From df8da3537c0bb35dbbef5885d9475f1b481d2dd5 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期二, 28 十一月 2023 16:03:29 +0800
Subject: [PATCH] V1.3 改成抗遮挡模式，客户反馈效果不好
---
源码/核心板/Src/application/dw_app.c | 313 +++++++++++++++++++--------------------------------
1 files changed, 118 insertions(+), 195 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 447970a..bd021f0 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"
@@ -11,14 +11,14 @@
static dwt_config_t config = {
2, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
- DWT_PLEN_128, /* Preamble length. */
+ DWT_PLEN_1024, /* Preamble length. */
DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */
9, /* TX preamble code. Used in TX only. */
9, /* RX preamble code. Used in RX only. */
1, /* Use non-standard SFD (Boolean) */
DWT_BR_6M8, /* Data rate. */
DWT_PHRMODE_STD, /* PHY header mode. */
- (129 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
+ (1025 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
};
static uint8_t tx_poll_msg[20] = {0};
static uint8_t tx_sync_msg[14] = {0};
@@ -116,6 +116,14 @@
}
}
}
+void SetNLOSNTMSettings(void)
+{
+ uint8_t temp;
+ temp = 7;
+ dwt_writetodevice(LDE_IF_ID,LDE_CFG1_OFFSET,1,&temp);
+ dwt_write16bitoffsetreg(LDE_IF_ID,LDE_CFG2_OFFSET,3);
+ // NTM = dwt_read32bitoffsetreg(LDE_IF_ID,LDE_CFG1_OFFSET) & LDE_CFG1_NSTDEV_MASK;
+}
extern int16_t g_commap_antdelay;
void Dw1000_Init(void)
{
@@ -129,16 +137,17 @@
/* Configure DW1000. See NOTE 6 below. */
dwt_configure(&config);//配置DW1000
-
+ SetNLOSNTMSettings();
/* Apply default antenna delay value. See NOTE 1 below. */
dwt_setrxantennadelay(RX_ANT_DLY); //设置接收天线延迟
dwt_settxantennadelay(0); //设置发射天线延迟
-
+
/* Set expected response's delay and timeout. See NOTE 4 and 5 below.
* As this example only handles one incoming frame with always the same delay and timeout, those values can be set here once for all. */
//设置接收超时时间
}
+
extern u16 group_id;
void Dw1000_App_Init(void)
{
@@ -474,14 +483,10 @@
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;
@@ -524,14 +529,10 @@
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;
@@ -864,27 +865,39 @@
// min_power = - 10 * log10((F1 *F1 + F2 * F2 + F3 * F3) / (C *B));
return min_power;
}
+static void resp_msg_set_ts(uint8_t *ts_field, const uint64_t ts)
+{
+ int i;
+ for (i = 0; i < 4; i++)
+ {
+ ts_field[i] = (ts >> (i * 8)) & 0xFF;
+ }
+}
u16 smallcar_idlist[10]={0x4052,0x4032,0x4055,0x4034,0x4016,0x4010,0x4036,0x4027,0x4024,0x4047};
extern u16 dist_threshold;
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,getrange_success=0;
int32_t filter_dist,filter_speed;
u8 newmeasure,recpoll_len;
-u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
+uint8_t temp_nearbaspos;
+uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos) //0 mainbase 1 first near_base
{
- u8 motorstate;
- tmp_time=TIM3->CNT;
+ uint8_t motorstate;
+// tmp_time=TIM3->CNT;
+ temp_nearbaspos = ancrec_nearbasepos;
memcpy(&tx_nearresp_msg[ANCTIMEMS],&sync_timer,2);
memcpy(&tx_nearresp_msg[ANCTIMEUS],&tmp_time,2);
memcpy(&tx_nearresp_msg[TAGSLOTPOS],&taglist_pos,2);
memcpy(&tx_nearresp_msg[TAG_ID_IDX],&tag_id_recv,2);
+ memcpy(&tx_nearresp_msg[RESP_MSG_ANC_DISTOFFSET],&g_com_map[DIST_OFFSET],2);
poll_rx_ts = get_rx_timestamp_u64();//获得Poll包接收时间T2
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+(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_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间、
+ resp_tx_ts = (((uint64_t)(resp_tx_time & 0xFFFFFFFEUL)) << 8) + TX_ANT_DLY;
+ resp_msg_set_ts(&tx_nearresp_msg[RESP_MSG_POLL_RX_TS_IDX], poll_rx_ts);
+ resp_msg_set_ts(&tx_nearresp_msg[RESP_MSG_RESP_TX_TS_IDX], resp_tx_ts);
if(new_tagid)
{
tagdist_list[taglist_pos]=0x1ffff;
@@ -892,188 +905,84 @@
}else{
memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
}
-
- if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1])
+ motorstate =0;
