From ac5a474250f6560c7aa509b5e6c496c27a9db6d7 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期一, 05 十月 2020 18:54:00 +0800
Subject: [PATCH] 增加配置确认回复
---
源码/核心板/Src/application/dw_app.c | 153 ++++++++++++++++++++++++++++++++++++++++++---------
1 files changed, 126 insertions(+), 27 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 33a51d4..6947fa8 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"
@@ -28,7 +28,7 @@
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;
@@ -120,7 +120,9 @@
* For initialisation, DW1000 clocks must be temporarily set to crystal speed. After initialisation SPI rate can be increased for optimum
* performance. */
Reset_DW1000();//重启DW1000 /* Target specific drive of RSTn line into DW1000 low for a period. */
+ status_reg = dwt_read32bitreg(SYS_STATUS_ID);
dwt_initialise(DWT_LOADUCODE);//初始化DW1000
+ status_reg = dwt_read32bitreg(SYS_STATUS_ID);
Spi_ChangePrescaler(SPIx_PRESCALER_FAST); //设置为快速模式
/* Configure DW1000. See NOTE 6 below. */
@@ -347,7 +349,7 @@
flag_rxon=1;
neartimout_timer=0;
get_newbase=0;
- timeout=ceil((float)nearbase_num*0.4)+3;
+ timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
//timeout=5;
mainbase_dist=100000;
mainbase_lost_count++;
@@ -365,6 +367,9 @@
dwt_forcetrxoff();
dwt_setdelayedtrxtime(final_tx_time);
result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
+ #ifdef DEBUG_INF
+ USART_putc(0x33);
+ #endif
break;
}
}
@@ -402,7 +407,7 @@
temp_sync_timer2=sync_timer;
memcpy(&temp_sync_timer1,&rx_buffer[ANCTIMEMS],2);
memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
- exsistbase_list[0]=KEEP_TIMES;
+
if(g_com_map[DEV_ROLE]!=0)
{
@@ -425,11 +430,16 @@
// tagslotpos=tagslotpos%(max_slotpos+1);
// tyncpoll_time=(tagslotpos-1)*slottime;
////////////////////////////
+ #ifdef DEBUG_INF
+ USART_putc(0x31);
+ #endif
rec_nearbasepos=0;
- 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;
+
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;
@@ -444,7 +454,32 @@
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
memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
-
+ if(temp_dist!=0x1ffff)
+ {
+ #ifndef USART_INTEGRATE_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);
+ }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
+
+ //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{
@@ -456,10 +491,14 @@
nearbaseid_list[rec_nearbasepos] = rec_nearbaseid;
memcpy(&tx_nearfinal_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
}
-
- exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
+ #ifdef DEBUG_INF
+ USART_putc(0x32);
+ #endif
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
@@ -473,14 +512,20 @@
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);
+ //UART_PushFrame(usart_send,21);
#endif
//dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
@@ -490,6 +535,9 @@
}
}
}else{
+ #ifdef DEBUG_INF
+ printf("response包失败：%x/n",status_reg);
+ #endif
dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
if(flag_rxon)
{dwt_rxenable(0);
@@ -583,6 +631,9 @@
memcpy(&usart_send[4+report_num*6],&checksum,2);
UART_PushFrame(usart_send,6+report_num*6);
#endif
+ #ifdef DEBUG_INF
+ printf("序号：%d,基站数量：%d/n",(frame_seq_nb-1)&0xff,nearbase_num);
+ #endif
// if(mainbase_lost_count>5)
// {
// //tag_state=DISCPOLL;
@@ -731,7 +782,7 @@
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
@@ -781,7 +832,9 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}
-u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor;
+extern uint16_t configremotetagID;
+extern u8 remotetag_paralen;
+u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,waittagconfig_reponse;
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
{
u8 motorstate;
@@ -799,7 +852,7 @@
if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1])
{
- motorstate =3;
+ motorstate =0;
}else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
{
motorstate =2;
@@ -820,20 +873,46 @@
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
- }
+ waittagconfig_reponse=0;
+ if(pwtag.remain_time>0)
+ {uint8_t i;
+ for(i=0;i<pwtag.groupnum;i++)
+ {
+ if(pwtag.groupid[i][0]<=tag_id_recv&&tag_id_recv<=pwtag.groupid[i][1])
+ {
+ remotesend_state=1;
+ tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
+ remotetag_paralen = 2+3;
+ remotetag_para[0] = 2;
+ remotetag_para[1] = 6;
+ remotetag_para[2] = 2;
+ memcpy(&remotetag_para[3],&pwtag.group_interval[i],2);
+ memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,remotetag_paralen);
+ dwt_writetxdata(22+remotetag_paralen, tx_nearresp_msg, 0);//写入发送数据
+ dwt_writetxfctrl(22+remotetag_paralen, 0);//设定发送长度
+ remotesend_state=0;
+ break;
+ }
+ }
+
+ }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(remotesend_state&&tag_id_recv==configremotetagID)
+// {
+// memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,remotetag_paralen);
+// dwt_writetxdata(22+remotetag_paralen, tx_nearresp_msg, 0);//写入发送数据
+// dwt_writetxfctrl(22+remotetag_paralen, 0);//设定发送长度
+// waittagconfig_reponse=1;
+// }else{
+
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];
+ 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))&&!g_start_sync_flag)///不断查询芯片状态直到接收成功或者出现错误
@@ -883,7 +962,7 @@
dis_after_filter=dist_cm;
hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET];
g_flag_Taggetdist[taglist_pos]=0;
- if(hex_dist>-1000&&hex_dist<100000)
+ if(hex_dist>-1000&&hex_dist<200000)
{
if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num[taglist_pos]>3)
{
@@ -894,7 +973,7 @@
#ifndef USART_INTEGRATE_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[9],&tagdist_list[taglist_pos],4);
@@ -908,14 +987,31 @@
memcpy(&usart_send_anc[6+6*anc_report_num],&tagdist_list[taglist_pos],4);
anc_report_num++;
#endif
+ #ifdef DEBUG_INF
+ printf("序号：%d\r\n",frame_seq_nb2);
+ #endif
}else{
// printf("%d",hex_dist);
misdist_num[taglist_pos]++;
}
}
+ if(rx_buffer[TAGCONFIGSUCCESS_INDEX]==1&&waittagconfig_reponse)
+ {
+ waittagconfig_reponse = 0;
+ remotesend_state = 0;
+ usart_send[2] = 7;//正常模式
+ usart_send[3] = 5;//数据段长度
+ memcpy(&usart_send[4],&tag_id_recv,2);
+ usart_send[6] = 1;//数据段长度
+ checksum = Checksum_u16(&usart_send[2],5);
+ memcpy(&usart_send[7],&checksum,2);
+ UART_PushFrame(usart_send,9);
+ }
}
}else{
- //printf("%x/n",status_reg);
+ #ifdef DEBUG_INF
+ printf("final包失败：%x/n",status_reg);
+ #endif
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}
@@ -951,7 +1047,7 @@
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);
switch(rx_buffer[MESSAGE_TYPE_IDX])
{
// case POLL:
@@ -1042,6 +1138,9 @@
break;
}
}else{
+ #ifdef DEBUG_INF
+ printf("poll包失败：%x/n",status_reg);
+ #endif
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}
--
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