From 745df4596c097ceff8d2ec624b3bf996dd95edcf Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期一, 24 一月 2022 18:02:04 +0800
Subject: [PATCH] V1.60 用户测试
---
源码/核心板/Src/application/dw_app.c | 173 ++++++++++++++++++++++++++++++++++++++++++++-------------
1 files changed, 134 insertions(+), 39 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 9412bb3..1064730 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"
@@ -48,9 +48,9 @@
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];
-
+extern u16 supergroupid;
static uint64_t get_tx_timestamp_u64(void)
{
uint8_t ts_tab[5];
@@ -110,12 +110,12 @@
g_flag_Taggetdist[i]++;
if(g_flag_Taggetdist[i]>=2)
{
- g_Tagdist[i]=0xffff;
+ g_Tagdist[i]=0x1ffff;
}
}
}
}
-extern u16 g_commap_antdelay;
+extern int16_t g_commap_antdelay;
void Dw1000_Init(void)
{
/* Reset and initialise DW1000.
@@ -132,7 +132,7 @@
/* Apply default antenna delay value. See NOTE 1 below. */
dwt_setrxantennadelay(RX_ANT_DLY); //设置接收天线延迟
- dwt_settxantennadelay(g_commap_antdelay); //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. */
@@ -315,9 +315,9 @@
}
u8 test=0;
u8 anclost_times=0;
-u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
-u16 temp_sync_timer1,temp_sync_timer2;
-
+u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0,rec_extratag_battary;
+u16 temp_sync_timer1,temp_sync_timer2,rec_extratag_id;
+int32_t rec_extratag_dist;
void NearPoll(void)
{
static u8 mainbase_lost_count=0,flag_finalsend,flag_rxon;
@@ -347,15 +347,17 @@
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+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(13+4*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;
@@ -397,7 +399,7 @@
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)&&rx_buffer[GROUP_ID_IDX] == group_id) //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]==supergroupid||rx_buffer[GROUP_ID_IDX] == group_id||group_id==supergroupid)) //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
@@ -441,8 +443,14 @@
// tyncpoll_time=(tagslotpos-1)*slottime;
////////////////////////////
rec_nearbasepos=0;
-
+
+ memcpy(&rec_extratag_id,&rx_buffer[EXTRA_TAGID_INDEX],2);
+ memcpy(&rec_extratag_dist,&rx_buffer[EXTRA_TAGDIST_INDEX],4);
+
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
+ temp_dist = temp_dist&0xffffff;
+ rec_extratag_dist = rec_extratag_dist&0xffffff;
+
nearbase_distlist[rec_nearbasepos]=temp_dist;
if(temp_dist!=0x1ffff)
exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
@@ -465,7 +473,7 @@
if(temp_dist!=0x1ffff)
{
g_Resttimer=0;
- IWDG_Feed();
+ IWDG_Feed();
#ifdef USART_SINGLE_OUTPUT
usart_send[2] = 1;//正常模式
usart_send[3] = 17;//数据段长度
@@ -478,18 +486,36 @@
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;
+ memcpy(&usart_send[9],&temp_dist,4);
+ usart_send[13] = rx_buffer[DIST_IDX+3];
usart_send[14] = button;
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
- }
+ }
+ if(rec_extratag_dist!=0x1ffff&&rec_extratag_dist!=0&&rx_buffer[GROUP_ID_IDX]!=supergroupid)
+ {
+ #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],&rec_extratag_id,2);
+ memcpy(&usart_send[7],&rec_nearbaseid,2);
+ }else{
+ memcpy(&usart_send[5],&rec_nearbaseid,2);
+ memcpy(&usart_send[7],&rec_extratag_id,2);
+ }
+ memcpy(&usart_send[9],&rec_extratag_dist,4);
+ usart_send[13] = rx_buffer[EXTRA_TAGDIST_INDEX+3];
+ usart_send[14] = button;
+ checksum = Checksum_u16(&usart_send[2],17);
+ memcpy(&usart_send[19],&checksum,2);
+ UART_PushFrame(usart_send,21);
+ #endif
+ }
}else{
@@ -501,8 +527,11 @@
nearbaseid_list[rec_nearbasepos] = rec_nearbaseid;
memcpy(&tx_nearfinal_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
}
-
+ memcpy(&rec_extratag_id,&rx_buffer[EXTRA_TAGID_INDEX],2);
+ memcpy(&rec_extratag_dist,&rx_buffer[EXTRA_TAGDIST_INDEX],4);
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
+ temp_dist = temp_dist&0xffffff;
+ rec_extratag_dist = rec_extratag_dist&0xffffff;
nearbase_distlist[rec_nearbasepos]=temp_dist;
if(temp_dist!=0x1ffff)
@@ -528,8 +557,8 @@
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;
+ memcpy(&usart_send[9],&temp_dist,4);
+ usart_send[13] = rx_buffer[DIST_IDX+3]; //电量集成到距离里面输出了
usart_send[14] = button;
checksum = Checksum_u16(&usart_send[2],17);
memcpy(&usart_send[19],&checksum,2);
@@ -540,6 +569,28 @@
