From d48641460072d9a160ca5f04977269ba0171a9e2 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期日, 12 四月 2020 16:34:29 +0800
Subject: [PATCH] V1.0 防撞初版
---
源码/核心板/Src/application/dw_app.h | 4
源码/核心板/Src/main.c | 2
源码/核心板/Src/application/serial_at_cmd_app.c | 4
源码/核心板/MDK-ARM/Project.uvoptx | 79 -----
源码/核心板/Src/OnChipDevices/ADC.c | 4
源码/核心板/Src/OnChipDevices/ADC.h | 1
源码/核心板/MDK-ARM/Project.uvguix.Administrator | 315 ++++++++++++-----------
源码/核心板/Src/application/dw_app.c | 356 +++++++++++++--------------
8 files changed, 355 insertions(+), 410 deletions(-)
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.Administrator" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.Administrator"
index 696cc2f..82f97c7 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.Administrator"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvguix.Administrator"
@@ -15,17 +15,17 @@
<View>
<WinId>38003</WinId>
<ViewName>Registers</ViewName>
- <TableColWidths>115 35</TableColWidths>
+ <TableColWidths>142 142</TableColWidths>
</View>
<View>
<WinId>346</WinId>
<ViewName>Code Coverage</ViewName>
- <TableColWidths>610 160</TableColWidths>
+ <TableColWidths>610 497</TableColWidths>
</View>
<View>
<WinId>204</WinId>
<ViewName>Performance Analyzer</ViewName>
- <TableColWidths>770</TableColWidths>
+ <TableColWidths>777 115 115 100</TableColWidths>
</View>
</SECTreeCtrl>
@@ -91,27 +91,27 @@
<WindowPosition>
<length>44</length>
<flags>2</flags>
- <showCmd>3</showCmd>
+ <showCmd>2</showCmd>
<MinPosition>
- <xPos>-1</xPos>
- <yPos>-1</yPos>
+ <xPos>-32000</xPos>
+ <yPos>-32000</yPos>
</MinPosition>
<MaxPosition>
<xPos>-1</xPos>
<yPos>-1</yPos>
</MaxPosition>
<NormalPosition>
- <Top>0</Top>
- <Left>0</Left>
- <Right>2581</Right>
- <Bottom>1820</Bottom>
+ <Top>-942</Top>
+ <Left>881</Left>
+ <Right>2171</Right>
+ <Bottom>-257</Bottom>
</NormalPosition>
</WindowPosition>
<MDIClientArea>
<RegID>0</RegID>
<MDITabState>
- <Len>1113</Len>
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<ViewEx>
@@ -134,7 +134,7 @@
</RectRecentDocked>
<RectRecentFloat>
<Len>16</Len>
- <Data>A400000066000000B0030000CA000000</Data>
+ <Data>250300002EFCFFFF3106000092FCFFFF</Data>
</RectRecentFloat>
</Window>
<Window>
@@ -150,7 +150,7 @@
<RecentRowIndex>0</RecentRowIndex>
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+ <Data>03000000660000000C01000018030000</Data>
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<Len>16</Len>
@@ -170,7 +170,7 @@
<RecentRowIndex>0</RecentRowIndex>
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- <Data>03000000660000000C010000B0010000</Data>
+ <Data>03000000660000000C01000018030000</Data>
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@@ -450,7 +450,7 @@
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+ <Data>03000000660000000C01000018030000</Data>
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@@ -470,7 +470,7 @@
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+ <Data>03000000660000000C01000018030000</Data>
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@@ -490,7 +490,7 @@
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+ <Data>030000004C0300007D070000CD030000</Data>
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+ <Data>030000004C0300007D070000CD030000</Data>
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@@ -1150,7 +1150,7 @@
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+ <Data>03000000660000000C01000018030000</Data>
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@@ -1160,7 +1160,7 @@
<Window>
<RegID>38007</RegID>
<PaneID>38007</PaneID>
- <IsVisible>0</IsVisible>
