From f3a6daa409dfb287e517cf792a425435038e44df Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期二, 18 五月 2021 16:26:09 +0800
Subject: [PATCH] 修改基站类型未附值BUG
---
源码/核心板/Src/application/dw_app.c | 592 +++++++++++++++++++++++++++++++++++++---------------------
1 files changed, 378 insertions(+), 214 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 91bdfa4..daa6f7b 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"
@@ -3,12 +3,7 @@
* @file main.c
* @brief Double-sided two-way ranging (DS TWR) initiator example code
*
- * This is a simple code example which acts as the initiator in a DS TWR distance measurement exchange. This application sends a "poll"
- * frame (recording the TX time-stamp of the poll), and then waits for a "response" message expected from the "DS TWR responder" example
- * code (companion to this application). When the response is received its RX time-stamp is recorded and we send a "final" message to
- * complete the exchange. The final message contains all the time-stamps recorded by this application, including the calculated/predicted TX
- * time-stamp for the final message itself. The companion "DS TWR responder" example application works out the time-of-flight over-the-air
- * and, thus, the estimated distance between the two devices.
+ *
*
* @attention
*
@@ -26,7 +21,13 @@
#include "dw_driver.h"
#include "Spi.h"
#include "led.h"
-
+#include "serial_at_cmd_app.h"
+#include "Usart.h"
+#include "global_param.h"
+#include "filters.h"
+#include <stdio.h>
+#include "beep.h"
+#include "modbus.h"
/*------------------------------------ Marcos ------------------------------------------*/
/* Inter-ranging delay period, in milliseconds. */
@@ -45,91 +46,109 @@
#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 4100
+#define RESP_RX_TO_FINAL_TX_DLY_UUS 400
/* Receive response timeout. See NOTE 5 below. */
-#define RESP_RX_TIMEOUT_UUS 14700
+#define RESP_RX_TIMEOUT_UUS 600
-#define POLL_RX_TO_RESP_TX_DLY_UUS 3600
+#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. */
-#define RESP_TX_TO_FINAL_RX_DLY_UUS 500
+#define RESP_TX_TO_FINAL_RX_DLY_UUS 200
/* Receive final timeout. See NOTE 5 below. */
#define FINAL_RX_TIMEOUT_UUS 4300
#define SPEED_OF_LIGHT 299702547
/* Indexes to access some of the fields in the frames defined above. */
-#define ALL_MSG_SN_IDX 2
#define FINAL_MSG_POLL_TX_TS_IDX 10
#define FINAL_MSG_RESP_RX_TS_IDX 14
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4
+#define SYNC_SEQ_IDX 5
+//common
#define GROUP_ID_IDX 0
-#define SOURCE_ID_IDX 1
-#define MESSAGE_TYPE_IDX 3
+#define ANCHOR_ID_IDX 1
+#define TAG_ID_IDX 5
+#define MESSAGE_TYPE_IDX 9
+
+//Poll
+#define ANC_TYPE_IDX 14
+#define BATTARY_IDX 15
+#define BUTTON_IDX 16
+#define SEQUENCE_IDX 17
+//respose
+#define DIST_IDX 10
+#define ANCTIMEMS 14
+#define ANCTIMEUS 16
+#define ANCSEND_INTERVAL 18
#define POLL 0x01
#define RESPONSE 0x02
#define FINAL 0x03
+#define SYNC 0x04
/*------------------------------------ Variables ------------------------------------------*/
/* Default communication configuration. We use here EVK1000's default mode (mode 3). */
-static dwt_config_t config =
-{
- 2, /* Channel number. */
- DWT_PRF_64M, /* Pulse repetition frequency. */
- DWT_PLEN_1024, /* Preamble length. */
- DWT_PAC32, /* Preamble acquisition chunk size. Used in RX only. */
- 9, /* TX preamble code. Used in TX only. */
- 9, /* RX preamble code. Used in RX only. */
- 1, /* Use non-standard SFD (Boolean) */
