From 56900ed5464e7cf4215052c706e8c22b00147e4a Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期三, 16 八月 2023 09:08:54 +0800
Subject: [PATCH] 代码排序后
---
源码/核心板/Src/application/dw_app.c | 1339 +++++++++++++++++++++++++++++----------------------------
1 files changed, 675 insertions(+), 664 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 a47d904..1a97a71 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"
@@ -2,33 +2,33 @@
#include "ADC.h"
enum enumtagstate
{
- DISCPOLL,
- GETNEARMSG,
- NEARPOLL,
-}tag_state=GETNEARMSG;
+ DISCPOLL,
+ GETNEARMSG,
+ NEARPOLL,
+} tag_state=GETNEARMSG;
static dwt_config_t config = {
- 2, /* Channel number. */
- DWT_PRF_64M, /* Pulse repetition frequency. */
- DWT_PLEN_64, /* Preamble length. */
- 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. */
- 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. */
+ 2, /* Channel number. */
+ DWT_PRF_64M, /* Pulse repetition frequency. */
+ DWT_PLEN_128, /* Preamble length. */
+ 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. */
+ 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. */
};
static uint8_t tx_poll_msg[20] = {0};
static uint8_t tx_sync_msg[14] = {0};
static uint8_t tx_final_msg[60] = {0};
static uint8_t tx_resp_msg[22] = {0};
static uint8_t tx_nearpoll_msg[80] = {0};
-static uint8_t tx_nearresp_msg[80] = {0};
+static uint8_t tx_nearresp_msg[90] = {0};
static uint8_t tx_nearfinal_msg[80] = {0};
static uint8_t tx_near_msg[80] = {0};
- uint32_t frame_seq_nb = 0, frame_seq_nb2 = 0;
+uint32_t frame_seq_nb = 0, frame_seq_nb2 = 0;
static uint32_t status_reg = 0;
static uint8_t rx_buffer[100];
static uint64_t poll_rx_ts;
@@ -41,7 +41,7 @@
uint32_t anc_id_recv = 0;
uint8_t random_delay_tim = 0;
double distance, dist_no_bias, dist_cm;
-uint32_t g_UWB_com_interval = 0;
+uint32_t g_UWB_com_interval = 0;
float dis_after_filter; //当前距离值
LPFilter_Frac* p_Dis_Filter; //测距用的低通滤波器
int32_t g_Tagdist[TAG_NUM_IN_SYS];
@@ -97,58 +97,58 @@
extern int32_t tagdist_list[TAG_NUM_IN_SYS];
void TagDistClear(void)
{
- static uint16_t clear_judge_cnt;
- uint16_t i;
- for(i=0;i<255;i++)
- {
- g_flag_Taggetdist[i]++;
- if(g_flag_Taggetdist[i]>=2)
- {
- tagdist_list[i]=0x1ffff;
- }
- }
+ static uint16_t clear_judge_cnt;
+ uint16_t i;
+ for(i=0; i<255; i++)
+ {
+ g_flag_Taggetdist[i]++;
+ if(g_flag_Taggetdist[i]>=2)
+ {
+ tagdist_list[i]=0x1ffff;
+ }
+ }
}
void Dw1000_Init(void)
{
- /* Reset and initialise DW1000.
+ /* Reset and initialise DW1000.
* For initialisation, DW1000 clocks must be temporarily set to crystal speed. After initialisation SPI rate can be increased for optimum
* performance. */
Reset_DW1000();//重启DW1000 /* Target specific drive of RSTn line into DW1000 low for a period. */
- status_reg = dwt_read32bitreg(SYS_STATUS_ID);
+ status_reg = dwt_read32bitreg(SYS_STATUS_ID);
dwt_initialise(DWT_LOADUCODE);//初始化DW1000
- status_reg = dwt_read32bitreg(SYS_STATUS_ID);
- Spi_ChangePrescaler(SPIx_PRESCALER_FAST); //设置为快速模式
+ status_reg = dwt_read32bitreg(SYS_STATUS_ID);
+ Spi_ChangePrescaler(SPIx_PRESCALER_FAST); //设置为快速模式
/* Configure DW1000. See NOTE 6 below. */
dwt_configure(&config);//配置DW1000
-
-dwt_setinterrupt( DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);
-
+
+ dwt_setinterrupt( DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);
+
/* Apply default antenna delay value. See NOTE 1 below. */
dwt_setrxantennadelay(RX_ANT_DLY); //设置接收天线延迟
dwt_settxantennadelay(TX_ANT_DLY); //设置发射天线延迟
/* Set expected response's delay and timeout. See NOTE 4 and 5 below.
* As this example only handles one incoming frame with always the same delay and timeout, those values can be set here once for all. */
- //设置接收超时时间
+ //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;
- tx_sync_msg[MESSAGE_TYPE_IDX]=SYNC;
-
- memcpy(&tx_poll_msg[TAG_ID_IDX], &dev_id, 2);
- memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 2);
- memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 2);
- memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &dev_id, 2);
- memcpy(&tx_nearresp_msg[ANCHOR_ID_IDX], &dev_id, 2);
- memcpy(&tx_nearpoll_msg[TAG_ID_IDX], &dev_id, 2);
- memcpy(&tx_nearfinal_msg[TAG_ID_IDX], &dev_id, 2);
-}
-uint16_t Checksum_u16(uint8_t* pdata, uint32_t len)
+ 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, 2);
+ memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 2);
+ memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 2);
+ memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &dev_id, 2);
+ memcpy(&tx_nearresp_msg[ANCHOR_ID_IDX], &dev_id, 2);
+ memcpy(&tx_nearpoll_msg[TAG_ID_IDX], &dev_id, 2);
+ memcpy(&tx_nearfinal_msg[TAG_ID_IDX], &dev_id, 2);
+}
+uint16_t Checksum_u16(uint8_t* pdata, uint32_t len)
{
uint16_t sum = 0;
uint32_t i;
@@ -164,32 +164,32 @@
extern uint8_t g_pairstart;
void tag_sleep_configuraion(void)
{
- dwt_configuresleep(0x940, 0x7);
- dwt_entersleep();
+ dwt_configuresleep(0x940, 0x7);
+ dwt_entersleep();
}
extern uint8_t g_start_send_flag;
u8 g_start_sync_flag;
void SyncPoll(u8 sync_seq)
-{u8 result;
+{ u8 result;
// g_start_sync_flag=1; //中断模式，退出终端后，需要重新来过
- dwt_forcetrxoff(); //关闭接收，以防在RX ON 状态
-
-
- tx_sync_msg[SYNC_SEQ_IDX]=sync_seq;
- memcpy(&tx_sync_msg[ANCHOR_ID_IDX],&dev_id,4);
- 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);
- 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
- { };
- }
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//清楚标志位
-
- dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
- dwt_rxenable(0);//打开接收
+ dwt_forcetrxoff(); //关闭接收，以防在RX ON 状态
+
+
+ tx_sync_msg[SYNC_SEQ_IDX]=sync_seq;
+ memcpy(&tx_sync_msg[ANCHOR_ID_IDX],&dev_id,4);
+ 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);
+ 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
+ { };
+ }
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//清楚标志位
+
+ dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
+ dwt_rxenable(0);//打开接收
}
uint16_t g_Resttimer;
uint8_t result;
@@ -213,35 +213,39 @@
extern uint32_t tagpos_binary;
void SetNextPollTime(u16 time)
{
- current_slotnum++;
- if(current_slotnum==total_slotnum)
- current_slotnum-=total_slotnum;
- //time=5;
- target_time=((current_slotnum*g_com_map[COM_INTERVAL])+time);
+ current_slotnum++;
+ if(current_slotnum==total_slotnum)
+ current_slotnum-=total_slotnum;
+ //time=5;
+ target_time=((current_slotnum*g_com_map[COM_INTERVAL])+time);
- last_time=target_time;
- if(target_time>=990&&target_time<992)
- {
- current_slotnum++;
- target_time+=g_com_map[COM_INTERVAL];
- tagslotpos=GetRandomSlotPos(rec_tagpos_binary|tagpos_binary);
- tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
- }
- if(target_time>=1000)
- {target_time-=1000;}
- if(target_time<0)
- {target_time+=1000;}
+ last_time=target_time;
+ if(target_time>=990&&target_time<992)
+ {
+ current_slotnum++;
+ target_time+=g_com_map[COM_INTERVAL];
+ tagslotpos=GetRandomSlotPos(rec_tagpos_binary|tagpos_binary);
+ tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
+ }
+ if(target_time>=1000)
+ {
+ target_time-=1000;
+ }
+ if(target_time<0)
+ {
+ target_time+=1000;
+ }
}
u8 FindNearBasePos(u16 baseid)
{
- u8 i;
- for(i=0;i<last_nearbase_num;i++)
- {
- if(baseid==nearbaseid_list[i])
- return i;
- }
- return i;
+ u8 i;
+ for(i=0; i<last_nearbase_num; i++)
+ {
+ if(baseid==nearbaseid_list[i])
+ return i;
+ }
+ return i;
}
u8 recbase_num=0;
#define CHANGE_BASE_THRESHOLD 5
@@ -270,66 +274,66 @@
// }else{
// change_base_count=0;
// }
-// last_mainbase_id=nearbaseid_list[nearbase_minpos];
+// last_mainbase_id=nearbaseid_list[nearbase_minpos];
// }else{
// change_base_count=0;
// }
//}
uint8_t GetRandomValue(void)
{
- uint8_t random_value=0,temp_adc,i;
- for(i=0;i<8;i++)
- {
- temp_adc=Get_ADC_Value();
- random_value=random_value|((temp_adc&0x01)<<i);
- }
- return random_value;
+ uint8_t random_value=0,temp_adc,i;
+ for(i=0; i<8; i++)
+ {
+ temp_adc=Get_ADC_Value();
+ random_value=random_value|((temp_adc&0x01)<<i);
+ }
+ return random_value;
}
u8 GetRandomSlotPos(uint32_t emptyslot)
{
- u8 i,temp_value;
- temp_value = GetRandomValue();
- for(i=temp_value%max_slotpos;i<max_slotpos;i++)
- {
- if(((emptyslot>>i)&0x1)==0)
- {
- return i;
- }
- }
-
- for(i=1;i<max_slotpos;i++)
- {
- if(((emptyslot>>i)&0x1)==0)
- {
- return i;
- }
- }
-return max_slotpos-1;
+ u8 i,temp_value;
+ temp_value = GetRandomValue();
+ for(i=temp_value%max_slotpos; i<max_slotpos; i++)
+ {
+ if(((emptyslot>>i)&0x1)==0)
+ {
+ return i;
+ }
+ }
+
+ for(i=1; i<max_slotpos; i++)
+ {
+ if(((emptyslot>>i)&0x1)==0)
+ {
+ return i;
+ }
+ }
+ return max_slotpos-1;
}
dwt_rxdiag_t d1;
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;
- double firstpath_power, rx_power;
- double f1, f2, r1, r2;
+double firstpath_power, rx_power;
+double f1, f2, r1, r2;
uint16_t F1,F2,F3,N,C;
double B = 131072;
double A = 121.74;
double min_power;
double LOS(dwt_rxdiag_t *dia) {
- F1 = dia->firstPathAmp1;
- F2 = dia->firstPathAmp2;
- F3 = dia->firstPathAmp3;
- N = dia->rxPreamCount;
- C = dia->maxGrowthCIR;
-
+ 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));
+ // min_power = - 10 * log10((F1 *F1 + F2 * F2 + F3 * F3) / (C *B));
return min_power;
- }
+}
u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32];
@@ -341,25 +345,25 @@
int32_t tagdist_list[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 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)
- break;
- }
- return i;
+{ u16 i;
+ for(i=0; i<taglist_num; i++)
+ {
+ if(memcmp(&tagid,&tagid_list[i],2)==0)
+ break;
+ }
+ return i;
}
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,waittagconfig_reponse,motorstate=0;
uint32_t frame_len;
@@ -367,112 +371,112 @@
uint8_t rec_nearbase_num,anc_report_num;
void Anchor_RecPoll(void)
{
- 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,1);
-
- poll_rx_ts = get_rx_timestamp_u64();//获得Poll包接收时间T2
+ 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,1);
- resp_tx_time = (poll_rx_ts + (POLL_RX_TO_RESP_TX_DLY_UUS * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
- dwt_setdelayedtrxtime(resp_tx_time);//设置Response发送时间T3
- dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS);//设置发送完成后开启接收延迟时间
- dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间
-
- memcpy(&tx_resp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
- memcpy(&tx_resp_msg[TAG_ID_IDX],&tag_id_recv,2);
-
- 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
- result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，等待接收
+ poll_rx_ts = get_rx_timestamp_u64();//获得Poll包接收时间T2
-
- 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)))///不断查询芯片状态直到接收成功或者出现错误
- { };
- }
- if (status_reg & SYS_STATUS_RXFCG)//接收成功
- {
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚标志位
- frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;//数据长度
- dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
- if (rx_buffer[MESSAGE_TYPE_IDX] == FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)) //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;
- double Ra, Rb, Da, Db;
- int64_t tof_dtu;
- resp_tx_ts = get_tx_timestamp_u64();//获得response发送时间T3
- final_rx_ts = get_rx_timestamp_u64();//获得final接收时间T6
- final_msg_get_ts(&rx_buffer[FINAL_MSG_POLL_TX_TS_IDX], &poll_tx_ts);//从接收数据中读取T1，T4，T5
- final_msg_get_ts(&rx_buffer[FINAL_MSG_RESP_RX_TS_IDX], &resp_rx_ts);
- final_msg_get_ts(&rx_buffer[FINAL_MSG_FINAL_TX_TS_IDX], &final_tx_ts);
- poll_rx_ts_32 = (uint32_t)poll_rx_ts;//使用32位数据计算
- resp_tx_ts_32 = (uint32_t)resp_tx_ts;
- final_rx_ts_32 = (uint32_t)final_rx_ts;
- Ra = (double)(resp_rx_ts - poll_tx_ts);//Tround1 = T4 - T1
- Rb = (double)(final_rx_ts_32 - resp_tx_ts_32);//Tround2 = T6 - T3
- Da = (double)(final_tx_ts - resp_rx_ts);//Treply2 = T5 - T4
