From 1f703ab0c4761e3260b68481bf9f8626f08e7c98 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期五, 16 十二月 2022 14:09:12 +0800
Subject: [PATCH] V2.60
---
Src/application/dw_app.c | 234 +++++++++++++++++++++++++++++++++------------------------
1 files changed, 135 insertions(+), 99 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 6edc2bf..ef662aa 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -69,7 +69,7 @@
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4
-#define STARTPOLL REGPOLL//#define SWITCHBASE_DIST
+#define STARTPOLL DISCPOLL//#define SWITCHBASE_DIST
#define SWITCHBASE_ZHUANDIAN
#define SWITCHBASE_DIST
enum enumtagstate
@@ -117,8 +117,9 @@
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
+uint16_t current_slotpos = 0;
-
+uint8_t rec_anc_sync_sec,tagpoll_sync_sec,current_sync_sec,flag_tagnewpos;
static uint64_t get_tx_timestamp_u64(void)
{
@@ -474,6 +475,7 @@
#define SINGLEPOLL_BASENUM 5
+#define ANCHORTYPE_NUM 3
uint16_t singlepoll_baseid[20]={0x8166,0x9804,0x9689,0x9686,0x8279,0x9815,0x9803,0x9814,0x9687,0x9774,0x8278,0x9743,0x9688,0x9771,0x8277};
int32_t singlepoll_basedist[20];
@@ -496,7 +498,7 @@
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);
frame_seq_nb++;
- for(uint8_t singlepoll_i=0;singlepoll_i<10;singlepoll_i++)
+ for(uint8_t singlepoll_i=0;singlepoll_i<ANCHORTYPE_NUM;singlepoll_i++)
{
@@ -515,7 +517,7 @@
// memcpy(&send_buffer[NEARBASEID_INDEX+nearbase_num*6],&intheight,2);
send_buffer[MESSAGE_TYPE_IDX] = DISCOVERPOLL;
// singlepoll_basedist[singlepoll_i]= 0x1ffff;
- send_buffer[NEARP_TAGFREQ_INDEX] = tag_frequency;
+ //send_buffer[NEARP_TAGFREQ_INDEX] = tag_frequency;
send_buffer[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;
send_buffer[ANCHOR_ID_IDX] = singlepoll_i;
memcpy(&send_buffer[TAG_ID_IDX],&dev_id,2);
@@ -617,15 +619,8 @@
if(getsync_flag==0)
{
-// tagslotpos--;
-// if(tagslotpos==0||tagslotpos>max_slotpos)
-// {
-// tagslotpos=max_slotpos;
-// }
-// tyncpoll_time=(tagslotpos-1)*slottime;
}
-// mainbase_id=minid;
-// mainbase_id = 0x4;
+
}
int16_t target_offsettime = 850;
//#define TAGET_OFFSETTIME 940
@@ -640,7 +635,7 @@
u16 delaycount;
int16_t poll_offsettime=-6900,clockoffset;
extern u16 slotpos_intoatl, slotpos;
-void NextPollDelay(u32 anchor_time)
+void NextPollDelay(u32 anchor_time) //根据当前基站的时间，计算下一次需要工作的时间的延迟。然后设定定时器到这个时间。
{
//tagslotpos = 0;
error_time = anchor_time-expect_anctime;
@@ -683,7 +678,7 @@
}
__HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
last_lpcount = lpcount;
- }
+}
void NextSlotDelayMs(int16_t delayms)
{
@@ -707,7 +702,7 @@
__HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
last_lpcount = lpcount;
}
-
+uint16_t rec_tagperiod;
u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32],mainbase_type;;
void GetNearMsg(void)
{
@@ -722,12 +717,12 @@
memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);
tx_near_msg[MESSAGE_TYPE_IDX] = POS_MSG;
-
+ memcpy(&tx_near_msg[TAGMSG_CURRENTPOS_IDX],¤t_slotpos,2);
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_setrxtimeout(RESP_RX_TIMEOUT_UUS);