- DWT_BR_110K, /* Data rate. */
- DWT_PHRMODE_STD, /* PHY header mode. */
- (1025 + 64 - 32) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
+static dwt_config_t config = {
+ 2, /* Channel number. */
+ DWT_PRF_64M, /* Pulse repetition frequency. */
+ DWT_PLEN_128, /* 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. */
+ 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. */
};
/* Frames used in the ranging process. See NOTE 2 below. */
-static uint8 tx_poll_msg[] = {0x00, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x21, 0, 0};
-//static uint8 rx_resp_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'V', 'E', 'W', 'A', 0x10, 0x02, 0, 0, 0, 0};
-static uint8 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};
+static uint8_t tx_poll_msg[20] = {0};
+static uint8_t tx_sync_msg[14] = {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[24] = {0};
-//static uint8 rx_poll_msg[] = {0x00, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x21, 0, 0};
-static uint8 tx_resp_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'V', 'E', 'W', 'A', 0x10, 0x02, 0, 0, 0, 0};
-//static uint8 rx_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};
+//static uint8_t rx_poll_msg[] = {0x00, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x21, 0, 0};
+static uint8_t tx_resp_msg[22] = {0};
+//static uint8_t rx_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};
/* Frame sequence number, incremented after each transmission. */
-static uint32 frame_seq_nb = 0;
+static uint32_t frame_seq_nb = 0,frame_seq_nb2=0;
/* Hold copy of status register state here for reference, so reader can examine it at a breakpoint. */
-static uint32 status_reg = 0;
+static uint32_t status_reg = 0;
/* Buffer to store received response message.
* Its size is adjusted to longest frame that this example code is supposed to handle. */
#define RX_BUF_LEN 24
-static uint8 rx_buffer[RX_BUF_LEN];
+static uint8_t rx_buffer[RX_BUF_LEN];
/* Time-stamps of frames transmission/reception, expressed in device time units.
* As they are 40-bit wide, we need to define a 64-bit int type to handle them. */
-typedef unsigned long long uint64;
-static uint64 poll_tx_ts;
-static uint64 resp_rx_ts;
-static uint64 final_tx_ts;
+static uint64_t poll_tx_ts;
+static uint64_t resp_rx_ts;
+static uint64_t final_tx_ts;
/* Length of the common part of the message (up to and including the function code, see NOTE 2 below). */
-typedef signed long long int64;
-static uint64 poll_rx_ts;
-static uint64 resp_tx_ts;
-static uint64 final_rx_ts;
+static uint64_t poll_rx_ts;
+static uint64_t resp_tx_ts;
+static uint64_t final_rx_ts;
static double tof;
-uint16_t anchor_dist_last_frm[TAG_NUM_IN_SYS];
-uint8_t tag_id = 0;
-uint8_t tag_id_recv = 0;
+int32_t anchor_dist_last_frm[TAG_NUM_IN_SYS],his_dist[TAG_NUM_IN_SYS]; ;
+uint32_t tag_id = 0;
+uint32_t tag_id_recv = 0;
uint8_t random_delay_tim = 0;
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
+
+int32_t g_Tagdist[TAG_NUM_IN_SYS];
+uint8_t g_flag_Taggetdist[256];
/*------------------------------------ Functions ------------------------------------------*/
@@ -143,10 +162,10 @@
*
* @return 64-bit value of the read time-stamp.
*/
-static uint64 get_tx_timestamp_u64(void)
+static uint64_t get_tx_timestamp_u64(void)
{
- uint8 ts_tab[5];
- uint64 ts = 0;
+ uint8_t ts_tab[5];
+ uint64_t ts = 0;
int i;
dwt_readtxtimestamp(ts_tab);
for (i = 4; i >= 0; i--)
@@ -167,10 +186,10 @@
*
* @return 64-bit value of the read time-stamp.
