From 0a7ffb3c159918e1df3e0a2ab59c48e00cc48272 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期四, 02 三月 2023 15:57:30 +0800
Subject: [PATCH] V2.53 修改UWB通讯标志位，适配2.56之后的标签。
---
源码/核心板/Src/application/dw_app.c | 1151 +++++++++++++++++++++++----------------------------------
1 files changed, 467 insertions(+), 684 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 60b2535..2a418c0 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"
@@ -13,7 +13,7 @@
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. */
@@ -23,7 +23,7 @@
static uint8_t tx_final_msg[60] = {0};
static uint8_t tx_resp_msg[22] = {0};
static uint8_t tx_nearpoll_msg[80] = {0};
-static uint8_t tx_nearresp_msg[80] = {0};
+static uint8_t tx_nearresp_msg[90] = {0};
static uint8_t tx_nearfinal_msg[80] = {0};
static uint8_t tx_near_msg[80] = {0};
@@ -31,14 +31,11 @@
uint32_t frame_seq_nb = 0, frame_seq_nb2 = 0;
static uint32_t status_reg = 0;
static uint8_t rx_buffer[100];
-static uint64_t poll_tx_ts;
-static uint64_t resp_rx_ts;
-static uint64_t final_tx_ts;
static uint64_t poll_rx_ts;
static uint64_t resp_tx_ts;
static uint64_t final_rx_ts;
static double tof;
-int32_t anchor_dist_last_frm[TAG_NUM_IN_SYS],his_dist[TAG_NUM_IN_SYS]; ;
+int32_t anchor_dist_last_frm[TAG_NUM_IN_SYS],his_dist[TAG_NUM_IN_SYS];
uint32_t tag_id = 0;
uint32_t tag_id_recv = 0;
uint32_t anc_id_recv = 0;
@@ -47,7 +44,7 @@
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)
@@ -97,22 +94,19 @@
*ts += ts_field[i] << (i * 8);
}
}
+extern int32_t tagdist_list[TAG_NUM_IN_SYS];
void TagDistClear(void)
{
static uint16_t clear_judge_cnt;
- uint16_t i;
- if(clear_judge_cnt++>1000) //设定1S分频，每秒进一次。判断标志位大于等于2，2s没收到数据就把数据变成0xffff，不触发警报。
- {
- clear_judge_cnt=0;
+ uint16_t i;
for(i=0;i<255;i++)
{
g_flag_Taggetdist[i]++;
if(g_flag_Taggetdist[i]>=2)
{
- g_Tagdist[i]=0xffff;
+ tagdist_list[i]=0x1ffff;
}
}
- }
}
void Dw1000_Init(void)
{
@@ -128,7 +122,7 @@
/* Configure DW1000. See NOTE 6 below. */
dwt_configure(&config);//配置DW1000
-
+dwt_setinterrupt( DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);
/* Apply default antenna delay value. See NOTE 1 below. */
dwt_setrxantennadelay(RX_ANT_DLY); //设置接收天线延迟
@@ -165,8 +159,8 @@
}
u16 tag_time_recv[TAG_NUM_IN_SYS];
-u8 usart_send[100],usart_send_anc[100];
-u8 battary,button;
+u8 usart_send[150],usart_send_anc[100];
+u8 battary,button,tag_frequency,tag_slotpos;
extern uint8_t g_pairstart;
void tag_sleep_configuraion(void)
{
@@ -176,14 +170,14 @@
extern uint8_t g_start_send_flag;
u8 g_start_sync_flag;
-void SyncPoll(u8 sync_seq,uint32_t sync_baseid)
+void SyncPoll(u8 sync_seq)
{u8 result;
- g_start_sync_flag=1; //中断模式，退出终端后，需要重新来过
+// g_start_sync_flag=1; //中断模式，退出终端后，需要重新来过
dwt_forcetrxoff(); //关闭接收，以防在RX ON 状态
tx_sync_msg[SYNC_SEQ_IDX]=sync_seq;
- memcpy(&tx_sync_msg[ANCHOR_ID_IDX],&sync_baseid,4);
+ memcpy(&tx_sync_msg[ANCHOR_ID_IDX],&dev_id,4);
dwt_writetxdata(sizeof(tx_sync_msg), tx_sync_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
dwt_writetxfctrl(sizeof(tx_sync_msg), 0);//设置超宽带发送数据长度
dwt_starttx(DWT_START_TX_IMMEDIATE);
@@ -192,7 +186,10 @@
while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成
{ };
}
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//清楚标志位
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//清楚标志位
+
+ 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
}
uint16_t g_Resttimer;
uint8_t result;
@@ -309,488 +306,32 @@
}
return max_slotpos-1;
}
+dwt_rxdiag_t d1;
u8 test=0;
u8 anclost_times=0;
u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
u16 temp_sync_timer1,temp_sync_timer2;
+ double firstpath_power, rx_power;
+ double f1, f2, r1, r2;
+uint16_t F1,F2,F3,N,C;
+double B = 131072;
+double A = 121.74;
+double min_power;
+double LOS(dwt_rxdiag_t *dia) {
+ F1 = dia->firstPathAmp1;
+ F2 = dia->firstPathAmp2;
+ F3 = dia->firstPathAmp3;
+ N = dia->rxPreamCount;
+ C = dia->maxGrowthCIR;
+
+ firstpath_power=10* log10((F1*F1+F2*F2+F3*F3)/(N*N))-A;
+ rx_power=10*log10(C*B/(N*N))-A;
-void Poll(void)
-{
- uint32_t frame_len;
- uint32_t final_tx_time;
- u32 start_poll;
- int32_t mindist=999999,minid=-1,temp_dist;
- u8 i,getsync_flag=0;
- 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;
- GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_RESET);
- for(i=0;i<g_com_map[MAX_REPORT_ANC_NUM];i++)
- {
- /* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
- 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
- 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();
- };
- if(status_reg==0xffffffff)
- {
- NVIC_SystemReset();
- }
- if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
- {
- 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
- if (rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
- {
- 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
- if(getsync_flag==0)
- {
- getsync_flag=1;
- memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
- memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
- memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
- tmp_time=tmp_time+450;
- if(tmp_time>999)
- {
- tmp_time-=999;
- sync_timer++;
- if(sync_timer>=1010)
- {sync_timer=0;}
- }
- TIM3->CNT=tmp_time;
- if(tagslotpos>max_slotpos)
- tagslotpos=tagslotpos%(max_slotpos+1);
- tyncpoll_time=(tagslotpos-1)*slottime;
- }
-
- memcpy(&temp_dist, &rx_buffer[DIST_IDX], 4);
- memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
- /* Compute final message transmission time. See NOTE 9 below. */
- final_tx_time = (resp_rx_ts + (RESP_RX_TO_FINAL_TX_DLY_UUS * UUS_TO_DWT_TIME)) >> 8;//计算final包发送时间，T5=T4+Treply2
- 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
- result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
- tag_succ_times++;
- LED0_BLINK;
-
- if(temp_dist<mindist)
- {
- memcpy(&minid, &rx_buffer[ANCHOR_ID_IDX], 4);
- tag_state=GETNEARMSG;
- trygetnearmsg_times=5;
- mindist=temp_dist;
- }
- 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
- { };
- }
- /* Clear TXFRS event. */
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//清除标志位
- random_delay_tim = 0;
- }
- else
- {
- random_delay_tim = DFT_RAND_DLY_TIM_MS; //如果通讯失败，将间隔时间增加5ms，避开因为多标签同时发送引起的冲突。
- }
- }
- else
- {
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
- random_delay_tim = DFT_RAND_DLY_TIM_MS;
- }
-}
- if(getsync_flag==0)
- {
- tagslotpos--;
- if(tagslotpos==0||tagslotpos>max_slotpos)
- {
- tagslotpos=max_slotpos;
- }
- tyncpoll_time=(tagslotpos-1)*slottime;
- }
- mainbase_id=minid;
-}
+ // min_power = - 10 * log10((F1 *F1 + F2 * F2 + F3 * F3) / (C *B));
+ return min_power;
+ }
+
u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32];
-void GetNearMsg(void)
-{
- u32 start_poll,frame_len;
-
- memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
- memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);
- tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
-
- 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);
- dwt_writetxdata(12, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
- dwt_writetxfctrl(12, 0);//设置超宽带发送数据长度
- dwt_starttx(DWT_START_TX_IMMEDIATE| DWT_RESPONSE_EXPECTED);
- 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();
- };
- if(status_reg==0xffffffff)
- {
- NVIC_SystemReset();
- }
- if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
- {
- 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
- 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
- {
- next_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
- memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
- tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
- //tagslotpos=rx_buffer[TAGSLOTPOS];
- memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],next_nearbase_num*2);
- //slottime=ceil((nearbase_num+2)*0.4)+2;
- tyncpoll_time=tagslotpos*slottime;
- tag_state=NEARPOLL;
- }else{
- tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
- }
- }else{
- tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
- }
-
-}
- void NearPoll(void)
-{
- static u8 mainbase_lost_count=0,flag_finalsend,flag_rxon;
- uint32_t temp1,temp2,dw_systime;
- uint32_t frame_len;
- uint32_t final_tx_time;
- u32 start_poll;
- u8 i,j,getsync_flag=0,timeout;
-// printf("%d",sync_timer);
- 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;
- GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
- if(next_nearbase_num>=MAX_NEARBASE_NUM)
- {
- next_nearbase_num = MAX_NEARBASE_NUM-1;
- }
- //nearbase_num=0;
- last_nearbase_num=next_nearbase_num;
- nearbase_num=next_nearbase_num;
- recbase_num=0;
- tx_nearpoll_msg[BATTARY_IDX] = Get_Battary();
- tx_nearpoll_msg[BUTTON_IDX] = !READ_KEY0;
- 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);
- tx_nearpoll_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;
- memcpy(&tx_nearpoll_msg[ANCHOR_ID_IDX],&mainbase_id,2);
- 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;
- flag_rxon=1;
- neartimout_timer=0;
- get_newbase=0;
- timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
- //timeout=5;
- mainbase_dist=100000;
- mainbase_lost_count++;
- while(neartimout_timer<timeout)
- {
- 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(flag_finalsend)
- {
- dw_systime=dwt_readsystimestamphi32();
- if(dw_systime>temp1&&dw_systime<temp2)
- {
- flag_finalsend=0;
- flag_rxon=0;
- dwt_forcetrxoff();
- dwt_setdelayedtrxtime(final_tx_time);
- result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
- #ifdef DEBUG_INF
- USART_putc(0x33);
- #endif
- break;
- }
- }
- if(neartimout_timer>timeout)
- break;
- };
- if(status_reg==0xffffffff)
- {
- NVIC_SystemReset();
- }
- if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
- {
- 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(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
- { u16 rec_nearbaseid,rec_nearbasepos;
