From 059d262c269a049b905a09a6b484d39d6bda9280 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期三, 12 六月 2024 17:13:11 +0800
Subject: [PATCH] V1.41 无有效测距的时候，随机跳时间片 133ms内随机时间
---
Src/application/dw_app.c | 979 +++++++++++++++++++++++++++++++--------------------------
1 files changed, 537 insertions(+), 442 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index f9dbb18..5313756 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -3,7 +3,7 @@
* @file main.c
* @brief Double-sided two-way ranging (DS TWR) initiator example code
*
- *
+ *
*
* @attention
*
@@ -30,6 +30,7 @@
#include "beep.h"
#include "modbus.h"
+#define USART_INTEGRATE_OUTPUT
/*------------------------------------ Marcos ------------------------------------------*/
/* Inter-ranging delay period, in milliseconds. */
#define RNG_DELAY_MS 100
@@ -72,29 +73,29 @@
enum enumtagstate
{
- DISCPOLL,
- GETNEARMSG,
- NEARPOLL,
-}tag_state=GETNEARMSG;
+ DISCPOLL,
+ GETNEARMSG,
+ NEARPOLL,
+} tag_state=NEARPOLL;
static dwt_config_t config = {
- 2, /* Channel number. */
- DWT_PRF_64M, /* Pulse repetition frequency. */
- DWT_PLEN_128, /* 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. */
- 0, /* 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. */
+ 5, /* Channel number. */
+ DWT_PRF_64M, /* Pulse repetition frequency. */
+ DWT_PLEN_128, /* 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. */
};
static uint8_t tx_poll_msg[20] = {0};
static uint8_t tx_sync_msg[14] = {0};
static uint8_t tx_final_msg[60] = {0};
static uint8_t tx_resp_msg[22] = {0};
- uint8_t tx_near_msg[80] = {0};
+uint8_t tx_near_msg[80] = {0};
-static uint32_t frame_seq_nb = 0;
+static uint32_t frame_seq_nb = 0;
static uint32_t status_reg = 0;
static uint8_t rx_buffer[100];
static uint64_t poll_tx_ts;
@@ -104,13 +105,13 @@
static uint64_t resp_tx_ts;
static uint64_t final_rx_ts;
static double tof;
-int32_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;
+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
@@ -166,44 +167,44 @@
void Dw1000_Init(void)
{
- /* Reset and initialise DW1000.
+ /* Reset and initialise DW1000.
* For initialisation, DW1000 clocks must be temporarily set to crystal speed. After initialisation SPI rate can be increased for optimum
* performance. */
Reset_DW1000();//重启DW1000 /* Target specific drive of RSTn line into DW1000 low for a period. */
- Spi_ChangePrescaler(SPIx_PRESCALER_SLOW); //设置为快速模式
+ Spi_ChangePrescaler(SPIx_PRESCALER_SLOW); //设置为快速模式
dwt_initialise(DWT_LOADUCODE);//初始化DW1000
- Spi_ChangePrescaler(SPIx_PRESCALER_FAST); //设置为快速模式
+ Spi_ChangePrescaler(SPIx_PRESCALER_FAST); //设置为快速模式
/* Configure DW1000. See NOTE 6 below. */
dwt_configure(&config);//配置DW1000
-
-
+
+
/* Apply default antenna delay value. See NOTE 1 below. */
dwt_setrxantennadelay(RX_ANT_DLY); //设置接收天线延迟
dwt_settxantennadelay(TX_ANT_DLY); //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
+ //设置接收超时时间
}
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;
- 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)
+ //tag_state=DISCPOLL;
+ tx_poll_msg[MESSAGE_TYPE_IDX]=POLL;
+ tx_resp_msg[MESSAGE_TYPE_IDX]=RESPONSE;
+ tx_final_msg[MESSAGE_TYPE_IDX]=FINAL;
+ 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)
{
uint16_t sum = 0;
uint32_t i;
@@ -219,8 +220,8 @@
extern uint8_t g_pairstart;
void tag_sleep_configuraion(void)
{
- dwt_configuresleep(0x940, 0x7);
- dwt_entersleep();
+ dwt_configuresleep(0x940, 0x7);
+ dwt_entersleep();
}
