From 650a51bb30a4c8c97898648f72d826fbc1a8a59a Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期六, 16 五月 2020 16:27:13 +0800
Subject: [PATCH] 未测试，修改成多次丢失才切换模式
---
源码/核心板/Src/application/dw_app.c | 599 +++++++++++++++++++++++++++++++++--------------------------
1 files changed, 334 insertions(+), 265 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 0b3b968..3f127fc 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"
@@ -1,4 +1,5 @@
#include "dw_app.h"
+#include "ADC.h"
enum enumtagstate
{
DISCPOLL,
@@ -21,7 +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;
@@ -134,7 +137,6 @@
void Dw1000_App_Init(void)
{
//g_com_map[DEV_ID] = 0x0b;
- tag_state=DISCPOLL;
tx_poll_msg[MESSAGE_TYPE_IDX]=POLL;
tx_resp_msg[MESSAGE_TYPE_IDX]=RESPONSE;
tx_final_msg[MESSAGE_TYPE_IDX]=FINAL;
@@ -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[25];
+u8 usart_send[100],usart_send_anc[100];
u8 battary,button;
extern uint8_t g_pairstart;
void tag_sleep_configuraion(void)
@@ -168,14 +171,23 @@
}
extern uint8_t g_start_send_flag;
u8 g_start_sync_flag;
-void SyncPoll(u8 sync_seq)
-{
- g_start_sync_flag=1;
- dwt_forcetrxoff();
+void SyncPoll(u8 sync_seq,uint32_t sync_baseid)
+{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],&sync_baseid,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
}
uint16_t g_Resttimer;
uint8_t result;
@@ -190,128 +202,20 @@
u16 anclist_num=0,anclist_pos; //list 总数量和当前位置
u16 ancid_list[TAG_NUM_IN_SYS];
-u8 nearbase_num;
-u16 nearbaseid_list[10],mainbase_id;
-int32_t mainbase_dist,nearbase_distlist[10];
+u8 nearbase_num=0,last_nearbase_num,next_nearbase_num;
+u16 nearbaseid_list[MAX_NEARBASE_NUM],mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM];
+int32_t mainbase_dist,nearbase_distlist[MAX_NEARBASE_NUM],true_nearbase_distlist[MAX_NEARBASE_NUM];
uint8_t trygetnearmsg_times;
-void Poll(void)
-{
- uint32_t frame_len;
- uint32_t final_tx_time;
- u32 start_poll;
- int32_t mindist=999999,minid=-1,temp_dist;
- u8 i,getsync_flag=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;
- GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_RESET);
- for(i=0;i<g_com_map[MAX_REPORT_ANC_NUM];i++)
- {
- /* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
- tx_poll_msg[ANC_TYPE_IDX] = i;
- dwt_writetxdata(sizeof(tx_poll_msg), tx_poll_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
- dwt_writetxfctrl(sizeof(tx_poll_msg), 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
- 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] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
- {
- 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
- if(getsync_flag==0)
- {
- getsync_flag=1;
- memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
- memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
- memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
- tmp_time=tmp_time+450;
- if(tmp_time>999)
- {
- tmp_time-=999;
- sync_timer++;
- if(sync_timer>=1010)
- {sync_timer=0;}
- }
- TIM3->CNT=tmp_time;
- if(tagslotpos>max_slotpos)
- tagslotpos=tagslotpos%(max_slotpos+1);
- tyncpoll_time=(tagslotpos-1)*slottime;
- }
-
- memcpy(&temp_dist, &rx_buffer[DIST_IDX], 4);
- memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
- /* 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
- 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_final_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_final_msg[FINAL_MSG_RESP_RX_TS_IDX], resp_rx_ts);
- final_msg_set_ts(&tx_final_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
- dwt_writetxdata(sizeof(tx_final_msg), tx_final_msg, 0);//将发送数据写入DW1000
- dwt_writetxfctrl(sizeof(tx_final_msg), 0);//设定发送数据长度
- result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
- tag_succ_times++;
- LED0_BLINK;
-
- if(temp_dist<mindist)
- {
- memcpy(&minid, &rx_buffer[ANCHOR_ID_IDX], 4);
- tag_state=GETNEARMSG;
- trygetnearmsg_times=5;
- mindist=temp_dist;
- }
- 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
- { };
- }
- /* Clear TXFRS event. */
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//清除标志位
- random_delay_tim = 0;
- }
- else
- {