- int32_t temp_dist;
- 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);
-
- if(rec_nearbaseid==mainbase_id)
- {
- //////////////////////////////////时间同步
- temp_sync_timer2=sync_timer;
- memcpy(&temp_sync_timer1,&rx_buffer[ANCTIMEMS],2);
- memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
-
-
- if(g_com_map[DEV_ROLE]!=0)
- {
- sync_timer=temp_sync_timer1;
-//// memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
-//
-
- tmp_time=tmp_time+650;
- if(tmp_time>999)
- {
- tmp_time-=999;
- sync_timer++;
- if(sync_timer>=1000)
- {sync_timer=0;}
- }
- TIM3->CNT=tmp_time;
- }
- current_slotnum=temp_sync_timer1/g_com_map[COM_INTERVAL];
-// if(tagslotpos>max_slotpos)
-// tagslotpos=tagslotpos%(max_slotpos+1);
-// tyncpoll_time=(tagslotpos-1)*slottime;
- ////////////////////////////
- #ifdef DEBUG_INF
- USART_putc(0x31);
- #endif
- rec_nearbasepos=0;
-
- memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
- mainbase_dist = temp_dist;
- if(temp_dist!=0x1ffff)
- exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
-
- mainbase_lost_count=0;
- flag_finalsend=1;
- final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS+DELAY_BETWEEN_TWO_FRAME_UUS*nearbase_num+500) * UUS_TO_DWT_TIME)) >> 8;
- temp1=final_tx_time-((350*UUS_TO_DWT_TIME)>>8);
- temp2=final_tx_time+((100*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_nearfinal_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_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;
- 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);
-
- }else{
- rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
- if(rec_nearbasepos>=last_nearbase_num) //发现新的基站
- {
- get_newbase=1;
- nearbase_num++;
- nearbaseid_list[rec_nearbasepos] = rec_nearbaseid;
- memcpy(&tx_nearfinal_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
- }
- #ifdef DEBUG_INF
- USART_putc(0x32);
- #endif
- memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
- nearbase_distlist[rec_nearbasepos]=temp_dist;
-
- if(temp_dist!=0x1ffff)
- exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
-
- final_msg_set_ts(&tx_nearfinal_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
- 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
- LED0_BLINK;
-// memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
-// tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
- if(temp_dist!=0x1ffff)
- {
- #ifdef TAG_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
- if(g_com_map[DEV_ROLE])
- {
- memcpy(&usart_send[5],&dev_id,2);
- memcpy(&usart_send[7],&rec_nearbaseid,2);
- }else{
- memcpy(&usart_send[5],&rec_nearbaseid,2);
- memcpy(&usart_send[7],&dev_id,2);
- }
- memcpy(&usart_send[9],&rx_buffer[DIST_IDX],4);
- usart_send[13] = battary;
- usart_send[14] = button;
- checksum = Checksum_u16(&usart_send[2],17);
- memcpy(&usart_send[19],&checksum,2);
- UART_PushFrame(usart_send,21);
- #endif
- #endif
- //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
- }
- }
- }
- }else{
- #ifdef DEBUG_INF
- printf("response包失败：%x/n",status_reg);
- #endif
- dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
- if(flag_rxon)
- {dwt_rxenable(0);
- }
- }
- }
- GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);
-// 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
-// { };
-// }
-// dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//清楚标志位
-
- dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
- nearbase_num=recbase_num;
- j=0;
- if(exsistbase_list[0]==0)
- {
-// u8 temp_adc,random_value;
-// random_value=0;
-// for(i=0;i<8;i++)
-// {
-// temp_adc=Get_ADC_Value();
-// random_value=random_value|((temp_adc&0x01)<<i);
-// }
- tagslotpos=GetRandomSlotPos(rec_tagpos_binary|tagpos_binary);
- tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
- tag_state=GETNEARMSG;
- }
- // tyncpoll_time=0;
- next_nearbase_num=0;
- for(i=0;i<last_nearbase_num+get_newbase;i++)
- {
- if(exsistbase_list[i]>0)
- {
- next_nearbase_num++;
- true_exsistbase_list[j]=exsistbase_list[i];
- true_nearbase_idlist[j]=nearbaseid_list[i];
- true_nearbase_distlist[j++]=nearbase_distlist[i];
- exsistbase_list[i]--;
- }
- }
-
- if(recbase_num<3)
- {next_nearbase_num=next_nearbase_num;}
- last_nearbase_num = next_nearbase_num;
- for(i=0;i<last_nearbase_num-1;i++)
- {
- for(j=0;j<last_nearbase_num-1;j++)
- {
- if(true_nearbase_distlist[j]>true_nearbase_distlist[j+1])
- {
- u32 temp_dist,temp_id,temp_exsis;
- temp_dist=true_nearbase_distlist[j];
- temp_id = true_nearbase_idlist[j];
- temp_exsis=true_exsistbase_list[i];
- true_nearbase_distlist[j]=true_nearbase_distlist[j+1];
- true_nearbase_idlist[j]=true_nearbase_idlist[j+1];
- true_exsistbase_list[j]=true_exsistbase_list[j+1];
-
- true_nearbase_distlist[j+1]=temp_dist;
- true_nearbase_idlist[j+1]=temp_id;
- true_exsistbase_list[j+1]=temp_exsis;
- }
- }
- }
-
- report_num=0;
-
- 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
