From c8fa9e7b73d663fd1ee78632d38cea1b49c14d39 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期二, 17 十一月 2020 20:22:29 +0800
Subject: [PATCH] V1.35 大连电牵，测试版本。配置回复变成立即回复，收到数据才不重启
---
源码/核心板/Src/application/dw_app.c | 176 +++++++++++++++++++++++++++++++++++++++++++---------------
1 files changed, 130 insertions(+), 46 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 acdbb09..0f241c3 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"
@@ -1,11 +1,12 @@
#include "dw_app.h"
#include "ADC.h"
+#define TDFILTER
enum enumtagstate
{
DISCPOLL,
GETNEARMSG,
NEARPOLL,
-}tag_state=GETNEARMSG;
+}tag_state=NEARPOLL;
static dwt_config_t config = {
2, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
@@ -28,7 +29,7 @@
static uint8_t tx_near_msg[80] = {0};
-static uint32_t frame_seq_nb = 0;
+ uint32_t frame_seq_nb = 0, frame_seq_nb2 = 0;
static uint32_t status_reg = 0;
static uint8_t rx_buffer[100];
static uint64_t poll_tx_ts;
@@ -208,17 +209,24 @@
u16 nearbaseid_list[MAX_NEARBASE_NUM],mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM];
int32_t mainbase_dist,nearbase_distlist[MAX_NEARBASE_NUM],true_nearbase_distlist[MAX_NEARBASE_NUM],true_exsistbase_list[MAX_NEARBASE_NUM];
uint8_t trygetnearmsg_times;
-u16 current_slotnum,total_slotnum,target_time;
+u16 current_slotnum,total_slotnum,target_time,last_time;
+u32 rec_tagpos_binary;
+extern uint32_t tagpos_binary;
void SetNextPollTime(u16 time)
{
- if(current_slotnum>=total_slotnum)
+ current_slotnum++;
+ if(current_slotnum==total_slotnum)
current_slotnum-=total_slotnum;
//time=5;
target_time=((current_slotnum*g_com_map[COM_INTERVAL])+time);
- if(target_time>=990&&target_time<1000)
+
+ last_time=target_time;
+ if(target_time>=990&&target_time<992)
{
current_slotnum++;
target_time+=g_com_map[COM_INTERVAL];
+ tagslotpos=GetRandomSlotPos(rec_tagpos_binary|tagpos_binary);
+ tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
}
if(target_time>=1000)
{target_time-=1000;}
@@ -303,8 +311,7 @@
u8 anclost_times=0;
u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
u16 temp_sync_timer1,temp_sync_timer2;
-u32 rec_tagpos_binary;
-extern uint32_t tagpos_binary;
+
void NearPoll(void)
{
static u8 mainbase_lost_count=0,flag_finalsend,flag_rxon;
@@ -341,7 +348,7 @@
flag_rxon=1;
neartimout_timer=0;
get_newbase=0;
- timeout=ceil((float)nearbase_num/4)+2;
+ timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
//timeout=5;
mainbase_dist=100000;
mainbase_lost_count++;
@@ -396,7 +403,7 @@
temp_sync_timer2=sync_timer;
memcpy(&temp_sync_timer1,&rx_buffer[ANCTIMEMS],2);
memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
- exsistbase_list[0]=KEEP_TIMES;
+
if(g_com_map[DEV_ROLE]!=0)
{
@@ -414,15 +421,18 @@
}
TIM3->CNT=tmp_time;
}
+ current_slotnum=temp_sync_timer1/g_com_map[COM_INTERVAL];
// if(tagslotpos>max_slotpos)
// tagslotpos=tagslotpos%(max_slotpos+1);
// tyncpoll_time=(tagslotpos-1)*slottime;
////////////////////////////
rec_nearbasepos=0;
- exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
+
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
nearbase_distlist[rec_nearbasepos]=temp_dist;
-
+ if(temp_dist!=0x1ffff)
+ exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
+
mainbase_lost_count=0;
flag_finalsend=1;
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;
@@ -437,7 +447,33 @@
dwt_writetxdata(28+nearbase_num*4, tx_nearfinal_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
memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
-
+ if(temp_dist!=0x1ffff)
+ {
+ g_Resttimer=0;
+ #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_nb;//数据段长度
+ if(g_com_map[DEV_ROLE])
+ {
+ memcpy(&usart_send[5],&dev_id,2);
+ memcpy(&usart_send[7],&rec_nearbaseid,2);
