From 46542e0df74f8ba6d1ef7e19a16a371f52afb230 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期一, 22 十月 2018 16:13:25 +0800
Subject: [PATCH] nothing
---
源码/核心板/Src/application/dw_app.c | 102 ++++++++++++++++++++++++++++++++++++++------------
1 files changed, 77 insertions(+), 25 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 84ee3d2..ce176b3 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"
@@ -30,6 +30,8 @@
#include "Usart.h"
#include "global_param.h"
#include "filters.h"
+#include <stdio.h>
+#include "beep.h"
/*------------------------------------ Marcos ------------------------------------------*/
@@ -69,8 +71,10 @@
#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
@@ -79,7 +83,7 @@
/*------------------------------------ Variables ------------------------------------------*/
/* Default communication configuration. We use here EVK1000's default mode (mode 3). */
static dwt_config_t config = {
- 5, /* Channel number. */
+ 2, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
DWT_PLEN_128, /* Preamble length. */
DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */
@@ -135,6 +139,8 @@
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[256];
+uint8_t g_flag_Taggetdist[256];
/*------------------------------------ Functions ------------------------------------------*/
@@ -216,7 +222,23 @@
*ts += ts_field[i] << (i * 8);
}
}
-
+void TagDistClear(void)
+{
+ static uint16_t clear_judge_cnt;
+ uint16_t i;
+ 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++)
+ {
+ g_flag_Taggetdist[i]++;
+ if(g_flag_Taggetdist[i]>=2)
+ {
+ g_Tagdist[i]=0xffff;
+ }
+ }
+ }
+}
void Dw1000_Init(void)
{
/* Reset and initialise DW1000.
@@ -240,20 +262,33 @@
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 Dw1000_App_Init(void)
+{
+//g_com_map[DEV_ID] = 0x0b;
+ 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();
}
-
+uint16_t g_Resttimer;
+uint8_t result;
void Tag_App(void)//发送模式(TAG标签)
{
uint32_t frame_len;
uint32_t final_tx_time;
+ g_Resttimer=0;
+ UART_CheckReceive();
GPIO_ResetBits(SPIx_GPIO, SPIx_CS);
- delay_us(2000);
+ delay_us(2500);
GPIO_SetBits(SPIx_GPIO, SPIx_CS);
/* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
@@ -286,14 +321,14 @@
/* 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
@@ -310,12 +345,14 @@
tx_final_msg[ALL_MSG_SN_IDX] = frame_seq_nb;
dwt_writetxdata(sizeof(tx_final_msg), tx_final_msg, 0);//将发送数据写入DW1000
dwt_writetxfctrl(sizeof(tx_final_msg), 0);//设定发送数据长度
- 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
+
/* Poll DW1000 until TX frame sent event set. See NOTE 8 below. */
- while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成
+ 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
{ };
-
+ }
/* Clear TXFRS event. */
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//清除标志位
@@ -339,7 +376,7 @@
dwt_entersleep();
}
-
+extern uint8_t g_pairstart;
void Anchor_App(void)
{
uint32_t frame_len;
@@ -355,7 +392,7 @@
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
{
UART_CheckReceive();
- UART_CheckSend();
+ g_Resttimer=0;
};
if (status_reg & SYS_STATUS_RXFCG)//成功接收
@@ -374,11 +411,11 @@
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&&tag_id_recv!= g_com_map[PAIR_ID]) //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
@@ -392,17 +429,19 @@
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
- dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，等待接收
+ result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，等待接收
/* We assume that the transmission is achieved correctly, now poll for reception of expected "final" frame or error/timeout.
* See NOTE 7 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接收成功或者出现错误
+ 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
{ };
-
+ }
/* Increment frame sequence number after transmission of the response message (modulo 256). */
frame_seq_nb++;
@@ -420,7 +459,7 @@
/* 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;
@@ -456,7 +495,20 @@
/*--------------------------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 = LP_Frac_Update(p_Dis_Filter, dist_cm);
+ dis_after_filter=dist_cm;
+ g_Tagdist[tag_id_recv]=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]);
+ }
+ g_flag_Taggetdist[tag_id_recv]=0;
+ printf("Anchor ID: %d, Tag ID: %d, Dist = %d cm\n", g_com_map[DEV_ID], tag_id_recv, (uint16_t)dis_after_filter);
+ //dis_after_filter = LP_Frac_Update(p_Dis_Filter, dist_cm);
}
}
--
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