From e129a69147731a8ff302413e009b792afee5fb2c Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期三, 04 十二月 2019 21:50:09 +0800
Subject: [PATCH] 配临近算法初步完成，未测试
---
源码/核心板/Src/application/dw_app.c | 823 +++++++++++++++++++++++++++++++++++-----------------------
1 files changed, 493 insertions(+), 330 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 00e7907..34f43ff 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"
@@ -1,88 +1,10 @@
-
-/*! ----------------------------------------------------------------------------
- * @file main.c
- * @brief Double-sided two-way ranging (DS TWR) initiator example code
- *
- *
- *
- * @attention
- *
- * Copyright 2015 (c) Decawave Ltd, Dublin, Ireland.
- *
- * All rights reserved.
- *
- * @author Decawave
- */
-
-#include <string.h>
#include "dw_app.h"
-#include "deca_device_api.h"
-#include "deca_regs.h"
-#include "dw_driver.h"
-#include "Spi.h"
-#include "led.h"
-#include "serial_at_cmd_app.h"
-#include "Usart.h"
-#include "global_param.h"
-#include "filters.h"
-#include <stdio.h>
-#include "beep.h"
-
-
-/*------------------------------------ Marcos ------------------------------------------*/
-/* Inter-ranging delay period, in milliseconds. */
-#define RNG_DELAY_MS 100
-
-/* Default antenna delay values for 64 MHz PRF. See NOTE 1 below. */
-#define TX_ANT_DLY 0
-#define RX_ANT_DLY 32899
-
-/* UWB microsecond (uus) to device time unit (dtu, around 15.65 ps) conversion factor.
- * 1 uus = 512 / 499.2 祍 and 1 祍 = 499.2 * 128 dtu. */
-#define UUS_TO_DWT_TIME 65536
-
-/* Delay between frames, in UWB microseconds. See NOTE 4 below. */
-/* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
-#define POLL_TX_TO_RESP_RX_DLY_UUS 150
-/* This is the delay from Frame RX timestamp to TX reply timestamp used for calculating/setting the DW1000's delayed TX function. This includes the
- * frame length of approximately 2.66 ms with above configuration. */
-#define RESP_RX_TO_FINAL_TX_DLY_UUS 400
-/* Receive response timeout. See NOTE 5 below. */
-#define RESP_RX_TIMEOUT_UUS 600
-
-#define POLL_RX_TO_RESP_TX_DLY_UUS 420
-/* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
-#define RESP_TX_TO_FINAL_RX_DLY_UUS 200
-/* Receive final timeout. See NOTE 5 below. */
-#define FINAL_RX_TIMEOUT_UUS 4300
-
-#define SPEED_OF_LIGHT 299702547
-
-/* Indexes to access some of the fields in the frames defined above. */
-#define FINAL_MSG_POLL_TX_TS_IDX 10
-#define FINAL_MSG_RESP_RX_TS_IDX 14
-#define FINAL_MSG_FINAL_TX_TS_IDX 18
-#define FINAL_MSG_TS_LEN 4
-
-#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 TIMECORRE 14
-
-#define POLL 0x01
-#define RESPONSE 0x02
-#define FINAL 0x03
-
-/*------------------------------------ Variables ------------------------------------------*/
-/* Default communication configuration. We use here EVK1000's default mode (mode 3). */
+enum enumtagstate
+{
+ DISCPOLL,
+ GETNEARMSG,
+ NEARPOLL,
+}tag_state;
static dwt_config_t config = {
2, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
@@ -95,66 +17,34 @@
DWT_PHRMODE_STD, /* PHY header mode. */
(129 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
};
-
-/* Frames used in the ranging process. See NOTE 2 below. */
static uint8_t tx_poll_msg[20] = {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[18] = {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 uint8_t tx_sync_msg[14] = {0};
+static uint8_t tx_final_msg[60] = {0};
+static uint8_t tx_resp_msg[22] = {0};
+static uint8_t tx_near_msg[80] = {0};
+
static uint32_t frame_seq_nb = 0;
-
-/* Hold copy of status register state here for reference, so reader can examine it at a breakpoint. */
static uint32_t status_reg = 0;
-
-/* Buffer to store received response message.
