From 27ef584b1870ce42d7ea5dc5a1cf67a1f642d434 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期五, 15 四月 2022 16:01:13 +0800
Subject: [PATCH] 增加调试信息输出
---
源码/核心板/Src/application/dw_app.c | 248 +++++++++++++++++++++++++++++++------------------
1 files changed, 158 insertions(+), 90 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 20612af..16ecef4 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"
@@ -1,6 +1,12 @@
#include "dw_app.h"
#include "ADC.h"
-#define TDFILTER
+#include "stm32f10x_it.h"
+#include "serial_at_cmd_app.h"
+#define STRX(x) #x
+#define STR(x) STRX(x)
+#define __debug_info__ __FILE__ ":" STR(__LINE__)
+//#define TDFILTER
+#define DBGMSG_OUTPUT
enum enumtagstate
{
DISCPOLL,
@@ -43,14 +49,14 @@
uint32_t tag_id = 0;
uint32_t tag_id_recv = 0;
uint32_t anc_id_recv = 0;
-uint8_t random_delay_tim = 0;
+uint8_t random_delay_tim = 0,dbgmsg_len;
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
int32_t g_Tagdist[TAG_NUM_IN_SYS];
-uint8_t g_flag_Taggetdist[256];
-
+uint8_t g_flag_Taggetdist[256],flag_tag_distsmooth[TAG_NUM_IN_SYS];
+char dbgmsg[100];
static uint64_t get_tx_timestamp_u64(void)
{
uint8_t ts_tab[5];
@@ -315,10 +321,10 @@
}
u8 test=0;
u8 anclost_times=0;
-u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
+u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0,uwbrec_userdata[20],uwbrec_userdatalen;
u16 temp_sync_timer1,temp_sync_timer2;
-
- void NearPoll(void)
+extern u8 usartrec_userdatalen,heartbeat_timer;
+void NearPoll(void)
{
static u8 mainbase_lost_count=0,flag_finalsend,flag_rxon;
uint32_t temp1,temp2,dw_systime;
@@ -344,20 +350,23 @@
tx_nearpoll_msg[BUTTON_IDX] = !READ_KEY0;
tx_nearpoll_msg[SEQUENCE_IDX] = frame_seq_nb++;
tx_nearpoll_msg[NEARBASENUM_INDEX] = nearbase_num;
- memcpy(&tx_nearpoll_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
+ tx_nearpoll_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;
+ memcpy(&tx_nearpoll_msg[ANCHOR_ID_IDX],&mainbase_id,2);
+ tx_nearpoll_msg[POLL_USERDATA_IDX] = usartrec_userdatalen;
+ memcpy(&tx_nearpoll_msg[POLL_USERDATA_IDX+1],&uartrec_userdata,usartrec_userdatalen);
+ memcpy(&tx_nearpoll_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
for(i=0;i<nearbase_num;i++)
{ memcpy(&tx_nearpoll_msg[NEARBASEID_INDEX+nearbase_num*2+i*2],&nearbase_distlist[i],2);}
- memcpy(&tx_nearpoll_msg[NEARBASEID_INDEX+nearbase_num*4],&g_commap_antdelay,2);
+ memcpy(&tx_nearpoll_msg[KUIXIANLEN_INDEX],&g_commap_antdelay,2);
for(i=0;i<MAX_NEARBASE_NUM;i++)
{
nearbase_distlist[i]=0x1ffff;
}
- tx_nearpoll_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;
- memcpy(&tx_nearpoll_msg[ANCHOR_ID_IDX],&mainbase_id,2);
- dwt_writetxdata(15+4*nearbase_num, tx_nearpoll_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
- dwt_writetxfctrl(15+4*nearbase_num, 0);//设置超宽带发送数据长度
+
+ dwt_writetxdata(27+4*nearbase_num, tx_nearpoll_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+ dwt_writetxfctrl(27+4*nearbase_num, 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
flag_finalsend=0;
@@ -381,7 +390,14 @@
flag_rxon=0;
dwt_forcetrxoff();
dwt_setdelayedtrxtime(final_tx_time);
- result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
+ result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
+ if(result!=DWT_SUCCESS)
+ {
+ #ifdef DBGMSG_OUTPUT
+ dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
+ SendDbgMsg(dbgmsg,dbgmsg_len);
+ #endif
+ }
break;
}
}
@@ -421,22 +437,22 @@
memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
