From d339c9d6785412976ad2916257d10915b22453dd Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期三, 17 十月 2018 16:25:51 +0800
Subject: [PATCH] 标签串口配置，配对等功能
---
源码/核心板/Src/application/dw_app.c | 72 +++++++++++++++++++++++++++--------
1 files changed, 55 insertions(+), 17 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 c5c6329..b28421b 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"
@@ -30,6 +30,7 @@
#include "Usart.h"
#include "global_param.h"
#include "filters.h"
+#include <stdio.h>
@@ -138,6 +139,8 @@
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 +222,23 @@
*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 +264,7 @@
}
void Dw1000_App_Init(void)
{
+// g_com_map[DEV_ID] = 0x02;
tx_poll_msg[MESSAGE_TYPE_IDX]=POLL;
tx_resp_msg[MESSAGE_TYPE_IDX]=RESPONSE;
tx_final_msg[MESSAGE_TYPE_IDX]=FINAL;
@@ -258,18 +278,21 @@
dwt_configuresleep(0x940, 0x7);
dwt_entersleep();
}
-
+uint16_t g_Resttimer;
+uint8_t result;
void Tag_App(void)//发送模式(TAG标签)
{
uint32_t frame_len;
uint32_t final_tx_time;
+ g_Resttimer=0;
+ UART_CheckReceive();
GPIO_ResetBits(SPIx_GPIO, SPIx_CS);
- delay_us(2000);
+ delay_us(2500);
GPIO_SetBits(SPIx_GPIO, SPIx_CS);
/* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
-
+ tx_poll_msg[ALL_MSG_SN_IDX] = frame_seq_nb;
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
@@ -297,7 +320,7 @@
/* 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
{
/* Retrieve poll transmission and response reception timestamp. */
@@ -319,15 +342,17 @@
final_msg_set_ts(&tx_final_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
/* Write and send final message. See NOTE 7 below. */
-
+ 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
+
/* 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
@@ -351,7 +376,7 @@
dwt_entersleep();
}
-
+extern uint8_t g_pairstart;
void Anchor_App(void)
{
uint32_t frame_len;
@@ -367,7 +392,7 @@
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
{
UART_CheckReceive();
- UART_CheckSend();
+ g_Resttimer=0;
};
if (status_reg & SYS_STATUS_RXFCG)//成功接收
@@ -383,14 +408,14 @@
/* Check that the frame is a poll sent by "DS TWR initiator" 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;
//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 (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]) //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
@@ -405,16 +430,18 @@
/* Write and send the response message. See NOTE 9 below.*/
memcpy(&tx_resp_msg[DIST_IDX], &anchor_dist_last_frm[tag_id_recv], 2);
-
+ 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++;
@@ -431,6 +458,7 @@
/* Check that the frame is a final message sent by "DS TWR initiator" example.
* As the sequence number field of the frame is not used in this example, it can be zeroed to ease the validation of the frame. */
+ rx_buffer[ALL_MSG_SN_IDX] = 0;
if (rx_buffer[MESSAGE_TYPE_IDX] == FINAL&&rx_buffer[TAG_ID_IDX]==tag_id_recv&&rx_buffer[ANCHOR_ID_IDX]==g_com_map[DEV_ID]) //判断是否为Final包
{
uint32_t poll_tx_ts, resp_rx_ts, final_tx_ts;
@@ -468,6 +496,16 @@
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();
+ printf("Pair Finish PairID: %d. \r\n",g_com_map[PAIR_ID]);
+ }
+ g_flag_Taggetdist[tag_id_recv]=0;
+ printf("Anchor ID: %d, Tag ID: %d, Dist = %d cm\n", g_com_map[DEV_ID], tag_id_recv, (uint16_t)dis_after_filter);
//dis_after_filter = LP_Frac_Update(p_Dis_Filter, dist_cm);
}
--
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