- * Its size is adjusted to longest frame that this example code is supposed to handle. */
-#define RX_BUF_LEN 24
-static uint8_t rx_buffer[RX_BUF_LEN];
-
-/* Time-stamps of frames transmission/reception, expressed in device time units.
- * As they are 40-bit wide, we need to define a 64-bit int type to handle them. */
+static uint8_t rx_buffer[100];
static uint64_t poll_tx_ts;
static uint64_t resp_rx_ts;
static uint64_t final_tx_ts;
-
-/* Length of the common part of the message (up to and including the function code, see NOTE 2 below). */
static uint64_t poll_rx_ts;
static uint64_t resp_tx_ts;
static uint64_t final_rx_ts;
-
static double tof;
-
-uint32_t anchor_dist_last_frm[TAG_NUM_IN_SYS],his_dist[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;
+uint32_t anc_id_recv = 0;
uint8_t random_delay_tim = 0;
-
double distance, dist_no_bias, dist_cm;
-
uint32_t g_UWB_com_interval = 0;
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[TAG_NUM_IN_SYS];
uint8_t g_flag_Taggetdist[256];
-/*------------------------------------ Functions ------------------------------------------*/
-
-/*! ------------------------------------------------------------------------------------------------------------------
- * @fn get_tx_timestamp_u64()
- *
- * @brief Get the TX time-stamp in a 64-bit variable.
- * /!\ This function assumes that length of time-stamps is 40 bits, for both TX and RX!
- *
- * @param none
- *
- * @return 64-bit value of the read time-stamp.
- */
static uint64_t get_tx_timestamp_u64(void)
{
uint8_t ts_tab[5];
@@ -169,16 +59,6 @@
return ts;
}
-/*! ------------------------------------------------------------------------------------------------------------------
- * @fn get_rx_timestamp_u64()
- *
- * @brief Get the RX time-stamp in a 64-bit variable.
- * /!\ This function assumes that length of time-stamps is 40 bits, for both TX and RX!
- *
- * @param none
- *
- * @return 64-bit value of the read time-stamp.
- */
static uint64_t get_rx_timestamp_u64(void)
{
uint8_t ts_tab[5];
@@ -193,17 +73,6 @@
return ts;
}
-/*! ------------------------------------------------------------------------------------------------------------------
- * @fn final_msg_set_ts()
- *
- * @brief Fill a given timestamp field in the final message with the given value. In the timestamp fields of the final
- * message, the least significant byte is at the lower address.
- *
- * @param ts_field pointer on the first byte of the timestamp field to fill
- * ts timestamp value
- *
- * @return none
- */
static void final_msg_set_ts(uint8_t *ts_field, uint64_t ts)
{
int i;
@@ -265,13 +134,18 @@
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;
- 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);
+ tx_sync_msg[MESSAGE_TYPE_IDX]=SYNC;
+ memcpy(&tx_poll_msg[TAG_ID_IDX], &dev_id, 2);
+ memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 2);
+ memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 2);
+ memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &dev_id, 2);
+ memcpy(&tx_near_msg[ANCHOR_ID_IDX], &dev_id, 2);
+ memcpy(&tx_near_msg[TAG_ID_IDX], &dev_id, 2);
}
uint16_t Checksum_u16(uint8_t* pdata, uint32_t len)
{
@@ -292,131 +166,116 @@
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;
int32_t hex_dist;
u16 checksum;
int8_t tag_delaytime;
-void Tag_App(void)//发送模式(TAG标签)
+extern uint16_t sync_timer;
+u16 tmp_time;
+int32_t temp_dist;
+u16 tagslotpos;
+
+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];
+void Poll(void)
{
uint32_t frame_len;
uint32_t final_tx_time;
u32 start_poll;
- u8 i;
- //LED0_ON;
- dwt_forcetrxoff();
- g_Resttimer=0;
+ 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;
- tx_poll_msg[BATTARY_IDX] = Get_Battary();
- tx_poll_msg[BUTTON_IDX] = !READ_KEY0;
- 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;
-
+ 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
-
