From 170e557c0d38e66e6100d32a2a465ee1cd6f5275 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期三, 07 十月 2020 18:17:34 +0800
Subject: [PATCH] 配临近初步测试完成
---
源码/核心板/Src/application/dw_app.h | 4
源码/核心板/Src/main.c | 3
源码/核心板/MDK-ARM/Project.uvoptx | 136 ++--------------
源码/核心板/MDK-ARM/Project.uvguix.Administrator | 81 +++++----
源码/核心板/Src/application/dw_app.c | 245 ++++++++++++++++++++++--------
5 files changed, 243 insertions(+), 226 deletions(-)
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.Administrator" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.Administrator"
index dce8cfa..5b0bd2e 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.Administrator"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.Administrator"
@@ -15,17 +15,17 @@
<View>
<WinId>38003</WinId>
<ViewName>Registers</ViewName>
- <TableColWidths>127 224</TableColWidths>
+ <TableColWidths>158 193</TableColWidths>
</View>
<View>
<WinId>346</WinId>
<ViewName>Code Coverage</ViewName>
- <TableColWidths>292 740</TableColWidths>
+ <TableColWidths>610 422</TableColWidths>
</View>
<View>
<WinId>204</WinId>
<ViewName>Performance Analyzer</ViewName>
- <TableColWidths>816 58 58 100</TableColWidths>
+ <TableColWidths>702 115 115 100</TableColWidths>
</View>
</SECTreeCtrl>
@@ -93,25 +93,25 @@
<flags>2</flags>
<showCmd>3</showCmd>
<MinPosition>
- <xPos>-32000</xPos>
- <yPos>-32000</yPos>
+ <xPos>-1</xPos>
+ <yPos>-1</yPos>
</MinPosition>
<MaxPosition>
<xPos>-1</xPos>
<yPos>-1</yPos>
</MaxPosition>
<NormalPosition>
- <Top>-1057</Top>
- <Left>369</Left>
- <Right>2300</Right>
- <Bottom>-365</Bottom>
+ <Top>4</Top>
+ <Left>-50</Left>
+ <Right>1881</Right>
+ <Bottom>696</Bottom>
</NormalPosition>
</WindowPosition>
<MDIClientArea>
<RegID>0</RegID>
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@@ -490,7 +490,7 @@
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<RectRecentDocked>
<Len>16</Len>
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+ <Data>03000000540300007D070000CD030000</Data>
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@@ -520,7 +520,7 @@
<Window>
<RegID>199</RegID>
<PaneID>199</PaneID>
- <IsVisible>0</IsVisible>
+ <IsVisible>1</IsVisible>
<IsFloating>0</IsFloating>
<IsTabbed>0</IsTabbed>
<IsActivated>0</IsActivated>
@@ -1799,14 +1799,14 @@
</Window>
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<OriginalItems>
<Len>1423</Len>
@@ -3563,7 +3563,7 @@
<Name>Build</Name>
<Buttons>
<Len>970</Len>
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<OriginalItems>
<Len>583</Len>
@@ -3579,7 +3579,7 @@
<Name>Debug</Name>
<Buttons>
<Len>2362</Len>
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<OriginalItems>
<Len>898</Len>
@@ -3603,11 +3603,11 @@
<ActiveMDIGroup>0</ActiveMDIGroup>
<MDIGroup>
<Size>100</Size>
- <ActiveTab>2</ActiveTab>
+ <ActiveTab>5</ActiveTab>
<Doc>
<Name>..\Src\application\serial_at_cmd_app.c</Name>
<ColumnNumber>0</ColumnNumber>
- <TopLine>1</TopLine>
+ <TopLine>9</TopLine>
<CurrentLine>50</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
@@ -3624,9 +3624,9 @@
</Doc>
<Doc>
<Name>..\Src\main.c</Name>
- <ColumnNumber>16</ColumnNumber>
- <TopLine>210</TopLine>
- <CurrentLine>227</CurrentLine>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>200</TopLine>
+ <CurrentLine>224</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
@@ -3651,18 +3651,18 @@
</Doc>
<Doc>
<Name>..\Src\application\dw_app.c</Name>
- <ColumnNumber>36</ColumnNumber>
- <TopLine>630</TopLine>
- <CurrentLine>1127</CurrentLine>
+ <ColumnNumber>48</ColumnNumber>
+ <TopLine>1189</TopLine>
+ <CurrentLine>1198</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
</Doc>
<Doc>
<Name>..\Src\application\dw_app.h</Name>
