From 45da36f7caa39b25567ca51e56b4d547b1e9109c Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期一, 14 八月 2023 15:05:32 +0800
Subject: [PATCH] 修改增加注册报文2模式，立即应答注册报文
---
Src/application/dw_app.c | 168 ++++++++++++++++++++++++++++++++++++++-----------------
1 files changed, 115 insertions(+), 53 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 5c0f4c3..881f098 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -29,7 +29,7 @@
#include <stdio.h>
#include "beep.h"
#include "modbus.h"
-
+#include "BMP390.h"
/*------------------------------------ Marcos ------------------------------------------*/
/* Inter-ranging delay period, in milliseconds. */
#define RNG_DELAY_MS 100
@@ -69,7 +69,7 @@
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4
-#define STARTPOLL REGPOLL//#define SWITCHBASE_DIST
+#define STARTPOLL DISCPOLL//#define SWITCHBASE_DIST
#define SWITCHBASE_ZHUANDIAN
#define SWITCHBASE_DIST
enum enumtagstate
@@ -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. */
@@ -117,8 +117,9 @@
float dis_after_filter; //当前距离值
LPFilter_Frac* p_Dis_Filter; //测距用的低通滤波器
-
-
+void NextSlotDelayMs(int16_t delayms);
+void GetNearMsg(void);
+void Registor_Poll(void);
static uint64_t get_tx_timestamp_u64(void)
{
uint8_t ts_tab[5];
@@ -221,7 +222,7 @@
}
u16 tag_time_recv[TAG_NUM_IN_SYS];
-u8 usart_send[25];
+u8 usart_send[40];
u8 battary,button;
extern uint8_t g_pairstart;
void tag_sleep_configuraion(void)
@@ -247,7 +248,7 @@
u8 nearbase_num;
u16 mainbase_id;
int32_t mainbase_dist,base_mindist;
-uint8_t trygetnearmsg_times;
+uint8_t trygetnearmsg_times,try_reg_times;
u16 mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM],nearbaseid_list0[MAX_NEARBASE_NUM],nearbaseid_list[MAX_NEARBASE_NUM],nearbaseid_list2[MAX_NEARBASE_NUM];
u8 FindNearBasePos(u16 baseid)
{
@@ -491,7 +492,7 @@
int32_t minddist=0x1ffff,minid=-1,temp_dist;
u8 i,j,getsync_flag=0;
u16 mindist_ancid,random_delay_tim,tempval;
-
+ NextSlotDelayMs(-2);
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);
frame_seq_nb++;
@@ -609,9 +610,11 @@
}
if(minddist!=0x1ffff&&minddist!=0)
{
- trygetnearmsg_times = 0;
- tag_state = GETNEARMSG;
- mainbase_id = mindist_ancid;
+ try_reg_times = 0;
+ tag_state = REGPOLL;
+ mainbase_id = mindist_ancid;
+ Registor_Poll();
+ //GetNearMsg();
}
if(getsync_flag==0)
@@ -833,12 +836,12 @@
{
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;
+ clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_5 / 1.0e6) ;
+ 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>-1000&&distance<100000)
+ if(distance>-10&&distance<1000)
nearbase_distlist[i] = distance*100+anc_distoffset[i];
}else{
nearbase_distlist[i] = 0x1ffff;
@@ -1055,18 +1058,18 @@
}
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 +1097,27 @@
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 +1174,7 @@
if(nearbaseid_list[i]!=nearbaseid_list2[i])
{
tag_state = GETNEARMSG;
+ GetNearMsg();
trygetnearmsg_times = 0;
nearbaseid_list0[i]=1;
}
@@ -1196,9 +1204,10 @@
dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