- if(g_com_map[DEV_ROLE]!=0)
- {
- sync_timer=temp_sync_timer1;
-//// memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
+// if(g_com_map[DEV_ROLE]!=0)
+// {
+// sync_timer=temp_sync_timer1;
+////// memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
+////
//
-
- tmp_time=tmp_time+650;
- if(tmp_time>999)
- {
- tmp_time-=999;
- sync_timer++;
- if(sync_timer>=1000)
- {sync_timer=0;}
- }
- TIM3->CNT=tmp_time;
- }
+// tmp_time=tmp_time+650;
+// if(tmp_time>999)
+// {
+// tmp_time-=999;
+// sync_timer++;
+// if(sync_timer>=1000)
+// {sync_timer=0;}
+// }
+// TIM3->CNT=tmp_time;
+// }
current_slotnum=temp_sync_timer1/g_com_map[COM_INTERVAL];
// if(tagslotpos>max_slotpos)
// tagslotpos=tagslotpos%(max_slotpos+1);
@@ -462,30 +478,35 @@
tx_nearfinal_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
tx_nearfinal_msg[GROUP_ID_IDX] = group_id;
dwt_writetxdata(28+nearbase_num*4, tx_nearfinal_msg, 0);//将发送数据写入DW1000
- dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度
+ dwt_writetxfctrl(28+nearbase_num*4, 0);// 设定发送数据长度
memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
- if(temp_dist!=0x1ffff&&g_com_map[ALARM_DISTANCE1] == 1)
+ ClearUWBUserData();
+ uwbrec_userdatalen = rx_buffer[RESPONSE_USERDATA_IDX];
+ if(uwbrec_userdatalen<=USERDATA_MAXLEN)
+ {
+ memcpy(uwbrec_userdata,&rx_buffer[RESPONSE_USERDATA_IDX+1],uwbrec_userdatalen);
+ }
+ if(temp_dist!=0x1ffff )
{
g_Resttimer=0;
IWDG_Feed();
#ifdef USART_SINGLE_OUTPUT
usart_send[2] = 1;//正常模式
- usart_send[3] = 17;//数据段长度
+ usart_send[3] = 29;//数据段长度
usart_send[4] = frame_seq_nb;//数据段长度
- if(g_com_map[DEV_ROLE])
- {
+
memcpy(&usart_send[5],&dev_id,2);
memcpy(&usart_send[7],&rec_nearbaseid,2);
- }else{
- memcpy(&usart_send[5],&rec_nearbaseid,2);
- memcpy(&usart_send[7],&dev_id,2);
- }
+
memcpy(&usart_send[9],&rx_buffer[DIST_IDX],4);
usart_send[13] = battary;
usart_send[14] = button;
- checksum = Checksum_u16(&usart_send[2],17);
- memcpy(&usart_send[19],&checksum,2);
- UART_PushFrame(usart_send,21);
+ memcpy(&usart_send[17],selftest,2);
+ memcpy(&usart_send[21],uwbrec_userdata,10);
+ checksum = Checksum_u16(&usart_send[2],29);
+ memcpy(&usart_send[31],&checksum,2);
+ UART_PushFrame(usart_send,33);
+ heartbeat_timer = 0;
#endif
//dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
@@ -506,6 +527,12 @@
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
nearbase_distlist[rec_nearbasepos]=temp_dist;
+ ClearUWBUserData();
+ uwbrec_userdatalen = rx_buffer[RESPONSE_USERDATA_IDX];
+ if(uwbrec_userdatalen<=USERDATA_MAXLEN)
+ {
+ memcpy(uwbrec_userdata,&rx_buffer[RESPONSE_USERDATA_IDX+1],uwbrec_userdatalen);
+ }
if(temp_dist!=0x1ffff)
exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
@@ -516,26 +543,25 @@
LED0_BLINK;
// memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
// tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
- if(temp_dist!=0x1ffff&&g_com_map[ALARM_DISTANCE1] == 1)
+ if(temp_dist!=0x1ffff )
{
#ifdef USART_SINGLE_OUTPUT
usart_send[2] = 1;//正常模式
- usart_send[3] = 17;//数据段长度
+ usart_send[3] = 29;//数据段长度
usart_send[4] = frame_seq_nb;//数据段长度
- if(g_com_map[DEV_ROLE])
- {
+
memcpy(&usart_send[5],&dev_id,2);
memcpy(&usart_send[7],&rec_nearbaseid,2);
- }else{
- memcpy(&usart_send[5],&rec_nearbaseid,2);
- memcpy(&usart_send[7],&dev_id,2);
- }
+
memcpy(&usart_send[9],&rx_buffer[DIST_IDX],4);
usart_send[13] = battary;
usart_send[14] = button;
- checksum = Checksum_u16(&usart_send[2],17);
