From abb80bb7ac0048e9bd26c122afca32c00d7be237 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期五, 10 十二月 2021 14:50:06 +0800
Subject: [PATCH] V1.58 增加信号强度输出
---
源码/核心板/Src/application/dw_app.c | 419 +++++++++++++++++++++++++++++++++++++++++++++--------------
1 files changed, 318 insertions(+), 101 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 1b499a2..20612af 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"
@@ -1,11 +1,12 @@
#include "dw_app.h"
#include "ADC.h"
+#define TDFILTER
enum enumtagstate
{
DISCPOLL,
GETNEARMSG,
NEARPOLL,
-}tag_state=GETNEARMSG;
+}tag_state=NEARPOLL;
static dwt_config_t config = {
2, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
@@ -13,7 +14,7 @@
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. */
- 0, /* Use non-standard SFD (Boolean) */
+ 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. */
@@ -28,7 +29,7 @@
static uint8_t tx_near_msg[80] = {0};
-static uint32_t frame_seq_nb = 0;
+ uint32_t frame_seq_nb = 0, frame_seq_nb2 = 0;
static uint32_t status_reg = 0;
static uint8_t rx_buffer[100];
static uint64_t poll_tx_ts;
@@ -47,7 +48,7 @@
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];
static uint64_t get_tx_timestamp_u64(void)
@@ -109,11 +110,12 @@
g_flag_Taggetdist[i]++;
if(g_flag_Taggetdist[i]>=2)
{
- g_Tagdist[i]=0xffff;
+ g_Tagdist[i]=0x1ffff;
}
}
}
}
+extern int16_t g_commap_antdelay;
void Dw1000_Init(void)
{
/* Reset and initialise DW1000.
@@ -130,12 +132,13 @@
/* 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
+ 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. */
//设置接收超时时间
}
+extern u16 group_id;
void Dw1000_App_Init(void)
{
//g_com_map[DEV_ID] = 0x0b;
@@ -144,6 +147,10 @@
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, 2);
memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 2);
memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 2);
@@ -208,7 +215,31 @@
u16 nearbaseid_list[MAX_NEARBASE_NUM],mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM];
int32_t mainbase_dist,nearbase_distlist[MAX_NEARBASE_NUM],true_nearbase_distlist[MAX_NEARBASE_NUM],true_exsistbase_list[MAX_NEARBASE_NUM];
uint8_t trygetnearmsg_times;
+u16 current_slotnum,total_slotnum,target_time,last_time;
+u32 rec_tagpos_binary;
+extern uint32_t tagpos_binary;
+void SetNextPollTime(u16 time)
+{
+ current_slotnum++;
+ if(current_slotnum==total_slotnum)
+ current_slotnum-=total_slotnum;
+ //time=5;
+ target_time=((current_slotnum*g_com_map[COM_INTERVAL])+time);
+ last_time=target_time;
+ if(target_time>=990&&target_time<992)
+ {
+ current_slotnum++;
+ target_time+=g_com_map[COM_INTERVAL];
+ tagslotpos=GetRandomSlotPos(rec_tagpos_binary|tagpos_binary);
+ tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
+ }
+ if(target_time>=1000)
+ {target_time-=1000;}
+ if(target_time<0)
+ {target_time+=1000;}
+
+}
u8 FindNearBasePos(u16 baseid)
{
u8 i;
@@ -251,11 +282,43 @@
// change_base_count=0;
// }
//}
+uint8_t GetRandomValue(void)
+{
+ uint8_t random_value=0,temp_adc,i;
+ for(i=0;i<8;i++)
+ {
+ temp_adc=Get_ADC_Value();
+ random_value=random_value|((temp_adc&0x01)<<i);
+ }
+ return random_value;
+}
+u8 GetRandomSlotPos(uint32_t emptyslot)
+{
+ u8 i,temp_value;
+ temp_value = GetRandomValue();
+ for(i=temp_value%max_slotpos;i<max_slotpos;i++)
+ {
+ if(((emptyslot>>i)&0x1)==0)
+ {
+ return i;
+ }
+ }
+
+ for(i=1;i<max_slotpos;i++)
+ {
+ if(((emptyslot>>i)&0x1)==0)
+ {
+ return i;
+ }
+ }
+return max_slotpos-1;
+}
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;
u16 temp_sync_timer1,temp_sync_timer2;
-void NearPoll(void)
+
+ void NearPoll(void)
{
static u8 mainbase_lost_count=0,flag_finalsend,flag_rxon;
uint32_t temp1,temp2,dw_systime;
@@ -264,7 +327,6 @@
u32 start_poll;
u8 i,j,getsync_flag=0,timeout;
// printf("%d",sync_timer);
- 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;
@@ -277,22 +339,32 @@
last_nearbase_num=next_nearbase_num;
nearbase_num=next_nearbase_num;
recbase_num=0;
+ tx_nearpoll_msg[GROUP_ID_IDX] = group_id;
tx_nearpoll_msg[BATTARY_IDX] = Get_Battary();
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);