+ if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1]||tagdist_list[taglist_pos]<0)
+ {
+ motorstate =0;
+ }
+ else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
{
- motorstate =0;
- }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
- {
- motorstate =2;
+ if(1)//flag_tag_distsmooth[taglist_pos])
+ {motorstate =2;
+ }else{
+ motorstate =0;
+ }
}else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE3])
{
- motorstate =1;
- }else{
- motorstate =0;
+ if(1)//flag_tag_distsmooth[taglist_pos])
+ {motorstate =1;
+ }else{
+ motorstate =0;
+ }
}
-
tx_nearresp_msg[GROUP_ID_IDX] = group_id;
tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
- tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|(motorstate&0xf);
- 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
+ tx_nearresp_msg[MOTORSTATE_INDEX]=motorstate;//(remotesend_state<<4)|motorstate;
+ tx_nearresp_msg[MOTORSTATE_INDEX]&=0x0f;
+// 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(38, tx_nearresp_msg, 0);//写入发送数据
+ dwt_writetxfctrl(38, 0);//设定发送长度
+ // }
+ result = dwt_starttx(DWT_START_TX_DELAYED );//延迟发送，等待接收
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
- { };
- }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)) //抢占anchor 失败
- {
- return 1;
- }
- if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)&&group_id==rx_buffer[GROUP_ID_IDX]) //判断是否为Final包
- {
- uint32_t poll_tx_ts, resp_rx_ts, final_tx_ts;
- uint32_t poll_rx_ts_32, resp_tx_ts_32, final_rx_ts_32;
- double Ra, Rb, Da, Db;
- int64_t tof_dtu;
- u8 si;
- 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
- 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);
- final_msg_get_ts(&rx_buffer[FINAL_MSG_FINAL_TX_TS_IDX], &final_tx_ts);
+ while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_TXFRS ))&&!g_start_sync_flag)///不断查询芯片状态直到接收成功或者出现错误
+ { };
+ }else{
+// if(g_com_map[MODBUS_ID1]==1)
+// {
+// #ifdef DBGMSG_OUTPUT
+// dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
+// SendDbgMsg(dbgmsg,dbgmsg_len);
+// #endif
+// }
+ result++;
+ }
+ if(!seize_anchor)
+ {
+ 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],&tagdist_list[taglist_pos],4);
+ usart_send[13] = battary;
+ usart_send[14] = button;
+ usart_send[15] = firstpath_power;
+ usart_send[16] = rx_power;
+ checksum = Checksum_u16(&usart_send[2],17);
+ memcpy(&usart_send[19],&checksum,2);
+
+ UART_PushFrame(usart_send,21);
+ }
- poll_rx_ts_32 = (uint32_t)poll_rx_ts;//使用32位数据计算
- resp_tx_ts_32 = (uint32_t)resp_tx_ts;
- final_rx_ts_32 = (uint32_t)final_rx_ts;
- Ra = (double)(resp_rx_ts - poll_tx_ts);//Tround1 = T4 - T1
- Rb = (double)(final_rx_ts_32 - resp_tx_ts_32);//Tround2 = T6 - T3
- Da = (double)(final_tx_ts - resp_rx_ts);//Treply2 = T5 - T4
- Db = (double)(resp_tx_ts_32 - poll_rx_ts_32);//Treply1 = T3 - T2
- tof_dtu = (int64_t)((Ra * Rb - Da * Db) / (Ra + Rb + Da + Db));//计算公式
- 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 * 1000; //dis 为单位为cm的距离
- dwt_readdiagnostics(&d1);
- LOS(&d1);
- /*--------------------------以下为非测距逻辑------------------------*/
- //dist_cm=33000;
- getrange_success = 1;
-
- 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]*10;
-
- if(recpoll_len==rec_nearbase_num*4+15)
- {
- hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10-rec_antdelay*10;
- }
-
- g_flag_Taggetdist[taglist_pos]=0;
-
- if(hex_dist>-100000&&hex_dist<2000000)
- {
- if(abs(hex_dist-his_dist[taglist_pos])<dist_threshold||misdist_num[taglist_pos]>3)
- {u8 i=0;
-
- g_Resttimer=0;
- IWDG_Feed();
- #ifdef TDFILTER
- NewTrackingDiffUpdate(taglist_pos, (float)hex_dist);
- filter_dist = pos_predict[taglist_pos]/10;
- filter_speed = vel_predict[taglist_pos]/10;
- newmeasure = 1;
- #else
- filter_dist=hex_dist/10;
- #endif
- misdist_num[taglist_pos]=0;
- tagdist_list[taglist_pos] = filter_dist;
- his_dist[taglist_pos]=hex_dist;
- if(hex_dist>0)
- {
- g_Tagdist[taglist_pos]=hex_dist/10;
- }else{
- // g_Tagdist[taglist_pos]= 1;
- }
- #ifdef USART_SINGLE_OUTPUT