- memcpy(&usart_send[19],&checksum,2);
- UART_PushFrame(usart_send,21);
+ memcpy(&usart_send[17],selftest,2);
+ memcpy(&usart_send[21],uwbrec_userdata,10);
+ checksum = Checksum_u16(&usart_send[2],29);
+ memcpy(&usart_send[31],&checksum,2);
+ UART_PushFrame(usart_send,33);
+ heartbeat_timer = 0;
#endif
//dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
@@ -547,7 +573,12 @@
}else{
dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
if(flag_rxon)
- {dwt_rxenable(0);
+ {
+ dwt_rxenable(0);
+ #ifdef DBGMSG_OUTPUT
+ dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
+ SendDbgMsg(dbgmsg,dbgmsg_len);
+ #endif
}
}
}
@@ -571,9 +602,10 @@
// temp_adc=Get_ADC_Value();
// random_value=random_value|((temp_adc&0x01)<<i);
// }
+ pollsendtimer+=time32_incr%11;
tagslotpos=GetRandomSlotPos(rec_tagpos_binary|tagpos_binary);
tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
- tag_state=NEARPOLL;
+ tag_state=NEARPOLL;
}
// tyncpoll_time=0;
next_nearbase_num=0;
@@ -729,7 +761,6 @@
NearPoll();
break;
}
-
SetNextPollTime(tyncpoll_time);
g_start_send_flag = 0;
GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);
@@ -862,14 +893,17 @@
// min_power = - 10 * log10((F1 *F1 + F2 * F2 + F3 * F3) / (C *B));
return min_power;
}
+extern u8 uartrec_userdata[20];
u16 smallcar_idlist[10]={0x4052,0x4032,0x4055,0x4034,0x4016,0x4010,0x4036,0x4027,0x4024,0x4047};
extern u16 dist_threshold;
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,getrange_success=0;
int32_t filter_dist,filter_speed;
u8 newmeasure,recpoll_len;
+u8 motorstate=0;
+u8 tagpos_rec[50],tagpos_send[50],ancidlist_num;
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
{
- u8 motorstate;
+
tmp_time=TIM3->CNT;
memcpy(&tx_nearresp_msg[ANCTIMEMS],&sync_timer,2);
memcpy(&tx_nearresp_msg[ANCTIMEUS],&tmp_time,2);
@@ -882,18 +916,7 @@
dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//设置发送完成后开启接收延迟时间
dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间
- if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1])
- {
- motorstate =0;
- }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
- {
- motorstate =2;
- }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE3])
- {
- motorstate =1;
- }else{
- motorstate =0;
- }
+
if(new_tagid)
{
@@ -902,28 +925,52 @@
}else{
memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
}
+ motorstate =0;
+ if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
+ {
+ if(flag_tag_distsmooth[taglist_pos])
+ {motorstate =2;
+ }else{
+ motorstate =0;
+ }
+ }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE3])
+ {
+ if(flag_tag_distsmooth[taglist_pos])
+ {motorstate =1;
+ }else{
+ motorstate =0;
+ }
+ }
tx_nearresp_msg[GROUP_ID_IDX] = group_id;
tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
- tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
- if(remotesend_state)
- {
- memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,REMOTEPARA_LEN);
- dwt_writetxdata(22+REMOTEPARA_LEN, tx_nearresp_msg, 0);//写入发送数据
- dwt_writetxfctrl(22+REMOTEPARA_LEN, 0);//设定发送长度
- }else{
- dwt_writetxdata(22, tx_nearresp_msg, 0);//写入发送数据
- dwt_writetxfctrl(22, 0);//设定发送长度
- }
+ tx_nearresp_msg[MOTORSTATE_INDEX]=motorstate;//(remotesend_state<<4)|motorstate;
+ tx_nearresp_msg[MOTORSTATE_INDEX]&=0x0f;
+ if(usartrec_userdatalen<=USERDATA_MAXLEN)
+ {tx_nearresp_msg[RESPONSE_USERDATA_IDX] = usartrec_userdatalen;
+ memcpy(&tx_nearresp_msg[RESPONSE_USERDATA_IDX+1],uartrec_userdata,usartrec_userdatalen);
+ }
