From 0f740df1a59278f05b8fb28e92be5075dbc8aa86 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期一, 16 八月 2021 16:52:27 +0800
Subject: [PATCH] 去掉继电器，修改标签输出和其他基站测距信息，以及MODBUS
---
源码/核心板/Src/application/dw_app.c | 181 ++++++++++++++++++++++++++++++++++++---------
1 files changed, 145 insertions(+), 36 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 28fa6e4..280a7e8 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"
@@ -15,6 +15,7 @@
*/
#include <string.h>
+#include <math.h>
#include "dw_app.h"
#include "deca_device_api.h"
#include "deca_regs.h"
@@ -29,6 +30,8 @@
#include "beep.h"
#include "modbus.h"
//#define DEBUG_OUTPUT
+#define TDFILTER
+#define CONSTANT_FILTER
/*------------------------------------ Marcos ------------------------------------------*/
/* Inter-ranging delay period, in milliseconds. */
#define RNG_DELAY_MS 100
@@ -76,11 +79,14 @@
#define BATTARY_IDX 15
#define BUTTON_IDX 16
#define SEQUENCE_IDX 17
+#define DISTNUM_INDEX 18
+#define DISTARRAY_INDEX 19
//respose
#define DIST_IDX 10
#define ANCTIMEMS 14
#define ANCTIMEUS 16
#define ANCSEND_INTERVAL 18
+#define SIGNALPOWER 20
#define POLL 0x01
#define RESPONSE 0x02
@@ -90,16 +96,16 @@
/*------------------------------------ Variables ------------------------------------------*/
/* Default communication configuration. We use here EVK1000's default mode (mode 3). */
static dwt_config_t config = {
- 3, /* Channel number. */
+ 2, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
- DWT_PLEN_64, /* Preamble length. */
+ DWT_PLEN_128, /* Preamble length. */
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. */
1, /* Use non-standard SFD (Boolean) */
DWT_BR_6M8, /* Data rate. */
DWT_PHRMODE_STD, /* PHY header mode. */
- (65 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
+ (129 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
};
/* Frames used in the ranging process. See NOTE 2 below. */
@@ -109,7 +115,7 @@
static uint8_t tx_final_msg[24] = {0};
//static uint8_t rx_poll_msg[] = {0x00, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x21, 0, 0};
-static uint8_t tx_resp_msg[22] = {0};
+static uint8_t tx_resp_msg[23] = {0};
//static uint8_t rx_final_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x23, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
/* Frame sequence number, incremented after each transmission. */
@@ -320,14 +326,63 @@
dwt_writetxfctrl(sizeof(tx_sync_msg), 0);//设置超宽带发送数据长度
dwt_starttx(DWT_START_TX_IMMEDIATE);
}
-uint16_t g_Resttimer;
+ double firstpath_power, rx_power,rec_firstpath_power;
+ double f1, f2, r1, r2;
+uint16_t F1,F2,F3,N,C;
+double B = 131072;
+double A = 121.74;
+double min_power;
+ dwt_rxdiag_t d1;
+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;
+
+ // min_power = - 10 * log10((F1 *F1 + F2 * F2 + F3 * F3) / (C *B));
+ return min_power;
+ }
+#define CONSTANT_LEN 50
+extern u16 dist_threshold;
+int32_t ConstantFilter(int32_t currentdist,u8 channel)
+ {
+ static int32_t cs_lastdist[10],cs_lastvalid[10];
+ static u8 cfstart_flag[10] = {1};
+ static u8 constant_count[10] = {100};
+ if(cfstart_flag[channel])
+ {
+ cfstart_flag[channel] = 0;
+ cs_lastdist[channel] = currentdist;
+ }
+ if( abs(currentdist - cs_lastdist[channel])<100)
+ {
+ if(constant_count[channel]<CONSTANT_LEN)
+ constant_count[channel]++;
+ }else{
+ constant_count[channel] = 0;
+ }
+ if(constant_count[channel] == CONSTANT_LEN)
+ {
+ cs_lastvalid[channel] = currentdist;
+ }
+ cs_lastdist[channel] = currentdist;
+ return cs_lastvalid[channel];
+ }
+#define TAGARRAY_LEN 20
+uint16_t g_Resttimer,tag_IDarray[TAGARRAY_LEN];
uint8_t result;
u8 tag_succ_times=0;
-int32_t hex_dist,hex_dist2;
+int32_t hex_dist,hex_dist2,tag_distarray[TAGARRAY_LEN];
u16 checksum;
int8_t tag_delaytime;
extern uint16_t sync_timer;
u16 tmp_time;
+u32 getdatatimer[TAGARRAY_LEN];
+#define DATALOSTTIME 2000
extern float dw_vbat;
extern u16 slottime,max_slotnum,current_slotpos,tyncpoll_time;
void Tag_App(void)//发送模式(TAG标签)
@@ -348,14 +403,24 @@
