From 1ee47e9f40e3a7c1681d61a89a9367c80a561a0f Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期四, 04 三月 2021 10:35:31 +0800
Subject: [PATCH] V1.41 修改到ch3，preamble 改成64
---
源码/核心板/Src/application/dw_app.c | 70 ++++++++++++++++++++++++----------
1 files changed, 49 insertions(+), 21 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 3d4a60d..28fa6e4 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"
@@ -28,7 +28,7 @@
#include <stdio.h>
#include "beep.h"
#include "modbus.h"
-
+//#define DEBUG_OUTPUT
/*------------------------------------ Marcos ------------------------------------------*/
/* Inter-ranging delay period, in milliseconds. */
#define RNG_DELAY_MS 100
@@ -90,16 +90,16 @@
/*------------------------------------ Variables ------------------------------------------*/
/* Default communication configuration. We use here EVK1000's default mode (mode 3). */
static dwt_config_t config = {
- 2, /* Channel number. */
+ 3, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
- DWT_PLEN_128, /* Preamble length. */
+ DWT_PLEN_64, /* 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. */
- (129 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
+ (65 + 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. */
@@ -237,12 +237,14 @@
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;
- for(i=0;i<255;i++)
+ for(i=0;i<100;i++)
{
g_flag_Taggetdist[i]++;
if(g_flag_Taggetdist[i]>=2)
{
g_Tagdist[i]=0xffff;
+ Modbus_HoldReg[i*2]=1;
+ Modbus_HoldReg[i*2+1]=0xffff;
}
}
}
@@ -327,6 +329,7 @@
extern uint16_t sync_timer;
u16 tmp_time;
extern float dw_vbat;
+extern u16 slottime,max_slotnum,current_slotpos,tyncpoll_time;
void Tag_App(void)//发送模式(TAG标签)
{
uint32_t frame_len;
@@ -336,7 +339,6 @@
u8 bat_percent;
//LED0_ON;
dwt_forcetrxoff();
- g_Resttimer=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;
@@ -359,6 +361,9 @@
* set by dwt_setrxaftertxdelay() has elapsed. */
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;
+ #ifdef DEBUG_OUTPUT
+ printf("P包发送,基站ID: %d .\r\n",i);
+ #endif
/* 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)
@@ -437,16 +442,20 @@
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
+ #ifdef DEBUG_OUTPUT
+ printf("F包发送,基站ID: %d .\r\n",i);
+ #endif
+
tag_succ_times++;
LED0_BLINK;
-
+ g_Resttimer=0;
memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
if(hex_dist2!=0xffff)
{
g_Tagdist[anc_id_recv]= hex_dist2;
g_flag_Taggetdist[anc_id_recv]=0;
-
+
if(!g_com_map[MODBUS_MODE])
{
hex_dist2 = hex_dist2;
@@ -467,7 +476,9 @@
// memcpy(&Modbus_HoldReg[anc_id_recv*2],&hex_dist,4);
/* Poll DW1000 until TX frame sent event set. See NOTE 8 below. */
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
+ {
+
+ 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. */
@@ -484,6 +495,9 @@
}
else
{
+ #ifdef DEBUG_OUTPUT
+ printf("R包失败错误信息: %x .\r\n",status_reg);
+ #endif
/* Clear RX error events in the DW1000 status register. */
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
random_delay_tim = DFT_RAND_DLY_TIM_MS;
@@ -491,10 +505,10 @@
// deca_sleep(10);
}
// dwt_entersleep();
-// if(tag_succ_times<g_com_map[MIN_REPORT_ANC_NUM])
-// {
-// //poll_timer +=time32_incr&0x7+3;
-// }
+ if(tag_succ_times<1)
+ {
+ tyncpoll_time=(current_slotpos--%max_slotnum)*slottime;
+ }
/* Execute a delay between ranging exchanges. */
@@ -504,11 +518,12 @@
#define TDFILTER
//#define CHECK_UID
extern uint8_t UID_ERROR;
+extern u16 dist_threshold;
+u8 misdist_num[TAG_NUM_IN_SYS];
void Anchor_App(void)
{
uint32_t frame_len;
uint32_t resp_tx_time;
- static u8 misdist_num;
/* Clear reception timeout to start next ranging process. */
dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
@@ -519,7 +534,6 @@
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();
- g_Resttimer=0;
};
if (status_reg & SYS_STATUS_RXFCG)//成功接收
@@ -581,6 +595,9 @@
frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
/* We assume that the transmission is achieved correctly, now poll for reception of expected "final" frame or error/timeout.
* See NOTE 7 below. */
+ #ifdef DEBUG_OUTPUT
+ printf("收到POLL包，标签ID: %d .\r\n",tag_id_recv);
+ #endif
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
@@ -640,15 +657,19 @@
// dist[TAG_ID] = LP(dis, TAG_ID); //LP 为低通滤波器，让数据更稳定
/*--------------------------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);
+ #endif
LED0_BLINK; //每成功一次通讯则闪烁一次
g_UWB_com_interval = 0;
-
+ g_Resttimer=0;
hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10;
if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS)
{
- if(hex_dist-his_dist[tag_id_recv-TAG_ID_START]<15000||misdist_num>4)
- {int32_t filter_dist;
- misdist_num=0;
+ if(abs(hex_dist-his_dist[tag_id_recv-TAG_ID_START])<dist_threshold||misdist_num[tag_id_recv-TAG_ID_START]>4)
+ {
+ int32_t filter_dist;
+ misdist_num[tag_id_recv-TAG_ID_START]=0;
if(hex_dist<1000000&&hex_dist>-10000)
{
#ifdef TDFILTER
@@ -683,13 +704,17 @@
//dis_after_filter = LP_Frac_Update(p_Dis_Filter, dist_cm);
}
- }else{
- misdist_num++;
+ }
+ else{
+ misdist_num[tag_id_recv-TAG_ID_START]++;
}
}
}
}else{
/* Clear RX error events in the DW1000 status register. */
+ #ifdef DEBUG_OUTPUT
+ printf("F包失败错误信息: %x .\r\n",status_reg);
+ #endif
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}else if(rx_buffer[MESSAGE_TYPE_IDX] == SYNC)
@@ -705,6 +730,9 @@
}
else
{
+ #ifdef DEBUG_OUTPUT
+ printf("P包失败错误信息: %x .\r\n",status_reg);
+ #endif
/* Clear RX error events in the DW1000 status register. */
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
--
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