extern uint8_t g_start_send_flag;
@@ -233,7 +234,7 @@
extern uint16_t sync_timer;
u16 tmp_time;
int32_t temp_dist;
-u16 tagslotpos;
+u16 tagslotpos,rec_tagslotpos;
u16 anclist_num=0,anclist_pos; //list 总数量和当前位置
u16 ancid_list[TAG_NUM_IN_SYS];
@@ -244,45 +245,45 @@
u16 nearbaseid_list[MAX_NEARBASE_NUM],mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM];
u8 FindNearBasePos(u16 baseid)
{
- u8 i;
- for(i=0;i<nearbase_num;i++)
- {
- if(baseid==nearbaseid_list[i])
- return i;
- }
+ u8 i;
+ for(i=0; i<nearbase_num; i++)
+ {
+ if(baseid==nearbaseid_list[i])
+ return i;
+ }
}
u8 recbase_num=0;
#define CHANGE_BASE_THRESHOLD 5
uint8_t GetRandomValue(void)
{
- uint8_t random_value=0,temp_adc,i;
- for(i=0;i<8;i++)
- {
- temp_adc=Get_ADC_Value();
- random_value=random_value|((temp_adc&0x01)<<i);
- }
- return random_value;
+ uint8_t random_value=0,temp_adc,i;
+ for(i=0; i<8; i++)
+ {
+ temp_adc=Get_ADC_Value();
+ random_value=random_value|((temp_adc&0x01)<<i);
+ }
+ return random_value;
}
u8 GetRandomSlotPos(uint32_t emptyslot)
{
- u8 i,temp_value;
- temp_value = HAL_LPTIM_ReadCounter(&hlptim1);//GetRandomValue();
- for(i=temp_value%32;i<max_slotpos;i++)
- {
- if(((emptyslot>>i)&0x1)==0)
- {
- return i;
- }
- }
-
- for(i=1;i<max_slotpos;i++)
- {
- if(((emptyslot>>i)&0x1)==0)
- {
- return i;
- }
- }
-return max_slotpos-1;
+ u8 i,temp_value;
+ temp_value = HAL_LPTIM_ReadCounter(&hlptim1);//GetRandomValue();
+ for(i=temp_value%32; i<max_slotpos; i++)
+ {
+ if(((emptyslot>>i)&0x1)==0)
+ {
+ return i;
+ }
+ }
+
+ for(i=1; i<max_slotpos; i++)
+ {
+ if(((emptyslot>>i)&0x1)==0)
+ {
+ return i;
+ }
+ }
+ return max_slotpos-1;
}
int32_t mainbase_dist,nearbase_distlist[MAX_NEARBASE_NUM],true_nearbase_distlist[MAX_NEARBASE_NUM],true_exsistbase_list[MAX_NEARBASE_NUM],ancsync_time,nextpoll_delaytime,offsettimeus;
@@ -290,403 +291,497 @@
u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
u8 flag_finalsend,flag_getresponse,flag_rxon;
uint16_t current_count,start_count,end_count,lastsync_timer;
+int16_t target_offsettime = 850;
+u32 target_time=100;
+u8 pd_i;
+u32 temptime,delaytime,expect_anctime;
+int32_t error_time;
+u16 delaycount,slotpos_intoatl;
+int16_t poll_offsettime=-6900,clockoffset;
+extern u16 slotpos,bigslot_num;
+void NextPollDelay(u32 anchor_time)
+{
+ //tagslotpos = 0;
+ error_time = anchor_time-expect_anctime;
+ if(error_time<2000&&error_time>0)
+ clockoffset += (target_offsettime-error_time)*0.1;
+ for(pd_i=0; pd_i<tag_frequency; pd_i++)
+ {
+ slotpos_intoatl = pd_i*bigslot_num+tagslotpos;
+ temptime = (slotpos_intoatl*SLOTTIME_MS+100)*100;
+ if(anchor_time<temptime-5000)
+ {
+ current_slotnum = pd_i;
+ delaytime = temptime-anchor_time+poll_offsettime+clockoffset;
+ expect_anctime = temptime;
+ return ;
+ }
+ }
+ temptime = (tagslotpos*SLOTTIME_MS+100+10000)*100;
+ expect_anctime = temptime-1000000;
+ delaytime = temptime-anchor_time+poll_offsettime+clockoffset;
+ return ;
+}
+u16 lpcount,poll_startcount,last_lpcount;
+u16 waketopolltimeus = 4500;
+#define BASENUM_COMTIME 244
+u32 last_anchor_time;
+void SetLPTimer(u32 anchor_time)
+{
+ NextPollDelay(anchor_time);
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ lpcount = current_count+delaytime/LPTIMER_LSB+(10-nearbase_num)*8;
+ poll_startcount = lpcount+(waketopolltimeus)/LPTIMER_LSB;
+ if(poll_startcount>=32768)
+ {
+ poll_startcount -=32768;
+ }
+ if(lpcount>=32768)
+ {
+ lpcount -=32768;
+ }
+ __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
