From 4170266b0f0e779d0c1dcbe519e3307e9f2cde7a Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期一, 22 一月 2024 15:33:15 +0800
Subject: [PATCH] 增加同步部分代码，未测试
---
Src/application/dw_app.c | 404 ++++++---------------------------------------------------
1 files changed, 47 insertions(+), 357 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 3432615..bea83cb 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -30,7 +30,8 @@
#include "beep.h"
#include "modbus.h"
#include "CRC.h"
-
+#include "dw_mbx_anc.h"
+#include "ADC.h"
//#define USART_INTEGRATE_OUTPUT
/*------------------------------------ Marcos ------------------------------------------*/
/* Inter-ranging delay period, in milliseconds. */
@@ -182,16 +183,6 @@
/* 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
-// dwt_configcontinuousframemode(12480);
-// dwt_writetxdata(13, usart_send, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
-// dwt_writetxfctrl(13, 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
-
-//while(1)
-//{}
- /* 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
}
void Dw1000_App_Init(void)
{
@@ -228,353 +219,9 @@
dwt_configuresleep(0x940, 0x7);
dwt_entersleep();
}
-//extern uint8_t g_start_send_flag;
-//uint16_t g_Resttimer;
-//uint8_t result;
-//u8 tag_succ_times=0;
-//int32_t hex_dist;
-//u16 checksum;
-//int8_t tag_delaytime;
-//extern uint16_t sync_timer;
-//u16 tmp_time;
-//int32_t temp_dist;
-//u16 tagslotpos;
-
-//u16 anclist_num=0,anclist_pos; //list 总数量和当前位置
-//u16 ancid_list[TAG_NUM_IN_SYS];
-//u8 nearbase_num;
-//u16 mainbase_id;
-//int32_t mainbase_dist;
-//uint8_t trygetnearmsg_times;
-//u16 nearbaseid_list[MAX_NEARBASE_NUM],mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM];
-//u8 FindNearBasePos(u16 baseid)
-//{
-// u8 i;
-// for(i=0;i<nearbase_num;i++)
-// {
-// if(baseid==nearbaseid_list[i])
-// return i;
-// }
-//}
-//u8 recbase_num=0;
-//#define CHANGE_BASE_THRESHOLD 5
-//uint8_t GetRandomValue(void)
-//{
-// uint8_t random_value=0,temp_adc,i;
-// for(i=0;i<8;i++)
-// {
-// temp_adc=Get_ADC_Value();
-// random_value=random_value|((temp_adc&0x01)<<i);
-// }
-// return random_value;
-//}
-//u8 GetRandomSlotPos(uint32_t emptyslot)
-//{
-// u8 i,temp_value;
-// temp_value = HAL_LPTIM_ReadCounter(&hlptim1);//GetRandomValue();
-// for(i=temp_value%32;i<max_slotpos;i++)
-// {
-// if(((emptyslot>>i)&0x1)==0)
-// {
-// return i;
-// }
-// }
-//
-// for(i=1;i<max_slotpos;i++)
-// {
-// if(((emptyslot>>i)&0x1)==0)
-// {
-// return i;
-// }
-// }
-//return max_slotpos-1;
-//}
-
-//int32_t mainbase_dist,nearbase_distlist[MAX_NEARBASE_NUM],ancsync_time,nextpoll_delaytime,offsettimeus;
-//u8 anclost_times=0 , mainbase_lost_count=0;
-//u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
-//u8 flag_finalsend,flag_getresponse,flag_rxon;
-//uint16_t current_count,start_count,end_count,lastsync_timer;
-
-//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;
-// }
-//}
-//#define FREQ_OFFSET_MULTIPLIER (998.4e6/2.0/1024.0/131072.0)
-//#define FREQ_OFFSET_MULTIPLIER_110KB (998.4e6/2.0/8192.0/131072.0)
-//#define HERTZ_TO_PPM_MULTIPLIER_CHAN_1 (-1.0e6/3494.4e6)
-//#define HERTZ_TO_PPM_MULTIPLIER_CHAN_2 (-1.0e6/3993.6e6)
-//#define HERTZ_TO_PPM_MULTIPLIER_CHAN_3 (-1.0e6/4492.8e6)
-//#define HERTZ_TO_PPM_MULTIPLIER_CHAN_5 (-1.0e6/6489.6e6)
-//u16 rec_maxrangelen;//rec_anc_signalpower[MAX_NEARBASE_ANCNUM];
-//float clockOffsetRatio;
-//double rtd_init, rtd_resp;
-//double tof,distance;
-//extern int32_t dwt_readcarrierintegrator(void) ;
-//uint32_t testtimer2,anc_pollrx[MAX_NEARBASE_NUM],anc_resptx[MAX_NEARBASE_NUM],tag_resprx[MAX_NEARBASE_NUM];
-//int32_t anc_clockoffset[MAX_NEARBASE_NUM];
-//int16_t anc_distoffset[MAX_NEARBASE_NUM];
-//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) //写入时间戳信息
-//{
-// memcpy(&anc_pollrx[i],pollrx,4);
-// memcpy(&anc_resptx[i],resptx,4);
-// memcpy(&tag_resprx[i],&resprx,4);
-// memcpy(&anc_distoffset[i],distoffset,2);
-// anc_clockoffset[i] = test2;
-//}
-//void CalculateDists(void) //计算距离
-//{
-// for(int i=0;i<MAX_NEARBASE_NUM;i++)
-// {
-// //rec_anc_signalpower[i] = exsistbase_list[i];
-// if(exsistbase_list[i]==KEEP_TIMES)
-// {
-
-// // 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];
-// range_lost_time=0;
-// }else{
-// // 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;
-//
-// };
-//
-//}
-//u16 numceshi;
-//u16 rec_nearbaseid,rec_nearbasepos;
-//extern u16 poll_startcount;
-//void NearPoll(uint8_t ancid_tosend_index)
-//{
-//
-// uint32_t temp1,temp2,dw_systime;
-// uint32_t frame_len;
-// uint32_t final_tx_time;
-// u32 start_poll,timeout;
-// u8 i,j,getsync_flag=0,flag_ancreadpara=0;
-// 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(0);
-// tag_succ_times = 0;
-// //GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
-// if(nearbase_num>=MAX_NEARBASE_NUM)
