From af4710835316cb2fd8dd70db7867e23147206f31 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期四, 17 二月 2022 09:33:48 +0800
Subject: [PATCH] 增加跳跃时间
---
源码/核心板/Src/application/dw_app.c | 391 +++++++++++++++++++++++++++++++++++++++++++++++++++++--
1 files changed, 377 insertions(+), 14 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 28fa6e4..03c53c7 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"
@@ -15,6 +15,7 @@
*/
#include <string.h>
+#include <math.h>
#include "dw_app.h"
#include "deca_device_api.h"
#include "deca_regs.h"
@@ -29,6 +30,8 @@
#include "beep.h"
#include "modbus.h"
//#define DEBUG_OUTPUT
+#define TDFILTER
+#define CONSTANT_FILTER
/*------------------------------------ Marcos ------------------------------------------*/
/* Inter-ranging delay period, in milliseconds. */
#define RNG_DELAY_MS 100
@@ -48,7 +51,7 @@
* frame length of approximately 2.66 ms with above configuration. */
#define RESP_RX_TO_FINAL_TX_DLY_UUS 400
/* Receive response timeout. See NOTE 5 below. */
-#define RESP_RX_TIMEOUT_UUS 600
+#define RESP_RX_TIMEOUT_UUS 9600
#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. */
@@ -81,35 +84,42 @@
#define ANCTIMEMS 14
#define ANCTIMEUS 16
#define ANCSEND_INTERVAL 18
+#define SIGNALPOWER 20
+//DATA POLL
+#define CURENTPACKNUM_IDX 7
+#define TOTALPACKNUM_IDX 8
+#define DATA_IDX 10
+
#define POLL 0x01
#define RESPONSE 0x02
#define FINAL 0x03
#define SYNC 0x04
-
+#define DATA_POLL 0x21
+#define DATA_RESPONSE 0x22
/*------------------------------------ Variables ------------------------------------------*/
/* Default communication configuration. We use here EVK1000's default mode (mode 3). */
static dwt_config_t config = {
- 3, /* Channel number. */
+ 2, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
- DWT_PLEN_64, /* Preamble length. */
+ 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. */
- (65 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
+ (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_t tx_poll_msg[20] = {0};
-static uint8_t tx_sync_msg[14] = {0};
+static uint8_t tx_sync_msg[140] = {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_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 tx_resp_msg[23] = {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. */
@@ -120,7 +130,7 @@
/* 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
+#define RX_BUF_LEN 224
static uint8_t rx_buffer[RX_BUF_LEN];
/* Time-stamps of frames transmission/reception, expressed in device time units.
@@ -287,6 +297,7 @@
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_sync_msg[TAG_ID_IDX], &dev_id, 4);
memcpy(&tx_resp_msg[ANCSEND_INTERVAL], &g_com_map[COM_INTERVAL], 2);
}
@@ -320,6 +331,53 @@
dwt_writetxfctrl(sizeof(tx_sync_msg), 0);//设置超宽带发送数据长度
dwt_starttx(DWT_START_TX_IMMEDIATE);
}
+ 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;
+ }
+#define CONSTANT_LEN 50
+extern u16 dist_threshold;
+int32_t ConstantFilter(int32_t currentdist,u8 channel)
+ {
+ static int32_t cs_lastdist[10],cs_lastvalid[10];
+ static u8 cfstart_flag[10] = {1};
+ static u8 constant_count[10] = {100};
+ if(cfstart_flag[channel])
+ {
+ cfstart_flag[channel] = 0;
+ cs_lastdist[channel] = currentdist;
+ }
+ if( abs(currentdist - cs_lastdist[channel])<100)
+ {
+ if(constant_count[channel]<CONSTANT_LEN)
+ constant_count[channel]++;
+ }else{
+ constant_count[channel] = 0;
+ }
+ if(constant_count[channel] == CONSTANT_LEN)
+ {
+ cs_lastvalid[channel] = currentdist;
+ }
+ cs_lastdist[channel] = currentdist;
+ return cs_lastvalid[channel];
+ }
+
uint16_t g_Resttimer;
uint8_t result;
u8 tag_succ_times=0;
@@ -327,14 +385,15 @@
u16 checksum;
int8_t tag_delaytime;
extern uint16_t sync_timer;
-u16 tmp_time;
+u16 tmp_time;
+u32 start_poll;