+// if(remotesend_state)
+// {
+// memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,REMOTEPARA_LEN);
+// dwt_writetxdata(22+REMOTEPARA_LEN, tx_nearresp_msg, 0);//写入发送数据
+// dwt_writetxfctrl(22+REMOTEPARA_LEN, 0);//设定发送长度
+// }else{
+ dwt_writetxdata(24+11, tx_nearresp_msg, 0);//写入发送数据
+ dwt_writetxfctrl(24+11, 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
- if(result==0)
+ if(result==DWT_SUCCESS)
{
while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_sync_flag)///不断查询芯片状态直到接收成功或者出现错误
{ };
}else{
- result++;
+ #ifdef DBGMSG_OUTPUT
+ dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
+ SendDbgMsg(dbgmsg,dbgmsg_len);
+ #endif
}
if (status_reg & SYS_STATUS_RXFCG)//接收成功
@@ -980,6 +1027,12 @@
if(hex_dist>-100000&&hex_dist<2000000)
{
+ if(abs(hex_dist-his_dist[taglist_pos])<10000)
+ {
+ flag_tag_distsmooth[taglist_pos] =1;
+ }else{
+ flag_tag_distsmooth[taglist_pos] =0;
+ }
if(abs(hex_dist-his_dist[taglist_pos])<dist_threshold||misdist_num[taglist_pos]>3)
{
@@ -1000,24 +1053,27 @@
{
g_Tagdist[taglist_pos]=hex_dist/10;
}else{
- g_Tagdist[taglist_pos]= 1;
+ g_Tagdist[taglist_pos]= 0x2ffff;
}
#ifdef USART_SINGLE_OUTPUT
usart_send[2] = 1;//正常模式
- usart_send[3] = 17;//数据段长度
+ usart_send[3] = 29;//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);
if(tagdist_list[taglist_pos]<=0)
- tagdist_list[taglist_pos]=10;
+ tagdist_list[taglist_pos]=0x2ffff;
memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
usart_send[13] = battary;
usart_send[14] = button;
usart_send[15] = firstpath_power;
usart_send[16] = rx_power;
- checksum = Checksum_u16(&usart_send[2],17);
- memcpy(&usart_send[19],&checksum,2);
- UART_PushFrame(usart_send,21);
+ memcpy(&usart_send[17],selftest,2);
+ memcpy(&usart_send[21],uwbrec_userdata,10);
+ checksum = Checksum_u16(&usart_send[2],29);
+ memcpy(&usart_send[31],&checksum,2);
+ UART_PushFrame(usart_send,33);
+ heartbeat_timer = 0;
#else
memcpy(&usart_send_anc[4+6*anc_report_num],&tag_id_recv,2);
memcpy(&usart_send_anc[6+6*anc_report_num],&tagdist_list[taglist_pos],4);
@@ -1031,12 +1087,16 @@
}
}else{
//printf("%x/n",status_reg);
+ #ifdef DBGMSG_OUTPUT
+ dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
+ SendDbgMsg(dbgmsg,dbgmsg_len);
+ #endif
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}
uint32_t current_syncid=0xffffffff,synclost_timer;
extern u8 flag_syncbase;
-u8 tagpos_rec[50],tagpos_send[50],ancidlist_num;
+
u16 ancidlist_rec[20],ancidlist_send[20],rec_ancidlist[20],rec_ancdistlist[20];
void Anchor_App(void)
{
@@ -1126,7 +1186,11 @@
memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
memcpy(&rec_ancidlist,&rx_buffer[NEARBASEID_INDEX],2*rec_nearbase_num);
memcpy(&rec_ancdistlist,&rx_buffer[NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
- memcpy(&rec_antdelay,&rx_buffer[NEARBASEID_INDEX+nearbase_num*4],2);
+ memcpy(&rec_antdelay,&rx_buffer[KUIXIANLEN_INDEX],2);
+ ClearUWBUserData();
+ uwbrec_userdatalen = rx_buffer[POLL_USERDATA_IDX];
+ if(uwbrec_userdatalen<=20)
+ memcpy(uwbrec_userdata,&rx_buffer[POLL_USERDATA_IDX+1],uwbrec_userdatalen);
#ifdef USART_ALL_OUTPUT
usart_send[2] = 0x0c;//正常模式
usart_send[3] = 8+rec_nearbase_num*4;//数据段长度
@@ -1183,9 +1247,13 @@
break;
}
- }else{
+ }
+}else{
+ #ifdef DBGMSG_OUTPUT
+ dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
+ SendDbgMsg(dbgmsg,dbgmsg_len);
+ #endif
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
-}
}
--
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