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 | 59 +++++++++++++++++++++++++++++++++++++++--------------------
1 files changed, 39 insertions(+), 20 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 6c4cdb1..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"
@@ -28,6 +28,9 @@
#include "led.h"
#include "serial_at_cmd_app.h"
#include "Usart.h"
+#include "global_param.h"
+#include "filters.h"
+
/*------------------------------------ Marcos ------------------------------------------*/
@@ -67,8 +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
@@ -128,6 +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 ------------------------------------------*/
@@ -234,23 +243,29 @@
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 Delayus(uint16_t time)
+void Dw1000_App_Init(void)
{
- uint16_t i = 0;
- while (time--) {
- i = 10;
- while (i--)
- ;
-
- }
+ 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);
- Delayus(2000);
+ delay_us(2000);
GPIO_SetBits(SPIx_GPIO, SPIx_CS);
/* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
@@ -283,14 +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
@@ -371,11 +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
@@ -389,7 +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
@@ -417,7 +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;
@@ -450,7 +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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