Merge branch '基站测距' into ALPHAV1

zhyinch

2019-11-04 aaf7e4ef5c1aa0535940531f20e4846cbcd39b69

Merge branch '基站测距' into ALPHAV1

 Ô´Âë/ºËÐÄ°å/MDK-ARM/EventRecorderStub.scvd

¶Ô±ÈÐÂÎļþ
@@ -0,0 +1,9 @@
<?xml version="1.0" encoding="utf-8"?>

<component_viewer schemaVersion="0.1" xmlns:xs="http://www.w3.org/2001/XMLSchema-instance" xs:noNamespaceSchemaLocation="Component_Viewer.xsd">

<component name="EventRecorderStub" version="1.0.0"/>       <!--name and version of the component-->
  <events>
  </events>

</component_viewer>

 Ô´Âë/ºËÐÄ°å/Src/OnChipDevices/Rcc_Nvic_Systick.c

@@ -145,7 +145,38 @@
    
    NVIC_Init(&NVIC_InitStructure);
}
//?????3?????
//???????APB1?2?,?APB1?36M
//arr:??????
//psc:??????
//?????????3!
void TIM3_Int_Init(void)
{
    TIM_TimeBaseInitTypeDef  TIM_TimeBaseStructure;
    NVIC_InitTypeDef NVIC_InitStructure;

    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE); //????
	
    //???TIM3???
    TIM_TimeBaseStructure.TIM_Period = 1000-1; //???????????????????????????	
    TIM_TimeBaseStructure.TIM_Prescaler =72-1; //??????TIMx???????????
    TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1; //??????:TDTS = Tck_tim
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;  //TIM??????
    TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure); //??????????TIMx???????
 
    TIM_ITConfig(TIM3,TIM_IT_Update,ENABLE ); //?????TIM3??,??????
 
    //?????NVIC??
    NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;  //TIM3??
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;  //?????0?
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;  //????3?
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQ?????
    NVIC_Init(&NVIC_InitStructure);  //???NVIC???
 
 
    TIM_Cmd(TIM3, ENABLE);  //??TIMx					 
}
//???3??????
int Systick_Init(void)
{
    int time_retry = 500;

 Ô´Âë/ºËÐÄ°å/Src/OnChipDevices/Rcc_Nvic_Systick.h

@@ -12,4 +12,6 @@
void delay_us(uint32_t nTimer);
void delay_ms(uint32_t nTimer);
void RTC_Configuration(uint16_t interval);
void TIM3_Int_Init(void);
int RCC_Configuration(void);
#endif

 Ô´Âë/ºËÐÄ°å/Src/OnChipDevices/Usart.c

@@ -17,7 +17,6 @@
volatile uint8_t m_bEUARTTxEn = 0;                        //使能发送

void (*Usart1ParseDataCallback)(uint8_t);

void Usart1InitVariables(void)
{    
    m_EUART_TxFrm_FreeFrmLen = EUART_TX_FRM_SIZE-1;
@@ -88,9 +87,13 @@
    GPIO_Init(EU_RX_GPIO, &GPIO_InitStructure);
    
    GPIO_InitStructure.GPIO_Pin = EU_TX_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;                            //Tx推挽复用输出
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;                            //Tx推挽复用输出 GPIO_Mode_AF_PP
    GPIO_Init(EU_TX_GPIO, &GPIO_InitStructure);
    
