6月7号

zhyinch

2019-06-08 e5f73b1e954eb54e0af326b3a5aee5fab719f0ce

6月7号

 Ô´Âë/ºËÐÄ°å/Src/ExternalDevices/led.c

@@ -7,7 +7,6 @@
    /* Enable GPIO clock */
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);

    // Enable GPIO used for LED flash
    GPIO_InitStructure.GPIO_Pin = LED0_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;

 Ô´Âë/ºËÐÄ°å/Src/ExternalDevices/led.h

@@ -3,9 +3,17 @@
#define __LED_H__

#include "stm32f10x.h"
#include "dw_app.h"

#define NEWBOARD

#if defined(NEWBOARD)  && defined(WORK_MODE_TAG)
#define LED0_PIN                    GPIO_Pin_12
#define LED0_GPIO                    GPIOB
#else
#define LED0_PIN                    GPIO_Pin_2
#define LED0_GPIO                    GPIOA
#endif
#define LED_BLINK(...)                GPIO_Toggle(__VA_ARGS__)
#define LED0_BLINK                    LED_BLINK(LED0_GPIO, LED0_PIN)
#define LED0_OFF                        GPIO_WriteBit(LED0_GPIO, LED0_PIN, Bit_RESET)

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

@@ -37,7 +37,7 @@
            beep_ontime = ONTIME1;
            beep_offtime = OFFTIME1;
            beep_state=1;
            LED0_ON;
		
        }
//        else if (min_dist <= g_com_map[ALARM_DISTANCE2])
//        {
@@ -51,7 +51,6 @@
//            beep_state=1;
//        }
        else{
            LED0_OFF;
            beep_state=0;
        }
        

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -75,6 +75,7 @@
#define TAG_ID_IDX                    3
#define MESSAGE_TYPE_IDX             5
#define DIST_IDX                             6
#define ANC_TYPE_IDX                     7

#define POLL                         0x01
#define RESPONSE                     0x02
@@ -280,32 +281,46 @@
}
uint16_t g_Resttimer;
uint8_t result;
u8 tag_succ_times=0;
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;
    
    g_Resttimer=0;
    UART_CheckReceive();
    GPIO_ResetBits(SPIx_GPIO, SPIx_CS);
    delay_us(2500);
    GPIO_SetBits(SPIx_GPIO, SPIx_CS);
	
    tag_succ_times = 0;
    for(i=0;i<REPOET_ANC_NUM;i++)
    {
    /* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
    tx_poll_msg[ALL_MSG_SN_IDX] = frame_seq_nb;
    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

    /* Start transmission, indicating that a response is expected so that reception is enabled automatically after the frame is sent and the delay
     * set by dwt_setrxaftertxdelay() has elapsed. */
    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

    start_poll = time32_incr;
    /* 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
    { };
    { if(time32_incr - start_poll>20)
        NVIC_SystemReset();
	
    };

    /* Increment frame sequence number after transmission of the poll message (modulo 256). */
    frame_seq_nb++;
    if(status_reg==0xffffffff)
    {
        NVIC_SystemReset();
    }

    if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
    {
@@ -321,7 +336,7 @@
        /* Check that the frame is the expected response from the companion "DS TWR responder" example.
         * As the sequence number field of the frame is not relevant, it is cleared to simplify the validation of the frame. */
        rx_buffer[ALL_MSG_SN_IDX] = 0;
        if (rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE) //判断接收到的数据是否是response数据
        if (rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&rx_buffer[TAG_ID_IDX]==g_com_map[DEV_ID]) //判断接收到的数据是否是response数据
        {
            /* Retrieve poll transmission and response reception timestamp. */
            poll_tx_ts = get_tx_timestamp_u64();                                        //获得POLL发送时间T1
@@ -347,6 +362,7 @@
            dwt_writetxfctrl(sizeof(tx_final_msg), 0);//设定发送数据长度
            result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
            
            tag_succ_times++;
            
            /* Poll DW1000 until TX frame sent event set. See NOTE 8 below. */
            if(result==0)
@@ -371,11 +387,32 @@
        dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
        random_delay_tim = DFT_RAND_DLY_TIM_MS;
    }
//    deca_sleep(10);
}
    if(tag_succ_times!=REPOET_ANC_NUM)
    {
    random_delay_tim =g_com_map[DEV_ID]*13+7;
    }else{
        random_delay_tim=0;
    }
    LED0_BLINK;
    deca_sleep(random_delay_tim);
    RTC_SET_ALARM(1);
    /* Execute a delay between ranging exchanges. */
    dwt_entersleep();
	