*/
-static uint64 get_rx_timestamp_u64(void)
+static uint64_t get_rx_timestamp_u64(void)
{
- uint8 ts_tab[5];
- uint64 ts = 0;
+ uint8_t ts_tab[5];
+ uint64_t ts = 0;
int i;
dwt_readrxtimestamp(ts_tab);
for (i = 4; i >= 0; i--)
@@ -192,17 +211,17 @@
*
* @return none
*/
-static void final_msg_set_ts(uint8 *ts_field, uint64 ts)
+static void final_msg_set_ts(uint8_t *ts_field, uint64_t ts)
{
int i;
for (i = 0; i < FINAL_MSG_TS_LEN; i++)
{
- ts_field[i] = (uint8) ts;
+ ts_field[i] = (uint8_t) ts;
ts >>= 8;
}
}
-static void final_msg_get_ts(const uint8 *ts_field, uint32 *ts)
+static void final_msg_get_ts(const uint8_t *ts_field, uint32_t *ts)
{
int i;
*ts = 0;
@@ -211,7 +230,25 @@
*ts += ts_field[i] << (i * 8);
}
}
-
+void TagDistClear(void)
+{
+ static uint16_t clear_judge_cnt;
+ uint16_t i;
+ if(clear_judge_cnt++>1000) //设定1S分频，每秒进一次。判断标志位大于等于2，2s没收到数据就把数据变成0xffff，不触发警报。
+ {
+ clear_judge_cnt=0;
+ for(i=0;i<100;i++)
+ {
+ g_flag_Taggetdist[i]++;
+ if(g_flag_Taggetdist[i]>=5)
+ {
+ g_Tagdist[i]=0xffff;
+ Modbus_HoldReg[i*2]=1;
+ Modbus_HoldReg[i*2+1]=0xffff;
+ }
+ }
+ }
+}
void Dw1000_Init(void)
{
/* Reset and initialise DW1000.
@@ -223,37 +260,120 @@
/* Configure DW1000. See NOTE 6 below. */
dwt_configure(&config);//配置DW1000
+
+
/* 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
/* 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)
+{
+//g_com_map[DEV_ID] = 0x0b;
+ tx_poll_msg[MESSAGE_TYPE_IDX]=POLL;
+ tx_resp_msg[MESSAGE_TYPE_IDX]=RESPONSE;
+ 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, 4);
+ memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 4);
+ memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 4);
+ memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &dev_id, 4);
+
+ memcpy(&tx_resp_msg[ANCSEND_INTERVAL], &g_com_map[COM_INTERVAL], 2);
+}
+uint16_t Checksum_u16(uint8_t* pdata, uint32_t len)
+{
+ uint16_t sum = 0;
+ uint32_t i;
+ for(i=0; i<len; i++)
+ sum += pdata[i];
+ sum = ~sum;
+ return sum;
}
+u16 tag_time_recv[TAG_NUM_IN_SYS];
+u8 usart_send[25];
+u8 battary,button;
+extern uint8_t g_pairstart;
+void tag_sleep_configuraion(void)
+{
+ dwt_configuresleep(0x940, 0x7);
+ dwt_entersleep();
+}
+extern uint8_t g_start_send_flag;
+u8 g_start_sync_flag;
+void SyncPoll(u8 sync_seq)
+{
+ g_start_sync_flag=1;
+ dwt_forcetrxoff();
+ tx_sync_msg[SYNC_SEQ_IDX]=sync_seq;
+ 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);
+}
+uint16_t g_Resttimer;
+uint8_t result;
+u8 tag_succ_times=0;
+int32_t hex_dist,hex_dist2;
+u16 checksum;
+int8_t tag_delaytime;
+extern uint16_t sync_timer;
+u16 tmp_time;
+extern float dw_vbat;
+extern u16 slottime,max_slotnum,current_slotpos,tyncpoll_time;
void Tag_App(void)//发送模式(TAG标签)
{
- uint32 frame_len;
- uint32 final_tx_time;
-
+ uint32_t frame_len;
+ uint32_t final_tx_time;
+ u32 start_poll;
+ u8 i,getsync_flag=0;
+ u8 bat_percent;
+ //LED0_ON;
+ 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;
+ bat_percent=(dw_vbat-2.8)/0.5*100;
+ if(bat_percent>100)
+ bat_percent=100;
+ tx_poll_msg[BATTARY_IDX] = bat_percent;//Get_Battary();
+ tx_poll_msg[BUTTON_IDX] = !READ_KEY0;
+ tx_poll_msg[SEQUENCE_IDX] = frame_seq_nb++;
+ 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[ALL_MSG_SN_IDX] = frame_seq_nb;