+ last_lpcount = lpcount;
+}
+void NextSlotDelayMs(int16_t delayms)
+{
+ current_slotnum++;
+ if(current_slotnum>=tag_frequency)
+ {
+ current_slotnum = 0;
+ lpcount = last_lpcount+31457/tag_frequency+1311+32.767*delayms;//(float)(delayms+40)*32.767 ;//(200/tag_frequency+delayms)*4.8*1000/LPTIMER_LSB
+ } else {
+ lpcount = last_lpcount+31457/tag_frequency+32.767*delayms;//(float)(200/tag_frequency*48+delayms*10)*3.3 ;
+ }
+ if(lpcount>=32768)
+ {
+ lpcount -=32768;
+ }
+ poll_startcount = lpcount+(waketopolltimeus)/LPTIMER_LSB;
+ if(poll_startcount>=32768)
+ {
+ poll_startcount -=32768;
+ }
+ __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
+ last_lpcount = lpcount;
+}
u8 nearbase_num=0,last_nearbase_num,next_nearbase_num,last_slotnum, para_update,para_len,stationary_flag=0;
u32 rec_tagpos_binary;
int16_t offset=2700;
+extern int16_t g_commap_antdelay;
u8 motor_state,rec_remotepara_state,rec_remotepara[80];
+u16 sync_anc_id = 0xffff,sync_anc_losttime = 0;
+int32_t ancsync_time,tpos;
+void SyncAncUpdate(u16 ancid,int32_t anctime,u16 slotpos)
+{
+ if(ancid<=sync_anc_id)
+ {
+ SetLPTimer(ancsync_time);
+ tagslotpos = slotpos;
+ sync_anc_losttime = 0;
+ sync_anc_id = ancid;
+ }
+}
void NearPoll(void)
{
-
- uint32_t temp1,temp2,dw_systime;
- uint32_t frame_len;
- uint32_t final_tx_time;
- u32 start_poll;
- u8 i,j,getsync_flag=0,timeout;
+
+ uint32_t temp1,temp2,dw_systime;
+ uint32_t frame_len;
+ uint32_t final_tx_time;
+ u32 start_poll;
+ u8 i,j,getsync_flag=0,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;
- //GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
- if(next_nearbase_num>=MAX_NEARBASE_NUM)
- {
- next_nearbase_num = MAX_NEARBASE_NUM-1;
- }
- HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
- last_nearbase_num=next_nearbase_num;
- nearbase_num=next_nearbase_num;
- recbase_num=0;
+ dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
+ tag_succ_times = 0;
+ //
+ if(next_nearbase_num>=MAX_NEARBASE_NUM)
+ {
+ next_nearbase_num = MAX_NEARBASE_NUM-1;
+ }
+ HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
+ last_nearbase_num=next_nearbase_num;
+ nearbase_num=next_nearbase_num;
+ recbase_num=0;
+ if(sync_anc_losttime++>10)
+ {
+ sync_anc_id = 0xffff;
+ }
// motor_state=0;
-
- tx_near_msg[BATTARY_IDX] = bat_percent;
- tx_near_msg[BUTTON_IDX] = !GET_USERKEY|stationary_flag<<1;
- 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(13+2*nearbase_num, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
- dwt_writetxfctrl(13+2*nearbase_num, 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
-
- tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
- para_update = 0;
- flag_finalsend=0;
- flag_rxon=1;
- flag_getresponse=0;
- start_count=HAL_LPTIM_ReadCounter(&hlptim1);
- recbase_num=0;
- timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
- end_count=start_count+(timeout<<5);
- if(end_count>=32768)
- {end_count-=32768;}
- mainbase_dist=100000;
- mainbase_lost_count++;
- current_count=HAL_LPTIM_ReadCounter(&hlptim1);
- while(current_count<end_count||current_count>end_count+15000)
+ tx_near_msg[GROUP_ID_IDX] = group_id;
+ tx_near_msg[BATTARY_IDX] = bat_percent;
+ tx_near_msg[BUTTON_IDX] = !GET_USERKEY|stationary_flag<<1;
+ 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[NEARBASEID_INDEX+nearbase_num*4],&g_commap_antdelay,2);
+ memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
