From ba39ac4c74b834cc69ac60a8117fc9aa0a3ff1d3 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期一, 10 六月 2019 20:19:20 +0800
Subject: [PATCH] 西安结束
---
源码/核心板/Src/application/dw_app.c | 140 ++++++++++++++++++++++++++++++++++++++--------
1 files changed, 116 insertions(+), 24 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 bdd2e5a..ddccda2 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"
@@ -30,7 +30,8 @@
#include "Usart.h"
#include "global_param.h"
#include "filters.h"
-
+#include <stdio.h>
+#include "beep.h"
/*------------------------------------ Marcos ------------------------------------------*/
@@ -74,6 +75,7 @@
#define TAG_ID_IDX 3
#define MESSAGE_TYPE_IDX 5
#define DIST_IDX 6
+#define ANC_TYPE_IDX 7
#define POLL 0x01
#define RESPONSE 0x02
@@ -82,7 +84,7 @@
/*------------------------------------ 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. */
@@ -138,6 +140,8 @@
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];
+uint8_t g_flag_Taggetdist[256];
/*------------------------------------ Functions ------------------------------------------*/
@@ -219,7 +223,23 @@
*ts += ts_field[i] << (i * 8);
}
}
-
+void TagDistClear(void)
+{
+ static uint16_t clear_judge_cnt;
+ uint16_t i;
+ 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++)
+ {
+ g_flag_Taggetdist[i]++;
+ if(g_flag_Taggetdist[i]>=2)
+ {
+ g_Tagdist[i]=0xffff;
+ }
+ }
+ }
+}
void Dw1000_Init(void)
{
/* Reset and initialise DW1000.
@@ -245,6 +265,7 @@
}
void Dw1000_App_Init(void)
{
+//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;
@@ -258,31 +279,48 @@
dwt_configuresleep(0x940, 0x7);
dwt_entersleep();
}
-
+uint16_t g_Resttimer;
+uint8_t result;
+u8 tag_succ_times=0;
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;
+ g_Resttimer=0;
+ UART_CheckReceive();
GPIO_ResetBits(SPIx_GPIO, SPIx_CS);
- delay_us(2000);
+ delay_us(2500);
GPIO_SetBits(SPIx_GPIO, SPIx_CS);
-
+ tag_succ_times = 0;
+ for(i=0;i<REPOET_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;
/* 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();
+
+ };
/* 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
{
@@ -298,7 +336,7 @@
/* 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[MESSAGE_TYPE_IDX] == RESPONSE&&rx_buffer[TAG_ID_IDX]==g_com_map[DEV_ID]) //判断接收到的数据是否是response数据
{
/* Retrieve poll transmission and response reception timestamp. */
poll_tx_ts = get_tx_timestamp_u64(); //获得POLL发送时间T1
@@ -322,17 +360,20 @@
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
- dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
+ result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
+
+ tag_succ_times++;
/* Poll DW1000 until TX frame sent event set. See NOTE 8 below. */
- while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成
+ 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
{ };
-
+ }
/* 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++;
+ frame_seq_nb++;
random_delay_tim = 0;
}
else
@@ -346,12 +387,33 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
random_delay_tim = DFT_RAND_DLY_TIM_MS;
}
+// deca_sleep(10);
+}
+ if(tag_succ_times!=REPOET_ANC_NUM)
+ {
+ random_delay_tim =g_com_map[DEV_ID]*13+7;
+ }else{
+ random_delay_tim=0;
+ }
LED0_BLINK;
+ deca_sleep(random_delay_tim);
+ RTC_SET_ALARM(1);
/* Execute a delay between ranging exchanges. */
dwt_entersleep();
-
+}
+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[TOTAL_TAG_NUM];
+u8 usart_send[16];
+extern uint8_t g_pairstart;
void Anchor_App(void)
{
uint32_t frame_len;
@@ -368,10 +430,11 @@
{
UART_CheckReceive();
UART_CheckSend();
+ g_Resttimer=0;
};
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
@@ -388,9 +451,13 @@
//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;
-
+ if(tag_recv_timer>tag_time_recv[tag_id_recv])
+ { 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) //判断是否是poll包数据
+ if (rx_buffer[MESSAGE_TYPE_IDX] == POLL&&tag_id_recv!= g_com_map[PAIR_ID]&&(tag_recv_interval>g_com_map[COM_INTERVAL]/2)&&(g_com_map[DEV_ID]%REPOET_ANC_NUM == rx_buffer[ANC_TYPE_IDX])) //判断是否是poll包数据
{
/* Retrieve poll reception timestamp. */
poll_rx_ts = get_rx_timestamp_u64();//获得Poll包接收时间T2
@@ -408,13 +475,15 @@
tx_resp_msg[ALL_MSG_SN_IDX] = frame_seq_nb;
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
- dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，等待接收
+ result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，等待接收
/* We assume that the transmission is achieved correctly, now poll for reception of expected "final" 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
+ 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++;
@@ -438,7 +507,8 @@
uint32_t poll_rx_ts_32, resp_tx_ts_32, final_rx_ts_32;
double Ra, Rb, Da, Db;
int64_t tof_dtu;
-
+ u32 hex_dist;
+ u16 checksum;
/* 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
@@ -469,12 +539,34 @@
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_pairstart=0;
+// g_com_map[PAIR_ID]=tag_id_recv;
+// save_com_map_to_flash();
+// BEEP2_ON;
+// delay_ms(1000);
+// printf("Pair Finish PairID: %d. \r\n",g_com_map[PAIR_ID]);
+// }
+ tag_time_recv[tag_id_recv] = tag_recv_timer;
+ g_flag_Taggetdist[tag_id_recv]=0;
+ #ifdef HEX_OUTPUT
+ usart_send[2] = frame_seq_nb;
+ usart_send[6] = tag_id_recv;
+ usart_send[8] = g_com_map[DEV_ID];
+ hex_dist = dist_cm;
+ memcpy(&usart_send[10],&hex_dist,4);
+ checksum = Checksum_u16(&usart_send[2],12);
+ memcpy(&usart_send[14],&checksum,2);
+ UART_PushFrame(usart_send,16);
+ #else
+ printf("Anchor ID: %d, Tag ID: %d, Dist = %d cm\n", g_com_map[DEV_ID], tag_id_recv, (uint16_t)dis_after_filter);
+ #endif
//dis_after_filter = LP_Frac_Update(p_Dis_Filter, dist_cm);
}
- }
- else
- {
+ }else{
/* Clear RX error events in the DW1000 status register. */
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
--
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