+ <IsVisible>1</IsVisible>
<IsFloating>0</IsFloating>
<IsTabbed>0</IsTabbed>
<IsActivated>0</IsActivated>
@@ -1170,7 +1170,7 @@
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+ <Data>030000004C0300007D070000CD030000</Data>
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+ <Data>030000004C0300007D070000CD030000</Data>
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+ <Data>030000004C0300007D070000CD030000</Data>
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@@ -1799,14 +1799,14 @@
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<Len>583</Len>
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<Name>Debug</Name>
<Buttons>
<Len>2362</Len>
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<Len>898</Len>
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<ActiveMDIGroup>0</ActiveMDIGroup>
<MDIGroup>
<Size>100</Size>
- <ActiveTab>3</ActiveTab>
+ <ActiveTab>0</ActiveTab>
+ <Doc>
+ <Name>..\Src\application\dw_app.c</Name>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>314</TopLine>
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+ <Folding>1</Folding>
+ <ContractedFolders></ContractedFolders>
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<Doc>
<Name>..\Src\main.c</Name>
- <ColumnNumber>32</ColumnNumber>
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<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
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@@ -3616,35 +3634,8 @@
<Doc>
<Name>..\Src\OnChipDevices\Spi.c</Name>
<ColumnNumber>0</ColumnNumber>
- <TopLine>144</TopLine>
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<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
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<Doc>
<Name>..\Src\decadriver\deca_device.c</Name>
<ColumnNumber>0</ColumnNumber>
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<PaneID>0</PaneID>
</Doc>
<Doc>
- <Name>..\Src\Libraries\STM32F10x_StdPeriph_Driver\inc\stm32f10x_gpio.h</Name>
+ <Name>..\Src\OnChipDevices\Usart.c</Name>
<ColumnNumber>0</ColumnNumber>
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- <ColumnNumber>20</ColumnNumber>
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</Doc>
<Doc>
<Name>..\Src\stm32f10x_it.c</Name>
- <ColumnNumber>65</ColumnNumber>
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- <CurrentLine>82</CurrentLine>
+ <ColumnNumber>0</ColumnNumber>
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<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
</Doc>
<Doc>
- <Name>..\Src\application\global_param.h</Name>
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- <CurrentLine>15</CurrentLine>
+ <Name>..\Src\OnChipDevices\ADC.c</Name>
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+ <Name>..\Src\OnChipDevices\ADC.h</Name>
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+ <Name>..\Src\Libraries\STM32F10x_StdPeriph_Driver\inc\stm32f10x_adc.h</Name>
+ <ColumnNumber>0</ColumnNumber>
+ <TopLine>209</TopLine>
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<Folding>1</Folding>
<ContractedFolders></ContractedFolders>
<PaneID>0</PaneID>
@@ -3697,4 +3706,8 @@
</MDIGroup>
</MDIGroups>
+ <Bookmarks>
+ <ListItem>..\Src\application\dw_app.c 134</ListItem>
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+
</ProjectGui>
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx"
index 1c3722c..fec30c7 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/MDK-ARM/Project.uvoptx"
@@ -120,7 +120,7 @@
<SetRegEntry>
<Number>0</Number>
<Key>DLGUARM</Key>
- <Name>@/?鐕�/w@/?鐕�/w@/?</Name>
+ <Name>d</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