+ dwt_writetxdata(15+4*nearbase_num, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+ dwt_writetxfctrl(15+4*nearbase_num, 0);//设置超宽带发送数据长度
+
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ while(current_count<poll_startcount||current_count>poll_startcount+16384)
+ {
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ if(current_count<poll_startcount-300)
{
- current_count=HAL_LPTIM_ReadCounter(&hlptim1);
- 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(flag_finalsend)
- {
- dw_systime=dwt_readsystimestamphi32();
- if(dw_systime>temp1&&dw_systime<temp2)
- {
-
- dwt_forcetrxoff();
- flag_rxon=0;
- dwt_setdelayedtrxtime(final_tx_time);
- result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
- flag_finalsend=0;
- break;
- }
- }
- current_count=HAL_LPTIM_ReadCounter(&hlptim1);
- if(current_count>=end_count&¤t_count<end_count+15000)
- 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(0);//DELAY_BETWEEN_TWO_FRAME_UUS*(nearbase_num+1-recbase_num)+10);//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(last_nearbase_num==0)
- {
- get_newbase=1;
- nearbaseid_list[0]=rec_nearbaseid;
- nearbase_num=1;
- memcpy(&tx_near_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
- }
- if(rec_nearbaseid==nearbaseid_list[0])
- {
- //////////////////////////////////时间同步
- memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
- memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
- current_count=HAL_LPTIM_ReadCounter(&hlptim1);
-// 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;
+ break;
+ }
+ }
+
+ 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
+// HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_SET);
+ tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
+ para_update = 0;
+ flag_finalsend=0;
+ flag_rxon=1;
+ flag_getresponse=0;
+ start_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ recbase_num=0;
+ timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
+ end_count=start_count+(timeout<<5);
+ if(end_count>=32768)
+ {
+ end_count-=32768;
+ }
+ mainbase_dist=100000;
+ mainbase_lost_count++;
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ while(current_count<end_count||current_count>end_count+15000)
+ {
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ 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(flag_finalsend)
+ {
+ dw_systime=dwt_readsystimestamphi32();
+ if(dw_systime>temp1&&dw_systime<temp2)
+ {
+
+ dwt_forcetrxoff();
+ flag_rxon=0;
+ dwt_setdelayedtrxtime(final_tx_time);
+ result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
+ flag_finalsend=0;
+ break;
+ }
+ }
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ if(current_count>=end_count&¤t_count<end_count+15000)
+ 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(0);//DELAY_BETWEEN_TWO_FRAME_UUS*(nearbase_num+1-recbase_num)+10);//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)&&rx_buffer[GROUP_ID_IDX]==group_id) //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(last_nearbase_num==0)
+ {
+ get_newbase=1;
+ nearbaseid_list[0]=rec_nearbaseid;
+ nearbase_num=1;
+ memcpy(&tx_near_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
+ }
+ if(rec_nearbaseid==nearbaseid_list[0])
+ {
+ //////////////////////////////////时间同步
+ memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
+ memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ memcpy(&rec_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;}
+ }
+ ancsync_time=((sync_timer)*1000+tmp_time);