tx_near_msg[REGP_TAGSTATE_INDEX] = !GET_USERKEY<<2|imu_enable<<1|motor_enable;
- tx_near_msg[MESSAGE_TYPE_IDX] = REG_POLL;
+ tx_near_msg[MESSAGE_TYPE_IDX] = REG_POLL2;
tx_near_msg[REGP_FREQUENCY_INDEX] = 1000/g_com_map[COM_INTERVAL];
tx_near_msg[REGP_POWER_INDEX] = module_power;
+ memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
memcpy(&tx_near_msg[REGP_VERSION_INDEX],&g_com_map[VERSION],2);
memcpy(&tx_near_msg[REGP_IMUTHRES_INDEX],&g_com_map[IMU_THRES],2);
memcpy(&tx_near_msg[REGP_NOMOVESLEEPTIME_INDEX],&g_com_map[NOMOVESLEEP_TIME],2);
@@ -1258,39 +1267,85 @@
memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
memcpy(nearbaseid_list2,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
if(tagslotpos!=255)
- tag_state = DISCPOLL;
+ {
+ trygetnearmsg_times = 0;
+ tag_state = GETNEARMSG;
+ GetNearMsg();
+ }
}
}
}
u32 id,error_times=0;
-
extern float Height;
+extern float Altitude;
+void QiyaJizhan_Send(void)
+{
+ GetPressAndHeight();
+ intheight =Altitude*100;
+ nearbase_num = 0;
+ mainbase_id = 0x1234;
+ usart_send[0] = 0x55;
+ usart_send[1] = 0xaa;
+ usart_send[2] = 0x0c;//正常模式
+ usart_send[3] = 15+8*(nearbase_num+1);//数据段长度
+ memcpy(&usart_send[4],&dev_id,2);
+ usart_send[6] = frame_seq_nb;
+ usart_send[7] = frame_seq_nb++>>8;
+ usart_send[8] = bat_percent;
+ usart_send[9] = tx_near_msg[BUTTON_IDX];
+
+ memcpy(&usart_send[10],&intheight,2);
+ usart_send[12] = tag_frequency;
+ usart_send[13] = tagslotpos;
+ usart_send[14] = 0;
+ usart_send[15] = 0;
+ usart_send[16] = nearbase_num+1;
+ memcpy(&usart_send[17],&mainbase_id,2);
+ memcpy(&usart_send[19],&nearbaseid_list,2*nearbase_num);
+ memcpy(&usart_send[19+nearbase_num*2],&nearbase_distlist,4*nearbase_num+4);
+ memcpy(&usart_send[19+nearbase_num*6+4],&rec_anc_signalpower,2*nearbase_num+2);
+
+ checksum = Checksum_u16(&usart_send[2],23+8*nearbase_num);
+ memcpy(&usart_send[25+8*nearbase_num],&checksum,2);
+ USART_puts(usart_send,27+8*nearbase_num);
+ //HexToAsciiSendUDP(usart_send,27+8*nearbase_num);
+}
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
+// }
+// }
+#ifdef QIYA_JIZHAN
+QiyaJizhan_Send();
+#else
+ // Dw1000_Init();
+ dwt_forcetrxoff();
error_times = 0;
switch(tag_state)
{
case REGPOLL:
LED_LG_ON;
- Registor_Poll();
+ Registor_Poll();
+ if(try_reg_times++>5)
+ {
+ tag_state = STARTPOLL;
+ }
LED_LG_OFF;
+// GetPressAndHeight();
break;
case DISCPOLL:
LED_LG_ON;
@@ -1298,24 +1353,31 @@
LED_LG_OFF;
break;
case GETNEARMSG:
- trygetnearmsg_times++;
+
LED_LG_ON;
GetNearMsg();
LED_LG_OFF;
- if(trygetnearmsg_times>5)
+ if(trygetnearmsg_times++>5)
{
tag_state = STARTPOLL;
}
break;
case NEARPOLL:
NearPoll();
- //GetPressAndHeight();
- //intheight = Height*100;
+ // GetPressAndHeight();
+ // intheight =Altitude*100;
break;
case SINGLEPOLL:
// Poll();
break;
}
+ GetPressAndHeight();
+ intheight =Altitude*100;
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);
+#endif
+ //dwt_entersleep();
}
--
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