+ 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
/* Start transmission, indicating that a response is expected so that reception is enabled automatically after the frame is sent and the delay
* set by dwt_setrxaftertxdelay() has elapsed. */
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();
+ IdleTask();
+
+ };
/* Increment frame sequence number after transmission of the poll message (modulo 256). */
- frame_seq_nb++;
+ if(status_reg==0xffffffff)
+ {
+ NVIC_SystemReset();
+ }
if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
{
@@ -268,21 +388,45 @@
/* Check that the frame is the expected response from the companion "DS TWR responder" example.
* As the sequence number field of the frame is not relevant, it is cleared to simplify the validation of the frame. */
- rx_buffer[ALL_MSG_SN_IDX] = 0;
- if (rx_buffer[9] == 0x10) //判断接收到的数据是否是response数据
- {
+
+ if (rx_buffer[GROUP_ID_IDX] == group_id&&rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,4)) //判断接收到的数据是否是response数据
+ { u16 anc_id_recv,rec_com_interval;
/* Retrieve poll transmission and response reception timestamp. */
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[11], 2);
-
+
+ if(getsync_flag==0&&g_com_map[DEV_ROLE])
+ {
+ getsync_flag=1;
+ memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
+ memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],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;
+ }
+ memcpy(&hex_dist2, &rx_buffer[DIST_IDX], 4);
+ memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
+ memcpy(&rec_com_interval,&rx_buffer[ANCSEND_INTERVAL], 2);
+ if(rec_com_interval>4&&rec_com_interval!=g_com_map[COM_INTERVAL])
+ {
+ g_com_map[COM_INTERVAL]=rec_com_interval;
+ save_com_map_to_flash();
+ delay_ms(100);
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
+
/* 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 timestamp is the transmission time we programmed plus the TX antenna delay. */
- final_tx_ts = (((uint64)(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_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
/* Write all timestamps in the final message. See NOTE 10 below. */
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
@@ -290,40 +434,51 @@
final_msg_set_ts(&tx_final_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
/* Write and send final message. See NOTE 7 below. */
- tx_final_msg[ALL_MSG_SN_IDX] = frame_seq_nb;
+
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
- dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
-
- //这里为串口输出
-// if (GPIO_ReadInputDataBit(GPIOA, SW2) != RESET) //通过拨码开关判断数据输出格式
-// {
-// dID = TAG_ID;
-// printf("TAG_ID: %2.0f ", dID);
-// dID = ANCHOR_ID;
-// printf("ANCHOR_ID: %2.0f ", dID);
-// printf("Distance: %5.0f cm\n", (double)dist[TAG_ID]);
-// }
-// else
-// {
-// send[2] = ANCHOR_ID;
-// send[3] = TAG_ID;
-
-// memcpy(&send[4], &dist[TAG_ID], 2);
-// check = Checksum_u16(&send[2], 6);
-// memcpy(&send[8], &check, 2);
-// USART_puts(send, 10);
-// }
+ result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
- /* Poll DW1000 until TX frame sent event set. See NOTE 8 below. */
- while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成
- { };
+ tag_succ_times++;
+
