From 743f4f1291c555b1facc0c34bcbb3cea3cfd41c4 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期一, 29 七月 2019 16:54:22 +0800
Subject: [PATCH] 标签输出
---
源码/核心板/Src/application/dw_app.c | 59 ++++++++++++++++++++++++++++++++++++++++++-----------------
1 files changed, 42 insertions(+), 17 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 9b4c5fa..2a1e753 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"
@@ -46,9 +46,9 @@
#define POLL_TX_TO_RESP_RX_DLY_UUS 150
/* This is the delay from Frame RX timestamp to TX reply timestamp used for calculating/setting the DW1000's delayed TX function. This includes the
* frame length of approximately 2.66 ms with above configuration. */
-#define RESP_RX_TO_FINAL_TX_DLY_UUS 1500
+#define RESP_RX_TO_FINAL_TX_DLY_UUS 400
/* Receive response timeout. See NOTE 5 below. */
-#define RESP_RX_TIMEOUT_UUS 2700
+#define RESP_RX_TIMEOUT_UUS 600
#define POLL_RX_TO_RESP_TX_DLY_UUS 420
/* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
@@ -93,7 +93,7 @@
};
/* Frames used in the ranging process. See NOTE 2 below. */
-static uint8_t tx_poll_msg[18] = {0};
+static uint8_t tx_poll_msg[19] = {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};
@@ -256,8 +256,7 @@
/* 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. */
- 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); //设置接收超时时间
+ //设置接收超时时间
}
void Dw1000_App_Init(void)
{
@@ -300,12 +299,15 @@
uint32_t final_tx_time;
u32 start_poll;
u8 i;
-
+ //LED0_ON;
+ dwt_forcetrxoff();
g_Resttimer=0;
- GPIO_ResetBits(SPIx_GPIO, SPIx_CS);
- delay_us(2500);
- GPIO_SetBits(SPIx_GPIO, SPIx_CS);
+ 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();
+ tx_poll_msg[BUTTON_IDX] = !READ_KEY0;
+
for(i=0;i<REPOET_ANC_NUM;i++)
{
/* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
@@ -323,7 +325,7 @@
{ if(time32_incr - start_poll>20)
NVIC_SystemReset();
UART_CheckReceive();
- UART_CheckSend();
+
};
/* Increment frame sequence number after transmission of the poll message (modulo 256). */
@@ -352,7 +354,7 @@
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
- memcpy(&anchor_dist_last_frm[tag_id], &rx_buffer[DIST_IDX], 4);
+ memcpy(&anchor_dist_last_frm[0], &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
@@ -373,7 +375,25 @@
result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
tag_succ_times++;
-
+ #ifdef WORK_MODE_TAG
+ LED0_BLINK;
+ #endif
+ #ifdef HEX_OUTPUT
+ usart_send[2] = frame_seq_nb++;
+ //usart_send[6] = tag_id_recv;
+ //usart_send[8] = g_com_map[DEV_ID];
+ memcpy(&usart_send[3],&dev_id,4);
+ memcpy(&usart_send[7],&rx_buffer[ANCHOR_ID_IDX],4);
+ hex_dist = anchor_dist_last_frm[0];
+ memcpy(&usart_send[11],&hex_dist,4);
+ usart_send[15] = battary;
+ usart_send[16] = button;
+ checksum = Checksum_u16(&usart_send[2],19);
+ memcpy(&usart_send[21],&checksum,2);
+ UART_PushFrame(usart_send,23);
+ #else
+ printf("Anchor ID: %d, Tag ID: %d, Dist = %d cm\n", g_com_map[DEV_ID_L]|g_com_map[DEV_ID_L]<<8, tag_id_recv, (uint16_t)dist_cm);
+ #endif
/* Poll DW1000 until TX frame sent event set. See NOTE 8 below. */
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
@@ -399,18 +419,18 @@
}
// deca_sleep(10);
}
- dwt_entersleep();
+// dwt_entersleep();
if(tag_succ_times<REPOET_ANC_NUM_MIN)
{
random_delay_tim =time32_incr&0x8f+7;
deca_sleep(random_delay_tim);
}
- LED0_BLINK;
+ //LED0_BLINK;
RTC_SET_ALARM(1);
/* Execute a delay between ranging exchanges. */
}
-
+extern uint8_t g_start_send_flag;
void Anchor_App(void)
{
uint32_t frame_len;
@@ -423,7 +443,7 @@
dwt_rxenable(0);//打开接收
/* Poll for reception of a frame or error/timeout. See NOTE 7 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接收成功或者出现错误
+ while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag)//不断查询芯片状态直到接收成功或者出现错误
{
UART_CheckReceive();
UART_CheckSend();
@@ -477,6 +497,8 @@
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
+ battary = rx_buffer[BATTARY_IDX];
+ button = rx_buffer[BUTTON_IDX];
/* We assume that the transmission is achieved correctly, now poll for reception of expected "final" frame or error/timeout.
* See NOTE 7 below. */
if(result==0)
@@ -548,8 +570,11 @@
// printf("Pair Finish PairID: %d. \r\n",g_com_map[PAIR_ID]);
// }
// tag_time_recv[tag_id_recv] = tag_recv_timer;
+ if(tag_id_recv-TAG_ID_START<=TOTAL_TAG_NUM)
+ {
g_flag_Taggetdist[tag_id_recv-TAG_ID_START]=0;
anchor_dist_last_frm[tag_id_recv-TAG_ID_START] = dist_cm;
+ }
#ifdef HEX_OUTPUT
usart_send[2] = frame_seq_nb++;
//usart_send[6] = tag_id_recv;
@@ -564,7 +589,7 @@
memcpy(&usart_send[21],&checksum,2);
UART_PushFrame(usart_send,23);
#else
- printf("Anchor ID: %d, Tag ID: %d, Dist = %d cm\n", g_com_map[DEV_ID], tag_id_recv, (uint16_t)dis_after_filter);
+ printf("Anchor ID: %d, Tag ID: %d, Dist = %d cm\n", g_com_map[DEV_ID_L]|g_com_map[DEV_ID_L]<<8, tag_id_recv, (uint16_t)dist_cm);
#endif
//dis_after_filter = LP_Frac_Update(p_Dis_Filter, dist_cm);
--
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