From c20b80fe9dfe72220649bf1d85550e9f3ebc9549 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期日, 05 九月 2021 20:27:46 +0800
Subject: [PATCH] 增加中断接收模式，未测试。
---
源码/核心板/Src/application/dw_app.c | 158 ++++++++++++++++++++++++++++++++++++++++++++--------
1 files changed, 132 insertions(+), 26 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 c9eaf86..6a49fef 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"
@@ -47,7 +47,7 @@
uint32_t g_UWB_com_interval = 0;
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[TAG_NUM_IN_SYS];
+int32_t g_Tagdist[TAG_NUM_IN_SYS];
uint8_t g_flag_Taggetdist[256];
static uint64_t get_tx_timestamp_u64(void)
@@ -97,6 +97,7 @@
*ts += ts_field[i] << (i * 8);
}
}
+extern int32_t tagdist_list[TAG_NUM_IN_SYS];
void TagDistClear(void)
{
static uint16_t clear_judge_cnt;
@@ -109,7 +110,7 @@
g_flag_Taggetdist[i]++;
if(g_flag_Taggetdist[i]>=2)
{
- g_Tagdist[i]=0xffff;
+ tagdist_list[i]=0x1ffff;
}
}
}
@@ -129,7 +130,7 @@
dwt_configure(&config);//配置DW1000
-
+ dwt_setinterrupt(DWT_INT_TFRS | DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);
/* Apply default antenna delay value. See NOTE 1 below. */
dwt_setrxantennadelay(RX_ANT_DLY); //设置接收天线延迟
dwt_settxantennadelay(TX_ANT_DLY); //设置发射天线延迟
@@ -839,6 +840,7 @@
}
return i;
}
+u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,waittagconfig_reponse,motorstate=0;
uint32_t frame_len;
uint32_t resp_tx_time;
uint8_t rec_nearbase_num,anc_report_num;
@@ -904,11 +906,44 @@
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[taglist_pos])<1000)
- {
- tagdist_list[taglist_pos] = hex_dist;
- }
- his_dist[taglist_pos]=hex_dist;
+if(hex_dist>-1000&&hex_dist<200000)
+ {
+ g_flag_Taggetdist[taglist_pos]=0;
+ if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num[taglist_pos]>3)
+ {
+ misdist_num[taglist_pos]=0;
+ tagdist_list[taglist_pos] = hex_dist;
+ his_dist[taglist_pos]=hex_dist;
+ g_Tagdist[taglist_pos]=hex_dist;
+ #ifndef USART_INTEGRATE_OUTPUT
+ 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],&tagdist_list[taglist_pos],4);
+ usart_send[13] = battary;
+ usart_send[14] = button;
+ usart_send[15] = firstpath_power;
+ usart_send[16] = (rx_power-firstpath_power)*10;
+ usart_send[17] = tag_frequency;
+ usart_send[18] = tag_slotpos;
+ checksum = Checksum_u16(&usart_send[2],17);
+ memcpy(&usart_send[19],&checksum,2);
+ // UART_PushFrame(usart_send,21);
+ #else
+ memcpy(&usart_send_anc[4+6*anc_report_num],&tag_id_recv,2);
+ memcpy(&usart_send_anc[6+6*anc_report_num],&tagdist_list[taglist_pos],4);
+ anc_report_num++;
+ #endif
+ #ifdef DEBUG_INF
+ printf("序号：%d\r\n",frame_seq_nb2);
+ #endif
+ }else{
+ // printf("%d",hex_dist);
+ misdist_num[taglist_pos]++;
+ }
+ }
}
}else{
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
@@ -918,7 +953,7 @@
extern uint16_t configremotetagID;
extern u8 remotetag_paralen;
u8 finalsend=0;
-u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,waittagconfig_reponse,motorstate=0;
+
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
{
@@ -934,7 +969,7 @@
dwt_setdelayedtrxtime(resp_tx_time);//设置Response发送时间T3
dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//设置发送完成后开启接收延迟时间
dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间
- dwt_readdiagnostics(&d1);
+ //dwt_readdiagnostics(&d1);
if(new_tagid)
{
@@ -1024,7 +1059,7 @@
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;
final_rx_ts_32 = (uint32_t)final_rx_ts;
- time_monitor[1] = sync_timer*1000+TIM3->CNT;
+// time_monitor[1] = sync_timer*1000+TIM3->CNT;
Ra = (double)(resp_rx_ts - poll_tx_ts);//Tround1 = T4 - T1
Rb = (double)(final_rx_ts_32 - resp_tx_ts_32);//Tround2 = T6 - T3
Da = (double)(final_tx_ts - resp_rx_ts);//Treply2 = T5 - T4
@@ -1037,16 +1072,17 @@
dwt_readdiagnostics(&d1);
// time_monitor[2] = sync_timer*1000+TIM3->CNT;
LOS(&d1);
- time_monitor[3] = sync_timer*1000+TIM3->CNT;
+// time_monitor[3] = sync_timer*1000+TIM3->CNT;
/*--------------------------以下为非测距逻辑------------------------*/
//dist_cm=33000;
GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_RESET);
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];
- g_flag_Taggetdist[taglist_pos]=0;
+
if(hex_dist>-1000&&hex_dist<200000)
{
+ g_flag_Taggetdist[taglist_pos]=0;
if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num[taglist_pos]>3)
{
misdist_num[taglist_pos]=0;
@@ -1106,11 +1142,23 @@
extern u16 synclost_count;
uint32_t current_syncid=0xffffffff,synclost_timer;
extern u8 flag_syncbase,waitsync_flag;
