From 671f59b69396b30ee80c3ddb57e4cd11b979d642 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期五, 15 九月 2023 16:43:43 +0800
Subject: [PATCH] 初步提交，可以测距跟接收lora的内容 可以上发
---
Src/application/dw_app.c | 851 +++++++++++++++++++++++++++++++++++---------------------
1 files changed, 529 insertions(+), 322 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index ab18984..bce308f 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -15,6 +15,7 @@
*/
#include <string.h>
+#include <math.h>
#include "dw_app.h"
#include "deca_device_api.h"
#include "deca_regs.h"
@@ -28,7 +29,9 @@
#include <stdio.h>
#include "beep.h"
#include "modbus.h"
+#include "CRC.h"
+//#define USART_INTEGRATE_OUTPUT
/*------------------------------------ Marcos ------------------------------------------*/
/* Inter-ranging delay period, in milliseconds. */
#define RNG_DELAY_MS 100
@@ -46,15 +49,19 @@
#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 800
+#define RESP_RX_TO_FINAL_TX_DLY_UUS 410
+
/* Receive response timeout. See NOTE 5 below. */
#define RESP_RX_TIMEOUT_UUS 600
-#define POLL_RX_TO_RESP_TX_DLY_UUS 420
+#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 SPEED_OF_LIGHT 299702547
@@ -64,102 +71,51 @@
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4
-#define SYNC_SEQ_IDX 5
+//#define _UWB_4G
-#define GROUP_ID_IDX 0
-#define ANCHOR_ID_IDX 1
-#define TAG_ID_IDX 5
-#define MESSAGE_TYPE_IDX 9
-#define DIST_IDX 10
-//Poll
-#define ANC_TYPE_IDX 14
-#define BATTARY_IDX 15
-#define BUTTON_IDX 16
-#define SEQUENCE_IDX 17
-//respose
-#define ANCTIMEMS 14
-#define ANCTIMEUS 16
-
-#define POLL 0x01
-#define RESPONSE 0x02
-#define FINAL 0x03
-#define SYNC 0x04
-
-/*------------------------------------ Variables ------------------------------------------*/
-/* Default communication configuration. We use here EVK1000's default mode (mode 3). */
static dwt_config_t config = {
+#ifdef _UWB_4G
2, /* Channel number. */
+#else
+ 5,
+#endif
DWT_PRF_64M, /* Pulse repetition frequency. */
- DWT_PLEN_128, /* Preamble length. */
+ 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. */
- (129 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
+ (65 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
};
-
-/* Frames used in the ranging process. See NOTE 2 below. */
static uint8_t tx_poll_msg[20] = {0};
static uint8_t tx_sync_msg[14] = {0};
-//static uint8_t rx_resp_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'V', 'E', 'W', 'A', 0x10, 0x02, 0, 0, 0, 0};
-static uint8_t tx_final_msg[24] = {0};
-
-//static uint8_t rx_poll_msg[] = {0x00, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x21, 0, 0};
-static uint8_t tx_resp_msg[20] = {0};
-//static uint8_t rx_final_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x23, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
-
-/* Frame sequence number, incremented after each transmission. */
-static uint32_t frame_seq_nb = 0,frame_seq_nb2=0;
-
-/* Hold copy of status register state here for reference, so reader can examine it at a breakpoint. */
+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;
-
-/* Buffer to store received response message.
- * Its size is adjusted to longest frame that this example code is supposed to handle. */
-#define RX_BUF_LEN 24
-static uint8_t rx_buffer[RX_BUF_LEN];
-
-/* Time-stamps of frames transmission/reception, expressed in device time units.
- * As they are 40-bit wide, we need to define a 64-bit int type to handle them. */
+static uint8_t rx_buffer[100];
static uint64_t poll_tx_ts;
static uint64_t resp_rx_ts;
static uint64_t final_tx_ts;
-
-/* Length of the common part of the message (up to and including the function code, see NOTE 2 below). */
static uint64_t poll_rx_ts;
static uint64_t resp_tx_ts;
static uint64_t final_rx_ts;
-
-static double tof;
-
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
-int32_t g_Tagdist[TAG_NUM_IN_SYS];
-uint8_t g_flag_Taggetdist[256];
-/*------------------------------------ Functions ------------------------------------------*/
-/*! ------------------------------------------------------------------------------------------------------------------
- * @fn get_tx_timestamp_u64()
- *
- * @brief Get the TX time-stamp in a 64-bit variable.
