From 1ff43801a489ce8482dda3f7bf027082de33ccf2 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期一, 17 九月 2018 21:12:45 +0800
Subject: [PATCH] 增加多对多功能，尚未解决标签设ID问题（标签自动休眠，DMA无法收到串口数据）
---
源码/核心板/Src/application/dw_app.c | 97 ++++++++++++++++++++++++++++++++++--------------
1 files changed, 68 insertions(+), 29 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 822a810..bdd2e5a 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"
@@ -26,6 +26,11 @@
#include "dw_driver.h"
#include "Spi.h"
#include "led.h"
+#include "serial_at_cmd_app.h"
+#include "Usart.h"
+#include "global_param.h"
+#include "filters.h"
+
/*------------------------------------ Marcos ------------------------------------------*/
@@ -45,13 +50,13 @@
#define POLL_TX_TO_RESP_RX_DLY_UUS 150
/* This is the delay from Frame RX timestamp to TX reply timestamp used for calculating/setting the DW1000's delayed TX function. This includes the
* frame length of approximately 2.66 ms with above configuration. */
-#define RESP_RX_TO_FINAL_TX_DLY_UUS 4100
+#define RESP_RX_TO_FINAL_TX_DLY_UUS 1500
/* Receive response timeout. See NOTE 5 below. */
-#define RESP_RX_TIMEOUT_UUS 14700
+#define RESP_RX_TIMEOUT_UUS 2700
-#define POLL_RX_TO_RESP_TX_DLY_UUS 3600
+#define POLL_RX_TO_RESP_TX_DLY_UUS 420
/* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
-#define RESP_TX_TO_FINAL_RX_DLY_UUS 500
+#define RESP_TX_TO_FINAL_RX_DLY_UUS 200
/* Receive final timeout. See NOTE 5 below. */
#define FINAL_RX_TIMEOUT_UUS 4300
@@ -65,8 +70,10 @@
#define FINAL_MSG_TS_LEN 4
#define GROUP_ID_IDX 0
-#define SOURCE_ID_IDX 1
-#define MESSAGE_TYPE_IDX 3
+#define ANCHOR_ID_IDX 1
+#define TAG_ID_IDX 3
+#define MESSAGE_TYPE_IDX 5
+#define DIST_IDX 6
#define POLL 0x01
#define RESPONSE 0x02
@@ -74,18 +81,17 @@
/*------------------------------------ Variables ------------------------------------------*/
/* Default communication configuration. We use here EVK1000's default mode (mode 3). */
-static dwt_config_t config =
-{
- 2, /* Channel number. */
- DWT_PRF_64M, /* Pulse repetition frequency. */
- DWT_PLEN_1024, /* Preamble length. */
- DWT_PAC32, /* 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_110K, /* Data rate. */
- DWT_PHRMODE_STD, /* PHY header mode. */
- (1025 + 64 - 32) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
+static dwt_config_t config = {
+ 5, /* Channel number. */
+ DWT_PRF_64M, /* Pulse repetition frequency. */
+ 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. */
+ 0, /* 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. */
};
/* Frames used in the ranging process. See NOTE 2 below. */
@@ -127,6 +133,10 @@
uint8_t random_delay_tim = 0;
double distance, dist_no_bias, dist_cm;
+
+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
/*------------------------------------ Functions ------------------------------------------*/
@@ -221,7 +231,9 @@
/* Configure DW1000. See NOTE 6 below. */
dwt_configure(&config);//配置DW1000
+
+
/* Apply default antenna delay value. See NOTE 1 below. */
dwt_setrxantennadelay(RX_ANT_DLY); //设置接收天线延迟
dwt_settxantennadelay(TX_ANT_DLY); //设置发射天线延迟
@@ -231,11 +243,30 @@
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); //设置接收超时时间
}
+void Dw1000_App_Init(void)
+{
+ tx_poll_msg[MESSAGE_TYPE_IDX]=POLL;
