From 2cb63340687ae2ada98c545227ffb247f48f3a9a Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期四, 11 五月 2023 11:05:41 +0800
Subject: [PATCH] V1.9
---
源码/核心板/Src/application/dw_app.c | 153 +++++++++++++++++++++++++++++++++++---------------
1 files changed, 107 insertions(+), 46 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..877e596 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 +1,6 @@
#include "dw_app.h"
#include "ADC.h"
-#define TDFILTER
+//#define TDFILTER
enum enumtagstate
{
DISCPOLL,
@@ -49,7 +49,7 @@
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];
static uint64_t get_tx_timestamp_u64(void)
{
@@ -344,6 +344,7 @@
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);
for(i=0;i<nearbase_num;i++)
{ memcpy(&tx_nearpoll_msg[NEARBASEID_INDEX+nearbase_num*2+i*2],&nearbase_distlist[i],2);}
@@ -437,6 +438,7 @@
}
TIM3->CNT=tmp_time;
}
+ if(g_com_map[DEV_ROLE])
current_slotnum=temp_sync_timer1/g_com_map[COM_INTERVAL];
// if(tagslotpos>max_slotpos)
// tagslotpos=tagslotpos%(max_slotpos+1);
@@ -464,7 +466,7 @@
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
memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
- if(temp_dist!=0x1ffff&&g_com_map[ALARM_DISTANCE1] == 1)
+ if(temp_dist!=0x1ffff)
{
g_Resttimer=0;
IWDG_Feed();
@@ -472,14 +474,10 @@
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
- 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;
@@ -516,20 +514,16 @@
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[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;
@@ -867,6 +861,58 @@
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,getrange_success=0;
int32_t filter_dist,filter_speed;
u8 newmeasure,recpoll_len;
+uint32_t current_syncid=0xffffffff,synclost_timer;
+extern uint8_t flag_syncbase;
+uint8_t tagpos_rec[50],tagpos_send[50],ancidlist_num;
+uint16_t ancidlist_rec[20],ancidlist_send[20],rec_ancidlist[20],rec_ancdistlist[20];
+uint16_t samegroup_ancid,anc_mount_dist;
+uint8_t getvaluetimes = 0;
+uint16_t first_dist,second_dist,delta_dist;
+int16_t tag_angle[TAG_NUM_IN_SYS],tag_dist[TAG_NUM_IN_SYS];
+float p_dist;
+void AngleCalculate(void)
+{
+ getvaluetimes = 0;
+ for(uint8_t i=0;i<rec_nearbase_num;i++)
+ {
+ if(rec_ancidlist[i]==dev_id)
+ {
+
+ first_dist = rec_ancdistlist[i];
+ if(first_dist!=0xffff)
+ {
+ getvaluetimes++;
+ }
+ }else if(rec_ancidlist[i]==samegroup_ancid)
+ {
+
+ second_dist = rec_ancdistlist[i];
+ if(second_dist != 0xffff)
+ {
+ getvaluetimes++;
+ }
+ }
+ }
+ if(getvaluetimes==2)
+ {
+ p_dist = ((float)first_dist-(float)second_dist)/anc_mount_dist;
+ if(p_dist>1)
+ {
+ p_dist = 1;
+ }else if(p_dist<-1)
+ {
+ p_dist = -1;
+ }
+ tag_dist[taglist_pos] = second_dist;
+ tag_angle[taglist_pos] = asin(p_dist)*57.3;
+ OUT485_ENABLE;
+ delay_us(10);
+ printf("角度：%d,距离差：%d,距离1：%d,距离2:%d......\r\n",tag_angle[taglist_pos],first_dist-second_dist,first_dist,second_dist);
+ delay_us(10);
+ OUT485_DISABLE;
+ }
+}
+extern int16_t alarm_angle;
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
{
u8 motorstate;
@@ -882,18 +928,7 @@
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)
{
@@ -902,19 +937,40 @@
}else{
memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
}
+ motorstate =0;
+
+ if(g_Tagdist[taglist_pos]<g_com_map[ALARM_DISTANCE1]||g_Tagdist[taglist_pos]==0)
+ {
+ motorstate =0;
+ }else if(g_Tagdist[taglist_pos]<g_com_map[ALARM_DISTANCE2])
+ {
+ if(flag_tag_distsmooth[taglist_pos])
+ {motorstate =2;
+ }else{
+ motorstate =0;
+ }
+ }else if(g_Tagdist[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(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, tx_nearresp_msg, 0);//写入发送数据
+ dwt_writetxfctrl(24, 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
@@ -980,6 +1036,12 @@
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)
{
@@ -1000,8 +1062,9 @@
{
g_Tagdist[taglist_pos]=hex_dist/10;
}else{
- g_Tagdist[taglist_pos]= 1;
+ g_Tagdist[taglist_pos]= 0x2ffff;
}
+ AngleCalculate();
#ifdef USART_SINGLE_OUTPUT
usart_send[2] = 1;//正常模式
usart_send[3] = 17;//数据段长度
@@ -1009,12 +1072,12 @@
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;
+ usart_send[16] = tag_angle[taglist_pos];
checksum = Checksum_u16(&usart_send[2],17);
memcpy(&usart_send[19],&checksum,2);
UART_PushFrame(usart_send,21);
@@ -1033,11 +1096,9 @@
//printf("%x/n",status_reg);
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 +1187,7 @@
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[NEARBASEID_INDEX+rec_nearbase_num*4],2);
#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
--
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