@@ -145,7 +145,7 @@
<SetRegEntry>
<Number>0</Number>
<Key>DLGTARM</Key>
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@@ -158,107 +158,52 @@
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<count>0</count>
<WinNumber>1</WinNumber>
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+ <ItemText>nearbase_num</ItemText>
</Ww>
<Ww>
<count>1</count>
<WinNumber>1</WinNumber>
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+ <ItemText>recbase_num</ItemText>
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<WinNumber>1</WinNumber>
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+ <ItemText>exsistbase_list</ItemText>
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<WinNumber>1</WinNumber>
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+ <ItemText>dist_cm</ItemText>
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<WinNumber>1</WinNumber>
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+ <ItemText>nearbaseid_list</ItemText>
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<WinNumber>1</WinNumber>
- <ItemText>tyncpoll_time,0x0A</ItemText>
+ <ItemText>nearbase_distlist,0x0A</ItemText>
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<count>6</count>
<WinNumber>1</WinNumber>
- <ItemText>g_com_map,0x10</ItemText>
+ <ItemText>tyncpoll_time,0x0A</ItemText>
</Ww>
<Ww>
<count>7</count>
<WinNumber>1</WinNumber>
- <ItemText>tagslotpos</ItemText>
+ <ItemText>random_value,0x0A</ItemText>
</Ww>
<Ww>
<count>8</count>
<WinNumber>1</WinNumber>
- <ItemText>max_slotpos,0x0A</ItemText>
+ <ItemText>temp_adc</ItemText>
</Ww>
<Ww>
<count>9</count>
<WinNumber>1</WinNumber>
- <ItemText>dev_id,0x0A</ItemText>
- </Ww>
- <Ww>
- <count>10</count>
- <WinNumber>1</WinNumber>
- <ItemText>tyncpoll_time,0x0A</ItemText>
- </Ww>
- <Ww>
- <count>11</count>
- <WinNumber>1</WinNumber>
- <ItemText>tagslotpos</ItemText>
- </Ww>
- <Ww>
- <count>12</count>
- <WinNumber>1</WinNumber>
- <ItemText>nearbase_distlist,0x0A</ItemText>
- </Ww>
- <Ww>
- <count>13</count>
- <WinNumber>1</WinNumber>
- <ItemText>mainbase_dist,0x0A</ItemText>
- </Ww>
- <Ww>
- <count>14</count>
- <WinNumber>1</WinNumber>
- <ItemText>nearbaseid_list</ItemText>
- </Ww>
- <Ww>
- <count>15</count>
- <WinNumber>1</WinNumber>
- <ItemText>mUsartReceivePack</ItemText>
- </Ww>
- <Ww>
- <count>16</count>
- <WinNumber>1</WinNumber>
- <ItemText>sync_timer</ItemText>
- </Ww>
- <Ww>
- <count>17</count>
- <WinNumber>1</WinNumber>
- <ItemText>tx_near_msg[ANCTIMEMS]</ItemText>
- </Ww>
- <Ww>
- <count>18</count>
- <WinNumber>1</WinNumber>
- <ItemText>tx_near_msg</ItemText>
- </Ww>
- <Ww>
- <count>19</count>
- <WinNumber>1</WinNumber>
- <ItemText>mainbase_id</ItemText>
- </Ww>
- <Ww>
- <count>20</count>
- <WinNumber>1</WinNumber>
- <ItemText>nearbase_mindist,0x0A</ItemText>
+ <ItemText>max_slotpos,0x0A</ItemText>
</Ww>
</WatchWindow1>
<MemoryWindow1>
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/OnChipDevices/ADC.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/OnChipDevices/ADC.c"
index 896bf3d..ae529a3 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/OnChipDevices/ADC.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/OnChipDevices/ADC.c"
@@ -30,10 +30,10 @@
ADC_StartCalibration(ADC1);//????
while(ADC_GetCalibrationStatus(ADC1));//??????
-ADC_RegularChannelConfig(ADC1, ADC_Channel_1, 1, ADC_SampleTime_239Cycles5);
+ADC_RegularChannelConfig(ADC1, ADC_Channel_1, 1, ADC_SampleTime_1Cycles5);
}
-static u16 Get_ADC_Value()
+ u16 Get_ADC_Value(void)
{
ADC_SoftwareStartConvCmd(ADC1, ENABLE);//????,ADC????
while(ADC_GetSoftwareStartConvStatus(ADC1));//??????