- 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);
- if(tagdist_list[taglist_pos]<=0)
- tagdist_list[taglist_pos]=0x2ffff;
- 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;
- checksum = Checksum_u16(&usart_send[2],17);
- memcpy(&usart_send[19],&checksum,2);
- if(g_com_map[MODBUS_MODE]!=1)
- UART_PushFrame(usart_send,21);
- #else
- memcpy(&usart_send_anc[4+6*anc_report_num],&tag_id_recv,2);
- memcpy(&usart_send_anc[6+6*anc_report_num],&tagdist_list[taglist_pos],4);
- anc_report_num++;
- #endif
- tagstate_list[taglist_pos] = (button<<8)|battary;
- for(i=0;i<taglist_num-1;i++)
- {
- if( tagdist_list[i]>tagdist_list[i+1]&&tagdist_list[i+1]!=0)
- {
- int32_t tempdist;
- u16 tempid,tempstate;
- tempdist = tagdist_list[i];
- tempid = tagid_list[i];
- tempstate = tagstate_list[i];
-
- tagdist_list[i] = tagdist_list[i+1];
- tagid_list[i] = tagid_list[i+1];
- tagstate_list[i] = tagstate_list[i+1];
-
- tagdist_list[i+1] = tempdist;
- tagid_list[i+1] = tempid;
- tagstate_list[i+1] = tempstate;
- }
- }
- for(i=0;i<taglist_num;i++)
- {
- Modbus_HoldReg[i*4] = tagid_list[i];
- Modbus_HoldReg[i*4+1] = tagstate_list[i];
- memcpy(&Modbus_HoldReg[i*4+2],&tagdist_list[i],4);
- }
- }else{
- // printf("%d",hex_dist);
- misdist_num[taglist_pos]++;
- }
- }
- }
- }else{
- //printf("%x/n",status_reg);
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
- }
}
uint32_t current_syncid=0xffffffff,synclost_timer;
-extern u8 flag_syncbase;
-u8 tagpos_rec[50],tagpos_send[50],ancidlist_num;
-u16 ancidlist_rec[20],ancidlist_send[20],rec_ancidlist[20],rec_ancdistlist[20];
+extern uint8_t flag_syncbase;
+uint8_t tagpos_rec[50],tagpos_send[50],ancidlist_num;
+uint16_t ancidlist_rec[20],ancidlist_send[20],rec_ancidlist[20],rec_ancdistlist[20];
void Anchor_App(void)
{
-
- u8 send_len,i;
- u16 tempid;
+ uint8_t send_len,i;
+ uint16_t tempid;
uint32_t rec_syncid;
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
@@ -1089,7 +998,7 @@
};
//GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);
if (status_reg & SYS_STATUS_RXFCG)//成功接收
- { u16 tag_recv_interval;
+ { uint16_t tag_recv_interval;
float temp_tagpos;
@@ -1115,7 +1024,7 @@
current_syncid=rec_syncid;
flag_syncbase=0;
sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
- TIM3->CNT = sync_seq*325%1000+15;
+// TIM3->CNT = sync_seq*325%1000+15;
sync_timer = sync_seq*325/1000;
synclost_timer=0;
//SyncPoll(sync_seq,rec_syncid);
@@ -1125,7 +1034,7 @@
{
flag_syncbase=0;
sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
- TIM3->CNT = sync_seq*325%1000+5;
+// TIM3->CNT = sync_seq*325%1000+5;
sync_timer = sync_seq*325/1000+995;
synclost_timer=0;
//SyncPoll(sync_seq,rec_syncid);
@@ -1158,6 +1067,7 @@
memcpy(&rec_ancidlist,&rx_buffer[NEARBASEID_INDEX],2*rec_nearbase_num);
memcpy(&rec_ancdistlist,&rx_buffer[NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
memcpy(&rec_antdelay,&rx_buffer[NEARBASEID_INDEX+rec_nearbase_num*4],2);
+ g_Resttimer = 0;
#ifdef USART_ALL_OUTPUT
usart_send[2] = 0x0c;//正常模式
usart_send[3] = 8+rec_nearbase_num*4;//数据段长度
@@ -1186,7 +1096,7 @@
}
tagofflinetime[taglist_pos]=0;
temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime);
- tagpos_rec[(u8)temp_tagpos]=1;
+ tagpos_rec[(uint8_t)temp_tagpos]=1;
if(rec_nearbase_num>ancidlist_num)
@@ -1201,6 +1111,11 @@
if(tempid==dev_id)
{
seize_anchor=0; //非抢占。已存在列表中
+ if(rec_ancdistlist[i]!=0)
+ {
+ g_Tagdist[taglist_pos] = rec_ancdistlist[i];
+ tagdist_list[taglist_pos] = rec_ancdistlist[i];
+ }
Anchor_RecNearPoll(i);
break;
}
@@ -1214,9 +1129,17 @@
break;
}
- }else{
+ }
+}else{
+// if(g_com_map[MODBUS_ID1]==1)
+// {
+// #ifdef DBGMSG_OUTPUT
+// dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
+// SendDbgMsg(dbgmsg,dbgmsg_len);
+// #endif
+// }
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
+ dwt_forcetrxoff();
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
-}
-
--
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