From 266dcffc919008dedf2acc84f7f52a3aff83bf07 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期六, 19 四月 2025 20:00:33 +0800
Subject: [PATCH] 1
---
Src/application/dw_app.c | 178 +++++++++++++++++++++++++++++++++++++----------------------
1 files changed, 112 insertions(+), 66 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 5c0f4c3..f2dd915 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -80,8 +80,8 @@
NEARPOLL,
SINGLEPOLL,
}tag_state=STARTPOLL;
-static dwt_config_t config = {
- 2, /* Channel number. */
+ dwt_config_t config = {
+ 5, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
DWT_PLEN_128, /* Preamble length. */
DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */
@@ -118,7 +118,7 @@
LPFilter_Frac* p_Dis_Filter; //测距用的低通滤波器
-
+void GetNearMsg(void);
static uint64_t get_tx_timestamp_u64(void)
{
uint8_t ts_tab[5];
@@ -166,7 +166,7 @@
*ts += ts_field[i] << (i * 8);
}
}
-
+extern u32 id,error_times;
void Dw1000_Init(void)
{
/* Reset and initialise DW1000.
@@ -175,20 +175,44 @@
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
dwt_initialise(DWT_LOADUCODE);//初始化DW1000
+ id = dwt_readdevid() ;
Spi_ChangePrescaler(SPIx_PRESCALER_FAST); //设置为快速模式
-
+ id = dwt_readdevid() ;
/* Configure DW1000. See NOTE 6 below. */
dwt_configure(&config);//配置DW1000
-
+ id = dwt_readdevid() ;
/* 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
-
+ id = dwt_readdevid() ;
/* 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
+}
+uint8_t uwb_onflag=1;
+void UWB_RXON()
+{
+ if(!g_com_map[MODBUS_MODE])
+ {
+ Dw1000_Init();
+ uwb_onflag=1;
+ g_com_map[UWB_ONFLAG]=uwb_onflag;
+ save_com_map_to_flash();
+ }
+}
+void UWB_RXOFF()
+{
+ if(!g_com_map[MODBUS_MODE])
+ {
+ 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);
+ dwt_forcetrxoff();
+ dwt_entersleep();
+ uwb_onflag=0;
+ g_com_map[UWB_ONFLAG]=uwb_onflag;
+ save_com_map_to_flash();
+ }
}
void Dw1000_App_Init(void)
{
@@ -402,7 +426,7 @@
tag_succ_times++;
- LED0_BLINK;
+// LED0_BLINK;
memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
// if(hex_dist2!=0xffff)
@@ -610,8 +634,9 @@
if(minddist!=0x1ffff&&minddist!=0)
{
trygetnearmsg_times = 0;
- tag_state = GETNEARMSG;
+ tag_state = GETNEARMSG;
mainbase_id = mindist_ancid;
+ GetNearMsg();
}
if(getsync_flag==0)
@@ -763,6 +788,7 @@
//tyncpoll_time=tagslotpos*slottime;
//tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;
tag_state=NEARPOLL;
+ outrange_times=0;
}
}else{
// tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
@@ -826,24 +852,32 @@
extern int32_t dwt_readcarrierintegrator(void) ;
void CalculateDists(void)
{
- for(int i=0;i<11;i++)
+ for(int i=0; i<11; i++)
{
- rec_anc_signalpower[i] = exsistbase_list[i];
- if(exsistbase_list[i]>0)
- {
+ // rec_anc_signalpower[i] = exsistbase_list[i];
+ if(exsistbase_list[i]==KEEP_TIMES)
+ {
- exsistbase_list[i]--;
- clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_2 / 1.0e6) ;
- rtd_init = tag_resprx[i] - poll_tx_ts;
- rtd_resp = anc_resptx[i] - anc_pollrx[i];
- tof = ((rtd_init - rtd_resp * (1 - clockOffsetRatio)) / 2.0) * DWT_TIME_UNITS;
- distance = tof * SPEED_OF_LIGHT;
- if(distance>-1000&&distance<100000)
- nearbase_distlist[i] = distance*100+anc_distoffset[i];
- }else{
- nearbase_distlist[i] = 0x1ffff;
- }
-
+ exsistbase_list[i]--;
+#ifdef _UWB_4G
+ clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_2 / 1.0e6) ;
+#else
+ clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_5 / 1.0e6) ;
+#endif
+ rtd_init = tag_resprx[i] - poll_tx_ts&0xffffffff;
+ rtd_resp = anc_resptx[i] - anc_pollrx[i];
+ tof = ((rtd_init - rtd_resp * (1 - clockOffsetRatio)) / 2.0) * DWT_TIME_UNITS;
+ distance = tof * SPEED_OF_LIGHT;
+ if(distance>-10&&distance<1000)
+ {