- * /!\ This function assumes that length of time-stamps is 40 bits, for both TX and RX!
- *
- * @param none
- *
- * @return 64-bit value of the read time-stamp.
- */
static uint64_t get_tx_timestamp_u64(void)
{
uint8_t ts_tab[5];
@@ -174,16 +130,6 @@
return ts;
}
-/*! ------------------------------------------------------------------------------------------------------------------
- * @fn get_rx_timestamp_u64()
- *
- * @brief Get the RX time-stamp in a 64-bit variable.
- * /!\ This function assumes that length of time-stamps is 40 bits, for both TX and RX!
- *
- * @param none
- *
- * @return 64-bit value of the read time-stamp.
- */
static uint64_t get_rx_timestamp_u64(void)
{
uint8_t ts_tab[5];
@@ -198,17 +144,6 @@
return ts;
}
-/*! ------------------------------------------------------------------------------------------------------------------
- * @fn final_msg_set_ts()
- *
- * @brief Fill a given timestamp field in the final message with the given value. In the timestamp fields of the final
- * message, the least significant byte is at the lower address.
- *
- * @param ts_field pointer on the first byte of the timestamp field to fill
- * ts timestamp value
- *
- * @return none
- */
static void final_msg_set_ts(uint8_t *ts_field, uint64_t ts)
{
int i;
@@ -228,43 +163,30 @@
*ts += ts_field[i] << (i * 8);
}
}
-void TagDistClear(void)
-{
- static uint16_t clear_judge_cnt;
- uint16_t i;
- if(clear_judge_cnt++>1000) //设定1S分频，每秒进一次。判断标志位大于等于2，2s没收到数据就把数据变成0xffff，不触发警报。
- {
- clear_judge_cnt=0;
- for(i=0;i<255;i++)
- {
- g_flag_Taggetdist[i]++;
- if(g_flag_Taggetdist[i]>=20)
- {
- g_Tagdist[i]=0xffff;
- }
- }
- }
-}
-
+uint32_t uwbid=0;
void Dw1000_Init(void)
{
/* 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
@@ -272,15 +194,18 @@
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, 4);
- memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 4);
- memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 4);
- memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &dev_id, 4);
+ 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)
{
@@ -292,225 +217,507 @@
return sum;
}
-uint16_t tag_time_recv[TAG_NUM_IN_SYS];
-uint8_t usart_send[25];
-uint8_t battary,button;
+u16 tag_time_recv[TAG_NUM_IN_SYS];
+u8 usart_send[100];
+u8 battary,button;
extern uint8_t g_pairstart;
void tag_sleep_configuraion(void)
{
dwt_configuresleep(0x940, 0x7);
dwt_entersleep();
-}
-uint8_t g_start_send_flag;
-uint8_t g_start_sync_flag;
-void SyncPoll(uint8_t sync_seq)
-{
- g_start_sync_flag=1;
- dwt_forcetrxoff();
- tx_sync_msg[SYNC_SEQ_IDX]=sync_seq;
- dwt_writetxdata(sizeof(tx_sync_msg), tx_sync_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
- dwt_writetxfctrl(sizeof(tx_sync_msg), 0);//设置超宽带发送数据长度
- dwt_starttx(DWT_START_TX_IMMEDIATE);
}
-uint16_t g_Resttimer;
-uint8_t result;
-uint8_t tag_succ_times=0;
-int32_t hex_dist,hex_dist2;
-uint16_t checksum;
-int8_t tag_delaytime;
-extern uint16_t sync_timer;
-uint16_t tmp_time,current_slottimes;
-uint32_t time32_incr;
-int32_t ancsync_time;
-uint32_t frame_len;
-int32_t count_offset,nextpoll_delaytime;
-void Tag_App(void)//发送模式(TAG标签)
-{
-
- uint32_t final_tx_time;
- uint32_t start_poll,id;
- uint8_t i,getsync_flag=0;
- //LED0_ON;
- //dwt_forcetrxoff();
- id = dwt_readdevid() ;
- while (DWT_DEVICE_ID != id)
- {
- id = dwt_readdevid() ;
- }
- g_Resttimer=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(RESP_RX_TIMEOUT_UUS);
- tag_succ_times = 0;
- tx_poll_msg[BATTARY_IDX] = bat_percent;
- //tx_poll_msg[BUTTON_IDX] = !READ_KEY0;
- tx_poll_msg[SEQUENCE_IDX] = frame_seq_nb++;
