From 0e91bca2aaebc14a6ea8ef97433d4a7953876ffa Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期三, 29 三月 2023 15:08:23 +0800
Subject: [PATCH] Merge branch '防撞' of http://47.108.70.204:60062/r/XRange_Tag into 防撞
---
Src/application/dw_app.c | 704 ++++++++++++++++++++++++++++++++++++---------------------
1 files changed, 441 insertions(+), 263 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 646250a..4a135d9 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -15,6 +15,7 @@
*/
#include <string.h>
+#include <math.h>
#include "dw_app.h"
#include "deca_device_api.h"
#include "deca_regs.h"
@@ -29,6 +30,7 @@
#include "beep.h"
#include "modbus.h"
+#define USART_INTEGRATE_OUTPUT
/*------------------------------------ Marcos ------------------------------------------*/
/* Inter-ranging delay period, in milliseconds. */
#define RNG_DELAY_MS 100
@@ -46,15 +48,19 @@
#define POLL_TX_TO_RESP_RX_DLY_UUS 150
/* This is the delay from Frame RX timestamp to TX reply timestamp used for calculating/setting the DW1000's delayed TX function. This includes the
* frame length of approximately 2.66 ms with above configuration. */
-#define RESP_RX_TO_FINAL_TX_DLY_UUS 800
+#define RESP_RX_TO_FINAL_TX_DLY_UUS 410
+
/* Receive response timeout. See NOTE 5 below. */
#define RESP_RX_TIMEOUT_UUS 600
-#define POLL_RX_TO_RESP_TX_DLY_UUS 420
+#define DELAY_BETWEEN_TWO_FRAME_UUS 400
+
+#define POLL_RX_TO_RESP_TX_DLY_UUS 470
/* 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. */
#define RESP_TX_TO_FINAL_RX_DLY_UUS 200
/* Receive final timeout. See NOTE 5 below. */
#define FINAL_RX_TIMEOUT_UUS 4300
+
#define SPEED_OF_LIGHT 299702547
@@ -64,31 +70,15 @@
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4
-#define SYNC_SEQ_IDX 5
-#define GROUP_ID_IDX 0
-#define ANCHOR_ID_IDX 1
-#define TAG_ID_IDX 5
-#define MESSAGE_TYPE_IDX 9
-#define DIST_IDX 10
-//Poll
-#define ANC_TYPE_IDX 14
-#define BATTARY_IDX 15
-#define BUTTON_IDX 16
-#define SEQUENCE_IDX 17
-//respose
-#define ANCTIMEMS 14
-#define ANCTIMEUS 16
-
-#define POLL 0x01
-#define RESPONSE 0x02
-#define FINAL 0x03
-#define SYNC 0x04
-
-/*------------------------------------ Variables ------------------------------------------*/
-/* Default communication configuration. We use here EVK1000's default mode (mode 3). */
+enum enumtagstate
+{
+ DISCPOLL,
+ GETNEARMSG,
+ NEARPOLL,
+}tag_state=GETNEARMSG;
static dwt_config_t config = {
- 2, /* Channel number. */
+ 5, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
DWT_PLEN_128, /* Preamble length. */
DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */
@@ -99,67 +89,34 @@
DWT_PHRMODE_STD, /* PHY header mode. */
(129 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
};
-
-/* 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 rx_resp_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'V', 'E', 'W', 'A', 0x10, 0x02, 0, 0, 0, 0};
-static uint8_t tx_final_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x23, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
-
-//static uint8_t rx_poll_msg[] = {0x00, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x21, 0, 0};
-static uint8_t tx_resp_msg[20] = {0};
-//static uint8_t rx_final_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x23, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
-
-/* Frame sequence number, incremented after each transmission. */
-static uint32_t frame_seq_nb = 0,frame_seq_nb2=0;
-
-/* Hold copy of status register state here for reference, so reader can examine it at a breakpoint. */
+static uint8_t tx_final_msg[60] = {0};
+static uint8_t tx_resp_msg[22] = {0};
+ uint8_t tx_near_msg[80] = {0};
+
+static uint32_t frame_seq_nb = 0;
static uint32_t status_reg = 0;
-
-/* 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
-static uint8_t rx_buffer[RX_BUF_LEN];
-
-/* Time-stamps of frames transmission/reception, expressed in device time units.
- * As they are 40-bit wide, we need to define a 64-bit int type to handle them. */
+static uint8_t rx_buffer[100];
static uint64_t poll_tx_ts;
static uint64_t resp_rx_ts;
static uint64_t final_tx_ts;
-
-/* Length of the common part of the message (up to and including the function code, see NOTE 2 below). */
static uint64_t poll_rx_ts;
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]; ;
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;
float dis_after_filter; //当前距离值
LPFilter_Frac* p_Dis_Filter; //测距用的低通滤波器
-int32_t g_Tagdist[TAG_NUM_IN_SYS];
-uint8_t g_flag_Taggetdist[256];
-/*------------------------------------ Functions ------------------------------------------*/
-/*! ------------------------------------------------------------------------------------------------------------------
- * @fn get_tx_timestamp_u64()
- *
- * @brief Get the TX time-stamp in a 64-bit variable.