+ nearbase_distlist[i] = distance*100+anc_distoffset[i];
+ } else {
+ nearbase_distlist[i] = 0x1ffff;
+ }
+ } else {
+ nearbase_distlist[i] = 0x1ffff;
+ }
+
}
}
void NearPoll(void)
@@ -1055,18 +1089,18 @@
}
nearbase_distlist[rec_nearbasepos+1]=temp_dist; // nearbase_distlist[1]对应 rec_nearbaseid[0]的距离
final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
- if(temp_dist<salvebase_mindist&&nearbase_switchdistlist[rec_nearbasepos]==1)
+ if(temp_dist<salvebase_mindist&&nearbase_switchdistlist[rec_nearbasepos]!=0&&(nearbase_switchdistlist[rec_nearbasepos]==1||temp_dist<nearbase_switchdistlist[rec_nearbasepos]))
{
salvebase_mindist = temp_dist;
mindist_slavebaseid = rec_nearbaseid;
}
#ifdef SWITCHBASE_ZHUANDIAN
- if(temp_dist<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]>1&&temp_dist>0)
- {
- mainbase_id = rec_nearbaseid;
- tag_state = GETNEARMSG;
- trygetnearmsg_times = 0;
- }
+// if(temp_dist<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]>1&&temp_dist>0)
+// {
+// mainbase_id = rec_nearbaseid;
+// tag_state = GETNEARMSG;
+// trygetnearmsg_times = 0;
+// }
#endif
}
@@ -1094,23 +1128,27 @@
if(salvebase_mindist<mainbase_dist- THRESHOLD_CHANGE_MAINBASE_DIST )
{
changemainbase_count++;
- if(changemainbase_count>tag_frequency*2)
+ if(changemainbase_count>2)
{
- mainbase_id = mindist_slavebaseid;
- tag_state = GETNEARMSG;
- trygetnearmsg_times = 0;
+ changemainbase_count = 0;
+ mainbase_id = mindist_slavebaseid;
+ tag_state = GETNEARMSG;
+ trygetnearmsg_times = 0;
+ GetNearMsg();
}
}else{
changemainbase_count = 0;
}
#endif
- }else if(mainbase_lost_count>5*tag_frequency)
+ }else if(mainbase_lost_count>10)
{
+ mainbase_lost_count = 0;
tag_state = DISCPOLL;
+ DiscPoll();
}
if(mainbase_lost_count!=0)
{
- if(mainbase_lost_count<=tag_frequency*1)
+ if(mainbase_lost_count<=5)
{NextSlotDelayMs(0);
}else{
NextSlotDelayMs(0);
@@ -1167,6 +1205,7 @@
if(nearbaseid_list[i]!=nearbaseid_list2[i])
{
tag_state = GETNEARMSG;
+ GetNearMsg();
trygetnearmsg_times = 0;
nearbaseid_list0[i]=1;
}
@@ -1212,10 +1251,10 @@
IdleTask();
};
- if(status_reg==0xffffffff)
- {
- NVIC_SystemReset();
- }
+// 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
@@ -1263,45 +1302,49 @@
}
}
u32 id,error_times=0;
-
extern float Height;
+extern IWDG_HandleTypeDef hiwdg;
void Tag_App(void)//发送模式(TAG标签)
{
- //LED0_ON;
- SPIx_CS_GPIO->BRR = SPIx_CS;
- delay_us(700);
- SPIx_CS_GPIO->BSRR = SPIx_CS;
- id = dwt_readdevid() ;
- while (DWT_DEVICE_ID != id)
- {
- // Dw1000_Init();
- id = dwt_readdevid() ;
- IdleTask();
- if(error_times++>20)
- {
- printf("DW ID ERROR.\r\n");
- SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
- }
- }
+// //LED0_ON;
+// SPIx_CS_GPIO->BRR = SPIx_CS;
+// delay_us(700);
+// SPIx_CS_GPIO->BSRR = SPIx_CS;
+// id = dwt_readdevid() ;
+// while (DWT_DEVICE_ID != id)
+// {
+// // Dw1000_Init();
+// id = dwt_readdevid() ;
+// IdleTask();
+// if(error_times++>20)
+// {
+// printf("DW ID ERROR.\r\n");
+// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+// }
+// }
+// Dw1000_Init();
+ dwt_forcetrxoff();
+ 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);
error_times = 0;
+ HAL_IWDG_Refresh(&hiwdg);
switch(tag_state)
{
case REGPOLL:
- LED_LG_ON;
+// LED_LG_ON;
Registor_Poll();
- LED_LG_OFF;
+// LED_LG_OFF;
break;
case DISCPOLL:
- LED_LG_ON;
+// LED_LG_ON;
DiscPoll();
- LED_LG_OFF;
+// LED_LG_OFF;
break;
case GETNEARMSG:
trygetnearmsg_times++;
- LED_LG_ON;
+// LED_LG_ON;
GetNearMsg();
- LED_LG_OFF;
+// LED_LG_OFF;
if(trygetnearmsg_times>5)
{
tag_state = STARTPOLL;
@@ -1317,5 +1360,8 @@
break;
}
userkey_state = !GET_USERKEY;
- dwt_entersleep();
+ dwt_forcetrxoff();
+ 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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