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 | 121 +++++++++++++++++++++++++---------------
1 files changed, 76 insertions(+), 45 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 a2ebafa..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"
@@ -21,7 +21,7 @@
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[32] = {0};
+static uint8_t tx_near_msg[80] = {0};
static uint32_t frame_seq_nb = 0;
static uint32_t status_reg = 0;
@@ -310,8 +310,40 @@
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])
+ {
+ 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;
@@ -326,17 +358,21 @@
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(sizeof(tx_near_msg), tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
- dwt_writetxfctrl(sizeof(tx_near_msg), 0);//设置超宽带发送数据长度
+ 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+2;
+ 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)
{
@@ -347,16 +383,17 @@
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);
- rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
if(rec_nearbaseid==mainbase_id)
{
- //时间同步
+ //////////////////////////////////时间同步
memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
@@ -373,55 +410,49 @@
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) * UUS_TO_DWT_TIME)) >> 8;
+ 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_TS_IDX], resp_rx_ts);
+ 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(sizeof(tx_near_msg), tx_near_msg, 0);//将发送数据写入DW1000
- dwt_writetxfctrl(sizeof(tx_near_msg), 0);//设定发送数据长度
+ 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{
- final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+rec_nearbasepos*4], resp_rx_ts);
+ 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(sizeof(tx_near_msg), tx_near_msg, 0);//将发送数据写入DW1000
+ 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(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
- {
+ 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);
- random_delay_tim = DFT_RAND_DLY_TIM_MS;
- }
+// }
}
-void NearAncSelect(void)
-{
- int32_t nearbase_mindist=99999, nearbase_minpos;
- u8 i;
- for(i=0;i<nearbase_num;i++)
- {
- if(nearbase_mindist<nearbase_distlist[i])
- {
- nearbase_mindist=nearbase_distlist[i];
- nearbase_minpos=i;
- }
- }
- if(nearbase_mindist<mainbase_dist-THRESHOLD_CHANGE_MAINBASE_DIST)
- {
- mainbase_id=nearbaseid_list[nearbase_minpos];
- tag_state=GETNEARMSG;
- }
-}
+
void GetNearMsg(void)
{
u32 start_poll,frame_len;
@@ -583,13 +614,13 @@
}
}
-void Anchor_RecNearPoll(u8 ancrec_nearbasepos)
+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。
@@ -599,8 +630,8 @@
memcpy(&tx_near_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
- dwt_writetxdata(sizeof(tx_near_msg), tx_near_msg, 0);//写入发送数据
- dwt_writetxfctrl(sizeof(tx_near_msg), 0);//设定发送长度
+ 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];
@@ -669,7 +700,7 @@
}
void Anchor_App(void)
{
- u8 send_len,nearbase_num,i;
+ 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
--
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