- <ColumnNumber>2</ColumnNumber>
- <TopLine>1</TopLine>
- <CurrentLine>24</CurrentLine>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>90</TopLine>
+ <CurrentLine>107</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
@@ -3670,8 +3670,8 @@
<Doc>
<Name>..\Src\OnChipDevices\Spi.c</Name>
<ColumnNumber>0</ColumnNumber>
- <TopLine>86</TopLine>
- <CurrentLine>98</CurrentLine>
+ <TopLine>120</TopLine>
+ <CurrentLine>161</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
@@ -3696,8 +3696,8 @@
</Doc>
<Doc>
<Name>..\Src\stm32f10x_it.c</Name>
- <ColumnNumber>3</ColumnNumber>
- <TopLine>109</TopLine>
+ <ColumnNumber>5</ColumnNumber>
+ <TopLine>73</TopLine>
<CurrentLine>74</CurrentLine>
<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
@@ -3748,6 +3748,15 @@
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
</Doc>
+ <Doc>
+ <Name>..\Src\application\global_param.h</Name>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>12</TopLine>
+ <CurrentLine>29</CurrentLine>
+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
+ <PaneID>0</PaneID>
+ </Doc>
</MDIGroup>
</MDIGroups>
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx"
index 6921389..10e1c60 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx"
@@ -103,7 +103,7 @@
<bEvRecOn>1</bEvRecOn>
<bSchkAxf>0</bSchkAxf>
<bTchkAxf>0</bTchkAxf>
- <nTsel>6</nTsel>
+ <nTsel>12</nTsel>
<sDll></sDll>
<sDllPa></sDllPa>
<sDlgDll></sDlgDll>
@@ -114,7 +114,7 @@
<tDlgDll></tDlgDll>
<tDlgPa></tDlgPa>
<tIfile></tIfile>
- <pMon>Segger\JL2CM3.dll</pMon>
+ <pMon>BIN\CMSIS_AGDI.dll</pMon>
</DebugOpt>
<TargetDriverDllRegistry>
<SetRegEntry>
@@ -125,7 +125,7 @@
<SetRegEntry>
<Number>0</Number>
<Key>DLGUARM</Key>
- <Name>d</Name>
+ <Name></Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
@@ -162,130 +162,18 @@
<Bp>
<Number>0</Number>
<Type>0</Type>
- <LineNumber>235</LineNumber>
+ <LineNumber>1201</LineNumber>
<EnabledFlag>1</EnabledFlag>
- <Address>134260338</Address>
+ <Address>134241922</Address>
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<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>1</BreakIfRCount>
- <Filename>E:\GIT\UWB_SmallModule\濠ф劗鐖淺Src\main.c</Filename>
+ <Filename>E:\GIT\UWB_SmallModule\濠ф劗鐖淺Src\application\dw_app.c</Filename>
<ExecCommand></ExecCommand>
- <Expression>\\UWB_Projects\../Src/main.c\235</Expression>
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- <Bp>
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- <ExecCommand></ExecCommand>
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- <ExecCommand></ExecCommand>
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- <ExecCommand></ExecCommand>
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- <ExecCommand></ExecCommand>
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- <ExecCommand></ExecCommand>
- <Expression>\\UWB_Projects\../Src/application/serial_at_cmd_app.c\56</Expression>
+ <Expression>\\UWB_Projects\../Src/application/dw_app.c\1201</Expression>
</Bp>
</Breakpoint>
<WatchWindow1>
@@ -339,6 +227,16 @@
<WinNumber>1</WinNumber>
<ItemText>mUsartReceivePack</ItemText>
</Ww>
+ <Ww>
+ <count>10</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>rx_buffer[9]</ItemText>
+ </Ww>
+ <Ww>
+ <count>11</count>
+ <WinNumber>1</WinNumber>
+ <ItemText>g_com_map[NEARBASE_ID1]</ItemText>
+ </Ww>
</WatchWindow1>
<MemoryWindow1>
<Mm>
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 6947fa8..cb75c4a 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"
@@ -173,6 +173,7 @@
dwt_configuresleep(0x940, 0x7);
dwt_entersleep();
}
+
extern uint8_t g_start_send_flag;
u8 g_start_sync_flag;
void SyncPoll(u8 sync_seq,uint32_t sync_baseid)
@@ -313,6 +314,162 @@