- /* Start transmission, indicating that a response is expected so that reception is enabled automatically after the frame is sent and the delay
- * set by dwt_setrxaftertxdelay() has elapsed. */
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();
- UART_CheckReceive();
-
};
-
- /* Increment frame sequence number after transmission of the poll message (modulo 256). */
if(status_reg==0xffffffff)
{
NVIC_SystemReset();
}
-
if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
{
- /* Clear good RX frame event and TX frame sent in the DW1000 status register. */
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚寄存器标志位
-
- /* A frame has been received, read it into the local buffer. */
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
-
-
- /* 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. */
-
- 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
+ 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
{
- /* 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
+ 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;
+ }
- if(i==0)
- {
- tag_delaytime=rx_buffer[TIMECORRE];
- if(tag_delaytime>g_com_map[COM_INTERVAL]/2)
- {
- tag_delaytime=tag_delaytime-g_com_map[COM_INTERVAL];
- }
- }
-
- memcpy(&anchor_dist_last_frm[0], &rx_buffer[DIST_IDX], 4);
+ 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 timestamp is the transmission time we programmed plus the TX antenna delay. */
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
-
- /* Write all timestamps in the final message. See NOTE 10 below. */
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);
-
- /* Write and send final message. See NOTE 7 below. */
-
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++;
-
+ result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
+ tag_succ_times++;
LED0_BLINK;
-
- 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);
- hex_dist = anchor_dist_last_frm[0];;
- memcpy(&usart_send[9],&hex_dist,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);
-
- /* Poll DW1000 until TX frame sent event set. See NOTE 8 below. */
+ if(temp_dist<mindist)
+ {
+ memcpy(&minid, &rx_buffer[ANCHOR_ID_IDX], 4);
+ tag_state=GETNEARMSG;
+ }
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
-
- /* Increment frame sequence number after transmission of the final message (modulo 256). */
-
random_delay_tim = 0;
}
else
@@ -426,91 +285,278 @@
}
else
{
- /* Clear RX error events in the DW1000 status register. */
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
random_delay_tim = DFT_RAND_DLY_TIM_MS;
}
-// deca_sleep(10);
}
-// dwt_entersleep();
- if(tag_succ_times<g_com_map[MIN_REPORT_ANC_NUM])
+ if(getsync_flag==0)
{
- //poll_timer +=time32_incr&0x7+3;
+ tagslotpos--;
+ if(tagslotpos==0||tagslotpos>max_slotpos)
+ {
+ tagslotpos=max_slotpos;
+ }
+ tyncpoll_time=(tagslotpos-1)*slottime;
}
-
- /* Execute a delay between ranging exchanges. */
-
+ mainbase_id=minid;
}
-int8_t correction_time;
-extern uint8_t g_start_send_flag;
-void Anchor_App(void)
+
+u8 FindNearBasePos(u16 baseid)
{
- uint32_t frame_len;
- uint32_t resp_tx_time;
-
- /* 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
-
- /* Activate reception immediately. */
- 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
- {
- IdleTask();
- g_Resttimer=0;
- };
-
- if (status_reg & SYS_STATUS_RXFCG)//成功接收
- { u16 tag_recv_interval;
- /* Clear good RX frame event in the DW1000 status register. */
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);//清除标志位
-
- /* A frame has been received, read it into the local buffer. */
- 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
-
-
- /* 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. */
-
-
- //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];
- memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],4);
- memcpy(&tx_resp_msg[TAG_ID_IDX],&tag_id_recv,4);
- //tx_resp_msg[TAG_ID_IDX] = tag_id_recv;
-// if(tag_recv_timer>tag_time_recv[tag_id_recv-TAG_ID_START])
