From 451d480321fd775084c0faf5d1877ed83f21d59b Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期三, 22 九月 2021 18:00:33 +0800
Subject: [PATCH] V1.57
---
源码/核心板/Src/application/dw_app.c | 73 ++++++++++++++++++++++++++++--------
1 files changed, 57 insertions(+), 16 deletions(-)
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c"
index f704432..7c3db08 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c"
@@ -14,7 +14,7 @@
DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */
9, /* TX preamble code. Used in TX only. */
9, /* RX preamble code. Used in RX only. */
- 0, /* Use non-standard SFD (Boolean) */
+ 1, /* Use non-standard SFD (Boolean) */
DWT_BR_6M8, /* Data rate. */
DWT_PHRMODE_STD, /* PHY header mode. */
(129 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
@@ -48,7 +48,7 @@
uint32_t g_UWB_com_interval = 0;
float dis_after_filter; //当前距离值
LPFilter_Frac* p_Dis_Filter; //测距用的低通滤波器
-uint16_t g_Tagdist[TAG_NUM_IN_SYS];
+int32_t g_Tagdist[TAG_NUM_IN_SYS];
uint8_t g_flag_Taggetdist[256];
static uint64_t get_tx_timestamp_u64(void)
@@ -110,11 +110,12 @@
g_flag_Taggetdist[i]++;
if(g_flag_Taggetdist[i]>=2)
{
- g_Tagdist[i]=0xffff;
+ g_Tagdist[i]=0x1ffff;
}
}
}
}
+extern int16_t g_commap_antdelay;
void Dw1000_Init(void)
{
/* Reset and initialise DW1000.
@@ -131,12 +132,13 @@
/* Apply default antenna delay value. See NOTE 1 below. */
dwt_setrxantennadelay(RX_ANT_DLY); //设置接收天线延迟
- dwt_settxantennadelay(TX_ANT_DLY); //设置发射天线延迟
+ dwt_settxantennadelay(0); //设置发射天线延迟
/* Set expected response's delay and timeout. See NOTE 4 and 5 below.
* As this example only handles one incoming frame with always the same delay and timeout, those values can be set here once for all. */
//设置接收超时时间
}
+extern u16 group_id;
void Dw1000_App_Init(void)
{
//g_com_map[DEV_ID] = 0x0b;
@@ -145,6 +147,10 @@
tx_final_msg[MESSAGE_TYPE_IDX]=FINAL;
tx_sync_msg[MESSAGE_TYPE_IDX]=SYNC;
+ memcpy(&tx_poll_msg[GROUP_ID_IDX], &group_id, 1);
+ memcpy(&tx_final_msg[GROUP_ID_IDX], &group_id, 1);
+ memcpy(&tx_resp_msg[GROUP_ID_IDX], &group_id, 1);
+
memcpy(&tx_poll_msg[TAG_ID_IDX], &dev_id, 2);
memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 2);
memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 2);
@@ -333,6 +339,7 @@
last_nearbase_num=next_nearbase_num;
nearbase_num=next_nearbase_num;
recbase_num=0;
+ tx_nearpoll_msg[GROUP_ID_IDX] = group_id;
tx_nearpoll_msg[BATTARY_IDX] = Get_Battary();
tx_nearpoll_msg[BUTTON_IDX] = !READ_KEY0;
tx_nearpoll_msg[SEQUENCE_IDX] = frame_seq_nb++;
@@ -340,15 +347,17 @@
memcpy(&tx_nearpoll_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
for(i=0;i<nearbase_num;i++)
{ memcpy(&tx_nearpoll_msg[NEARBASEID_INDEX+nearbase_num*2+i*2],&nearbase_distlist[i],2);}
-
+
+ memcpy(&tx_nearpoll_msg[NEARBASEID_INDEX+nearbase_num*4],&g_commap_antdelay,2);
+
for(i=0;i<MAX_NEARBASE_NUM;i++)
{
nearbase_distlist[i]=0x1ffff;
}
tx_nearpoll_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;
memcpy(&tx_nearpoll_msg[ANCHOR_ID_IDX],&mainbase_id,2);
- dwt_writetxdata(13+4*nearbase_num, tx_nearpoll_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
- dwt_writetxfctrl(13+4*nearbase_num, 0);//设置超宽带发送数据长度
+ dwt_writetxdata(15+4*nearbase_num, tx_nearpoll_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+ dwt_writetxfctrl(15+4*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
flag_finalsend=0;
@@ -390,7 +399,7 @@
dwt_readrxdata(rx_buffer, frame_len, 0); //读取接收数据
dwt_setrxtimeout(0);//DELAY_BETWEEN_TWO_FRAME_UUS*(nearbase_num+1-recbase_num)+10);//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
+ if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)&&rx_buffer[GROUP_ID_IDX] == group_id) //判断接收到的数据是否是response数据
{ u16 rec_nearbaseid,rec_nearbasepos;
int32_t temp_dist;
poll_tx_ts = get_tx_timestamp_u64(); //获得POLL发送时间T1
@@ -451,12 +460,14 @@
final_msg_set_ts(&tx_nearfinal_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX], resp_rx_ts);
final_msg_set_ts(&tx_nearfinal_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
tx_nearfinal_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
+ tx_nearfinal_msg[GROUP_ID_IDX] = group_id;
dwt_writetxdata(28+nearbase_num*4, tx_nearfinal_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
memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
- if(temp_dist!=0x1ffff)