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/OnChipDevices/ADC.h" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/OnChipDevices/ADC.h"
index 019e6be..e2430ed 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/OnChipDevices/ADC.h"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/OnChipDevices/ADC.h"
@@ -5,4 +5,5 @@
#include "stm32f10x.h"
extern uint8_t Get_Battary(void);
extern void ADC_Configuration(void);
+extern u16 Get_ADC_Value(void);
#endif
\ No newline at end of file
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 0b3b968..0c1c192 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"
@@ -1,4 +1,5 @@
#include "dw_app.h"
+#include "ADC.h"
enum enumtagstate
{
DISCPOLL,
@@ -134,7 +135,6 @@
void Dw1000_App_Init(void)
{
//g_com_map[DEV_ID] = 0x0b;
- tag_state=DISCPOLL;
tx_poll_msg[MESSAGE_TYPE_IDX]=POLL;
tx_resp_msg[MESSAGE_TYPE_IDX]=RESPONSE;
tx_final_msg[MESSAGE_TYPE_IDX]=FINAL;
@@ -190,128 +190,20 @@
u16 anclist_num=0,anclist_pos; //list 总数量和当前位置
u16 ancid_list[TAG_NUM_IN_SYS];
-u8 nearbase_num;
-u16 nearbaseid_list[10],mainbase_id;
-int32_t mainbase_dist,nearbase_distlist[10];
+u8 nearbase_num=0;
+u16 nearbaseid_list[10],mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM];
+int32_t mainbase_dist,nearbase_distlist[10],true_nearbase_distlist[MAX_NEARBASE_NUM];
uint8_t trygetnearmsg_times;
-void Poll(void)
-{
- uint32_t frame_len;
- uint32_t final_tx_time;
- u32 start_poll;
- int32_t mindist=999999,minid=-1,temp_dist;
- u8 i,getsync_flag=0;
- dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //设置发送后开启接收，并设定延迟时间
- dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
- tag_succ_times = 0;
- GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_RESET);
- 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;
- 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
- 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();
- };
- if(status_reg==0xffffffff)
- {
- NVIC_SystemReset();
- }
- if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
- {
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚寄存器标志位
- frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //获得接收到的数据长度
- dwt_readrxdata(rx_buffer, frame_len, 0); //读取接收数据
- if (rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
- {
- 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(getsync_flag==0)
- {
- getsync_flag=1;
- memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
- memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
- memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
- tmp_time=tmp_time+450;
- if(tmp_time>999)
- {
- tmp_time-=999;
- sync_timer++;
- if(sync_timer>=1010)
- {sync_timer=0;}
- }
- TIM3->CNT=tmp_time;
- if(tagslotpos>max_slotpos)
- tagslotpos=tagslotpos%(max_slotpos+1);
- tyncpoll_time=(tagslotpos-1)*slottime;
- }
-
- memcpy(&temp_dist, &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. */
- final_tx_time = (resp_rx_ts + (RESP_RX_TO_FINAL_TX_DLY_UUS * UUS_TO_DWT_TIME)) >> 8;//计算final包发送时间，T5=T4+Treply2
- dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
- final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final包实际发送时间是计算时间加上发送天线delay
- final_msg_set_ts(&tx_final_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据
- final_msg_set_ts(&tx_final_msg[FINAL_MSG_RESP_RX_TS_IDX], resp_rx_ts);
- final_msg_set_ts(&tx_final_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