tx_poll_msg[BATTARY_IDX] = bat_percent;//Get_Battary();
tx_poll_msg[BUTTON_IDX] = !READ_KEY0;
tx_poll_msg[SEQUENCE_IDX] = frame_seq_nb++;
+ tx_poll_msg[DISTNUM_INDEX] = g_com_map[MAX_REPORT_ANC_NUM];
+ for(i=0;i<g_com_map[MAX_REPORT_ANC_NUM];i++)
+ {
+ if(time32_incr-getdatatimer[i]>DATALOSTTIME)
+ {
+ tag_distarray[i] = 0x1ffff;
+ }
+ }
+ memcpy(&tx_poll_msg[DISTARRAY_INDEX],tag_IDarray,2*g_com_map[MAX_REPORT_ANC_NUM]);
+ memcpy(&tx_poll_msg[DISTARRAY_INDEX+2*g_com_map[MAX_REPORT_ANC_NUM]],tag_distarray,4*g_com_map[MAX_REPORT_ANC_NUM]);
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_writetxdata(22+6*g_com_map[MAX_REPORT_ANC_NUM], tx_poll_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+ dwt_writetxfctrl(22+6*g_com_map[MAX_REPORT_ANC_NUM], 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. */
@@ -392,7 +457,7 @@
/* 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. */
- if (rx_buffer[GROUP_ID_IDX] == group_id&&rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,4)) //判断接收到的数据是否是response数据
+ if ((rx_buffer[GROUP_ID_IDX]==0||rx_buffer[GROUP_ID_IDX] == group_id||group_id==0)&&rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,4)) //判断接收到的数据是否是response数据
{ u16 anc_id_recv,rec_com_interval;
/* Retrieve poll transmission and response reception timestamp. */
poll_tx_ts = get_tx_timestamp_u64(); //获得POLL发送时间T1
@@ -413,7 +478,10 @@
}
TIM3->CNT=tmp_time;
}
- memcpy(&hex_dist2, &rx_buffer[DIST_IDX], 4);
+ memcpy(&hex_dist2, &rx_buffer[DIST_IDX], 4);
+ memcpy(&tag_distarray[i*4], &rx_buffer[DIST_IDX], 4);
+ memcpy(&tag_IDarray[i*2],&rx_buffer[ANCHOR_ID_IDX],2);
+ rec_firstpath_power = rx_buffer[SIGNALPOWER];
memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
memcpy(&rec_com_interval,&rx_buffer[ANCSEND_INTERVAL], 2);
if(rec_com_interval>4&&rec_com_interval!=g_com_map[COM_INTERVAL])
@@ -445,7 +513,7 @@
#ifdef DEBUG_OUTPUT
printf("F包发送,基站ID: %d .\r\n",i);
#endif
-
+ getdatatimer[i] = time32_incr;
tag_succ_times++;
LED0_BLINK;
@@ -468,6 +536,7 @@
memcpy(&usart_send[9],&hex_dist2,4);
usart_send[13] = bat_percent;
usart_send[14] = button;
+ usart_send[15] = rec_firstpath_power;
checksum = Checksum_u16(&usart_send[2],17);
memcpy(&usart_send[19],&checksum,2);
UART_PushFrame(usart_send,21);
@@ -513,12 +582,15 @@
/* Execute a delay between ranging exchanges. */
}
+
int8_t correction_time;
extern uint8_t sync_seq;
-#define TDFILTER
+
//#define CHECK_UID
extern uint8_t UID_ERROR;
-extern u16 dist_threshold;
+u16 ancrec_IDarray[TAGARRAY_LEN];
+u32 ancrec_distarray[TAGARRAY_LEN];
+u32 ancrec_distnum;
u8 misdist_num[TAG_NUM_IN_SYS];
void Anchor_App(void)
{
@@ -562,7 +634,7 @@
// tag_recv_interval = tag_recv_timer + 65535 - tag_time_recv[tag_id_recv];
// }
- if (rx_buffer[GROUP_ID_IDX] == group_id&&rx_buffer[MESSAGE_TYPE_IDX] == POLL&&(anchor_type == rx_buffer[ANC_TYPE_IDX])) //判断是否是poll包数据
+ if ((rx_buffer[GROUP_ID_IDX]==0||rx_buffer[GROUP_ID_IDX] == group_id||group_id==0)&&rx_buffer[MESSAGE_TYPE_IDX] == POLL&&(anchor_type == rx_buffer[ANC_TYPE_IDX])) //判断是否是poll包数据
{
tmp_time=TIM3->CNT;
memcpy(&tx_resp_msg[ANCTIMEMS],&sync_timer,2);
@@ -573,7 +645,9 @@
/* Retrieve poll reception timestamp. */
poll_rx_ts = get_rx_timestamp_u64();//获得Poll包接收时间T2
-
+ ancrec_distnum = rx_buffer[DISTNUM_INDEX];
+ memcpy(ancrec_IDarray,&rx_buffer[DISTARRAY_INDEX],2*g_com_map[MAX_REPORT_ANC_NUM]);
+ memcpy(ancrec_distarray,&rx_buffer[DISTARRAY_INDEX+2*g_com_map[MAX_REPORT_ANC_NUM]],4*g_com_map[MAX_REPORT_ANC_NUM]);
/* Set send time for response. See NOTE 8 below. */
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
@@ -585,7 +659,8 @@
/* Write and send the response message. See NOTE 9 below.*/
if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS)
memcpy(&tx_resp_msg[DIST_IDX], &g_Tagdist[tag_id_recv], 4);
-
+ tx_resp_msg[SIGNALPOWER] = firstpath_power;
+
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
@@ -619,7 +694,7 @@
/* Check that the frame is a final message sent by "DS TWR initiator" example.
