_tx_time);
			// result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
			// 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);

			@@ -494,13 +477,6 @@
			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
			@@ -522,21 +498,12 @@
			}
			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);
			dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG\| SYS_STATUS_ALL_RX_ERR);
			nearbase_num=recbase_num;
			j=0;
			if(exsistbase_list[0]==0)
			j=0;
			if(mainbase_lost_count>1)
			{
			// u8 temp_adc,random_value;
			// random_value=0;
			// for(i=0;i<8;i++)
			// {
			// temp_adc=Get_ADC_Value();
			// random_value=random_value\|((temp_adc&0x01)<<i);
			// }
			tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
			tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
			SetNextPollTime(tyncpoll_time);
			last_lpcount+= HAL_LPTIM_ReadCounter(&hlptim1)%(g_com_map[COM_INTERVAL]*16);
			}
			// tyncpoll_time=0;
			next_nearbase_num=0;
			@@ -581,32 +548,26 @@
			{
			nearbaseid_list[i]=true_nearbase_idlist[i];
			nearbase_distlist[i]=true_nearbase_distlist[i];
			if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==0xa)
			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

			for(i=0;i<MAX_NEARBASE_NUM;i++)
			{
			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);
			@@ -623,6 +584,7 @@
			}
			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
			@@ -688,5 +650,6 @@
			//GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_RESET);
			break;
			}
			bat_percent=Get_Battary_UWB();
			dwt_entersleep();
			}