From 080ddf776d500bcd2c37df42cfc039ee79d8e972 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期四, 06 七月 2023 15:50:13 +0800
Subject: [PATCH] 1
---
Src/application/dw_ds_anc.c | 474 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 474 insertions(+), 0 deletions(-)
diff --git a/Src/application/dw_ds_anc.c b/Src/application/dw_ds_anc.c
new file mode 100644
index 0000000..ab31825
--- /dev/null
+++ b/Src/application/dw_ds_anc.c
@@ -0,0 +1,474 @@
+#include "main.h"
+#include "stm32l0xx_it.h"
+#include "deca_device_api.h"
+#include "deca_regs.h"
+#include "dw_driver.h"
+#include <math.h>
+#define SPEED_OF_LIGHT 299702547
+#define UUS_TO_DWT_TIME 65536
+#define POLL_TX_TO_RESP_RX_DLY_UUS 150
+#define RESP_RX_TO_FINAL_TX_DLY_UUS 410
+#define RESP_RX_TIMEOUT_UUS 2000
+#define DELAY_BETWEEN_TWO_FRAME_UUS 400
+#define POLL_RX_TO_RESP_TX_DLY_UUS 670
+#define RESP_TX_TO_FINAL_RX_DLY_UUS 10
+#define FINAL_RX_TIMEOUT_UUS 4300
+
+#define WHITELIST1_START 0x25
+#define WHITELIST1_END 0x26
+#define MODBUS_ID1 0x11
+
+#define FZ_NEARBASENUM_INDEX 10
+#define FZ_NEARBASEID_INDEX 11
+static uint64_t resp_tx_ts;
+static uint64_t final_rx_ts;
+static uint32_t status_reg,resp_tx_time,tagpos_binary;
+static uint8_t frame_len,recpoll_len,current_syncid,new_tagid,seize_anchor,result,g_start_sync_flag;
+static uint8_t rx_buffer[150];
+static uint16_t anc_id_recv,tag_id_recv;
+static uint8_t flag_syncbase,sync_seq,synclost_timer,temp_nearbaspos;
+static uint16_t sync_timer;
+static uint8_t send_buffer[150];
+static uint8_t frame_seq_nb2,battary,button,rec_nearbase_num,ancidlist_num;
+static uint16_t ancidlist_rec[20],ancidlist_send[20],rec_ancidlist[20],rec_ancdistlist[20];
+static int16_t rec_antdelay;
+static uint16_t taglist_num=0,taglist_pos,tmp_time;
+static uint16_t tagid_list[TAG_NUM_IN_SYS];
+static uint8_t tagofflinetime[TAG_NUM_IN_SYS];
+static int32_t tagdist_list[TAG_NUM_IN_SYS];
+static uint8_t tagpos_rec[50];
+static uint64_t poll_rx_ts;
+uint8_t g_flag_Taggetdist[TAG_NUM_IN_SYS];
+static uint8_t flag_tag_distsmooth[TAG_NUM_IN_SYS],misdist_num[TAG_NUM_IN_SYS];
+static uint32_t poll_tx_ts, resp_rx_ts, final_tx_ts;
+static uint32_t poll_rx_ts_32, resp_tx_ts_32, final_rx_ts_32;
+static double Ra, Rb, Da, Db;
+static int64_t tof_dtu;
+static double tof;
+static double distance, dist_no_bias, dist_cm;
+extern dwt_config_t config;
+static double firstpath_power, rx_power,rec_firstpath_power;
+static double f1, f2, r1, r2;
+static uint16_t F1,F2,F3,N,C;
+const double B = 131072;
+const double A = 121.74;
+double min_power;
+static dwt_rxdiag_t d1;
+static int32_t hex_dist,his_dist[TAG_NUM_IN_SYS];
+extern uint16_t g_Resttimer;
+int32_t filter_dist,g_Tagdist[TAG_NUM_IN_SYS];
+double LOS(dwt_rxdiag_t *dia) {
+ F1 = dia->firstPathAmp1;
+ F2 = dia->firstPathAmp2;
+ F3 = dia->firstPathAmp3;
+ N = dia->rxPreamCount;
+ C = dia->maxGrowthCIR;
+
+ firstpath_power=10* log10((F1*F1+F2*F2+F3*F3)/(N*N))-A;
+ rx_power=10*log10(C*B/(N*N))-A;
+
+ // min_power = - 10 * log10((F1 *F1 + F2 * F2 + F3 * F3) / (C *B));
+ return min_power;
+ }
+void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
+{
+ if(GPIO_Pin==GPIO_PIN_8)
+ {
+ Anchor_App();
+ }
+}
+static uint64_t get_tx_timestamp_u64(void)