- usart_send[2] = 4;//正常模式
- usart_send[3] = report_num*6+2;//正常模式
- checksum = Checksum_u16(&usart_send[2],report_num*6+2);
- memcpy(&usart_send[4+report_num*6],&checksum,2);
- UART_PushFrame(usart_send,6+report_num*6);
- #endif
- #ifdef DEBUG_INF
- printf("序号：%d,基站数量：%d/n",(frame_seq_nb-1)&0xff,nearbase_num);
- #endif
-// if(mainbase_lost_count>5)
-// {
-// //tag_state=DISCPOLL;
-// }
-// NearAncSelect();
-// if(recbase_num<g_com_map[MIN_REPORT_ANC_NUM] )
-// {
-// anclost_times++;
-// if(anclost_times>3)
-// {
-// tagslotpos=poll_tx_ts%(max_slotpos+1);
-// }
-// }else{
-// anclost_times=0;
-// }
-dwt_forcetrxoff();
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
-}
-
-void Tag_App(void)//发送模式(TAG标签)
-{
- //LED0_ON;
- dwt_forcetrxoff();
- g_Resttimer=0;
- GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
- switch(tag_state)
- {
- case DISCPOLL:
- Poll();
- break;
- case GETNEARMSG:
- GetNearMsg();
- break;
- case NEARPOLL:
- NearPoll();
- break;
- }
-
- SetNextPollTime(tyncpoll_time);
- g_start_send_flag = 0;
- GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);
-}
int8_t correction_time,new_tagid=0;
extern uint8_t sync_seq;
@@ -820,6 +361,7 @@
}
return i;
}
+u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,waittagconfig_reponse,motorstate=0;
uint32_t frame_len;
uint32_t resp_tx_time;
uint8_t rec_nearbase_num,anc_report_num;
@@ -844,8 +386,7 @@
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
- battary = rx_buffer[BATTARY_IDX];
- button = rx_buffer[BUTTON_IDX];
+
frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
if(result==0)
{
@@ -857,7 +398,7 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚标志位
frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;//数据长度
dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
- if (rx_buffer[MESSAGE_TYPE_IDX] == FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)) //判断是否为Final包
+ if (rx_buffer[MESSAGE_TYPE_IDX] == DISCOVERFINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)) //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;
@@ -886,148 +427,9 @@
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];
- if(abs(hex_dist-his_dist[taglist_pos])<1000)
- {
- tagdist_list[taglist_pos] = hex_dist;
- }
- his_dist[taglist_pos]=hex_dist;
- }
- }else{
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
- }
-}
-extern uint16_t configremotetagID;
-extern u8 remotetag_paralen;
-u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,waittagconfig_reponse;
-u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
-{
- u8 motorstate;
- tmp_time=TIM3->CNT;
- memcpy(&tx_nearresp_msg[ANCTIMEMS],&sync_timer,2);
- memcpy(&tx_nearresp_msg[ANCTIMEUS],&tmp_time,2);
- memcpy(&tx_nearresp_msg[TAGSLOTPOS],&taglist_pos,2);
- memcpy(&tx_nearresp_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。
- dwt_setdelayedtrxtime(resp_tx_time);//设置Response发送时间T3
- dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-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
-
- if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1])
- {
- motorstate =0;
- }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
- {
- motorstate =2;
- }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE3])
- {
- motorstate =1;
- }else{
- motorstate =0;
- }
-
- if(new_tagid)
- {
- tagdist_list[taglist_pos]=0x1ffff;
- memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
- }else{
- memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
- }
- tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
- tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
- tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
- waittagconfig_reponse=0;
- if(pwtag.remain_time>0)
- {uint8_t i;
- for(i=0;i<pwtag.groupnum;i++)
+if(hex_dist>-1000&&hex_dist<200000)
{
- if(pwtag.groupid[i][0]<=tag_id_recv&&tag_id_recv<=pwtag.groupid[i][1])
- {
- remotesend_state=1;
- tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
- remotetag_paralen = 2+3;
- remotetag_para[0] = 2;
- remotetag_para[1] = 6;
- remotetag_para[2] = 2;
- memcpy(&remotetag_para[3],&pwtag.group_interval[i],2);
- memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,remotetag_paralen);
- dwt_writetxdata(22+remotetag_paralen, tx_nearresp_msg, 0);//写入发送数据
- dwt_writetxfctrl(22+remotetag_paralen, 0);//设定发送长度
- remotesend_state=0;
- break;
- }
- }
-
- }else{
- dwt_writetxdata(22, tx_nearresp_msg, 0);//写入发送数据
- dwt_writetxfctrl(22, 0);//设定发送长度
- }
-
-// if(remotesend_state&&tag_id_recv==configremotetagID)
-// {
-// memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,remotetag_paralen);
-// dwt_writetxdata(22+remotetag_paralen, tx_nearresp_msg, 0);//写入发送数据
-// dwt_writetxfctrl(22+remotetag_paralen, 0);//设定发送长度
-// waittagconfig_reponse=1;
-// }else{
-
- 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
- { };
- }else{
- result++;
- }
-