- Db = (double)(resp_tx_ts_32 - poll_rx_ts_32);//Treply1 = T3 - T2
- tof_dtu = (int64_t)((Ra * Rb - Da * Db) / (Ra + Rb + Da + Db));//计算公式
- 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 * 100; //dis 为单位为cm的距离
- /*--------------------------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
- dis_after_filter=dist_cm;
- hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET];
-if(hex_dist>-1000&&hex_dist<200000)
- {
- g_flag_Taggetdist[taglist_pos]=0;
- if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num[taglist_pos]>3)
- {
- misdist_num[taglist_pos]=0;
- tagdist_list[taglist_pos] = hex_dist;
- his_dist[taglist_pos]=hex_dist;
- g_Tagdist[taglist_pos]=hex_dist;
- #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
- memcpy(&usart_send[5],&tag_id_recv,2);
- memcpy(&usart_send[7],&dev_id,2);
- 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-firstpath_power)*10;
- usart_send[17] = tag_frequency;
- usart_send[18] = tag_slotpos;
- checksum = Checksum_u16(&usart_send[2],17);
- memcpy(&usart_send[19],&checksum,2);
- UART_PushFrame(usart_send,21);
- #else
- memcpy(&usart_send_anc[4+6*anc_report_num],&tag_id_recv,2);
- memcpy(&usart_send_anc[6+6*anc_report_num],&tagdist_list[taglist_pos],4);
- anc_report_num++;
- #endif
- #ifdef DEBUG_INF
- printf("序号：%d\r\n",frame_seq_nb2);
- #endif
- }else{
- // printf("%d",hex_dist);
- misdist_num[taglist_pos]++;
- }
- }
- }
- }else{
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
- }
+ resp_tx_time = (poll_rx_ts + (POLL_RX_TO_RESP_TX_DLY_UUS * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
+ dwt_setdelayedtrxtime(resp_tx_time);//设置Response发送时间T3
+ dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS);//设置发送完成后开启接收延迟时间
+ dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间
+
+ memcpy(&tx_resp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
+ memcpy(&tx_resp_msg[TAG_ID_IDX],&tag_id_recv,2);
+
+ 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
+ result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，等待接收
+
+
+ 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)))///不断查询芯片状态直到接收成功或者出现错误
+ { };
+ }
+ if (status_reg & SYS_STATUS_RXFCG)//接收成功
+ {
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚标志位
+ frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;//数据长度
+ dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
+ if (rx_buffer[MESSAGE_TYPE_IDX] == DISCOVERFINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)) //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;
+ double Ra, Rb, Da, Db;
+ int64_t tof_dtu;
+ resp_tx_ts = get_tx_timestamp_u64();//获得response发送时间T3
+ final_rx_ts = get_rx_timestamp_u64();//获得final接收时间T6
+ final_msg_get_ts(&rx_buffer[FINAL_MSG_POLL_TX_TS_IDX], &poll_tx_ts);//从接收数据中读取T1，T4，T5
+ final_msg_get_ts(&rx_buffer[FINAL_MSG_RESP_RX_TS_IDX], &resp_rx_ts);
+ final_msg_get_ts(&rx_buffer[FINAL_MSG_FINAL_TX_TS_IDX], &final_tx_ts);
+ poll_rx_ts_32 = (uint32_t)poll_rx_ts;//使用32位数据计算
+ resp_tx_ts_32 = (uint32_t)resp_tx_ts;
+ final_rx_ts_32 = (uint32_t)final_rx_ts;
+ Ra = (double)(resp_rx_ts - poll_tx_ts);//Tround1 = T4 - T1
+ Rb = (double)(final_rx_ts_32 - resp_tx_ts_32);//Tround2 = T6 - T3
+ Da = (double)(final_tx_ts - resp_rx_ts);//Treply2 = T5 - T4
+ Db = (double)(resp_tx_ts_32 - poll_rx_ts_32);//Treply1 = T3 - T2
+ tof_dtu = (int64_t)((Ra * Rb - Da * Db) / (Ra + Rb + Da + Db));//计算公式
+ 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 * 100; //dis 为单位为cm的距离
+ /*--------------------------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
+ dis_after_filter=dist_cm;
+ hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET];
+ if(hex_dist>-1000&&hex_dist<200000)
+ {
+ g_flag_Taggetdist[taglist_pos]=0;
+ if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num[taglist_pos]>3)
+ {
+ misdist_num[taglist_pos]=0;
+ tagdist_list[taglist_pos] = hex_dist;
+ his_dist[taglist_pos]=hex_dist;
+ g_Tagdist[taglist_pos]=hex_dist;
+#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
+ memcpy(&usart_send[5],&tag_id_recv,2);
+ memcpy(&usart_send[7],&dev_id,2);
+ 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-firstpath_power)*10;
+ usart_send[17] = tag_frequency;
+ usart_send[18] = tag_slotpos;
+ checksum = Checksum_u16(&usart_send[2],17);
+ memcpy(&usart_send[19],&checksum,2);
+ UART_PushFrame(usart_send,21);
+#else
+ memcpy(&usart_send_anc[4+6*anc_report_num],&tag_id_recv,2);
+ memcpy(&usart_send_anc[6+6*anc_report_num],&tagdist_list[taglist_pos],4);
+ anc_report_num++;
+#endif
+#ifdef DEBUG_INF
+ printf("序号：%d\r\n",frame_seq_nb2);
+#endif
+ } else {
+ // printf("%d",hex_dist);
+ misdist_num[taglist_pos]++;
+ }
+ }
+ }
+ } else {
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
+ }
}
uint32_t time_monitor[10];
extern uint16_t configremotetagID;
-extern u8 remotetag_paralen;
+extern u8 remotetag_paralen,userdatasend_flag[TAG_NUM_IN_SYS];
u8 finalsend=0;
u16 signalpower_list[TAG_NUM_IN_SYS];
uint32_t poll_tx_ts, resp_rx_ts, final_tx_ts;
@@ -480,159 +484,166 @@
double Ra, Rb, Da, Db;
int64_t tof_dtu;
u32 errortimes,goodtimes;
+u8 tagpossend_flag;
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
{
-
- tmp_time=TIM3->CNT;
- memcpy(&tx_nearresp_msg[NR_NEARSWITCH_DISTANCE],&g_com_map[NEARSWITCH_DISTANCE_INDEX],2);
- memcpy(&tx_nearresp_msg[ANCTIMEMS],&sync_timer,2);
- memcpy(&tx_nearresp_msg[ANCTIMEUS],&tmp_time,2);
- memcpy(&tx_nearresp_msg[TAGSLOTPOS],&taglist_pos,2);
- memcpy(&tx_nearresp_msg[TAG_ID_IDX],&tag_id_recv,2);
- poll_rx_ts = get_rx_timestamp_u64();//获得Poll包接收时间T2
- resp_tx_time = (poll_rx_ts + ((POLL_RX_TO_RESP_TX_DLY_UUS+(ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
- dwt_setdelayedtrxtime(resp_tx_time);//设置Response发送时间T3
- dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//设置发送完成后开启接收延迟时间
- dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间
- //dwt_readdiagnostics(&d1);