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_t frame_len;
uint32_t final_tx_time;
- u32 start_poll;
+
u8 i,getsync_flag=0;
u8 bat_percent;
//LED0_ON;
@@ -414,6 +473,7 @@
TIM3->CNT=tmp_time;
}
memcpy(&hex_dist2, &rx_buffer[DIST_IDX], 4);
+ rec_firstpath_power = rx_buffer[SIGNALPOWER];
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])
@@ -468,6 +528,7 @@
memcpy(&usart_send[9],&hex_dist2,4);
usart_send[13] = bat_percent;
usart_send[14] = button;
+ usart_send[15] = rec_firstpath_power;
checksum = Checksum_u16(&usart_send[2],17);
memcpy(&usart_send[19],&checksum,2);
UART_PushFrame(usart_send,21);
@@ -513,12 +574,13 @@
/* 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)
{
@@ -585,7 +647,8 @@
/* Write and send the response message. See NOTE 9 below.*/
if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS)
memcpy(&tx_resp_msg[DIST_IDX], &g_Tagdist[tag_id_recv], 4);
-
+ tx_resp_msg[SIGNALPOWER] = firstpath_power;
+
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
result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，等待接收
@@ -655,7 +718,8 @@
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
-
+ dwt_readdiagnostics(&d1);
+ LOS(&d1);
/*--------------------------以下为非测距逻辑------------------------*/
#ifdef DEBUG_OUTPUT
printf("收到FINAL包，标签ID: %d .\r\n",tag_id_recv);
@@ -678,9 +742,15 @@
#else
filter_dist=hex_dist/10;
#endif
+
+ #ifdef CONSTANT_FILTER
+ filter_dist = ConstantFilter(filter_dist,tag_id_recv-TAG_ID_START);
+ #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])
@@ -694,6 +764,7 @@
memcpy(&usart_send[9],&anchor_dist_last_frm[tag_id_recv-TAG_ID_START],4);
usart_send[13] = battary;
usart_send[14] = button;
+ usart_send[15] = firstpath_power;
checksum = Checksum_u16(&usart_send[2],17);
memcpy(&usart_send[19],&checksum,2);
UART_PushFrame(usart_send,21);
@@ -737,4 +808,296 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}
+u8 frame_len,jumptime;
+u8 rec_gpsdata[1000];
+extern u8 RTCMdata[2000];
+u16 recgpsdata_i,recdata_len;
+void UWBSendOnePackData(u8* data_addr,u8 len)
+{
+ delay_ms(jumptime);
+ g_Resttimer = 0;
+ LED0_BLINK;
+ g_start_sync_flag=1;
+ 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);
+ tx_sync_msg[MESSAGE_TYPE_IDX]=DATA_POLL;
+ memcpy(&tx_sync_msg[DATA_IDX],data_addr,len);
+ dwt_writetxdata(len+14, tx_sync_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+ dwt_writetxfctrl(len+14, 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;
+ recgpsdata_i = 0;
+ while(time32_incr - start_poll<100)
+ {
+ 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(status_reg==0xffffffff)
+ {
+ NVIC_SystemReset();
+ }
+ if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
+ {
+ /* Clear good RX frame event and TX frame sent in the DW1000 status register. */
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚寄存器标志位
+
+ /* A frame has been received, read it into the local buffer. */
+ 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_rxenable(0);
+ /* 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. */
+
+ if (rx_buffer[MESSAGE_TYPE_IDX] == DATA_RESPONSE ) //判断接收到的数据是否是response数据
+ {
+ recdata_len = frame_len-14;
+ memcpy(&rec_gpsdata[recgpsdata_i],&rx_buffer[DATA_IDX],recdata_len);
+ recgpsdata_i+=recdata_len;
+ if(rx_buffer[CURENTPACKNUM_IDX]==1)
+ {
+ USART_puts(rec_gpsdata,recgpsdata_i);
+ break;
+ }
+ }else{
+ jumptime=time32_incr%20;
+ }
+ }else{
+ jumptime=time32_incr%20;
+ }
+}
+}
+
+char *HIDO_UtilStrnchr(const char *_pcStr, char _cChr, HIDO_UINT32 u32N)
+{
+ int32_t i = 0;
+ for (i = 0; i < u32N; i++)
+ {
+ if (_pcStr[i] == _cChr)
+ {
+ return (char *) (_pcStr + i);
+ }
+ }
+
+ return NULL;
+}
+
+HIDO_UINT8 HIDO_UtilCharToHex(HIDO_CHAR _cCh)
+{
+ return (_cCh >= '0' && _cCh <= '9') ?
