From 5b8bde9ae08b29e4ce6d04149fe0cb78e0c5d68c Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期日, 24 三月 2024 13:48:14 +0800
Subject: [PATCH] 1.12，加入lora'升级标签。
---
Src/application/dw_app.c | 671 ++++---------------------------------------------------
1 files changed, 53 insertions(+), 618 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index bce308f..9c7f9cb 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -3,7 +3,7 @@
* @file main.c
* @brief Double-sided two-way ranging (DS TWR) initiator example code
*
- *
+ *
*
* @attention
*
@@ -44,23 +44,23 @@
* 1 uus = 512 / 499.2 祍 and 1 祍 = 499.2 * 128 dtu. */
#define UUS_TO_DWT_TIME 65536
-/* Delay between frames, in UWB microseconds. See NOTE 4 below. */
-/* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
-#define POLL_TX_TO_RESP_RX_DLY_UUS 150
-/* This is the delay from Frame RX timestamp to TX reply timestamp used for calculating/setting the DW1000's delayed TX function. This includes the
- * frame length of approximately 2.66 ms with above configuration. */
-#define RESP_RX_TO_FINAL_TX_DLY_UUS 410
+///* Delay between frames, in UWB microseconds. See NOTE 4 below. */
+///* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
+//#define POLL_TX_TO_RESP_RX_DLY_UUS 150
+///* This is the delay from Frame RX timestamp to TX reply timestamp used for calculating/setting the DW1000's delayed TX function. This includes the
+// * frame length of approximately 2.66 ms with above configuration. */
+//#define RESP_RX_TO_FINAL_TX_DLY_UUS 410
-/* Receive response timeout. See NOTE 5 below. */
-#define RESP_RX_TIMEOUT_UUS 600
+///* Receive response timeout. See NOTE 5 below. */
+//#define RESP_RX_TIMEOUT_UUS 600
-#define DELAY_BETWEEN_TWO_FRAME_UUS 400
+//#define DELAY_BETWEEN_TWO_FRAME_UUS 400
-//#define POLL_RX_TO_RESP_TX_DLY_UUS 470
-/* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
-#define RESP_TX_TO_FINAL_RX_DLY_UUS 200
-/* Receive final timeout. See NOTE 5 below. */
-#define FINAL_RX_TIMEOUT_UUS 4300
+////#define POLL_RX_TO_RESP_TX_DLY_UUS 470
+///* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
+//#define RESP_TX_TO_FINAL_RX_DLY_UUS 200
+///* Receive final timeout. See NOTE 5 below. */
+//#define FINAL_RX_TIMEOUT_UUS 4300
#define SPEED_OF_LIGHT 299702547
@@ -75,139 +75,50 @@
static dwt_config_t config = {
#ifdef _UWB_4G
- 2, /* Channel number. */
+ 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. */
- 9, /* TX preamble code. Used in TX only. */
- 9, /* RX preamble code. Used in RX only. */
- 1, /* Use non-standard SFD (Boolean) */
- DWT_BR_6M8, /* Data rate. */
- DWT_PHRMODE_STD, /* PHY header mode. */
- (65 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
+ DWT_PRF_64M, /* Pulse repetition frequency. */
+ DWT_PLEN_128, /* Preamble length. */
+ DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */
+ 9, /* TX preamble code. Used in TX only. */
+ 9, /* RX preamble code. Used in RX only. */
+ 1, /* Use non-standard SFD (Boolean) */
+ DWT_BR_6M8, /* Data rate. */
+ DWT_PHRMODE_STD, /* PHY header mode. */
+ (129 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
};
-static uint8_t tx_poll_msg[20] = {0};
-static uint8_t tx_sync_msg[14] = {0};
-static uint8_t tx_final_msg[60] = {0};
-static uint8_t tx_resp_msg[22] = {0};
- uint8_t tx_near_msg[80] = {0};
-static uint32_t frame_seq_nb = 0;
-static uint32_t status_reg = 0;
-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;
-int32_t anchor_dist_last_frm[TAG_NUM_IN_SYS],his_dist[TAG_NUM_IN_SYS]; ;
-uint32_t tag_id = 0;
-uint32_t tag_id_recv = 0;
-uint32_t anc_id_recv = 0;
-uint8_t random_delay_tim = 0;
-double distance, dist_no_bias, dist_cm;
-uint32_t g_UWB_com_interval = 0;
-float dis_after_filter; //当前距离值
-LPFilter_Frac* p_Dis_Filter; //测距用的低通滤波器
-
-
-
-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);
- }
-}
uint32_t uwbid=0;
void Dw1000_Init(void)
{
- /* Reset and initialise DW1000.
+ /* Reset and initialise DW1000.