-
- if(new_tagid)
- {
- tagdist_list[taglist_pos]=0x1ffff;
- }
- memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
- memcpy(&tx_nearresp_msg[ANC_SIGNALPOWER],&signalpower_list[taglist_pos],2);
- tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
- tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
- tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
- waittagconfig_reponse=0;
- finalsend = 0;
- if(pwtag.remain_time>0)
- {uint8_t i;
- for(i=0;i<pwtag.groupnum;i++)
- {
- if(pwtag.groupid[i][0]<=tag_id_recv&&tag_id_recv<=pwtag.groupid[i][1])
- {
- remotesend_state=1;
- tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
- remotetag_paralen = 2+3;
- remotetag_para[0] = 2;
- remotetag_para[1] = pwtag.index;
- remotetag_para[2] = 2;
- memcpy(&remotetag_para[3],&pwtag.group_interval[i],2);
- memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,remotetag_paralen);
- dwt_writetxdata(24+remotetag_paralen, tx_nearresp_msg, 0);//写入发送数据
- dwt_writetxfctrl(24+remotetag_paralen, 0);//设定发送长度
- remotesend_state=0;
- finalsend = 1;
- break;
- }
- }
- }else{
-
- }
-
- if(finalsend == 0)
- {
- memcpy(&tx_nearresp_msg[MAXRANGE_DISTANCE],&g_com_map[MAXRANGDIST_INDEX],2);
- dwt_writetxdata(28, tx_nearresp_msg, 0);//写入发送数据
- dwt_writetxfctrl(28, 0);//设定发送长度
- }
-
+ tmp_time=TIM3->CNT;
+ memcpy(&tx_nearresp_msg[NR_NEARSWITCH_DISTANCE],&g_com_map[NEARSWITCH_DISTANCE_INDEX],2);
+ memcpy(&tx_nearresp_msg[ANCTIMEMS],&sync_timer,2);
+ memcpy(&tx_nearresp_msg[ANCTIMEUS],&tmp_time,2);
+ memcpy(&tx_nearresp_msg[TAGSLOTPOS],&taglist_pos,2);
+ memcpy(&tx_nearresp_msg[TAG_ID_IDX],&tag_id_recv,2);
+ poll_rx_ts = get_rx_timestamp_u64();//获得Poll包接收时间T2
+
+ resp_tx_time = (poll_rx_ts + ((POLL_RX_TO_RESP_TX_DLY_UUS+(ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
+ dwt_setdelayedtrxtime(resp_tx_time);//设置Response发送时间T3
+ dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//设置发送完成后开启接收延迟时间
+ dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间
+ //dwt_readdiagnostics(&d1);
+ if(tagpos[taglist_pos].tagid==tag_id_recv&&userdatasend_flag[taglist_pos] == 1)
+ {
+ memcpy(&tx_nearresp_msg[TAGPOS_INDEX],&tagpos[taglist_pos],tagpos[taglist_pos].datalen+3);
+ tagpossend_flag = 1;
+ } else {
+ tagpossend_flag = 0;
+ }
+ if(new_tagid)
+ {
+ tagdist_list[taglist_pos]=0x1ffff;
+ }
+ memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
+ memcpy(&tx_nearresp_msg[ANC_SIGNALPOWER],&signalpower_list[taglist_pos],2);
+ tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
+ tx_nearresp_msg[MESSAGE_TYPE_IDX]=POS_RESPONSE;
+ //tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
+ waittagconfig_reponse=0;
+ finalsend = 0;
+ if(pwtag.remain_time>0)
+ { uint8_t i;
+ for(i=0; i<pwtag.groupnum; i++)
+ {
+ if(pwtag.groupid[i][0]<=tag_id_recv&&tag_id_recv<=pwtag.groupid[i][1])
+ {
+ remotesend_state=1;
+ tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
+ remotetag_paralen = 2+3;
+ remotetag_para[0] = 2;
+ remotetag_para[1] = pwtag.index;
+ remotetag_para[2] = 2;
+ memcpy(&remotetag_para[3],&pwtag.group_interval[i],2);
+ memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,remotetag_paralen);
+ dwt_writetxdata(24+remotetag_paralen, tx_nearresp_msg, 0);//写入发送数据
+ dwt_writetxfctrl(24+remotetag_paralen, 0);//设定发送长度
+ remotesend_state=0;
+ finalsend = 1;
+ break;
+ }
+ }
+ } else {
+
+ }
+
+ if(finalsend == 0)
+ {
+ memcpy(&tx_nearresp_msg[MAXRANGE_DISTANCE],&g_com_map[MAXRANGDIST_INDEX],2);
+ dwt_writetxdata(28+tagpossend_flag*(tagpos[taglist_pos].datalen+3), tx_nearresp_msg, 0);//д????????
+ dwt_writetxfctrl(28+tagpossend_flag*(tagpos[taglist_pos].datalen+3), 0);//?趨???????
+ }
+
// if(remotesend_state&&tag_id_recv==configremotetagID)
// {
// memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,remotetag_paralen);
// dwt_writetxdata(22+remotetag_paralen, tx_nearresp_msg, 0);//写入发送数据
-// dwt_writetxfctrl(22+remotetag_paralen, 0);//设定发送长度
+// dwt_writetxfctrl(22+remotetag_paralen, 0);//设定发送长度
// waittagconfig_reponse=1;
// }else{
- result = 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
- 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
- { };
- }else{
- result++;
- }
-
- if (status_reg & SYS_STATUS_RXFCG)//接收成功
- {
-
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚标志位
- frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;//数据长度
- dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
- if(seize_anchor&&memcmp(&rx_buffer[ANCHOR_ID_IDX],&dev_id,2)) //抢占anchor 失败
- {
- return 1;
- }
- if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)) //判断是否为Final包
- {
-
- resp_tx_ts = get_tx_timestamp_u64();//获得response发送时间T3
- final_rx_ts = get_rx_timestamp_u64();//获得final接收时间T6
+ 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
+ { };
+ } else {
+ result++;
+ }
+
+ if (status_reg & SYS_STATUS_RXFCG)//接收成功
+ {
+
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚标志位
+ frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;//数据长度
+ dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
+ if(seize_anchor&&memcmp(&rx_buffer[ANCHOR_ID_IDX],&dev_id,2)) //抢占anchor 失败
+ {
+ return 1;
+ }
+ if (rx_buffer[MESSAGE_TYPE_IDX] == POS_FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)) //判断是否为Final包
+ {
+
+ resp_tx_ts = get_tx_timestamp_u64();//获得response发送时间T3
+ final_rx_ts = get_rx_timestamp_u64();//获得final接收时间T6
// dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
// dwt_rxenable(0);//打开接收
-
- final_msg_get_ts(&rx_buffer[FINAL_MSG_POLL_TX_TS_IDX], &poll_tx_ts);//从接收数据中读取T1，T4，T5
- final_msg_get_ts(&rx_buffer[FINAL_MSG_RESP_RX_NEARBASE_IDX+ancrec_nearbasepos*4], &resp_rx_ts);
- final_msg_get_ts(&rx_buffer[FINAL_MSG_FINAL_TX_TS_IDX], &final_tx_ts);
- poll_rx_ts_32 = (uint32_t)poll_rx_ts;//使用32位数据计算
- resp_tx_ts_32 = (uint32_t)resp_tx_ts;
- final_rx_ts_32 = (uint32_t)final_rx_ts;
