From bdad051416564607f0b31df44732e3ea97b7174a Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期日, 25 八月 2019 17:56:12 +0800
Subject: [PATCH] 华星火车项目测试完成
---
源码/核心板/Src/application/dw_app.c | 131 +++++++++++++++++++++++--------------------
1 files changed, 69 insertions(+), 62 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 2a1e753..643eb8b 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"
@@ -69,9 +69,13 @@
#define TAG_ID_IDX 5
#define MESSAGE_TYPE_IDX 9
#define DIST_IDX 10
+//Poll
#define ANC_TYPE_IDX 14
#define BATTARY_IDX 15
#define BUTTON_IDX 16
+
+//respose
+#define TIMECORRE 14
#define POLL 0x01
#define RESPONSE 0x02
@@ -98,7 +102,7 @@
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 rx_poll_msg[] = {0x00, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x21, 0, 0};
-static uint8_t tx_resp_msg[16] = {0};
+static uint8_t tx_resp_msg[18] = {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. */
@@ -125,7 +129,7 @@
static double tof;
-uint32_t anchor_dist_last_frm[TAG_NUM_IN_SYS];
+uint32_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;
@@ -136,7 +140,7 @@
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[TOTAL_TAG_NUM];
+uint16_t g_Tagdist[TAG_NUM_IN_SYS];
uint8_t g_flag_Taggetdist[256];
/*------------------------------------ Functions ------------------------------------------*/
@@ -279,7 +283,7 @@
return sum;
}
-u16 tag_time_recv[TOTAL_TAG_NUM];
+u16 tag_time_recv[TAG_NUM_IN_SYS];
u8 usart_send[25];
u8 battary,button;
extern uint8_t g_pairstart;
@@ -293,6 +297,7 @@
u8 tag_succ_times=0;
u32 hex_dist;
u16 checksum;
+int8_t tag_delaytime;
void Tag_App(void)//发送模式(TAG标签)
{
uint32_t frame_len;
@@ -308,7 +313,7 @@
tx_poll_msg[BATTARY_IDX] = Get_Battary();
tx_poll_msg[BUTTON_IDX] = !READ_KEY0;
- for(i=0;i<REPOET_ANC_NUM;i++)
+ 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[ANC_TYPE_IDX] = i;
@@ -354,6 +359,15 @@
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
+ if(i==0)
+ {
+ tag_delaytime=rx_buffer[TIMECORRE];
+ if(tag_delaytime>g_com_map[COM_INTERVAL]/2)
+ {
+ tag_delaytime=tag_delaytime-g_com_map[COM_INTERVAL];
+ }
+ }
+
memcpy(&anchor_dist_last_frm[0], &rx_buffer[DIST_IDX], 4);
memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
/* Compute final message transmission time. See NOTE 9 below. */
@@ -375,25 +389,23 @@
result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
tag_succ_times++;
- #ifdef WORK_MODE_TAG
+
LED0_BLINK;
- #endif
- #ifdef HEX_OUTPUT
- usart_send[2] = frame_seq_nb++;
- //usart_send[6] = tag_id_recv;
- //usart_send[8] = g_com_map[DEV_ID];
- memcpy(&usart_send[3],&dev_id,4);
- memcpy(&usart_send[7],&rx_buffer[ANCHOR_ID_IDX],4);
- hex_dist = anchor_dist_last_frm[0];
- memcpy(&usart_send[11],&hex_dist,4);
- usart_send[15] = battary;
- usart_send[16] = button;
- checksum = Checksum_u16(&usart_send[2],19);
- memcpy(&usart_send[21],&checksum,2);
- UART_PushFrame(usart_send,23);
- #else
- printf("Anchor ID: %d, Tag ID: %d, Dist = %d cm\n", g_com_map[DEV_ID_L]|g_com_map[DEV_ID_L]<<8, tag_id_recv, (uint16_t)dist_cm);
- #endif
+
+
+ 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);
