From ce9ff1ded137cb9915e4d8619b7bee5dc0e05138 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期四, 25 四月 2024 15:21:50 +0800
Subject: [PATCH] V2.1 调试完成 1V4没有问题
---
Src/application/dw_app.c | 95 ++++++++++++++++++++++++++++++++++++++++++-----
1 files changed, 84 insertions(+), 11 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index ef8207f..f9c6e82 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -70,17 +70,36 @@
#define FINAL_MSG_RESP_RX_TS_IDX 14
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4
-static dwt_config_t config = {
+
+//#define _UWB_4G
+
+//static dwt_config_t config = {
+//#ifdef _UWB_4G
+// 2, /* Channel number. */
+//#else
+// 5,
+//#endif
+// DWT_PRF_64M, /* Pulse repetition frequency. */
+// 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_110K, /* Data rate. */
+// DWT_PHRMODE_STD, /* PHY header mode. */
+// (1025 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
+//};
+dwt_config_t config = {
5, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
- DWT_PLEN_64, /* Preamble length. */
- DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */
+ DWT_PLEN_1024, /* Preamble length. */
+ DWT_PAC32, /* 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_BR_110K, /* Data rate. */
DWT_PHRMODE_STD, /* PHY header mode. */
- (65 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
+ (1025 + 64 - 32) /* 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};
@@ -156,7 +175,14 @@
*ts += ts_field[i] << (i * 8);
}
}
-
+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;
+}
void Dw1000_Init(void)
{
/* Reset and initialise DW1000.
@@ -169,7 +195,7 @@
/* Configure DW1000. See NOTE 6 below. */
dwt_configure(&config);//配置DW1000
-
+// SetNLOSNTMSettings();
/* Apply default antenna delay value. See NOTE 1 below. */
@@ -338,7 +364,11 @@
{
// exsistbase_list[i]--;
- clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_5 / 1.0e6) ;
+#ifdef _UWB_4G
+ clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER_110KB * HERTZ_TO_PPM_MULTIPLIER_CHAN_2 / 1.0e6) ;
+#else
+ clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER_110KB * HERTZ_TO_PPM_MULTIPLIER_CHAN_5 / 1.0e6) ;
+#endif
rtd_init = tag_resprx[i] - poll_tx_ts;
rtd_resp = anc_resptx[i] - anc_pollrx[i];
tof = ((rtd_init - rtd_resp * (1 - clockOffsetRatio)) / 2.0) * DWT_TIME_UNITS;
@@ -346,10 +376,39 @@
if(distance>-10&&distance<1000)
nearbase_distlist[i] = distance*100+anc_distoffset[i];
}else{
- // nearbase_distlist[i] = 0x1ffff;
+ nearbase_distlist[i] = 0x1ffff;
}
}
+}
+extern uint8_t module_power,imu_enable,motor_enable;
+void Registor_Poll(void)
+{
+ static u8 regpoll_count=0;
+ u8 timeout;
+
+ tx_near_msg[MESSAGE_TYPE_IDX] = MBX_REG;
+ tx_near_msg[REGP_TAGSTATE_INDEX] = !GET_USERKEY<<2|imu_enable<<1|motor_enable;
+ tx_near_msg[REGP_FREQUENCY_INDEX] = bat_percent;
+ tx_near_msg[REGP_POWER_INDEX] = module_power;
+ memcpy(&tx_near_msg[REGP_VERSION_INDEX],&g_com_map[VERSION],2);
+ memcpy(&tx_near_msg[REGP_IMUTHRES_INDEX],&g_com_map[GROUP_ID],2);
+ memcpy(&tx_near_msg[REGP_NOMOVESLEEPTIME_INDEX],&g_com_map[DIST_OFFSET],2);
+ memcpy(&tx_near_msg[REGP_HEIGHTOFFSET_INDEX],&g_com_map[MAX_REPORT_ANC_NUM],2);
+ dwt_writetxdata(23, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+ dwt_writetxfctrl(23, 0);//设置超宽带发送数据长度
+ dwt_starttx(DWT_START_TX_IMMEDIATE);//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_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ timeout=50;
+ end_count=start_count+(timeout<<2);
+ while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_TXFRS)))//不断查询芯片状态直到成功接收或者发生错误
+ {
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ if(current_count>=end_count&¤t_count<end_count+15000)
+ break;
+
+ };
+
}
float range_lost_time = 0;
u16 rec_nearbaseid,rec_nearbasepos;
@@ -395,7 +454,7 @@
flag_getresponse=0;
start_count=HAL_LPTIM_ReadCounter(&hlptim1);
recbase_num=0;
- timeout=nearbase_num*SLOT_SCALE+10;
+ timeout=nearbase_num*SLOT_SCALE+500;
end_count=start_count+(timeout<<2);
if(end_count>=32768)
{end_count-=32768;}
@@ -640,7 +699,7 @@
}
}
}
-
+u8 regpoll_count;
u32 id;
void Tag_App(void)//发送模式(TAG标签)
{
@@ -659,6 +718,20 @@
}
delay_us(100);
g_Resttimer=0;
+ if(freqlost_count>FREQ_LOST_TIME)
+ {
+ if(regpoll_count++>11) //待机状态1分钟上传一次基站状态
+ {
+ regpoll_count = 0;
+ Registor_Poll();
+ }
+ }else{
+ if(regpoll_count++>59)//测距状态1分钟上传一次基站状态
+ {
+ regpoll_count = 0;
+ Registor_Poll();
+ }
+ }
NearPoll();
dwt_entersleep();
bat_percent=Get_VDDVlotage();
--
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