-// time_monitor[1] = sync_timer*1000+TIM3->CNT;
- Ra = (double)(resp_rx_ts - poll_tx_ts);//Tround1 = T4 - T1
- Rb = (double)(final_rx_ts_32 - resp_tx_ts_32);//Tround2 = T6 - T3
- Da = (double)(final_tx_ts - resp_rx_ts);//Treply2 = T5 - T4
- Db = (double)(resp_tx_ts_32 - poll_rx_ts_32);//Treply1 = T3 - T2
- tof_dtu = (int64_t)((Ra * Rb - Da * Db) / (Ra + Rb + Da + Db));//计算公式
- 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 * 100; //dis 为单位为cm的距离
- dwt_readdiagnostics(&d1);
-// time_monitor[2] = sync_timer*1000+TIM3->CNT;
- LOS(&d1);
- // time_monitor[3] = sync_timer*1000+TIM3->CNT;
- /*--------------------------以下为非测距逻辑------------------------*/
- //dist_cm=33000;
- //GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_RESET);
- 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];
-
- if(hex_dist>-1000&&hex_dist<200000)
- {
- g_flag_Taggetdist[taglist_pos]=0;
- if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num[taglist_pos]>3)
- {
- goodtimes++;
- misdist_num[taglist_pos]=0;
- tagdist_list[taglist_pos] = hex_dist;
- his_dist[taglist_pos]=hex_dist;
- g_Tagdist[taglist_pos]=hex_dist;
+ final_msg_get_ts(&rx_buffer[FINAL_MSG_POLL_TX_TS_IDX], &poll_tx_ts);//从接收数据中读取T1，T4，T5
+ final_msg_get_ts(&rx_buffer[FINAL_MSG_RESP_RX_NEARBASE_IDX+ancrec_nearbasepos*4], &resp_rx_ts);
+ final_msg_get_ts(&rx_buffer[FINAL_MSG_FINAL_TX_TS_IDX], &final_tx_ts);
+
+ poll_rx_ts_32 = (uint32_t)poll_rx_ts;//使用32位数据计算
+ resp_tx_ts_32 = (uint32_t)resp_tx_ts;
+ final_rx_ts_32 = (uint32_t)final_rx_ts;
+// time_monitor[1] = sync_timer*1000+TIM3->CNT;
+ Ra = (double)(resp_rx_ts - poll_tx_ts);//Tround1 = T4 - T1
+ Rb = (double)(final_rx_ts_32 - resp_tx_ts_32);//Tround2 = T6 - T3
+ Da = (double)(final_tx_ts - resp_rx_ts);//Treply2 = T5 - T4
+ Db = (double)(resp_tx_ts_32 - poll_rx_ts_32);//Treply1 = T3 - T2
+ tof_dtu = (int64_t)((Ra * Rb - Da * Db) / (Ra + Rb + Da + Db));//计算公式
+ 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 * 100; //dis 为单位为cm的距离
+ dwt_readdiagnostics(&d1);
+// time_monitor[2] = sync_timer*1000+TIM3->CNT;
+ LOS(&d1);
+ // time_monitor[3] = sync_timer*1000+TIM3->CNT;
+ /*--------------------------以下为非测距逻辑------------------------*/
+ //dist_cm=33000;
+ //GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_RESET);
+ 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];
+ userdatasend_flag[taglist_pos] =0;
+ if(hex_dist>-1000&&hex_dist<200000)
+ {
+ g_flag_Taggetdist[taglist_pos]=0;
+ if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num[taglist_pos]>3)
+ {
+ goodtimes++;
+ misdist_num[taglist_pos]=0;
+ tagdist_list[taglist_pos] = hex_dist;
+ his_dist[taglist_pos]=hex_dist;
+ g_Tagdist[taglist_pos]=hex_dist;
signalpower_list[taglist_pos] = ((uint8_t)firstpath_power<<8)|(uint8_t)((rx_power-firstpath_power)*10);
// #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
-// memcpy(&usart_send[5],&tag_id_recv,2);
-// memcpy(&usart_send[7],&dev_id,2);
-// 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-firstpath_power)*10;
-// usart_send[17] = tag_frequency;
-// usart_send[18] = tag_slotpos;
-// checksum = Checksum_u16(&usart_send[2],17);
-// memcpy(&usart_send[19],&checksum,2);
-// // UART_PushFrame(usart_send,21);
-// #else
+ 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
+ memcpy(&usart_send[5],&tag_id_recv,2);
+ memcpy(&usart_send[7],&dev_id,2);
+ 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-firstpath_power)*10;
+ usart_send[17] = tag_frequency;
+ usart_send[18] = tag_slotpos;
+ checksum = Checksum_u16(&usart_send[2],17);
+ memcpy(&usart_send[19],&checksum,2);
+ //UART_PushFrame(usart_send,21);
+// #else
// memcpy(&usart_send_anc[4+6*anc_report_num],&tag_id_recv,2);
// memcpy(&usart_send_anc[6+6*anc_report_num],&tagdist_list[taglist_pos],4);
// anc_report_num++;
@@ -640,43 +651,43 @@
// #ifdef DEBUG_INF
// printf("序号：%d\r\n",frame_seq_nb2);
// #endif
- }else{
- // printf("%d",hex_dist);
- misdist_num[taglist_pos]++;
- }
- }else{
- errortimes++;
- usart_send[13] = battary;
- }
- if(rx_buffer[TAGCONFIGSUCCESS_INDEX]==1)
- {
-
- remotesend_state = 0;
- usart_send[2] = 7;//正常模式
- usart_send[3] = 5;//数据段长度
- memcpy(&usart_send[4],&tag_id_recv,2);
- usart_send[6] = 1;//数据段长度
- checksum = Checksum_u16(&usart_send[2],5);
- memcpy(&usart_send[7],&checksum,2);
- UART_PushFrame(usart_send,9);
- }
- }
- }else{
- #ifdef DEBUG_INF
- printf("final包失败：%x/n",status_reg);
- #endif
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
- }
+ } else {
+ // printf("%d",hex_dist);
+ misdist_num[taglist_pos]++;
+ }
+ } else {
+ errortimes++;
+ usart_send[13] = battary;
+ }
+ if(rx_buffer[TAGCONFIGSUCCESS_INDEX]==1)
+ {
+
+ remotesend_state = 0;
+ usart_send[2] = 7;//正常模式
+ usart_send[3] = 5;//数据段长度
+ memcpy(&usart_send[4],&tag_id_recv,2);
+ usart_send[6] = 1;//数据段长度
+ checksum = Checksum_u16(&usart_send[2],5);
+ memcpy(&usart_send[7],&checksum,2);
+ UART_PushFrame(usart_send,9);
+ }
+ }
+ } else {
+#ifdef DEBUG_INF
+ printf("final包失败：%x/n",status_reg);
+#endif
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
+ }
}
void Anchor_Start(void)
{
-dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
- g_start_sync_flag=0;
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
+ g_start_sync_flag=0;
- dwt_setrxtimeout(1000);//设定接收超时时间，0位没有超时时间
- dwt_rxenable(0);//打开接收
+ dwt_setrxtimeout(1000);//设定接收超时时间，0位没有超时时间
+ dwt_rxenable(0);//打开接收
// 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();
// };
}
@@ -684,7 +695,7 @@
extern u16 synclost_count;
uint32_t current_syncid=0xffffffff,synclost_timer;
extern u8 flag_syncbase,waitsync_flag;
-u8 tagpos_rec[50],tagpos_send[50],ancidlist_num,zero_matrix[100]={0};
+u8 tagpos_rec[50],tagpos_send[50],ancidlist_num,zero_matrix[100]= {0};
u16 ancidlist_rec[20],ancidlist_send[20];
u16 recnearbaselist_id[30],rec_taganc_signalpower_list[11];
int32_t recnearbaselist_dist[30];
