From 246d94e2de20b12287f48f40b750697c33222c91 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期二, 06 四月 2021 16:28:17 +0800
Subject: [PATCH] 1
---
源码/核心板/Src/application/dw_app.c | 368 ++++++++++++++++++++++++++++++++++++++-------------
1 files changed, 271 insertions(+), 97 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 52d2e3b..67266eb 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"
@@ -27,8 +28,8 @@
#include "filters.h"
#include <stdio.h>
#include "beep.h"
-
-
+#include "modbus.h"
+//#define DEBUG_OUTPUT
/*------------------------------------ Marcos ------------------------------------------*/
/* Inter-ranging delay period, in milliseconds. */
#define RNG_DELAY_MS 100
@@ -46,16 +47,15 @@
#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 400
+#define RESP_RX_TO_FINAL_TX_DLY_UUS 4100
/* Receive response timeout. See NOTE 5 below. */
-#define RESP_RX_TIMEOUT_UUS 600
+#define RESP_RX_TIMEOUT_UUS 4700
-#define POLL_RX_TO_RESP_TX_DLY_UUS 420
+#define POLL_RX_TO_RESP_TX_DLY_UUS 3600
/* 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 200
+#define RESP_TX_TO_FINAL_RX_DLY_UUS 500
/* Receive final timeout. See NOTE 5 below. */
#define FINAL_RX_TIMEOUT_UUS 4300
-
#define SPEED_OF_LIGHT 299702547
/* Indexes to access some of the fields in the frames defined above. */
@@ -64,45 +64,57 @@
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4
+#define SYNC_SEQ_IDX 5
+//common
#define GROUP_ID_IDX 0
#define ANCHOR_ID_IDX 1
#define TAG_ID_IDX 5
#define MESSAGE_TYPE_IDX 9
-#define DIST_IDX 10
+
+//Poll
#define ANC_TYPE_IDX 14
#define BATTARY_IDX 15
#define BUTTON_IDX 16
+#define SEQUENCE_IDX 17
+//respose
+#define DIST_IDX 10
+#define ANCTIMEMS 14
+#define ANCTIMEUS 16
+#define ANCSEND_INTERVAL 18
+#define SIGNALPOWER 20
#define POLL 0x01
#define RESPONSE 0x02
#define FINAL 0x03
+#define SYNC 0x04
/*------------------------------------ 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_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. */
+ 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. */
};
/* Frames used in the ranging process. See NOTE 2 below. */
-static uint8_t tx_poll_msg[19] = {0};
+static uint8_t tx_poll_msg[20] = {0};
+static uint8_t tx_sync_msg[14] = {0};
//static uint8_t rx_resp_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'V', 'E', 'W', 'A', 0x10, 0x02, 0, 0, 0, 0};
-static uint8_t tx_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};
+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[16] = {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. */
-static uint32_t frame_seq_nb = 0;
+static uint32_t frame_seq_nb = 0,frame_seq_nb2=0;
/* Hold copy of status register state here for reference, so reader can examine it at a breakpoint. */
static uint32_t status_reg = 0;
@@ -125,7 +137,7 @@
static double tof;
-uint32_t anchor_dist_last_frm[TAG_NUM_IN_SYS];
+int32_t anchor_dist_last_frm[TAG_NUM_IN_SYS],his_dist[TAG_NUM_IN_SYS]; ;
uint32_t tag_id = 0;
uint32_t tag_id_recv = 0;
uint8_t random_delay_tim = 0;
@@ -136,7 +148,7 @@
float dis_after_filter; //当前距离值
LPFilter_Frac* p_Dis_Filter; //测距用的低通滤波器
-uint16_t g_Tagdist[TOTAL_TAG_NUM];
+int32_t g_Tagdist[TAG_NUM_IN_SYS];
uint8_t g_flag_Taggetdist[256];
/*------------------------------------ Functions ------------------------------------------*/
@@ -226,12 +238,14 @@
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;
}
}
}
@@ -256,8 +270,7 @@
/* Set expected response's delay and timeout. See NOTE 4 and 5 below.