+ dwt_writetxdata(14, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+ dwt_writetxfctrl(14, 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)
{
@@ -754,49 +749,52 @@
dwt_readrxdata(rx_buffer, frame_len, 0); //读取接收数据
if (rx_buffer[MESSAGE_TYPE_IDX] == POS_MSG&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
{
+
+ memcpy(&mainbase_id,&rx_buffer[ANCHOR_ID_IDX],2);
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);
memcpy(nearbaseid_list2,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
- //slottime=ceil((nearbase_num+2)*0.3)+1;
- //tyncpoll_time=tagslotpos*slottime;
- //tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;
+ memcpy(¤t_slotpos,&rx_buffer[ANCMSG_TAGSLOTPOS_IDX],2);
+ memcpy(&rec_tagperiod,&rx_buffer[ANCMSG_TAGPERIODMS_IDX],2);
+ tagpoll_sync_sec = current_slotpos/200;
+ tagslotpos = current_slotpos%200;
+ max_slotpos = rec_tagperiod*20;
tag_state=NEARPOLL;
}
}else{
// tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
}
}
-void SendHuiZongData(void)
-{
- usart_send[2] = 0x0c;//正常模式
- usart_send[3] = 15+8*(nearbase_num+1);//数据段长度
- memcpy(&usart_send[4],&dev_id,2);
- usart_send[6] = frame_seq_nb;
- usart_send[7] = frame_seq_nb>>8;
- usart_send[8] = bat_percent;
- usart_send[9] = tx_near_msg[BUTTON_IDX];
+//void SendHuiZongData(void)
+//{
+// usart_send[2] = 0x0c;//正常模式
+// usart_send[3] = 15+8*(nearbase_num+1);//数据段长度
+// memcpy(&usart_send[4],&dev_id,2);
+// usart_send[6] = frame_seq_nb;
+// usart_send[7] = frame_seq_nb>>8;
+// usart_send[8] = bat_percent;
+// usart_send[9] = tx_near_msg[BUTTON_IDX];
- memcpy(&usart_send[10],&intheight,2);
- usart_send[12] = tag_frequency;
- usart_send[13] = tagslotpos;
- usart_send[14] = 0;
- usart_send[15] = 0;
- usart_send[16] = nearbase_num+1;
- memcpy(&usart_send[17],&mainbase_id,2);
- memcpy(&usart_send[19],&nearbaseid_list,2*nearbase_num);
- memcpy(&usart_send[19+nearbase_num*2],&nearbase_distlist,4*nearbase_num+4);
- memcpy(&usart_send[19+nearbase_num*6+4],&rec_anc_signalpower,2*nearbase_num+2);
-
- checksum = Checksum_u16(&usart_send[2],23+8*nearbase_num);
- memcpy(&usart_send[25+8*nearbase_num],&checksum,2);
- USART_puts(usart_send,27+8*nearbase_num);
- //HexToAsciiSendUDP(usart_send,27+8*nearbase_num);
-}
+// memcpy(&usart_send[10],&intheight,2);
+// usart_send[12] = tag_frequency;
+// usart_send[13] = tagslotpos;
+// usart_send[14] = 0;
+// usart_send[15] = 0;
+// usart_send[16] = nearbase_num+1;
+// memcpy(&usart_send[17],&mainbase_id,2);
+// memcpy(&usart_send[19],&nearbaseid_list,2*nearbase_num);
+// memcpy(&usart_send[19+nearbase_num*2],&nearbase_distlist,4*nearbase_num+4);
+// memcpy(&usart_send[19+nearbase_num*6+4],&rec_anc_signalpower,2*nearbase_num+2);
+//
+// checksum = Checksum_u16(&usart_send[2],23+8*nearbase_num);
+// memcpy(&usart_send[25+8*nearbase_num],&checksum,2);
+// USART_puts(usart_send,27+8*nearbase_num);
+// //HexToAsciiSendUDP(usart_send,27+8*nearbase_num);
+//}
uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
uint8_t motor_flag;
+uint16_t rec_ancpos;
void NearPoll(void)
{
@@ -804,7 +802,7 @@
static u8 notenoughdist_count=0;
uint32_t final_tx_time;
u32 start_poll;
- u8 i,j,getsync_flag=0,timeout,get_newdist;
