v2.8

yincheng.zhong

2023-05-19 cf92a2fedf94d889b1a39e8557221149ea554a3c

 Src/application/dw_app.c

@@ -29,7 +29,7 @@
#include <stdio.h>
#include "beep.h"
#include "modbus.h"

#include "CRC.h"
/*------------------------------------ Marcos ------------------------------------------*/
/* Inter-ranging delay period, in milliseconds. */
#define RNG_DELAY_MS 100
@@ -120,7 +120,7 @@
uint16_t current_slotpos = 0;

uint8_t rec_anc_sync_sec,tagpoll_sync_sec,current_sync_sec,flag_tagnewpos;

void GetNearMsg(void);
static uint64_t get_tx_timestamp_u64(void)
{
    uint8_t ts_tab[5];
@@ -471,7 +471,7 @@
u8 nearbase_num=0,last_nearbase_num,next_nearbase_num,last_slotnum, para_update,para_len,stationary_flag=0;
u32 rec_tagpos_binary;
int16_t offset=4700,temptimer;
u8 motor_state,rec_remotepara_state,rec_remotepara[80];
static u8 motor_state,rec_remotepara_state,rec_remotepara[80];


#define SINGLEPOLL_BASENUM 5
@@ -615,6 +615,7 @@
         trygetnearmsg_times = 0;
            tag_state = GETNEARMSG;
            mainbase_id = mindist_ancid;   
            GetNearMsg();
    }
   
   if(getsync_flag==0)
@@ -647,9 +648,9 @@
        temptime = (slotpos_intoatl*SLOTTIME_MS+100)*100;
        if(anchor_time<temptime-5000)
        { 
               current_slotnum = pd_i;
            current_slotnum = pd_i;
            delaytime = temptime-anchor_time+poll_offsettime+clockoffset;  
                  expect_anctime = temptime;
            expect_anctime = temptime;
            return ;
        }
    }
@@ -667,14 +668,14 @@
    NextPollDelay(anchor_time);
    current_count=HAL_LPTIM_ReadCounter(&hlptim1);
    lpcount = current_count+delaytime/LPTIMER_LSB+(10-nearbase_num)*8;
      poll_startcount = lpcount+(waketopolltimeus)/LPTIMER_LSB;
    poll_startcount = lpcount+(waketopolltimeus)/LPTIMER_LSB;
      if(poll_startcount>=32768)
      {
      poll_startcount -=32768;
            poll_startcount -=32768;
      }
      if(lpcount>=32768)
      {
      lpcount -=32768;
            lpcount -=32768;
      }
    __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
      last_lpcount = lpcount;
@@ -690,11 +691,11 @@
   }else{
      lpcount = last_lpcount+31457/tag_frequency+32.767*delayms;//(float)(200/tag_frequency*48+delayms*10)*3.3 ;
   }
            if(lpcount>=32768)
            {
            lpcount -=32768;
            }		
            poll_startcount = lpcount+(waketopolltimeus)/LPTIMER_LSB;
    if(lpcount>=32768)
    {
    lpcount -=32768;
    }		
    poll_startcount = lpcount+(waketopolltimeus)/LPTIMER_LSB;
      if(poll_startcount>=32768)
      {
      poll_startcount -=32768;
@@ -703,7 +704,8 @@
            last_lpcount = lpcount;
}
uint16_t rec_tagperiod;
u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32],mainbase_type;;
u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32],mainbase_type;
int8_t notenoughdist_count=0;
void GetNearMsg(void)
{
   u32 start_poll,frame_len;
@@ -714,6 +716,7 @@
        nearbase_distlist[nearmsg_i] = 0x1ffff;
    }
//mainbase_id = 0x9818;
    notenoughdist_count = -2;
   memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
   memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);
   tx_near_msg[MESSAGE_TYPE_IDX] = POS_MSG;
@@ -760,6 +763,8 @@
            tagpoll_sync_sec = current_slotpos/200;
            tagslotpos = current_slotpos%200;
            max_slotpos = rec_tagperiod*20;
            tag_frequency = 10/rec_tagperiod;
            bigslot_num = TOTAL_SLOTNUM/tag_frequency;
         tag_state=NEARPOLL;
      }
   }else{
@@ -795,11 +800,14 @@
uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
uint8_t motor_flag;
uint16_t rec_ancpos;
uint8_t dist_noutenough_count;
uint8_t ancdist_hist[11];
uint16_t calCRC;
void NearPoll(void)
{
   
   uint32_t temp1,temp2,dw_systime,mindist_slavebaseid;
    static u8 notenoughdist_count=0;
    
   uint32_t final_tx_time;
   u32 start_poll;
   u8 i,j,getsync_flag=0,timeout,get_newdist,pos_nochange=1;
@@ -819,12 +827,7 @@

   recbase_num=0;
//   motor_state=0;
    if(motor_state!=0&&motor_state!=3)
    {
        motor_flag = 1;
    }else{
        motor_flag = 0;
    }

   
   tx_near_msg[BATTARY_IDX] = bat_percent;
   tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2|motor_flag<<5;
@@ -835,7 +838,7 @@
    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&nearbase_distlist,nearbase_num*4+4);
    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6+4],&rec_anc_signalpower,nearbase_num*2+2);
    
    
    userkey_state = 0;
    if(intheight!=0)
    intheight+=g_com_map[HEIGHTOFFEST_INDEX];
    
@@ -952,7 +955,7 @@
                           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   
                           userkey_state = !GET_USERKEY;
                        //   userkey_state = !GET_USERKEY;

