From 5ab92d7ff87870ce55ecb46c86d25ae79aa834e1 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期日, 31 五月 2020 19:18:26 +0800
Subject: [PATCH] V1.28 修改MIS_NUM标志位错误
---
源码/核心板/Src/application/dw_app.c | 125 ++++++++++++++++++++++++++---------------
1 files changed, 79 insertions(+), 46 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 151b817..52bcef1 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"
@@ -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
@@ -94,7 +96,7 @@
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. */
@@ -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;
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);
@@ -374,8 +389,8 @@
/* 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 +412,15 @@
}
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
@@ -420,10 +444,14 @@
LED0_BLINK;
memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
-// g_Tagdist[anc_id_recv]= hex_dist;
-// g_flag_Taggetdist[anc_id_recv]=0;
+ 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
@@ -431,12 +459,13 @@
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)
@@ -464,10 +493,10 @@
// deca_sleep(10);
}
// dwt_entersleep();
- if(tag_succ_times<g_com_map[MIN_REPORT_ANC_NUM])
- {
- //poll_timer +=time32_incr&0x7+3;
- }
+// if(tag_succ_times<g_com_map[MIN_REPORT_ANC_NUM])
+// {
+// //poll_timer +=time32_incr&0x7+3;
+// }
/* Execute a delay between ranging exchanges. */
@@ -475,12 +504,13 @@
int8_t correction_time;
extern uint8_t sync_seq;
#define TDFILTER
-
+//#define CHECK_UID
+extern uint8_t UID_ERROR;
+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
@@ -520,7 +550,7 @@
// 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);
@@ -542,7 +572,7 @@
/* Write and send the response message. See NOTE 9 below.*/
if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS)
- memcpy(&tx_resp_msg[DIST_IDX], &anchor_dist_last_frm[tag_id_recv-TAG_ID_START], 4);
+ memcpy(&tx_resp_msg[DIST_IDX], &g_Tagdist[tag_id_recv], 4);
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
@@ -574,7 +604,7 @@
/* 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;
@@ -590,6 +620,10 @@
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);
+ #ifdef CHECK_UID
+ if(UID_ERROR==1)
+ poll_rx_ts=0;
+ #endif
/* Compute time of flight. 32-bit subtractions give correct answers even if clock has wrapped. See NOTE 10 below. */
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;
@@ -604,31 +638,31 @@
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
+ dist_cm = dist_no_bias * 1000; //dis 为单位为cm的距离
// 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------------------------*/
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(hex_dist-anchor_dist_last_frm[tag_id_recv-TAG_ID_START]<1500||misdist_num>4)
+
+ hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10;
+ if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS)
{
- misdist_num=0;
- if(hex_dist<100000&&hex_dist>-1000)
+ if(hex_dist-his_dist[tag_id_recv-TAG_ID_START]<15000||misdist_num[tag_id_recv-TAG_ID_START]>4)
{
- if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS)
- {
- if(abs(hex_dist-his_dist[tag_id_recv-TAG_ID_START])<1000)
- {
- g_Tagdist[tag_id_recv-TAG_ID_START] = hex_dist;
- anchor_dist_last_frm[tag_id_recv-TAG_ID_START] = hex_dist;
- g_Tagdist[tag_id_recv]= hex_dist;
+ int32_t filter_dist;
+ misdist_num[tag_id_recv-TAG_ID_START]=0;
+ if(hex_dist<1000000&&hex_dist>-10000)
+ {
#ifdef TDFILTER
- TrackingDiffUpdate(pUWBDistanceTrackingDiff, (float)hex_dist);
- hex_dist=pUWBDistanceTrackingDiff->pos_predict;
+ NewTrackingDiffUpdate(tag_id_recv-TAG_ID_START, (float)hex_dist);
+ filter_dist=pos_predict[tag_id_recv-TAG_ID_START]/10;
+ #else
+ filter_dist=hex_dist/10;
#endif
- }
+ anchor_dist_last_frm[tag_id_recv-TAG_ID_START]=filter_dist;
+ g_Tagdist[tag_id_recv]= filter_dist;
+
his_dist[tag_id_recv-TAG_ID_START]=hex_dist;
g_flag_Taggetdist[tag_id_recv]=0;
if(!g_com_map[MODBUS_MODE])
@@ -647,16 +681,16 @@
UART_PushFrame(usart_send,21);
}
// memcpy(&Modbus_HoldReg[tag_id_recv*2],&anchor_dist_last_frm[tag_id_recv-TAG_ID_START],4);
- Modbus_HoldReg[tag_id_recv*2]=anchor_dist_last_frm[tag_id_recv-TAG_ID_START]>>16;
- Modbus_HoldReg[tag_id_recv*2+1]=anchor_dist_last_frm[tag_id_recv-TAG_ID_START];
+ Modbus_HoldReg[tag_id_recv*2]=g_Tagdist[tag_id_recv-TAG_ID_START]>>16;
+ Modbus_HoldReg[tag_id_recv*2+1]=g_Tagdist[tag_id_recv-TAG_ID_START];
//dis_after_filter = LP_Frac_Update(p_Dis_Filter, dist_cm);
}
+
}
- }else{
- misdist_num++;
+ else{
+ misdist_num[tag_id_recv-TAG_ID_START]++;
}
- if(anchor_dist_last_frm[tag_id_recv-TAG_ID_START]>1000)
- {anchor_dist_last_frm[tag_id_recv-TAG_ID_START]=anchor_dist_last_frm[tag_id_recv-TAG_ID_START];}
+ }
}
}else{
/* Clear RX error events in the DW1000 status register. */
@@ -664,8 +698,7 @@
}
}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;
--
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