- if (status_reg & SYS_STATUS_RXFCG)//接收成功
- {
-
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚标志位
- frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;//数据长度
- dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
- if(seize_anchor&&memcmp(&rx_buffer[ANCHOR_ID_IDX],&dev_id,2)) //抢占anchor 失败
- {
- 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
- {
- 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;
- 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
- final_msg_get_ts(&rx_buffer[FINAL_MSG_RESP_RX_NEARBASE_IDX+ancrec_nearbasepos*4], &resp_rx_ts);
- final_msg_get_ts(&rx_buffer[FINAL_MSG_FINAL_TX_TS_IDX], &final_tx_ts);
-
- poll_rx_ts_32 = (uint32_t)poll_rx_ts;//使用32位数据计算
- resp_tx_ts_32 = (uint32_t)resp_tx_ts;
- final_rx_ts_32 = (uint32_t)final_rx_ts;
- Ra = (double)(resp_rx_ts - poll_tx_ts);//Tround1 = T4 - T1
- Rb = (double)(final_rx_ts_32 - resp_tx_ts_32);//Tround2 = T6 - T3
- Da = (double)(final_tx_ts - resp_rx_ts);//Treply2 = T5 - T4
- Db = (double)(resp_tx_ts_32 - poll_rx_ts_32);//Treply1 = T3 - T2
- tof_dtu = (int64_t)((Ra * Rb - Da * Db) / (Ra + Rb + Da + Db));//计算公式
- tof = tof_dtu * DWT_TIME_UNITS;
- distance = tof * SPEED_OF_LIGHT;//距离=光速*飞行时间
- dist_no_bias = distance - dwt_getrangebias(config.chan, (float)distance, config.prf); //距离减去矫正系数
- dist_cm = dist_no_bias * 100; //dis 为单位为cm的距离
- /*--------------------------以下为非测距逻辑------------------------*/
- //dist_cm=33000;
-
- 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];
- g_flag_Taggetdist[taglist_pos]=0;
- if(hex_dist>-1000&&hex_dist<200000)
- {
+ g_flag_Taggetdist[taglist_pos]=0;
if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num[taglist_pos]>3)
{
misdist_num[taglist_pos]=0;
@@ -1043,6 +445,10 @@
memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
usart_send[13] = battary;
usart_send[14] = button;
+ usart_send[15] = firstpath_power;
+ usart_send[16] = (rx_power-firstpath_power)*10;
+ usart_send[17] = tag_frequency;
+ usart_send[18] = tag_slotpos;
checksum = Checksum_u16(&usart_send[2],17);
memcpy(&usart_send[19],&checksum,2);
UART_PushFrame(usart_send,21);
@@ -1058,10 +464,200 @@
// printf("%d",hex_dist);
misdist_num[taglist_pos]++;
}
+ }
}
- if(rx_buffer[TAGCONFIGSUCCESS_INDEX]==1&&waittagconfig_reponse)
+ }else{
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
+ }
+}
+uint32_t time_monitor[10];
+extern uint16_t configremotetagID;
+extern u8 remotetag_paralen,userdatasend_flag[TAG_NUM_IN_SYS];
+u8 finalsend=0;
+u16 signalpower_list[TAG_NUM_IN_SYS];
+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;
+u32 errortimes,goodtimes;
+u8 tagpossend_flag;
+u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
+{
+
+ tmp_time=TIM3->CNT;
+ memcpy(&tx_nearresp_msg[NR_NEARSWITCH_DISTANCE],&g_com_map[NEARSWITCH_DISTANCE_INDEX],2);
+ memcpy(&tx_nearresp_msg[ANCTIMEMS],&sync_timer,2);
+ memcpy(&tx_nearresp_msg[ANCTIMEUS],&tmp_time,2);
+ memcpy(&tx_nearresp_msg[TAGSLOTPOS],&taglist_pos,2);
+ memcpy(&tx_nearresp_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。
+ dwt_setdelayedtrxtime(resp_tx_time);//设置Response发送时间T3
+ dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-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
+ //dwt_readdiagnostics(&d1);
+ if(tagpos[taglist_pos].tagid==tag_id_recv&&userdatasend_flag[taglist_pos] == 1)
+ {
+ memcpy(&tx_nearresp_msg[TAGPOS_INDEX],&tagpos[taglist_pos],tagpos[taglist_pos].datalen+3);
+ tagpossend_flag = 1;
+ }else{
+ tagpossend_flag = 0;
+ }
+ if(new_tagid)
+ {
+ tagdist_list[taglist_pos]=0x1ffff;
+ }
+ memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
+ memcpy(&tx_nearresp_msg[ANC_SIGNALPOWER],&signalpower_list[taglist_pos],2);
+ tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
+ tx_nearresp_msg[MESSAGE_TYPE_IDX]=POS_RESPONSE;
+ //tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
+ waittagconfig_reponse=0;
+ finalsend = 0;
+ if(pwtag.remain_time>0)
+ {uint8_t i;
+ for(i=0;i<pwtag.groupnum;i++)
{
- waittagconfig_reponse = 0;
+ if(pwtag.groupid[i][0]<=tag_id_recv&&tag_id_recv<=pwtag.groupid[i][1])
+ {
+ remotesend_state=1;
+ tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
+ remotetag_paralen = 2+3;
+ remotetag_para[0] = 2;
+ remotetag_para[1] = pwtag.index;
+ remotetag_para[2] = 2;
+ memcpy(&remotetag_para[3],&pwtag.group_interval[i],2);
+ memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,remotetag_paralen);
+ dwt_writetxdata(24+remotetag_paralen, tx_nearresp_msg, 0);//写入发送数据
+ dwt_writetxfctrl(24+remotetag_paralen, 0);//设定发送长度
+ remotesend_state=0;
+ finalsend = 1;
+ break;
+ }
+ }
+ }else{
+
+ }
+
+ if(finalsend == 0)
+ {
+ memcpy(&tx_nearresp_msg[MAXRANGE_DISTANCE],&g_com_map[MAXRANGDIST_INDEX],2);
+ dwt_writetxdata(28+tagpossend_flag*(tagpos[taglist_pos].datalen+3), tx_nearresp_msg, 0);//д????????
+ dwt_writetxfctrl(28+tagpossend_flag*(tagpos[taglist_pos].datalen+3), 0);//?趨???????