+ SyncAncUpdate(rec_nearbaseid,ancsync_time,rec_tagslotpos);
+ // TIM3->CNT=tmp_time;
// if(tagslotpos>max_slotpos)
// tagslotpos=tagslotpos%(max_slotpos+1);
// tyncpoll_time=(tagslotpos-1)*slottime;
- ////////////////////////////
- rec_nearbasepos=0;
- exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
- memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
- nearbase_distlist[rec_nearbasepos]=temp_dist;
- if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
- motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
- rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;
-
- mainbase_lost_count=0;
- flag_finalsend=1;
- 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+500) * UUS_TO_DWT_TIME)) >> 8;
- temp1=final_tx_time-((850*UUS_TO_DWT_TIME)>>8);
- temp2=final_tx_time+((100*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;
+ ////////////////////////////
+ rec_nearbasepos=0;
+ exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
+ memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
+ nearbase_distlist[rec_nearbasepos]=temp_dist;
+ if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
+ motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
+ rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>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
- flag_getresponse=1;
- memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
-
-
- //时间同步
- ancsync_time=((sync_timer)*1000+tmp_time);
- last_slotnum=current_slotnum;
- current_slotnum=((float)sync_timer/g_com_map[COM_INTERVAL])+1;
- if(current_slotnum==last_slotnum-1)
- {flag_getresponse=1;}
- lastsync_timer=sync_timer;
- offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
- SetNextPollTime(tyncpoll_time);
- if(rec_remotepara_state&&rec_remotepara_state!=g_com_map[REMOTEPARA_STATE])
- {
- g_com_map[REMOTEPARA_STATE]=rec_remotepara_state;
- memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],REMOTEPARA_LEN);
- memcpy(&g_com_map[COM_INTERVAL],&rec_remotepara[0],8);
- memcpy(&g_com_map[POWER],&rec_remotepara[8],10);
- save_com_map_to_flash();
- delay_ms(100);
- NVIC_SystemReset();
-
- }
-
- // count_offset=sync_count-current_count-143;
- // current_slottimes=(ancsync_time-10000)/(g_com_map[COM_INTERVAL]*1000);
- // nextpoll_delaytime=tyncpoll_time*1000+g_com_map[COM_INTERVAL]*1000-((ancsync_time)%(g_com_map[COM_INTERVAL]*1000))-4300;
-// if(abs(ancsync_time-910000)<1000)
-// {
-// nextpoll_delaytime+=10000;
-// }
-// if(nextpoll_delaytime<2000)
-// {
-// nextpoll_delaytime+=g_com_map[COM_INTERVAL]*1000;
-// }
-// lastpoll_count= current_count+(nextpoll_delaytime)/LPTIMER_LSB;
-// if(lastpoll_count>LPTIMER_1S_COUNT)
-// lastpoll_count-=LPTIMER_1S_COUNT;
-// __HAL_LPTIM_COMPARE_SET(&hlptim1, lastpoll_count);
- /////////////////////////////////////////
-// dwt_setdelayedtrxtime(final_tx_time);
-// result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
- }else{
- rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
-
- if(rec_nearbasepos>=last_nearbase_num) //发现新的基站
- {
- get_newbase=1;
- nearbase_num++;
- nearbaseid_list[rec_nearbasepos] = rec_nearbaseid;
- memcpy(&tx_near_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
- }
-
- exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
- memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
- nearbase_distlist[rec_nearbasepos]=temp_dist;
-
- if(motor_state<(rx_buffer[MOTORSTATE_INDEX]&0xf)&&(rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
- {
