From 9d2282974b45aecf66adbd707fcde1ea83456703 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期一, 01 六月 2020 15:02:52 +0800
Subject: [PATCH] 11
---
源码/核心板/Src/application/dw_app.c | 218 +++++++++++++++++++++++++++++++-----------------------
1 files changed, 125 insertions(+), 93 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 e5cbeb5..1b499a2 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"
@@ -5,7 +5,7 @@
DISCPOLL,
GETNEARMSG,
NEARPOLL,
-}tag_state;
+}tag_state=GETNEARMSG;
static dwt_config_t config = {
2, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
@@ -25,6 +25,8 @@
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 uint8_t tx_near_msg[80] = {0};
static uint32_t frame_seq_nb = 0;
static uint32_t status_reg = 0;
@@ -219,36 +221,36 @@
}
u8 recbase_num=0;
#define CHANGE_BASE_THRESHOLD 5
-void NearAncSelect(void)
-{static u16 last_mainbase_id,change_base_count;
- int32_t nearbase_mindist=99999, nearbase_minpos;
- u8 i;
- for(i=0;i<recbase_num-1;i++)
- {
- if(nearbase_mindist>nearbase_distlist[i])
- {
- nearbase_mindist=nearbase_distlist[i];
- nearbase_minpos=i;
- }
- }
- if(nearbase_mindist<mainbase_dist-THRESHOLD_CHANGE_MAINBASE_DIST)
- {
- if(last_mainbase_id==nearbaseid_list[nearbase_minpos])
- {
- change_base_count++;
- if(change_base_count>CHANGE_BASE_THRESHOLD)
- {
- mainbase_id=last_mainbase_id;
- tag_state=GETNEARMSG;
- }
- }else{
- change_base_count=0;
- }
- last_mainbase_id=nearbaseid_list[nearbase_minpos];
- }else{
- change_base_count=0;
- }
-}
+//void NearAncSelect(void)
+//{static u16 last_mainbase_id,change_base_count;
+// int32_t nearbase_mindist=99999, nearbase_minpos;
+// u8 i;
+// for(i=0;i<recbase_num-1;i++)
+// {
+// if(nearbase_mindist>nearbase_distlist[i])
+// {
+// nearbase_mindist=nearbase_distlist[i];
+// nearbase_minpos=i;
+// }
+// }
+// if(nearbase_mindist<mainbase_dist-THRESHOLD_CHANGE_MAINBASE_DIST)
+// {
+// if(last_mainbase_id==nearbaseid_list[nearbase_minpos])
+// {
+// change_base_count++;
+// if(change_base_count>CHANGE_BASE_THRESHOLD)
+// {
+// mainbase_id=last_mainbase_id;
+// tag_state=GETNEARMSG;
+// }
+// }else{
+// change_base_count=0;
+// }
+// last_mainbase_id=nearbaseid_list[nearbase_minpos];
+// }else{
+// change_base_count=0;
+// }
+//}
u8 test=0;
u8 anclost_times=0;
u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;;
@@ -551,51 +553,72 @@
}
-
-//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;
-// }
-// }
-//}
+u8 nearmsg_mainbase=0;
+u32 rec_tagpos_binary;
+void GetNearMsg(void)
+{
+ u32 start_poll,frame_len;
+ if(nearmsg_mainbase)
+ {nearmsg_mainbase=0;
+ }else{
+ nearmsg_mainbase=1;
+ }
+ memcpy(&tx_near_msg[ANCHOR_ID_IDX],&nearmsg_mainbase,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
+ {
+ next_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
+ memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
+ tagslotpos=rx_buffer[TAGSLOTPOS];
+ memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],next_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;
g_Resttimer=0;
- NearPoll();
+ switch(tag_state)
+ {
+ case DISCPOLL:
+
+ break;
+ case GETNEARMSG:
+ GetNearMsg();
+ break;
+ case NEARPOLL:
+ NearPoll();
+ break;
+
+
+ }
+
}
int8_t correction_time,new_tagid=0;
@@ -702,7 +725,7 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}
-u8 misdist_num,seize_anchor;
+u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor;
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
{
tmp_time=TIM3->CNT;
@@ -785,9 +808,9 @@
g_flag_Taggetdist[taglist_pos]=0;
if(hex_dist>-1000&&hex_dist<100000)
{
- if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num>3)
+ if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num[taglist_pos]>3)
{
- misdist_num=0;
+ misdist_num[taglist_pos]=0;
tagdist_list[taglist_pos] = hex_dist;
his_dist[taglist_pos]=hex_dist;
#ifndef USART_INTEGRATE_OUTPUT
@@ -809,7 +832,7 @@
#endif
}else{
// printf("%d",hex_dist);
- misdist_num++;
+ misdist_num[taglist_pos]++;
}
}
}
@@ -822,6 +845,9 @@
}
uint32_t current_syncid=0xffffffff,synclost_timer;
extern u8 flag_syncbase;
+extern uint32_t tagpos_binary;
+u8 tagpos_rec[50],tagpos_send[50],ancidlist_num;
+u16 ancidlist_rec[20],ancidlist_send[20];
void Anchor_App(void)
{
@@ -841,7 +867,7 @@
if (status_reg & SYS_STATUS_RXFCG)//成功接收
{ u16 tag_recv_interval;
-
+ float temp_tagpos;
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
@@ -879,21 +905,22 @@
}
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_MSG:
+ if(anc_id_recv==flag_syncbase)
+ {
+ rx_buffer[TAGSLOTPOS]=taglist_pos;
+ tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
+ memcpy(&tx_near_msg[TAG_ID_IDX],&tag_id_recv,2);
+ memcpy(&tx_near_msg[NEARMSG_EMPTYSLOTPOS_INDEX],&tagpos_binary,4);
+ tx_near_msg[NEARBASENUM_INDEX]=ancidlist_num;
+ memcpy(&tx_near_msg[NEARBASEID_INDEX],&ancidlist_send,ancidlist_num*2);
+ send_len=11+ancidlist_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:
memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
@@ -909,8 +936,8 @@
new_tagid=0;
}
tagofflinetime[taglist_pos]=0;
-
-
+ temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime);
+ tagpos_rec[(u8)temp_tagpos]=1;
rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
for(i=0;i<rec_nearbase_num;i++)
@@ -928,6 +955,11 @@
seize_anchor=1; //抢占anchor
Anchor_RecNearPoll(i);
}
+ if(rec_nearbase_num>ancidlist_num)
+ {
+ ancidlist_num=rec_nearbase_num;
+ memcpy(ancidlist_rec,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
+ }
break;
--
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