* As this example only handles one incoming frame with always the same delay and timeout, those values can be set here once for all. */
- 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
+ //设置接收超时时间
}
void Dw1000_App_Init(void)
{
@@ -265,10 +278,18 @@
tx_poll_msg[MESSAGE_TYPE_IDX]=POLL;
tx_resp_msg[MESSAGE_TYPE_IDX]=RESPONSE;
tx_final_msg[MESSAGE_TYPE_IDX]=FINAL;
+ tx_sync_msg[MESSAGE_TYPE_IDX]=SYNC;
+
+ memcpy(&tx_poll_msg[GROUP_ID_IDX], &group_id, 1);
+ memcpy(&tx_final_msg[GROUP_ID_IDX], &group_id, 1);
+ memcpy(&tx_resp_msg[GROUP_ID_IDX], &group_id, 1);
+
memcpy(&tx_poll_msg[TAG_ID_IDX], &dev_id, 4);
memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 4);
memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 4);
+ memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &dev_id, 4);
+ memcpy(&tx_resp_msg[ANCSEND_INTERVAL], &g_com_map[COM_INTERVAL], 2);
}
uint16_t Checksum_u16(uint8_t* pdata, uint32_t len)
{
@@ -280,7 +301,7 @@
return sum;
}
-u16 tag_time_recv[TOTAL_TAG_NUM];
+u16 tag_time_recv[TAG_NUM_IN_SYS];
u8 usart_send[25];
u8 battary,button;
extern uint8_t g_pairstart;
@@ -289,27 +310,67 @@
dwt_configuresleep(0x940, 0x7);
dwt_entersleep();
}
+extern uint8_t g_start_send_flag;
+u8 g_start_sync_flag;
+void SyncPoll(u8 sync_seq)
+{
+ g_start_sync_flag=1;
+ dwt_forcetrxoff();
+ tx_sync_msg[SYNC_SEQ_IDX]=sync_seq;
+ dwt_writetxdata(sizeof(tx_sync_msg), tx_sync_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+ dwt_writetxfctrl(sizeof(tx_sync_msg), 0);//设置超宽带发送数据长度
+ dwt_starttx(DWT_START_TX_IMMEDIATE);
+}
+ 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;
+ }
uint16_t g_Resttimer;
uint8_t result;
u8 tag_succ_times=0;
-u32 hex_dist;
+int32_t hex_dist,hex_dist2;
u16 checksum;
+int8_t tag_delaytime;
+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;
uint32_t final_tx_time;
u32 start_poll;
- u8 i;
+ u8 i,getsync_flag=0;
+ u8 bat_percent;
//LED0_ON;
- g_Resttimer=0;
- GPIO_ResetBits(SPIx_GPIO, SPIx_CS);
- delay_us(2500);
- GPIO_SetBits(SPIx_GPIO, SPIx_CS);
- tag_succ_times = 0;
- tx_poll_msg[BATTARY_IDX] = Get_Battary();
- tx_poll_msg[BUTTON_IDX] = !READ_KEY0;
dwt_forcetrxoff();
- for(i=0;i<REPOET_ANC_NUM;i++)
+ 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;
+ bat_percent=(dw_vbat-2.8)/0.5*100;
+ if(bat_percent>100)
+ bat_percent=100;
+ tx_poll_msg[BATTARY_IDX] = bat_percent;//Get_Battary();
+ tx_poll_msg[BUTTON_IDX] = !READ_KEY0;
+ tx_poll_msg[SEQUENCE_IDX] = frame_seq_nb++;
+ 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;
@@ -321,12 +382,15 @@
* 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)
NVIC_SystemReset();
- UART_CheckReceive();
- UART_CheckSend();
+ IdleTask();
+
};
/* Increment frame sequence number after transmission of the poll message (modulo 256). */
@@ -349,14 +413,39 @@
/* 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[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] == 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
+ { 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
resp_rx_ts = get_rx_timestamp_u64(); //获得RESPONSE接收时间T4
- memcpy(&anchor_dist_last_frm[tag_id], &rx_buffer[DIST_IDX], 4);
+ if(getsync_flag==0&&g_com_map[DEV_ROLE])
+ {
+ getsync_flag=1;
+ memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
+ memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],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;
+ }
+ memcpy(&hex_dist2, &rx_buffer[DIST_IDX], 4);
+ 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])
+ {
+ g_com_map[COM_INTERVAL]=rec_com_interval;
+ save_com_map_to_flash();
+ delay_ms(100);
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
+
/* 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
@@ -375,11 +464,44 @@
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;
+ usart_send[2] = 1;//正常模式
+ usart_send[3] = 17;//数据段长度
+ usart_send[4] = frame_seq_nb;//数据段长度
+ memcpy(&usart_send[5],&dev_id,2);
+ memcpy(&usart_send[7],&rx_buffer[ANCHOR_ID_IDX],2);
+
+ 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);
+ }
+ }
+ // 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. */
@@ -396,29 +518,36 @@
}
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;
}
// deca_sleep(10);
}
- dwt_entersleep();
- if(tag_succ_times<REPOET_ANC_NUM_MIN)
+// dwt_entersleep();
+ if(tag_succ_times<1)
{
- random_delay_tim =time32_incr&0x8f+7;
- deca_sleep(random_delay_tim);
+ tyncpoll_time=(current_slotpos--%max_slotnum)*slottime;