-// {
-// nearbase_num = MAX_NEARBASE_NUM-1;
-// }
-// recbase_num=0;
-// 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];
-// }
-// tx_near_msg[GROUP_ID_IDX] = group_id;
-// tx_near_msg[BATTARY_IDX] = bat_percent;
-// tx_near_msg[BUTTON_IDX] = !GET_USERKEY|stationary_flag<<1;
-// 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);
-// memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&u16_nearbase_distlist,nearbase_num*2);
-// tx_near_msg[MESSAGE_TYPE_IDX] = MBX_POLL;
-// memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
-// dwt_writetxdata(13+4*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+4*nearbase_num, 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)
-// {
-// current_count=HAL_LPTIM_ReadCounter(&hlptim1);
-// if(current_count<poll_startcount-300)
-// {
-// break;
-// }
-// }
-//
-// 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
-// HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_RESET);
-// numceshi++;
-// tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
-// get_newbase = 0;
-// flag_finalsend=0;
-// flag_rxon=1;
-// flag_getresponse=0;
-// start_count=HAL_LPTIM_ReadCounter(&hlptim1);
-// recbase_num=0;
-// timeout=nearbase_num*SLOT_SCALE+100; //单位0.1ms
-// end_count=start_count+(timeout<<2);
-// if(end_count>=32768)
-// {end_count-=32768;}
-// mainbase_dist=100000;
-// mainbase_lost_count++;
-// current_count=HAL_LPTIM_ReadCounter(&hlptim1);
-// while(current_count<end_count||current_count>end_count+15000)
-// // while(1)
-// {
-// current_count=HAL_LPTIM_ReadCounter(&hlptim1);
-// 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
-// {
-
-// 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
-// test2 = dwt_readcarrierintegrator();
-// poll_tx_ts = get_tx_timestamp_u64(); //获得POLL发送时间T1
-// resp_rx_ts = get_rx_timestamp_u64();
-// 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] == 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
-// {
-//
-// recbase_num++;
-// memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
-// rec_remotepara_state = rx_buffer[MOTORSTATE_INDEX]>>4;
-
-// if(rec_remotepara_state != 0)
-// {
-// para_update = rec_remotepara_state;
-// memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],7);
-// if(para_update==2)
-// {
-// flag_ancreadpara = 1;
-// }
-// }
-// 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])
-// {
-// exsistbase_list[0]=KEEP_TIMES;
-// SetANCTimestap(0,&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]);
-
-// //////////////////////////////////时间同步
-// memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
-// 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;}
-// }
-// rec_nearbasepos=0;
-// exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
-
-// if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
-// motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
-//
-//
-// mainbase_lost_count=0;
-// flag_finalsend=1;
-// }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]);
-
-// 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;
-
-//
-// 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
-// }
-// }
-// }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_forcetrxoff();
-// dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
-// CalculateDists();
-// 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);
-//
-//}
u8 regpoll_count;
u32 id;
void UWB_Wkup(void)
@@ -590,14 +237,57 @@
id = dwt_readdevid() ;
if(iderror_count++>100)
{
- printf("UWB芯片ID错误");
+ printf("UWB芯片ID错误");
break;
}
}
}
+#include "radio.h"
+u8 lora_start_poll_buff[4] = {LORA_MSGTYPE_RANGEPOLL,'I','N','G'};
+
+uint16_t current_count,target_count;
+nextpoll_enum next_poll_state;
void Tag_App(void)//发送模式(TAG标签)
-{
+{
+ if(next_poll_state==Next_Poll_RANGE)
+ {
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ target_count = GetUwbPollCount();
+ while(current_count<target_count||current_count>target_count+16384)
+ {
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ if(current_count<target_count-300)
+ {
+ break;
+ }
+ }
+
+ memcpy(&lora_start_poll_buff[ANC_ID_IDX],&g_com_map[DEV_ID],2);
+ Radio.Send(lora_start_poll_buff, 4);
+ UWB_Wkup();
+ delay_us(700);
MBXANCPoll();
dwt_entersleep();
bat_percent=Get_VDDVlotage();
+ next_poll_state = Next_Poll_LORASYNC;
+ }else{
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ target_count = GetWGRecSyncCount()-2000/LPTIMER_LSB; //提前2ms进入接收状态
+ while(current_count<target_count||current_count>target_count+16384)
+ {
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ if(current_count<target_count-300)
+ {
+ break;
+ }
+ }
+ LoraSyncRecPoll();
+ if(GetRangeState())
+ {
+ next_poll_state = Next_Poll_RANGE;
+ }else{
+ next_poll_state = Next_Poll_LORASYNC;
+ }
+
+ }
}
--
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