+{
+ uint8_t ts_tab[5];
+ uint64_t ts = 0;
+ int i;
+ dwt_readtxtimestamp(ts_tab);
+ for (i = 4; i >= 0; i--)
+ {
+ ts <<= 8;
+ ts |= ts_tab[i];
+ }
+ return ts;
+}
+
+static uint64_t get_rx_timestamp_u64(void)
+{
+ uint8_t ts_tab[5];
+ uint64_t ts = 0;
+ int i;
+ dwt_readrxtimestamp(ts_tab);
+ for (i = 4; i >= 0; i--)
+ {
+ ts <<= 8;
+ ts |= ts_tab[i];
+ }
+ return ts;
+}
+
+static void final_msg_set_ts(uint8_t *ts_field, uint64_t ts)
+{
+ int i;
+ for (i = 0; i < FINAL_MSG_TS_LEN; i++)
+ {
+ ts_field[i] = (uint8_t) ts;
+ ts >>= 8;
+ }
+}
+
+static void final_msg_get_ts(const uint8_t *ts_field, uint32_t *ts)
+{
+ int i;
+ *ts = 0;
+ for (i = 0; i < FINAL_MSG_TS_LEN; i++)
+ {
+ *ts += ts_field[i] << (i * 8);
+ }
+}
+void TagListUpdate(void)
+{
+ uint16_t i,j=0,temp[TAG_NUM_IN_SYS];
+ for(i=0;i<taglist_num;i++)
+ {
+ if(tagofflinetime[i]++<5)
+ {
+ tagid_list[j]=tagid_list[i];
+ tagofflinetime[j++]=tagofflinetime[i];
+ }
+ }
+ taglist_num=j;
+}
+uint16_t CmpTagInList(uint16_t tagid)
+{uint16_t i;
+ for(i=0;i<taglist_num;i++)
+ {
+ if(memcmp(&tagid,&tagid_list[i],2)==0)
+ break;
+ }
+ return i;
+}
+uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos) //0 mainbase 1 first near_base
+{
+ uint8_t motorstate;
+
+
+ memcpy(&send_buffer[ANCHOR_ID_IDX],&dev_id,2);
+
+
+ memcpy(&send_buffer[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+(rec_nearbase_num+1-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
+ if(new_tagid)
+ {
+ tagdist_list[taglist_pos]=0x1ffff;
+ memcpy(&send_buffer[DIST_IDX], &tagdist_list[taglist_pos], 4);
+ }else{
+ memcpy(&send_buffer[DIST_IDX], &tagdist_list[taglist_pos], 4);
+ }
+ motorstate =0;
+// if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE1]||tagdist_list[taglist_pos]<0)
+// {
+// motorstate =0;
+// }
+// else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE2])
+// {
+// if(flag_tag_distsmooth[taglist_pos])
+// {motorstate =2;
+// }else{
+// motorstate =0;
+// }
+// }else if(tagdist_list[taglist_pos]<g_com_map[ALARM_DISTANCE3])
+// {
+// if(flag_tag_distsmooth[taglist_pos])
+// {motorstate =1;
+// }else{
+// motorstate =0;
+// }
+// }
+ send_buffer[GROUP_ID_IDX] = group_id;
+ //send_buffer[MAINBASE_INDEX]=flag_syncbase;
+ send_buffer[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
+ send_buffer[MOTORSTATE_INDEX]=motorstate;//(remotesend_state<<4)|motorstate;
+ send_buffer[MOTORSTATE_INDEX]&=0x0f;
+// if(remotesend_state)
+// {
+// memcpy(&tx_nearresp_msg[REMOTEPARA_INDEX],remotetag_para,REMOTEPARA_LEN);
+// dwt_writetxdata(22+REMOTEPARA_LEN, tx_nearresp_msg, 0);//写入发送数据
+// dwt_writetxfctrl(22+REMOTEPARA_LEN, 0);//设定发送长度
+// }else{
+ dwt_writetxdata(24, send_buffer, 0);//写入发送数据
+ dwt_writetxfctrl(24, 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
+
+
+ if(result==0)
+ {
+ while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_sync_flag)///不断查询芯片状态直到接收成功或者出现错误
+ { };
+ }else{
+ if(g_com_map[MODBUS_ID1]==1)
+ {
+ #ifdef DBGMSG_OUTPUT
+ dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
+ SendDbgMsg(dbgmsg,dbgmsg_len);
+ #endif
+ }
+ result++;
+ }
+ if(!(status_reg& SYS_STATUS_RXFCG))
+ {
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
+ dwt_rxenable(0);