+ LED0_BLINK;
+ g_Resttimer=0;
+ memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
+ if(hex_dist2!=0xffff)
+ {
+ g_Tagdist[anc_id_recv]= hex_dist2;
+ g_flag_Taggetdist[anc_id_recv]=0;
+ if(!g_com_map[MODBUS_MODE])
+ {
+ hex_dist2 = hex_dist2;
+ 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
+ memcpy(&usart_send[5],&dev_id,2);
+ memcpy(&usart_send[7],&rx_buffer[ANCHOR_ID_IDX],2);
+
+ memcpy(&usart_send[9],&hex_dist2,4);
+ usart_send[13] = bat_percent;
+ usart_send[14] = button;
+ checksum = Checksum_u16(&usart_send[2],17);
+ memcpy(&usart_send[19],&checksum,2);
+ UART_PushFrame(usart_send,21);
+ }
+ }
+ // memcpy(&Modbus_HoldReg[anc_id_recv*2],&hex_dist,4);
+ /* 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
+ { };
+ }
/* Clear TXFRS event. */
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//清除标志位
/* Increment frame sequence number after transmission of the final message (modulo 256). */
- frame_seq_nb++;
+
random_delay_tim = 0;
}
else
@@ -337,16 +492,28 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
random_delay_tim = DFT_RAND_DLY_TIM_MS;
}
- LED0_BLINK;
- /* Execute a delay between ranging exchanges. */
- deca_sleep(RNG_DELAY_MS + random_delay_tim); //休眠固定时间
+// deca_sleep(10);
}
+// dwt_entersleep();
+ if(tag_succ_times<1)
+ {
+ tyncpoll_time=(current_slotpos--%max_slotnum)*slottime;
+ }
+ /* Execute a delay between ranging exchanges. */
+
+}
+int8_t correction_time;
+extern uint8_t sync_seq;
+#define TDFILTER
+//#define CHECK_UID
+extern uint8_t UID_ERROR;
+extern u16 dist_threshold;
+u8 misdist_num[TAG_NUM_IN_SYS];
void Anchor_App(void)
{
- uint32 frame_len;
- uint32 resp_tx_time;
-
+ uint32_t frame_len;
+ uint32_t resp_tx_time;
/* Clear reception timeout to start next ranging process. */
dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
@@ -354,11 +521,13 @@
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&&!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();
+ };
if (status_reg & SYS_STATUS_RXFCG)//成功接收
- {
+ { u16 tag_recv_interval;
/* Clear good RX frame event in the DW1000 status register. */
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);//清除标志位
@@ -370,15 +539,28 @@
/* Check that the frame is a poll sent by "DS TWR initiator" example.
* As the sequence number field of the frame is not relevant, it is cleared to simplify the validation of the frame. */
- rx_buffer[ALL_MSG_SN_IDX] = 0;
+
//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
- tag_id_recv = rx_buffer[5];
- tx_resp_msg[5] = tag_id_recv;
-
+ //tag_id_recv = rx_buffer[TAG_ID_IDX];
+ memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],4);
+ memcpy(&tx_resp_msg[TAG_ID_IDX],&tag_id_recv,4);
+ //tx_resp_msg[TAG_ID_IDX] = tag_id_recv;
+// if(tag_recv_timer>tag_time_recv[tag_id_recv-TAG_ID_START])
+// { tag_recv_interval = tag_recv_timer - tag_time_recv[tag_id_recv];
+// }else{
+// tag_recv_interval = tag_recv_timer + 65535 - tag_time_recv[tag_id_recv];
+// }
- if (rx_buffer[9] == 0x21) //判断是否是poll包数据
+ if (rx_buffer[GROUP_ID_IDX] == group_id&&rx_buffer[MESSAGE_TYPE_IDX] == POLL&&(anchor_type == rx_buffer[ANC_TYPE_IDX])) //判断是否是poll包数据
{
+ tmp_time=TIM3->CNT;
+ memcpy(&tx_resp_msg[ANCTIMEMS],&sync_timer,2);
+ memcpy(&tx_resp_msg[ANCTIMEUS],&tmp_time,2);