- 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
- result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
- tag_succ_times++;
- LED0_BLINK;
-
- if(temp_dist<mindist)
- {
- memcpy(&minid, &rx_buffer[ANCHOR_ID_IDX], 4);
- tag_state=GETNEARMSG;
- trygetnearmsg_times=5;
- mindist=temp_dist;
- }
- 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
- random_delay_tim = 0;
- }
- else
- {
- random_delay_tim = DFT_RAND_DLY_TIM_MS; //如果通讯失败，将间隔时间增加5ms，避开因为多标签同时发送引起的冲突。
- }
- }
- else
- {
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
- random_delay_tim = DFT_RAND_DLY_TIM_MS;
- }
-}
- if(getsync_flag==0)
- {
- tagslotpos--;
- if(tagslotpos==0||tagslotpos>max_slotpos)
- {
- tagslotpos=max_slotpos;
- }
- tyncpoll_time=(tagslotpos-1)*slottime;
- }
- mainbase_id=minid;
-}
u8 FindNearBasePos(u16 baseid)
{
u8 i;
- for(i=0;i<nearbase_num;i++)
+ for(i=0;i<=nearbase_num;i++)
{
if(baseid==nearbaseid_list[i])
return i;
}
+ return i+1;
}
u8 recbase_num=0;
#define CHANGE_BASE_THRESHOLD 5
@@ -346,6 +238,7 @@
}
}
u8 anclost_times=0;
+u8 exsistbase_list[MAX_NEARBASE_NUM];
void NearPoll(void)
{
static u8 mainbase_lost_count=0,flag_finalsend;
@@ -353,10 +246,17 @@
uint32_t frame_len;
uint32_t final_tx_time;
u32 start_poll;
- u8 i,getsync_flag=0,timeout;
+ u8 i,j,getsync_flag=0,timeout;
+ dwt_forcetrxoff();
dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //设置发送后开启接收，并设定延迟时间
dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
tag_succ_times = 0;
+ if(nearbase_num>=MAX_NEARBASE_NUM)
+ {
+ nearbase_num = MAX_NEARBASE_NUM-1;
+ }
+ //nearbase_num=0;
+ recbase_num=0;
tx_near_msg[BATTARY_IDX] = Get_Battary();
tx_near_msg[BUTTON_IDX] = !READ_KEY0;
tx_near_msg[SEQUENCE_IDX] = frame_seq_nb++;
@@ -368,12 +268,12 @@
dwt_writetxfctrl(13+2*nearbase_num, 0);//设置超宽带发送数据长度
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
- for(i=0;i<nearbase_num;i++)
- nearbase_distlist[i]=0xffff;
+ for(i=0;i<MAX_NEARBASE_NUM;i++)
+ exsistbase_list[i]=0;
flag_finalsend=0;
neartimout_timer=0;
- recbase_num=0;
+
timeout=nearbase_num/4+2;
mainbase_dist=100000;
mainbase_lost_count++;
@@ -409,16 +309,25 @@
dwt_rxenable(0);//打开接收
if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
{ u16 rec_nearbaseid,rec_nearbasepos;
+ int32_t temp_dist;
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
recbase_num++;
memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
- if(rec_nearbaseid==mainbase_id)
+ if(nearbase_num==0)
+ {
+ nearbaseid_list[0]=rec_nearbaseid;
+ nearbase_num=1;
+ memcpy(&tx_near_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
+ }
+ if(rec_nearbaseid==nearbaseid_list[0])
{
//////////////////////////////////时间同步
memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
+ exsistbase_list[0]=1;
// memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
+
tmp_time=tmp_time+450;
if(tmp_time>999)
{
@@ -428,13 +337,18 @@
{sync_timer=0;}
}
TIM3->CNT=tmp_time;
+
// if(tagslotpos>max_slotpos)
// tagslotpos=tagslotpos%(max_slotpos+1);
// tyncpoll_time=(tagslotpos-1)*slottime;
////////////////////////////
+ rec_nearbasepos=0;
+ exsistbase_list[rec_nearbasepos]=1;
+ memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
+ nearbase_distlist[rec_nearbasepos]=temp_dist;
+
mainbase_lost_count=0;
flag_finalsend=1;
- memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);
