From 95f736655c46ec4974e89c7f0ca6a542cdbf3532 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期二, 26 四月 2022 17:15:25 +0800
Subject: [PATCH] V1.73
---
源码/核心板/Src/application/dw_app.c | 324 ++++++++++++++++++++++++++++++++++++-----------------
1 files changed, 221 insertions(+), 103 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 e9f4462..5f50042 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"
@@ -1,6 +1,12 @@
#include "dw_app.h"
#include "ADC.h"
-#define TDFILTER
+#include "stm32f10x_it.h"
+#include "serial_at_cmd_app.h"
+#define STRX(x) #x
+#define STR(x) STRX(x)
+#define __debug_info__ __FILE__ ":" STR(__LINE__)
+//#define TDFILTER
+#define DBGMSG_OUTPUT
enum enumtagstate
{
DISCPOLL,
@@ -43,14 +49,14 @@
uint32_t tag_id = 0;
uint32_t tag_id_recv = 0;
uint32_t anc_id_recv = 0;
-uint8_t random_delay_tim = 0;
+uint8_t random_delay_tim = 0,dbgmsg_len;
double distance, dist_no_bias, dist_cm;
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];
-uint8_t g_flag_Taggetdist[256];
-
+int32_t g_Tagdist[TAG_NUM_IN_SYS];
+uint8_t g_flag_Taggetdist[256],flag_tag_distsmooth[TAG_NUM_IN_SYS];
+char dbgmsg[100];
static uint64_t get_tx_timestamp_u64(void)
{
uint8_t ts_tab[5];
@@ -110,12 +116,12 @@
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 +138,7 @@
/* 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. */
@@ -315,10 +321,10 @@
}
u8 test=0;
u8 anclost_times=0;
-u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
+u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0,uwbrec_userdata[20],uwbrec_userdatalen;
u16 temp_sync_timer1,temp_sync_timer2;
-
- void NearPoll(void)
+extern u8 usartrec_userdatalen,heartbeat_timer;
+void NearPoll(void)
{
static u8 mainbase_lost_count=0,flag_finalsend,flag_rxon;
uint32_t temp1,temp2,dw_systime;
@@ -344,18 +350,23 @@
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);
+ tx_nearpoll_msg[POLL_USERDATA_IDX] = usartrec_userdatalen;
+ memcpy(&tx_nearpoll_msg[POLL_USERDATA_IDX+1],&uartrec_userdata,usartrec_userdatalen);
+ 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[KUIXIANLEN_INDEX],&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(27+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(27+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;
@@ -379,7 +390,14 @@
flag_rxon=0;
dwt_forcetrxoff();
dwt_setdelayedtrxtime(final_tx_time);
- result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
+ result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
+ if(result!=DWT_SUCCESS&&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
+ }
break;
}
}
@@ -388,15 +406,17 @@
};
if(status_reg==0xffffffff)
{
- NVIC_SystemReset();
+ //NVIC_SystemReset();
}
if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
{
+ rflosttimer = 0;
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
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
+ rflosttimer = 0;
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;
@@ -419,22 +439,22 @@
memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
- if(g_com_map[DEV_ROLE]!=0)
- {
- sync_timer=temp_sync_timer1;
-//// memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
+// if(g_com_map[DEV_ROLE]!=0)
+// {
+// sync_timer=temp_sync_timer1;
+////// memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
+////
//
-
- tmp_time=tmp_time+650;
- if(tmp_time>999)
- {
- tmp_time-=999;
- sync_timer++;
- if(sync_timer>=1000)
- {sync_timer=0;}
- }
- TIM3->CNT=tmp_time;
- }
+// tmp_time=tmp_time+650;
+// if(tmp_time>999)
+// {
+// tmp_time-=999;
+// sync_timer++;
+// if(sync_timer>=1000)
+// {sync_timer=0;}
+// }
+// TIM3->CNT=tmp_time;
+// }
current_slotnum=temp_sync_timer1/g_com_map[COM_INTERVAL];