+
+// if(correction_time>10)
+// {correction_time++;}
+
/* Retrieve poll reception timestamp. */
poll_rx_ts = get_rx_timestamp_u64();//获得Poll包接收时间T2
@@ -391,19 +573,24 @@
dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间
/* Write and send the response message. See NOTE 9 below.*/
- memcpy(&tx_resp_msg[11], &anchor_dist_last_frm[tag_id_recv], 2);
- tx_resp_msg[ALL_MSG_SN_IDX] = frame_seq_nb;
+ if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS)
+ memcpy(&tx_resp_msg[DIST_IDX], &g_Tagdist[tag_id_recv], 4);
+
dwt_writetxdata(sizeof(tx_resp_msg), tx_resp_msg, 0);//写入发送数据
dwt_writetxfctrl(sizeof(tx_resp_msg), 0);//设定发送长度
- dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，等待接收
+ 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];
/* We assume that the transmission is achieved correctly, now poll for reception of expected "final" 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
+ if(result==0)
+ {
+ 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
{ };
-
+ }
/* Increment frame sequence number after transmission of the response message (modulo 256). */
- frame_seq_nb++;
if (status_reg & SYS_STATUS_RXFCG)//接收成功
{
@@ -418,14 +605,14 @@
/* Check that the frame is a final message sent by "DS TWR initiator" example.
* As the sequence number field of the frame is not used in this example, it can be zeroed to ease the validation of the frame. */
- rx_buffer[ALL_MSG_SN_IDX] = 0;
- if (rx_buffer[9] == 0x23) //判断是否为Final包
+
+ if (rx_buffer[GROUP_ID_IDX] == group_id&&rx_buffer[MESSAGE_TYPE_IDX] == FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,4)&&!memcmp(&rx_buffer[ANCHOR_ID_IDX],&dev_id,4)) //判断是否为Final包
{
- uint32 poll_tx_ts, resp_rx_ts, final_tx_ts;
- uint32 poll_rx_ts_32, resp_tx_ts_32, final_rx_ts_32;
+ 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;
-
+
/* Retrieve response transmission and final reception timestamps. */
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
@@ -435,50 +622,90 @@
final_msg_get_ts(&rx_buffer[FINAL_MSG_RESP_RX_TS_IDX], &resp_rx_ts);
final_msg_get_ts(&rx_buffer[FINAL_MSG_FINAL_TX_TS_IDX], &final_tx_ts);
+ #ifdef CHECK_UID
+ if(UID_ERROR==1)
+ poll_rx_ts=0;
+ #endif
/* Compute time of flight. 32-bit subtractions give correct answers even if clock has wrapped. See NOTE 10 below. */
- poll_rx_ts_32 = (uint32)poll_rx_ts;//使用32位数据计算
- resp_tx_ts_32 = (uint32)resp_tx_ts;
- final_rx_ts_32 = (uint32)final_rx_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)((Ra * Rb - Da * Db) / (Ra + Rb + Da + Db));//计算公式
+ 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
+ dist_cm = dist_no_bias * 1000; //dis 为单位为cm的距离
// dist[TAG_ID] = LP(dis, TAG_ID); //LP 为低通滤波器，让数据更稳定
+ /*--------------------------以下为非测距逻辑------------------------*/
LED0_BLINK; //每成功一次通讯则闪烁一次
- //这里供串口输出
-// if (GPIO_ReadInputDataBit(GPIOA, SW2) != RESET) //通过拨码开关判断数据输出格式
-// {
-// dID = TAG_ID;
-// printf("TAG_ID: %2.0f ", dID);
-// dID = ANCHOR_ID;
-// printf("ANCHOR_ID: %2.0f ", dID);
-// printf("Distance: %5.0f cm\n", (double)dist[TAG_ID]);
-// }
-// else
-// {
-// send[2] = ANCHOR_ID;
-// send[3] = TAG_ID;
-
-// memcpy(&send[4], &dist[TAG_ID], 2);
-// check = Checksum_u16(&send[2], 6);
-// memcpy(&send[8], &check, 2);