- * /!\ This function assumes that length of time-stamps is 40 bits, for both TX and RX!
- *
- * @param none
- *
- * @return 64-bit value of the read time-stamp.
- */
static uint64_t get_tx_timestamp_u64(void)
{
uint8_t ts_tab[5];
@@ -174,16 +131,6 @@
return ts;
}
-/*! ------------------------------------------------------------------------------------------------------------------
- * @fn get_rx_timestamp_u64()
- *
- * @brief Get the RX time-stamp in a 64-bit variable.
- * /!\ This function assumes that length of time-stamps is 40 bits, for both TX and RX!
- *
- * @param none
- *
- * @return 64-bit value of the read time-stamp.
- */
static uint64_t get_rx_timestamp_u64(void)
{
uint8_t ts_tab[5];
@@ -198,17 +145,6 @@
return ts;
}
-/*! ------------------------------------------------------------------------------------------------------------------
- * @fn final_msg_set_ts()
- *
- * @brief Fill a given timestamp field in the final message with the given value. In the timestamp fields of the final
- * message, the least significant byte is at the lower address.
- *
- * @param ts_field pointer on the first byte of the timestamp field to fill
- * ts timestamp value
- *
- * @return none
- */
static void final_msg_set_ts(uint8_t *ts_field, uint64_t ts)
{
int i;
@@ -228,23 +164,6 @@
*ts += ts_field[i] << (i * 8);
}
}
-void TagDistClear(void)
-{
- static uint16_t clear_judge_cnt;
- uint16_t i;
- if(clear_judge_cnt++>1000) //设定1S分频，每秒进一次。判断标志位大于等于2，2s没收到数据就把数据变成0xffff，不触发警报。
- {
- clear_judge_cnt=0;
- for(i=0;i<255;i++)
- {
- g_flag_Taggetdist[i]++;
- if(g_flag_Taggetdist[i]>=20)
- {
- g_Tagdist[i]=0xffff;
- }
- }
- }
-}
void Dw1000_Init(void)
{
@@ -252,7 +171,7 @@
* 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
@@ -272,15 +191,18 @@
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, 4);
- 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_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)
{
@@ -292,195 +214,451 @@
return sum;
}
-uint16_t tag_time_recv[TAG_NUM_IN_SYS];
-uint8_t usart_send[25];
-uint8_t battary,button;
+u16 tag_time_recv[TAG_NUM_IN_SYS];
+u8 usart_send[25];
+u8 battary,button;
extern uint8_t g_pairstart;
void tag_sleep_configuraion(void)
{
dwt_configuresleep(0x940, 0x7);
dwt_entersleep();
-}
-uint8_t g_start_send_flag;
-uint8_t g_start_sync_flag;
-void SyncPoll(uint8_t sync_seq)
-{
- g_start_sync_flag=1;
- dwt_forcetrxoff();
- tx_sync_msg[SYNC_SEQ_IDX]=sync_seq;
- dwt_writetxdata(sizeof(tx_sync_msg), tx_sync_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
- dwt_writetxfctrl(sizeof(tx_sync_msg), 0);//设置超宽带发送数据长度
- dwt_starttx(DWT_START_TX_IMMEDIATE);
}
+extern uint8_t g_start_send_flag;
+
uint16_t g_Resttimer;
uint8_t result;
-uint8_t tag_succ_times=0;
-int32_t hex_dist,hex_dist2;
-uint16_t checksum;
+u8 tag_succ_times=0;
+int32_t hex_dist;
+u16 checksum;
int8_t tag_delaytime;
extern uint16_t sync_timer;
-uint16_t tmp_time;
-uint32_t time32_incr;uint32_t frame_len;
-void Tag_App(void)//发送模式(TAG标签)
+u16 tmp_time;
+int32_t temp_dist;
+u16 tagslotpos;
+
+u16 anclist_num=0,anclist_pos; //list 总数量和当前位置
+u16 ancid_list[TAG_NUM_IN_SYS];
+u8 nearbase_num;
+u16 mainbase_id;
+int32_t mainbase_dist;
+uint8_t trygetnearmsg_times;
+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 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;
+}
+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;
+}
+
+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;
+u8 anclost_times=0 , mainbase_lost_count=0;
+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;
+
+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];
+void NearPoll(void)
{
+ uint32_t temp1,temp2,dw_systime;
+ uint32_t frame_len;
uint32_t final_tx_time;
- uint32_t start_poll,id;
- uint8_t i,getsync_flag=0;
- //LED0_ON;
- //dwt_forcetrxoff();
- while (DWT_DEVICE_ID != id) // MP IC ONLY (i.e. DW1000) FOR THIS CODE
- {
- id = dwt_readdevid() ;
- }
- g_Resttimer=0;
+ 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;
- tx_poll_msg[BATTARY_IDX] = Get_Battary();
- //tx_poll_msg[BUTTON_IDX] = !READ_KEY0;
- tx_poll_msg[SEQUENCE_IDX] = frame_seq_nb++;
-
- for(i=0;i<g_com_map[MAX_REPORT_ANC_NUM];i++)
+ //GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
+ if(next_nearbase_num>=MAX_NEARBASE_NUM)
{
- /* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
- tx_poll_msg[ANC_TYPE_IDX] = i;
-
- dwt_writetxdata(sizeof(tx_poll_msg), tx_poll_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
- dwt_writetxfctrl(sizeof(tx_poll_msg), 0);//设置超宽带发送数据长度
+ 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;
+// motor_state=0;
+ 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
+ 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)
+ {
+ 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(&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;