    GPIO_InitStructure.GPIO_Pin = EU_485_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;                            //Tx推挽复用输出 GPIO_Mode_AF_PP
    GPIO_Init(EU_485_GPIO, &GPIO_InitStructure);
    OUT485_DISABLE;
#ifdef UART_GPIO_REMAP_ENABLE
    GPIO_PinRemapConfig(UART_GPIO_REMAP, ENABLE);
#endif
@@ -139,6 +142,7 @@
    while( m_EUART_DMA_RXPtr != DMACnt && MaxDataLen > 0)
    {
        Usart1ParseDataCallback(m_EUART_DMA_RXBuf[m_EUART_DMA_RXPtr]);
        delay_us(10);
        m_EUART_DMA_RXPtr++;
        if( m_EUART_DMA_RXPtr >= EUART_RX_BUF_SIZE )
        {
@@ -175,6 +179,7 @@
        {
            if(m_bEUARTTxEn)
            {
                OUT485_DISABLE;
                m_bEUARTTxEn = 0;
//                temp32 = GPIOC->CRH;            //C10悬空输入
//                temp32 &= ~(0x00000000F<<8);        
@@ -185,6 +190,7 @@
        m_bEUARTCheckingSend = 0;
        return;
    }
     OUT485_ENABLE;
    if(!m_bEUARTTxEn)
    {
        m_bEUARTTxEn = 1;
@@ -193,6 +199,7 @@
//        temp32 |= (0x000000009<<8);
//        GPIOC->CRH = temp32;// */
    }
	
    //发送一个字节数据
    EXT_UART->DR = m_EUART_TxFrames[m_EUART_TxFrm_Tail].buf[s_count];        
    s_count++;

 Ô´Âë/ºËÐÄ°å/Src/OnChipDevices/Usart.h

@@ -4,6 +4,11 @@

#include "stm32f10x.h"

#define EU_485_PIN                GPIO_Pin_7
#define EU_485_GPIO                GPIOB
#define OUT485_ENABLE         GPIO_WriteBit(EU_485_GPIO, EU_485_PIN, Bit_SET);
#define OUT485_DISABLE         GPIO_WriteBit(EU_485_GPIO, EU_485_PIN, Bit_RESET);

//#define UART_GPIO_REMAP_ENABLE
#ifdef UART_GPIO_REMAP_ENABLE
    #define UART_GPIO_REMAP            GPIO_Remap_USART1

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -64,6 +64,8 @@
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4

#define SYNC_SEQ_IDX                5

#define GROUP_ID_IDX                   0
#define ANCHOR_ID_IDX                1
#define TAG_ID_IDX                    5
@@ -75,11 +77,13 @@
#define BUTTON_IDX                        16
#define SEQUENCE_IDX                    17
//respose
#define TIMECORRE             14
#define ANCTIMEMS             14
#define ANCTIMEUS             16

#define POLL                         0x01
#define RESPONSE                     0x02
#define FINAL                       0x03
#define SYNC                           0x04

/*------------------------------------ Variables ------------------------------------------*/
/* Default communication configuration. We use here EVK1000's default mode (mode 3). */
@@ -98,11 +102,12 @@

/* Frames used in the ranging process. See NOTE 2 below. */
static uint8_t tx_poll_msg[20] = {0};
static uint8_t tx_sync_msg[14] = {0};
//static uint8_t rx_resp_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'V', 'E', 'W', 'A', 0x10, 0x02, 0, 0, 0, 0};
static uint8_t tx_final_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x23, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
    
//static uint8_t rx_poll_msg[] = {0x00, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x21, 0, 0};
static uint8_t tx_resp_msg[18] = {0};
static uint8_t tx_resp_msg[20] = {0};
//static uint8_t rx_final_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x23, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
    
/* Frame sequence number, incremented after each transmission. */
@@ -269,10 +274,12 @@
    tx_poll_msg[MESSAGE_TYPE_IDX]=POLL;
    tx_resp_msg[MESSAGE_TYPE_IDX]=RESPONSE;
    tx_final_msg[MESSAGE_TYPE_IDX]=FINAL;
    tx_sync_msg[MESSAGE_TYPE_IDX]=SYNC;
	
    memcpy(&tx_poll_msg[TAG_ID_IDX], &dev_id, 4);
    memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 4);
    memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 4);
	
    memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &dev_id, 4);
}    
uint16_t Checksum_u16(uint8_t* pdata, uint32_t len) 
{
@@ -293,18 +300,31 @@
    dwt_configuresleep(0x940, 0x7);
    dwt_entersleep();
}
extern uint8_t g_start_send_flag;
u8 g_start_sync_flag;
void SyncPoll(u8 sync_seq)
{
    g_start_sync_flag=1;
    dwt_forcetrxoff();
    tx_sync_msg[SYNC_SEQ_IDX]=sync_seq;
    dwt_writetxdata(sizeof(tx_sync_msg), tx_sync_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
    dwt_writetxfctrl(sizeof(tx_sync_msg), 0);//设置超宽带发送数据长度
    dwt_starttx(DWT_START_TX_IMMEDIATE);
}
uint16_t g_Resttimer;
uint8_t result;
u8 tag_succ_times=0;
int32_t hex_dist;
u16 checksum;
int8_t tag_delaytime;
extern uint16_t sync_timer;
u16 tmp_time;
void Tag_App(void)//发送模式(TAG标签)
{
    uint32_t frame_len;
    uint32_t final_tx_time;
    u32 start_poll;
    u8 i;
    u8 i,getsync_flag=0;
    //LED0_ON;
    dwt_forcetrxoff();
    g_Resttimer=0;
@@ -314,7 +334,7 @@
    tx_poll_msg[BATTARY_IDX] = Get_Battary();
    tx_poll_msg[BUTTON_IDX] = !READ_KEY0;
    tx_poll_msg[SEQUENCE_IDX] = frame_seq_nb++;

    GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_RESET);
    for(i=0;i<g_com_map[MAX_REPORT_ANC_NUM];i++)
    {
    /* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
@@ -361,15 +381,21 @@
            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
            
                            if(i==0)
            if(getsync_flag==0)
                                {
                                tag_delaytime=rx_buffer[TIMECORRE];
                            if(tag_delaytime>g_com_map[COM_INTERVAL]/2)
                getsync_flag=1;
            memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
            memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
            tmp_time=tmp_time+450;
            if(tmp_time>999)
                            {
                            tag_delaytime=tag_delaytime-g_com_map[COM_INTERVAL];
                tmp_time-=999;
                sync_timer++;
                if(sync_timer>=1010)
                    {sync_timer=0;}
                            }
            TIM3->CNT=tmp_time;
                                }
								
            memcpy(&anchor_dist_last_frm[0], &rx_buffer[DIST_IDX], 4);
            memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
            /* Compute final message transmission time. See NOTE 9 below. */
@@ -400,7 +426,7 @@
                    usart_send[4] = frame_seq_nb;//数据段长度
                    memcpy(&usart_send[5],&dev_id,2);
                    memcpy(&usart_send[7],&rx_buffer[ANCHOR_ID_IDX],2);
                    hex_dist = anchor_dist_last_frm[0];;
                    hex_dist = anchor_dist_last_frm[0]+(int16_t)g_com_map[DIST_OFFSET];
                    memcpy(&usart_send[9],&hex_dist,4);
                    usart_send[13] = battary;
                    usart_send[14] = button;
@@ -443,7 +469,8 @@
    
}
int8_t correction_time;
extern uint8_t g_start_send_flag;
extern uint8_t sync_seq;

void Anchor_App(void)
{
    uint32_t frame_len;
@@ -456,7 +483,7 @@
    dwt_rxenable(0);//打开接收

    /* Poll for reception of a frame or error/timeout. See NOTE 7 below. */
    while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag)//不断查询芯片状态直到接收成功或者出现错误
    while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag&&!g_start_sync_flag)//不断查询芯片状态直到接收成功或者出现错误
    { 
        IdleTask();
        g_Resttimer=0;
@@ -490,10 +517,10 @@
        
        if (rx_buffer[MESSAGE_TYPE_IDX] == POLL&&(anchor_type == rx_buffer[ANC_TYPE_IDX])) //判断是否是poll包数据
        {
            correction_time=tag_timer-tag_id_recv*3;
                            if(correction_time == g_com_map[COM_INTERVAL])
                                correction_time = 0;
                                tx_resp_msg[TIMECORRE] = correction_time;
            tmp_time=TIM3->CNT;
            memcpy(&tx_resp_msg[ANCTIMEMS],&sync_timer,2);
            memcpy(&tx_resp_msg[ANCTIMEUS],&tmp_time,2);

