From d56da5b9006bfb55a4c7ae2dbb00c026fa3148ae Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期日, 15 十二月 2019 11:08:21 +0800
Subject: [PATCH] 增加跟踪微分器
---
源码/核心板/Src/application/dw_app.c | 216 ++++++++++++++++++++++++++++++++++++++----------------
1 files changed, 152 insertions(+), 64 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 66f400d..151b817 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"
@@ -27,7 +27,7 @@
#include "filters.h"
#include <stdio.h>
#include "beep.h"
-
+#include "modbus.h"
/*------------------------------------ Marcos ------------------------------------------*/
/* Inter-ranging delay period, in milliseconds. */
@@ -64,18 +64,26 @@
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4
+#define SYNC_SEQ_IDX 5
+
#define GROUP_ID_IDX 0
#define ANCHOR_ID_IDX 1
#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
+#define SEQUENCE_IDX 17
+//respose
+#define ANCTIMEMS 14
+#define ANCTIMEUS 16
#define POLL 0x01
#define RESPONSE 0x02
#define FINAL 0x03
+#define SYNC 0x04
/*------------------------------------ Variables ------------------------------------------*/
/* Default communication configuration. We use here EVK1000's default mode (mode 3). */
@@ -93,16 +101,17 @@
};
/* Frames used in the ranging process. See NOTE 2 below. */
-static uint8_t tx_poll_msg[19] = {0};
+static uint8_t tx_poll_msg[20] = {0};
+static uint8_t tx_sync_msg[14] = {0};
//static uint8_t rx_resp_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'V', 'E', 'W', 'A', 0x10, 0x02, 0, 0, 0, 0};
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[20] = {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. */
-static uint32_t frame_seq_nb = 0;
+static uint32_t frame_seq_nb = 0,frame_seq_nb2=0;
/* Hold copy of status register state here for reference, so reader can examine it at a breakpoint. */
static uint32_t status_reg = 0;
@@ -125,7 +134,7 @@
static double tof;
-uint32_t anchor_dist_last_frm[TAG_NUM_IN_SYS];
+int32_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 +145,7 @@
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];
+int32_t g_Tagdist[TAG_NUM_IN_SYS];
uint8_t g_flag_Taggetdist[256];
/*------------------------------------ Functions ------------------------------------------*/
@@ -229,7 +238,7 @@
for(i=0;i<255;i++)
{
g_flag_Taggetdist[i]++;
- if(g_flag_Taggetdist[i]>=2)
+ if(g_flag_Taggetdist[i]>=20)
{
g_Tagdist[i]=0xffff;
}
@@ -264,10 +273,12 @@
tx_poll_msg[MESSAGE_TYPE_IDX]=POLL;
tx_resp_msg[MESSAGE_TYPE_IDX]=RESPONSE;
tx_final_msg[MESSAGE_TYPE_IDX]=FINAL;
+ tx_sync_msg[MESSAGE_TYPE_IDX]=SYNC;
+
memcpy(&tx_poll_msg[TAG_ID_IDX], &dev_id, 4);
memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 4);
memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 4);
-
+ memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &dev_id, 4);
}
uint16_t Checksum_u16(uint8_t* pdata, uint32_t len)
{
@@ -279,7 +290,7 @@
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;
@@ -288,17 +299,31 @@
dwt_configuresleep(0x940, 0x7);
dwt_entersleep();
}
+extern uint8_t g_start_send_flag;
+u8 g_start_sync_flag;
+void SyncPoll(u8 sync_seq)
+{
+ g_start_sync_flag=1;
+ dwt_forcetrxoff();
+ tx_sync_msg[SYNC_SEQ_IDX]=sync_seq;
+ dwt_writetxdata(sizeof(tx_sync_msg), tx_sync_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+ dwt_writetxfctrl(sizeof(tx_sync_msg), 0);//设置超宽带发送数据长度
+ dwt_starttx(DWT_START_TX_IMMEDIATE);
+}
uint16_t g_Resttimer;
uint8_t result;
u8 tag_succ_times=0;
-u32 hex_dist;
+int32_t hex_dist,hex_dist2;
u16 checksum;
+int8_t tag_delaytime;
+extern uint16_t sync_timer;
+u16 tmp_time;
void Tag_App(void)//发送模式(TAG标签)
{
uint32_t frame_len;
uint32_t final_tx_time;
u32 start_poll;
- u8 i;
+ u8 i,getsync_flag=0;
//LED0_ON;
dwt_forcetrxoff();
g_Resttimer=0;
@@ -307,8 +332,9 @@
tag_succ_times = 0;
tx_poll_msg[BATTARY_IDX] = Get_Battary();
tx_poll_msg[BUTTON_IDX] = !READ_KEY0;
-
- for(i=0;i<REPOET_ANC_NUM;i++)
+ tx_poll_msg[SEQUENCE_IDX] = frame_seq_nb++;
+ 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;
@@ -324,8 +350,8 @@
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();
- UART_CheckReceive();
- UART_CheckSend();
+ IdleTask();
+
};
/* Increment frame sequence number after transmission of the poll message (modulo 256). */
@@ -349,12 +375,27 @@
* As the sequence number field of the frame is not relevant, it is cleared to simplify the validation of the frame. */
if (rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,4)) //判断接收到的数据是否是response数据