@@ -692,53 +703,53 @@
u16 timm = 0;
void Anchor_App(void)
{
-
- u8 send_len,i;
- u16 tempid;
- uint32_t rec_syncid;
-
+
+ u8 send_len,i;
+ u16 tempid;
+ uint32_t rec_syncid;
+
// dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
// g_start_sync_flag=0;
// dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
// dwt_rxenable(0);//打开接收
-// GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
+// GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
// 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
-// {
+// {
// //IdleTask();
// };
-//GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);
- dwt_setinterrupt( DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 0);
- status_reg = dwt_read32bitreg(SYS_STATUS_ID);
- if (status_reg & SYS_STATUS_RXFCG)//成功接收
- { u16 tag_recv_interval;
- float temp_tagpos;
+//GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);
+ dwt_setinterrupt( DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 0);
+ status_reg = dwt_read32bitreg(SYS_STATUS_ID);
+ if (status_reg & SYS_STATUS_RXFCG)//成功接收
+ { u16 tag_recv_interval;
+ float temp_tagpos;
// time_monitor[0] = sync_timer*1000+TIM3->CNT;
- g_Resttimer=0;
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);//清除标志位
- frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//获得接收数据长度
- dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
- memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
- //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
- memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
- switch(rx_buffer[MESSAGE_TYPE_IDX])
- {
- uint16_t checksum;
- case DISCOVERPOLL:
- if (anchor_type == rx_buffer[ANCHOR_ID_IDX])
- {
+ g_Resttimer=0;
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);//清除标志位
+ frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//获得接收数据长度
+ dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
+ memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
+ //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
+ memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
+ switch(rx_buffer[MESSAGE_TYPE_IDX])
+ {
+ uint16_t checksum;
+ case DISCOVERPOLL:
+ if (anchor_type == rx_buffer[ANCHOR_ID_IDX]&&g_com_map[NEARSWITCH_DISTANCE_INDEX] != 0)
+ {
taglist_pos=CmpTagInList(tag_id_recv);
- if(taglist_pos==taglist_num)
- {
- taglist_pos=taglist_num;
- tagid_list[taglist_num++]=tag_id_recv;
-
- new_tagid=1;
- }else{
- new_tagid=0;
- }
- tagofflinetime[taglist_pos]=0;
-
+ if(taglist_pos==taglist_num)
+ {
+ taglist_pos=taglist_num;
+ tagid_list[taglist_num++]=tag_id_recv;
+
+ new_tagid=1;
+ } else {
+ new_tagid=0;
+ }
+ tagofflinetime[taglist_pos]=0;
+
rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
if(rec_nearbase_num>=30)
{
@@ -747,32 +758,32 @@
battary = rx_buffer[BATTARY_IDX];
button = rx_buffer[BUTTON_IDX];
frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
- tag_frequency = rx_buffer[NEARP_TAGFREQ_INDEX];
- tag_slotpos = rx_buffer[NEARP_TAGSLOTPOS_INDEX];
-
- ////////////////基站汇总模式数据
- memcpy(&rec_tagheight,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*6],2);
+ tag_frequency = rx_buffer[NEARP_TAGFREQ_INDEX];
+ tag_slotpos = rx_buffer[NEARP_TAGSLOTPOS_INDEX];
+
+ ////////////////基站汇总模式数据
+ memcpy(&rec_tagheight,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*6],2);
memcpy(&recnearbaselist_id,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
memcpy(&recnearbaselist_dist,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*2],rec_nearbase_num*4);
- Anchor_RecPoll();
- }
- break;
- case SPOLL:
- //if (anchor_type == rx_buffer[ANC_TYPE_IDX])
+ Anchor_RecPoll();
+ }
+ break;
+ case SPOLL:
+ //if (anchor_type == rx_buffer[ANC_TYPE_IDX])
if(dev_id==anc_id_recv)
{
taglist_pos=CmpTagInList(tag_id_recv);
- if(taglist_pos==taglist_num)
- {
- taglist_pos=taglist_num;
- tagid_list[taglist_num++]=tag_id_recv;
-
- new_tagid=1;
- }else{
- new_tagid=0;
- }
- tagofflinetime[taglist_pos]=0;
-
+ if(taglist_pos==taglist_num)
+ {
+ taglist_pos=taglist_num;
+ tagid_list[taglist_num++]=tag_id_recv;
+
+ new_tagid=1;
+ } else {
+ new_tagid=0;
+ }
+ tagofflinetime[taglist_pos]=0;
+
rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
if(rec_nearbase_num>=30)
{
@@ -781,210 +792,210 @@
battary = rx_buffer[BATTARY_IDX];
button = rx_buffer[BUTTON_IDX];
frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
- tag_frequency = rx_buffer[NEARP_TAGFREQ_INDEX];
- tag_slotpos = rx_buffer[NEARP_TAGSLOTPOS_INDEX];
-
- ////////////////基站汇总模式数据
- memcpy(&rec_tagheight,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*6],2);
+ tag_frequency = rx_buffer[NEARP_TAGFREQ_INDEX];
+ tag_slotpos = rx_buffer[NEARP_TAGSLOTPOS_INDEX];
+
+ ////////////////基站汇总模式数据
+ memcpy(&rec_tagheight,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*6],2);
memcpy(&recnearbaselist_id,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
memcpy(&recnearbaselist_dist,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*2],rec_nearbase_num*4);
- usart_send[2] = 0x0c;//正常模式
- usart_send[3] = 15+8*(rec_nearbase_num);//数据段长度
- memcpy(&usart_send[4],&tag_id_recv,2);
- usart_send[6] = rx_buffer[SEQUENCE_IDX];
- usart_send[7] = rx_buffer[SEQUENCEH_IDX];
- usart_send[8] = battary;
- usart_send[9] = button;
- memcpy(&usart_send[10],&rec_tagheight,2);
- usart_send[12] = tag_frequency;
- usart_send[13] = tag_slotpos;
- usart_send[14] = 0;
- usart_send[15] = 0;
- usart_send[16] = rec_nearbase_num;
-
- memcpy(&usart_send[17],&recnearbaselist_id,2*rec_nearbase_num);
- memcpy(&usart_send[17+rec_nearbase_num*2],&recnearbaselist_dist,4*rec_nearbase_num);
- memcpy(&usart_send[17+rec_nearbase_num*6],zero_matrix,2*rec_nearbase_num);
-
- checksum = Checksum_u16(&usart_send[2],15+8*rec_nearbase_num);
- memcpy(&usart_send[17+8*rec_nearbase_num],&checksum,2);
- UART_PushFrame(usart_send,19+8*rec_nearbase_num);
