From 5f02075313d646cd2bdb7a5ff720870455ba61fc Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期三, 29 十一月 2023 10:08:12 +0800
Subject: [PATCH] V1.4 去掉阈值修改，增加滤波功能，客户反馈还不行
---
源码/核心板/Src/application/dw_app.c | 395 +++++++++++++++++++++++++++++++++-----------------------
1 files changed, 231 insertions(+), 164 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 94a6032..d9533db 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"
@@ -1,5 +1,7 @@
#include "dw_app.h"
#include "ADC.h"
+#include "modbus.h"
+#define TDFILTER
enum enumtagstate
{
DISCPOLL,
@@ -9,14 +11,14 @@
static dwt_config_t config = {
2, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
- DWT_PLEN_128, /* Preamble length. */
+ DWT_PLEN_1024, /* 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. */
- 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. */
+ (1025 + 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};
@@ -47,7 +49,7 @@
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
-uint16_t g_Tagdist[TAG_NUM_IN_SYS];
+int32_t g_Tagdist[TAG_NUM_IN_SYS];
uint8_t g_flag_Taggetdist[256];
static uint64_t get_tx_timestamp_u64(void)
@@ -109,11 +111,20 @@
g_flag_Taggetdist[i]++;
if(g_flag_Taggetdist[i]>=2)
{
- g_Tagdist[i]=0xffff;
+ g_Tagdist[i]=0x1ffff;
}
}
}
}
+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;
+}
+extern int16_t g_commap_antdelay;
void Dw1000_Init(void)
{
/* Reset and initialise DW1000.
@@ -126,16 +137,18 @@
/* 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
- dwt_settxantennadelay(TX_ANT_DLY); //设置发射天线延迟
-
+ dwt_settxantennadelay(0); //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
}
+
+extern u16 group_id;
void Dw1000_App_Init(void)
{
//g_com_map[DEV_ID] = 0x0b;
@@ -144,6 +157,10 @@
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, 2);
memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 2);
memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 2);
@@ -332,15 +349,25 @@
last_nearbase_num=next_nearbase_num;
nearbase_num=next_nearbase_num;
recbase_num=0;
+ tx_nearpoll_msg[GROUP_ID_IDX] = group_id;
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);
+ for(i=0;i<nearbase_num;i++)
+ { memcpy(&tx_nearpoll_msg[NEARBASEID_INDEX+nearbase_num*2+i*2],&nearbase_distlist[i],2);}
+
+ memcpy(&tx_nearpoll_msg[NEARBASEID_INDEX+nearbase_num*4],&g_commap_antdelay,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+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_writetxdata(15+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(15+4*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;
@@ -382,7 +409,7 @@
dwt_readrxdata(rx_buffer, frame_len, 0); //读取接收数据
dwt_setrxtimeout(0);//DELAY_BETWEEN_TWO_FRAME_UUS*(nearbase_num+1-recbase_num)+10);//设定接收超时时间，0位没有超时时间
dwt_rxenable(0);//打开接收
- if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
+ if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)&&rx_buffer[GROUP_ID_IDX] == group_id) //判断接收到的数据是否是response数据
{ u16 rec_nearbaseid,rec_nearbasepos;
int32_t temp_dist;
poll_tx_ts = get_tx_timestamp_u64(); //获得POLL发送时间T1
@@ -443,23 +470,23 @@
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;
+ tx_nearfinal_msg[GROUP_ID_IDX] = group_id;
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
memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
+ IWDG_Feed();
if(temp_dist!=0x1ffff)
{
- #ifndef USART_INTEGRATE_OUTPUT
+ g_Resttimer=0;
+
+ #ifdef USART_SINGLE_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
- if(g_com_map[DEV_ROLE])
- {
+
memcpy(&usart_send[5],&dev_id,2);
memcpy(&usart_send[7],&rec_nearbaseid,2);
- }else{
- memcpy(&usart_send[5],&rec_nearbaseid,2);
- memcpy(&usart_send[7],&dev_id,2);
- }
+
memcpy(&usart_send[9],&rx_buffer[DIST_IDX],4);
usart_send[13] = battary;
usart_send[14] = button;
@@ -498,18 +525,14 @@
// tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
if(temp_dist!=0x1ffff)
{
- #ifndef USART_INTEGRATE_OUTPUT
+ #ifdef USART_SINGLE_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
- if(g_com_map[DEV_ROLE])
- {
+
memcpy(&usart_send[5],&dev_id,2);
memcpy(&usart_send[7],&rec_nearbaseid,2);
- }else{
- memcpy(&usart_send[5],&rec_nearbaseid,2);
- memcpy(&usart_send[7],&dev_id,2);
- }
+
memcpy(&usart_send[9],&rx_buffer[DIST_IDX],4);