//                            if(correction_time>10)
//                            {correction_time++;}
                            
@@ -609,6 +636,16 @@
                /* Clear RX error events in the DW1000 status register. */
                dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
            }
        }else if(rx_buffer[MESSAGE_TYPE_IDX] == SYNC)
        {
            if(rx_buffer[SYNC_SEQ_IDX]<sync_seq)
        //    if(rx_buffer[SYNC_SEQ_IDX]==2)
            {
                sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
                TIM3->CNT = sync_seq*325%1000+15;
                sync_timer = sync_seq*325/1000;
                SyncPoll(sync_seq);
            }
        }
    }
    else

 Ô´Âë/ºËÐÄ°å/Src/application/global_param.c

@@ -25,17 +25,16 @@
    if(g_com_map[0] != 0x55AA)
    {
        g_com_map[0] = 0x55AA;
        g_com_map[VERSION] = 0x0101;		
        g_com_map[DEV_ID] =0x04;//DEFAULT_DEV_ID;    //默认设备ID

        g_com_map[COM_INTERVAL]=50;
        g_com_map[MAX_REPORT_ANC_NUM]=2;
        g_com_map[MIN_REPORT_ANC_NUM]=2;
        g_com_map[DIST_OFFSET]=-26;
        g_com_map[DIST_OFFSET]=-40;
        #ifdef WORK_MODE_TAG
            g_com_map[DEV_ROLE] =0x1;
            g_com_map[DEV_ROLE] =0x1;  //标签
        #else
            g_com_map[DEV_ROLE] =0x0;
            g_com_map[DEV_ROLE] =0x0;  //基站
        #endif
        g_com_map[ANC_POLL]=0;
        g_com_map[ALARM_DEV] = 1;

 Ô´Âë/ºËÐÄ°å/Src/main.c

@@ -18,7 +18,8 @@
    //SystemInit();
    NVIC_SetVectorTable(NVIC_VectTab_FLASH, 0x5000);
    Nvic_Init();
    Systick_Init();
//    Systick_Init();
    TIM3_Int_Init();
    Led_Init();
    Beep_Init();
    DW_GPIO_Init();
@@ -42,6 +43,7 @@
    checksum = Checksum_u16(&hbsend[2],12);
    memcpy(&hbsend[14],&checksum,2);
}
u16 tyncpoll_time;
void Program_Init(void)
{uint16_t i;
    Usart1ParseDataCallback = UsartParseDataHandler;
@@ -49,17 +51,25 @@
    //deca_sleep(1000);
    HeartBeatInit();
    dev_id = g_com_map[DEV_ID];
//    g_com_map[DEV_ROLE]=1;
//        g_com_map[DEV_ID]=1;
//    g_com_map[COM_INTERVAL]=10;
    OUT485_ENABLE;
    g_com_map[VERSION] = 0x0104;		
    if(g_com_map[DEV_ROLE])
    {
        tyncpoll_time=g_com_map[DEV_ID]*g_com_map[MAX_REPORT_ANC_NUM]*4/3;
    printf("标签ID: %d .\r\n",dev_id);
    printf("通讯间隔: %d ms.\r\n",g_com_map[COM_INTERVAL]);
    printf("单次通讯基站数量: %d个.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
    }else{
	
    anchor_type = dev_id%g_com_map[MAX_REPORT_ANC_NUM];
    printf("基站ID: %x .\r\n",dev_id);
    printf("基站类型: %c .\r\n",anchor_type+0x41);
    printf("单次通讯基站数量: %d个.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
    }
    OUT485_DISABLE;
//    printf("DEVICE PAIRID: %d .\r\n",g_com_map[PAIR_ID]);
//    printf("DEVICE ALARM DISTANCE: 1.%d 2.%d 3.%d .\r\n",g_com_map[ALARM_DISTANCE1],g_com_map[ALARM_DISTANCE2],g_com_map[ALARM_DISTANCE3]);