+ }
+
+// if(remotesend_state&&tag_id_recv==configremotetagID)
+// {
+// memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,remotetag_paralen);
+// dwt_writetxdata(22+remotetag_paralen, tx_nearresp_msg, 0);//写入发送数据
+// dwt_writetxfctrl(22+remotetag_paralen, 0);//设定发送长度
+// waittagconfig_reponse=1;
+// }else{
+
+ result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，等待接收
+
+ if(result==0)
+ {
+ 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
+ { };
+ }else{
+ result++;
+ }
+
+ if (status_reg & SYS_STATUS_RXFCG)//接收成功
+ {
+
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚标志位
+ frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;//数据长度
+ dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
+ if(seize_anchor&&memcmp(&rx_buffer[ANCHOR_ID_IDX],&dev_id,2)) //抢占anchor 失败
+ {
+ return 1;
+ }
+ if (rx_buffer[MESSAGE_TYPE_IDX] == POS_FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)) //判断是否为Final包
+ {
+
+ 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
+
+// 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
+
+ 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
+ final_msg_get_ts(&rx_buffer[FINAL_MSG_RESP_RX_NEARBASE_IDX+ancrec_nearbasepos*4], &resp_rx_ts);
+ final_msg_get_ts(&rx_buffer[FINAL_MSG_FINAL_TX_TS_IDX], &final_tx_ts);
+
+ poll_rx_ts_32 = (uint32_t)poll_rx_ts;//使用32位数据计算
+ resp_tx_ts_32 = (uint32_t)resp_tx_ts;
+ final_rx_ts_32 = (uint32_t)final_rx_ts;
+// time_monitor[1] = sync_timer*1000+TIM3->CNT;
+ Ra = (double)(resp_rx_ts - poll_tx_ts);//Tround1 = T4 - T1
+ Rb = (double)(final_rx_ts_32 - resp_tx_ts_32);//Tround2 = T6 - T3
+ Da = (double)(final_tx_ts - resp_rx_ts);//Treply2 = T5 - T4
+ Db = (double)(resp_tx_ts_32 - poll_rx_ts_32);//Treply1 = T3 - T2
+ tof_dtu = (int64_t)((Ra * Rb - Da * Db) / (Ra + Rb + Da + Db));//计算公式
+ tof = tof_dtu * DWT_TIME_UNITS;
+ distance = tof * SPEED_OF_LIGHT;//距离=光速*飞行时间
+ dist_no_bias = distance - dwt_getrangebias(config.chan, (float)distance, config.prf); //距离减去矫正系数
+ dist_cm = dist_no_bias * 100; //dis 为单位为cm的距离
+ dwt_readdiagnostics(&d1);
+// time_monitor[2] = sync_timer*1000+TIM3->CNT;
+ LOS(&d1);
+ // time_monitor[3] = sync_timer*1000+TIM3->CNT;
+ /*--------------------------以下为非测距逻辑------------------------*/
+ //dist_cm=33000;
+ //GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_RESET);
+ 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];
+ userdatasend_flag[taglist_pos] =0;
+ if(hex_dist>-1000&&hex_dist<200000)
+ {
+ g_flag_Taggetdist[taglist_pos]=0;
+ if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num[taglist_pos]>3)
+ {
+ goodtimes++;
+ misdist_num[taglist_pos]=0;
+ tagdist_list[taglist_pos] = hex_dist;
+ his_dist[taglist_pos]=hex_dist;
+ g_Tagdist[taglist_pos]=hex_dist;
+ signalpower_list[taglist_pos] = ((uint8_t)firstpath_power<<8)|(uint8_t)((rx_power-firstpath_power)*10);
+// #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
+ memcpy(&usart_send[5],&tag_id_recv,2);
+ memcpy(&usart_send[7],&dev_id,2);
+ memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
+ usart_send[13] = battary;
+ usart_send[14] = button;
+ usart_send[15] = firstpath_power;
+ usart_send[16] = (rx_power-firstpath_power)*10;
+ usart_send[17] = tag_frequency;
+ usart_send[18] = tag_slotpos;
+ checksum = Checksum_u16(&usart_send[2],17);
+ memcpy(&usart_send[19],&checksum,2);
+ //UART_PushFrame(usart_send,21);
+// #else
+// memcpy(&usart_send_anc[4+6*anc_report_num],&tag_id_recv,2);
+// memcpy(&usart_send_anc[6+6*anc_report_num],&tagdist_list[taglist_pos],4);
+// anc_report_num++;
+// #endif
+// #ifdef DEBUG_INF
+// printf("序号：%d\r\n",frame_seq_nb2);
+// #endif
+ }else{
+ // printf("%d",hex_dist);
+ misdist_num[taglist_pos]++;
+ }
+ }else{
+ errortimes++;
+ usart_send[13] = battary;
+ }
+ if(rx_buffer[TAGCONFIGSUCCESS_INDEX]==1)
+ {
+
remotesend_state = 0;
usart_send[2] = 7;//正常模式
usart_send[3] = 5;//数据段长度
@@ -1079,10 +675,28 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}
+void Anchor_Start(void)
+{
+dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
+ g_start_sync_flag=0;
+
+ dwt_setrxtimeout(1000);//设定接收超时时间，0位没有超时时间
+ dwt_rxenable(0);//打开接收
+// while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag&&!g_start_sync_flag)//不断查询芯片状态直到接收成功或者出现错误
+// {
+// //IdleTask();
+// };
+}
+extern int32_t intheight;
+extern u16 synclost_count;
uint32_t current_syncid=0xffffffff,synclost_timer;
-extern u8 flag_syncbase;
-u8 tagpos_rec[50],tagpos_send[50],ancidlist_num;
+extern u8 flag_syncbase,waitsync_flag;
+u8 tagpos_rec[50],tagpos_send[50],ancidlist_num,zero_matrix[100]={0};
u16 ancidlist_rec[20],ancidlist_send[20];
+u16 recnearbaselist_id[30],rec_taganc_signalpower_list[11];
+int32_t recnearbaselist_dist[30];
+int16_t rec_tagheight;
+u16 timm = 0;
void Anchor_App(void)
{
@@ -1090,21 +704,23 @@
u16 tempid;
uint32_t rec_syncid;
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