+ tx_resp_msg[MESSAGE_TYPE_IDX]=RESPONSE;
+ tx_final_msg[MESSAGE_TYPE_IDX]=FINAL;
+ memcpy(&tx_poll_msg[TAG_ID_IDX], &g_com_map[DEV_ID], 2);
+ memcpy(&tx_final_msg[TAG_ID_IDX], &g_com_map[DEV_ID], 2);
+ memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &g_com_map[DEV_ID], 2);
+
+}
+void tag_sleep_configuraion(void)
+{
+ dwt_configuresleep(0x940, 0x7);
+ dwt_entersleep();
+}
void Tag_App(void)//发送模式(TAG标签)
{
uint32_t frame_len;
uint32_t final_tx_time;
+
+ GPIO_ResetBits(SPIx_GPIO, SPIx_CS);
+ delay_us(2000);
+ GPIO_SetBits(SPIx_GPIO, SPIx_CS);
/* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
tx_poll_msg[ALL_MSG_SN_IDX] = frame_seq_nb;
@@ -267,14 +298,14 @@
/* 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. */
rx_buffer[ALL_MSG_SN_IDX] = 0;
- if (rx_buffer[9] == 0x10) //判断接收到的数据是否是response数据
+ if (rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE) //判断接收到的数据是否是response数据
{
/* Retrieve poll transmission and response reception timestamp. */
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
-
- memcpy(&anchor_dist_last_frm[tag_id], &rx_buffer[11], 2);
-
+
+ memcpy(&anchor_dist_last_frm[tag_id], &rx_buffer[DIST_IDX], 2);
+ memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 2);
/* 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
@@ -317,7 +348,8 @@
}
LED0_BLINK;
/* Execute a delay between ranging exchanges. */
- deca_sleep(RNG_DELAY_MS + random_delay_tim); //休眠固定时间
+ dwt_entersleep();
+
}
void Anchor_App(void)
@@ -333,7 +365,10 @@
/* Poll for reception of a frame or error/timeout. See NOTE 7 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接收成功或者出现错误
- { };
+ {
+ UART_CheckReceive();
+ UART_CheckSend();
+ };
if (status_reg & SYS_STATUS_RXFCG)//成功接收
{
@@ -351,11 +386,11 @@
rx_buffer[ALL_MSG_SN_IDX] = 0;
//将收到的tag_id分别写入各次通讯的包中，为多标签通讯服务，防止一次通讯中接收到不同ID标签的数据
- tag_id_recv = rx_buffer[5];
- tx_resp_msg[5] = tag_id_recv;
+ tag_id_recv = rx_buffer[TAG_ID_IDX];
+ tx_resp_msg[TAG_ID_IDX] = tag_id_recv;
- if (rx_buffer[9] == 0x21) //判断是否是poll包数据
+ if (rx_buffer[MESSAGE_TYPE_IDX] == POLL) //判断是否是poll包数据
{
/* Retrieve poll reception timestamp. */
poll_rx_ts = get_rx_timestamp_u64();//获得Poll包接收时间T2
@@ -369,7 +404,7 @@
dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间
/* Write and send the response message. See NOTE 9 below.*/
- memcpy(&tx_resp_msg[11], &anchor_dist_last_frm[tag_id_recv], 2);
+ memcpy(&tx_resp_msg[DIST_IDX], &anchor_dist_last_frm[tag_id_recv], 2);
tx_resp_msg[ALL_MSG_SN_IDX] = frame_seq_nb;
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
@@ -397,7 +432,7 @@
/* 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. */
rx_buffer[ALL_MSG_SN_IDX] = 0;
- if (rx_buffer[9] == 0x23) //判断是否为Final包
+ if (rx_buffer[MESSAGE_TYPE_IDX] == FINAL&&rx_buffer[TAG_ID_IDX]==tag_id_recv&&rx_buffer[ANCHOR_ID_IDX]==g_com_map[DEV_ID]) //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;
@@ -430,7 +465,11 @@
dist_cm = dist_no_bias * 100; //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
+ /*--------------------------以下为非测距逻辑------------------------*/
LED0_BLINK; //每成功一次通讯则闪烁一次
+ g_UWB_com_interval = 0;
+ dis_after_filter=dist_cm;
+ //dis_after_filter = LP_Frac_Update(p_Dis_Filter, dist_cm);
}
}
--
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