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;
temp1=final_tx_time-((350*UUS_TO_DWT_TIME)>>8);
temp2=final_tx_time+((100*UUS_TO_DWT_TIME)>>8);
@@ -446,6 +360,8 @@
tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
dwt_writetxdata(28+nearbase_num*4, tx_near_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
+ if(temp_dist!=0x1ffff)
+ {
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
@@ -457,14 +373,27 @@
checksum = Checksum_u16(&usart_send[2],17);
memcpy(&usart_send[19],&checksum,2);
UART_PushFrame(usart_send,21);
+ }
//result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
}else{
rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
- final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4], resp_rx_ts);
- memcpy(&nearbase_distlist[rec_nearbasepos],&rx_buffer[DIST_IDX],4);
+ if(rec_nearbasepos>nearbase_num) //发现新的基站
+ {
+ nearbase_num++;
+ nearbaseid_list[nearbase_num] = rec_nearbaseid;
+ memcpy(&tx_near_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
+ }
+
+ exsistbase_list[rec_nearbasepos]=1;
+ memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
+ nearbase_distlist[rec_nearbasepos]=temp_dist;
+
+ final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
dwt_writetxdata(28+nearbase_num*4, tx_near_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
LED0_BLINK;
+ if(temp_dist!=0x1ffff)
+ {
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
@@ -480,26 +409,71 @@
//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
- }
+ }
+ }
}
}
dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
}
- if(mainbase_lost_count>5)
+ nearbase_num=recbase_num;
+ j=0;
+ if(exsistbase_list[0]==0)
{
- tag_state=DISCPOLL;
- }
- NearAncSelect();
- if(recbase_num<g_com_map[MIN_REPORT_ANC_NUM] )
- {
- anclost_times++;
- if(anclost_times>3)
+ u8 temp_adc,random_value;
+ random_value=0;
+ for(i=0;i<8;i++)
{
- tagslotpos=poll_tx_ts%(max_slotpos+1);
+ temp_adc=Get_ADC_Value();
+ random_value=random_value|((temp_adc&0x01)<<i);
}
- }else{
- anclost_times=0;
+ tyncpoll_time=(random_value%max_slotpos)*slottime;
}
+ for(i=0;i<MAX_NEARBASE_NUM;i++)
+ {
+ if(exsistbase_list[i]==1)
+ {
+ true_nearbase_idlist[j]=nearbaseid_list[i];
+ true_nearbase_distlist[j++]=nearbase_distlist[i];
+ }
+
+ }
+
+ for(i=0;i<nearbase_num-1;i++)
+ {
+ for(j=0;j<nearbase_num-1;j++)
+ {
+ if(true_nearbase_distlist[j]>true_nearbase_distlist[j+1])
+ {
+ u32 temp_dist,temp_id;
+ temp_dist=true_nearbase_distlist[j];
+ temp_id = true_nearbase_idlist[j];
+ true_nearbase_distlist[j]=true_nearbase_distlist[j+1];
+ true_nearbase_idlist[j]=true_nearbase_idlist[j+1];
+ true_nearbase_distlist[j+1]=temp_dist;
+ true_nearbase_idlist[j+1]=temp_id;
+ }
+ }
+ }
+ for (i=0;i<nearbase_num;i++)
+ {
+ nearbaseid_list[i]=true_nearbase_idlist[i];
+ nearbase_distlist[i]=true_nearbase_distlist[i];
+ }
+// if(mainbase_lost_count>5)
+// {
+// //tag_state=DISCPOLL;
+// }
+// NearAncSelect();
+// if(recbase_num<g_com_map[MIN_REPORT_ANC_NUM] )
+// {
+// anclost_times++;
+// if(anclost_times>3)
+// {
+// tagslotpos=poll_tx_ts%(max_slotpos+1);
+// }
+// }else{
+// anclost_times=0;
+// }
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
@@ -550,29 +524,10 @@
//LED0_ON;
dwt_forcetrxoff();
g_Resttimer=0;
- switch(tag_state)
- {
- case DISCPOLL:
- Poll();
- break;
- case GETNEARMSG:
- // if(trygetnearmsg_times--!=0)
- {GetNearMsg();
- }
-// else{