}
uint16_t Checksum_u16(uint8_t* pdata, uint32_t len) 
{
    uint16_t sum = 0;
    uint32_t i;
    for(i=0; i<len; i++)
        sum += pdata[i];
    sum = ~sum;
    return sum;
}

u16 tag_time_recv[TOTAL_TAG_NUM];
u8 usart_send[16];
extern uint8_t g_pairstart;
void Anchor_App(void)
{
@@ -392,11 +429,12 @@
    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接收成功或者出现错误
    { 
        UART_CheckReceive();
        UART_CheckSend();
        g_Resttimer=0;
    };

    if (status_reg & SYS_STATUS_RXFCG)//成功接收
    {
    { u16 tag_recv_interval;
        /* Clear good RX frame event in the DW1000 status register. */
        dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);//清除标志位

@@ -413,9 +451,13 @@
        //将收到的tag_id分别写入各次通讯的包中，为多标签通讯服务，防止一次通讯中接收到不同ID标签的数据
        tag_id_recv = rx_buffer[TAG_ID_IDX];
        tx_resp_msg[TAG_ID_IDX] = tag_id_recv;
        if(tag_recv_timer>tag_time_recv[tag_id_recv])
        {    tag_recv_interval =  tag_recv_timer - tag_time_recv[tag_id_recv];
        }else{
            tag_recv_interval = tag_recv_timer + 65535 - tag_time_recv[tag_id_recv];
        }

		
        if (rx_buffer[MESSAGE_TYPE_IDX] == POLL&&tag_id_recv!= g_com_map[PAIR_ID]) //判断是否是poll包数据
        if (rx_buffer[MESSAGE_TYPE_IDX] == POLL&&tag_id_recv!= g_com_map[PAIR_ID]&&(tag_recv_interval>g_com_map[COM_INTERVAL]/2)&&(g_com_map[DEV_ID]%REPOET_ANC_NUM == rx_buffer[ANC_TYPE_IDX])) //判断是否是poll包数据
        {
            /* Retrieve poll reception timestamp. */
            poll_rx_ts = get_rx_timestamp_u64();//获得Poll包接收时间T2
@@ -465,7 +507,8 @@
                    uint32_t poll_rx_ts_32, resp_tx_ts_32, final_rx_ts_32;
                    double Ra, Rb, Da, Db;
                    int64_t tof_dtu;

                    u32 hex_dist;
                    u16 checksum;
                    /* Retrieve response transmission and final reception timestamps. */
                    resp_tx_ts = get_tx_timestamp_u64();//获得response发送时间T3
                    final_rx_ts = get_rx_timestamp_u64();//获得final接收时间T6
@@ -493,27 +536,37 @@
//                    dist[TAG_ID] = LP(dis, TAG_ID); //LP ä¸ºä½Žé€šæ»¤æ³¢å™¨ï¼Œè®©æ•°æ®æ›´ç¨³å®š
                    
                    /*--------------------------以下为非测距逻辑------------------------*/
            //        LED0_BLINK; //每成功一次通讯则闪烁一次
                    LED0_BLINK; //每成功一次通讯则闪烁一次
                    g_UWB_com_interval = 0;
                    dis_after_filter=dist_cm;
                    g_Tagdist[tag_id_recv]=dist_cm;
                    if(g_pairstart==1&&dist_cm<20)
                    {
                        g_pairstart=0;
                        g_com_map[PAIR_ID]=tag_id_recv;
                        save_com_map_to_flash();
                        BEEP2_ON;
                        delay_ms(1000);
                        printf("Pair Finish PairID: %d. \r\n",g_com_map[PAIR_ID]);
                    }
//                    if(g_pairstart==1&&dist_cm<20)
//                    {
//                        g_pairstart=0;
//                        g_com_map[PAIR_ID]=tag_id_recv;
//                        save_com_map_to_flash();
//                        BEEP2_ON;
//                        delay_ms(1000);
//                        printf("Pair Finish PairID: %d. \r\n",g_com_map[PAIR_ID]);
//                    }
                     tag_time_recv[tag_id_recv] = tag_recv_timer;
                    g_flag_Taggetdist[tag_id_recv]=0;
                    #ifdef HEX_OUTPUT
                    usart_send[2] = frame_seq_nb;
                    usart_send[6] = g_com_map[DEV_ID];
                    usart_send[8] = tag_id_recv;
                    hex_dist = dist_cm;
                    memcpy(&usart_send[10],&hex_dist,4);
                    checksum = Checksum_u16(&usart_send[2],12);
                    memcpy(&usart_send[14],&checksum,2);
                    UART_PushFrame(usart_send,16);
                    #else
                    printf("Anchor ID: %d, Tag ID: %d, Dist = %d cm\n", g_com_map[DEV_ID], tag_id_recv, (uint16_t)dis_after_filter);
                    #endif
                    //dis_after_filter = LP_Frac_Update(p_Dis_Filter, dist_cm);