-// USART_puts(send, 10);
-// }
-
+ g_UWB_com_interval = 0;
+ g_Resttimer=0;
+ hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10;
+ if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS)
+ {
+ if(abs(hex_dist-his_dist[tag_id_recv-TAG_ID_START])<dist_threshold||misdist_num[tag_id_recv-TAG_ID_START]>4)
+ {
+ int32_t filter_dist;
+ misdist_num[tag_id_recv-TAG_ID_START]=0;
+ if(hex_dist<1000000&&hex_dist>-10000)
+ {
+ #ifdef TDFILTER
+ NewTrackingDiffUpdate(tag_id_recv-TAG_ID_START, (float)hex_dist);
+ filter_dist=pos_predict[tag_id_recv-TAG_ID_START]/10;
+ #else
+ filter_dist=hex_dist/10;
+ #endif
+ anchor_dist_last_frm[tag_id_recv-TAG_ID_START]=filter_dist;
+ g_Tagdist[tag_id_recv]= filter_dist;
+
+ his_dist[tag_id_recv-TAG_ID_START]=hex_dist;
+ g_flag_Taggetdist[tag_id_recv]=0;
+ if(!g_com_map[MODBUS_MODE])
+ {
+ 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],&anchor_dist_last_frm[tag_id_recv-TAG_ID_START],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(&Modbus_HoldReg[tag_id_recv*2],&anchor_dist_last_frm[tag_id_recv-TAG_ID_START],4);
+ Modbus_HoldReg[tag_id_recv*2]=g_Tagdist[tag_id_recv-TAG_ID_START]>>16;
+ Modbus_HoldReg[tag_id_recv*2+1]=g_Tagdist[tag_id_recv-TAG_ID_START];
+ //dis_after_filter = LP_Frac_Update(p_Dis_Filter, dist_cm);
+ }
+
+ }
+ else{
+ misdist_num[tag_id_recv-TAG_ID_START]++;
+ }
}
- }
- else
- {
+ }
+ }else{
/* Clear RX error events in the DW1000 status register. */
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
+ }
+ }else if(rx_buffer[MESSAGE_TYPE_IDX] == SYNC)
+ {
+ if(rx_buffer[SYNC_SEQ_IDX]<sync_seq&&sync_mainbase==0)
+ {
+ sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
+ TIM3->CNT = sync_seq*325%1000+15;
+ sync_timer = sync_seq*325/1000;
+ SyncPoll(sync_seq);
}
}
}
@@ -489,66 +716,3 @@
}
}
-/*****************************************************************************************************************************************************
- * NOTES:
- *
- * 1. The sum of the values is the TX to RX antenna delay, experimentally determined by a calibration process. Here we use a hard coded typical value
- * but, in a real application, each device should have its own antenna delay properly calibrated to get the best possible precision when performing
- * range measurements.
- * 2. The messages here are similar to those used in the DecaRanging ARM application (shipped with EVK1000 kit). They comply with the IEEE
- * 802.15.4 standard MAC data frame encoding and they are following the ISO/IEC:24730-62:2013 standard. The messages used are:
- * - a poll message sent by the initiator to trigger the ranging exchange.
- * - a response message sent by the responder allowing the initiator to go on with the process
- * - a final message sent by the initiator to complete the exchange and provide all information needed by the responder to compute the
- * time-of-flight (distance) estimate.
- * The first 10 bytes of those frame are common and are composed of the following fields:
- * - byte 0/1: frame control (0x8841 to indicate a data frame using 16-bit addressing).
- * - byte 2: sequence number, incremented for each new frame.
- * - byte 3/4: PAN TAG_ID (0xDECA).
- * - byte 5/6: destination address, see NOTE 3 below.