- random_delay_tim = DFT_RAND_DLY_TIM_MS; //如果通讯失败，将间隔时间增加5ms，避开因为多标签同时发送引起的冲突。
- }
- }
- else
- {
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
- random_delay_tim = DFT_RAND_DLY_TIM_MS;
- }
-}
- if(getsync_flag==0)
- {
- tagslotpos--;
- if(tagslotpos==0||tagslotpos>max_slotpos)
- {
- tagslotpos=max_slotpos;
- }
- tyncpoll_time=(tagslotpos-1)*slottime;
- }
- mainbase_id=minid;
-}
u8 FindNearBasePos(u16 baseid)
{
u8 i;
- for(i=0;i<nearbase_num;i++)
+ for(i=0;i<=nearbase_num;i++)
{
if(baseid==nearbaseid_list[i])
return i;
}
+ return i+1;
}
u8 recbase_num=0;
#define CHANGE_BASE_THRESHOLD 5
@@ -346,35 +250,46 @@
}
}
u8 anclost_times=0;
+u8 exsistbase_list[MAX_NEARBASE_NUM],report_num;
+u16 temp_sync_timer1,temp_sync_timer2;
void NearPoll(void)
{
- static u8 mainbase_lost_count=0,flag_finalsend;
+ static u8 mainbase_lost_count=0,flag_finalsend,flag_rxon;
uint32_t temp1,temp2,dw_systime;
uint32_t frame_len;
uint32_t final_tx_time;
u32 start_poll;
- u8 i,getsync_flag=0,timeout;
+ u8 i,j,getsync_flag=0,timeout;
+// printf("%d",sync_timer);
+ dwt_forcetrxoff();
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_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
+ GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
+ if(next_nearbase_num>=MAX_NEARBASE_NUM)
+ {
+ next_nearbase_num = MAX_NEARBASE_NUM-1;
+ }
+ //nearbase_num=0;
+ last_nearbase_num=next_nearbase_num;
+ recbase_num=0;
+ 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
-
- for(i=0;i<nearbase_num;i++)
- nearbase_distlist[i]=0xffff;
flag_finalsend=0;
+ flag_rxon=1;
neartimout_timer=0;
- recbase_num=0;
- timeout=nearbase_num/4+2;
+
+ timeout=ceil((float)nearbase_num/4)+2;
+ //timeout=5;
mainbase_dist=100000;
mainbase_lost_count++;
while(neartimout_timer<timeout)
@@ -387,6 +302,7 @@
if(dw_systime>temp1&&dw_systime<temp2)
{
flag_finalsend=0;
+ flag_rxon=0;
dwt_forcetrxoff();
dwt_setdelayedtrxtime(final_tx_time);
result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
@@ -409,16 +325,27 @@
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
{ u16 rec_nearbaseid,rec_nearbasepos;
+ int32_t temp_dist;
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
recbase_num++;
memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
- if(rec_nearbaseid==mainbase_id)
+ if(nearbase_num==0)
+ {
+ nearbaseid_list[0]=rec_nearbaseid;
+ nearbase_num=1;
+ memcpy(&tx_nearfinal_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
+ }
+ if(rec_nearbaseid==nearbaseid_list[0])
{
//////////////////////////////////时间同步
- memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
+ temp_sync_timer2=sync_timer;
+ memcpy(&temp_sync_timer1,&rx_buffer[ANCTIMEMS],2);
memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
-// memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
+ sync_timer=temp_sync_timer1;
+ exsistbase_list[0]=10;
+//// memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
+//
tmp_time=tmp_time+450;
if(tmp_time>999)
{
@@ -428,24 +355,32 @@
{sync_timer=0;}
}
TIM3->CNT=tmp_time;
+
// if(tagslotpos>max_slotpos)
// tagslotpos=tagslotpos%(max_slotpos+1);
// tyncpoll_time=(tagslotpos-1)*slottime;
////////////////////////////
+ rec_nearbasepos=0;
+ exsistbase_list[rec_nearbasepos]=10;
+ memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
+ nearbase_distlist[rec_nearbasepos]=temp_dist;
+
mainbase_lost_count=0;
flag_finalsend=1;
- memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);
final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS+DELAY_BETWEEN_TWO_FRAME_UUS*nearbase_num+500) * UUS_TO_DWT_TIME)) >> 8;
temp1=final_tx_time-((350*UUS_TO_DWT_TIME)>>8);
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)
+ {
+ #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_nb;//数据段长度
@@ -457,14 +392,29 @@
checksum = Checksum_u16(&usart_send[2],17);
memcpy(&usart_send[19],&checksum,2);
UART_PushFrame(usart_send,21);
+ #endif
+ }
//result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
}else{
rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
- final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4], resp_rx_ts);
- memcpy(&nearbase_distlist[rec_nearbasepos],&rx_buffer[DIST_IDX],4);
- dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//将发送数据写入DW1000
+ if(rec_nearbasepos>nearbase_num) //发现新的基站
+ {
+ nearbase_num++;
+ nearbaseid_list[nearbase_num] = rec_nearbaseid;
+ memcpy(&tx_nearfinal_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
+ }
+
+ exsistbase_list[rec_nearbasepos]=10;
+ memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
+ nearbase_distlist[rec_nearbasepos]=temp_dist;
+
+ 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)
+ {
+ #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_nb;//数据段长度
@@ -476,103 +426,163 @@
checksum = Checksum_u16(&usart_send[2],17);
memcpy(&usart_send[19],&checksum,2);
UART_PushFrame(usart_send,21);
+ #endif
//dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
// result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
//dwt_writetxdata(4,&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4], FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4);//将发送数据写入DW1000
- }
+ }
+ }
}
- }
+ }else{
dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
+ if(flag_rxon)
+ {dwt_rxenable(0);
+ }
+ }
}
- if(mainbase_lost_count>5)
+ GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);
+// 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_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
+ nearbase_num=recbase_num;
+ j=0;
+ if(exsistbase_list[0]==0)
{
- tag_state=DISCPOLL;
- }
- NearAncSelect();
- if(recbase_num<g_com_map[MIN_REPORT_ANC_NUM] )
- {
- anclost_times++;
- if(anclost_times>3)
+ u8 temp_adc,random_value;
+ random_value=0;
+ for(i=0;i<8;i++)
{
- tagslotpos=poll_tx_ts%(max_slotpos+1);
+ temp_adc=Get_ADC_Value();
+ random_value=random_value|((temp_adc&0x01)<<i);
}
- }else{
- anclost_times=0;
+ tyncpoll_time=(random_value%max_slotpos)*slottime;
}
+ next_nearbase_num=0;
+ for(i=0;i<last_nearbase_num;i++)
+ {
+ if(exsistbase_list[i]-->0)
+ {
+ next_nearbase_num++;
+ true_nearbase_idlist[j]=nearbaseid_list[i];
+ true_nearbase_distlist[j++]=nearbase_distlist[i];
+ }
+
+ }
+
+ for(i=0;i<last_nearbase_num-1;i++)
+ {
+ for(j=0;j<last_nearbase_num-1;j++)
+ {
+ if(true_nearbase_distlist[j]>true_nearbase_distlist[j+1])
+ {
+ u32 temp_dist,temp_id;
+ temp_dist=true_nearbase_distlist[j];
+ temp_id = true_nearbase_idlist[j];
+ true_nearbase_distlist[j]=true_nearbase_distlist[j+1];
+ true_nearbase_idlist[j]=true_nearbase_idlist[j+1];
+ true_nearbase_distlist[j+1]=temp_dist;
+ true_nearbase_idlist[j+1]=temp_id;
+ }
+ }
+ }
+ report_num=0;
+ for (i=0;i<nearbase_num;i++)
+ {
+ nearbaseid_list[i]=true_nearbase_idlist[i];
+ nearbase_distlist[i]=true_nearbase_distlist[i];
+ if(nearbase_distlist[i]!=0x1ffff)
+ {
+ memcpy(&usart_send[4+6*report_num],&nearbaseid_list[i],2);
+ memcpy(&usart_send[6+6*report_num],&nearbase_distlist[i],4);
+ 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
+ usart_send[2] = 4;//正常模式
+ usart_send[3] = report_num*6+2;//正常模式
+ checksum = Checksum_u16(&usart_send[2],report_num*6+2);
+ memcpy(&usart_send[4+report_num*6],&checksum,2);
+ UART_PushFrame(usart_send,6+report_num*6);
+ #endif
+// if(mainbase_lost_count>5)
+// {
+// //tag_state=DISCPOLL;
+// }
+// NearAncSelect();
+// if(recbase_num<g_com_map[MIN_REPORT_ANC_NUM] )
+// {
+// anclost_times++;
+// if(anclost_times>3)
+// {
+// tagslotpos=poll_tx_ts%(max_slotpos+1);
+// }
+// }else{
+// anclost_times=0;
+// }
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
-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)
{
//LED0_ON;
- dwt_forcetrxoff();
g_Resttimer=0;
- switch(tag_state)
- {
- case DISCPOLL:
- Poll();
- break;
- case GETNEARMSG:
- // if(trygetnearmsg_times--!=0)
- {GetNearMsg();
- }
-// else{
-// tag_state=DISCPOLL;
-// }
-
- break;
- case NEARPOLL:
- //GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_SET);
- NearPoll();
- //GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_RESET);
- break;
- }
+ NearPoll();
}
-int8_t correction_time;
+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];
@@ -602,6 +612,7 @@
}
uint32_t frame_len;
uint32_t resp_tx_time;
+uint8_t rec_nearbase_num,anc_report_num;
void Anchor_RecPoll(void)
{
tmp_time=TIM3->CNT;