// 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
}
+ if(rec_extratag_dist!=0x1ffff&&rec_extratag_dist!=0&&rx_buffer[GROUP_ID_IDX]!=supergroupid)
+ {
+ #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],&rec_extratag_id,2);
+ memcpy(&usart_send[7],&rec_nearbaseid,2);
+ }else{
+ memcpy(&usart_send[5],&rec_nearbaseid,2);
+ memcpy(&usart_send[7],&rec_extratag_id,2);
+ }
+ memcpy(&usart_send[9],&rec_extratag_dist,4);
+ usart_send[13] = rx_buffer[EXTRA_TAGDIST_INDEX+3];
+ usart_send[14] = button;
+ checksum = Checksum_u16(&usart_send[2],17);
+ memcpy(&usart_send[19],&checksum,2);
+ UART_PushFrame(usart_send,21);
+ #endif
+ }
}
}
}else{
@@ -764,6 +815,7 @@
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;
@@ -787,6 +839,8 @@
battary = rx_buffer[BATTARY_IDX];
button = rx_buffer[BUTTON_IDX];
+
+
frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
if(result==0)
{
@@ -837,11 +891,31 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}
+ 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;
+ }
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;
+u8 newmeasure,recpoll_len;
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
{
u8 motorstate;
@@ -877,7 +951,7 @@
}else{
memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
}
- tx_nearresp_msg[GROUP_ID_IDX] = group_id;
+ 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]=(remotesend_state<<4)|motorstate;
@@ -887,8 +961,18 @@
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
+ if(taglist_pos==1)
+ {
+ memcpy(&tx_nearresp_msg[EXTRA_TAGID_INDEX], &tagid_list[0], 2);
+ memcpy(&tx_nearresp_msg[EXTRA_TAGDIST_INDEX], &tagdist_list[0], 4);
+ }
+ if(taglist_pos==0)
+ {
+ memcpy(&tx_nearresp_msg[EXTRA_TAGID_INDEX], &tagid_list[1], 2);
+ memcpy(&tx_nearresp_msg[EXTRA_TAGDIST_INDEX], &tagdist_list[1], 4);
+ }
+ dwt_writetxdata(28, tx_nearresp_msg, 0);//写入发送数据
+ dwt_writetxfctrl(28, 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
@@ -911,13 +995,13 @@
{
return 1;
}
- if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)&&group_id==rx_buffer[GROUP_ID_IDX]) //判断是否为Final包
+ if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)&&(rx_buffer[GROUP_ID_IDX]==supergroupid||rx_buffer[GROUP_ID_IDX] == group_id||group_id==supergroupid)) //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;
- u8 si;
+ u8 si;
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
@@ -935,7 +1019,9 @@
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 * 1000; //dis 为单位为cm的距离
+ dist_cm = dist_no_bias * 1000; //dis 为单位为cm的距离
+ dwt_readdiagnostics(&d1);
+ LOS(&d1);
/*--------------------------以下为非测距逻辑------------------------*/
//dist_cm=33000;
getrange_success = 1;
@@ -943,16 +1029,15 @@
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]*10;
- for(si=0;si<10;si++)
- {
- if(smallcar_idlist[si]==tag_id_recv)
+
+ if(recpoll_len==rec_nearbase_num*4+15)
{
- hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10-(int16_t)g_com_map[NOMOVESLEEP_TIME]*10;
+ hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10-rec_antdelay*10;
}
- }
+
g_flag_Taggetdist[taglist_pos]=0;
- if(hex_dist>-1000&&hex_dist<2000000)
+ if(hex_dist>-100000&&hex_dist<2000000)
{
if(abs(hex_dist-his_dist[taglist_pos])<dist_threshold||misdist_num[taglist_pos]>3)
{
@@ -970,7 +1055,12 @@
misdist_num[taglist_pos]=0;
tagdist_list[taglist_pos] = filter_dist;
his_dist[taglist_pos]=hex_dist;
- g_Tagdist[taglist_pos]=hex_dist/10;
+ if(hex_dist>0)
+ {
+ g_Tagdist[taglist_pos]=hex_dist/10;
+ }else{
+ g_Tagdist[taglist_pos]= 1;
+ }
#ifdef USART_SINGLE_OUTPUT
usart_send[2] = 1;//正常模式
usart_send[3] = 17;//数据段长度
@@ -980,8 +1070,11 @@
if(tagdist_list[taglist_pos]<=0)
tagdist_list[taglist_pos]=10;
memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
+ tagdist_list[taglist_pos] =tagdist_list[taglist_pos]| (battary<<24);
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);
@@ -1031,11 +1124,12 @@
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])
+ if((rx_buffer[GROUP_ID_IDX]==supergroupid||rx_buffer[GROUP_ID_IDX] == group_id||group_id==supergroupid))
{
switch(rx_buffer[MESSAGE_TYPE_IDX])
{
@@ -1092,6 +1186,7 @@
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+nearbase_num*4],2);
#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
--
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