From 3f141eba703463e01e2b5d6489351d3cf50e1100 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期五, 24 九月 2021 10:26:42 +0800
Subject: [PATCH] 1
---
源码/核心板/Src/application/dw_app.c | 82 ++++++++++++++++++++++++++++-------------
1 files changed, 56 insertions(+), 26 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 767770f..8dd87c2 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 +1,7 @@
#include "dw_app.h"
#include "ADC.h"
#define TDFILTER
+#define CONT_FRAME_PERIOD 124800
enum enumtagstate
{
DISCPOLL,
@@ -8,7 +9,7 @@
NEARPOLL,
}tag_state=NEARPOLL;
static dwt_config_t config = {
- 2, /* Channel number. */
+ 5, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
DWT_PLEN_128, /* Preamble length. */
DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */
@@ -122,7 +123,7 @@
* performance. */
Reset_DW1000();//重启DW1000 /* Target specific drive of RSTn line into DW1000 low for a period. */
dwt_initialise(DWT_LOADUCODE);//初始化DW1000
- Spi_ChangePrescaler(SPIx_PRESCALER_FAST); //设置为快速模式
+ Spi_ChangePrescaler(SPIx_PRESCALER_SLOW); //设置为快速模式
/* Configure DW1000. See NOTE 6 below. */
dwt_configure(&config);//配置DW1000
@@ -338,12 +339,23 @@
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);}
+
+ for(i=0;i<MAX_NEARBASE_NUM;i++)
+ {
+ nearbase_distlist[i]=0x1ffff;
+ }
+ dwt_configcontinuousframemode(CONT_FRAME_PERIOD);
tx_nearpoll_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;
memcpy(&tx_nearpoll_msg[ANCHOR_ID_IDX],&mainbase_id,2);
- dwt_writetxdata(13+2*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(13+2*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
-
+ dwt_writetxdata(13+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(13+4*nearbase_num, 0);//设置超宽带发送数据长度
+ dwt_starttx(DWT_START_TX_IMMEDIATE);//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
+ while(1)
+ {
+ IdleTask();
+ }
flag_finalsend=0;
flag_rxon=1;
neartimout_timer=0;
@@ -449,7 +461,8 @@
memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
if(temp_dist!=0x1ffff)
{
- #ifndef USART_INTEGRATE_OUTPUT
+ g_Resttimer=0;
+ #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
@@ -499,7 +512,7 @@
// tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
if(temp_dist!=0x1ffff)
{
- #ifndef USART_INTEGRATE_OUTPUT
+ #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
@@ -606,10 +619,7 @@
report_num++;
}
}
- for(i=0;i<MAX_NEARBASE_NUM;i++)
- {
- nearbase_distlist[i]=0x1ffff;
- }
+
// printf("%d,%d",temp_sync_timer2,temp_sync_timer1);
#ifdef USART_INTEGRATE_OUTPUT
@@ -700,7 +710,6 @@
{
//LED0_ON;
dwt_forcetrxoff();
- g_Resttimer=0;
GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
switch(tag_state)
{
@@ -824,6 +833,7 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}
+extern u16 dist_threshold;
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,getrange_success=0;
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
{
@@ -874,9 +884,7 @@
}
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];
+
if(result==0)
{
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
@@ -922,15 +930,17 @@
/*--------------------------以下为非测距逻辑------------------------*/
//dist_cm=33000;
getrange_success = 1;
+
LED0_BLINK; //每成功一次通讯则闪烁一次
dis_after_filter=dist_cm;
- hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET];
+ hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10;
g_flag_Taggetdist[taglist_pos]=0;
if(hex_dist>-10000&&hex_dist<2000000)
{
- if(abs(hex_dist-his_dist[taglist_pos])<15000||misdist_num[taglist_pos]>3)
+ if(abs(hex_dist-his_dist[taglist_pos])<dist_threshold||misdist_num[taglist_pos]>3)
{
int32_t filter_dist;
+ g_Resttimer=0;
#ifdef TDFILTER
NewTrackingDiffUpdate(taglist_pos, (float)hex_dist);
filter_dist=pos_predict[taglist_pos]/10;
@@ -941,7 +951,7 @@
tagdist_list[taglist_pos] = filter_dist;
his_dist[taglist_pos]=hex_dist;
g_Tagdist[taglist_pos]=filter_dist;
- #ifndef USART_INTEGRATE_OUTPUT
+ #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_nb2;//数据段长度
@@ -972,7 +982,7 @@
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];
+u16 ancidlist_rec[20],ancidlist_send[20],rec_ancidlist[20],rec_ancdistlist[20];
void Anchor_App(void)
{
@@ -1009,8 +1019,7 @@
// if (anchor_type == rx_buffer[ANC_TYPE_IDX])
// Anchor_RecPoll();
// break;
- case SYNC:
- g_Resttimer=0;
+ case SYNC:
memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
if(rec_syncid<current_syncid)
{
@@ -1051,9 +1060,30 @@
}
break;
- case NEAR_POLL:
- g_Resttimer=0;
+ case NEAR_POLL:
+ frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
+ battary = rx_buffer[BATTARY_IDX];
+ button = rx_buffer[BUTTON_IDX];
+ rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
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);
+ #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
+ usart_send[4] = frame_seq_nb2;//数据段长度
+ usart_send[5] = battary;
+ usart_send[6] = button;
+ usart_send[7] = rec_nearbase_num;
+ memcpy(&usart_send[8],&tag_id_recv,2);
+ memcpy(&usart_send[10],&rec_ancidlist,2*rec_nearbase_num);
+ memcpy(&usart_send[10+rec_nearbase_num*2],&rec_ancdistlist,2*rec_nearbase_num);
+ checksum = Checksum_u16(&usart_send[2],8+4*rec_nearbase_num);
+ memcpy(&usart_send[10+4*rec_nearbase_num],&checksum,2);
+ UART_PushFrame(usart_send,12+rec_nearbase_num*4);
+ #endif
+ if(tag_id_recv>=g_com_map[WHITELIST1_START]&&tag_id_recv<=g_com_map[WHITELIST1_END])
+ {break;}
taglist_pos=CmpTagInList(tag_id_recv);
if(taglist_pos==taglist_num)
{
@@ -1065,9 +1095,9 @@
new_tagid=0;
}
tagofflinetime[taglist_pos]=0;
- temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime);
+ temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime);
tagpos_rec[(u8)temp_tagpos]=1;
- rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
+
if(rec_nearbase_num>ancidlist_num)
{
--
Gitblit v1.9.3