+// 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;
+ tx_near_msg[GROUP_ID_IDX] = group_id;
+
+ 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==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{
+ 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
+
- /* Start transmission, indicating that a response is expected so that reception is enabled automatically after the frame is sent and the delay
- * set by dwt_setrxaftertxdelay() has elapsed. */
- result=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
- start_poll = time32_incr;
+ //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]--;
+ }
+ }
+
+ 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);
+
+}
+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[GROUP_ID_IDX] = group_id;
+ 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);
+
/* 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
{
- status_reg = dwt_read32bitreg(SYS_STATUS_ID);
-// if(time32_incr - start_poll>20)
-// NVIC_SystemReset();
- // IdleTask();
-
};
-
- /* Increment frame sequence number after transmission of the poll message (modulo 256). */
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
-
-
- /* 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] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,4)) //判断接收到的数据是否是response数据
- { uint16_t anc_id_recv;
- /* Retrieve poll transmission and response reception timestamp. */
- 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
-
- if(getsync_flag==0&&g_com_map[DEV_ROLE])
- {
- getsync_flag=1;
- memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
- memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],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;
- }
- memcpy(&hex_dist2, &rx_buffer[DIST_IDX], 4);
- memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
- /* Compute final message transmission time. See NOTE 9 below. */
- final_tx_time = (resp_rx_ts + (RESP_RX_TO_FINAL_TX_DLY_UUS * UUS_TO_DWT_TIME)) >> 8;//计算final包发送时间，T5=T4+Treply2
- dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
-
- /* Final TX timestamp is the transmission time we programmed plus the TX antenna delay. */
- 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
-
- /* Write all timestamps in the final message. See NOTE 10 below. */
- final_msg_set_ts(&tx_final_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_final_msg[FINAL_MSG_RESP_RX_TS_IDX], resp_rx_ts);
- final_msg_set_ts(&tx_final_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
-
- /* Write and send final message. See NOTE 7 below. */
-
- dwt_writetxdata(sizeof(tx_final_msg), tx_final_msg, 0);//将发送数据写入DW1000
- dwt_writetxfctrl(sizeof(tx_final_msg), 0);//设定发送数据长度
- result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
-
- tag_succ_times++;
-
- LED0_BLINK;
-
- memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
-// g_Tagdist[anc_id_recv]= hex_dist;
-// g_flag_Taggetdist[anc_id_recv]=0;
- if(!g_com_map[MODBUS_MODE])
- {
- usart_send[2] = 1;//正常模式
- usart_send[3] = 17;//数据段长度
- usart_send[4] = frame_seq_nb;//数据段长度
- memcpy(&usart_send[5],&dev_id,2);
- memcpy(&usart_send[7],&rx_buffer[ANCHOR_ID_IDX],2);
-
- memcpy(&usart_send[9],&hex_dist2,4);
- usart_send[13] = battary;
- usart_send[14] = button;
- checksum = Checksum_u16(&usart_send[2],17);
- memcpy(&usart_send[19],&checksum,2);
- UART_PushFrame(usart_send,21);
- }
- // memcpy(&Modbus_HoldReg[anc_id_recv*2],&hex_dist,4);
- /* Poll DW1000 until TX frame sent event set. See NOTE 8 below. */
- 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
- { };
- }
- /* Clear TXFRS event. */
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//清除标志位
-
- /* Increment frame sequence number after transmission of the final message (modulo 256). */
-
- random_delay_tim = 0;
- }
- else
+ 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
{
- random_delay_tim = DFT_RAND_DLY_TIM_MS; //如果通讯失败，将间隔时间增加5ms，避开因为多标签同时发送引起的冲突。
+ 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;
}
- else
- {
- /* Clear RX error events in the DW1000 status register. */
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
- random_delay_tim = DFT_RAND_DLY_TIM_MS;
- }
-// deca_sleep(10);
}
- dwt_entersleep();
- if(tag_succ_times<g_com_map[MIN_REPORT_ANC_NUM])
- {
- //poll_timer +=time32_incr&0x7+3;
- }
-//HAL_PWR_EnterSLEEPMode(PWR_MAINREGULATOR_ON, PWR_SLEEPENTRY_WFI);
- /* Execute a delay between ranging exchanges. */
+u32 id;
+void Tag_App(void)//发送模式(TAG标签)
+{
+ //LED0_ON;
+ id = dwt_readdevid() ;
+ while (DWT_DEVICE_ID != id)
+ {
+ id = dwt_readdevid() ;
+ }
+
+ g_Resttimer=0;
+// tag_state=DISCPOLL;
+ 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();
}
-
-
-
--
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