                }
            }
            else
            {
            }else{
                /* Clear RX error events in the DW1000 status register. */
                dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
            }

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.h

@@ -4,16 +4,22 @@

#include "stm32f10x.h"
#include "filters.h"
//#define WORK_MODE_TAG
#define WORK_MODE_ANCHOR
#define WORK_MODE_TAG
//#define WORK_MODE_ANCHOR
#define HEX_OUTPUT
#define REPOET_ANC_NUM 4
#define TOTAL_TAG_NUM  200

#define TAG_NUM_IN_SYS                256
#define DFT_RAND_DLY_TIM_MS            1

extern volatile uint32_t time32_incr;
extern u16 tag_recv_timer;
extern double dist_cm;
extern uint32_t g_UWB_com_interval;
extern float dis_after_filter;
extern LPFilter_Frac* p_Dis_Filter;        //测距用的低通滤波器
extern u8 usart_send[16];

void Dw1000_Init(void);
void Tag_App(void);

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

@@ -29,8 +29,8 @@
        g_com_map[ALARM_DISTANCE2] = 600;    //默认报警距离50cm
        g_com_map[ALARM_DISTANCE3] = 900;    //默认报警距离50cm
        g_com_map[ALARM_DEV] = 1;
        g_com_map[DEV_ID] =10;//DEFAULT_DEV_ID;    //默认设备ID
        g_com_map[COM_INTERVAL]=500;
        g_com_map[DEV_ID] =4;//DEFAULT_DEV_ID;    //默认设备ID
        g_com_map[COM_INTERVAL]=1000;
        save_com_map_to_flash();
    }


 Ô´Âë/ºËÐÄ°å/Src/main.c

@@ -65,7 +65,7 @@
    Device_Init();
    Program_Init();
    Dw1000_Init();
  delay_ms(1000);	
  delay_ms(10);	
#ifdef WORK_MODE_TAG
    RTC_Configuration(g_com_map[COM_INTERVAL]*20);
    tag_sleep_configuraion();
@@ -73,6 +73,8 @@
    Dw1000_App_Init();
    /* Loop forever initiating ranging exchanges. */
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_PWR, ENABLE);
    usart_send[0]=0x55;
    usart_send[1]=0xAA;
    while(1)
    {
#ifdef WORK_MODE_TAG
@@ -82,7 +84,7 @@
        Tag_App();
    }
//    UART_CheckReceive();
//    PWR_EnterSTOPMode(PWR_Regulator_LowPower, PWR_STOPEntry_WFI);	
    PWR_EnterSTOPMode(PWR_Regulator_LowPower, PWR_STOPEntry_WFI);	
#else 
        Anchor_App();
#endif

 Ô´Âë/ºËÐÄ°å/Src/stm32f10x_it.c

@@ -33,13 +33,15 @@
uint8_t tt=0;
uint8_t g_start_send_flag = 0;
uint16_t sysscal;
u16 tag_recv_timer;
extern uint16_t g_Resttimer;
extern uint8_t g_pairstart;
void SysTick_Handler(void)
{uint16_t i;
  time32_incr++;
    g_UWB_com_interval++;
    if(g_Resttimer++>10000)
	
    if(g_Resttimer++>2000)
    {
        NVIC_SystemReset();
    }
@@ -48,6 +50,7 @@
//        dis_after_filter = DEFAULT_DISTANCE;
//    }
#ifdef WORK_MODE_ANCHOR
    tag_recv_timer++;
    TagDistClear();
    if(g_pairstart!=1)
        main_logic();
@@ -75,7 +78,7 @@
    EXTI_ClearITPendingBit(EXTI_Line17);
    RTC_ClearITPendingBit(RTC_FLAG_ALR);
    g_start_send_flag = 1;
    RTC_SET_ALARM(1);
	
    tt++;
  //SYS.wake_id|=1<<17;
}