From ffbabafff544caa6cf992434fdbb5e7d5bd6c0a7 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期一, 08 十一月 2021 18:25:33 +0800
Subject: [PATCH] 增加GGA分割
---
源码/核心板/Src/application/dw_app.c | 143 +++++++++++++++++++++++++++++++++++++++++++++--
1 files changed, 137 insertions(+), 6 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 e1f7cd1..6c4193c 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"
@@ -51,7 +51,7 @@
* 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 RESP_RX_TIMEOUT_UUS 9600
#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. */
@@ -85,12 +85,18 @@
#define ANCTIMEUS 16
#define ANCSEND_INTERVAL 18
#define SIGNALPOWER 20
+//DATA POLL
+#define CURENTPACKNUM_IDX 7
+#define TOTALPACKNUM_IDX 8
+#define DATA_IDX 10
+
#define POLL 0x01
#define RESPONSE 0x02
#define FINAL 0x03
#define SYNC 0x04
-
+#define DATA_POLL 0x21
+#define DATA_RESPONSE 0x22
/*------------------------------------ Variables ------------------------------------------*/
/* Default communication configuration. We use here EVK1000's default mode (mode 3). */
static dwt_config_t config = {
@@ -108,7 +114,7 @@
/* Frames used in the ranging process. See NOTE 2 below. */
static uint8_t tx_poll_msg[20] = {0};
-static uint8_t tx_sync_msg[14] = {0};
+static uint8_t tx_sync_msg[140] = {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[24] = {0};
@@ -124,7 +130,7 @@
/* 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
+#define RX_BUF_LEN 224
static uint8_t rx_buffer[RX_BUF_LEN];
/* Time-stamps of frames transmission/reception, expressed in device time units.
@@ -291,6 +297,7 @@
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);
+ memcpy(&tx_sync_msg[TAG_ID_IDX], &dev_id, 4);
memcpy(&tx_resp_msg[ANCSEND_INTERVAL], &g_com_map[COM_INTERVAL], 2);
}
@@ -378,14 +385,15 @@
u16 checksum;
int8_t tag_delaytime;
extern uint16_t sync_timer;
-u16 tmp_time;
+u16 tmp_time;
+u32 start_poll;
extern float dw_vbat;
extern u16 slottime,max_slotnum,current_slotpos,tyncpoll_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,getsync_flag=0;
u8 bat_percent;
//LED0_ON;
@@ -800,4 +808,127 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
}
}
+u8 frame_len;
+u8 rec_gpsdata[1000];
+extern u8 RTCMdata[2000];
+u16 recgpsdata_i,recdata_len;
+void UWBSendOnePackData(u8* data_addr,u8 len)
+{
+ g_Resttimer = 0;
+ LED0_BLINK;
+ g_start_sync_flag=1;
+ dwt_forcetrxoff();
+ 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);
+ tx_sync_msg[MESSAGE_TYPE_IDX]=DATA_POLL;
+ memcpy(&tx_sync_msg[DATA_IDX],data_addr,len);
+ dwt_writetxdata(len+14, tx_sync_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+ dwt_writetxfctrl(len+14, 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;
+ recgpsdata_i = 0;
+ while(time32_incr - start_poll<100)
+ {
+ 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(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
+
+ dwt_rxenable(0);
+ /* 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] == DATA_RESPONSE ) //判断接收到的数据是否是response数据
+ {
+ recdata_len = frame_len-14;
+ memcpy(&rec_gpsdata[recgpsdata_i],&rx_buffer[DATA_IDX],recdata_len);
+ recgpsdata_i+=recdata_len;
+ if(rx_buffer[CURENTPACKNUM_IDX]==1)
+ {
+ USART_puts(rec_gpsdata,recgpsdata_i);
+ break;
+ }
+ }
+ }
+}
+}
+extern u8 gpsdataready_flag;
+extern u16 gps_packlen;
+u8 totalpack_num,currentpack_num;
+void RecOnePackData(void)
+{
+ 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&&!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();
+ };
+
+ if (status_reg & SYS_STATUS_RXFCG)//成功接收
+ {
+ u16 tag_recv_interval,send_i=0,remain_i=0;
+ /* 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
+ g_Resttimer = 0;
+ dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
+ if (rx_buffer[MESSAGE_TYPE_IDX] == DATA_POLL ) //判断接收到的数据是否是response数据
+ {
+ recdata_len = frame_len-14;
+ memcpy(rec_gpsdata,&rx_buffer[DATA_IDX],recdata_len);
+ if(gpsdataready_flag)
+ {
+ gpsdataready_flag = 0;
+ tx_sync_msg[MESSAGE_TYPE_IDX]=DATA_RESPONSE;
+ remain_i = gps_packlen;
+ currentpack_num = 0;
+ totalpack_num = gps_packlen/110;
+ while(remain_i>0)
+ {
+ if(remain_i>=110)
+ {
+ tx_sync_msg[CURENTPACKNUM_IDX] = 0;
+ memcpy(&tx_sync_msg[DATA_IDX],&RTCMdata[send_i],110);
+ send_i+=110;
+ remain_i-=110;
+ dwt_writetxdata(110+14, tx_sync_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+ dwt_writetxfctrl(110+14, 0);//设置超宽带发送数据长度
+ dwt_starttx(DWT_START_TX_IMMEDIATE);
+ }else{
+ tx_sync_msg[CURENTPACKNUM_IDX] = 1;
+ memcpy(&tx_sync_msg[DATA_IDX],&RTCMdata[send_i],remain_i);
+ dwt_writetxdata(remain_i+14, tx_sync_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+ dwt_writetxfctrl(remain_i+14, 0);//设置超宽带发送数据长度
+ dwt_starttx(DWT_START_TX_IMMEDIATE);
+ remain_i = 0;
+ }
+ delay_us(1000);
+ }
+ }
+ LED0_BLINK;
+ USART_puts(rec_gpsdata,recdata_len);
+ }
+ }else{
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
+ }
+
+}
\ No newline at end of file
--
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