From dcac514bc4be1c6acfd7cf92ce609d282ba55f1c Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期二, 10 十一月 2020 20:48:07 +0800
Subject: [PATCH] V2.13 1增加临近距离判断 2增加注册包超时清空机制
---
源码/核心板/Src/application/dw_app.c | 139 +++++++++++++++++++++++++++------------------
1 files changed, 83 insertions(+), 56 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 d4c1ad6..2227003 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"
@@ -166,7 +166,7 @@
u16 tag_time_recv[TAG_NUM_IN_SYS];
u8 usart_send[100],usart_send_anc[100];
-u8 battary,button;
+u8 battary,button,tag_frequency,tag_slotpos;
extern uint8_t g_pairstart;
void tag_sleep_configuraion(void)
{
@@ -176,14 +176,14 @@
extern uint8_t g_start_send_flag;
u8 g_start_sync_flag;
-void SyncPoll(u8 sync_seq,uint32_t sync_baseid)
+void SyncPoll(u8 sync_seq)
{u8 result;
g_start_sync_flag=1; //中断模式，退出终端后，需要重新来过
dwt_forcetrxoff(); //关闭接收，以防在RX ON 状态
tx_sync_msg[SYNC_SEQ_IDX]=sync_seq;
- memcpy(&tx_sync_msg[ANCHOR_ID_IDX],&sync_baseid,4);
+ memcpy(&tx_sync_msg[ANCHOR_ID_IDX],&dev_id,4);
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);
@@ -918,12 +918,12 @@
uint32_t time_monitor[10];
extern uint16_t configremotetagID;
extern u8 remotetag_paralen;
-u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,waittagconfig_reponse;
+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
{
- u8 motorstate;
- time_monitor[0] = sync_timer*1000+TIM3->CNT;
+
tmp_time=TIM3->CNT;
+ memcpy(&tx_nearresp_msg[NR_NEARSWITCH_DISTANCE],&g_com_map[NEARSWITCH_DISTANCE_INDEX],2);
memcpy(&tx_nearresp_msg[ANCTIMEMS],&sync_timer,2);
memcpy(&tx_nearresp_msg[ANCTIMEUS],&tmp_time,2);
memcpy(&tx_nearresp_msg[TAGSLOTPOS],&taglist_pos,2);
@@ -935,18 +935,6 @@
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);
- 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)
{
@@ -969,20 +957,20 @@
tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
remotetag_paralen = 2+3;
remotetag_para[0] = 2;
- remotetag_para[1] = 6;
+ remotetag_para[1] = pwtag.index;
remotetag_para[2] = 2;
memcpy(&remotetag_para[3],&pwtag.group_interval[i],2);
memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,remotetag_paralen);
- dwt_writetxdata(22+remotetag_paralen, tx_nearresp_msg, 0);//写入发送数据
- dwt_writetxfctrl(22+remotetag_paralen, 0);//设定发送长度
+ dwt_writetxdata(24+remotetag_paralen, tx_nearresp_msg, 0);//写入发送数据
+ dwt_writetxfctrl(24+remotetag_paralen, 0);//设定发送长度
remotesend_state=0;
break;
}
}
}else{
- dwt_writetxdata(22, tx_nearresp_msg, 0);//写入发送数据
- dwt_writetxfctrl(22, 0);//设定发送长度
+ dwt_writetxdata(24, tx_nearresp_msg, 0);//写入发送数据
+ dwt_writetxfctrl(24, 0);//设定发送长度
}
// if(remotesend_state&&tag_id_recv==configremotetagID)
@@ -998,6 +986,8 @@
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];
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
@@ -1025,8 +1015,8 @@
resp_tx_ts = get_tx_timestamp_u64();//获得response发送时间T3
final_rx_ts = get_rx_timestamp_u64();//获得final接收时间T6
- 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
+// 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
final_msg_get_ts(&rx_buffer[FINAL_MSG_POLL_TX_TS_IDX], &poll_tx_ts);//从接收数据中读取T1，T4，T5
final_msg_get_ts(&rx_buffer[FINAL_MSG_RESP_RX_NEARBASE_IDX+ancrec_nearbasepos*4], &resp_rx_ts);
@@ -1045,13 +1035,13 @@
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
-// dwt_readdiagnostics(&d1);
+ dwt_readdiagnostics(&d1);
// time_monitor[2] = sync_timer*1000+TIM3->CNT;
-// LOS(&d1);
-// time_monitor[3] = sync_timer*1000+TIM3->CNT;
+ LOS(&d1);
+ 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];
@@ -1073,6 +1063,10 @@
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);