// if(tagslotpos>max_slotpos)
// tagslotpos=tagslotpos%(max_slotpos+1);
@@ -460,30 +480,35 @@
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
+ 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);
- if(temp_dist!=0x1ffff)
+ ClearUWBUserData();
+ uwbrec_userdatalen = rx_buffer[RESPONSE_USERDATA_IDX];
+ if(uwbrec_userdatalen<=USERDATA_MAXLEN)
+ {
+ memcpy(uwbrec_userdata,&rx_buffer[RESPONSE_USERDATA_IDX+1],uwbrec_userdatalen);
+ }
+ if(temp_dist!=0x1ffff )
{
g_Resttimer=0;
IWDG_Feed();
#ifdef USART_SINGLE_OUTPUT
usart_send[2] = 1;//正常模式
- usart_send[3] = 17;//数据段长度
+ usart_send[3] = 29;//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;
- checksum = Checksum_u16(&usart_send[2],17);
- memcpy(&usart_send[19],&checksum,2);
- UART_PushFrame(usart_send,21);
+ memcpy(&usart_send[17],selftest,2);
+ memcpy(&usart_send[21],uwbrec_userdata,10);
+ checksum = Checksum_u16(&usart_send[2],29);
+ memcpy(&usart_send[31],&checksum,2);
+ UART_PushFrame(usart_send,33);
+ heartbeat_timer = 0;
#endif
//dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
@@ -504,6 +529,12 @@
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
nearbase_distlist[rec_nearbasepos]=temp_dist;
+ ClearUWBUserData();
+ uwbrec_userdatalen = rx_buffer[RESPONSE_USERDATA_IDX];
+ if(uwbrec_userdatalen<=USERDATA_MAXLEN)
+ {
+ memcpy(uwbrec_userdata,&rx_buffer[RESPONSE_USERDATA_IDX+1],uwbrec_userdatalen);
+ }
if(temp_dist!=0x1ffff)
exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
@@ -514,26 +545,26 @@
LED0_BLINK;
// memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
// tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
- if(temp_dist!=0x1ffff)
+ if(temp_dist!=0x1ffff )
{
#ifdef USART_SINGLE_OUTPUT
+
usart_send[2] = 1;//正常模式
- usart_send[3] = 17;//数据段长度
+ usart_send[3] = 29;//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;
- checksum = Checksum_u16(&usart_send[2],17);
- memcpy(&usart_send[19],&checksum,2);
- UART_PushFrame(usart_send,21);
+ memcpy(&usart_send[17],selftest,2);
+ memcpy(&usart_send[21],uwbrec_userdata,10);
+ checksum = Checksum_u16(&usart_send[2],29);
+ memcpy(&usart_send[31],&checksum,2);
+ UART_PushFrame(usart_send,33);
+ heartbeat_timer = 0;
#endif
//dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
@@ -545,7 +576,15 @@
}else{
dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
if(flag_rxon)
- {dwt_rxenable(0);
+ {
+ dwt_rxenable(0);
+ 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
+ }
}
}
}
@@ -569,9 +608,10 @@
// temp_adc=Get_ADC_Value();
// random_value=random_value|((temp_adc&0x01)<<i);
// }
+ pollsendtimer+=time32_incr%11;
tagslotpos=GetRandomSlotPos(rec_tagpos_binary|tagpos_binary);
tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
- tag_state=NEARPOLL;
+ tag_state=NEARPOLL;
}
// tyncpoll_time=0;
next_nearbase_num=0;
@@ -727,7 +767,6 @@
NearPoll();
break;
}
-
SetNextPollTime(tyncpoll_time);
g_start_send_flag = 0;
GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);
@@ -764,6 +803,7 @@
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 +827,8 @@
battary = rx_buffer[BATTARY_IDX];
button = rx_buffer[BUTTON_IDX];
+
+
frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
if(result==0)
{
@@ -837,14 +879,37 @@
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;
+ }
+extern u8 uartrec_userdata[20];
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 motorstate=0;
+u8 tagpos_rec[50],tagpos_send[50],ancidlist_num;
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
{
- u8 motorstate;
+
tmp_time=TIM3->CNT;
memcpy(&tx_nearresp_msg[ANCTIMEMS],&sync_timer,2);
memcpy(&tx_nearresp_msg[ANCTIMEUS],&tmp_time,2);
@@ -857,18 +922,7 @@