- * - byte 7/8: source address, see NOTE 3 below.
- * - byte 9: function code (specific values to indicate which message it is in the ranging process).
- * The remaining bytes are specific to each message as follows:
- * Poll message:
- * - no more data
- * Response message:
- * - byte 10: activity code (0x02 to tell the initiator to go on with the ranging exchange).
- * - byte 11/12: activity parameter, not used here for activity code 0x02.
- * Final message:
- * - byte 10 -> 13: poll message transmission timestamp.
- * - byte 14 -> 17: response message reception timestamp.
- * - byte 18 -> 21: final message transmission timestamp.
- * All messages end with a 2-byte checksum automatically set by DW1000.
- * 3. Source and destination addresses are hard coded constants in this example to keep it simple but for a real product every device should have a
- * unique TAG_ID. Here, 16-bit addressing is used to keep the messages as short as possible but, in an actual application, this should be done only
- * after an exchange of specific messages used to define those short addresses for each device participating to the ranging exchange.
- * 4. Delays between frames have been chosen here to ensure proper synchronisation of transmission and reception of the frames between the initiator
- * and the responder and to ensure a correct accuracy of the computed distance. The user is referred to DecaRanging ARM Source Code Guide for more
- * details about the timings involved in the ranging process.
- * 5. This timeout is for complete reception of a frame, i.e. timeout duration must take into account the length of the expected frame. Here the value
- * is arbitrary but chosen large enough to make sure that there is enough time to receive the complete response frame sent by the responder at the
- * 110k data rate used (around 3 ms).
- * 6. In a real application, for optimum performance within regulatory limits, it may be necessary to set TX pulse bandwidth and TX power, (using
- * the dwt_configuretxrf API call) to per device calibrated values saved in the target system or the DW1000 OTP memory.
- * 7. dwt_writetxdata() takes the full size of the message as a parameter but only copies (size - 2) bytes as the check-sum at the end of the frame is
- * automatically appended by the DW1000. This means that our variable could be two bytes shorter without losing any data (but the sizeof would not
- * work anymore then as we would still have to indicate the full length of the frame to dwt_writetxdata()). It is also to be noted that, when using
- * delayed send, the time set for transmission must be far enough in the future so that the DW1000 IC has the time to process and start the
- * transmission of the frame at the wanted time. If the transmission command is issued too late compared to when the frame is supposed to be sent,
- * this is indicated by an error code returned by dwt_starttx() API call. Here it is not tested, as the values of the delays between frames have
- * been carefully defined to avoid this situation.
- * 8. We use polled mode of operation here to keep the example as simple as possible but all status events can be used to generate interrupts. Please
- * refer to DW1000 User Manual for more details on "interrupts". It is also to be noted that STATUS register is 5 bytes long but, as the event we
- * use are all in the first bytes of the register, we can use the simple dwt_read32bitreg() API call to access it instead of reading the whole 5
- * bytes.
- * 9. As we want to send final TX timestamp in the final message, we have to compute it in advance instead of relying on the reading of DW1000
- * register. Timestamps and delayed transmission time are both expressed in device time units so we just have to add the desired response delay to
- * response RX timestamp to get final transmission time. The delayed transmission time resolution is 512 device time units which means that the
- * lower 9 bits of the obtained value must be zeroed. This also allows to encode the 40-bit value in a 32-bit words by shifting the all-zero lower
- * 8 bits.
- * 10. In this operation, the high order byte of each 40-bit timestamps is discarded. This is acceptable as those time-stamps are not separated by
- * more than 2**32 device time units (which is around 67 ms) which means that the calculation of the round-trip delays (needed in the
- * time-of-flight computation) can be handled by a 32-bit subtraction.
- * 11. The user is referred to DecaRanging ARM application (distributed with EVK1000 product) for additional practical example of usage, and to the
- * DW1000 API Guide for more details on the DW1000 driver functions.
- ****************************************************************************************************************************************************/
--
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