+ if(temp_dist!=0x1ffff&&g_com_map[ALARM_DISTANCE1] == 1)
{
g_Resttimer=0;
+ IWDG_Feed();
#ifdef USART_SINGLE_OUTPUT
usart_send[2] = 1;//正常模式
usart_send[3] = 17;//数据段长度
@@ -505,7 +516,7 @@
LED0_BLINK;
// memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
// tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
- if(temp_dist!=0x1ffff)
+ if(temp_dist!=0x1ffff&&g_com_map[ALARM_DISTANCE1] == 1)
{
#ifdef USART_SINGLE_OUTPUT
usart_send[2] = 1;//正常模式
@@ -755,6 +766,7 @@
uint32_t frame_len;
uint32_t resp_tx_time;
uint8_t rec_nearbase_num,anc_report_num;
+int16_t rec_antdelay;
void Anchor_RecPoll(void)
{
tmp_time=TIM3->CNT;
@@ -778,6 +790,8 @@
battary = rx_buffer[BATTARY_IDX];
button = rx_buffer[BUTTON_IDX];
+
+
frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
if(result==0)
{
@@ -828,8 +842,11 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}
+u16 smallcar_idlist[10]={0x4052,0x4032,0x4055,0x4034,0x4016,0x4010,0x4036,0x4027,0x4024,0x4047};
extern u16 dist_threshold;
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,getrange_success=0;
+int32_t filter_dist,filter_speed;
+u8 newmeasure,recpoll_len;
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
{
u8 motorstate;
@@ -865,6 +882,7 @@
}else{
memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
}
+ tx_nearresp_msg[GROUP_ID_IDX] = group_id;
tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
@@ -898,12 +916,13 @@
{
return 1;
}
- if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)) //判断是否为Final包
+ if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)&&group_id==rx_buffer[GROUP_ID_IDX]) //判断是否为Final包
{
uint32_t poll_tx_ts, resp_rx_ts, final_tx_ts;
uint32_t poll_rx_ts_32, resp_tx_ts_32, final_rx_ts_32;
double Ra, Rb, Da, Db;
int64_t tof_dtu;
+ u8 si;
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
final_msg_get_ts(&rx_buffer[FINAL_MSG_POLL_TX_TS_IDX], &poll_tx_ts);//从接收数据中读取T1，T4，T5
@@ -929,29 +948,46 @@
LED0_BLINK; //每成功一次通讯则闪烁一次
dis_after_filter=dist_cm;
hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10;
+
+ if(recpoll_len==rec_nearbase_num*4+15)
+ {
+ hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10-rec_antdelay*10;
+ }
+
g_flag_Taggetdist[taglist_pos]=0;
- if(hex_dist>-10000&&hex_dist<2000000)
+
+ if(hex_dist>-100000&&hex_dist<2000000)
{
if(abs(hex_dist-his_dist[taglist_pos])<dist_threshold||misdist_num[taglist_pos]>3)
{
- int32_t filter_dist;
+
g_Resttimer=0;
+ IWDG_Feed();
#ifdef TDFILTER
NewTrackingDiffUpdate(taglist_pos, (float)hex_dist);
- filter_dist=pos_predict[taglist_pos]/10;
+ filter_dist = pos_predict[taglist_pos]/10;
+ filter_speed = vel_predict[taglist_pos]/10;
+ newmeasure = 1;
#else
filter_dist=hex_dist/10;
#endif
misdist_num[taglist_pos]=0;
tagdist_list[taglist_pos] = filter_dist;
his_dist[taglist_pos]=hex_dist;
- g_Tagdist[taglist_pos]=filter_dist;
+ if(hex_dist>0)
+ {
+ g_Tagdist[taglist_pos]=hex_dist/10;
+ }else{
+ g_Tagdist[taglist_pos]= 1;
+ }
#ifdef USART_SINGLE_OUTPUT
usart_send[2] = 1;//正常模式
usart_send[3] = 17;//数据段长度
usart_send[4] = frame_seq_nb2;//数据段长度
memcpy(&usart_send[5],&tag_id_recv,2);
- memcpy(&usart_send[7],&dev_id,2);
+ memcpy(&usart_send[7],&dev_id,2);
+ if(tagdist_list[taglist_pos]<=0)
+ tagdist_list[taglist_pos]=10;
memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
usart_send[13] = battary;
usart_send[14] = button;
@@ -1004,10 +1040,13 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);//清除标志位
frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//获得接收数据长度
+ recpoll_len = frame_len;
dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
//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
memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
+ if(group_id==rx_buffer[GROUP_ID_IDX])
+ {
switch(rx_buffer[MESSAGE_TYPE_IDX])
{
// case POLL:
@@ -1063,6 +1102,7 @@
memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
memcpy(&rec_ancidlist,&rx_buffer[NEARBASEID_INDEX],2*rec_nearbase_num);
memcpy(&rec_ancdistlist,&rx_buffer[NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
+ memcpy(&rec_antdelay,&rx_buffer[NEARBASEID_INDEX+nearbase_num*4],2);
#ifdef USART_ALL_OUTPUT
usart_send[2] = 0x0c;//正常模式
usart_send[3] = 8+rec_nearbase_num*4;//数据段长度
@@ -1123,4 +1163,5 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}
+}
--
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