From 27956a4435c7cc37eee8fb908565b4ca8b1119ae Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期二, 28 二月 2023 16:15:07 +0800
Subject: [PATCH] V1.47 2
---
Src/application/dw_app.c | 120 +++++++++++++++++++----------------------------------------
1 files changed, 39 insertions(+), 81 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 560a5e4..cbc0205 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -70,14 +70,6 @@
#define FINAL_MSG_RESP_RX_TS_IDX 14
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4
-
-
-enum enumtagstate
-{
- DISCPOLL,
- GETNEARMSG,
- NEARPOLL,
-}tag_state=NEARPOLL;
static dwt_config_t config = {
5, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
@@ -296,8 +288,23 @@
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;
+u8 current_freq,rec_freq;
u8 motor_state,rec_remotepara_state,rec_remotepara[80];
extern u16 last_lpcount;
+float freqlost_count = 0;
+void TagFreqProcess(u8 freq)
+{
+ if(freq>MAX_ANCFREQ||freq==0)
+ {
+ return;
+ }
+ if(freq==tag_frequency||freq>tag_frequency)
+ {
+ tag_frequency = freq;
+ freqlost_count = 0;
+ }
+}
+
void NearPoll(void)
{
@@ -325,7 +332,7 @@
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;
+ tx_near_msg[MESSAGE_TYPE_IDX] = MBX_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
@@ -361,7 +368,7 @@
if(flag_ancreadpara)
{
u16 calCRC;
- tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_PRAAREPLY;
+ tx_near_msg[MESSAGE_TYPE_IDX] = MBX_PRAAREPLY;
memcpy(&tx_near_msg[MESSAGE_PARAREPLY_IDX],g_com_map,SENDANCPARA_LEN);
calCRC = CRC_Compute((uint8_t*)g_com_map,SENDANCPARA_LEN);
memcpy(&tx_near_msg[MESSAGE_PARAREPLY_IDX+SENDANCPARA_LEN],&calCRC,2);
@@ -389,13 +396,14 @@
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
+ if (rx_buffer[MESSAGE_TYPE_IDX] == MBX_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);
rec_remotepara_state = rx_buffer[MOTORSTATE_INDEX]>>4;
+ TagFreqProcess(rx_buffer[TAGFREQ_IDX]);
if(rec_remotepara_state != 0)
{
para_update = rec_remotepara_state;
@@ -451,7 +459,7 @@
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[MESSAGE_TYPE_IDX]=MBX_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
@@ -597,7 +605,7 @@
if(memcmp(&calCRC,&rec_remotepara[5],2)==0)
{ uint8_t pack_msgtype,pack_index,pack_length;
pack_msgtype = rec_remotepara[0];
- pack_index = rec_remotepara[1];
+ pack_index = rec_remotepara[1]*2;
pack_length = rec_remotepara[2];
if(pack_msgtype==2)
{
@@ -605,7 +613,14 @@
{
// motor_keeptime = rec_remotepara[3];
- }else{
+ }else if(pack_index == CNT_UPDATE)
+ {
+ if(rec_remotepara[3]==2)
+ {
+ EnterUWBUpdateMode();
+ }
+ }
+ else{
if(pack_index<200)
{
memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
@@ -620,83 +635,26 @@
}
}
}
-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
- {
- };
- 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)
+ while (DWT_DEVICE_ID != id)
{
- id = dwt_readdevid() ;
+ u8 iderror_count = 0;
+ id = dwt_readdevid() ;
+ if(iderror_count++>100)
+ {
+ printf("UWB芯片ID错误");
+ break;
+ }
}
-
+ delay_us(100);
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;
- }
+ NearPoll();
dwt_entersleep();
bat_percent=Get_VDDVlotage();
}
--
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