电池标签L051工程
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zhyinch
2021-04-29 cfa98f1edb2bb2d95b7323f7c5e7637f91aa4d66 
 Src/application/dw_app.c


@@ -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  SINGLEPOLL//#define SWITCHBASE_DIST


#define SWITCHBASE_ZHUANDIAN


enum enumtagstate


{


@@ -77,6 +77,7 @@


   DISCPOLL,


   GETNEARMSG,


   NEARPOLL,


    SINGLEPOLL,


}tag_state=STARTPOLL;


static dwt_config_t config = {


   2,               /* Channel number. */


@@ -469,25 +470,54 @@


u32 rec_tagpos_binary;


int16_t offset=4700,temptimer;


u8 motor_state,rec_remotepara_state,rec_remotepara[80];






#define SINGLEPOLL_BASENUM 10


uint16_t singlepoll_baseid[SINGLEPOLL_BASENUM]={0x9733,0x9788,0x9798,0x8159,0x9797,0x9790,0x9799,0x9785,0x8169,0x8276};


int32_t singlepoll_basedist[SINGLEPOLL_BASENUM];




extern u8 userkey_state;


extern float motor_keeptime;


uint8_t changemainbase_count=0,gotosleep_flag,singlepoll_i;


uint32_t frame_len;


int32_t salvebase_mindist;


int16_t intheight;


void Poll(void)


{


   uint32_t frame_len;


   uint32_t final_tx_time;


   u32 start_poll;


   int32_t mindist=999999,minid=-1,temp_dist;


   u8 i,getsync_flag=0;


   u8 i,j,getsync_flag=0;


    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);      


   tag_succ_times = 0;


	


   for(i=0;i<3;i++)


   frame_seq_nb++;


   for(singlepoll_i=0;singlepoll_i<SINGLEPOLL_BASENUM;singlepoll_i++)


   {


   /* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */


   tx_poll_msg[ANC_TYPE_IDX] = i;	


   dwt_writetxdata(sizeof(tx_poll_msg), tx_poll_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去


   dwt_writetxfctrl(sizeof(tx_poll_msg), 0);//设置超宽带发送数据长度


    nearbase_num = SINGLEPOLL_BASENUM-1;


        


        tx_near_msg[BATTARY_IDX] = bat_percent;


   tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2;


   tx_near_msg[SEQUENCE_IDX] = frame_seq_nb;


    tx_near_msg[SEQUENCEH_IDX] = (frame_seq_nb)>>8;


   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*4+4);


    intheight+=g_com_map[MAX_REPORT_ANC_NUM];


    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6+4],&intheight,2);


   tx_near_msg[MESSAGE_TYPE_IDX] = SPOLL;	


	


   tx_near_msg[NEARP_TAGFREQ_INDEX] = tag_frequency;	


   tx_near_msg[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;	




   memcpy(&tx_near_msg[ANCHOR_ID_IDX],&singlepoll_baseid[singlepoll_i],2);	


   dwt_writetxdata(28+6*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(28+6*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




   


   /* We assume that the transmission is achieved correctly, poll for reception of a frame or error/timeout. See NOTE 8 below. */


   while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//不断查询芯片状态直到成功接收或者发生错误


   { 


@@ -501,7 +531,7 @@


      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


      if (rx_buffer[MESSAGE_TYPE_IDX] == 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] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)&&!memcmp(&rx_buffer[ANCHOR_ID_IDX],&singlepoll_baseid[singlepoll_i],2)) //判断接收到的数据是否是response数据


      {


         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         


@@ -520,10 +550,22 @@


                              if(sync_timer>=1010)


                                 {sync_timer=0;}


                           }


                                    ancsync_time=((sync_timer)*1000+tmp_time);	


                           last_slotnum=current_slotnum;


                           temptimer = sync_timer-10;


                           if(temptimer<0)


                           {temptimer+=1000;}


                           //current_slotnum=((float)temptimer/(SLOTTIME_MS*bigslot_num))+1;


                           if(current_slotnum==last_slotnum-1)


                           {flag_getresponse=1;}


                           lastsync_timer=sync_timer;


                           //offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;


                           SetNextPollTime(tagslotpos);


      }


         


         memcpy(&temp_dist, &rx_buffer[DIST_IDX], 4);


         memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);


            singlepoll_basedist[singlepoll_i] = temp_dist;


         /* Compute final message transmission time. See NOTE 9 below. */


         final_tx_time = (resp_rx_ts + (RESP_RX_TO_FINAL_TX_DLY_UUS * UUS_TO_DWT_TIME)) >> 8;//计算final包发送时间，T5=T4+Treply2


         dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5


@@ -537,25 +579,15 @@


         tag_succ_times++;      


            LED0_BLINK;


         


                           ancsync_time=((sync_timer)*1000+tmp_time);	


                           last_slotnum=current_slotnum;


                           temptimer = sync_timer-10;