- motor_state=rx_buffer[MOTORSTATE_INDEX];
- }
- if(rec_remotepara_state&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2))
- {
- para_update = 1;
- tx_near_msg[TAGCONFIGSUCCESS_INDEX] = 1;
- para_len = frame_len-22;
- memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],para_len);
- }
- final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
- 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
-
+ mainbase_lost_count=0;
+ flag_finalsend=1;
+ 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+500) * UUS_TO_DWT_TIME)) >> 8;
+ temp1=final_tx_time-((850*UUS_TO_DWT_TIME)>>8);
+ temp2=final_tx_time+((100*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;
+ tx_near_msg[GROUP_ID_IDX] = group_id;
- //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
- }
- }
- }else{
- dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
- if(flag_rxon)
- {dwt_rxenable(0);
- }
- }
- // dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
- }
- if(mainbase_lost_count>tag_frequency*BASELOST_STOPMOTOR_TIME)
- {motor_state=0; }
-dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
- nearbase_num=recbase_num;
- j=0;
- if(exsistbase_list[0]==0)
- {
-// u8 temp_adc,random_value;
-// random_value=0;
-// for(i=0;i<8;i++)
-// {
-// temp_adc=Get_ADC_Value();
-// random_value=random_value|((temp_adc&0x01)<<i);
-// }
- tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
- tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
- SetNextPollTime(tyncpoll_time);
- }
- // tyncpoll_time=0;
- next_nearbase_num=0;
- for(i=0;i<last_nearbase_num+get_newbase;i++)
- {
- if(exsistbase_list[i]>0)
- {
- next_nearbase_num++;
- true_exsistbase_list[j]=exsistbase_list[i];
- true_nearbase_idlist[j]=nearbaseid_list[i];
- true_nearbase_distlist[j++]=nearbase_distlist[i];
- exsistbase_list[i]--;
- }
- }
+ 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
+ flag_getresponse=1;
+ memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
- if(recbase_num<3)
- {next_nearbase_num=next_nearbase_num;}
- last_nearbase_num = next_nearbase_num;
- for(i=0;i<last_nearbase_num-1;i++)
- {
- for(j=0;j<last_nearbase_num-1;j++)
- {
- if(true_nearbase_distlist[j]>true_nearbase_distlist[j+1])
- {
- u32 temp_dist,temp_id,temp_exsis;
- temp_dist=true_nearbase_distlist[j];
- temp_id = true_nearbase_idlist[j];
- temp_exsis=true_exsistbase_list[i];
- true_nearbase_distlist[j]=true_nearbase_distlist[j+1];
- true_nearbase_idlist[j]=true_nearbase_idlist[j+1];
- true_exsistbase_list[j]=true_exsistbase_list[j+1];
-
- true_nearbase_distlist[j+1]=temp_dist;
- true_nearbase_idlist[j+1]=temp_id;
- true_exsistbase_list[j+1]=temp_exsis;
- }
- }
- }
-
- report_num=0;
- for (i=0;i<last_nearbase_num;i++)
- {
- nearbaseid_list[i]=true_nearbase_idlist[i];
- nearbase_distlist[i]=true_nearbase_distlist[i];
- if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==0xa)
- {
- memcpy(&usart_send[4+6*report_num],&nearbaseid_list[i],2);
- memcpy(&usart_send[6+6*report_num],&nearbase_distlist[i],4);
- report_num++;
- }
- }
- for(i=0;i<MAX_NEARBASE_NUM;i++)
- {
- nearbase_distlist[i]=0x1ffff;
- }
- if(para_update)
- {
- uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
- pack_msgtype = rec_remotepara[0];
- pack_index = rec_remotepara[1];
- pack_length = rec_remotepara[2];
- if(pack_msgtype==2)
- {
- memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
- //返回一个error状态
- //SendComMap(pack_datalen,pack_index);
- save_com_map_to_flash();
- delay_ms(100);
