From 503efc0a0d2ea34213ec87aea5bf63c52c2eb93a Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期二, 12 十一月 2019 19:29:18 +0800
Subject: [PATCH] 实现标签时间隙动态更新
---
源码/核心板/Src/application/dw_app.h | 4 +
源码/核心板/Src/main.c | 36 +++++++++--
源码/核心板/Src/stm32f10x_it.c | 40 +++++--------
源码/核心板/Src/application/dw_app.c | 71 ++++++++++++++++-------
4 files changed, 97 insertions(+), 54 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 58345cd..82c7da6 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"
@@ -79,6 +79,7 @@
//respose
#define ANCTIMEMS 14
#define ANCTIMEUS 16
+#define TAGSLOTPOS 18
#define POLL 0x01
#define RESPONSE 0x02
@@ -107,7 +108,7 @@
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 rx_poll_msg[] = {0x00, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x21, 0, 0};
-static uint8_t tx_resp_msg[20] = {0};
+static uint8_t tx_resp_msg[22] = {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. */
@@ -319,6 +320,7 @@
extern uint16_t sync_timer;
u16 tmp_time;
int32_t temp_dist;
+u16 tagslotpos;
void Tag_App(void)//发送模式(TAG标签)
{
uint32_t frame_len;
@@ -386,6 +388,7 @@
getsync_flag=1;
memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
+ memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
tmp_time=tmp_time+450;
if(tmp_time>999)
{
@@ -395,6 +398,9 @@
{sync_timer=0;}
}
TIM3->CNT=tmp_time;
+ if(tagslotpos>max_slotpos)
+ tagslotpos=tagslotpos%(max_slotpos+1);
+ tyncpoll_time=(tagslotpos-1)*slottime;
}
memcpy(&anchor_dist_last_frm[0], &rx_buffer[DIST_IDX], 4);
memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
@@ -464,19 +470,47 @@
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<g_com_map[MIN_REPORT_ANC_NUM])
- {
- //poll_timer +=time32_incr&0x7+3;
- }
- /* Execute a delay between ranging exchanges. */
+if(getsync_flag==0)
+{
+tagslotpos--;
+ if(tagslotpos==0||tagslotpos>max_slotpos)
+ {
+ tagslotpos=max_slotpos;
+ }
+ tyncpoll_time=(tagslotpos-1)*slottime;
+}
}
+
int8_t correction_time;
extern uint8_t sync_seq;
+u16 taglist_num=0,taglist_pos;
+u16 tagid_list[TAG_NUM_IN_SYS];
+u8 tagofflinetime[TAG_NUM_IN_SYS];
+void TagListUpdate(void)
+{
+ u16 i,j=0,temp[TAG_NUM_IN_SYS];
+ for(i=0;i<taglist_num;i++)
+ {
+ if(tagofflinetime[i]++<QUIT_SLOT_TIME)
+ {
+ tagid_list[j]=tagid_list[i];
+ tagofflinetime[j++]=tagofflinetime[i];
+ }
+ }
+ taglist_num=j;
+}
+u16 CmpTagInList(u16 tagid)
+{u16 i;
+ for(i=0;i<taglist_num;i++)
+ {
+ if(memcmp(&tagid,&tagid_list[i],2)==0)
+ return i+1;
+ }
+ return 0;
+}
void Anchor_App(void)
{
@@ -515,19 +549,19 @@
//tag_id_recv = rx_buffer[TAG_ID_IDX];
memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],4);
memcpy(&tx_resp_msg[TAG_ID_IDX],&tag_id_recv,4);
- //tx_resp_msg[TAG_ID_IDX] = tag_id_recv;
-// if(tag_recv_timer>tag_time_recv[tag_id_recv-TAG_ID_START])
-// { tag_recv_interval = tag_recv_timer - tag_time_recv[tag_id_recv];
-// }else{
-// tag_recv_interval = tag_recv_timer + 65535 - tag_time_recv[tag_id_recv];
-// }
-
+ taglist_pos=CmpTagInList(tag_id_recv);
+ if(taglist_pos==0)
+ {
+ tagid_list[taglist_num++]=tag_id_recv;
+ taglist_pos=taglist_num;
+ }
+ tagofflinetime[taglist_pos-1]=0;
if (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);
-
+ memcpy(&tx_resp_msg[TAGSLOTPOS],&taglist_pos,2);
// if(correction_time>10)
// {correction_time++;}
@@ -613,7 +647,6 @@
//dist_cm=33000;
LED0_BLINK; //每成功一次通讯则闪烁一次
- g_UWB_com_interval = 0;
dis_after_filter=dist_cm;
hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET];
if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS)
@@ -636,10 +669,6 @@
checksum = Checksum_u16(&usart_send[2],17);
memcpy(&usart_send[19],&checksum,2);
UART_PushFrame(usart_send,21);
-
-
- //dis_after_filter = LP_Frac_Update(p_Dis_Filter, dist_cm);
-
}
}else{
/* Clear RX error events in the DW1000 status register. */
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.h" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.h"