                           if(temptimer<0)


                           {temptimer+=1000;}


                           current_slotnum=((float)temptimer/(SLOTTIME_MS*bigslot_num))+1;


                           if(current_slotnum==last_slotnum-1)


                           {flag_getresponse=1;}


                           lastsync_timer=sync_timer;


                           offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;


                           SetNextPollTime(tagslotpos);




      


         if(temp_dist<mindist&&temp_dist!=0)


         {


            memcpy(&minid, &rx_buffer[ANCHOR_ID_IDX], 4);


            tag_state=GETNEARMSG;


            trygetnearmsg_times=10*tag_frequency;


            mindist=temp_dist;


         }


//         if(temp_dist<mindist&&temp_dist!=0)


//         {


//            memcpy(&minid, &rx_buffer[ANCHOR_ID_IDX], 4);


//            tag_state=GETNEARMSG;


//            trygetnearmsg_times=10*tag_frequency;


//            mindist=temp_dist;


//         }


         if(result==0)


         {while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成


         { };


@@ -566,11 +598,13 @@


      }


      else


      {


             singlepoll_basedist[singlepoll_i] = 0x1ffff;


         random_delay_tim = DFT_RAND_DLY_TIM_MS; //如果通讯失败，将间隔时间增加5ms，避开因为多标签同时发送引起的冲突。


      }


   }


   else


   {


        singlepoll_basedist[singlepoll_i] = 0x1ffff;


   dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);


      random_delay_tim = DFT_RAND_DLY_TIM_MS;


   }


@@ -584,7 +618,7 @@


      }


      tyncpoll_time=(tagslotpos-1)*slottime;


   }


   mainbase_id=minid;


//   mainbase_id=minid;


//   mainbase_id = 0x4;


}


u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32],mainbase_type;;


@@ -592,7 +626,7 @@


{


   u32 start_poll,frame_len;






mainbase_id = 0x9724;


   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] = NEAR_MSG;


@@ -633,11 +667,7 @@


//         tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;


   }


}


extern u8 userkey_state;


extern float motor_keeptime;


uint8_t changemainbase_count=0,gotosleep_flag;


uint32_t frame_len;


int32_t salvebase_mindist;




void NearPoll(void)


{


   


@@ -646,7 +676,7 @@


   uint32_t final_tx_time;


   u32 start_poll;


   u8 i,j,getsync_flag=0,timeout;


    USART_putc(current_slotnum);


   // USART_putc(current_slotnum);


    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);      


   tag_succ_times = 0;


@@ -662,19 +692,28 @@


   


   tx_near_msg[BATTARY_IDX] = bat_percent;


   tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2;


   tx_near_msg[SEQUENCE_IDX] = frame_seq_nb++;


   tx_near_msg[SEQUENCE_IDX] = frame_seq_nb;


    tx_near_msg[SEQUENCEH_IDX] = (frame_seq_nb++)>>8;


   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*4+4);


    intheight+=g_com_map[MAX_REPORT_ANC_NUM];


    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6+4],&intheight,2);


   tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;   


   


   tx_near_msg[NEARP_TAGFREQ_INDEX] = tag_frequency;   


   tx_near_msg[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;   




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


   dwt_writetxdata(21+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(21+2*nearbase_num, 0);//设置超宽带发送数据长度


   dwt_writetxdata(28+6*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(28+6*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


   


//    for(i=0;i<nearbase_num+1;i++)


//    {


//        nearbase_distlist[i] = 0x1ffff;


//    }


    


   tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;


   para_update = 0;


   flag_finalsend=0;


@@ -745,6 +784,7 @@




                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);


                           mainbase_dist=temp_dist;


                                    nearbase_distlist[0] = temp_dist;


                           if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)


                              motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;


                           rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;


@@ -782,7 +822,7 @@


                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;


                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);


                           memcpy(&nearbase_switchdistlist[rec_nearbasepos],&rx_buffer[NR_NEARSWITCH_DISTANCE],2);


                           nearbase_distlist[rec_nearbasepos]=temp_dist;								


                           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)


                           {


@@ -952,12 +992,16 @@


                     }


}


u32 id,error_times=0;




extern float Height;


void Tag_App(void)//发送模式(TAG标签)


{


   


   //LED0_ON;


   SPIx_CS_GPIO->BRR = SPIx_CS;


   delay_us(700);


    GetPressAndHeight();


    intheight = Height*100;


   SPIx_CS_GPIO->BSRR = SPIx_CS;


   id =  dwt_readdevid() ;


       while (DWT_DEVICE_ID != id) 


@@ -967,6 +1011,7 @@


        IdleTask();   


        if(error_times++>20)


        {


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


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


        }


    }


@@ -996,6 +1041,9 @@


      case NEARPOLL:   


         NearPoll();


         break;


        case SINGLEPOLL:


            Poll();


            break;


   }


   dwt_entersleep();


}