* For initialisation, DW1000 clocks must be temporarily set to crystal speed. After initialisation SPI rate can be increased for optimum
* performance. */
Reset_DW1000();//重启DW1000 /* Target specific drive of RSTn line into DW1000 low for a period. */
- Spi_ChangePrescaler(SPIx_PRESCALER_SLOW); //设置为快速模式
+ Spi_ChangePrescaler(SPIx_PRESCALER_SLOW); //设置为快速模式
dwt_initialise(DWT_LOADUCODE);//初始化DW1000
- Spi_ChangePrescaler(SPIx_PRESCALER_FAST); //设置为快速模式
+ Spi_ChangePrescaler(SPIx_PRESCALER_FAST); //设置为快速模式
/* Configure DW1000. See NOTE 6 below. */
dwt_configure(&config);//配置DW1000
-
+
// 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);
-
+
/* 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_setrxtimeout(1000);//设定接收超时时间，0位没有超时时间
// dwt_rxenable(0);//打开接收
// uwbid=dwt_readdevid();
/* 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
+ //设置接收超时时间
}
-void Dw1000_App_Init(void)
-{
-//g_com_map[DEV_ID] = 0x0b;
- //tag_state=DISCPOLL;
- tx_poll_msg[MESSAGE_TYPE_IDX]=POLL;
- tx_resp_msg[MESSAGE_TYPE_IDX]=RESPONSE;
- tx_final_msg[MESSAGE_TYPE_IDX]=FINAL;
- tx_sync_msg[MESSAGE_TYPE_IDX]=SYNC;
-
- memcpy(&tx_poll_msg[TAG_ID_IDX], &dev_id, 2);
- memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 2);
- memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 2);
- memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &dev_id, 2);
- memcpy(&tx_near_msg[ANCHOR_ID_IDX], &dev_id, 2);
- memcpy(&tx_near_msg[TAG_ID_IDX], &dev_id, 2);
-}
-uint16_t Checksum_u16(uint8_t* pdata, uint32_t len)
+uint16_t Checksum_u16(uint8_t* pdata, uint32_t len)
{
uint16_t sum = 0;
uint32_t i;
@@ -223,501 +134,25 @@
extern uint8_t g_pairstart;
void tag_sleep_configuraion(void)
{
- dwt_configuresleep(0x940, 0x7);
- dwt_entersleep();
+ dwt_configuresleep(0x940, 0x7);
+ dwt_entersleep();
}
-//extern uint8_t g_start_send_flag;
+u32 id;
+void UWB_Wkup(void)
+{
-//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],true_nearbase_distlist[MAX_NEARBASE_NUM],true_exsistbase_list[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;
-// 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];
-// }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;
-//
-// };
-//
-//}
-//float range_lost_time = 0;
-//u16 rec_nearbaseid,rec_nearbasepos;
-//void NearPoll(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,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
-// 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;
-// 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+10;
-// 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)
-// {
-// 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
-// {
-// if(flag_finalsend&&flag_ancreadpara)
-// {
-// dw_systime=dwt_readsystimestamphi32();
-// if(dw_systime>temp1&&dw_systime<temp2)
-// {
-//
-// dwt_forcetrxoff();
-// flag_rxon=0;
-// 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;
-// 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);
-// dwt_writetxdata(14+SENDANCPARA_LEN, tx_near_msg, 0);//将发送数据写入DW1000
-// dwt_writetxfctrl(14+SENDANCPARA_LEN, 0);//设定发送数据长度
-//
-// 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
-// test2 = dwt_readcarrierintegrator();
-// 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
-// {
-// 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;
-// 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;
-// 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) + TX_ANT_DLY;//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]=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
-// 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);
-// }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();
-// j = 0;
-// next_nearbase_num = 0;
-// for(i=0;i<nearbase_num;i++)
-// {
-// if(exsistbase_list[i]>0)
-// {
-// exsistbase_list[i]--;
-// next_nearbase_num++;
-// true_exsistbase_list[j]=exsistbase_list[i];
-// true_nearbase_idlist[j]=nearbaseid_list[i];
-// true_nearbase_distlist[j++]=nearbase_distlist[i];
-//
-// }
-// }
-// nearbase_num = next_nearbase_num;
-// if(mainbase_lost_count>1&&exsistbase_list[0] != 0)
-// {
-// last_lpcount+= HAL_LPTIM_ReadCounter(&hlptim1)%(g_com_map[COM_INTERVAL]*16);
-// }
-// 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];
-// exsistbase_list[i] = true_exsistbase_list[i];
-// }
-//
-// 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);
-//
-//if(para_update==1)
-// {
-// uint16_t calCRC;
-// calCRC = CRC_Compute(rec_remotepara,5);
-// 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_length = rec_remotepara[2];
-// if(pack_msgtype==2)
-// {
-// if( pack_index == 1)//MOTOR_ONTIME_INDEX)
-// {
-//
-// // motor_keeptime = rec_remotepara[3];
-// }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);
-// //返回一个error状态
-// //SendComMap(pack_datalen,pack_index);
-// save_com_map_to_flash();
-// delay_ms(100);
-// NVIC_SystemReset();
-// }
-// }
-// }
-// }
-// }
-//}
-//u8 regpoll_count;
-//u32 id;
-//void Tag_App(void)//发送模式(TAG标签)
-//{
-//
-// //LED0_ON;
-// id = dwt_readdevid() ;
-// while (DWT_DEVICE_ID != id)
-// {
-// 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;
-// 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();
-//}
+ SPIx_CS_GPIO->BRR = SPIx_CS;
+ delay_us(600);
+ SPIx_CS_GPIO->BSRR = SPIx_CS;
+ id = dwt_readdevid() ;
+ while (0xDECA0130!=id)
+ {
+ u8 iderror_count = 0;
+ id = dwt_readdevid() ;
+ if(iderror_count++>100)
+ {
+ printf("UWB芯片ID错误\r\n");
+ break;
+ }
+ }
+}
--
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