+ hex_dist = anchor_dist_last_frm[0];;
+ memcpy(&usart_send[9],&hex_dist,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);
+
/* 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
@@ -420,16 +432,15 @@
// deca_sleep(10);
}
// dwt_entersleep();
- if(tag_succ_times<REPOET_ANC_NUM_MIN)
+ if(tag_succ_times<g_com_map[MIN_REPORT_ANC_NUM])
{
- random_delay_tim =time32_incr&0x8f+7;
- deca_sleep(random_delay_tim);
+ //poll_timer +=time32_incr&0x7+3;
}
- //LED0_BLINK;
- RTC_SET_ALARM(1);
+
/* Execute a delay between ranging exchanges. */
}
+int8_t correction_time;
extern uint8_t g_start_send_flag;
void Anchor_App(void)
{
@@ -445,8 +456,7 @@
/* 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)//不断查询芯片状态直到接收成功或者出现错误
{
- UART_CheckReceive();
- UART_CheckSend();
+ IdleTask();
g_Resttimer=0;
};
@@ -478,6 +488,13 @@
if (rx_buffer[MESSAGE_TYPE_IDX] == POLL&&(anchor_type == rx_buffer[ANC_TYPE_IDX])) //判断是否是poll包数据
{
+ correction_time=tag_timer-(tag_id_recv%GROUP_TAG_NUM)*3;
+ if(correction_time == g_com_map[COM_INTERVAL])
+ correction_time = 0;
+ tx_resp_msg[TIMECORRE] = correction_time;
+// 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
@@ -490,7 +507,7 @@
dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间
/* Write and send the response message. See NOTE 9 below.*/
- if(tag_id_recv-TAG_ID_START<=TOTAL_TAG_NUM)
+ if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS)
memcpy(&tx_resp_msg[DIST_IDX], &anchor_dist_last_frm[tag_id_recv-TAG_ID_START], 4);
dwt_writetxdata(sizeof(tx_resp_msg), tx_resp_msg, 0);//写入发送数据
@@ -559,38 +576,28 @@
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-TAG_ID_START]=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;
- if(tag_id_recv-TAG_ID_START<=TOTAL_TAG_NUM)
- {
- g_flag_Taggetdist[tag_id_recv-TAG_ID_START]=0;
- anchor_dist_last_frm[tag_id_recv-TAG_ID_START] = dist_cm;
- }
- #ifdef HEX_OUTPUT
- usart_send[2] = frame_seq_nb++;
- //usart_send[6] = tag_id_recv;
- //usart_send[8] = g_com_map[DEV_ID];
- memcpy(&usart_send[3],&tag_id_recv,4);
- memcpy(&usart_send[7],&dev_id,4);
+ hex_dist = (int16_t)(dist_cm+g_com_map[DIST_OFFSET]);
+ if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS)
+ if(abs(hex_dist-his_dist[tag_id_recv-TAG_ID_START])<1000)
+ {
+ g_Tagdist[tag_id_recv-TAG_ID_START] = hex_dist;
+ anchor_dist_last_frm[tag_id_recv-TAG_ID_START] = hex_dist;
+ }
+ his_dist[tag_id_recv-TAG_ID_START]=hex_dist;
+
+ 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],&tag_id_recv,2);
+ memcpy(&usart_send[7],&dev_id,2);
hex_dist = dist_cm;
- memcpy(&usart_send[11],&hex_dist,4);
- usart_send[15] = battary;
- usart_send[16] = button;
- checksum = Checksum_u16(&usart_send[2],19);
- memcpy(&usart_send[21],&checksum,2);
- UART_PushFrame(usart_send,23);
- #else
- printf("Anchor ID: %d, Tag ID: %d, Dist = %d cm\n", g_com_map[DEV_ID_L]|g_com_map[DEV_ID_L]<<8, tag_id_recv, (uint16_t)dist_cm);
- #endif
+ memcpy(&usart_send[9],&hex_dist,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);
+
//dis_after_filter = LP_Frac_Update(p_Dis_Filter, dist_cm);
--
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