From 51e6f405ab9a9c4fc21d0e1bc3220e389a72939b Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期三, 03 三月 2021 18:32:16 +0800
Subject: [PATCH] 修改无55 AA 的模式
---
源码/核心板/Src/application/dw_app.c | 119 +++++++++++++++++++++++++++++++++++++++++++----------------
1 files changed, 86 insertions(+), 33 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 df72ffd..b446135 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"
@@ -28,7 +28,7 @@
#include <stdio.h>
#include "beep.h"
#include "modbus.h"
-
+//#define DEBUG_OUTPUT
/*------------------------------------ Marcos ------------------------------------------*/
/* Inter-ranging delay period, in milliseconds. */
#define RNG_DELAY_MS 100
@@ -65,20 +65,22 @@
#define FINAL_MSG_TS_LEN 4
#define SYNC_SEQ_IDX 5
-
+//common
#define GROUP_ID_IDX 0
#define ANCHOR_ID_IDX 1
#define TAG_ID_IDX 5
#define MESSAGE_TYPE_IDX 9
-#define DIST_IDX 10
+
//Poll
#define ANC_TYPE_IDX 14
#define BATTARY_IDX 15
#define BUTTON_IDX 16
#define SEQUENCE_IDX 17
//respose
+#define DIST_IDX 10
#define ANCTIMEMS 14
#define ANCTIMEUS 16
+#define ANCSEND_INTERVAL 18
#define POLL 0x01
#define RESPONSE 0x02
@@ -104,10 +106,10 @@
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 tx_final_msg[24] = {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. */
@@ -235,12 +237,14 @@
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++)
+ for(i=0;i<100;i++)
{
g_flag_Taggetdist[i]++;
- if(g_flag_Taggetdist[i]>=20)
+ if(g_flag_Taggetdist[i]>=2)
{
g_Tagdist[i]=0xffff;
+ Modbus_HoldReg[i*2]=1;
+ Modbus_HoldReg[i*2+1]=0xffff;
}
}
}
@@ -275,10 +279,16 @@
tx_final_msg[MESSAGE_TYPE_IDX]=FINAL;
tx_sync_msg[MESSAGE_TYPE_IDX]=SYNC;
+ memcpy(&tx_poll_msg[GROUP_ID_IDX], &group_id, 1);
+ memcpy(&tx_final_msg[GROUP_ID_IDX], &group_id, 1);
+ memcpy(&tx_resp_msg[GROUP_ID_IDX], &group_id, 1);
+
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);
+
+ memcpy(&tx_resp_msg[ANCSEND_INTERVAL], &g_com_map[COM_INTERVAL], 2);
}
uint16_t Checksum_u16(uint8_t* pdata, uint32_t len)
{
@@ -318,19 +328,24 @@
int8_t tag_delaytime;
extern uint16_t sync_timer;
u16 tmp_time;
+extern float dw_vbat;
+extern u16 slottime,max_slotnum,current_slotpos,tyncpoll_time;
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,getsync_flag=0;
+ u8 bat_percent;
//LED0_ON;
dwt_forcetrxoff();
- g_Resttimer=0;
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);
tag_succ_times = 0;
- tx_poll_msg[BATTARY_IDX] = Get_Battary();
+ bat_percent=(dw_vbat-2.8)/0.5*100;
+ if(bat_percent>100)
+ bat_percent=100;
+ tx_poll_msg[BATTARY_IDX] = bat_percent;//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);
@@ -346,6 +361,9 @@
* set by dwt_setrxaftertxdelay() has elapsed. */
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
start_poll = time32_incr;
+ #ifdef DEBUG_OUTPUT
+ printf("P包发送,基站ID: %d .\r\n",i);
+ #endif
/* We assume that the transmission is achieved correctly, poll for reception of a frame or error/timeout. See NOTE 8 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成功接收或者发生错误
{ if(time32_incr - start_poll>20)
@@ -374,8 +392,8 @@
/* 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. */
- if (rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,4)) //判断接收到的数据是否是response数据
- { u16 anc_id_recv;
+ if (rx_buffer[GROUP_ID_IDX] == group_id&&rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,4)) //判断接收到的数据是否是response数据
+ { u16 anc_id_recv,rec_com_interval;
/* 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
@@ -397,6 +415,15 @@
}
memcpy(&hex_dist2, &rx_buffer[DIST_IDX], 4);
memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
+ memcpy(&rec_com_interval,&rx_buffer[ANCSEND_INTERVAL], 2);
+ if(rec_com_interval>4&&rec_com_interval!=g_com_map[COM_INTERVAL])
+ {
+ g_com_map[COM_INTERVAL]=rec_com_interval;
+ save_com_map_to_flash();
+ delay_ms(100);
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
+
/* 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
@@ -415,16 +442,23 @@
dwt_writetxfctrl(sizeof(tx_final_msg), 0);//设定发送数据长度
result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
+ #ifdef DEBUG_OUTPUT
+ printf("F包发送,基站ID: %d .\r\n",i);
+ #endif
+
tag_succ_times++;
LED0_BLINK;
-
+ g_Resttimer=0;
memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
-// g_Tagdist[anc_id_recv]= hex_dist;
-// g_flag_Taggetdist[anc_id_recv]=0;
- hex_dist2 = hex_dist2+(int16_t)g_com_map[DIST_OFFSET];
- if(!g_com_map[MODBUS_MODE]&&hex_dist2!=65555)
+ if(hex_dist2!=0xffff)
+ {