+ }else{
+ memcpy(&usart_send[5],&rec_nearbaseid,2);
+ memcpy(&usart_send[7],&dev_id,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);
+ #endif
+
+ //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
+ }
}else{
@@ -450,9 +486,11 @@
memcpy(&tx_nearfinal_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
}
- exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
nearbase_distlist[rec_nearbasepos]=temp_dist;
+
+ if(temp_dist!=0x1ffff)
+ exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
final_msg_set_ts(&tx_nearfinal_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
dwt_writetxdata(28+nearbase_num*4, tx_nearfinal_msg, 0);//将发送数据写入DW1000
@@ -466,8 +504,14 @@
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
+ if(g_com_map[DEV_ROLE])
+ {
memcpy(&usart_send[5],&dev_id,2);
- memcpy(&usart_send[7],&rec_nearbaseid,2);
+ memcpy(&usart_send[7],&rec_nearbaseid,2);
+ }else{
+ memcpy(&usart_send[5],&rec_nearbaseid,2);
+ memcpy(&usart_send[7],&dev_id,2);
+ }
memcpy(&usart_send[9],&rx_buffer[DIST_IDX],4);
usart_send[13] = battary;
usart_send[14] = button;
@@ -510,7 +554,8 @@
// random_value=random_value|((temp_adc&0x01)<<i);
// }
tagslotpos=GetRandomSlotPos(rec_tagpos_binary|tagpos_binary);
- tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
+ tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
+ tag_state=NEARPOLL;
}
// tyncpoll_time=0;
next_nearbase_num=0;
@@ -555,7 +600,7 @@
{
nearbaseid_list[i]=true_nearbase_idlist[i];
nearbase_distlist[i]=true_nearbase_distlist[i];
- if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==0xa)
+ if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==KEEP_TIMES)
{
memcpy(&usart_send[4+6*report_num],&nearbaseid_list[i],2);
memcpy(&usart_send[6+6*report_num],&nearbase_distlist[i],4);
@@ -568,13 +613,13 @@
}
// printf("%d,%d",temp_sync_timer2,temp_sync_timer1);
-// #ifdef USART_INTEGRATE_OUTPUT
-// usart_send[2] = 4;//正常模式
-// usart_send[3] = report_num*6+2;//正常模式
-// checksum = Checksum_u16(&usart_send[2],report_num*6+2);
-// memcpy(&usart_send[4+report_num*6],&checksum,2);
-// UART_PushFrame(usart_send,6+report_num*6);
-// #endif
+ #ifdef USART_INTEGRATE_OUTPUT
+ usart_send[2] = 4;//正常模式
+ usart_send[3] = report_num*6+2;//正常模式
+ checksum = Checksum_u16(&usart_send[2],report_num*6+2);
+ memcpy(&usart_send[4+report_num*6],&checksum,2);
+ UART_PushFrame(usart_send,6+report_num*6);
+ #endif
// if(mainbase_lost_count>5)
// {
// //tag_state=DISCPOLL;
@@ -633,21 +678,29 @@
tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
//tagslotpos=rx_buffer[TAGSLOTPOS];
memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],next_nearbase_num*2);
- slottime=ceil((nearbase_num+2)*0.3)+1;
+ //slottime=ceil((nearbase_num+2)*0.4)+2;
tyncpoll_time=tagslotpos*slottime;
tag_state=NEARPOLL;
+ }else{
+ tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
}
}else{
tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
}
+ #ifdef USART_INTEGRATE_OUTPUT
+ usart_send[2] = 4;//正常模式
+ usart_send[3] = report_num*6+2;//正常模式
+ checksum = Checksum_u16(&usart_send[2],report_num*6+2);
+ memcpy(&usart_send[4+report_num*6],&checksum,2);
+ UART_PushFrame(usart_send,6+report_num*6);
+ #endif
}
void Tag_App(void)//发送模式(TAG标签)
{
//LED0_ON;
dwt_forcetrxoff();
- g_Resttimer=0;
GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
switch(tag_state)
{
@@ -661,8 +714,9 @@
NearPoll();
break;
}
- current_slotnum++;
+
SetNextPollTime(tyncpoll_time);
+ g_start_send_flag = 0;
GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);
}
@@ -720,7 +774,7 @@
battary = rx_buffer[BATTARY_IDX];
button = rx_buffer[BUTTON_IDX];
- frame_seq_nb = rx_buffer[SEQUENCE_IDX];
+ frame_seq_nb2 = 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