+ while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_sync_flag)///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(seize_anchor&&memcmp(&rx_buffer[ANCHOR_ID_IDX],&dev_id,2)) //抢占anchor 失败
+ {
+ if(g_com_map[MODBUS_ID1]==1)
+ {
+ #ifdef DBGMSG_OUTPUT
+ dbgmsg_len = sprintf(dbgmsg,"%s errormsg:%x",__debug_info__,rx_buffer[MESSAGE_TYPE_IDX]);
+ SendDbgMsg(dbgmsg,dbgmsg_len);
+ #endif
+ }
+ return 1;
+ }
+ if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)&&group_id==rx_buffer[GROUP_ID_IDX]) //判断是否为Final包
+ {
+
+
+ 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);
+
+ // testtime[0] = time32_incr*1000+TIM3->CNT;
+ 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
+#ifdef DW3000
+ dist_no_bias = distance;
+#else
+ dist_no_bias = distance - dwt_getrangebias(config.chan, (float)distance, config.prf); //距离减去矫正系数
+#endif
+ dist_cm = dist_no_bias * 1000; //dis 为单位为cm的距离
+ dwt_readdiagnostics(&d1);
+ LOS(&d1);
+ /*--------------------------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
+// UWBLED_BLINK;
+ dis_after_filter=dist_cm;
+ hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10;
+
+ if(recpoll_len==rec_nearbase_num*4+15)
+ {
+ hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10-rec_antdelay*10;
+ }
+
+ g_flag_Taggetdist[taglist_pos]=0;
+
+ if(hex_dist>-100000&&hex_dist<2000000)
+ {
+ if(abs(hex_dist-his_dist[taglist_pos])<10000)
+ {
+ flag_tag_distsmooth[taglist_pos] =1;
+ }else{
+ flag_tag_distsmooth[taglist_pos] =0;
+ }
+ if(abs(hex_dist-his_dist[taglist_pos])<10000||misdist_num[taglist_pos]>3)
+ {
+ uint16_t checksum;
+ g_Resttimer=0;
+ // IWDG_Feed();
+ #ifdef TDFILTER
+ NewTrackingDiffUpdate(taglist_pos, (float)hex_dist);
+ filter_dist = pos_predict[taglist_pos]/10;
+ filter_speed = vel_predict[taglist_pos]/10;
+ newmeasure = 1;
+ #else
+ filter_dist=hex_dist/10;
+ #endif
+ misdist_num[taglist_pos]=0;
+ tagdist_list[taglist_pos] = filter_dist;
+ his_dist[taglist_pos]=hex_dist;
+ if(hex_dist>0)
+ {
+ g_Tagdist[taglist_pos]=hex_dist/10;
+ }else{
+ g_Tagdist[taglist_pos]= 0x2ffff;
+ }
+ usart_send[0]=0x55;
+ usart_send[1]=0xAA;
+ usart_send[2] = 1;//正常模式
+ usart_send[3] = 17;//数据段长度
+ usart_send[4] = frame_seq_nb2;//数据段长度
+ memcpy(&usart_send[5],&tag_id_recv,2);
+ memcpy(&usart_send[7],&dev_id,2);
+ if(tagdist_list[taglist_pos]<=0)
+ tagdist_list[taglist_pos]=0x2ffff;
+ memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
+ usart_send[13] = battary;
+ usart_send[14] = button;
+ usart_send[15] = firstpath_power;
+ usart_send[16] = rx_power;
+ checksum = Checksum_u16(&usart_send[2],17);
+ memcpy(&usart_send[19],&checksum,2);
+ USART_puts(usart_send,21);
+ }else{
+ if(g_com_map[MODBUS_ID1]==1)
+ {
+ #ifdef DBGMSG_OUTPUT
+ dbgmsg_len = sprintf(dbgmsg,"%s errordist:%d",__debug_info__,hex_dist);
+ SendDbgMsg(dbgmsg,dbgmsg_len);
+ #endif
+ }
+
+ // printf("%d",hex_dist);
+ misdist_num[taglist_pos]++;
+ }
+ }
+ }
+ }else{
+ if(g_com_map[MODBUS_ID1]==1)
+ {
+ #ifdef DBGMSG_OUTPUT
+ dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
+ SendDbgMsg(dbgmsg,dbgmsg_len);
+ #endif
+ }
+
+ //printf("%x/n",status_reg);
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
+ }
+ }
+void Anchor_App(void)
+{
+
+ u8 send_len,i;
+ u16 tempid;
+ uint32_t rec_syncid;
+