+ 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+2*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+2*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;
flag_rxon=1;
neartimout_timer=0;
get_newbase=0;
- timeout=ceil((float)nearbase_num/4)+2;
+ timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
//timeout=5;
mainbase_dist=100000;
mainbase_lost_count++;
@@ -327,7 +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)) //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] == 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;
poll_tx_ts = get_tx_timestamp_u64(); //获得POLL发送时间T1
@@ -347,11 +419,15 @@
temp_sync_timer2=sync_timer;
memcpy(&temp_sync_timer1,&rx_buffer[ANCTIMEMS],2);
memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
+
+
+ if(g_com_map[DEV_ROLE]!=0)
+ {
sync_timer=temp_sync_timer1;
- exsistbase_list[0]=KEEP_TIMES;
//// memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
//
- tmp_time=tmp_time+650;
+
+ tmp_time=tmp_time+650;
if(tmp_time>999)
{
tmp_time-=999;
@@ -360,16 +436,19 @@
{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);
// tyncpoll_time=(tagslotpos-1)*slottime;
////////////////////////////
rec_nearbasepos=0;
- exsistbase_list[rec_nearbasepos]=10;
+
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
nearbase_distlist[rec_nearbasepos]=temp_dist;
-
+ if(temp_dist!=0x1ffff)
+ exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
+
mainbase_lost_count=0;
flag_finalsend=1;
final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS+DELAY_BETWEEN_TWO_FRAME_UUS*nearbase_num+500) * UUS_TO_DWT_TIME)) >> 8;
@@ -381,25 +460,40 @@
final_msg_set_ts(&tx_nearfinal_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX], resp_rx_ts);
final_msg_set_ts(&tx_nearfinal_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
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
- if(temp_dist!=0x1ffff)
+ memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
+ if(temp_dist!=0x1ffff&&g_com_map[ALARM_DISTANCE1] == 1)
{
- #ifndef USART_INTEGRATE_OUTPUT
+ 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[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);
+ 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);
- #endif
- }
- //result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
+ #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
+ }
+
+
}else{
rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
if(rec_nearbasepos>=last_nearbase_num) //发现新的基站
@@ -410,22 +504,32 @@
memcpy(&tx_nearfinal_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
}
- exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
nearbase_distlist[rec_nearbasepos]=temp_dist;
+
+ if(temp_dist!=0x1ffff)
+ exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
final_msg_set_ts(&tx_nearfinal_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
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
LED0_BLINK;
- if(temp_dist!=0x1ffff)
+// memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
+// tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
+ if(temp_dist!=0x1ffff&&g_com_map[ALARM_DISTANCE1] == 1)
{
- #ifndef USART_INTEGRATE_OUTPUT
+ #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],&dev_id,2);
- memcpy(&usart_send[7],&rec_nearbaseid,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;
@@ -460,22 +564,23 @@
j=0;
if(exsistbase_list[0]==0)
{
- u8 temp_adc,random_value;
- random_value=0;
- for(i=0;i<8;i++)
- {
- temp_adc=Get_ADC_Value();
- random_value=random_value|((temp_adc&0x01)<<i);
- }
- tyncpoll_time=(random_value%max_slotpos)*slottime;
+// u8 temp_adc,random_value;
+// random_value=0;
+// for(i=0;i<8;i++)
+// {
+// temp_adc=Get_ADC_Value();
+// random_value=random_value|((temp_adc&0x01)<<i);
+// }
+ tagslotpos=GetRandomSlotPos(rec_tagpos_binary|tagpos_binary);
+ tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
+ tag_state=NEARPOLL;
}
// tyncpoll_time=0;
next_nearbase_num=0;
for(i=0;i<last_nearbase_num+get_newbase;i++)
{
if(exsistbase_list[i]>0)
- {
-
+ {
next_nearbase_num++;
true_exsistbase_list[j]=exsistbase_list[i];