- g_start_sync_flag=0;
+// dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
+// g_start_sync_flag=0;
- 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
+// 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
// GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
- while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag&&!g_start_sync_flag)//不断查询芯片状态直到接收成功或者出现错误
- {
- IdleTask();
- };
+// 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
+// {
+// //IdleTask();
+// };
//GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);
+ dwt_setinterrupt( DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 0);
+ status_reg = dwt_read32bitreg(SYS_STATUS_ID);
if (status_reg & SYS_STATUS_RXFCG)//成功接收
{ u16 tag_recv_interval;
float temp_tagpos;
-
+// time_monitor[0] = sync_timer*1000+TIM3->CNT;
g_Resttimer=0;
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
@@ -1114,53 +730,166 @@
memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
switch(rx_buffer[MESSAGE_TYPE_IDX])
{
- case POLL:
- if (anchor_type == rx_buffer[ANC_TYPE_IDX])
+ uint16_t checksum;
+ case DISCOVERPOLL:
+ if (anchor_type == rx_buffer[ANCHOR_ID_IDX]&&g_com_map[NEARSWITCH_DISTANCE_INDEX] != 0)
+ {
+ taglist_pos=CmpTagInList(tag_id_recv);
+ if(taglist_pos==taglist_num)
+ {
+ taglist_pos=taglist_num;
+ tagid_list[taglist_num++]=tag_id_recv;
+
+ new_tagid=1;
+ }else{
+ new_tagid=0;
+ }
+ tagofflinetime[taglist_pos]=0;
+
+ rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
+ if(rec_nearbase_num>=30)
+ {
+ break;
+ }
+ battary = rx_buffer[BATTARY_IDX];
+ button = rx_buffer[BUTTON_IDX];
+ frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
+ tag_frequency = rx_buffer[NEARP_TAGFREQ_INDEX];
+ tag_slotpos = rx_buffer[NEARP_TAGSLOTPOS_INDEX];
+
+ ////////////////基站汇总模式数据
+ memcpy(&rec_tagheight,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*6],2);
+ memcpy(&recnearbaselist_id,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
+ memcpy(&recnearbaselist_dist,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*2],rec_nearbase_num*4);
Anchor_RecPoll();
+ }
+ break;
+ case SPOLL:
+ //if (anchor_type == rx_buffer[ANC_TYPE_IDX])
+ if(dev_id==anc_id_recv)
+ {
+ taglist_pos=CmpTagInList(tag_id_recv);
+ if(taglist_pos==taglist_num)
+ {
+ taglist_pos=taglist_num;
+ tagid_list[taglist_num++]=tag_id_recv;
+
+ new_tagid=1;
+ }else{
+ new_tagid=0;
+ }
+ tagofflinetime[taglist_pos]=0;
+
+ rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
+ if(rec_nearbase_num>=30)
+ {
+ break;
+ }
+ battary = rx_buffer[BATTARY_IDX];
+ button = rx_buffer[BUTTON_IDX];
+ frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
+ tag_frequency = rx_buffer[NEARP_TAGFREQ_INDEX];
+ tag_slotpos = rx_buffer[NEARP_TAGSLOTPOS_INDEX];
+
+ ////////////////基站汇总模式数据
+ memcpy(&rec_tagheight,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*6],2);
+ memcpy(&recnearbaselist_id,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
+ memcpy(&recnearbaselist_dist,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*2],rec_nearbase_num*4);
+ usart_send[2] = 0x0c;//正常模式
+ usart_send[3] = 15+8*(rec_nearbase_num);//数据段长度
+ memcpy(&usart_send[4],&tag_id_recv,2);
+ usart_send[6] = rx_buffer[SEQUENCE_IDX];
+ usart_send[7] = rx_buffer[SEQUENCEH_IDX];
+ usart_send[8] = battary;
+ usart_send[9] = button;
+ memcpy(&usart_send[10],&rec_tagheight,2);
+ usart_send[12] = tag_frequency;
+ usart_send[13] = tag_slotpos;
+ usart_send[14] = 0;
+ usart_send[15] = 0;
+ usart_send[16] = rec_nearbase_num;
+
+ memcpy(&usart_send[17],&recnearbaselist_id,2*rec_nearbase_num);
+ memcpy(&usart_send[17+rec_nearbase_num*2],&recnearbaselist_dist,4*rec_nearbase_num);
+ memcpy(&usart_send[17+rec_nearbase_num*6],zero_matrix,2*rec_nearbase_num);
+
+ checksum = Checksum_u16(&usart_send[2],15+8*rec_nearbase_num);
+ memcpy(&usart_send[17+8*rec_nearbase_num],&checksum,2);
+ UART_PushFrame(usart_send,19+8*rec_nearbase_num);
+ Anchor_RecPoll();
+ }
break;
case SYNC:
memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
- if(rec_syncid<current_syncid)
- {
- current_syncid=rec_syncid;
+ if(anc_id_recv==g_com_map[SYNCBASEID])
+ {
+ synclost_count = 0;
flag_syncbase=0;
sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
- TIM3->CNT = sync_seq*325%1000+15;
- sync_timer = sync_seq*325/1000;
+ TIM3->CNT = (sync_seq*325%1000)-27;
+ sync_timer = (sync_seq*325/1000);
synclost_timer=0;
- //SyncPoll(sync_seq,rec_syncid);
- }else if(rec_syncid==current_syncid)
- {
- if(rx_buffer[SYNC_SEQ_IDX]<sync_seq)
- {
- flag_syncbase=0;
- sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
- TIM3->CNT = sync_seq*325%1000+5;
- sync_timer = sync_seq*325/1000+995;
- synclost_timer=0;
- //SyncPoll(sync_seq,rec_syncid);
- }
-
- }
+ if(g_com_map[BASESYNCSEQ]==2)
+ SyncPoll(sync_seq);
+ }
break;
- case NEAR_MSG:
+ case POS_MSG:
if(anc_id_recv==dev_id)