+ dwt_setinterrupt( DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 0);
+// delay_us(t23);
+// HAL_NVIC_DisableIRQ(EXTI9_5_IRQn);
+ status_reg = dwt_read32bitreg(SYS_STATUS_ID);
+ if (status_reg & SYS_STATUS_RXFCG)//成功接收
+ { uint16_t tag_recv_interval;
+ float temp_tagpos;
+
+
+ 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
+ recpoll_len = frame_len;
+ dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
+ memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
+ //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
+ memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
+ if(group_id== rx_buffer[GROUP_ID_IDX])
+ {
+ switch(rx_buffer[MESSAGE_TYPE_IDX])
+ {
+ case NEAR_POLL:
+ frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
+ battary = rx_buffer[BATTARY_IDX];
+ button = rx_buffer[BUTTON_IDX];
+ rec_nearbase_num=rx_buffer[FZ_NEARBASENUM_INDEX];
+ memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
+ memcpy(&rec_ancidlist,&rx_buffer[FZ_NEARBASEID_INDEX],2*rec_nearbase_num);
+ memcpy(&rec_ancdistlist,&rx_buffer[FZ_NEARBASEID_INDEX+2*rec_nearbase_num],2*rec_nearbase_num);
+ memcpy(&rec_antdelay,&rx_buffer[FZ_NEARBASEID_INDEX+rec_nearbase_num*4],2);
+ #ifdef USART_ALL_OUTPUT
+ usart_send[2] = 0x0c;//正常模式
+ usart_send[3] = 8+rec_nearbase_num*4;//数据段长度
+ usart_send[4] = frame_seq_nb2;//数据段长度
+ usart_send[5] = battary;
+ usart_send[6] = button;
+ usart_send[7] = rec_nearbase_num;
+ memcpy(&usart_send[8],&tag_id_recv,2);
+ memcpy(&usart_send[10],&rec_ancidlist,2*rec_nearbase_num);
+ memcpy(&usart_send[10+rec_nearbase_num*2],&rec_ancdistlist,2*rec_nearbase_num);
+ checksum = Checksum_u16(&usart_send[2],8+4*rec_nearbase_num);
+ memcpy(&usart_send[10+4*rec_nearbase_num],&checksum,2);
+ UART_PushFrame(usart_send,12+rec_nearbase_num*4);
+ #endif
+ taglist_pos=CmpTagInList(tag_id_recv);
+ if(taglist_pos==taglist_num)
+ {
+ taglist_pos=taglist_num;
+ tagid_list[taglist_num++]=tag_id_recv;
+
+ new_tagid=1;
+ }else{
+ new_tagid=0;
+ }
+ tagofflinetime[taglist_pos]=0;
+ temp_tagpos=round((float)(sync_timer%g_com_map[COM_INTERVAL])/slottime);
+ tagpos_rec[(uint8_t)temp_tagpos]=1;
+
+
+ if(rec_nearbase_num>ancidlist_num)
+ {
+ ancidlist_num=rec_nearbase_num;
+ memcpy(ancidlist_rec,&rx_buffer[FZ_NEARBASEID_INDEX],rec_nearbase_num*2);
+ }
+
+ for(i=0;i<rec_nearbase_num;i++)
+ {
+ memcpy(&tempid,&rx_buffer[FZ_NEARBASEID_INDEX+i*2],2);
+ if(tempid==dev_id)
+ {
+ seize_anchor=0; //非抢占。已存在列表中
+ Anchor_RecNearPoll(i);
+ break;
+ }
+ }
+ if(i==rec_nearbase_num)
+ {
+ seize_anchor=1; //抢占anchor
+ Anchor_RecNearPoll(i);
+ }
+
+
+ break;
+ default:
+ // poscount++;
+ break;
+ }
+ }
+ }else{
+ if(g_com_map[MODBUS_ID1]==1)
+ {
+ #ifdef DBGMSG_OUTPUT
+ dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
+ SendDbgMsg(dbgmsg,dbgmsg_len);
+ #endif
+ }
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR | SYS_STATUS_RXFCG | SYS_STATUS_ALL_TX);
+
+ }
+ dwt_forcetrxoff();
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR | SYS_STATUS_RXFCG | SYS_STATUS_ALL_TX);
+ dwt_setinterrupt( DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);
+ dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
+ dwt_rxenable(0);
+ }
--
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