配临近算法初步完成，未测试

zhyinch

2019-12-04 e129a69147731a8ff302413e009b792afee5fb2c

配临近算法初步完成，未测试

 Ô´Âë/ºËÐÄ°å/MDK-ARM/Project.uvguix.Administrator

@@ -73,27 +73,27 @@
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          <BreakIfRCount>1</BreakIfRCount>
          <Filename>E:\GIT\UWB_SmallModule\婧愮爜\Src\stm32f10x_it.c</Filename>
          <ExecCommand></ExecCommand>
          <Expression></Expression>
        </Bp>
        <Bp>
          <Number>2</Number>
          <Type>0</Type>
          <LineNumber>2747</LineNumber>
          <EnabledFlag>1</EnabledFlag>
          <Address>134257608</Address>
          <Address>134257820</Address>
          <ByteObject>0</ByteObject>
          <HtxType>0</HtxType>
          <ManyObjects>0</ManyObjects>
@@ -225,22 +193,6 @@
          <Filename>E:\GIT\UWB_SmallModule\婧愮爜\Src\decadriver\deca_device.c</Filename>
          <ExecCommand></ExecCommand>
          <Expression></Expression>
        </Bp>
        <Bp>
          <Number>3</Number>
          <Type>0</Type>
          <LineNumber>394</LineNumber>
          <EnabledFlag>1</EnabledFlag>
          <Address>134247924</Address>
          <ByteObject>0</ByteObject>
          <HtxType>0</HtxType>
          <ManyObjects>0</ManyObjects>
          <SizeOfObject>0</SizeOfObject>
          <BreakByAccess>0</BreakByAccess>
          <BreakIfRCount>1</BreakIfRCount>
          <Filename>E:\GIT\UWB_SmallModule\婧愮爜\Src\application\dw_app.c</Filename>
          <ExecCommand></ExecCommand>
          <Expression>\\UWB_Projects\../Src/application/dw_app.c\394</Expression>
        </Bp>
      </Breakpoint>
      <WatchWindow1>

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -310,8 +310,40 @@
            return i;
    }
}
#define CHANGE_BASE_THRESHOLD  5
void NearAncSelect(void)
{static u16 last_mainbase_id,change_base_count;
    int32_t nearbase_mindist=99999, nearbase_minpos;
    u8 i;
    for(i=0;i<nearbase_num;i++)
    {
        if(nearbase_mindist<nearbase_distlist[i])
        {
            nearbase_mindist=nearbase_distlist[i];
            nearbase_minpos=i;
        }
    }
    if(nearbase_mindist<mainbase_dist-THRESHOLD_CHANGE_MAINBASE_DIST)
    {
        if(last_mainbase_id==nearbaseid_list[nearbase_minpos])
        {
            change_base_count++;
            if(change_base_count>CHANGE_BASE_THRESHOLD)
            {
                mainbase_id=last_mainbase_id;
                tag_state=GETNEARMSG;
            }
        }else{
            change_base_count=0;
        }
        last_mainbase_id=nearbaseid_list[nearbase_minpos];		
    }else{
        change_base_count=0;
    }
}
void NearPoll(void)
{
    static u8 mainbase_lost_count=0;
    uint32_t frame_len;
    uint32_t final_tx_time;
    u32 start_poll;
@@ -332,7 +364,9 @@

    neartimout_timer=0;
    recbase_num=0;
    timeout=nearbase_num/4+2;
    timeout=nearbase_num/4+12;
    mainbase_dist=100000;
    mainbase_lost_count++;
            while(neartimout_timer<timeout&&recbase_num<nearbase_num+1)
            {
                    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
@@ -349,7 +383,7 @@
                            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
                            dwt_setrxtimeout(DELAY_BETWEEN_TWO_FRAME_UUS+100);//设定接收超时时间，0位没有超时时间
                            dwt_setrxtimeout(DELAY_BETWEEN_TWO_FRAME_UUS+120);//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
                            {    u16 rec_nearbaseid,rec_nearbasepos;
@@ -359,7 +393,7 @@
                                memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
                                if(rec_nearbaseid==mainbase_id)
                                {
                                    //时间同步
                                    //////////////////////////////////时间同步
                                    memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
                                    memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
                                    memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);        
@@ -376,8 +410,9 @@
                                        tagslotpos=tagslotpos%(max_slotpos+1);
                                        tyncpoll_time=(tagslotpos-1)*slottime;
                                    ////////////////////////////
                                    mainbase_lost_count=0;
                                    memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);
                                    final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS+DELAY_BETWEEN_TWO_FRAME_UUS*nearbase_num) * UUS_TO_DWT_TIME)) >> 8;
                                    final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS+DELAY_BETWEEN_TWO_FRAME_UUS*nearbase_num+130) * UUS_TO_DWT_TIME)) >> 8;
                                    dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
                                    final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final包实际发送时间是计算时间加上发送天线delay
                                    final_msg_set_ts(&tx_near_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据
@@ -393,12 +428,19 @@
                                    memcpy(&nearbase_distlist[rec_nearbasepos],&rx_buffer[DIST_IDX],4);
                                    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
                                    LED0_BLINK;
                                    //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			
                                    //dwt_writetxdata(4,&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4], FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4);//将发送数据写入DW1000
                                }                                
                            }
                        }            
            }
                dwt_forcetrxoff();
            if(mainbase_lost_count>5)
            {
                tag_state=DISCPOLL;
            }
            NearAncSelect();
//                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
//            { };            
@@ -406,28 +448,11 @@
//    }
//    else
//    {
//    dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
    dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
//    }

}
void NearAncSelect(void)
{
    int32_t nearbase_mindist=99999, nearbase_minpos;
    u8 i;
    for(i=0;i<nearbase_num;i++)
    {
        if(nearbase_mindist<nearbase_distlist[i])
        {
            nearbase_mindist=nearbase_distlist[i];
            nearbase_minpos=i;
        }
    }
    if(nearbase_mindist<mainbase_dist-THRESHOLD_CHANGE_MAINBASE_DIST)
    {
        mainbase_id=nearbaseid_list[nearbase_minpos];
        tag_state=GETNEARMSG;
    }
}

void GetNearMsg(void)
{
    u32 start_poll,frame_len;
@@ -595,7 +620,7 @@
            memcpy(&tx_near_msg[ANCTIMEMS],&sync_timer,2);
            memcpy(&tx_near_msg[ANCTIMEUS],&tmp_time,2);
            memcpy(&tx_near_msg[TAGSLOTPOS],&taglist_pos,1);

            memcpy(&tx_near_msg[TAG_ID_IDX],&tag_id_recv,2);
            poll_rx_ts = get_rx_timestamp_u64();//获得Poll包接收时间T2

            resp_tx_time = (poll_rx_ts + ((POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。

 Ô´Âë/ºËÐÄ°å/Src/main.c

@@ -60,7 +60,7 @@
    g_com_map[COM_INTERVAL]=100;
    g_com_map[MAX_REPORT_ANC_NUM]=3;
        g_com_map[NEARBASE_NUM]=1;  
        g_com_map[NEARBASE_ID1]=1;
        g_com_map[NEARBASE_ID1]=2;
#endif
    OUT485_ENABLE;
    g_com_map[VERSION] = 0x0107;