true_nearbase_idlist[j]=nearbaseid_list[i];
@@ -513,17 +618,14 @@
{
nearbaseid_list[i]=true_nearbase_idlist[i];
nearbase_distlist[i]=true_nearbase_distlist[i];
- if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==0xa)
+ if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==KEEP_TIMES)
{
memcpy(&usart_send[4+6*report_num],&nearbaseid_list[i],2);
memcpy(&usart_send[6+6*report_num],&nearbase_distlist[i],4);
report_num++;
}
}
- for(i=0;i<MAX_NEARBASE_NUM;i++)
- {
- nearbase_distlist[i]=0x1ffff;
- }
+
// printf("%d,%d",temp_sync_timer2,temp_sync_timer1);
#ifdef USART_INTEGRATE_OUTPUT
@@ -548,13 +650,10 @@
// }else{
// anclost_times=0;
// }
-
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
-
-
+dwt_forcetrxoff();
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
}
-u8 nearmsg_mainbase=0;
-u32 rec_tagpos_binary;
+u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32];
void GetNearMsg(void)
{
u32 start_poll,frame_len;
@@ -591,34 +690,49 @@
{
next_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
- tagslotpos=rx_buffer[TAGSLOTPOS];
+ tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
+ //tagslotpos=rx_buffer[TAGSLOTPOS];
memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],next_nearbase_num*2);
- slottime=ceil((nearbase_num+2)*0.3)+1;
+ //slottime=ceil((nearbase_num+2)*0.4)+2;
tyncpoll_time=tagslotpos*slottime;
tag_state=NEARPOLL;
+ }else{
+ tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
}
+ }else{
+ tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
}
+
+ #ifdef USART_INTEGRATE_OUTPUT
+ usart_send[2] = 4;//正常模式
+ usart_send[3] = report_num*6+2;//正常模式
+ checksum = Checksum_u16(&usart_send[2],report_num*6+2);
+ memcpy(&usart_send[4+report_num*6],&checksum,2);
+ UART_PushFrame(usart_send,6+report_num*6);
+ #endif
}
void Tag_App(void)//发送模式(TAG标签)
{
//LED0_ON;
- g_Resttimer=0;
+ dwt_forcetrxoff();
+ GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
switch(tag_state)
{
case DISCPOLL:
break;
case GETNEARMSG:
- GetNearMsg();
+ GetNearMsg();
break;
case NEARPOLL:
NearPoll();
break;
-
-
}
+ SetNextPollTime(tyncpoll_time);
+ g_start_send_flag = 0;
+ GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);
}
int8_t correction_time,new_tagid=0;
@@ -652,6 +766,7 @@
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;
@@ -675,7 +790,9 @@
battary = rx_buffer[BATTARY_IDX];
button = rx_buffer[BUTTON_IDX];
- frame_seq_nb = rx_buffer[SEQUENCE_IDX];
+
+
+ frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
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
@@ -725,9 +842,34 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}
-u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor;
+ 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,recpoll_len;
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);
@@ -739,7 +881,20 @@
dwt_setdelayedtrxtime(resp_tx_time);//设置Response发送时间T3
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)
{
tagdist_list[taglist_pos]=0x1ffff;
@@ -747,16 +902,22 @@
}else{
memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
}
+ tx_nearresp_msg[GROUP_ID_IDX] = group_id;
tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
-
- dwt_writetxdata(21, tx_nearresp_msg, 0);//写入发送数据
- dwt_writetxfctrl(21, 0);//设定发送长度
+ 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
+ }
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_nb = rx_buffer[SEQUENCE_IDX];
+
if(result==0)
{
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
@@ -775,12 +936,13 @@
{
return 1;
}
- if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)) //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)&&group_id==rx_buffer[GROUP_ID_IDX]) //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;
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
@@ -798,30 +960,61 @@
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
+ dwt_readdiagnostics(&d1);
+ LOS(&d1);
/*--------------------------以下为非测距逻辑------------------------*/
//dist_cm=33000;
+ getrange_success = 1;
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];
+ hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10;
+
+ if(recpoll_len==rec_nearbase_num*4+15)
+ {
+ 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<100000)
+
+ if(hex_dist>-100000&&hex_dist<2000000)
{
- if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num[taglist_pos]>3)
+ if(abs(hex_dist-his_dist[taglist_pos])<dist_threshold||misdist_num[taglist_pos]>3)
{
+
+ g_Resttimer=0;
+ IWDG_Feed();
+ #ifdef TDFILTER
+ NewTrackingDiffUpdate(taglist_pos, (float)hex_dist);
+ filter_dist = pos_predict[taglist_pos]/10;
+ filter_speed = vel_predict[taglist_pos]/10;
+ newmeasure = 1;
+ #else
+ filter_dist=hex_dist/10;
+ #endif
misdist_num[taglist_pos]=0;
- tagdist_list[taglist_pos] = hex_dist;
+ tagdist_list[taglist_pos] = filter_dist;
his_dist[taglist_pos]=hex_dist;
- #ifndef USART_INTEGRATE_OUTPUT
- usart_send[2] = 1;//正常模式
+ 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
- usart_send[4] = frame_seq_nb;//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[7],&dev_id,2);
+ if(tagdist_list[taglist_pos]<=0)
+ tagdist_list[taglist_pos]=10;
memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
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);
@@ -836,18 +1029,15 @@
}
}
}
-
}else{
//printf("%x/n",status_reg);
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
-
}
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];
+u16 ancidlist_rec[20],ancidlist_send[20],rec_ancidlist[20],rec_ancdistlist[20];
void Anchor_App(void)
{
@@ -855,32 +1045,39 @@
u16 tempid;
uint32_t rec_syncid;
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
g_start_sync_flag=0;
+
dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
dwt_rxenable(0);//打开接收
-
+// GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
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();
- g_Resttimer=0;
};
-
+//GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);
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
+ 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
- //tag_id_recv = rx_buffer[TAG_ID_IDX];
+ memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
+ if(group_id==rx_buffer[GROUP_ID_IDX])
+ {
switch(rx_buffer[MESSAGE_TYPE_IDX])
{
// case POLL:
// if (anchor_type == rx_buffer[ANC_TYPE_IDX])
// Anchor_RecPoll();
// break;
- case SYNC:
-
+ case SYNC:
memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
if(rec_syncid<current_syncid)
{
@@ -921,10 +1118,31 @@
}
break;
- case NEAR_POLL:
-
+ case NEAR_POLL:
+ frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
+ battary = rx_buffer[BATTARY_IDX];
+ button = rx_buffer[BUTTON_IDX];
+ rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
- memcpy(&anc_id_recv,&rx_buffer[ANCHOR_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
+ usart_send[4] = frame_seq_nb2;//数据段长度
+ usart_send[5] = battary;
+ usart_send[6] = button;
+ usart_send[7] = rec_nearbase_num;
+ memcpy(&usart_send[8],&tag_id_recv,2);
+ memcpy(&usart_send[10],&rec_ancidlist,2*rec_nearbase_num);
+ memcpy(&usart_send[10+rec_nearbase_num*2],&rec_ancdistlist,2*rec_nearbase_num);
+ checksum = Checksum_u16(&usart_send[2],8+4*rec_nearbase_num);
+ memcpy(&usart_send[10+4*rec_nearbase_num],&checksum,2);
+ UART_PushFrame(usart_send,12+rec_nearbase_num*4);
+ #endif
+ if(tag_id_recv>=g_com_map[WHITELIST1_START]&&tag_id_recv<=g_com_map[WHITELIST1_END])
+ {break;}
taglist_pos=CmpTagInList(tag_id_recv);
if(taglist_pos==taglist_num)
{
@@ -936,10 +1154,16 @@
new_tagid=0;
}
tagofflinetime[taglist_pos]=0;
- temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime);
+ 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];
+
+ if(rec_nearbase_num>ancidlist_num)
+ {
+ ancidlist_num=rec_nearbase_num;
+ memcpy(ancidlist_rec,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
+ }
+
for(i=0;i<rec_nearbase_num;i++)
{
memcpy(&tempid,&rx_buffer[NEARBASEID_INDEX+i*2],2);
@@ -955,20 +1179,13 @@
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;
-
- }
-
- }
- else
- {
+ break;
+ }
+ }else{
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}
+}
--
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