-// { tag_recv_interval = tag_recv_timer - tag_time_recv[tag_id_recv];
-// }else{
-// tag_recv_interval = tag_recv_timer + 65535 - tag_time_recv[tag_id_recv];
-// }
-
- if (rx_buffer[MESSAGE_TYPE_IDX] == POLL&&(anchor_type == rx_buffer[ANC_TYPE_IDX])) //判断是否是poll包数据
+ u8 i;
+ for(i=0;i<nearbase_num;i++)
+ {
+ if(baseid==nearbaseid_list[i])
+ return i;
+ }
+}
+#define CHANGE_BASE_THRESHOLD 5
+void NearAncSelect(void)
+{static u16 last_mainbase_id,change_base_count;
+ int32_t nearbase_mindist=99999, nearbase_minpos;
+ u8 i;
+ for(i=0;i<nearbase_num;i++)
+ {
+ if(nearbase_mindist<nearbase_distlist[i])
{
- correction_time=tag_timer-tag_id_recv*3;
- if(correction_time == g_com_map[COM_INTERVAL])
- correction_time = 0;
- tx_resp_msg[TIMECORRE] = correction_time;
-// if(correction_time>10)
-// {correction_time++;}
-
- /* Retrieve poll reception timestamp. */
+ nearbase_mindist=nearbase_distlist[i];
+ nearbase_minpos=i;
+ }
+ }
+ if(nearbase_mindist<mainbase_dist-THRESHOLD_CHANGE_MAINBASE_DIST)
+ {
+ if(last_mainbase_id==nearbaseid_list[nearbase_minpos])
+ {
+ change_base_count++;
+ if(change_base_count>CHANGE_BASE_THRESHOLD)
+ {
+ mainbase_id=last_mainbase_id;
+ tag_state=GETNEARMSG;
+ }
+ }else{
+ change_base_count=0;
+ }
+ last_mainbase_id=nearbaseid_list[nearbase_minpos];
+ }else{
+ change_base_count=0;
+ }
+}
+void NearPoll(void)
+{
+ static u8 mainbase_lost_count=0;
+ uint32_t frame_len;
+ uint32_t final_tx_time;
+ u32 start_poll;
+ u8 i,getsync_flag=0,recbase_num,timeout;
+ 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;
+ tx_near_msg[BATTARY_IDX] = Get_Battary();
+ tx_near_msg[BUTTON_IDX] = !READ_KEY0;
+ tx_near_msg[SEQUENCE_IDX] = frame_seq_nb++;
+ tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
+ memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
+ tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;
+ memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
+ dwt_writetxdata(24, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+ dwt_writetxfctrl(24, 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
+
+ neartimout_timer=0;
+ recbase_num=0;
+ timeout=nearbase_num/4+12;
+ mainbase_dist=100000;
+ mainbase_lost_count++;
+ while(neartimout_timer<timeout&&recbase_num<nearbase_num+1)
+ {
+ 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(neartimout_timer>timeout)
+ break;
+ };
+ 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
+ dwt_setrxtimeout(DELAY_BETWEEN_TWO_FRAME_UUS+120);//设定接收超时时间，0位没有超时时间
+ 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;
+ 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)
+ {
+ //////////////////////////////////时间同步
+ 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;
+ ////////////////////////////
+ mainbase_lost_count=0;
+ 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+130) * UUS_TO_DWT_TIME)) >> 8;
+ 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_near_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_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX], resp_rx_ts);
+ final_msg_set_ts(&tx_near_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
+ 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
+ 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);
+ 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;
+ //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
+ }
+ }
+ }
+ }
+ if(mainbase_lost_count>5)
+ {
+ tag_state=DISCPOLL;
+ }
+ NearAncSelect();
+// 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
+// { };
+//
+// }
+// else
+// {
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
+// }
+
+}
+
+void GetNearMsg(void)
+{
+ u32 start_poll,frame_len;
+ memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
+ memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);
+ tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
+
+ 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);