@@ -675,24 +686,31 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}
-u8 misdist_num;
-void Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
+u8 misdist_num,seize_anchor;
+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。
dwt_setdelayedtrxtime(resp_tx_time);//设置Response发送时间T3
- dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(nearbase_num-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//设置发送完成后开启接收延迟时间
+ 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
- memcpy(&tx_near_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
+ if(new_tagid)
+ {
+ tagdist_list[taglist_pos]=0x1ffff;
+ memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
+ }else{
+ memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
+ }
+
+ 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
@@ -706,11 +724,17 @@
}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;
@@ -747,7 +771,8 @@
{
misdist_num=0;
tagdist_list[taglist_pos] = hex_dist;
- his_dist[taglist_pos]=hex_dist;
+ his_dist[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_nb;//数据段长度
@@ -759,22 +784,37 @@
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
}else{
+ // printf("%d",hex_dist);
misdist_num++;
}
}
}
+
}else{
+ //printf("%x/n",status_reg);
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
+
}
+uint32_t current_syncid=0xffffffff,synclost_timer;
+extern u8 flag_syncbase;
void Anchor_App(void)
{
+
u8 send_len,i;
u16 tempid;
+ uint32_t rec_syncid;
+
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
+
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();
@@ -783,6 +823,7 @@
if (status_reg & SYS_STATUS_RXFCG)//成功接收
{ u16 tag_recv_interval;
+
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
@@ -793,53 +834,81 @@
taglist_pos=CmpTagInList(tag_id_recv);
if(taglist_pos==0)
{
+ synclost_timer=0;
tagid_list[taglist_num++]=tag_id_recv;
taglist_pos=taglist_num;
+ new_tagid=1;
+ }else{
+ new_tagid=0;
}
tagofflinetime[taglist_pos-1]=0;
switch(rx_buffer[MESSAGE_TYPE_IDX])
{
- case POLL:
- if (anchor_type == rx_buffer[ANC_TYPE_IDX])
- Anchor_RecPoll();
- break;
+// case POLL:
+// if (anchor_type == rx_buffer[ANC_TYPE_IDX])
+// Anchor_RecPoll();
+// break;
case SYNC:
- if(rx_buffer[SYNC_SEQ_IDX]<sync_seq)
- {
- sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
- TIM3->CNT = sync_seq*325%1000+15;
- sync_timer = sync_seq*325/1000;
- SyncPoll(sync_seq);
- }
- break;
- case NEAR_MSG:
- if(anc_id_recv==dev_id)
+
+ memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
+ if(rec_syncid<current_syncid)
{
- rx_buffer[TAGSLOTPOS]=taglist_pos;
- tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
- memcpy(&tx_near_msg[TAG_ID_IDX],&tag_id_recv,2);
- 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=11+g_com_map[NEARBASE_NUM]*2+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);
+ current_syncid=rec_syncid;
+ flag_syncbase=0;
+ sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
+ TIM3->CNT = sync_seq*325%1000+15;
+ sync_timer = sync_seq*325/1000;
+ synclost_timer=0;
+ SyncPoll(sync_seq,rec_syncid);
+ }else if(rec_syncid==current_syncid)
+ {
+ if(rx_buffer[SYNC_SEQ_IDX]<sync_seq)
+ {
+ flag_syncbase=0;
+ sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
+ TIM3->CNT = sync_seq*325%1000+15;
+ sync_timer = sync_seq*325/1000;
+ synclost_timer=0;
+ SyncPoll(sync_seq,rec_syncid);
+ }
+
}
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);
+// 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=11+g_com_map[NEARBASE_NUM]*2+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 NEAR_POLL:
- nearbase_num=rx_buffer[NEARBASENUM_INDEX];
- if(anc_id_recv==dev_id)
- {
- Anchor_RecNearPoll(0);
- }else{
- for(i=0;i<nearbase_num;i++)
+
+ rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
+
+ for(i=0;i<rec_nearbase_num;i++)
{
memcpy(&tempid,&rx_buffer[NEARBASEID_INDEX+i*2],2);
if(tempid==dev_id)
- Anchor_RecNearPoll(i+1);
+ {
+ seize_anchor=0; //非抢占。已存在列表中
+ Anchor_RecNearPoll(i);
+ break;
+ }
}
- }
+ if(i==rec_nearbase_num)
+ {
+ seize_anchor=1; //抢占anchor
+ Anchor_RecNearPoll(i);
+ }
+
break;
}
--
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