{
rx_buffer[TAGSLOTPOS]=taglist_pos;
- tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
+ tx_near_msg[MESSAGE_TYPE_IDX] = POS_MSG;
memcpy(&tx_near_msg[TAG_ID_IDX],&tag_id_recv,2);
memcpy(&tx_near_msg[NEARMSG_EMPTYSLOTPOS_INDEX],&tagpos_binary,4);
ancidlist_num=g_com_map[NEARBASE_NUM];
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);
- send_len=11+ancidlist_num*2+2;
+ send_len=21+ancidlist_num*2;
dwt_writetxdata(send_len, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
dwt_writetxfctrl(send_len, 0);//设置超宽带发送数据长度
dwt_starttx(DWT_START_TX_IMMEDIATE);
}
break;
+ case REG_POLL:
+ for(i=0;i<MAX_REGTAGNUM;i++)
+ {
+ if(tag_id_recv==regtag_map.tagid[i]&®tag_map.remain_time[i]>0)
+ {
+ tx_near_msg[REGR_TAGSLOTPOS_INDEX]=regtag_map.tag_slotpos[i];
+ tx_near_msg[REGR_TAGFREQ_INDEX] = regtag_map.tag_frequency[i];
+ memcpy(&tx_near_msg[TAG_ID_IDX],&tag_id_recv,2);
+ memcpy(&tx_near_msg[ANCHOR_ID_IDX],&dev_id,2);
+ tx_near_msg[MESSAGE_TYPE_IDX] = REG_RESPONSE;
+ ancidlist_num=g_com_map[NEARBASE_NUM];
+ 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);
+ send_len=21+ancidlist_num*2;
+ dwt_writetxdata(send_len, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+ dwt_writetxfctrl(send_len, 0);//设置超宽带发送数据长度
+ dwt_starttx(DWT_START_TX_IMMEDIATE);
+ regtag_map.tagid[i] = 0;
+ break;
+ }
- case NEAR_POLL:
+ }
+ if(i==MAX_REGTAGNUM&&g_com_map[NEARSWITCH_DISTANCE_INDEX] != 0)
+ {
+ dwt_readdiagnostics(&d1);
+ LOS(&d1);
+ usart_send[2]=0x0a;
+ usart_send[3]=20;
+ memcpy(&usart_send[4],&dev_id,2);
+ memcpy(&usart_send[6],&tag_id_recv,2);
+ memcpy(&usart_send[8],&rx_buffer[10],9);
+ usart_send[17] = firstpath_power;
+ memcpy(&usart_send[18],&rx_buffer[19],2);
+ checksum = Checksum_u16(&usart_send[2],20);
+ memcpy(&usart_send[22],&checksum,2);
+ UART_PushFrame(usart_send,24);
+ }
+ break;
+ case POS_POLL:
+ // GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_SET);
+
memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
taglist_pos=CmpTagInList(tag_id_recv);
if(taglist_pos==taglist_num)
@@ -1173,14 +902,58 @@
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>30)
+ {
+ break;
+ }
+ battary = rx_buffer[BATTARY_IDX];
+ button = rx_buffer[BUTTON_IDX];
+ frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
+ tag_frequency = rx_buffer[NEARP_TAGFREQ_INDEX];
+ tag_slotpos = rx_buffer[NEARP_TAGSLOTPOS_INDEX];
+ ////////////////基站汇总模式数据
+ memcpy(&rec_tagheight,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*8+6],2);
+ memcpy(&recnearbaselist_id,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
+ memcpy(&recnearbaselist_dist,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*2],rec_nearbase_num*4+4);
+ memcpy(&rec_taganc_signalpower_list,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*6+4],rec_nearbase_num*2+2);
+ if(anc_id_recv == dev_id||g_com_map[OUTPUTALLNEARPOLLMSG] == 1 )
+ {
+ usart_send[2] = 0x0c;//正常模式
+ usart_send[3] = 15+8*(rec_nearbase_num+1);//数据段长度
+ memcpy(&usart_send[4],&tag_id_recv,2);
+ usart_send[6] = rx_buffer[SEQUENCE_IDX];
+ usart_send[7] = rx_buffer[SEQUENCEH_IDX];
+ usart_send[8] = battary;
+ usart_send[9] = button;
+ memcpy(&usart_send[10],&rec_tagheight,2);
+ usart_send[12] = tag_frequency;
+ usart_send[13] = tag_slotpos;
+ usart_send[14] = 0;
+ usart_send[15] = 0;
+ usart_send[16] = rec_nearbase_num+1;
+ memcpy(&usart_send[17],&anc_id_recv,2);
+ memcpy(&usart_send[19],&recnearbaselist_id,2*rec_nearbase_num);
+ memcpy(&usart_send[19+rec_nearbase_num*2],&recnearbaselist_dist,4*rec_nearbase_num+4);
+ memcpy(&usart_send[19+rec_nearbase_num*6+4],&rec_taganc_signalpower_list,2*rec_nearbase_num+2);
+
+ checksum = Checksum_u16(&usart_send[2],23+8*rec_nearbase_num);
+ memcpy(&usart_send[25+8*rec_nearbase_num],&checksum,2);
+ UART_PushFrame(usart_send,27+8*rec_nearbase_num);
+// UART_CheckSend();
+
+ timm++;
+ }
+ //////////////////////////////////////////////////////////////
+
+
+GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_SET);
if(anc_id_recv==dev_id)
{
- Anchor_RecNearPoll(0);
+ Anchor_RecNearPoll(rec_nearbase_num);
}else{
for(i=0;i<rec_nearbase_num;i++)
@@ -1188,8 +961,9 @@
memcpy(&tempid,&rx_buffer[NEARBASEID_INDEX+i*2],2);
if(tempid==dev_id)
{
+
seize_anchor=0; //非抢占。已存在列表中
- Anchor_RecNearPoll(i+1);
+ Anchor_RecNearPoll(i);
break;
}
}
@@ -1200,9 +974,13 @@
// seize_anchor=1; //抢占anchor
// Anchor_RecNearPoll(i);
// }
-
+// if(tag_id_recv==0x4008)
+// printf("标签高度: %d,基站高度: %d,高度差： %d. \r\n",rec_tagheight,intheight,intheight-rec_tagheight);
- break;
+ break;
+ default:
+
+ break;
}
}else{
#ifdef DEBUG_INF
@@ -1210,5 +988,10 @@
#endif
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
+UART_CheckSend();
+ dwt_setinterrupt( DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);
+ 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
+
}
--
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