+ dwt_writetxdata(12, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+ dwt_writetxfctrl(12, 0);//设置超宽带发送数据长度
+ dwt_starttx(DWT_START_TX_IMMEDIATE| DWT_RESPONSE_EXPECTED);
+ 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] == NEAR_MSG&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
+ {
+ nearbase_num=rx_buffer[NEARBASENUM_INDEX];
+ tagslotpos=rx_buffer[TAGSLOTPOS];
+ memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
+ slottime=ceil((nearbase_num+2)*0.3)+1;
+ tyncpoll_time=tagslotpos*slottime;
+ tag_state=NEARPOLL;
+ }
+ }
+}
+void Tag_App(void)//发送模式(TAG标签)
+{
+ //LED0_ON;
+ dwt_forcetrxoff();
+ g_Resttimer=0;
+ switch(tag_state)
+ {
+ case DISCPOLL:
+ Poll();
+ break;
+ case GETNEARMSG:
+ GetNearMsg();
+ break;
+ case NEARPOLL:
+ NearPoll();
+ break;
+ }
+}
+
+int8_t correction_time;
+extern uint8_t sync_seq;
+u16 taglist_num=0,taglist_pos;
+u16 tagid_list[TAG_NUM_IN_SYS];
+u8 tagofflinetime[TAG_NUM_IN_SYS];
+int32_t tagdist_list[TAG_NUM_IN_SYS];
+void TagListUpdate(void)
+{
+ u16 i,j=0,temp[TAG_NUM_IN_SYS];
+ for(i=0;i<taglist_num;i++)
+ {
+ if(tagofflinetime[i]++<QUIT_SLOT_TIME)
+ {
+ tagid_list[j]=tagid_list[i];
+ tagofflinetime[j++]=tagofflinetime[i];
+ }
+ }
+ taglist_num=j;
+}
+u16 CmpTagInList(u16 tagid)
+{u16 i;
+ for(i=0;i<taglist_num;i++)
+ {
+ if(memcmp(&tagid,&tagid_list[i],2)==0)
+ return i+1;
+ }
+ return 0;
+}
+uint32_t frame_len;
+uint32_t resp_tx_time;
+void Anchor_RecPoll(void)
+{
+ tmp_time=TIM3->CNT;
+ memcpy(&tx_resp_msg[ANCTIMEMS],&sync_timer,2);
+ memcpy(&tx_resp_msg[ANCTIMEUS],&tmp_time,2);
+ memcpy(&tx_resp_msg[TAGSLOTPOS],&taglist_pos,1);
+
poll_rx_ts = get_rx_timestamp_u64();//获得Poll包接收时间T2
- /* Set send time for response. See NOTE 8 below. */
resp_tx_time = (poll_rx_ts + (POLL_RX_TO_RESP_TX_DLY_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
-
- /* Set expected delay and timeout for final message reception. */
dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_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
-
- /* Write and send the response message. See NOTE 9 below.*/
- 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);
-
+
+ memcpy(&tx_resp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
+ memcpy(&tx_resp_msg[TAG_ID_IDX],&tag_id_recv,2);
+
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
result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，等待接收
@@ -518,46 +564,27 @@
battary = rx_buffer[BATTARY_IDX];
button = rx_buffer[BUTTON_IDX];
frame_seq_nb = 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)
{
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). */
-
if (status_reg & SYS_STATUS_RXFCG)//接收成功
{
- /* Clear good RX frame event and TX frame sent in the DW1000 status register. */
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚标志位
-
- /* A frame has been received, read it into the local buffer. */
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
-
-
- /* 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. */
-
- if (rx_buffer[MESSAGE_TYPE_IDX] == FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,4)&&!memcmp(&rx_buffer[ANCHOR_ID_IDX],&dev_id,4)) //判断是否为Final包
+ if (rx_buffer[MESSAGE_TYPE_IDX] == 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;
uint32_t poll_rx_ts_32, resp_tx_ts_32, final_rx_ts_32;
double Ra, Rb, Da, Db;
int64_t tof_dtu;
-
- /* Retrieve response transmission and final reception timestamps. */
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
-
- /* Get timestamps embedded in the final message. */
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_TS_IDX], &resp_rx_ts);
final_msg_get_ts(&rx_buffer[FINAL_MSG_FINAL_TX_TS_IDX], &final_tx_ts);
-
- /* Compute time of flight. 32-bit subtractions give correct answers even if clock has wrapped. See NOTE 10 below. */
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;
@@ -566,53 +593,189 @@
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 * 100; //dis 为单位为cm的距离
