From 3dc93e0626cf3dcf3c265f902da8a7de5070f083 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期一, 13 五月 2024 17:31:42 +0800
Subject: [PATCH] Merge branch '免布线基站' of http://47.108.70.204:60062/r/XRange_Tag into 免布线基站
---
Src/application/dw_app.c | 119 +++++++++++++++++++++++++++++++----------------------------
1 files changed, 62 insertions(+), 57 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 18de589..c8086cd 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -70,8 +70,15 @@
#define FINAL_MSG_RESP_RX_TS_IDX 14
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4
+
+//#define _UWB_4G
+
static dwt_config_t config = {
- 5, /* Channel number. */
+#ifdef _UWB_4G
+ 2, /* Channel number. */
+#else
+ 5,
+#endif
DWT_PRF_64M, /* Pulse repetition frequency. */
DWT_PLEN_64, /* Preamble length. */
DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */
@@ -321,7 +328,7 @@
int32_t test2;
uint16_t u16_nearbase_distlist[MAX_NEARBASE_NUM];
uint8_t get_newdist,notenoughdist_count;
-void SetANCTimestap(uint8_t i,uint8_t* pollrx,uint8_t* resptx,uint32_t resprx,uint8_t* distoffset)
+void SetANCTimestap(uint8_t i,uint8_t* pollrx,uint8_t* resptx,uint32_t resprx,uint8_t* distoffset) //写入时间戳信息
{
memcpy(&anc_pollrx[i],pollrx,4);
memcpy(&anc_resptx[i],resptx,4);
@@ -329,7 +336,7 @@
memcpy(&anc_distoffset[i],distoffset,2);
anc_clockoffset[i] = test2;
}
-void CalculateDists(void)
+void CalculateDists(void) //计算距离
{
for(int i=0;i<MAX_NEARBASE_NUM;i++)
{
@@ -338,7 +345,11 @@
{
// exsistbase_list[i]--;
- clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_5 / 1.0e6) ;
+#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;
rtd_resp = anc_resptx[i] - anc_pollrx[i];
tof = ((rtd_init - rtd_resp * (1 - clockOffsetRatio)) / 2.0) * DWT_TIME_UNITS;
@@ -346,10 +357,39 @@
if(distance>-10&&distance<1000)
nearbase_distlist[i] = distance*100+anc_distoffset[i];
}else{
- // nearbase_distlist[i] = 0x1ffff;
+ nearbase_distlist[i] = 0x1ffff;
}
}
+}
+extern uint8_t module_power,imu_enable,motor_enable;
+void Registor_Poll(void)
+{
+ static u8 regpoll_count=0;
+ u8 timeout;
+
+ tx_near_msg[MESSAGE_TYPE_IDX] = MBX_REG;
+ tx_near_msg[REGP_TAGSTATE_INDEX] = !GET_USERKEY<<2|imu_enable<<1|motor_enable;
+ tx_near_msg[REGP_FREQUENCY_INDEX] = bat_percent;
+ 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[GROUP_ID],2);
+ memcpy(&tx_near_msg[REGP_NOMOVESLEEPTIME_INDEX],&g_com_map[DIST_OFFSET],2);
+ memcpy(&tx_near_msg[REGP_HEIGHTOFFSET_INDEX],&g_com_map[MAX_REPORT_ANC_NUM],2);
+ dwt_writetxdata(23, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+ dwt_writetxfctrl(23, 0);//设置超宽带发送数据长度
+ dwt_starttx(DWT_START_TX_IMMEDIATE);//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_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ timeout=50;
+ end_count=start_count+(timeout<<2);
+ while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_TXFRS)))//不断查询芯片状态直到成功接收或者发生错误
+ {
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ if(current_count>=end_count&¤t_count<end_count+15000)
+ break;
+
+ };
+
}
float range_lost_time = 0;
u16 rec_nearbaseid,rec_nearbasepos;
@@ -369,12 +409,8 @@
{
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;
- for(uint8_t i=0;i<nearbase_num;i++)
+ for(uint8_t i=0;i<nearbase_num;i++) //标签距离32位转成16位
{
u16_nearbase_distlist[i] = nearbase_distlist[i];
}
@@ -419,7 +455,7 @@
dwt_forcetrxoff();
flag_rxon=0;
- if(flag_ancreadpara)
+ if(flag_ancreadpara) //只有在读取参数的时候需要回复
{
u16 calCRC;
tx_near_msg[MESSAGE_TYPE_IDX] = MBX_PRAAREPLY;
@@ -494,11 +530,6 @@
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;
@@ -524,28 +555,6 @@
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);
SetANCTimestap(rec_nearbasepos,&rx_buffer[RESP_MSG_POLL_RX_TS_IDX],&rx_buffer[RESP_MSG_RESP_TX_TS_IDX],resp_rx_ts,&rx_buffer[RESP_MSG_ANC_DISTOFFSET]);
@@ -569,11 +578,6 @@
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{
@@ -629,25 +633,12 @@
}
report_num=0;
-// if(last_nearbase_num>4)
-// {
-// last_nearbase_num = 5;
-// }
for (i=0;i<last_nearbase_num;i++)
{
nearbaseid_list[i]=true_nearbase_idlist[i];
nearbase_distlist[i]=true_nearbase_distlist[i];
exsistbase_list[i] = true_exsistbase_list[i];
}
-// #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
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);
@@ -689,7 +680,7 @@
}
}
}
-
+u8 regpoll_count;
u32 id;
void Tag_App(void)//发送模式(TAG标签)
{
@@ -708,6 +699,20 @@
}
delay_us(100);
g_Resttimer=0;
+ if(freqlost_count>FREQ_LOST_TIME)
+ {
+ if(regpoll_count++>11) //待机状态1分钟上传一次基站状态
+ {
+ regpoll_count = 0;
+ Registor_Poll();
+ }
+ }else{
+ if(regpoll_count++>59)//测距状态1分钟上传一次基站状态
+ {
+ regpoll_count = 0;
+ Registor_Poll();
+ }
+ }
NearPoll();
dwt_entersleep();
bat_percent=Get_VDDVlotage();
--
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