u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
u16 temp_sync_timer1,temp_sync_timer2;
+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;
+}
+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;
@@ -456,6 +613,7 @@
memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
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
@@ -473,8 +631,9 @@
usart_send[14] = button;
checksum = Checksum_u16(&usart_send[2],17);
memcpy(&usart_send[19],&checksum,2);
- // UART_PushFrame(usart_send,21);
+ 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
@@ -508,6 +667,7 @@
// 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
@@ -525,9 +685,9 @@
usart_send[14] = button;
checksum = Checksum_u16(&usart_send[2],17);
memcpy(&usart_send[19],&checksum,2);
- //UART_PushFrame(usart_send,21);
+ 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
@@ -652,57 +812,6 @@
dwt_forcetrxoff();
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
}
-u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32];
-void GetNearMsg(void)
-{
- u32 start_poll,frame_len;
- if(nearmsg_mainbase)
- {nearmsg_mainbase=0;
- }else{
- nearmsg_mainbase=1;
- }
- memcpy(&tx_near_msg[ANCHOR_ID_IDX],&nearmsg_mainbase,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 Tag_App(void)//发送模式(TAG标签)
{
@@ -713,7 +822,7 @@
switch(tag_state)
{
case DISCPOLL:
-
+ Poll();
break;
case GETNEARMSG:
GetNearMsg();
@@ -1050,10 +1159,10 @@
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])
-// Anchor_RecPoll();
-// break;
+ case POLL:
+ if (anchor_type == rx_buffer[ANC_TYPE_IDX])
+ Anchor_RecPoll();
+ break;
case SYNC:
memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
if(rec_syncid<current_syncid)
@@ -1080,14 +1189,15 @@
}
break;
case NEAR_MSG:
- if(anc_id_recv==flag_syncbase)
+ 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);
memcpy(&tx_near_msg[NEARMSG_EMPTYSLOTPOS_INDEX],&tagpos_binary,4);
- tx_near_msg[NEARBASENUM_INDEX]=ancidlist_num;
- memcpy(&tx_near_msg[NEARBASEID_INDEX],&ancidlist_send,ancidlist_num*2);
+ 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;
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
@@ -1128,11 +1238,12 @@
break;
}
}
- if(i==rec_nearbase_num)
- {
- seize_anchor=1; //抢占anchor
- Anchor_RecNearPoll(i);
- }
+ //抢占模式
+// if(i==rec_nearbase_num)
+// {
+// seize_anchor=1; //抢占anchor
+// Anchor_RecNearPoll(i);
+// }
break;
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.h" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.h"
index db141c8..27ab690 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.h"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.h"
@@ -20,7 +20,7 @@
#include <math.h>
//#define USART_INTEGRATE_OUTPUT
-
+//#define TAG_OUTPUT
//#define DEBUG_INF
//#define NEWBOARD
//#define TAG_OUTPUT
@@ -111,7 +111,7 @@
#define BUTTON_IDX 7
#define REMOTEPARA_LEN 18
-#define THRESHOLD_CHANGE_MAINBASE_DIST 5
+#define THRESHOLD_CHANGE_MAINBASE_DIST 500
extern u8 neartimout_timer;
extern u16 slottime,tyncpoll_time,max_slotpos;
extern u16 poll_timer,tag_timer;
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
index 635a5dd..b967dd6 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
@@ -98,7 +98,7 @@
tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;
module_power = g_com_map[POWER];
total_slotnum = 1000/g_com_map[COM_INTERVAL];
-
+ anchor_type = dev_id%3;
if(g_com_map[DEV_ROLE])
{
@@ -107,7 +107,6 @@
printf("单次通讯基站数量: %d个.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
}else{
- anchor_type = dev_id%g_com_map[MAX_REPORT_ANC_NUM];
printf("基站ID: %x .\r\n",dev_id);
printf("基站类型: %c .\r\n",anchor_type+0x41);
printf("单次通讯基站数量: %d个.\r\n",g_com_map[MAX_REPORT_ANC_NUM]);
--
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