}
- //LED0_BLINK;
- RTC_SET_ALARM(1);
+
/* Execute a delay between ranging exchanges. */
}
-extern uint8_t g_start_send_flag;
+
+int8_t correction_time;
+extern uint8_t sync_seq;
+#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;
-
/* 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
@@ -426,11 +555,9 @@
dwt_rxenable(0);//打开接收
/* 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))&&!g_start_send_flag)//不断查询芯片状态直到接收成功或者出现错误
+ 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
{
- UART_CheckReceive();
- UART_CheckSend();
- g_Resttimer=0;
+ IdleTask();
};
if (status_reg & SYS_STATUS_RXFCG)//成功接收
@@ -459,8 +586,15 @@
// tag_recv_interval = tag_recv_timer + 65535 - tag_time_recv[tag_id_recv];
// }
- if (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] == group_id&&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);
+ memcpy(&tx_resp_msg[ANCTIMEUS],&tmp_time,2);
+
+// if(correction_time>10)
+// {correction_time++;}
+
/* Retrieve poll reception timestamp. */
poll_rx_ts = get_rx_timestamp_u64();//获得Poll包接收时间T2
@@ -473,17 +607,22 @@
dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间
/* Write and send the response message. See NOTE 9 below.*/
- if(tag_id_recv-TAG_ID_START<=TOTAL_TAG_NUM)
- memcpy(&tx_resp_msg[DIST_IDX], &anchor_dist_last_frm[tag_id_recv-TAG_ID_START], 4);
-
+ 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
battary = rx_buffer[BATTARY_IDX];
button = rx_buffer[BUTTON_IDX];
+ 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
@@ -505,7 +644,7 @@
/* 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[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] == 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
{
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;
@@ -521,6 +660,10 @@
final_msg_get_ts(&rx_buffer[FINAL_MSG_RESP_RX_TS_IDX], &resp_rx_ts);
final_msg_get_ts(&rx_buffer[FINAL_MSG_FINAL_TX_TS_IDX], &final_tx_ts);
+ #ifdef CHECK_UID
+ if(UID_ERROR==1)
+ poll_rx_ts=0;
+ #endif
/* Compute time of flight. 32-bit subtractions give correct answers even if clock has wrapped. See NOTE 10 below. */
poll_rx_ts_32 = (uint32_t)poll_rx_ts;//使用32位数据计算
resp_tx_ts_32 = (uint32_t)resp_tx_ts;
@@ -535,57 +678,88 @@
distance = tof * SPEED_OF_LIGHT;//距离=光速*飞行时间
dist_no_bias = distance - dwt_getrangebias(config.chan, (float)distance, config.prf); //距离减去矫正系数
- dist_cm = dist_no_bias * 100; //dis 为单位为cm的距离
+ 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);
+ #endif
LED0_BLINK; //每成功一次通讯则闪烁一次
g_UWB_com_interval = 0;
- dis_after_filter=dist_cm;
- // g_Tagdist[tag_id_recv-TAG_ID_START]=dist_cm;
-// if(g_pairstart==1&&dist_cm<20)
-// {
-// g_pairstart=0;
-// g_com_map[PAIR_ID]=tag_id_recv;
-// save_com_map_to_flash();
-// BEEP2_ON;
-// delay_ms(1000);
-// printf("Pair Finish PairID: %d. \r\n",g_com_map[PAIR_ID]);
-// }
- // tag_time_recv[tag_id_recv] = tag_recv_timer;
- if(tag_id_recv-TAG_ID_START<=TOTAL_TAG_NUM)
- {
- g_flag_Taggetdist[tag_id_recv-TAG_ID_START]=0;
- anchor_dist_last_frm[tag_id_recv-TAG_ID_START] = dist_cm;
- }
- #ifdef HEX_OUTPUT
- usart_send[2] = frame_seq_nb++;
- //usart_send[6] = tag_id_recv;
- //usart_send[8] = g_com_map[DEV_ID];
- memcpy(&usart_send[3],&tag_id_recv,4);
- memcpy(&usart_send[7],&dev_id,4);
- hex_dist = dist_cm;
- memcpy(&usart_send[11],&hex_dist,4);
- usart_send[15] = battary;
- usart_send[16] = button;
- checksum = Checksum_u16(&usart_send[2],19);
- memcpy(&usart_send[21],&checksum,2);
- UART_PushFrame(usart_send,23);
- #else
- printf("Anchor ID: %d, Tag ID: %d, Dist = %d cm\n", g_com_map[DEV_ID_L]|g_com_map[DEV_ID_L]<<8, tag_id_recv, (uint16_t)dist_cm);
- #endif
+ 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(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
+ NewTrackingDiffUpdate(tag_id_recv-TAG_ID_START, (float)hex_dist);
+ filter_dist=pos_predict[tag_id_recv-TAG_ID_START]/10;
+ #else
+ filter_dist=hex_dist/10;
+ #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;
+ 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);
-
+ }
+
+ }
+ 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)
+ {
+ if(rx_buffer[SYNC_SEQ_IDX]<sync_seq&&sync_mainbase==0)
+ {
+ sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
+ TIM3->CNT = sync_seq*325%1000+15;
+ sync_timer = sync_seq*325/1000;
+ SyncPoll(sync_seq);
}
}
}
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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