-u8 tagpos_rec[50],tagpos_send[50],ancidlist_num;
+u8 tagpos_rec[50],tagpos_send[50],ancidlist_num,zero_matrix[100]={0};
u16 ancidlist_rec[20],ancidlist_send[20];
u16 recnearbaselist_id[30];
int32_t recnearbaselist_dist[30];
int16_t rec_tagheight;
+void Anchor_Start(void)
+{
+dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
+ g_start_sync_flag=0;
+
+ dwt_setrxtimeout(1000);//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
+// {
+// //IdleTask();
+// };
+}
void Anchor_App(void)
{
@@ -1118,21 +1166,22 @@
u16 tempid;
uint32_t rec_syncid;
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
- g_start_sync_flag=0;
+// dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
+// 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
-// GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
- 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();
- };
+// 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
+//// GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
+// 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();
+// };
+ status_reg = dwt_read32bitreg(SYS_STATUS_ID);
//GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);
if (status_reg & SYS_STATUS_RXFCG)//成功接收
{ u16 tag_recv_interval;
float temp_tagpos;
- time_monitor[0] = sync_timer*1000+TIM3->CNT;
+ //time_monitor[0] = sync_timer*1000+TIM3->CNT;
g_Resttimer=0;
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);//清除标志位
frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//获得接收数据长度
@@ -1143,9 +1192,60 @@
switch(rx_buffer[MESSAGE_TYPE_IDX])
{
uint16_t checksum;
- case POLL:
- if (anchor_type == rx_buffer[ANC_TYPE_IDX])
+ case SPOLL:
+ //if (anchor_type == rx_buffer[ANC_TYPE_IDX])
+ if(dev_id==anc_id_recv)
+ {
+ taglist_pos=CmpTagInList(tag_id_recv);
+ if(taglist_pos==taglist_num)
+ {
+ taglist_pos=taglist_num;
+ tagid_list[taglist_num++]=tag_id_recv;
+
+ new_tagid=1;
+ }else{
+ new_tagid=0;
+ }
+ tagofflinetime[taglist_pos]=0;
+
+ rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
+ if(rec_nearbase_num>=30)
+ {
+ break;
+ }
+ battary = rx_buffer[BATTARY_IDX];
+ button = rx_buffer[BUTTON_IDX];
+ frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
+ tag_frequency = rx_buffer[NEARP_TAGFREQ_INDEX];
+ tag_slotpos = rx_buffer[NEARP_TAGSLOTPOS_INDEX];
+
+ ////////////////基站汇总模式数据
+ memcpy(&rec_tagheight,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*6],2);
+ memcpy(&recnearbaselist_id,&rx_buffer[NEARBASEID_INDEX],rec_nearbase_num*2);
+ memcpy(&recnearbaselist_dist,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*2],rec_nearbase_num*4);
+ usart_send[2] = 0x0c;//正常模式
+ usart_send[3] = 15+8*(rec_nearbase_num);//数据段长度
+ memcpy(&usart_send[4],&tag_id_recv,2);
+ usart_send[6] = rx_buffer[SEQUENCE_IDX];
+ usart_send[7] = rx_buffer[SEQUENCEH_IDX];
+ usart_send[8] = battary;
+ usart_send[9] = button;
+ memcpy(&usart_send[10],&rec_tagheight,2);
+ usart_send[12] = tag_frequency;
+ usart_send[13] = tag_slotpos;
+ usart_send[14] = 0;
+ usart_send[15] = 0;
+ usart_send[16] = rec_nearbase_num;
+
+ memcpy(&usart_send[17],&recnearbaselist_id,2*rec_nearbase_num);
+ memcpy(&usart_send[17+rec_nearbase_num*2],&recnearbaselist_dist,4*rec_nearbase_num);
+ memcpy(&usart_send[17+rec_nearbase_num*6],zero_matrix,2*rec_nearbase_num);
+
+ checksum = Checksum_u16(&usart_send[2],15+8*rec_nearbase_num);
+ memcpy(&usart_send[17+8*rec_nearbase_num],&checksum,2);
+ UART_PushFrame(usart_send,19+8*rec_nearbase_num);
Anchor_RecPoll();
+ }
break;
case SYNC:
memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
@@ -1209,6 +1309,7 @@
memcpy(&usart_send[6],&tag_id_recv,2);
memcpy(&usart_send[8],&rx_buffer[10],9);
usart_send[17] = firstpath_power;
+ memcpy(&usart_send[18],&rx_buffer[19],2);
checksum = Checksum_u16(&usart_send[2],20);
memcpy(&usart_send[22],&checksum,2);
UART_PushFrame(usart_send,24);
@@ -1232,6 +1333,10 @@
temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime);
tagpos_rec[(u8)temp_tagpos]=1;
rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
+ if(rec_nearbase_num>30)
+ {
+ break;
+ }
battary = rx_buffer[BATTARY_IDX];
button = rx_buffer[BUTTON_IDX];
frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
@@ -1248,6 +1353,7 @@
usart_send[7] = rx_buffer[SEQUENCEH_IDX];
usart_send[8] = battary;
usart_send[9] = button;
+
memcpy(&usart_send[10],&rec_tagheight,2);
usart_send[12] = tag_frequency;
usart_send[13] = tag_slotpos;
--
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