+ u8 i,j,getsync_flag=0,timeout,get_newdist,pos_nochange=1;
// USART_putc(current_slotnum);
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);
@@ -831,21 +829,22 @@
tx_near_msg[BATTARY_IDX] = bat_percent;
tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2|motor_flag<<5;
tx_near_msg[SEQUENCE_IDX] = frame_seq_nb;
- tx_near_msg[SEQUENCEH_IDX] = (frame_seq_nb++)>>8;
+ tx_near_msg[SEQUENCEH_IDX] = (frame_seq_nb++)>>8;
tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
- memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&nearbase_distlist,nearbase_num*4+4);
- memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6+4],&rec_anc_signalpower,nearbase_num*2+2);
-
+ memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&nearbase_distlist,nearbase_num*4+4);
+ memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6+4],&rec_anc_signalpower,nearbase_num*2+2);
+
if(intheight!=0)
intheight+=g_com_map[HEIGHTOFFEST_INDEX];
memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*8+6],&intheight,2);
tx_near_msg[MESSAGE_TYPE_IDX] = POS_POLL;
-
- tx_near_msg[NEARP_TAGFREQ_INDEX] = tag_frequency;
- tx_near_msg[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;
+
+ tx_near_msg[NEARP_TAGFREQ_INDEX] = rec_tagperiod;
+ tx_near_msg[NEARP_TAGNEWPOSFLAG_INDEX] = flag_tagnewpos;
+ memcpy(&tx_near_msg[NEARP_TAGSLOTPOS_INDEX],¤t_slotpos,2);
memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
dwt_writetxdata(29+8*nearbase_num, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
@@ -903,11 +902,31 @@
dwt_rxenable(0);//打开接收
//HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_SET);
if (rx_buffer[MESSAGE_TYPE_IDX] == POS_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;
+ { u16 rec_nearbaseid,rec_nearbasepos,next_slotpos = current_slotpos;
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);
+ memcpy(&rec_ancpos,&rx_buffer[PR_TAGPOS_INDEX],2);
+ if(rec_ancpos<max_slotpos) //接收到基站回复的时间片位置后，第一个不一样就改变，后续的不一样就找最大的时间片
+ {
+ if(pos_nochange)
+ {
+ if(rec_ancpos!=next_slotpos)
+ {
+ flag_tagnewpos = 1;
+ next_slotpos = rec_ancpos;
+ pos_nochange =0;
+ }
+ }else{
+ if(rec_ancpos>next_slotpos)
+ {
+ flag_tagnewpos = 1;
+ next_slotpos = rec_ancpos;
+ }
+ }
+ }
+
if(rec_nearbaseid==mainbase_id)
{
//////////////////////////////////时间同步
@@ -951,9 +970,10 @@
memcpy(&rec_anc_signalpower[0],&rx_buffer[ANC_SIGNALPOWER],2);
if(mainbase_dist>rec_maxrangelen&&mainbase_dist>0&&rec_maxrangelen!=0)
{
+ if(mainbase_dist!=0x1ffff)
if(outrange_times++>OUTRANGE_RESTARTTIMES)
{
- // tag_state = STARTPOLL;
+ tag_state = STARTPOLL;
}
}else{
outrange_times = 0;
@@ -973,11 +993,18 @@
if(tmp_time>999)
{
tmp_time-=999;
- sync_timer++;
- if(sync_timer>=1000)
- {sync_timer=0;}
+ sync_timer++;
}
- ancsync_time=((sync_timer)*1000+tmp_time);
+ rec_anc_sync_sec = sync_timer/1000;
+ current_sync_sec = rec_anc_sync_sec+1;
+ if(current_sync_sec>=rec_tagperiod/10)
+ {
+ current_sync_sec = 0;
+ }
+ ancsync_time=((sync_timer%1000)*1000+tmp_time);
+ current_slotpos = next_slotpos;
+ tagpoll_sync_sec = current_slotpos/200;
+ tagslotpos = current_slotpos%200;
SetLPTimer(ancsync_time);