+ g_Tagdist[anc_id_recv]= hex_dist2;
+ g_flag_Taggetdist[anc_id_recv]=0;
+
+ if(!g_com_map[MODBUS_MODE])
{
+ hex_dist2 = hex_dist2;
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
@@ -432,16 +466,19 @@
memcpy(&usart_send[7],&rx_buffer[ANCHOR_ID_IDX],2);
memcpy(&usart_send[9],&hex_dist2,4);
- usart_send[13] = battary;
+ usart_send[13] = bat_percent;
usart_send[14] = button;
checksum = Checksum_u16(&usart_send[2],17);
memcpy(&usart_send[19],&checksum,2);
UART_PushFrame(usart_send,21);
}
+ }
// memcpy(&Modbus_HoldReg[anc_id_recv*2],&hex_dist,4);
/* Poll DW1000 until TX frame sent event set. See NOTE 8 below. */
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
+ {
+
+ 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. */
@@ -458,6 +495,9 @@
}
else
{
+ #ifdef DEBUG_OUTPUT
+ printf("R包失败错误信息: %x .\r\n",status_reg);
+ #endif
/* Clear RX error events in the DW1000 status register. */
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
random_delay_tim = DFT_RAND_DLY_TIM_MS;
@@ -465,9 +505,9 @@
// deca_sleep(10);
}
// dwt_entersleep();
- if(tag_succ_times<g_com_map[MIN_REPORT_ANC_NUM])
+ if(tag_succ_times<1)
{
- //poll_timer +=time32_incr&0x7+3;
+ tyncpoll_time=(current_slotpos--%max_slotnum)*slottime;
}
/* Execute a delay between ranging exchanges. */
@@ -476,13 +516,14 @@
int8_t correction_time;
extern uint8_t sync_seq;
#define TDFILTER
-#define CHECK_UID
+//#define CHECK_UID
extern uint8_t UID_ERROR;
+extern u16 dist_threshold;
+u8 misdist_num[TAG_NUM_IN_SYS];
void Anchor_App(void)
{
uint32_t frame_len;
uint32_t resp_tx_time;
- static u8 misdist_num;
/* Clear reception timeout to start next ranging process. */
dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
@@ -493,7 +534,6 @@
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;
};
if (status_reg & SYS_STATUS_RXFCG)//成功接收
@@ -522,7 +562,7 @@
// tag_recv_interval = tag_recv_timer + 65535 - tag_time_recv[tag_id_recv];
// }
- if (rx_buffer[MESSAGE_TYPE_IDX] == POLL&&(anchor_type == rx_buffer[ANC_TYPE_IDX])) //判断是否是poll包数据
+ if (rx_buffer[GROUP_ID_IDX] == group_id&&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);
@@ -555,6 +595,9 @@
frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
/* We assume that the transmission is achieved correctly, now poll for reception of expected "final" frame or error/timeout.
* See NOTE 7 below. */
+ #ifdef DEBUG_OUTPUT
+ printf("收到POLL包，标签ID: %d .\r\n",tag_id_recv);
+ #endif
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
@@ -576,7 +619,7 @@
/* 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. */
- if (rx_buffer[MESSAGE_TYPE_IDX] == FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,4)&&!memcmp(&rx_buffer[ANCHOR_ID_IDX],&dev_id,4)) //判断是否为Final包
+ if (rx_buffer[GROUP_ID_IDX] == group_id&&rx_buffer[MESSAGE_TYPE_IDX] == FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,4)&&!memcmp(&rx_buffer[ANCHOR_ID_IDX],&dev_id,4)) //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;
@@ -614,15 +657,19 @@
// 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------------------------*/
+ #ifdef DEBUG_OUTPUT
+ printf("收到FINAL包，标签ID: %d .\r\n",tag_id_recv);
+ #endif
LED0_BLINK; //每成功一次通讯则闪烁一次
g_UWB_com_interval = 0;
-
+ g_Resttimer=0;
hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10;
if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS)
{
- if(hex_dist-his_dist[tag_id_recv-TAG_ID_START]<15000||misdist_num>4)
- {int32_t filter_dist;
- misdist_num=0;
+ if(abs(hex_dist-his_dist[tag_id_recv-TAG_ID_START])<dist_threshold||misdist_num[tag_id_recv-TAG_ID_START]>4)
+ {
+ int32_t filter_dist;
+ misdist_num[tag_id_recv-TAG_ID_START]=0;
if(hex_dist<1000000&&hex_dist>-10000)
{
#ifdef TDFILTER
@@ -657,19 +704,22 @@
//dis_after_filter = LP_Frac_Update(p_Dis_Filter, dist_cm);
}
- }else{
- misdist_num++;
+ }
+ else{
+ misdist_num[tag_id_recv-TAG_ID_START]++;
}
}
}
}else{
/* Clear RX error events in the DW1000 status register. */
+ #ifdef DEBUG_OUTPUT
+ printf("F包失败错误信息: %x .\r\n",status_reg);
+ #endif
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)
+ if(rx_buffer[SYNC_SEQ_IDX]<sync_seq&&sync_mainbase==0)
{
sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
TIM3->CNT = sync_seq*325%1000+15;
@@ -680,6 +730,9 @@
}
else
{
+ #ifdef DEBUG_OUTPUT
+ printf("P包失败错误信息: %x .\r\n",status_reg);
+ #endif
/* Clear RX error events in the DW1000 status register. */
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
--
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