From b32ba27dec812f8233cfddde10f562d8c3366b26 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期三, 25 三月 2020 21:09:48 +0800
Subject: [PATCH] 修改部分bug，串口做输出接口。
---
源码/核心板/Src/application/dw_app.c | 169 +++++++++++++++++++++++++++++++++++++++++++-------------
1 files changed, 130 insertions(+), 39 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 cf56ef5..2647999 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"
@@ -193,6 +193,7 @@
u8 nearbase_num;
u16 nearbaseid_list[10],mainbase_id;
int32_t mainbase_dist,nearbase_distlist[10];
+uint8_t trygetnearmsg_times;
void Poll(void)
{
uint32_t frame_len;
@@ -269,6 +270,8 @@
{
memcpy(&minid, &rx_buffer[ANCHOR_ID_IDX], 4);
tag_state=GETNEARMSG;
+ trygetnearmsg_times=5;
+ mindist=temp_dist;
}
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
@@ -310,12 +313,46 @@
return i;
}
}
+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 NearPoll(void)
{
+ static u8 mainbase_lost_count=0,flag_finalsend;
+ uint32_t temp1,temp2,dw_systime;
uint32_t frame_len;
uint32_t final_tx_time;
u32 start_poll;
- u8 i,getsync_flag=0,recbase_num,timeout;
+ u8 i,getsync_flag=0,timeout;
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;
@@ -326,17 +363,35 @@
memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;
memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
- dwt_writetxdata(24, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
- dwt_writetxfctrl(24, 0);//设置超宽带发送数据长度
+ dwt_writetxdata(13+2*nearbase_num, tx_near_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_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
+ for(i=0;i<nearbase_num;i++)
+ nearbase_distlist[i]=0xffff;
+
+ flag_finalsend=0;
neartimout_timer=0;
recbase_num=0;
timeout=nearbase_num/4+2;
- while(neartimout_timer<timeout&&recbase_num<nearbase_num+1)
+ mainbase_dist=100000;
+ mainbase_lost_count++;
+ while(neartimout_timer<timeout)
{
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(flag_finalsend)
+ {
+ dw_systime=dwt_readsystimestamphi32();
+ if(dw_systime>temp1&&dw_systime<temp2)
+ {
+ flag_finalsend=0;
+ dwt_forcetrxoff();
+ dwt_setdelayedtrxtime(final_tx_time);
+ result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
+ break;
+ }
+ }
if(neartimout_timer>timeout)
break;
};
@@ -349,7 +404,7 @@
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
- dwt_setrxtimeout(DELAY_BETWEEN_TWO_FRAME_UUS+100);//设定接收超时时间，0位没有超时时间
+ 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
{ u16 rec_nearbaseid,rec_nearbasepos;
@@ -359,7 +414,7 @@
memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
if(rec_nearbaseid==mainbase_id)
{
- //时间同步
+ //////////////////////////////////时间同步
memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
@@ -376,9 +431,13 @@
tagslotpos=tagslotpos%(max_slotpos+1);
tyncpoll_time=(tagslotpos-1)*slottime;
////////////////////////////
+ mainbase_lost_count=0;
+ flag_finalsend=1;
memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);
- final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS+DELAY_BETWEEN_TWO_FRAME_UUS*nearbase_num) * UUS_TO_DWT_TIME)) >> 8;
- dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
+ 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;
+ temp1=final_tx_time-((350*UUS_TO_DWT_TIME)>>8);
+ temp2=final_tx_time+((100*UUS_TO_DWT_TIME)>>8);
+ // dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final包实际发送时间是计算时间加上发送天线delay
final_msg_set_ts(&tx_near_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据
final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX], resp_rx_ts);
@@ -386,19 +445,50 @@
tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
dwt_writetxdata(28+nearbase_num*4, tx_near_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
- result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