* As the sequence number field of the frame is not used in this example, it can be zeroed to ease the validation of the frame. */
- if (rx_buffer[GROUP_ID_IDX] == group_id&&rx_buffer[MESSAGE_TYPE_IDX] == FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,4)&&!memcmp(&rx_buffer[ANCHOR_ID_IDX],&dev_id,4)) //判断是否为Final包
+ if ((rx_buffer[GROUP_ID_IDX]==0||rx_buffer[GROUP_ID_IDX] == group_id||group_id==0)&&rx_buffer[MESSAGE_TYPE_IDX] == FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,4)&&!memcmp(&rx_buffer[ANCHOR_ID_IDX],&dev_id,4)) //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;
@@ -655,7 +730,8 @@
dist_cm = dist_no_bias * 1000; //dis 为单位为cm的距离
// dist[TAG_ID] = LP(dis, TAG_ID); //LP 为低通滤波器，让数据更稳定
-
+ dwt_readdiagnostics(&d1);
+ LOS(&d1);
/*--------------------------以下为非测距逻辑------------------------*/
#ifdef DEBUG_OUTPUT
printf("收到FINAL包，标签ID: %d .\r\n",tag_id_recv);
@@ -667,7 +743,7 @@
if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS)
{
if(abs(hex_dist-his_dist[tag_id_recv-TAG_ID_START])<dist_threshold||misdist_num[tag_id_recv-TAG_ID_START]>4)
- {
+ {u8 i;
int32_t filter_dist;
misdist_num[tag_id_recv-TAG_ID_START]=0;
if(hex_dist<1000000&&hex_dist>-10000)
@@ -678,30 +754,63 @@
#else
filter_dist=hex_dist/10;
#endif
+
+ #ifdef CONSTANT_FILTER
+ filter_dist = ConstantFilter(filter_dist,tag_id_recv-TAG_ID_START);
+ #endif
anchor_dist_last_frm[tag_id_recv-TAG_ID_START]=filter_dist;
g_Tagdist[tag_id_recv]= filter_dist;
+
+
his_dist[tag_id_recv-TAG_ID_START]=hex_dist;
g_flag_Taggetdist[tag_id_recv]=0;
if(!g_com_map[MODBUS_MODE])
- {
- 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],&anchor_dist_last_frm[tag_id_recv-TAG_ID_START],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);
+ {
+ for(i=0;i<g_com_map[MAX_REPORT_ANC_NUM];i++)
+ {
+ if(ancrec_distarray[i] !=0x1ffff)
+ {
+ 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],&ancrec_IDarray[i],2);
+
+ memcpy(&usart_send[9],&anchor_dist_last_frm[tag_id_recv-TAG_ID_START],4);
+ usart_send[13] = battary;
+ usart_send[14] = button;
+ usart_send[15] = firstpath_power;
+ checksum = Checksum_u16(&usart_send[2],17);
+ memcpy(&usart_send[19],&checksum,2);
+ UART_PushFrame(usart_send,21);
+
+ }
+ }
+// 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],&anchor_dist_last_frm[tag_id_recv-TAG_ID_START],4);
+// usart_send[13] = battary;
+// usart_send[14] = button;
+// usart_send[15] = firstpath_power;
+// checksum = Checksum_u16(&usart_send[2],17);
+// memcpy(&usart_send[19],&checksum,2);
+// UART_PushFrame(usart_send,21);
}
- // memcpy(&Modbus_HoldReg[tag_id_recv*2],&anchor_dist_last_frm[tag_id_recv-TAG_ID_START],4);
- Modbus_HoldReg[tag_id_recv*2]=g_Tagdist[tag_id_recv-TAG_ID_START]>>16;
- Modbus_HoldReg[tag_id_recv*2+1]=g_Tagdist[tag_id_recv-TAG_ID_START];
- //dis_after_filter = LP_Frac_Update(p_Dis_Filter, dist_cm);
+
+// Modbus_HoldReg[tag_id_recv*2]=g_Tagdist[tag_id_recv-TAG_ID_START]>>16;
+// Modbus_HoldReg[tag_id_recv*2+1]=g_Tagdist[tag_id_recv-TAG_ID_START];
+ for(i=0;i<g_com_map[MAX_REPORT_ANC_NUM];i++)
+ {
+ Modbus_HoldReg[tag_id_recv*3*g_com_map[MAX_REPORT_ANC_NUM]+3*i] = ancrec_IDarray[i];
+ Modbus_HoldReg[tag_id_recv*3*g_com_map[MAX_REPORT_ANC_NUM]+3*i+1] = ancrec_distarray[i]>>16;
+ Modbus_HoldReg[tag_id_recv*3*g_com_map[MAX_REPORT_ANC_NUM]+3*i+2] = ancrec_distarray[i];
+ }
+
}
}
--
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