                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                                    if(temp_dist!=nearbase_distlist[0])
@@ -962,8 +965,7 @@
                           mainbase_dist=temp_dist;
                                    nearbase_distlist[0] = temp_dist;
                                    base_mindist = temp_dist;
                           if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
                              motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;

                                    if(frame_len==28)
                                     {
                                         memcpy(&rec_maxrangelen,&rx_buffer[MAXRANGE_DISTANCE],2);
@@ -979,9 +981,7 @@
                                             outrange_times = 0;
                                         }
                                     }
                                 
									
									
                                 									
                           mainbase_lost_count=0;
                           flag_finalsend=1;
                           memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);
@@ -989,7 +989,7 @@

                           flag_getresponse=1;                        
                           //时间同步
                        tmp_time=tmp_time+450;
                                    tmp_time=tmp_time+450;
                           if(tmp_time>999)
                           {
                              tmp_time-=999;
@@ -1036,6 +1036,7 @@
                                            mainbase_id = rec_nearbaseid;
                                            tag_state = GETNEARMSG;
                                 trygetnearmsg_times = 0;
                                            GetNearMsg();
                                        }
                                    #endif

@@ -1066,9 +1067,10 @@
               changemainbase_count++;
               if(changemainbase_count>tag_frequency*2)
               {
                              mainbase_id = mindist_slavebaseid;
                              tag_state = GETNEARMSG;
                              trygetnearmsg_times = 0;
                        mainbase_id = mindist_slavebaseid;
                        tag_state = GETNEARMSG;
                        trygetnearmsg_times = 0;
                        GetNearMsg();
               }
            }else{
               changemainbase_count = 0;
@@ -1084,45 +1086,53 @@
         }   
         if(mainbase_lost_count!=0)
         {
//            if(mainbase_lost_count<=tag_frequency*1)
//            {NextSlotDelayMs(0);
//            }else{
//               NextSlotDelayMs(0);
//            }
            if(mainbase_lost_count<=tag_frequency*1)
            {NextSlotDelayMs(0);
            }else{
               NextSlotDelayMs(0);
            }
         }   

         if(para_update)
         {
			
            pack_msgtype = rec_remotepara[0];
            pack_index = rec_remotepara[1];
            pack_length = rec_remotepara[2];
            if(pack_msgtype==2)
            {
               if( pack_index == MOTOR_ONTIME_INDEX)
               {
                       // if(motor_keeptime==0)
                            motor_keeptime = rec_remotepara[3];
               }else{
                        if(pack_index<200)
         {   
               
                calCRC = CRC_Compute(rec_remotepara,5);
                if(memcmp(&calCRC,&rec_remotepara[5],2)==0)
                {
                    pack_msgtype = rec_remotepara[0];
                    pack_index = rec_remotepara[1];
                    pack_length = rec_remotepara[2];
                    if(pack_msgtype==2)
                    {
                        if( pack_index == MOTOR_ONTIME_INDEX)
                        {
                            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();
                           // if(motor_keeptime==0)
                                motor_keeptime = rec_remotepara[3];
                        }else{
                            if(pack_index<200)
                            {
                                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();
                            }
                        }
               }
            }
                    }
                }
         }
            if(get_newdist>2)
            if(get_newdist>=2)
            {
                notenoughdist_count = 0;
            }else{
                if(notenoughdist_count++>3)
                {
                    notenoughdist_count = 0;
                    current_slotpos = start_count%max_slotpos;  //如果丢失连接超过5次就随机换个时间片
                    tagpoll_sync_sec = current_slotpos/200;
                    tagslotpos = current_slotpos%200;
                    flag_tagnewpos = 0;
             //       tag_state = DISCPOLL;
                }
            }
@@ -1131,8 +1141,9 @@
                if(nearbaseid_list[i]!=nearbaseid_list2[i])
                {
                    tag_state = GETNEARMSG;
                           trygetnearmsg_times = 0;
                           nearbaseid_list0[i]=1;
                    trygetnearmsg_times = 0;
                    nearbaseid_list0[i]=1;
                    GetNearMsg();
                }
         }
            if(pos_nochange)
@@ -1144,12 +1155,13 @@
//HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);

}

extern uint8_t module_power,imu_enable,motor_enable;
void Registor_Poll(void)
{
   static u8 regpoll_count=0;
   mainbase_lost_count = 0;
      tag_frequency = REGISTER_FREQUENCY;
      //tag_frequency = REGISTER_FREQUENCY;
      bigslot_num = TOTAL_SLOTNUM/tag_frequency;
      regpoll_count++;
      if(regpoll_count%2)
@@ -1217,17 +1229,17 @@
                        }
                     }
}
extern void FZNearPoll(void);
u32 id,error_times=0;

u8 ttt = 1;
extern float Height;
void Tag_App(void)//发送模式(TAG标签)
void UWBWkWp(void)
{
   static uint8_t diccount = 0;
   //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();
@@ -1240,6 +1252,13 @@
        }
    }
    error_times = 0;
}

void Tag_App(void)//发送模式(TAG标签)
{
   static uint8_t diccount = 0,diccount2;
   //LED0_ON;
    UWBWkWp();
   switch(tag_state)
   {
      case REGPOLL:
@@ -1283,7 +1302,9 @@
        case SINGLEPOLL:
          //  Poll();
            break;
   }
     userkey_state = !GET_USERKEY;
   }       
    FZNearPoll();
    dwt_forcetrxoff();
//    userkey_state = !GET_USERKEY;
   dwt_entersleep();
}