From 07691209317d73ebe7b89bce522cd43fa4bcadc0 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期五, 11 六月 2021 17:25:47 +0800
Subject: [PATCH] V1.47 增加NLOS模式
---
源码/核心板/Src/application/dw_app.c | 71 ++++++++++++++---------------------
1 files changed, 28 insertions(+), 43 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 7b2fc96..5ab8cdc 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"
@@ -1,6 +1,6 @@
#include "dw_app.h"
#include "ADC.h"
-#define TDFILTER
+//#define TDFILTER
enum enumtagstate
{
DISCPOLL,
@@ -115,6 +115,14 @@
}
}
}
+void SetNLOSNTMSettings(void)
+{
+ uint8_t temp;
+ temp = 7;
+ dwt_writetodevice(LDE_IF_ID,LDE_CFG1_OFFSET,1,&temp);
+ dwt_write16bitoffsetreg(LDE_IF_ID,LDE_CFG2_OFFSET,3);
+ // NTM = dwt_read32bitoffsetreg(LDE_IF_ID,LDE_CFG1_OFFSET) & LDE_CFG1_NSTDEV_MASK;
+}
void Dw1000_Init(void)
{
/* Reset and initialise DW1000.
@@ -127,7 +135,7 @@
/* Configure DW1000. See NOTE 6 below. */
dwt_configure(&config);//配置DW1000
-
+ SetNLOSNTMSettings();
/* Apply default antenna delay value. See NOTE 1 below. */
dwt_setrxantennadelay(RX_ANT_DLY); //设置接收天线延迟
@@ -338,17 +346,10 @@
tx_nearpoll_msg[SEQUENCE_IDX] = frame_seq_nb++;
tx_nearpoll_msg[NEARBASENUM_INDEX] = nearbase_num;
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);}
-
- 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(13+2*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+2*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;
@@ -457,7 +458,7 @@
if(temp_dist!=0x1ffff)
{
g_Resttimer=0;
- #ifdef USART_SINGLE_OUTPUT
+ #ifndef USART_INTEGRATE_OUTPUT
usart_send[2] = 1;//正常模式
usart_send[3] = 17;//数据段长度
usart_send[4] = frame_seq_nb;//数据段长度
@@ -507,7 +508,7 @@
// tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
if(temp_dist!=0x1ffff)
{
- #ifdef USART_SINGLE_OUTPUT
+ #ifndef USART_INTEGRATE_OUTPUT
usart_send[2] = 1;//正常模式
usart_send[3] = 17;//数据段长度
usart_send[4] = frame_seq_nb;//数据段长度
@@ -614,7 +615,10 @@
report_num++;
}
}
-
+ for(i=0;i<MAX_NEARBASE_NUM;i++)
+ {
+ nearbase_distlist[i]=0x1ffff;
+ }
// printf("%d,%d",temp_sync_timer2,temp_sync_timer1);
#ifdef USART_INTEGRATE_OUTPUT
@@ -828,7 +832,6 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}
-extern u16 dist_threshold;
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,getrange_success=0;
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
{
@@ -879,7 +882,9 @@
}
result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，等待接收
-
+ battary = rx_buffer[BATTARY_IDX];
+ button = rx_buffer[BUTTON_IDX];
+ frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
if(result==0)
{
while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_sync_flag)///不断查询芯片状态直到接收成功或者出现错误
@@ -930,9 +935,9 @@
dis_after_filter=dist_cm;
hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10;
g_flag_Taggetdist[taglist_pos]=0;
- if(hex_dist>-10000&&hex_dist<2000000)
+ if(hex_dist>0&&hex_dist<2000000)
{
- if(abs(hex_dist-his_dist[taglist_pos])<dist_threshold||misdist_num[taglist_pos]>3)
+ if(abs(hex_dist-his_dist[taglist_pos])<10000||misdist_num[taglist_pos]>3)
{
int32_t filter_dist;
#ifdef TDFILTER
@@ -945,7 +950,7 @@
tagdist_list[taglist_pos] = filter_dist;
his_dist[taglist_pos]=hex_dist;
g_Tagdist[taglist_pos]=filter_dist;
- #ifdef USART_SINGLE_OUTPUT
+ #ifndef USART_INTEGRATE_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
@@ -976,7 +981,7 @@
uint32_t current_syncid=0xffffffff,synclost_timer;
extern u8 flag_syncbase;
u8 tagpos_rec[50],tagpos_send[50],ancidlist_num;
-u16 ancidlist_rec[20],ancidlist_send[20],rec_ancidlist[20],rec_ancdistlist[20];
+u16 ancidlist_rec[20],ancidlist_send[20];
void Anchor_App(void)
{
@@ -1054,28 +1059,8 @@
}
break;
- case NEAR_POLL:
- frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
- battary = rx_buffer[BATTARY_IDX];
- button = rx_buffer[BUTTON_IDX];
- rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
+ case NEAR_POLL:
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);
- #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
- usart_send[4] = frame_seq_nb2;//数据段长度
- usart_send[5] = battary;
- usart_send[6] = button;
- usart_send[7] = rec_nearbase_num;
- memcpy(&usart_send[8],&tag_id_recv,2);
- memcpy(&usart_send[10],&rec_ancidlist,2*rec_nearbase_num);
- memcpy(&usart_send[10+rec_nearbase_num*2],&rec_ancdistlist,2*rec_nearbase_num);
- checksum = Checksum_u16(&usart_send[2],8+4*rec_nearbase_num);
- memcpy(&usart_send[10+4*rec_nearbase_num],&checksum,2);
- UART_PushFrame(usart_send,12+rec_nearbase_num*4);
- #endif
if(tag_id_recv>=g_com_map[WHITELIST1_START]&&tag_id_recv<=g_com_map[WHITELIST1_END])
{break;}
taglist_pos=CmpTagInList(tag_id_recv);
@@ -1089,9 +1074,9 @@
new_tagid=0;
}
tagofflinetime[taglist_pos]=0;
- temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime);
+ temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime);
tagpos_rec[(u8)temp_tagpos]=1;
-
+ rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
if(rec_nearbase_num>ancidlist_num)
{
--
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