From 51b6c7e11c8863fe4710305431c5718a9d0d1985 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期一, 15 十一月 2021 20:02:38 +0800
Subject: [PATCH] V1.63
---
源码/核心板/Src/application/dw_app.c | 189 ++++++++++++++++++++++++++++++++---------------
1 files changed, 128 insertions(+), 61 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 f5c4a53..cbb43d8 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"
@@ -14,7 +14,7 @@
DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */
9, /* TX preamble code. Used in TX only. */
9, /* RX preamble code. Used in RX only. */
- 0, /* Use non-standard SFD (Boolean) */
+ 1, /* Use non-standard SFD (Boolean) */
DWT_BR_6M8, /* Data rate. */
DWT_PHRMODE_STD, /* PHY header mode. */
(129 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
@@ -115,6 +115,14 @@
}
}
}
+void SetNLOSNTMSettings(void)
+{
+ uint8_t temp;
+ temp = 7;
+ dwt_writetodevice(LDE_IF_ID,LDE_CFG1_OFFSET,1,&temp);
+ dwt_write16bitoffsetreg(LDE_IF_ID,LDE_CFG2_OFFSET,3);
+ // NTM = dwt_read32bitoffsetreg(LDE_IF_ID,LDE_CFG1_OFFSET) & LDE_CFG1_NSTDEV_MASK;
+}
void Dw1000_Init(void)
{
/* Reset and initialise DW1000.
@@ -127,7 +135,7 @@
/* Configure DW1000. See NOTE 6 below. */
dwt_configure(&config);//配置DW1000
-
+ // SetNLOSNTMSettings();
/* Apply default antenna delay value. See NOTE 1 below. */
dwt_setrxantennadelay(RX_ANT_DLY); //设置接收天线延迟
@@ -307,11 +315,24 @@
}
return max_slotpos-1;
}
+void OutputUserData(u16 devid,u8* addr,u8 len)
+{
+ len++;
+ usart_send[2] = 0x11;//正常模式
+ usart_send[3] = len+4;//数据段长度
+ memcpy(&usart_send[4],&devid,2);
+ memcpy(&usart_send[6],addr,len);
+ checksum = Checksum_u16(&usart_send[2],len+4);
+ memcpy(&usart_send[len+6],&checksum,2);
+ UART_PushFrame(usart_send,len+8);
+}
u8 test=0;
u8 anclost_times=0;
-u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
-u16 temp_sync_timer1,temp_sync_timer2;
-
+u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0,temp_sendlen;
+u16 temp_sync_timer1,temp_sync_timer2,rec_userdata_targetid;
+extern u8 userdata[50];
+u8 tagrec_userdata[20],tagrec_datalen;
+extern u32 getuserdata_tick;
void NearPoll(void)
{
static u8 mainbase_lost_count=0,flag_finalsend,flag_rxon;
@@ -338,17 +359,19 @@
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;
- }
tx_nearpoll_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;
memcpy(&tx_nearpoll_msg[ANCHOR_ID_IDX],&mainbase_id,2);
- 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
+ temp_sendlen = 0;
+ if(time32_incr-getuserdata_tick<500)
+ {
+ temp_sendlen +=7;
+ memcpy(&tx_nearpoll_msg[NEARBASEID_INDEX+nearbase_num*2],userdata,USERDATA_LEN+3);
+ }else{
+ tx_nearpoll_msg[NEARBASEID_INDEX+nearbase_num*2] = 0;
+ }
+
+ dwt_writetxdata(13+temp_sendlen+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+temp_sendlen+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
flag_finalsend=0;
@@ -436,6 +459,16 @@
rec_nearbasepos=0;
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
+ tagrec_datalen = rx_buffer[RT_USERDATA_INDEX+2];
+ memcpy(&rec_userdata_targetid,&rx_buffer[RT_USERDATA_INDEX],2);
+ if(tagrec_datalen==USERDATA_LEN)
+ {
+ if(rec_userdata_targetid==dev_id||rec_userdata_targetid==0xffff)
+ {
+ memcpy(tagrec_userdata,&rx_buffer[RT_USERDATA_INDEX+2],tagrec_datalen+1);
+ OutputUserData(rec_nearbaseid,tagrec_userdata,tagrec_datalen);
+ }
+ }
nearbase_distlist[rec_nearbasepos]=temp_dist;
if(temp_dist!=0x1ffff)
exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
@@ -457,8 +490,7 @@
if(temp_dist!=0x1ffff)
{
g_Resttimer=0;
- IWDG_Feed();
- #ifdef USART_SINGLE_OUTPUT
+ #ifndef USART_INTEGRATE_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
@@ -495,6 +527,16 @@
}
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
+ tagrec_datalen = rx_buffer[RT_USERDATA_INDEX+2];
+ memcpy(&rec_userdata_targetid,&rx_buffer[RT_USERDATA_INDEX],2);
+ if(tagrec_datalen==USERDATA_LEN)
+ {
+ if(rec_userdata_targetid==dev_id||rec_userdata_targetid==0xffff)
+ {
+ memcpy(tagrec_userdata,&rx_buffer[RT_USERDATA_INDEX+2],tagrec_datalen+1);
+ OutputUserData(rec_nearbaseid,tagrec_userdata,tagrec_datalen);
+ }
+ }
nearbase_distlist[rec_nearbasepos]=temp_dist;
if(temp_dist!=0x1ffff)
@@ -508,7 +550,7 @@
// tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
if(temp_dist!=0x1ffff)
{
- #ifdef USART_SINGLE_OUTPUT
+ #ifndef USART_INTEGRATE_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
@@ -615,7 +657,10 @@
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
@@ -701,7 +746,26 @@
UART_PushFrame(usart_send,6+report_num*6);
#endif
}
+ double firstpath_power, rx_power,rec_firstpath_power;
+ double f1, f2, r1, r2;
+uint16_t F1,F2,F3,N,C;
+double B = 131072;
+double A = 121.74;
+double min_power;
+ dwt_rxdiag_t d1;
+double LOS(dwt_rxdiag_t *dia) {
+ F1 = dia->firstPathAmp1;
+ F2 = dia->firstPathAmp2;
+ F3 = dia->firstPathAmp3;
+ N = dia->rxPreamCount;
+ C = dia->maxGrowthCIR;
+
+ firstpath_power=10* log10((F1*F1+F2*F2+F3*F3)/(N*N))-A;
+ rx_power=10*log10(C*B/(N*N))-A;
+ // min_power = - 10 * log10((F1 *F1 + F2 * F2 + F3 * F3) / (C *B));
+ return min_power;
+ }
void Tag_App(void)//发送模式(TAG标签)
{
//LED0_ON;
@@ -829,7 +893,6 @@
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
{
@@ -869,18 +932,30 @@
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
+ temp_sendlen = 0;
+ if(time32_incr-getuserdata_tick<500)
+ {
+ temp_sendlen+=7;
+ memcpy(&tx_nearresp_msg[RT_USERDATA_INDEX],userdata,USERDATA_LEN+3);
+ }else{
+ tx_nearresp_msg[RT_USERDATA_INDEX] = 0;
+
+ }
+ dwt_writetxdata(22+temp_sendlen, tx_nearresp_msg, 0);//写入发送数据
+ dwt_writetxfctrl(22+temp_sendlen, 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
-
+ 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
@@ -922,22 +997,23 @@
tof = tof_dtu * DWT_TIME_UNITS;
distance = tof * SPEED_OF_LIGHT;//距离=光速*飞行时间
dist_no_bias = distance - dwt_getrangebias(config.chan, (float)distance, config.prf); //距离减去矫正系数
- dist_cm = dist_no_bias * 1000; //dis 为单位为cm的距离
+ dist_cm = dist_no_bias * 1000; //dis 为单位为cm的距离
+
+ dwt_readdiagnostics(&d1);
+ LOS(&d1);
/*--------------------------以下为非测距逻辑------------------------*/
//dist_cm=33000;
getrange_success = 1;
-
+ g_Resttimer=0;
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]*10;
g_flag_Taggetdist[taglist_pos]=0;
- if(hex_dist>0&&hex_dist<2000000)
- {
- if(abs(hex_dist-his_dist[taglist_pos])<dist_threshold||misdist_num[taglist_pos]>3)
- {
+ // if(hex_dist>0&&hex_dist<2000000)
+ //{
+ //if(abs(hex_dist-his_dist[taglist_pos])<10000||misdist_num[taglist_pos]>3)
+ //{
int32_t filter_dist;
- g_Resttimer=0;
- IWDG_Feed();
#ifdef TDFILTER
NewTrackingDiffUpdate(taglist_pos, (float)hex_dist);
filter_dist=pos_predict[taglist_pos]/10;
@@ -948,7 +1024,7 @@
tagdist_list[taglist_pos] = filter_dist;
his_dist[taglist_pos]=hex_dist;
g_Tagdist[taglist_pos]=filter_dist;
- #ifdef USART_SINGLE_OUTPUT
+ #ifndef USART_INTEGRATE_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
@@ -957,6 +1033,8 @@
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;
checksum = Checksum_u16(&usart_send[2],17);
memcpy(&usart_send[19],&checksum,2);
UART_PushFrame(usart_send,21);
@@ -965,11 +1043,11 @@
memcpy(&usart_send_anc[6+6*anc_report_num],&tagdist_list[taglist_pos],4);
anc_report_num++;
#endif
- }else{
- // printf("%d",hex_dist);
- misdist_num[taglist_pos]++;
- }
- }
+// }else{
+// // printf("%d",hex_dist);
+// misdist_num[taglist_pos]++;
+// }
+// }
}
}else{
//printf("%x/n",status_reg);
@@ -979,7 +1057,7 @@
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],rec_ancidlist[20],rec_ancdistlist[20];
+u16 ancidlist_rec[20],ancidlist_send[20];
void Anchor_App(void)
{
@@ -1057,28 +1135,8 @@
}
break;
- 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];
+ case NEAR_POLL:
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);
@@ -1092,10 +1150,19 @@
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];
+ tagrec_datalen = rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*2+2];
+ memcpy(&rec_userdata_targetid,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*2],2);
+ if(tagrec_datalen==USERDATA_LEN)
+ {
+ if(rec_userdata_targetid==dev_id||rec_userdata_targetid==0xffff)
+ {
+ memcpy(tagrec_userdata,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*2+2],tagrec_datalen+1);
+ OutputUserData(tag_id_recv,tagrec_userdata,tagrec_datalen);
+ }
+ }
if(rec_nearbase_num>ancidlist_num)
{
ancidlist_num=rec_nearbase_num;
--
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