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.c | 164 ++++++++++++++++++++++++++++++++++++++++--------------
1 files changed, 120 insertions(+), 44 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 2a911aa..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"
@@ -64,6 +64,8 @@
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4
+#define SYNC_SEQ_IDX 5
+
#define GROUP_ID_IDX 0
#define ANCHOR_ID_IDX 1
#define TAG_ID_IDX 5
@@ -75,11 +77,14 @@
#define BUTTON_IDX 16
#define SEQUENCE_IDX 17
//respose
-#define TIMECORRE 14
+#define ANCTIMEMS 14
+#define ANCTIMEUS 16
+#define TAGSLOTPOS 18
#define POLL 0x01
#define RESPONSE 0x02
#define FINAL 0x03
+#define SYNC 0x04
/*------------------------------------ Variables ------------------------------------------*/
/* Default communication configuration. We use here EVK1000's default mode (mode 3). */
@@ -98,11 +103,12 @@
/* Frames used in the ranging process. See NOTE 2 below. */
static uint8_t tx_poll_msg[20] = {0};
+static uint8_t tx_sync_msg[14] = {0};
//static uint8_t rx_resp_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'V', 'E', 'W', 'A', 0x10, 0x02, 0, 0, 0, 0};
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[18] = {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. */
@@ -129,7 +135,7 @@
static double tof;
-uint32_t anchor_dist_last_frm[TAG_NUM_IN_SYS],his_dist[TAG_NUM_IN_SYS]; ;
+int32_t anchor_dist_last_frm[TAG_NUM_IN_SYS],his_dist[TAG_NUM_IN_SYS]; ;
uint32_t tag_id = 0;
uint32_t tag_id_recv = 0;
uint8_t random_delay_tim = 0;
@@ -268,10 +274,12 @@
tx_poll_msg[MESSAGE_TYPE_IDX]=POLL;
tx_resp_msg[MESSAGE_TYPE_IDX]=RESPONSE;
tx_final_msg[MESSAGE_TYPE_IDX]=FINAL;
+ tx_sync_msg[MESSAGE_TYPE_IDX]=SYNC;
+
memcpy(&tx_poll_msg[TAG_ID_IDX], &dev_id, 4);
memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 4);
memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 4);
-
+ memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &dev_id, 4);
}
uint16_t Checksum_u16(uint8_t* pdata, uint32_t len)
{
@@ -292,18 +300,33 @@
dwt_configuresleep(0x940, 0x7);
dwt_entersleep();
}
+extern uint8_t g_start_send_flag;
+u8 g_start_sync_flag;
+void SyncPoll(u8 sync_seq)
+{
+ g_start_sync_flag=1;
+ dwt_forcetrxoff();
+ tx_sync_msg[SYNC_SEQ_IDX]=sync_seq;
+ dwt_writetxdata(sizeof(tx_sync_msg), tx_sync_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+ dwt_writetxfctrl(sizeof(tx_sync_msg), 0);//设置超宽带发送数据长度
+ dwt_starttx(DWT_START_TX_IMMEDIATE);
+}
uint16_t g_Resttimer;
uint8_t result;
u8 tag_succ_times=0;
int32_t hex_dist;
u16 checksum;
int8_t tag_delaytime;
+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;
uint32_t final_tx_time;
u32 start_poll;
- u8 i;
+ u8 i,getsync_flag=0;
//LED0_ON;
dwt_forcetrxoff();
g_Resttimer=0;
@@ -313,7 +336,7 @@
tx_poll_msg[BATTARY_IDX] = Get_Battary();
tx_poll_msg[BUTTON_IDX] = !READ_KEY0;
tx_poll_msg[SEQUENCE_IDX] = frame_seq_nb++;
-
+ GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_RESET);
for(i=0;i<g_com_map[MAX_REPORT_ANC_NUM];i++)
{
/* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
@@ -360,15 +383,25 @@
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
- if(i==0)
- {
- tag_delaytime=rx_buffer[TIMECORRE];
- if(tag_delaytime>g_com_map[COM_INTERVAL]/2)
- {
- tag_delaytime=tag_delaytime-g_com_map[COM_INTERVAL];
- }
- }
-
+ if(getsync_flag==0)
+ {
+ 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)
+ {
+ tmp_time-=999;
+ sync_timer++;
+ if(sync_timer>=1010)
+ {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);
/* Compute final message transmission time. See NOTE 9 below. */
@@ -392,14 +425,21 @@
tag_succ_times++;
LED0_BLINK;
-
+// temp_dist=anchor_dist_last_frm[0];
+// if(anchor_dist_last_frm[0]>1000000)
+// {
+// temp_dist=anchor_dist_last_frm[0]-0xffffffff;
+// temp_dist+=0xffff;
+// anchor_dist_last_frm[0]=temp_dist;
+// }
+
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
memcpy(&usart_send[5],&dev_id,2);
memcpy(&usart_send[7],&rx_buffer[ANCHOR_ID_IDX],2);
- hex_dist = anchor_dist_last_frm[0];;
+ hex_dist = anchor_dist_last_frm[0]+(int16_t)g_com_map[DIST_OFFSET];
memcpy(&usart_send[9],&hex_dist,4);
usart_send[13] = battary;
usart_send[14] = button;
@@ -430,19 +470,48 @@
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 g_start_send_flag;
+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)
{
uint32_t frame_len;
@@ -455,7 +524,7 @@
dwt_rxenable(0);//打开接收
/* Poll for reception of a frame or error/timeout. See NOTE 7 below. */
- while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag)//不断查询芯片状态直到接收成功或者出现错误
+ while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag&&!g_start_sync_flag)//不断查询芯片状态直到接收成功或者出现错误
{
IdleTask();
g_Resttimer=0;
@@ -480,19 +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
{
- correction_time=tag_timer-tag_id_recv*3;
- if(correction_time == g_com_map[COM_INTERVAL])
- correction_time = 0;
- tx_resp_msg[TIMECORRE] = correction_time;
+ 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++;}
@@ -575,10 +644,11 @@
// dist[TAG_ID] = LP(dis, TAG_ID); //LP 为低通滤波器，让数据更稳定
/*--------------------------以下为非测距逻辑------------------------*/
+ //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 = (int16_t)(dist_cm+g_com_map[DIST_OFFSET]);
+ hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET];
if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS)
if(abs(hex_dist-his_dist[tag_id_recv-TAG_ID_START])<1000)
{
@@ -593,21 +663,27 @@
memcpy(&usart_send[5],&tag_id_recv,2);
memcpy(&usart_send[7],&dev_id,2);
- memcpy(&usart_send[9],&hex_dist,4);
+ memcpy(&usart_send[9],&anchor_dist_last_frm[tag_id_recv-TAG_ID_START],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);
-
-
- //dis_after_filter = LP_Frac_Update(p_Dis_Filter, dist_cm);
-
}
}else{
/* Clear RX error events in the DW1000 status register. */
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
+ }else if(rx_buffer[MESSAGE_TYPE_IDX] == SYNC)
+ {
+ if(rx_buffer[SYNC_SEQ_IDX]<sync_seq)
+ // if(rx_buffer[SYNC_SEQ_IDX]==2)
+ {
+ sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
+ TIM3->CNT = sync_seq*325%1000+15;
+ sync_timer = sync_seq*325/1000;
+ SyncPoll(sync_seq);
+ }
}
}
else
--
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