index e3388ff..8d79013 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.h"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.h"
@@ -19,6 +19,8 @@
#define GROUP_TAG_NUM 2
#define TAG_NUM_IN_SYS 256
#define DFT_RAND_DLY_TIM_MS 1
+#define QUIT_SLOT_TIME 5
+extern u16 slottime,tyncpoll_time,max_slotpos;
extern u16 poll_timer,tag_timer;
extern int8_t tag_delaytime;
extern u32 dev_id;
@@ -41,4 +43,6 @@
extern uint8_t g_flag_Taggetdist[256];
extern void TagDistClear(void);
void Dw1000_App_Init(void);
+void TagListUpdate(void);
+void SyncPoll(u8 sync_seq);
#endif
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
index 9a8ec1c..f775c2a 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
@@ -11,6 +11,7 @@
#include "global_param.h"
#include "ADC.h"
+#define DEBUG_MODE
void Device_Init(void)
{
@@ -44,18 +45,34 @@
memcpy(&hbsend[14],&checksum,2);
}
u16 tyncpoll_time;
+u16 slottime,max_slotpos;
void Program_Init(void)
-{uint16_t i;
+{ float temp;
+ u16 temp2;
+ uint16_t i;
Usart1ParseDataCallback = UsartParseDataHandler;
parameter_init();
//deca_sleep(1000);
HeartBeatInit();
- dev_id = g_com_map[DEV_ID];
-// g_com_map[DEV_ROLE]=1;
-// g_com_map[DEV_ID]=1;
-// g_com_map[COM_INTERVAL]=10;
+#ifdef DEBUG_MODE
+ g_com_map[DEV_ROLE]=1;
+ g_com_map[DEV_ID]=4;
+ g_com_map[COM_INTERVAL]=100;
+ g_com_map[MAX_REPORT_ANC_NUM]=3;
+#endif
OUT485_ENABLE;
- g_com_map[VERSION] = 0x0105;
+ g_com_map[VERSION] = 0x0106;
+ dev_id = g_com_map[DEV_ID];
+ temp=(float)g_com_map[MAX_REPORT_ANC_NUM]*4/3;
+ temp2=g_com_map[MAX_REPORT_ANC_NUM]*4/3;
+ if(temp2<temp)
+ {
+ temp2++;
+ }
+ slottime=temp2;
+ max_slotpos=g_com_map[COM_INTERVAL]/slottime;
+ tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;
+
if(g_com_map[DEV_ROLE])
{
tyncpoll_time=g_com_map[DEV_ID]*g_com_map[MAX_REPORT_ANC_NUM]*4/3;
@@ -117,6 +134,9 @@
result = FLASH_Write(0x8004A38, (const uint8_t*)&tmp, 2);
__enable_irq();
printf("进入升级模式\r\n");
+ g_com_map[CNT_UPDATE]=0;
+ save_com_map_to_flash();
+ delay_ms(100);
// STMFLASH_Write_NoCheck(0x8004A38,0xAAAA);
// Delay_ms(100);
SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
@@ -138,13 +158,13 @@
while(1)
{
- IdleTask();
+
if(g_start_send_flag)
{
g_start_send_flag = 0;
Tag_App();
}
-
+ IdleTask();
if(g_com_map[DEV_ROLE]==0)
Anchor_App();
}
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/stm32f10x_it.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/stm32f10x_it.c"
index 96ad665..d00482c 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/stm32f10x_it.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/stm32f10x_it.c"
@@ -44,20 +44,21 @@
if (TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET) //??TIM3????????
{
TIM_ClearITPendingBit(TIM3, TIM_IT_Update ); //??TIMx??????
- time32_incr++;
- g_UWB_com_interval++;
+
+ time32_incr++;
heartbeat_timer++;
- poll_timer++;
-
- if(tag_timer++>=g_com_map[COM_INTERVAL])
- {tag_timer=0;}
+ sync_timer++;
+
+ if(sync_timer>=1010)
+ {sync_timer=0;}
+
if(g_Resttimer++>2000)
{
NVIC_SystemReset();
}
- sync_timer++;
+
if(!g_com_map[DEV_ROLE]) //基站
{
@@ -65,33 +66,22 @@
TagDistClear();
if(g_com_map[ALARM_DEV]!=0)
main_logic();
- if(sync_timer==10)
- {
- GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_SET);
- }else{
- GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_RESET);
- }
+
if(sync_timer>500&&dev_id!=0)
{
sync_seq=0xff;
}
- if(sync_timer>=1010)
- {
- sync_timer=0;
- if(dev_id==0)
+
+ if(sync_timer==0)
{
- SyncPoll(0);
+ TagListUpdate();
+ if(dev_id==0)
+ SyncPoll(0);
}
- }
}else{ //标签同步处理
- if(sync_timer>=1010)
- {sync_timer=0;}
- if((sync_timer-10)%g_com_map[COM_INTERVAL]==tyncpoll_time)
+ if((sync_timer-10)%g_com_map[COM_INTERVAL]==tyncpoll_time&&sync_timer>=10)
{
GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_SET);
- }
- if((sync_timer-10)%g_com_map[COM_INTERVAL]==tyncpoll_time)
- {
g_start_send_flag=1;
}
--
Gitblit v1.9.3