- {
+ { u16 anc_id_recv;
/* Retrieve poll transmission and response reception timestamp. */
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
- memcpy(&anchor_dist_last_frm[tag_id], &rx_buffer[DIST_IDX], 4);
+ if(getsync_flag==0&&g_com_map[DEV_ROLE])
+ {
+ getsync_flag=1;
+ memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
+ memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],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;
+ }
+ memcpy(&hex_dist2, &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
@@ -375,10 +416,28 @@
result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
tag_succ_times++;
- #ifdef WORK_MODE_TAG
- LED0_BLINK;
- #endif
+ LED0_BLINK;
+
+ memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
+// g_Tagdist[anc_id_recv]= hex_dist;
+// g_flag_Taggetdist[anc_id_recv]=0;
+ if(!g_com_map[MODBUS_MODE])
+ {
+ 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);
+
+ memcpy(&usart_send[9],&hex_dist2,4);
+ 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);
+ }
+ // memcpy(&Modbus_HoldReg[anc_id_recv*2],&hex_dist,4);
/* 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
@@ -405,22 +464,23 @@
// 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. */
}
-extern uint8_t g_start_send_flag;
+int8_t correction_time;
+extern uint8_t sync_seq;
+#define TDFILTER
+
void Anchor_App(void)
{
uint32_t frame_len;
uint32_t resp_tx_time;
-
+ static u8 misdist_num;
/* Clear reception timeout to start next ranging process. */
dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
@@ -428,10 +488,9 @@
dwt_rxenable(0);//打开接收
/* 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
+ 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
{
- UART_CheckReceive();
- UART_CheckSend();
+ IdleTask();
g_Resttimer=0;
};
@@ -463,6 +522,13 @@
if (rx_buffer[MESSAGE_TYPE_IDX] == POLL&&(anchor_type == rx_buffer[ANC_TYPE_IDX])) //判断是否是poll包数据
{
+ tmp_time=TIM3->CNT;
+ memcpy(&tx_resp_msg[ANCTIMEMS],&sync_timer,2);
+ memcpy(&tx_resp_msg[ANCTIMEUS],&tmp_time,2);
+
+// 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
@@ -475,7 +541,7 @@
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
@@ -484,6 +550,7 @@
battary = rx_buffer[BATTARY_IDX];
button = rx_buffer[BUTTON_IDX];
+ frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
/* We assume that the transmission is achieved correctly, now poll for reception of expected "final" frame or error/timeout.
* See NOTE 7 below. */
if(result==0)
@@ -544,46 +611,67 @@
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)
+ hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET];
+ if(hex_dist-anchor_dist_last_frm[tag_id_recv-TAG_ID_START]<1500||misdist_num>4)
+ {
+ misdist_num=0;
+ if(hex_dist<100000&&hex_dist>-1000)
+ {
+ if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS)
{
- 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 = 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
-
+ 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;
+ g_Tagdist[tag_id_recv]= hex_dist;
+ #ifdef TDFILTER
+ TrackingDiffUpdate(pUWBDistanceTrackingDiff, (float)hex_dist);
+ hex_dist=pUWBDistanceTrackingDiff->pos_predict;
+ #endif
+ }
+ his_dist[tag_id_recv-TAG_ID_START]=hex_dist;
+ g_flag_Taggetdist[tag_id_recv]=0;
+ if(!g_com_map[MODBUS_MODE])
+ {
+ 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],&anchor_dist_last_frm[tag_id_recv-TAG_ID_START],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);
+ }
+ // memcpy(&Modbus_HoldReg[tag_id_recv*2],&anchor_dist_last_frm[tag_id_recv-TAG_ID_START],4);
+ Modbus_HoldReg[tag_id_recv*2]=anchor_dist_last_frm[tag_id_recv-TAG_ID_START]>>16;
+ Modbus_HoldReg[tag_id_recv*2+1]=anchor_dist_last_frm[tag_id_recv-TAG_ID_START];
//dis_after_filter = LP_Frac_Update(p_Dis_Filter, dist_cm);
-
+ }
+ }
+ }else{
+ misdist_num++;
+ }
+ if(anchor_dist_last_frm[tag_id_recv-TAG_ID_START]>1000)
+ {anchor_dist_last_frm[tag_id_recv-TAG_ID_START]=anchor_dist_last_frm[tag_id_recv-TAG_ID_START];}
}
}else{
/* Clear RX error events in the DW1000 status register. */
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
+ }else if(rx_buffer[MESSAGE_TYPE_IDX] == SYNC)
+ {
+ if(rx_buffer[SYNC_SEQ_IDX]<sync_seq)
+ // if(rx_buffer[SYNC_SEQ_IDX]==2)
+ {
+ sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
+ TIM3->CNT = sync_seq*325%1000+15;
+ sync_timer = sync_seq*325/1000;
+ SyncPoll(sync_seq);
+ }
}
}
else
--
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