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 | 816 +++++++++++++++++++++++++++++++++++++++++++++++----------
1 files changed, 665 insertions(+), 151 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 b28421b..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"
@@ -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
*
@@ -20,6 +15,7 @@
*/
#include <string.h>
+#include <math.h>
#include "dw_app.h"
#include "deca_device_api.h"
#include "deca_regs.h"
@@ -31,9 +27,11 @@
#include "global_param.h"
#include "filters.h"
#include <stdio.h>
-
-
-
+#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
@@ -51,9 +49,9 @@
#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 1500
+#define RESP_RX_TO_FINAL_TX_DLY_UUS 400
/* Receive response timeout. See NOTE 5 below. */
-#define RESP_RX_TIMEOUT_UUS 2700
+#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. */
@@ -64,55 +62,75 @@
#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 ANCHOR_ID_IDX 1
-#define TAG_ID_IDX 3
-#define MESSAGE_TYPE_IDX 5
-#define DIST_IDX 6
+#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 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 = {
- 5, /* Channel number. */
+ 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. */
- 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. */
};
/* Frames used in the ranging process. See NOTE 2 below. */
-static uint8_t tx_poll_msg[] = {0x00, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x21, 0, 0};
+static uint8_t tx_poll_msg[20] = {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[] = {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_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[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'V', 'E', 'W', 'A', 0x10, 0x02, 0, 0, 0, 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. */
-static uint32_t 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_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
+#define RX_BUF_LEN 224
static uint8_t rx_buffer[RX_BUF_LEN];
/* Time-stamps of frames transmission/reception, expressed in device time units.
@@ -128,9 +146,9 @@
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;
@@ -139,7 +157,7 @@
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[256];
+int32_t g_Tagdist[TAG_NUM_IN_SYS];
uint8_t g_flag_Taggetdist[256];
/*------------------------------------ Functions ------------------------------------------*/
@@ -229,12 +247,14 @@
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<255;i++)
+ for(i=0;i<100;i++)
{
g_flag_Taggetdist[i]++;
if(g_flag_Taggetdist[i]>=2)
{
g_Tagdist[i]=0xffff;
+ Modbus_HoldReg[i*2]=1;
+ Modbus_HoldReg[i*2+1]=0xffff;
}
}
}
@@ -259,53 +279,163 @@
/* 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] = 0x02;
+//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;
- memcpy(&tx_poll_msg[TAG_ID_IDX], &g_com_map[DEV_ID], 2);
- memcpy(&tx_final_msg[TAG_ID_IDX], &g_com_map[DEV_ID], 2);
- memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &g_com_map[DEV_ID], 2);
+ 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_sync_msg[TAG_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);
+}
+ 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;
+int32_t hex_dist,hex_dist2;
+u16 checksum;
+int8_t tag_delaytime;
+extern uint16_t sync_timer;
+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;
-
- g_Resttimer=0;
- UART_CheckReceive();
- GPIO_ResetBits(SPIx_GPIO, SPIx_CS);
- delay_us(2500);
- GPIO_SetBits(SPIx_GPIO, SPIx_CS);
-
+
+ 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;
+ #ifdef DEBUG_OUTPUT
+ printf("P包发送,基站ID: %d .\r\n",i);
+ #endif
/* 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
{
@@ -320,15 +450,40 @@
/* 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[MESSAGE_TYPE_IDX] == RESPONSE) //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[DIST_IDX], 2);
- memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 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);
+ 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])
+ {
+ 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
@@ -342,22 +497,56 @@
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
result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
+ #ifdef DEBUG_OUTPUT
+ printf("F包发送,基站ID: %d .\r\n",i);
+ #endif
+
+ 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;
+ usart_send[15] = rec_firstpath_power;
+ 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
+ {
+
+ 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
@@ -367,21 +556,36 @@
}
else
{
+ #ifdef DEBUG_OUTPUT
+ printf("R包失败错误信息: %x .\r\n",status_reg);
+ #endif
/* Clear RX error events in the DW1000 status register. */
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
random_delay_tim = DFT_RAND_DLY_TIM_MS;
}
- LED0_BLINK;
+// deca_sleep(10);
+}
+// dwt_entersleep();
+ if(tag_succ_times<1)
+ {
+ tyncpoll_time=(current_slotpos--%max_slotnum)*slottime;
+ }
+
/* Execute a delay between ranging exchanges. */
- dwt_entersleep();
}
-extern uint8_t g_pairstart;
+
+int8_t correction_time;
+extern uint8_t sync_seq;
+
+//#define CHECK_UID
+extern uint8_t UID_ERROR;
+
+u8 misdist_num[TAG_NUM_IN_SYS];
void Anchor_App(void)
{
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
@@ -389,14 +593,13 @@
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
{
- UART_CheckReceive();
- g_Resttimer=0;
+ 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
@@ -408,15 +611,28 @@
/* 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[TAG_ID_IDX];
- tx_resp_msg[TAG_ID_IDX] = 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[MESSAGE_TYPE_IDX] == POLL&&tag_id_recv!= g_com_map[PAIR_ID]) //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
@@ -429,21 +645,28 @@
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[DIST_IDX], &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);
+ 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
+ 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. */
+ #ifdef DEBUG_OUTPUT
+ printf("收到POLL包，标签ID: %d .\r\n",tag_id_recv);
+ #endif
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
{
@@ -458,14 +681,14 @@
/* 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[MESSAGE_TYPE_IDX] == FINAL&&rx_buffer[TAG_ID_IDX]==tag_id_recv&&rx_buffer[ANCHOR_ID_IDX]==g_com_map[DEV_ID]) //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_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
@@ -475,6 +698,10 @@
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_t)poll_rx_ts;//使用32位数据计算
resp_tx_ts_32 = (uint32_t)resp_tx_ts;
@@ -489,101 +716,388 @@
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
-
+ 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);
+ #endif
LED0_BLINK; //每成功一次通讯则闪烁一次
g_UWB_com_interval = 0;
- dis_after_filter=dist_cm;
- g_Tagdist[tag_id_recv]=dist_cm;
- if(g_pairstart==1&&dist_cm<20)
+ 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)
{
- g_pairstart=0;
- g_com_map[PAIR_ID]=tag_id_recv;
- save_com_map_to_flash();
- printf("Pair Finish PairID: %d. \r\n",g_com_map[PAIR_ID]);
- }
- g_flag_Taggetdist[tag_id_recv]=0;
- printf("Anchor ID: %d, Tag ID: %d, Dist = %d cm\n", g_com_map[DEV_ID], tag_id_recv, (uint16_t)dis_after_filter);
- //dis_after_filter = LP_Frac_Update(p_Dis_Filter, dist_cm);
+ 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
+
+ #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])
+ {
+ 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;
+ usart_send[15] = firstpath_power;
+ 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. */
+ #ifdef DEBUG_OUTPUT
+ printf("F包失败错误信息: %x .\r\n",status_reg);
+ #endif
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);
}
}
}
else
{
+ #ifdef DEBUG_OUTPUT
+ printf("P包失败错误信息: %x .\r\n",status_reg);
+ #endif
/* Clear RX error events in the DW1000 status register. */
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();
+ }
-/*****************************************************************************************************************************************************
- * 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.
- ****************************************************************************************************************************************************/
+ 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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