@@ -770,9 +824,10 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}
-u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor;
+u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,getrange_success=0;
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
{
+ u8 motorstate;
tmp_time=TIM3->CNT;
memcpy(&tx_nearresp_msg[ANCTIMEMS],&sync_timer,2);
memcpy(&tx_nearresp_msg[ANCTIMEUS],&tmp_time,2);
@@ -784,7 +839,20 @@
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
-
+
+ if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1])
+ {
+ motorstate =0;
+ }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
+ {
+ motorstate =2;
+ }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE3])
+ {
+ motorstate =1;
+ }else{
+ motorstate =0;
+ }
+
if(new_tagid)
{
tagdist_list[taglist_pos]=0x1ffff;
@@ -794,14 +862,21 @@
}
tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
-
- dwt_writetxdata(21, tx_nearresp_msg, 0);//写入发送数据
- dwt_writetxfctrl(21, 0);//设定发送长度
+ tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
+ if(remotesend_state)
+ {
+ memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,REMOTEPARA_LEN);
+ dwt_writetxdata(22+REMOTEPARA_LEN, tx_nearresp_msg, 0);//写入发送数据
+ dwt_writetxfctrl(22+REMOTEPARA_LEN, 0);//设定发送长度
+ }else{
+ dwt_writetxdata(22, tx_nearresp_msg, 0);//写入发送数据
+ dwt_writetxfctrl(22, 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_nb = rx_buffer[SEQUENCE_IDX];
+ frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
if(result==0)
{
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
@@ -843,26 +918,34 @@
tof = tof_dtu * DWT_TIME_UNITS;
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
/*--------------------------以下为非测距逻辑------------------------*/
//dist_cm=33000;
-
+ getrange_success = 1;
+ g_Resttimer=0;
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];
+ hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10;
g_flag_Taggetdist[taglist_pos]=0;
- if(hex_dist>-1000&&hex_dist<100000)
+ if(hex_dist>-10000&&hex_dist<2000000)
{
- if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num[taglist_pos]>3)
+ if(abs(hex_dist-his_dist[taglist_pos])<15000||misdist_num[taglist_pos]>3)
{
+ int32_t filter_dist;
+ #ifdef TDFILTER
+ NewTrackingDiffUpdate(taglist_pos, (float)hex_dist);
+ filter_dist=pos_predict[taglist_pos]/10;
+ #else
+ filter_dist=hex_dist/10;
+ #endif
misdist_num[taglist_pos]=0;
- tagdist_list[taglist_pos] = hex_dist;
+ tagdist_list[taglist_pos] = filter_dist;
his_dist[taglist_pos]=hex_dist;
- g_Tagdist[taglist_pos]=hex_dist;
+ g_Tagdist[taglist_pos]=filter_dist;
#ifndef USART_INTEGRATE_OUTPUT
- usart_send[2] = 1;//正常模式
+ 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
+ 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);
@@ -906,6 +989,7 @@
// 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();
};
//GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);
@@ -913,20 +997,20 @@
{ u16 tag_recv_interval;
float temp_tagpos;
- 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
dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
//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];
+ memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
switch(rx_buffer[MESSAGE_TYPE_IDX])
{
// case POLL:
// if (anchor_type == rx_buffer[ANC_TYPE_IDX])
// Anchor_RecPoll();
// break;
- case SYNC:
+ case SYNC:
memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
if(rec_syncid<current_syncid)
{
@@ -967,7 +1051,7 @@
}
break;
- case NEAR_POLL:
+ case NEAR_POLL:
memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
taglist_pos=CmpTagInList(tag_id_recv);
if(taglist_pos==taglist_num)
--
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