From 5bfa1bc693623159c5059067f8db7589fabd04a1 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期一, 27 四月 2020 09:03:22 +0800
Subject: [PATCH] V1.22
---
源码/核心板/Src/application/dw_app.c | 147 +++++++++++++++++++++++++------------------------
1 files changed, 75 insertions(+), 72 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 2f077f3..b6ba39f 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"
@@ -22,7 +22,9 @@
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_near_msg[80] = {0};
+static uint8_t tx_nearpoll_msg[80] = {0};
+static uint8_t tx_nearresp_msg[80] = {0};
+static uint8_t tx_nearfinal_msg[80] = {0};
static uint32_t frame_seq_nb = 0;
static uint32_t status_reg = 0;
@@ -144,8 +146,9 @@
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_near_msg[ANCHOR_ID_IDX], &dev_id, 2);
- memcpy(&tx_near_msg[TAG_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)
{
@@ -158,7 +161,7 @@
}
u16 tag_time_recv[TAG_NUM_IN_SYS];
-u8 usart_send[100];
+u8 usart_send[100],usart_send_anc[100];
u8 battary,button;
extern uint8_t g_pairstart;
void tag_sleep_configuraion(void)
@@ -259,14 +262,14 @@
//nearbase_num=0;
recbase_num=0;
- tx_near_msg[BATTARY_IDX] = Get_Battary();
- tx_near_msg[BUTTON_IDX] = !READ_KEY0;
- tx_near_msg[SEQUENCE_IDX] = frame_seq_nb++;
- tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
- memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
- tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;
- memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
- dwt_writetxdata(13+2*nearbase_num, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+ tx_nearpoll_msg[BATTARY_IDX] = Get_Battary();
+ tx_nearpoll_msg[BUTTON_IDX] = !READ_KEY0;
+ 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);
+ tx_nearpoll_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;
+ memcpy(&tx_nearpoll_msg[ANCHOR_ID_IDX],&mainbase_id,2);
+ dwt_writetxdata(13+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+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
@@ -320,7 +323,7 @@
{
nearbaseid_list[0]=rec_nearbaseid;
nearbase_num=1;
- memcpy(&tx_near_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
+ memcpy(&tx_nearfinal_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
}
if(rec_nearbaseid==nearbaseid_list[0])
{
@@ -356,11 +359,11 @@
temp2=final_tx_time+((100*UUS_TO_DWT_TIME)>>8);
// dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final包实际发送时间是计算时间加上发送天线delay
- final_msg_set_ts(&tx_near_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据
- final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX], resp_rx_ts);
- final_msg_set_ts(&tx_near_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
- tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
- dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//将发送数据写入DW1000
+ final_msg_set_ts(&tx_nearfinal_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据
+ final_msg_set_ts(&tx_nearfinal_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX], resp_rx_ts);
+ final_msg_set_ts(&tx_nearfinal_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
+ tx_nearfinal_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
+ dwt_writetxdata(28+nearbase_num*4, tx_nearfinal_msg, 0);//将发送数据写入DW1000
dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度
if(temp_dist!=0x1ffff)
{
@@ -385,15 +388,15 @@
{
nearbase_num++;
nearbaseid_list[nearbase_num] = rec_nearbaseid;
- memcpy(&tx_near_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
+ memcpy(&tx_nearfinal_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
}
exsistbase_list[rec_nearbasepos]=1;
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
nearbase_distlist[rec_nearbasepos]=temp_dist;
- final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
- dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//将发送数据写入DW1000
+ final_msg_set_ts(&tx_nearfinal_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
+ dwt_writetxdata(28+nearbase_num*4, tx_nearfinal_msg, 0);//将发送数据写入DW1000
dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度
LED0_BLINK;
if(temp_dist!=0x1ffff)
@@ -500,44 +503,44 @@
}
-void GetNearMsg(void)
-{
- u32 start_poll,frame_len;
- memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
- memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);
- tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
-
- 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);
- dwt_writetxdata(12, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
- dwt_writetxfctrl(12, 0);//设置超宽带发送数据长度
- dwt_starttx(DWT_START_TX_IMMEDIATE| DWT_RESPONSE_EXPECTED);
- start_poll = time32_incr;
- /* 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)
- NVIC_SystemReset();
- };
- if(status_reg==0xffffffff)
- {
- NVIC_SystemReset();
- }
- if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
- {
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚寄存器标志位
- frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //获得接收到的数据长度
- dwt_readrxdata(rx_buffer, frame_len, 0); //读取接收数据
- if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_MSG&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
- {
- nearbase_num=rx_buffer[NEARBASENUM_INDEX];
- tagslotpos=rx_buffer[TAGSLOTPOS];
- memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
- slottime=ceil((nearbase_num+2)*0.3)+1;
- tyncpoll_time=tagslotpos*slottime;
- tag_state=NEARPOLL;
- }
- }
-}
+//void GetNearMsg(void)
+//{
+// u32 start_poll,frame_len;
+// memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
+// memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);
+// tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
+//
+// 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);
+// dwt_writetxdata(12, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+// dwt_writetxfctrl(12, 0);//设置超宽带发送数据长度
+// dwt_starttx(DWT_START_TX_IMMEDIATE| DWT_RESPONSE_EXPECTED);
+// start_poll = time32_incr;
+// /* 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)
+// NVIC_SystemReset();
+// };
+// if(status_reg==0xffffffff)
+// {
+// NVIC_SystemReset();
+// }
+// if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
+// {
+// dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚寄存器标志位
+// frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //获得接收到的数据长度
+// dwt_readrxdata(rx_buffer, frame_len, 0); //读取接收数据
+// if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_MSG&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
+// {
+// nearbase_num=rx_buffer[NEARBASENUM_INDEX];
+// tagslotpos=rx_buffer[TAGSLOTPOS];
+// memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
+// slottime=ceil((nearbase_num+2)*0.3)+1;
+// tyncpoll_time=tagslotpos*slottime;
+// tag_state=NEARPOLL;
+// }
+// }
+//}
void Tag_App(void)//发送模式(TAG标签)
{
@@ -654,10 +657,10 @@
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
{
tmp_time=TIM3->CNT;
- memcpy(&tx_near_msg[ANCTIMEMS],&sync_timer,2);
- memcpy(&tx_near_msg[ANCTIMEUS],&tmp_time,2);
- memcpy(&tx_near_msg[TAGSLOTPOS],&taglist_pos,2);
- memcpy(&tx_near_msg[TAG_ID_IDX],&tag_id_recv,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。
@@ -668,13 +671,13 @@
if(new_tagid)
{
tagdist_list[taglist_pos]=0x1ffff;
- memcpy(&tx_near_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
+ memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
}else{
- memcpy(&tx_near_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
+ memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
}
- tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
- dwt_writetxdata(20, tx_near_msg, 0);//写入发送数据
+ tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
+ dwt_writetxdata(20, tx_nearresp_msg, 0);//写入发送数据
dwt_writetxfctrl(20, 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
@@ -695,7 +698,7 @@
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))
+ if(seize_anchor&&memcmp(&rx_buffer[ANCHOR_ID_IDX],&dev_id,2)) //抢占anchor 失败
{
return 1;
}
@@ -749,8 +752,8 @@
memcpy(&usart_send[19],&checksum,2);
UART_PushFrame(usart_send,21);
#else
- memcpy(&usart_send[4+6*anc_report_num],&tag_id_recv,2);
- memcpy(&usart_send[6+6*anc_report_num],&tagdist_list[taglist_pos],4);
+ 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
}else{
@@ -838,14 +841,14 @@
memcpy(&tempid,&rx_buffer[NEARBASEID_INDEX+i*2],2);
if(tempid==dev_id)
{
- seize_anchor=0;
+ seize_anchor=0; //非抢占。已存在列表中
Anchor_RecNearPoll(i);
break;
}
}
if(i==rec_nearbase_num)
{
- seize_anchor=1;
+ seize_anchor=1; //抢占anchor
Anchor_RecNearPoll(i);
}
--
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