- Anchor_RecPoll();
+ usart_send[2] = 0x0c;//正常模式
+ usart_send[3] = 15+8*(rec_nearbase_num);//数据段长度
+ memcpy(&usart_send[4],&tag_id_recv,2);
+ usart_send[6] = rx_buffer[SEQUENCE_IDX];
+ usart_send[7] = rx_buffer[SEQUENCEH_IDX];
+ usart_send[8] = battary;
+ usart_send[9] = button;
+ memcpy(&usart_send[10],&rec_tagheight,2);
+ usart_send[12] = tag_frequency;
+ usart_send[13] = tag_slotpos;
+ usart_send[14] = 0;
+ usart_send[15] = 0;
+ usart_send[16] = rec_nearbase_num;
+
+ memcpy(&usart_send[17],&recnearbaselist_id,2*rec_nearbase_num);
+ memcpy(&usart_send[17+rec_nearbase_num*2],&recnearbaselist_dist,4*rec_nearbase_num);
+ memcpy(&usart_send[17+rec_nearbase_num*6],zero_matrix,2*rec_nearbase_num);
+
+ checksum = Checksum_u16(&usart_send[2],15+8*rec_nearbase_num);
+ memcpy(&usart_send[17+8*rec_nearbase_num],&checksum,2);
+ UART_PushFrame(usart_send,19+8*rec_nearbase_num);
+ Anchor_RecPoll();
}
- break;
- case SYNC:
- memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
- if(anc_id_recv==g_com_map[SYNCBASEID])
- {
- synclost_count = 0;
- flag_syncbase=0;
- sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
- TIM3->CNT = (sync_seq*325%1000)-27;
- sync_timer = (sync_seq*325/1000);
- synclost_timer=0;
- if(g_com_map[BASESYNCSEQ]==2)
- SyncPoll(sync_seq);
- }
- break;
- case NEAR_MSG:
- if(anc_id_recv==dev_id)
- {
- rx_buffer[TAGSLOTPOS]=taglist_pos;
- tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
- memcpy(&tx_near_msg[TAG_ID_IDX],&tag_id_recv,2);
- memcpy(&tx_near_msg[NEARMSG_EMPTYSLOTPOS_INDEX],&tagpos_binary,4);
- ancidlist_num=g_com_map[NEARBASE_NUM];
- tx_near_msg[NEARBASENUM_INDEX]=g_com_map[NEARBASE_NUM];
- memcpy(&tx_near_msg[NEARBASEID_INDEX],&g_com_map[NEARBASE_ID1],g_com_map[NEARBASE_NUM]*2);
- send_len=21+ancidlist_num*2;
- dwt_writetxdata(send_len, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
- dwt_writetxfctrl(send_len, 0);//设置超宽带发送数据长度
- dwt_starttx(DWT_START_TX_IMMEDIATE);
- }
- break;
- case REG_POLL:
- for(i=0;i<MAX_REGTAGNUM;i++)
- {
- if(tag_id_recv==regtag_map.tagid[i]&®tag_map.remain_time[i]>0)
- {
- tx_near_msg[REGR_TAGSLOTPOS_INDEX]=regtag_map.tag_slotpos[i];
- tx_near_msg[REGR_TAGFREQ_INDEX] = regtag_map.tag_frequency[i];
- memcpy(&tx_near_msg[TAG_ID_IDX],&tag_id_recv,2);
- memcpy(&tx_near_msg[ANCHOR_ID_IDX],&dev_id,2);
- tx_near_msg[MESSAGE_TYPE_IDX] = REG_RESPONSE;
- ancidlist_num=g_com_map[NEARBASE_NUM];
- tx_near_msg[NEARBASENUM_INDEX]=g_com_map[NEARBASE_NUM];
- memcpy(&tx_near_msg[NEARBASEID_INDEX],&g_com_map[NEARBASE_ID1],g_com_map[NEARBASE_NUM]*2);
- send_len=21+ancidlist_num*2;
- dwt_writetxdata(send_len, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
- dwt_writetxfctrl(send_len, 0);//设置超宽带发送数据长度
- dwt_starttx(DWT_START_TX_IMMEDIATE);
- regtag_map.tagid[i] = 0;
- break;
- }
-
- }
- if(i==MAX_REGTAGNUM)
- {
- dwt_readdiagnostics(&d1);
- LOS(&d1);
- usart_send[2]=0x0a;
- usart_send[3]=20;
- memcpy(&usart_send[4],&dev_id,2);
- memcpy(&usart_send[6],&tag_id_recv,2);
- memcpy(&usart_send[8],&rx_buffer[10],9);
- usart_send[17] = firstpath_power;
- memcpy(&usart_send[18],&rx_buffer[19],2);
- checksum = Checksum_u16(&usart_send[2],20);
- memcpy(&usart_send[22],&checksum,2);
- UART_PushFrame(usart_send,24);
- }
- break;
- case NEAR_POLL:
- // GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_SET);
-
- memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
- taglist_pos=CmpTagInList(tag_id_recv);
- if(taglist_pos==taglist_num)
- {
- taglist_pos=taglist_num;
- tagid_list[taglist_num++]=tag_id_recv;
-
- new_tagid=1;
- }else{
- new_tagid=0;
- }
- tagofflinetime[taglist_pos]=0;
- 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];
- if(rec_nearbase_num>30)
+ break;
+ case SYNC:
+ memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
+ if(anc_id_recv==g_com_map[SYNCBASEID])
+ {
+ synclost_count = 0;
+ flag_syncbase=0;
+ sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
+ TIM3->CNT = (sync_seq*325%1000)-27;
+ sync_timer = (sync_seq*325/1000);
+ synclost_timer=0;
+ if(g_com_map[BASESYNCSEQ]==2)
+ SyncPoll(sync_seq);
+ }
+ break;
+ case POS_MSG:
+ if(anc_id_recv==dev_id)
+ {
+ rx_buffer[TAGSLOTPOS]=taglist_pos;
+ tx_near_msg[MESSAGE_TYPE_IDX] = POS_MSG;
+ memcpy(&tx_near_msg[TAG_ID_IDX],&tag_id_recv,2);
+ memcpy(&tx_near_msg[NEARMSG_EMPTYSLOTPOS_INDEX],&tagpos_binary,4);
+ ancidlist_num=g_com_map[NEARBASE_NUM];
+ tx_near_msg[NEARBASENUM_INDEX]=g_com_map[NEARBASE_NUM];
+ memcpy(&tx_near_msg[NEARBASEID_INDEX],&g_com_map[NEARBASE_ID1],g_com_map[NEARBASE_NUM]*2);
+ send_len=21+ancidlist_num*2;
+ dwt_writetxdata(send_len, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+ dwt_writetxfctrl(send_len, 0);//设置超宽带发送数据长度
+ dwt_starttx(DWT_START_TX_IMMEDIATE);
+ }
+ break;
+ case REG_POLL:
+ for(i=0; i<MAX_REGTAGNUM; i++)
+ {
+ if(tag_id_recv==regtag_map.tagid[i]&®tag_map.remain_time[i]>0)
{
+ tx_near_msg[REGR_TAGSLOTPOS_INDEX]=regtag_map.tag_slotpos[i];
+ tx_near_msg[REGR_TAGFREQ_INDEX] = regtag_map.tag_frequency[i];
+ memcpy(&tx_near_msg[TAG_ID_IDX],&tag_id_recv,2);
+ memcpy(&tx_near_msg[ANCHOR_ID_IDX],&dev_id,2);
+ tx_near_msg[MESSAGE_TYPE_IDX] = REG_RESPONSE;
+ ancidlist_num=g_com_map[NEARBASE_NUM];
+ tx_near_msg[NEARBASENUM_INDEX]=g_com_map[NEARBASE_NUM];
+ memcpy(&tx_near_msg[NEARBASEID_INDEX],&g_com_map[NEARBASE_ID1],g_com_map[NEARBASE_NUM]*2);
+ send_len=21+ancidlist_num*2;
+ dwt_writetxdata(send_len, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+ dwt_writetxfctrl(send_len, 0);//设置超宽带发送数据长度
+ dwt_starttx(DWT_START_TX_IMMEDIATE);
+ regtag_map.tagid[i] = 0;
break;
}
- battary = rx_buffer[BATTARY_IDX];
- button = rx_buffer[BUTTON_IDX];
- frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
- tag_frequency = rx_buffer[NEARP_TAGFREQ_INDEX];
- tag_slotpos = rx_buffer[NEARP_TAGSLOTPOS_INDEX];
- ////////////////基站汇总模式数据
- memcpy(&rec_tagheight,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*8+6],2);