usart_send[13] = battary;
usart_send[14] = button;
@@ -605,10 +628,7 @@
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
@@ -699,7 +719,6 @@
{
//LED0_ON;
dwt_forcetrxoff();
- g_Resttimer=0;
GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
switch(tag_state)
{
@@ -722,9 +741,9 @@
int8_t correction_time,new_tagid=0;
extern uint8_t sync_seq;
u16 taglist_num=0,taglist_pos;
-u16 tagid_list[TAG_NUM_IN_SYS];
+u16 tagid_list[TAG_NUM_IN_SYS],tagstate_list[TAG_NUM_IN_SYS];;
u8 tagofflinetime[TAG_NUM_IN_SYS];
-int32_t tagdist_list[TAG_NUM_IN_SYS];
+int32_t tagdist_list[TAG_NUM_IN_SYS],tag_histdist_list[TAG_NUM_IN_SYS];
void TagListUpdate(void)
{
u16 i,j=0,temp[TAG_NUM_IN_SYS];
@@ -750,6 +769,7 @@
uint32_t frame_len;
uint32_t resp_tx_time;
uint8_t rec_nearbase_num,anc_report_num;
+int16_t rec_antdelay;
void Anchor_RecPoll(void)
{
tmp_time=TIM3->CNT;
@@ -773,6 +793,8 @@
battary = rx_buffer[BATTARY_IDX];
button = rx_buffer[BUTTON_IDX];
+
+
frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
if(result==0)
{
@@ -823,35 +845,60 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}
-u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,getrange_success=0;
-u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
+ 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;
+ }
+static void resp_msg_set_ts(uint8_t *ts_field, const uint64_t ts)
{
- u8 motorstate;
- tmp_time=TIM3->CNT;
+ int i;
+ for (i = 0; i < 4; i++)
+ {
+ ts_field[i] = (ts >> (i * 8)) & 0xFF;
+ }
+}
+u16 smallcar_idlist[10]={0x4052,0x4032,0x4055,0x4034,0x4016,0x4010,0x4036,0x4027,0x4024,0x4047};
+extern u16 dist_threshold;
+u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,getrange_success=0;
+int32_t filter_dist,filter_speed;
+u8 newmeasure,recpoll_len;
+uint8_t temp_nearbaspos;
+float fiter_p;
+uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos) //0 mainbase 1 first near_base
+{
+ uint8_t motorstate;
+// tmp_time=TIM3->CNT;
+ temp_nearbaspos = ancrec_nearbasepos;
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);
+ memcpy(&tx_nearresp_msg[RESP_MSG_ANC_DISTOFFSET],&g_com_map[DIST_OFFSET],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
-
- if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1])
- {
- motorstate =0;
- }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
- {
- motorstate =2;
- }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE3])
- {
- motorstate =1;
- }else{
- motorstate =0;
- }
-
+ dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间、
+ resp_tx_ts = (((uint64_t)(resp_tx_time & 0xFFFFFFFEUL)) << 8) + TX_ANT_DLY;
+ resp_msg_set_ts(&tx_nearresp_msg[RESP_MSG_POLL_RX_TS_IDX], poll_rx_ts);
+ resp_msg_set_ts(&tx_nearresp_msg[RESP_MSG_RESP_TX_TS_IDX], resp_tx_ts);
if(new_tagid)
{
tagdist_list[taglist_pos]=0x1ffff;
@@ -859,117 +906,96 @@
}else{
memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
}
- 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)
+ motorstate =0;
+ if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1]||tagdist_list[taglist_pos]<0)
+ {
+ motorstate =0;
+ }
+ else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
{
- 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
- }
- 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)
+ if(1)//flag_tag_distsmooth[taglist_pos])
+ {motorstate =2;
+ }else{
+ motorstate =0;
+ }
+ }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE3])
{
- 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
- { };
- }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
- {
- 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_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;
- 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;
- getrange_success = 1;
- 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];
- g_flag_Taggetdist[taglist_pos]=0;
- if(hex_dist>-1000&&hex_dist<200000)
- {
- 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;
- 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
+ if(1)//flag_tag_distsmooth[taglist_pos])
+ {motorstate =1;
}else{
- // printf("%d",hex_dist);
- misdist_num[taglist_pos]++;
- }
+ motorstate =0;
}
}
- }else{
- //printf("%x/n",status_reg);
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
- }