-// dist[TAG_ID] = LP(dis, TAG_ID); //LP 为低通滤波器，让数据更稳定
-
+ dist_cm = dist_no_bias * 100; //dis 为单位为cm的距离
/*--------------------------以下为非测距逻辑------------------------*/
+ //dist_cm=33000;
+
LED0_BLINK; //每成功一次通讯则闪烁一次
- g_UWB_com_interval = 0;
dis_after_filter=dist_cm;
- hex_dist = (int16_t)(dist_cm+g_com_map[DIST_OFFSET]);
- if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS)
+ hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET];
+ if(abs(hex_dist-his_dist[tag_id_recv-TAG_ID_START])<1000)
+ {
+ tagdist_list[taglist_pos] = hex_dist;
+ }
+ his_dist[taglist_pos]=hex_dist;
+ }
+ }else{
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
+ }
+}
+
+void Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
+{
+ tmp_time=TIM3->CNT;
+ memcpy(&tx_near_msg[ANCTIMEMS],&sync_timer,2);
+ memcpy(&tx_near_msg[ANCTIMEUS],&tmp_time,2);
+ memcpy(&tx_near_msg[TAGSLOTPOS],&taglist_pos,1);
+ memcpy(&tx_near_msg[TAG_ID_IDX],&tag_id_recv,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+(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_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间
+
+ memcpy(&tx_near_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
+ tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
+ dwt_writetxdata(17, tx_near_msg, 0);//写入发送数据
+ dwt_writetxfctrl(17, 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
+
+ battary = rx_buffer[BATTARY_IDX];
+ button = rx_buffer[BUTTON_IDX];
+ frame_seq_nb = rx_buffer[SEQUENCE_IDX];
+ 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
+ { };
+ }
+ 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 (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;
+ uint32_t poll_rx_ts_32, resp_tx_ts_32, final_rx_ts_32;
+ double Ra, Rb, Da, Db;
+ int64_t tof_dtu;
+ 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);
+
+ 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 * 100; //dis 为单位为cm的距离
+ /*--------------------------以下为非测距逻辑------------------------*/
+ //dist_cm=33000;
+
+ 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];
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;
+ tagdist_list[taglist_pos] = hex_dist;
}
- his_dist[tag_id_recv-TAG_ID_START]=hex_dist;
-
+ his_dist[taglist_pos]=hex_dist;
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],&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);
+ memcpy(&usart_send[7],&dev_id,2);
+ memcpy(&usart_send[9],&tagdist_list[taglist_pos],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);
-
-
- //dis_after_filter = LP_Frac_Update(p_Dis_Filter, dist_cm);
-
}
}else{
- /* Clear RX error events in the DW1000 status register. */
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
+}
+void Anchor_App(void)
+{
+ u8 send_len,i;
+ u16 tempid;
+ 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();
+ g_Resttimer=0;
+ };
+
+ 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
+ //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];
+ memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
+ memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
+ taglist_pos=CmpTagInList(tag_id_recv);
+ if(taglist_pos==0)
+ {
+ tagid_list[taglist_num++]=tag_id_recv;
+ taglist_pos=taglist_num;
}
+ 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 SYNC:
+ if(rx_buffer[SYNC_SEQ_IDX]<sync_seq)
+ {
+ sync_seq=rx_buffer[SYNC_SEQ_IDX]+1;
+ TIM3->CNT = sync_seq*325%1000+15;
+ sync_timer = sync_seq*325/1000;
+ 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_POLL:
+ nearbase_num=rx_buffer[NEARBASENUM_INDEX];
+ if(anc_id_recv==dev_id)
+ {
+ Anchor_RecNearPoll(0);
+ }else{
+ for(i=0;i<nearbase_num;i++)
+ {
+ memcpy(&tempid,&rx_buffer[NEARBASEID_INDEX+i*2],2);
+ if(tempid==dev_id)
+ Anchor_RecNearPoll(i+1);
+ }
+ }
+ break;
+
+ }
+
}
else
{
- /* Clear RX error events in the DW1000 status register. */
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}
--
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