- memcpy(&recnearbaselist_id,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
- memcpy(&recnearbaselist_dist,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*2],rec_nearbase_num*4+4);
- memcpy(&rec_taganc_signalpower_list,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*6+4],rec_nearbase_num*2+2);
- // if(anc_id_recv == dev_id )
- {
- usart_send[2] = 0x0c;//正常模式
- usart_send[3] = 15+8*(rec_nearbase_num+1);//数据段长度
- memcpy(&usart_send[4],&tag_id_recv,2);
- usart_send[6] = rx_buffer[SEQUENCE_IDX];
- usart_send[7] = rx_buffer[SEQUENCEH_IDX];
- usart_send[8] = battary;
- usart_send[9] = button;
- memcpy(&usart_send[10],&rec_tagheight,2);
- usart_send[12] = tag_frequency;
- usart_send[13] = tag_slotpos;
- usart_send[14] = 0;
- usart_send[15] = 0;
- usart_send[16] = rec_nearbase_num+1;
- memcpy(&usart_send[17],&anc_id_recv,2);
- memcpy(&usart_send[19],&recnearbaselist_id,2*rec_nearbase_num);
- memcpy(&usart_send[19+rec_nearbase_num*2],&recnearbaselist_dist,4*rec_nearbase_num+4);
- memcpy(&usart_send[19+rec_nearbase_num*6+4],&rec_taganc_signalpower_list,2*rec_nearbase_num+2);
-
- checksum = Checksum_u16(&usart_send[2],23+8*rec_nearbase_num);
- memcpy(&usart_send[25+8*rec_nearbase_num],&checksum,2);
- UART_PushFrame(usart_send,27+8*rec_nearbase_num);
+ }
+ if(i==MAX_REGTAGNUM&&g_com_map[NEARSWITCH_DISTANCE_INDEX] != 0)
+ {
+ dwt_readdiagnostics(&d1);
+ LOS(&d1);
+ usart_send[2]=0x0a;
+ usart_send[3]=20;
+ memcpy(&usart_send[4],&dev_id,2);
+ memcpy(&usart_send[6],&tag_id_recv,2);
+ memcpy(&usart_send[8],&rx_buffer[10],9);
+ usart_send[17] = firstpath_power;
+ memcpy(&usart_send[18],&rx_buffer[19],2);
+ checksum = Checksum_u16(&usart_send[2],20);
+ memcpy(&usart_send[22],&checksum,2);
+ UART_PushFrame(usart_send,24);
+ }
+ break;
+ case POS_POLL:
+ // GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_SET);
+
+ memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
+ taglist_pos=CmpTagInList(tag_id_recv);
+ if(taglist_pos==taglist_num)
+ {
+ taglist_pos=taglist_num;
+ tagid_list[taglist_num++]=tag_id_recv;
+
+ new_tagid=1;
+ } else {
+ new_tagid=0;
+ }
+ tagofflinetime[taglist_pos]=0;
+ 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];
+ if(rec_nearbase_num>30)
+ {
+ break;
+ }
+ battary = rx_buffer[BATTARY_IDX];
+ button = rx_buffer[BUTTON_IDX];
+ frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
+ tag_frequency = rx_buffer[NEARP_TAGFREQ_INDEX];
+ tag_slotpos = rx_buffer[NEARP_TAGSLOTPOS_INDEX];
+ ////////////////基站汇总模式数据
+ memcpy(&rec_tagheight,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*8+6],2);
+ memcpy(&recnearbaselist_id,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
+ memcpy(&recnearbaselist_dist,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*2],rec_nearbase_num*4+4);
+ memcpy(&rec_taganc_signalpower_list,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*6+4],rec_nearbase_num*2+2);
+ if(anc_id_recv == dev_id||g_com_map[OUTPUTALLNEARPOLLMSG] == 1 )
+ {
+ usart_send[2] = 0x0c;//正常模式
+ usart_send[3] = 15+8*(rec_nearbase_num+1);//数据段长度
+ memcpy(&usart_send[4],&tag_id_recv,2);
+ usart_send[6] = rx_buffer[SEQUENCE_IDX];
+ usart_send[7] = rx_buffer[SEQUENCEH_IDX];
+ usart_send[8] = battary;
+ usart_send[9] = button;
+
+ memcpy(&usart_send[10],&rec_tagheight,2);
+ usart_send[12] = tag_frequency;
+ usart_send[13] = tag_slotpos;
+ usart_send[14] = 0;
+ usart_send[15] = 0;
+ usart_send[16] = rec_nearbase_num+1;
+ memcpy(&usart_send[17],&anc_id_recv,2);
+ memcpy(&usart_send[19],&recnearbaselist_id,2*rec_nearbase_num);
+ memcpy(&usart_send[19+rec_nearbase_num*2],&recnearbaselist_dist,4*rec_nearbase_num+4);
+ memcpy(&usart_send[19+rec_nearbase_num*6+4],&rec_taganc_signalpower_list,2*rec_nearbase_num+2);
+
+ checksum = Checksum_u16(&usart_send[2],23+8*rec_nearbase_num);
+ memcpy(&usart_send[25+8*rec_nearbase_num],&checksum,2);
+ UART_PushFrame(usart_send,27+8*rec_nearbase_num);
// UART_CheckSend();
-
- timm++;
+
+ timm++;
+ }
+ //////////////////////////////////////////////////////////////
+
+
+ GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_SET);
+ if(anc_id_recv==dev_id)
+ {
+ Anchor_RecNearPoll(rec_nearbase_num);
+ } else {
+
+ for(i=0; i<rec_nearbase_num; i++)
+ {
+ memcpy(&tempid,&rx_buffer[NEARBASEID_INDEX+i*2],2);
+ if(tempid==dev_id)
+ {
+
+ seize_anchor=0; //非抢占。已存在列表中
+ Anchor_RecNearPoll(i);
+ break;
+ }
}
- //////////////////////////////////////////////////////////////
-
-
-GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_SET);
- if(anc_id_recv==dev_id)
- {
- Anchor_RecNearPoll(rec_nearbase_num);
- }else{
-
- for(i=0;i<rec_nearbase_num;i++)
- {
- memcpy(&tempid,&rx_buffer[NEARBASEID_INDEX+i*2],2);
- if(tempid==dev_id)
- {
-
- seize_anchor=0; //非抢占。已存在列表中
- Anchor_RecNearPoll(i);
- break;
- }
- }
- }
- //抢占模式
+ }
+ //抢占模式
// if(i==rec_nearbase_num)
// {
// seize_anchor=1; //抢占anchor
-// Anchor_RecNearPoll(i);
+// Anchor_RecNearPoll(i);
// }
// if(tag_id_recv==0x4008)
// printf("标签高度: %d,基站高度: %d,高度差： %d. \r\n",rec_tagheight,intheight,intheight-rec_tagheight);
-
- break;
- default:
-
- break;
- }
- }else{
- #ifdef DEBUG_INF
- printf("poll包失败：%x/n",status_reg);
- #endif
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
- }
-UART_CheckSend();
- dwt_setinterrupt( DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);
- dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
- dwt_rxenable(0);//打开接收
-
+
+ break;
+ default:
+
+ break;
+ }
+ } else {
+#ifdef DEBUG_INF
+ printf("poll包失败：%x/n",status_reg);
+#endif
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
+ }
+ UART_CheckSend();
+ dwt_setinterrupt( DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);
+ dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
+ dwt_rxenable(0);//打开接收
+
}
--
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