From 00485199097d2314a18da9f69fb7422a489064d6 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期五, 29 十一月 2019 08:05:44 +0800
Subject: [PATCH] 双基站测试
---
源码/核心板/Src/application/dw_app.c | 101 ++++++++++++++++++++++++++++----------------------
1 files changed, 57 insertions(+), 44 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 641cc02..cf56ef5 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"
@@ -21,7 +21,7 @@
static uint8_t tx_sync_msg[14] = {0};
static uint8_t tx_final_msg[60] = {0};
static uint8_t tx_resp_msg[22] = {0};
-static uint8_t tx_near_msg[32] = {0};
+static uint8_t tx_near_msg[80] = {0};
static uint32_t frame_seq_nb = 0;
static uint32_t status_reg = 0;
@@ -319,24 +319,26 @@
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;
- tx_poll_msg[BATTARY_IDX] = Get_Battary();
- tx_poll_msg[BUTTON_IDX] = !READ_KEY0;
- tx_poll_msg[SEQUENCE_IDX] = frame_seq_nb++;
- tx_poll_msg[NEARBASENUM_INDEX] = nearbase_num;
- memcpy(&tx_poll_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
-
- 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
+ tx_near_msg[BATTARY_IDX] = Get_Battary();
+ tx_near_msg[BUTTON_IDX] = !READ_KEY0;
+ tx_near_msg[SEQUENCE_IDX] = frame_seq_nb++;
+ tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
+ memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
+ tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;
+ memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
+ dwt_writetxdata(24, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+ dwt_writetxfctrl(24, 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
neartimout_timer=0;
recbase_num=0;
timeout=nearbase_num/4+2;
- while(neartimout_timer<timeout&&recbase_num<nearbase_num)
+ 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
- {
+ {
+ if(neartimout_timer>timeout)
+ break;
};
if(status_reg==0xffffffff)
{
@@ -347,12 +349,14 @@
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_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;
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
+ recbase_num++;
memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
- rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
if(rec_nearbaseid==mainbase_id)
{
//时间同步
@@ -376,29 +380,34 @@
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;
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_final_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据
- final_msg_set_ts(&tx_final_msg[FINAL_MSG_RESP_RX_TS_IDX], resp_rx_ts);
- final_msg_set_ts(&tx_final_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
- dwt_writetxdata(sizeof(tx_final_msg), tx_final_msg, 0);//将发送数据写入DW1000
- dwt_writetxfctrl(sizeof(tx_final_msg), 0);//设定发送数据长度
+ 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
+ final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX], resp_rx_ts);
+ final_msg_set_ts(&tx_near_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
+ tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
+ 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
result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
}else{
- final_msg_set_ts(&tx_final_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+rec_nearbasepos*4], resp_rx_ts);
+ rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
+ final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4], resp_rx_ts);
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
+ //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
}
}
}
}
- 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
- { };
-
- }
- else
- {
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
- random_delay_tim = DFT_RAND_DLY_TIM_MS;
- }
+ dwt_forcetrxoff();
+// 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
+// { };
+//
+// }
+// else
+// {
+// dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
+// }
}
void NearAncSelect(void)
@@ -449,8 +458,10 @@
if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_MSG&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
{
nearbase_num=rx_buffer[NEARBASENUM_INDEX];
+ tagslotpos=rx_buffer[TAGSLOTPOS];
memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
slottime=ceil((nearbase_num+2)*0.3)+1;
+ tyncpoll_time=tagslotpos*slottime;
tag_state=NEARPOLL;
}
}
@@ -509,18 +520,18 @@
tmp_time=TIM3->CNT;
memcpy(&tx_resp_msg[ANCTIMEMS],&sync_timer,2);
memcpy(&tx_resp_msg[ANCTIMEUS],&tmp_time,2);
- memcpy(&tx_resp_msg[TAGSLOTPOS],&taglist_pos,2);
-
+ memcpy(&tx_resp_msg[TAGSLOTPOS],&taglist_pos,1);
+
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 * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
dwt_setdelayedtrxtime(resp_tx_time);//设置Response发送时间T3
dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS);//设置发送完成后开启接收延迟时间
dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间
-
- if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS)
- memcpy(&tx_resp_msg[DIST_IDX], &anchor_dist_last_frm[tag_id_recv-TAG_ID_START], 4);
-
+
+ memcpy(&tx_resp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
+ memcpy(&tx_resp_msg[TAG_ID_IDX],&tag_id_recv,2);
+
dwt_writetxdata(sizeof(tx_resp_msg), tx_resp_msg, 0);//写入发送数据
dwt_writetxfctrl(sizeof(tx_resp_msg), 0);//设定发送长度
result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，等待接收
@@ -578,12 +589,12 @@
}
}
-void Anchor_RecNearPoll(u8 ancrec_nearbasepos)
+void Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
{
tmp_time=TIM3->CNT;
- memcpy(&tx_resp_msg[ANCTIMEMS],&sync_timer,2);
- memcpy(&tx_resp_msg[ANCTIMEUS],&tmp_time,2);
- memcpy(&tx_resp_msg[TAGSLOTPOS],&taglist_pos,2);
+ memcpy(&tx_near_msg[ANCTIMEMS],&sync_timer,2);
+ memcpy(&tx_near_msg[ANCTIMEUS],&tmp_time,2);
+ memcpy(&tx_near_msg[TAGSLOTPOS],&taglist_pos,1);
poll_rx_ts = get_rx_timestamp_u64();//获得Poll包接收时间T2
@@ -592,10 +603,10 @@
dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(nearbase_num-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//设置发送完成后开启接收延迟时间
dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间
- memcpy(&tx_resp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
-
- dwt_writetxdata(sizeof(tx_resp_msg), tx_resp_msg, 0);//写入发送数据
- dwt_writetxfctrl(sizeof(tx_resp_msg), 0);//设定发送长度
+ memcpy(&tx_near_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
+ tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
+ dwt_writetxdata(17, tx_near_msg, 0);//写入发送数据
+ dwt_writetxfctrl(17, 0);//设定发送长度
result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，等待接收
battary = rx_buffer[BATTARY_IDX];
@@ -664,7 +675,7 @@
}
void Anchor_App(void)
{
- u8 send_len,nearbase_num,i;
+ u8 send_len,i;
u16 tempid;
dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
dwt_rxenable(0);//打开接收
@@ -708,6 +719,8 @@
case NEAR_MSG:
if(anc_id_recv==dev_id)
{
+ rx_buffer[TAGSLOTPOS]=taglist_pos;
+ tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
memcpy(&tx_near_msg[TAG_ID_IDX],&tag_id_recv,2);
tx_near_msg[NEARBASENUM_INDEX]=g_com_map[NEARBASE_NUM];
memcpy(&tx_near_msg[NEARBASEID_INDEX],&g_com_map[NEARBASE_ID1],g_com_map[NEARBASE_NUM]*2);
--
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