+ (_cCh - '0') :
+ (_cCh >= 'A' && _cCh <= 'F' ?
+ (_cCh - 'A' + 0x0A) :
+ (_cCh >= 'a' && _cCh <= 'f' ? _cCh - 'a' + 0x0A : 0));
+}
+
+HIDO_UINT32 HIDO_UtilStrBufToInt(HIDO_CHAR *_pcStringBuf, HIDO_UINT32 _u32BufLen)
+ {
+ HIDO_UINT32 u32Temp = 0;
+
+ while (_u32BufLen != 0)
+ {
+ u32Temp = u32Temp * 10 + HIDO_UtilCharToHex(*_pcStringBuf);
+ _pcStringBuf++;
+ _u32BufLen--;
+ }
+
+ return u32Temp;
+}
+
+/******************************************************************************
+ Description : Get gps latitude from gps data
+ parameter : data: gps data pointer, len: gps data length, gps: ST_GPS pointer
+ Return : TRUE on success, FALSE on fail
+ author : DuJian
+ history : 2012-7-27 new
+ ******************************************************************************/
+static int32_t GPS_ParseLat(HIDO_DataStruct *_pstLatData, double *lat)
+{
+ uint32_t u32Len = _pstLatData->m_u32Len;
+ char *pcStart = (char *) _pstLatData->m_pData;
+ char *pcDot = NULL;
+ uint32_t u32TempLen = 0;
+ double dd;
+ double mmmm;
+ double mm;
+
+ if (u32Len < 9)
+ {
+ return HIDO_ERR;
+ }
+
+ pcDot = HIDO_UtilStrnchr(pcStart, '.', u32Len);
+ if (NULL == pcDot || (pcDot - pcStart) != 4)
+ {
+ return HIDO_ERR;
+ }
+
+ dd = HIDO_UtilStrBufToInt(pcStart, 2);
+ mm = HIDO_UtilStrBufToInt(pcStart + 2, 2);
+ u32TempLen = u32Len - (pcDot + 1 - pcStart);
+ mmmm = HIDO_UtilStrBufToInt(pcDot + 1, u32TempLen);
+ while(u32TempLen != 0)
+ {
+ mmmm /= 10.0;
+ u32TempLen--;
+ }
+
+ mm = mm + mmmm;
+ *lat = dd + (mm / 60.0);
+
+ return HIDO_OK;
+}
+static int32_t GPS_ParseHeight(HIDO_DataStruct *_pstLatData, double *height)
+{
+ uint32_t u32Len = _pstLatData->m_u32Len;
+ char *pcStart = (char *) _pstLatData->m_pData;
+ char *pcDot = NULL;
+ uint32_t u32TempLen = 0;
+ double dd;
+ double mmmm;
+ double mm;
+
+ pcDot = HIDO_UtilStrnchr(pcStart, '.', u32Len);
+ u32TempLen = pcDot - pcStart;
+ mm = HIDO_UtilStrBufToInt(pcStart, u32TempLen);
+ u32TempLen = u32Len - (pcDot + 1 - pcStart);
+ mmmm = HIDO_UtilStrBufToInt(pcDot + 1, u32TempLen);
+ while(u32TempLen != 0)
+ {
+ mmmm /= 10.0;
+ u32TempLen--;
+ }
+ *height = mm + mmmm;
+ return HIDO_OK;
+}
+/******************************************************************************
+ Description : Get gps longitude from gps data
+ parameter : data: gps data pointer, len: gps data length, gps: ST_GPS pointer
+ Return : TRUE on success, FALSE on fail
+ author : DuJian
+ history : 2012-7-27 new
+ ******************************************************************************/
+static int32_t GPS_ParseLon(HIDO_DataStruct *_pstLonData, double *lon)
+{
+ uint32_t u32Len = _pstLonData->m_u32Len;
+ char *pcStart = (char *) _pstLonData->m_pData;
+ char *pcDot = NULL;
+ uint32_t u32TempLen = 0;
+ double ddd;
+ double mmmm;
+ double mm;
+
+ if (u32Len < 10)
+ {
+ return HIDO_ERR;
+ }
+
+ pcDot = HIDO_UtilStrnchr(pcStart, '.', u32Len);