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
@@ -1047,17 +1074,21 @@
changemainbase_count = 0;
}
#endif
- }else if(mainbase_lost_count>5*tag_frequency)
+ }else if(mainbase_lost_count>5)
{
- // tag_state = DISCPOLL;
+ tag_state = DISCPOLL;
+ current_slotpos = start_count%max_slotpos; //如果丢失连接超过5次就随机换个时间片
+ tagpoll_sync_sec = current_slotpos/200;
+ tagslotpos = current_slotpos%200;
+ flag_tagnewpos = 0;
}
if(mainbase_lost_count!=0)
{
- if(mainbase_lost_count<=tag_frequency*1)
- {NextSlotDelayMs(0);
- }else{
- NextSlotDelayMs(0);
- }
+// if(mainbase_lost_count<=tag_frequency*1)
+// {NextSlotDelayMs(0);
+// }else{
+// NextSlotDelayMs(0);
+// }
}
if(para_update)
@@ -1104,6 +1135,10 @@
nearbaseid_list0[i]=1;
}
}
+ if(pos_nochange)
+ {
+ flag_tagnewpos = 0;
+ }
// SendHuiZongData();
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);
@@ -1123,14 +1158,14 @@
tagslotpos=TOTAL_SLOTNUM;
}
//SetNextPollTime(tagslotpos);
- NextSlotDelayMs(-2);
+ //NextSlotDelayMs(-2);
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_near_msg[REGP_TAGSTATE_INDEX] = !GET_USERKEY<<2|imu_enable<<1|motor_enable;
tx_near_msg[MESSAGE_TYPE_IDX] = REG_POLL;
- tx_near_msg[REGP_FREQUENCY_INDEX] = 1000/g_com_map[COM_INTERVAL];
+ tx_near_msg[REGP_FREQUENCY_INDEX] =rec_tagperiod;
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[IMU_THRES],2);
@@ -1165,32 +1200,20 @@
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;}
- }
- ancsync_time=((sync_timer)*1000+tmp_time);
- SetLPTimer(ancsync_time);
-// last_slotnum=current_slotnum;
-// temptimer = sync_timer-10;
-// if(temptimer<0)
-// {temptimer+=1000;}
-// current_slotnum=((float)temptimer/(SLOTTIME_MS*bigslot_num))+1;
-// if(current_slotnum==last_slotnum-1)
-// {flag_getresponse=1;}
-// lastsync_timer=sync_timer;
-// offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
-// SetNextPollTime(tagslotpos);
+// tmp_time=tmp_time+450;
+// if(tmp_time>999)
+// {
+// tmp_time-=999;
+// sync_timer++;
+// }
+// ancsync_time=((sync_timer)*1000+tmp_time);
+// SetLPTimer(ancsync_time);
mainbase_id=rec_nearbaseid;
nearbase_num=rx_buffer[NEARBASENUM_INDEX];
memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
memcpy(nearbaseid_list2,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
- if(tagslotpos!=255)
- tag_state = DISCPOLL;
+// if(tagslotpos!=255)
+// tag_state = DISCPOLL;
}
}
}
@@ -1199,7 +1222,7 @@
extern float Height;
void Tag_App(void)//发送模式(TAG标签)
{
-
+ static uint8_t diccount = 0;
//LED0_ON;
SPIx_CS_GPIO->BRR = SPIx_CS;
delay_us(700);
@@ -1225,14 +1248,26 @@
LED_LG_OFF;
break;
case DISCPOLL:
- LED_LG_ON;
- DiscPoll();
+ LED_LG_ON;
+
+ //DiscPoll();
+ mainbase_lost_count = 0;
+ tagpoll_sync_sec = 0;
+ rec_tagperiod = 10;
+ mainbase_id = 0xffff;
+ GetNearMsg();
+ if(diccount++%10==0)
+ {
+ Registor_Poll();
+ }
+ NextSlotDelayMs(-5);
LED_LG_OFF;
break;
case GETNEARMSG:
trygetnearmsg_times++;
LED_LG_ON;
- GetNearMsg();
+
+ GetNearMsg();
LED_LG_OFF;
if(trygetnearmsg_times>5)
{
@@ -1241,6 +1276,7 @@
break;
case NEARPOLL:
NearPoll();
+
//GetPressAndHeight();
//intheight = Height*100;
break;
--
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