-// tag_state=DISCPOLL;
-// }
-
- break;
- case NEARPOLL:
- //GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_SET);
- NearPoll();
- //GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_RESET);
- break;
- }
+ NearPoll();
}
-int8_t correction_time;
+int8_t correction_time,new_tagid=0;
extern uint8_t sync_seq;
u16 taglist_num=0,taglist_pos;
u16 tagid_list[TAG_NUM_IN_SYS];
@@ -602,6 +557,7 @@
}
uint32_t frame_len;
uint32_t resp_tx_time;
+uint8_t rec_nearbase_num;
void Anchor_RecPoll(void)
{
tmp_time=TIM3->CNT;
@@ -675,8 +631,8 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}
-u8 misdist_num;
-void Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
+u8 misdist_num,seize_anchor;
+u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
{
tmp_time=TIM3->CNT;
memcpy(&tx_near_msg[ANCTIMEMS],&sync_timer,2);
@@ -687,10 +643,17 @@
resp_tx_time = (poll_rx_ts + ((POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
dwt_setdelayedtrxtime(resp_tx_time);//设置Response发送时间T3
- dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(nearbase_num-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//设置发送完成后开启接收延迟时间
+ 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
- memcpy(&tx_near_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
+ if(new_tagid)
+ {
+ tagdist_list[taglist_pos]=0x1ffff;
+ memcpy(&tx_near_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
+ }else{
+ memcpy(&tx_near_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
+ }
+
tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
dwt_writetxdata(20, tx_near_msg, 0);//写入发送数据
dwt_writetxfctrl(20, 0);//设定发送长度
@@ -706,11 +669,17 @@
}else{
result++;
}
+
if (status_reg & SYS_STATUS_RXFCG)//接收成功
{
+
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚标志位
frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;//数据长度
dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
+ if(seize_anchor&&memcmp(&rx_buffer[ANCHOR_ID_IDX],&dev_id,2))
+ {
+ return 1;
+ }
if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)) //判断是否为Final包
{
uint32_t poll_tx_ts, resp_rx_ts, final_tx_ts;
@@ -764,17 +733,21 @@
}
}
}
+
}else{
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
+
}
void Anchor_App(void)
{
+
u8 send_len,i;
u16 tempid;
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
+
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();
@@ -783,6 +756,7 @@
if (status_reg & SYS_STATUS_RXFCG)//成功接收
{ u16 tag_recv_interval;
+
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
@@ -795,14 +769,17 @@
{
tagid_list[taglist_num++]=tag_id_recv;
taglist_pos=taglist_num;
+ new_tagid=1;
+ }else{
+ new_tagid=0;
}
tagofflinetime[taglist_pos-1]=0;
switch(rx_buffer[MESSAGE_TYPE_IDX])
{
- case POLL:
- if (anchor_type == rx_buffer[ANC_TYPE_IDX])
- Anchor_RecPoll();
- break;
+// case POLL:
+// if (anchor_type == rx_buffer[ANC_TYPE_IDX])
+// Anchor_RecPoll();
+// break;
case SYNC:
if(rx_buffer[SYNC_SEQ_IDX]<sync_seq)
{
@@ -812,34 +789,41 @@
SyncPoll(sync_seq);
}
break;
- case NEAR_MSG:
- if(anc_id_recv==dev_id)
- {
- rx_buffer[TAGSLOTPOS]=taglist_pos;
- tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
- memcpy(&tx_near_msg[TAG_ID_IDX],&tag_id_recv,2);
- tx_near_msg[NEARBASENUM_INDEX]=g_com_map[NEARBASE_NUM];
- memcpy(&tx_near_msg[NEARBASEID_INDEX],&g_com_map[NEARBASE_ID1],g_com_map[NEARBASE_NUM]*2);
- send_len=11+g_com_map[NEARBASE_NUM]*2+2;