+ if (NULL == pcDot || (pcDot - pcStart) != 5)
+ {
+ return HIDO_ERR;
+ }
+
+ ddd = HIDO_UtilStrBufToInt(pcStart, 3);
+ mm = HIDO_UtilStrBufToInt(pcStart + 3, 2);
+ u32TempLen = u32Len - (pcDot + 1 - pcStart);
+ mmmm = HIDO_UtilStrBufToInt(pcDot + 1, u32TempLen);
+ while(u32TempLen != 0)
+ {
+ mmmm /= 10.0;
+ u32TempLen--;
+ }
+
+ mm = mm + mmmm;
+ *lon = ddd + (mm / 60.0);
+
+ return HIDO_OK;
+}
+
+extern u8 gpsdataready_flag;
+extern u16 gps_packlen;
+u8 totalpack_num,currentpack_num;
+void RecOnePackData(void)
+{
+ dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
+
+ /* Activate reception immediately. */
+ 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))&&!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,send_i=0,remain_i=0;
+ /* Clear good RX frame event in the DW1000 status register. */
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);//清除标志位
+
+ /* A frame has been received, read it into the local buffer. */
+ frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//获得接收数据长度
+ g_Resttimer = 0;
+ dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
+ if (rx_buffer[MESSAGE_TYPE_IDX] == DATA_POLL ) //判断接收到的数据是否是response数据
+ {
+ recdata_len = frame_len-14;
+ memcpy(rec_gpsdata,&rx_buffer[DATA_IDX],recdata_len);
+ if(gpsdataready_flag)
+ {
+ gpsdataready_flag = 0;
+ tx_sync_msg[MESSAGE_TYPE_IDX]=DATA_RESPONSE;
+ remain_i = gps_packlen;
+ currentpack_num = 0;
+ totalpack_num = gps_packlen/110;
+ while(remain_i>0)
+ {
+ if(remain_i>=110)
+ {
+ tx_sync_msg[CURENTPACKNUM_IDX] = 0;
+ memcpy(&tx_sync_msg[DATA_IDX],&RTCMdata[send_i],110);
+ send_i+=110;
+ remain_i-=110;
+ dwt_writetxdata(110+14, tx_sync_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+ dwt_writetxfctrl(110+14, 0);//设置超宽带发送数据长度
+ dwt_starttx(DWT_START_TX_IMMEDIATE);
+ }else{
+ tx_sync_msg[CURENTPACKNUM_IDX] = 1;
+ memcpy(&tx_sync_msg[DATA_IDX],&RTCMdata[send_i],remain_i);
+ dwt_writetxdata(remain_i+14, tx_sync_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+ dwt_writetxfctrl(remain_i+14, 0);//设置超宽带发送数据长度
+ dwt_starttx(DWT_START_TX_IMMEDIATE);
+ remain_i = 0;
+ }
+ delay_us(1000);
+ }
+ }
+ LED0_BLINK;
+
+ extern HIDO_DataStruct stPosState[4];
+
+ GPS_ParseGGA(rec_gpsdata,recdata_len);
+
+ const char *fmt = "{\"battery\":4.2,\"dev_type\":\"11\",\"device_sn\":\"15625394\",\"gps_type\":%d,\"high\":%.8lf,\"lat\":%.8lf,\"lng\":%.8lf}";
+
+ double lat = 0;
+ double lon = 0;
+ double high = 0;
+ uint8_t gps_type;
+ gps_type = HIDO_UtilStrBufToInt(stPosState[2].m_pData,1);
+ GPS_ParseLon(&stPosState[1], &lon);
+ GPS_ParseLat(&stPosState[0], &lat);
+ GPS_ParseHeight(&stPosState[3], &high);
+ printf(fmt,gps_type, high, lat, lon);
+ //USART_puts(rec_gpsdata,recdata_len);
+ }
+ }else{
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
+ }
+
+}
\ No newline at end of file
--
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