+ tx_nearresp_msg[GROUP_ID_IDX] = group_id;
+ tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
+ tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
+ tx_nearresp_msg[MOTORSTATE_INDEX]=motorstate;//(remotesend_state<<4)|motorstate;
+ tx_nearresp_msg[MOTORSTATE_INDEX]&=0x0f;
+// 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(38, tx_nearresp_msg, 0);//写入发送数据
+ dwt_writetxfctrl(38, 0);//设定发送长度
+ // }
+ result = dwt_starttx(DWT_START_TX_DELAYED );//延迟发送，等待接收
+
+
+ if(result==0)
+ {
+ while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_TXFRS ))&&!g_start_sync_flag)///不断查询芯片状态直到接收成功或者出现错误
+ { };
+ }else{
+// if(g_com_map[MODBUS_ID1]==1)
+// {
+// #ifdef DBGMSG_OUTPUT
+// dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
+// SendDbgMsg(dbgmsg,dbgmsg_len);
+// #endif
+// }
+ result++;
+ }
+ if(!seize_anchor)
+ {
+ if(abs(tagdist_list[taglist_pos]-tag_histdist_list[taglist_pos])<g_com_map[SPEEDFILTER_THRES]||misdist_num[taglist_pos]>3)
+ {
+ if(tag_histdist_list[taglist_pos]>0&&tag_histdist_list[taglist_pos]<50000)
+ {
+ filter_dist=tagdist_list[taglist_pos]*fiter_p+(1-fiter_p)*tag_histdist_list[taglist_pos];
+ }else{
+ filter_dist = tagdist_list[taglist_pos];
+ }
+ tag_histdist_list[taglist_pos] = filter_dist;
+ 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],&tag_histdist_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);
+ }else{
+ misdist_num[taglist_pos]++;
+ }
+ }
+
}
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];
+extern uint8_t flag_syncbase;
+uint8_t tagpos_rec[50],tagpos_send[50],ancidlist_num;
+uint16_t ancidlist_rec[20],ancidlist_send[20],rec_ancidlist[20],rec_ancdistlist[20];
void Anchor_App(void)
{
-
- u8 send_len,i;
- u16 tempid;
+ uint8_t send_len,i;
+ uint16_t tempid;
uint32_t rec_syncid;
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
@@ -985,30 +1011,33 @@
};
//GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);
if (status_reg & SYS_STATUS_RXFCG)//成功接收
- { u16 tag_recv_interval;
+ { uint16_t tag_recv_interval;
float temp_tagpos;
- 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
+ recpoll_len = frame_len;
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);
+ if(group_id==rx_buffer[GROUP_ID_IDX])
+ {
switch(rx_buffer[MESSAGE_TYPE_IDX])
{
// case POLL:
// if (anchor_type == rx_buffer[ANC_TYPE_IDX])
// Anchor_RecPoll();
// break;
- case SYNC:
+ case SYNC:
memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
if(rec_syncid<current_syncid)
{
current_syncid=rec_syncid;
flag_syncbase=0;
sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
- TIM3->CNT = sync_seq*325%1000+15;
+// TIM3->CNT = sync_seq*325%1000+15;
sync_timer = sync_seq*325/1000;
synclost_timer=0;
//SyncPoll(sync_seq,rec_syncid);
@@ -1018,7 +1047,7 @@
{
flag_syncbase=0;
sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
- TIM3->CNT = sync_seq*325%1000+5;
+// TIM3->CNT = sync_seq*325%1000+5;
sync_timer = sync_seq*325/1000+995;
synclost_timer=0;
//SyncPoll(sync_seq,rec_syncid);
@@ -1042,8 +1071,32 @@
}
break;
- case NEAR_POLL:
+ 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];
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);
+ memcpy(&rec_antdelay,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*4],2);
+ g_Resttimer = 0;
+ #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);
if(taglist_pos==taglist_num)
{
@@ -1055,9 +1108,9 @@
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];
+ temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime);
+ tagpos_rec[(uint8_t)temp_tagpos]=1;
+
if(rec_nearbase_num>ancidlist_num)
{
@@ -1071,6 +1124,11 @@
if(tempid==dev_id)
{
seize_anchor=0; //非抢占。已存在列表中
+ if(rec_ancdistlist[i]!=0)
+ {
+ g_Tagdist[taglist_pos] = rec_ancdistlist[i];
+ tagdist_list[taglist_pos] = rec_ancdistlist[i];
+ }
Anchor_RecNearPoll(i);
break;
}
@@ -1084,8 +1142,17 @@
break;
}
- }else{
+ }
+}else{
+// if(g_com_map[MODBUS_ID1]==1)
+// {
+// #ifdef DBGMSG_OUTPUT
+// dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
+// SendDbgMsg(dbgmsg,dbgmsg_len);
+// #endif
+// }
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
+ dwt_forcetrxoff();
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
-
--
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