@@ -83,9 +93,11 @@
{ 
UART_PushFrame(hbsend,16);
}
u16 heartbeat_timer,poll_timer;
extern u8 g_start_sync_flag;
u16 heartbeat_timer,poll_timer,sync_timer;
void IdleTask(void)
{
    g_start_sync_flag=0;
            UART_CheckReceive();
        UART_CheckSend();
    if(heartbeat_timer>1000)
@@ -94,24 +106,7 @@
        if(g_com_map[HEARTBEAT]&&g_com_map[DEV_ROLE]==0)
        HeatBeat();
    }
    if(poll_timer>=g_com_map[COM_INTERVAL]-tag_delaytime)
    {
        poll_timer=0;
        if(g_com_map[ANC_POLL]||g_com_map[DEV_ROLE])
        {
            if(g_com_map[DEV_ROLE]==0)
            {int8_t correction_time;
                correction_time=tag_timer-g_com_map[DEV_ID]*3;
                tag_delaytime=correction_time;
                            if(tag_delaytime>g_com_map[COM_INTERVAL]/2)
                            {
                            tag_delaytime=tag_delaytime-g_com_map[COM_INTERVAL];
                            }
            }
        g_start_send_flag=1;
        }
        
    }
    if(g_com_map[CNT_UPDATE]==1)
    {
    uint32_t result = 0;
@@ -140,6 +135,7 @@
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE);
    usart_send[0]=0x55;
    usart_send[1]=0xAA;
	
    while(1)
    {
        IdleTask();        

 Ô´Âë/ºËÐÄ°å/Src/stm32f10x_it.c

@@ -28,17 +28,22 @@
#include "beep_logic_app.h"
#include "led.h"
#include "Usart.h"
#include "dw_app.h"
/* Tick timer count. */
volatile uint32_t time32_incr;
uint8_t tt=0;
uint8_t g_start_send_flag = 0;
uint8_t g_start_send_flag = 0,sync_seq=0;
uint16_t sysscal;
u16 tag_recv_timer, tag_timer;
extern uint16_t g_Resttimer,heartbeat_timer;
extern uint16_t g_Resttimer,heartbeat_timer,sync_timer;
extern uint8_t g_pairstart;

void SysTick_Handler(void)
u16 timer3;
extern u16 tyncpoll_time;
void TIM3_IRQHandler(void)   //TIM3??
{
    if (TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET)  //??TIM3????????
        {
        TIM_ClearITPendingBit(TIM3, TIM_IT_Update  );  //??TIMx?????? 
  time32_incr++;
    g_UWB_com_interval++;
    heartbeat_timer++;
@@ -51,18 +56,51 @@
        NVIC_SystemReset();
    }

//    if(g_UWB_com_interval > 1000)
//    {	
//        dis_after_filter = DEFAULT_DISTANCE;
//    }
//#ifdef WORK_MODE_ANCHOR
    if(!g_com_map[DEV_ROLE])
    {tag_recv_timer++;

    sync_timer++;
	
    if(!g_com_map[DEV_ROLE])  //基站
    {
        tag_recv_timer++;
    TagDistClear();
    //if(g_pairstart!=1)
        main_logic();
        if(sync_timer==10)
        {
            GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_SET);
        }else{
            GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_RESET);
    }
//#endif	
        if(sync_timer>500&&dev_id!=0)
        {
         sync_seq=0xff;
        }
        if(sync_timer>=1010)
    {
        sync_timer=0;	
        if(dev_id==0)
        {
            SyncPoll(0);
        }
    }
    }else{        //标签同步处理
        if(sync_timer>=1010)
        {sync_timer=0;}
                if((sync_timer-10)%g_com_map[COM_INTERVAL]==tyncpoll_time)
        {
            GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_SET);
        }
        if((sync_timer-10)%g_com_map[COM_INTERVAL]==tyncpoll_time)
        {
        g_start_send_flag=1;
        }
		
    }

        }
}

void SysTick_Handler(void)
{
	

}