- NVIC_SystemReset();
- }
- }
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
-HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
+ //时间同步
+ ancsync_time=((sync_timer)*1000+tmp_time);
+ last_slotnum=current_slotnum;
+ current_slotnum=((float)sync_timer/g_com_map[COM_INTERVAL])+1;
+ if(current_slotnum==last_slotnum-1)
+ {
+ flag_getresponse=1;
+ }
+ lastsync_timer=sync_timer;
+ offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
+// SetNextPollTime(tyncpoll_time);
+ if(rec_remotepara_state==1)
+ {
+ memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],REMOTEPARA_LEN);
+ memcpy(&g_com_map[COM_INTERVAL],&rec_remotepara[0],8);
+ memcpy(&g_com_map[POWER],&rec_remotepara[8],10);
+ if(g_com_map[COM_INTERVAL]>0&&g_com_map[COM_INTERVAL]<1000&&g_com_map[POWER]<67&&g_com_map[POWER]>0)
+ { save_com_map_to_flash();
+ delay_ms(100);
+ }
+ NVIC_SystemReset();
+ }
+ } else {
+ memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
+ memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ memcpy(&rec_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;}
+ }
+ ancsync_time=((sync_timer)*1000+tmp_time);
+ SyncAncUpdate(rec_nearbaseid,ancsync_time,rec_tagslotpos);
+
+ rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
+ if(rec_nearbasepos>=last_nearbase_num) //发现新的基站
+ {
+ get_newbase=1;
+ nearbase_num++;
+ nearbaseid_list[rec_nearbasepos] = rec_nearbaseid;
+ memcpy(&tx_near_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
+ }
+
+ exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
+ memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
+ nearbase_distlist[rec_nearbasepos]=temp_dist;
+
+ if(motor_state<(rx_buffer[MOTORSTATE_INDEX]&0xf)&&(rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
+ {
+ motor_state=rx_buffer[MOTORSTATE_INDEX];
+ }
+ final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
+ 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
+
+
+ //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
+ }
+ }
+ } else {
+ dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
+ if(flag_rxon)
+ { dwt_rxenable(0);
+ }
+ }
+ // dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
+ }
+ if(mainbase_lost_count>tag_frequency*BASELOST_STOPMOTOR_TIME)
+ {
+ motor_state=0;
+ }
+ dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
+ nearbase_num=recbase_num;
+ j=0;
+ if(sync_anc_losttime!=0)
+ {
+ NextSlotDelayMs(HAL_LPTIM_ReadCounter(&hlptim1)%133);
+ }
+ // tyncpoll_time=0;
+ next_nearbase_num=0;
+ for(i=0; i<last_nearbase_num+get_newbase; i++)
+ {
+ if(exsistbase_list[i]>0)
+ {
+ next_nearbase_num++;
+ true_exsistbase_list[j]=exsistbase_list[i];
+ true_nearbase_idlist[j]=nearbaseid_list[i];
+ true_nearbase_distlist[j++]=nearbase_distlist[i];
+ exsistbase_list[i]--;
+ }
+ }
+
+ if(recbase_num<3)
+ {
+ next_nearbase_num=next_nearbase_num;
+ }
+ last_nearbase_num = next_nearbase_num;
+ for(i=0; i<last_nearbase_num-1; i++)
+ {
+ for(j=0; j<last_nearbase_num-1; j++)
+ {
+ if(true_nearbase_distlist[j]>true_nearbase_distlist[j+1])
+ {
+ u32 temp_dist,temp_id,temp_exsis;
+ temp_dist=true_nearbase_distlist[j];
+ temp_id = true_nearbase_idlist[j];
+ temp_exsis=true_exsistbase_list[i];
+ true_nearbase_distlist[j]=true_nearbase_distlist[j+1];
+ true_nearbase_idlist[j]=true_nearbase_idlist[j+1];
+ true_exsistbase_list[j]=true_exsistbase_list[j+1];
+
+ true_nearbase_distlist[j+1]=temp_dist;
+ true_nearbase_idlist[j+1]=temp_id;
+ true_exsistbase_list[j+1]=temp_exsis;