@@ -1109,8 +1103,10 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}
+
+extern u16 synclost_count;
uint32_t current_syncid=0xffffffff,synclost_timer;
-extern u8 flag_syncbase;
+extern u8 flag_syncbase,waitsync_flag;
u8 tagpos_rec[50],tagpos_send[50],ancidlist_num;
u16 ancidlist_rec[20],ancidlist_send[20];
void Anchor_App(void)
@@ -1134,7 +1130,7 @@
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;
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
@@ -1144,34 +1140,24 @@
memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
switch(rx_buffer[MESSAGE_TYPE_IDX])
{
+ uint16_t checksum;
case POLL:
if (anchor_type == rx_buffer[ANC_TYPE_IDX])
Anchor_RecPoll();
break;
case SYNC:
memcpy(&rec_syncid,&rx_buffer[ANCHOR_ID_IDX],4);
- if(rec_syncid<current_syncid)
- {
- current_syncid=rec_syncid;
+ if(anc_id_recv==g_com_map[SYNCBASEID])
+ {
+ synclost_count = 0;
flag_syncbase=0;
sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
- TIM3->CNT = sync_seq*325%1000+15;
- sync_timer = sync_seq*325/1000;
+ TIM3->CNT = (sync_seq*325%1000)-80;
+ sync_timer = (sync_seq*325/1000);
synclost_timer=0;
- //SyncPoll(sync_seq,rec_syncid);
- }else if(rec_syncid==current_syncid)
- {
- if(rx_buffer[SYNC_SEQ_IDX]<sync_seq)
- {
- flag_syncbase=0;
- sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
- TIM3->CNT = sync_seq*325%1000+5;
- sync_timer = sync_seq*325/1000+995;
- synclost_timer=0;
- //SyncPoll(sync_seq,rec_syncid);
- }
-
- }
+ if(g_com_map[BASESYNCSEQ]==2)
+ SyncPoll(sync_seq);
+ }
break;
case NEAR_MSG:
if(anc_id_recv==dev_id)
@@ -1183,14 +1169,51 @@
ancidlist_num=g_com_map[NEARBASE_NUM];
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+ancidlist_num*2+2;
+ send_len=21+ancidlist_num*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 REG_POLL:
+ for(i=0;i<MAX_REGTAGNUM;i++)
+ {
+ if(tag_id_recv==regtag_map.tagid[i]&®tag_map.remain_time[i]>0)
+ {
+ tx_near_msg[REGR_TAGSLOTPOS_INDEX]=regtag_map.tag_slotpos[i];
+ tx_near_msg[REGR_TAGFREQ_INDEX] = regtag_map.tag_frequency[i];
+ memcpy(&tx_near_msg[TAG_ID_IDX],&tag_id_recv,2);
+ memcpy(&tx_near_msg[ANCHOR_ID_IDX],&dev_id,2);
+ tx_near_msg[MESSAGE_TYPE_IDX] = REG_RESPONSE;
+ ancidlist_num=g_com_map[NEARBASE_NUM];
+ 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=21+ancidlist_num*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);
+ regtag_map.tagid[i] = 0;
+ break;
+ }
- case NEAR_POLL:
+ }
+ if(i==MAX_REGTAGNUM)
+ {
+ dwt_readdiagnostics(&d1);
+ LOS(&d1);
+ usart_send[2]=0x0a;
+ usart_send[3]=20;
+ memcpy(&usart_send[4],&dev_id,2);
+ memcpy(&usart_send[6],&tag_id_recv,2);
+ memcpy(&usart_send[8],&rx_buffer[10],9);
+ usart_send[17] = firstpath_power;
+ checksum = Checksum_u16(&usart_send[2],20);
+ memcpy(&usart_send[22],&checksum,2);
+ UART_PushFrame(usart_send,24);
+ }
+ break;
+ case NEAR_POLL:
+ // GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_SET);
memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
taglist_pos=CmpTagInList(tag_id_recv);
if(taglist_pos==taglist_num)
@@ -1207,10 +1230,10 @@
tagpos_rec[(u8)temp_tagpos]=1;
rec_nearbase_num=rx_buffer[NEARBASENUM_INDEX];
-
+GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_SET);
if(anc_id_recv==dev_id)
{
- Anchor_RecNearPoll(0);
+ Anchor_RecNearPoll(rec_nearbase_num);
}else{
for(i=0;i<rec_nearbase_num;i++)
@@ -1218,8 +1241,9 @@
memcpy(&tempid,&rx_buffer[NEARBASEID_INDEX+i*2],2);
if(tempid==dev_id)
{
+
seize_anchor=0; //非抢占。已存在列表中
- Anchor_RecNearPoll(i+1);
+ Anchor_RecNearPoll(i);
break;
}
}
@@ -1232,7 +1256,10 @@
// }
- break;
+ break;
+ default:
+
+ break;
}
}else{
#ifdef DEBUG_INF
--
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