+ 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],&rec_nearbaseid,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);
+ //result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
}else{
rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4], resp_rx_ts);
memcpy(&nearbase_distlist[rec_nearbasepos],&rx_buffer[DIST_IDX],4);
dwt_writetxdata(28+nearbase_num*4, tx_near_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;
+ 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],&rec_nearbaseid,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);
+
+ //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
}
}
}
+ dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
}
- dwt_forcetrxoff();
+ if(mainbase_lost_count>5)
+ {
+ tag_state=DISCPOLL;
+ }
+ NearAncSelect();
// 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
// { };
@@ -406,28 +496,11 @@
// }
// else
// {
-// dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
// }
}
-void NearAncSelect(void)
-{
- int32_t nearbase_mindist=99999, nearbase_minpos;
- u8 i;
- for(i=0;i<nearbase_num;i++)
- {
- if(nearbase_mindist<nearbase_distlist[i])
- {
- nearbase_mindist=nearbase_distlist[i];
- nearbase_minpos=i;
- }
- }
- if(nearbase_mindist<mainbase_dist-THRESHOLD_CHANGE_MAINBASE_DIST)
- {
- mainbase_id=nearbaseid_list[nearbase_minpos];
- tag_state=GETNEARMSG;
- }
-}
+
void GetNearMsg(void)
{
u32 start_poll,frame_len;
@@ -466,6 +539,7 @@
}
}
}
+
void Tag_App(void)//发送模式(TAG标签)
{
//LED0_ON;
@@ -477,10 +551,18 @@
Poll();
break;
case GETNEARMSG:
- GetNearMsg();
+ // if(trygetnearmsg_times--!=0)
+ {GetNearMsg();
+ }
+// else{
+// tag_state=DISCPOLL;
+// }
+
break;
case NEARPOLL:
+ GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_SET);
NearPoll();
+ GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_RESET);
break;
}
}
@@ -588,14 +670,14 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}
-
+u8 misdist_num;
void Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
{
tmp_time=TIM3->CNT;
memcpy(&tx_near_msg[ANCTIMEMS],&sync_timer,2);
memcpy(&tx_near_msg[ANCTIMEUS],&tmp_time,2);
- memcpy(&tx_near_msg[TAGSLOTPOS],&taglist_pos,1);
-
+ memcpy(&tx_near_msg[TAGSLOTPOS],&taglist_pos,2);
+ memcpy(&tx_near_msg[TAG_ID_IDX],&tag_id_recv,2);
poll_rx_ts = get_rx_timestamp_u64();//获得Poll包接收时间T2
resp_tx_time = (poll_rx_ts + ((POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
@@ -605,8 +687,8 @@
memcpy(&tx_near_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
- dwt_writetxdata(17, tx_near_msg, 0);//写入发送数据
- dwt_writetxfctrl(17, 0);//设定发送长度
+ dwt_writetxdata(20, tx_near_msg, 0);//写入发送数据
+ dwt_writetxfctrl(20, 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];
@@ -614,8 +696,10 @@
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)))///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_sync_flag)///不断查询芯片状态直到接收成功或者出现错误
{ };
+ }else{
+ result++;
}
if (status_reg & SYS_STATUS_RXFCG)//接收成功
{
@@ -652,10 +736,12 @@
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];
- if(abs(hex_dist-his_dist[tag_id_recv-TAG_ID_START])<1000)
+ if(hex_dist>-1000&&hex_dist<100000)
{
- tagdist_list[taglist_pos] = hex_dist;
- }
+ if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num>3)
+ {
+ misdist_num=0;
+ tagdist_list[taglist_pos] = hex_dist;
his_dist[taglist_pos]=hex_dist;
usart_send[2] = 1;//正常模式
usart_send[3] = 17;//数据段长度
@@ -668,7 +754,11 @@
checksum = Checksum_u16(&usart_send[2],17);
memcpy(&usart_send[19],&checksum,2);
UART_PushFrame(usart_send,21);
+ }else{
+ misdist_num++;
+ }
}
+ }
}else{
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
@@ -677,6 +767,7 @@
{
u8 send_len,i;
u16 tempid;
+ 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
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
--
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