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;
- }
+
if(new_tagid)
{
@@ -877,28 +931,55 @@
}else{
memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
}
+ motorstate =0;
+ if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
+ {
+ if(flag_tag_distsmooth[taglist_pos])
+ {motorstate =2;
+ }else{
+ motorstate =0;
+ }
+ }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE3])
+ {
+ if(flag_tag_distsmooth[taglist_pos])
+ {motorstate =1;
+ }else{
+ motorstate =0;
+ }
+ }
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;
- 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(22, tx_nearresp_msg, 0);//写入发送数据
- dwt_writetxfctrl(22, 0);//设定发送长度
- }
+ tx_nearresp_msg[MOTORSTATE_INDEX]=motorstate;//(remotesend_state<<4)|motorstate;
+ tx_nearresp_msg[MOTORSTATE_INDEX]&=0x0f;
+ if(usartrec_userdatalen<=USERDATA_MAXLEN)
+ {tx_nearresp_msg[RESPONSE_USERDATA_IDX] = usartrec_userdatalen;
+ memcpy(&tx_nearresp_msg[RESPONSE_USERDATA_IDX+1],uartrec_userdata,usartrec_userdatalen);
+ }
+// 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(24+11, tx_nearresp_msg, 0);//写入发送数据
+ dwt_writetxfctrl(24+11, 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
- if(result==0)
+ if(result==DWT_SUCCESS)
{
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(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
+ }
}
if (status_reg & SYS_STATUS_RXFCG)//接收成功
@@ -935,7 +1016,9 @@
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;
@@ -943,17 +1026,22 @@
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])<10000)
+ {
+ flag_tag_distsmooth[taglist_pos] =1;
+ }else{
+ flag_tag_distsmooth[taglist_pos] =0;
+ }
if(abs(hex_dist-his_dist[taglist_pos])<dist_threshold||misdist_num[taglist_pos]>3)
{
@@ -970,21 +1058,32 @@
misdist_num[taglist_pos]=0;
tagdist_list[taglist_pos] = filter_dist;
his_dist[taglist_pos]=hex_dist;
- g_Tagdist[taglist_pos]=filter_dist;
+ if(hex_dist>0)
+ {
+ g_Tagdist[taglist_pos]=hex_dist/10;
+ }else{
+ g_Tagdist[taglist_pos]= 0x2ffff;
+ }
#ifdef USART_SINGLE_OUTPUT
+
usart_send[2] = 1;//正常模式
- usart_send[3] = 17;//数据段长度
+ usart_send[3] = 29;//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);
if(tagdist_list[taglist_pos]<=0)
- tagdist_list[taglist_pos]=10;
+ tagdist_list[taglist_pos]=0x2ffff;
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);
+ usart_send[15] = firstpath_power;
+ usart_send[16] = rx_power;
+ memcpy(&usart_send[17],selftest,2);
+ memcpy(&usart_send[21],uwbrec_userdata,10);
+ checksum = Checksum_u16(&usart_send[2],29);
+ memcpy(&usart_send[31],&checksum,2);
+ UART_PushFrame(usart_send,33);
+ heartbeat_timer = 0;
#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);
@@ -998,12 +1097,19 @@
}
}else{
//printf("%x/n",status_reg);
+ 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);
}
}
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],rec_ancidlist[20],rec_ancdistlist[20];
void Anchor_App(void)
{
@@ -1028,9 +1134,10 @@
{ u16 tag_recv_interval;
float temp_tagpos;
-
+ rflosttimer = 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
@@ -1092,6 +1199,11 @@
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[KUIXIANLEN_INDEX],2);
+ ClearUWBUserData();
+ uwbrec_userdatalen = rx_buffer[POLL_USERDATA_IDX];
+ if(uwbrec_userdatalen<=20)
+ memcpy(uwbrec_userdata,&rx_buffer[POLL_USERDATA_IDX+1],uwbrec_userdatalen);
#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
@@ -1148,9 +1260,15 @@
break;
}
- }else{
+ }
+}else{
+ #ifdef DBGMSG_OUTPUT
+ if((status_reg&SYS_STATUS_ALL_RX_ERR)&&g_com_map[MODBUS_ID1]==1)
+ { 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);
}
-}
}
--
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