From 30473596c542f4e475b6654bedf63a4cd4e44214 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期三, 29 十一月 2023 16:12:56 +0800
Subject: [PATCH] Merge branch '定位-临近' of http://47.108.70.204:60062/r/XRange_Tag into 定位-临近
---
Src/application/dw_ancapp.c | 371 +++++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 371 insertions(+), 0 deletions(-)
diff --git a/Src/application/dw_ancapp.c b/Src/application/dw_ancapp.c
new file mode 100644
index 0000000..cf09557
--- /dev/null
+++ b/Src/application/dw_ancapp.c
@@ -0,0 +1,371 @@
+#include <string.h>
+
+#include "ADC.h"
+#include "deca_device_api.h"
+#include "deca_regs.h"
+#include "dw_driver.h"
+#include "Spi.h"
+#include "led.h"
+#include "serial_at_cmd_app.h"
+#include "Usart.h"
+#include "global_param.h"
+
+#include <stdio.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
+static u8 tag_succ_times=0;
+static u16 checksum;
+static int8_t tag_delaytime;
+extern uint16_t sync_timer;
+static int32_t temp_dist;
+static u16 tagslotpos;
+static u8 recbase_num=0;
+static int32_t mainbase_dist,nearbase_switchdistlist[MAX_NEARBASE_NUM],nearbase_distlist[MAX_NEARBASE_NUM],true_nearbase_distlist[MAX_NEARBASE_NUM],true_exsistbase_list[MAX_NEARBASE_NUM],ancsync_time,nextpoll_delaytime,offsettimeus;
+static u8 anclost_times=0 , mainbase_lost_count=0;
+static u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
+static u8 flag_finalsend,flag_getresponse,flag_rxon;
+static uint16_t current_count,start_count,end_count,lastsync_timer;
+extern u16 bigslot_num;
+static u8 nearbase_num=0,last_nearbase_num,next_nearbase_num,last_slotnum, para_update,para_len;
+static u32 rec_tagpos_binary;
+static int16_t offset=4700,temptimer;
+static u8 rec_remotepara_state,rec_remotepara[80],neartimout_timer;
+static u8 frame_seq_nb;
+static u16 mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM],nearbaseid_list[MAX_NEARBASE_NUM],nearbaseid_list2[MAX_NEARBASE_NUM];
+
+static u8 FindNearBasePos(u16 baseid)
+{
+ u8 i;
+ for(i=0; i<nearbase_num; i++)
+ {
+ if(baseid==nearbaseid_list[i])
+ return i;
+ }
+}
+static uint8_t rx_buffer[100];
+static uint64_t poll_tx_ts;
+static uint64_t resp_rx_ts;
+static uint64_t final_tx_ts;
+static uint64_t poll_rx_ts;
+static uint64_t resp_tx_ts;
+static uint64_t final_rx_ts;
+static uint32_t status_reg = 0;
+extern uint8_t tx_near_msg[80];
+extern uint8_t motor_state;
+static u8 result;
+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);
+ }
+}
+u8 send_buffer[100],outside_count;
+#define FZ_NEARBASENUM_INDEX 10
+#define FZ_NEARBASEID_INDEX 11
+void FZNearPoll(void)
+{
+ uint32_t temp1,temp2,dw_systime;
+ uint32_t frame_len;
+ uint32_t final_tx_time;
+ u32 start_poll;
+ u8 i,j,getsync_flag=0,timeout;
+ dwt_setrxaftertxdelay(10); //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;
+ //GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
+ if(next_nearbase_num>=MAX_NEARBASE_NUM)
+ {
+ 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;
+
+ memcpy(&send_buffer[TAG_ID_IDX], &dev_id, 2);
+ send_buffer[GROUP_ID_IDX] = group_id;
+ send_buffer[BATTARY_IDX] = bat_percent;
+ //tx_near_msg[BUTTON_IDX] = !GET_USERKEY|stationary_flag<<1;
+ send_buffer[SEQUENCE_IDX] = frame_seq_nb++;
+ send_buffer[FZ_NEARBASENUM_INDEX] = nearbase_num;
+ memcpy(&send_buffer[FZ_NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
+ send_buffer[MESSAGE_TYPE_IDX] = NEAR_POLL;
+ memcpy(&send_buffer[ANCHOR_ID_IDX],&mainbase_id,2);
+ dwt_writetxdata(35, send_buffer, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+ dwt_writetxfctrl(35, 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;
+
+ neartimout_timer = 0;
+ recbase_num=0;
+ start_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ end_count=start_count+(timeout<<5);
+ if(end_count>=32768)
+ {
+ end_count-=32768;
+ }
+ while(current_count<end_count||current_count>end_count+15000)
+ {
+ 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
+
+ // 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) ;//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;
+
+ } 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
+
+
+ //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);
+ }
+ 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;
+ }
+ // 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
+ if(motor_state==2)
+ { outside_count=0;
+ } else {
+ outside_count++;
+ }
+ 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);
+
+}
\ No newline at end of file
--
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