+ }
+ }
+ }
+
+ report_num=0;
+ for (i=0; i<last_nearbase_num; i++)
+ {
+ nearbaseid_list[i]=true_nearbase_idlist[i];
+ nearbase_distlist[i]=true_nearbase_distlist[i];
+ if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==KEEP_TIMES)
+ {
+ memcpy(&usart_send[4+6*report_num],&nearbaseid_list[i],2);
+ memcpy(&usart_send[6+6*report_num],&nearbase_distlist[i],4);
+ report_num++;
+ }
+ }
+#ifdef USART_INTEGRATE_OUTPUT
+ usart_send[0] = 0x55;
+ usart_send[1] = 0xAA;
+ usart_send[2] = 4;//正常模式
+ usart_send[3] = report_num*6+2;//正常模式
+ checksum = Checksum_u16(&usart_send[2],report_num*6+2);
+ memcpy(&usart_send[4+report_num*6],&checksum,2);
+ USART_puts(usart_send,6+report_num*6);
+#endif
+
+ for(i=0; i<MAX_NEARBASE_NUM; i++)
+ {
+ nearbase_distlist[i]=0x1ffff;
+ }
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
+ HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
+// HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_RESET);
}
u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32];
void GetNearMsg(void)
{
- u32 start_poll,frame_len;
-if(nearmsg_mainbase)
- {nearmsg_mainbase=0;
- }else{
- nearmsg_mainbase=1;
- }
- memcpy(&tx_near_msg[ANCHOR_ID_IDX],&nearmsg_mainbase,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);
+ u32 start_poll,frame_len;
+ if(nearmsg_mainbase)
+ { nearmsg_mainbase=0;
+ } else {
+ nearmsg_mainbase=1;
+ }
+ memcpy(&tx_near_msg[ANCHOR_ID_IDX],&nearmsg_mainbase,2);
+ memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);
+ tx_near_msg[GROUP_ID_IDX] = group_id;
+ tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
- /* 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(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];
- memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
- tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
- //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;
- }
- }else{
- tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
- }
+ 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);
+
+ /* 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(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];
+ memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
+ tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
+ //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;
+ }
+ } else {
+ tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
+ }
}
u32 id;
void Tag_App(void)//发送模式(TAG标签)
{
-
- //LED0_ON;
- id = dwt_readdevid() ;
- while (DWT_DEVICE_ID != id)
+
+ //LED0_ON;
+ id = dwt_readdevid() ;
+ while (DWT_DEVICE_ID != id)
{
- id = dwt_readdevid() ;
+ id = dwt_readdevid() ;
}
-
- g_Resttimer=0;
+ g_Resttimer=0;
+ if(bat_percent>15)
+ {
+ LED_TB_ON;
+ } else {
+ LED_TR_ON;
+ }
// tag_state=DISCPOLL;
- switch(tag_state)
- {
- case DISCPOLL:
- // Poll();
- break;
- case GETNEARMSG:
+ switch(tag_state)
+ {
+ case DISCPOLL:
+ // Poll();
+ break;
+ case GETNEARMSG:
- GetNearMsg();
-
- break;
- case NEARPOLL:
- //GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_SET);
- NearPoll();
- //GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_RESET);
- break;
- }
- dwt_entersleep();
+ GetNearMsg();
+
+ break;
+ case NEARPOLL:
+ //GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_SET);
+ NearPoll();
+ //GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_RESET);
+ break;
+ }
+ dwt_entersleep();
+ LED_TB_OFF;
+ LED_TR_OFF;
}
--
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