- dwt_writetxdata(send_len, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
- dwt_writetxfctrl(send_len, 0);//设置超宽带发送数据长度
- dwt_starttx(DWT_START_TX_IMMEDIATE);
- }
- break;
-
+// case NEAR_MSG:
+// if(anc_id_recv==dev_id)
+// {
+// rx_buffer[TAGSLOTPOS]=taglist_pos;
+// tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
+// memcpy(&tx_near_msg[TAG_ID_IDX],&tag_id_recv,2);
+// tx_near_msg[NEARBASENUM_INDEX]=g_com_map[NEARBASE_NUM];
+// memcpy(&tx_near_msg[NEARBASEID_INDEX],&g_com_map[NEARBASE_ID1],g_com_map[NEARBASE_NUM]*2);
+// send_len=11+g_com_map[NEARBASE_NUM]*2+2;
+// dwt_writetxdata(send_len, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+// dwt_writetxfctrl(send_len, 0);//设置超宽带发送数据长度
+// dwt_starttx(DWT_START_TX_IMMEDIATE);
+// }
+// break;
+//
case NEAR_POLL:
- nearbase_num=rx_buffer[NEARBASENUM_INDEX];
- if(anc_id_recv==dev_id)
- {
- Anchor_RecNearPoll(0);
- }else{
- for(i=0;i<nearbase_num;i++)
+
+ rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
+
+ for(i=0;i<rec_nearbase_num;i++)
{
memcpy(&tempid,&rx_buffer[NEARBASEID_INDEX+i*2],2);
if(tempid==dev_id)
- Anchor_RecNearPoll(i+1);
+ {
+ seize_anchor=0;
+ Anchor_RecNearPoll(i);
+ break;
+ }
}
- }
+ if(i==rec_nearbase_num)
+ {
+ seize_anchor=1;
+ Anchor_RecNearPoll(i);
+ }
+
break;
}
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.h" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.h"
index 63cb47f..114ded4 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.h"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.h"
@@ -25,6 +25,8 @@
//#define TAG_OUTPUT
#define HEX_OUTPUT
+#define MAX_NEARBASE_NUM 10
+
#define REPOET_ANC_NUM 1
#define REPOET_ANC_NUM_MIN 1
#define TAG_ID_START 0// 0x00980000
@@ -50,7 +52,7 @@
* frame length of approximately 2.66 ms with above configuration. */
#define RESP_RX_TO_FINAL_TX_DLY_UUS 410
/* Receive response timeout. See NOTE 5 below. */
-#define RESP_RX_TIMEOUT_UUS 600
+#define RESP_RX_TIMEOUT_UUS 2000
#define DELAY_BETWEEN_TWO_FRAME_UUS 240
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/serial_at_cmd_app.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/serial_at_cmd_app.c"
index ae83024..3faaf30 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/serial_at_cmd_app.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/serial_at_cmd_app.c"
@@ -33,7 +33,7 @@
send_frame[4] = CMD_REPLY;
send_frame[5] = index;
send_frame[6] = data_length;
- memcpy(&send_frame[7], &g_com_map[index], data_length);
+ memcpy(&send_frame[7], &g_com_map[index>>2], data_length);
for(int i = 0; i<(data_length+5); i++)
{
checksum += send_frame[2+i];
@@ -79,7 +79,7 @@
case CMD_READ:
//read包中data字节，即mUsartReceivePack[0]表示数据长度；
//从g_com_data结构体中的第index位置读取长度为mUsartReceivePack[0]的字节，发送出来
- SendComMap(pack_datalen,pack_index>>1);
+ SendComMap(pack_datalen,pack_index);
break;
default:
break;
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
index 80f4abc..b455e0d 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/main.c"
@@ -65,7 +65,7 @@
OUT485_ENABLE;
g_com_map[VERSION] = 0x0108;
dev_id = g_com_map[DEV_ID];
- slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]*4/3);
+ slottime=ceil((double)g_com_map[MAX_REPORT_ANC_NUM]/3)+1;
max_slotpos=g_com_map[COM_INTERVAL]/slottime;
tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;
--
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