+//extern uint8_t g_start_send_flag;
- for(i=0;i<g_com_map[MAX_REPORT_ANC_NUM];i++)
- {
- /* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
- tx_poll_msg[ANC_TYPE_IDX] = i;
-
- dwt_writetxdata(sizeof(tx_poll_msg), tx_poll_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
- dwt_writetxfctrl(sizeof(tx_poll_msg), 0);//设置超宽带发送数据长度
+//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;
- /* Start transmission, indicating that a response is expected so that reception is enabled automatically after the frame is sent and the delay
- * set by dwt_setrxaftertxdelay() has elapsed. */
- result=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
- start_poll = time32_incr;
- /* We assume that the transmission is achieved correctly, poll for reception of a frame or error/timeout. See NOTE 8 below. */
- 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
- {
- status_reg = dwt_read32bitreg(SYS_STATUS_ID);
-// if(time32_incr - start_poll>20)
-// NVIC_SystemReset();
- // IdleTask();
-
- };
-
- /* Increment frame sequence number after transmission of the poll message (modulo 256). */
- if(status_reg==0xffffffff)
- {
- // NVIC_SystemReset();
- }
-
- if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
- {
- /* Clear good RX frame event and TX frame sent in the DW1000 status register. */
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚寄存器标志位
-
- /* A frame has been received, read it into the local buffer. */
- 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
-
-
- /* Check that the frame is the expected response from the companion "DS TWR responder" example.
- * As the sequence number field of the frame is not relevant, it is cleared to simplify the validation of the frame. */
-
- if (rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,4)) //判断接收到的数据是否是response数据
- { uint16_t anc_id_recv,current_count;
- /* Retrieve poll transmission and response reception timestamp. */
- 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
-
- if(getsync_flag==0&&g_com_map[DEV_ROLE])
- {
- getsync_flag=1;
- memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
- memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
- tmp_time=tmp_time+450;
- if(tmp_time>999)
- {
- tmp_time-=999;
- sync_timer++;
- if(sync_timer>=1010)
- {sync_timer=0;}
- }
-
-
- // TIM3->CNT=tmp_time;
- }
- memcpy(&hex_dist2, &rx_buffer[DIST_IDX], 4);
- memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
- /* Compute final message transmission time. See NOTE 9 below. */
- final_tx_time = (resp_rx_ts + (RESP_RX_TO_FINAL_TX_DLY_UUS * UUS_TO_DWT_TIME)) >> 8;//计算final包发送时间，T5=T4+Treply2
- dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
-
- /* Final TX timestamp is the transmission time we programmed plus the TX antenna delay. */
- 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
-
- /* Write all timestamps in the final message. See NOTE 10 below. */
- final_msg_set_ts(&tx_final_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_final_msg[FINAL_MSG_RESP_RX_TS_IDX], resp_rx_ts);
- final_msg_set_ts(&tx_final_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
-
- /* Write and send final message. See NOTE 7 below. */
-
- dwt_writetxdata(sizeof(tx_final_msg), tx_final_msg, 0);//将发送数据写入DW1000
- dwt_writetxfctrl(sizeof(tx_final_msg), 0);//设定发送数据长度
- result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
-
- ancsync_time=((sync_timer+0)*1000+tmp_time);
- current_count=HAL_LPTIM_ReadCounter(&hlptim1);
- // count_offset=sync_count-current_count-143;
- // current_slottimes=(ancsync_time-10000)/(g_com_map[COM_INTERVAL]*1000);
- nextpoll_delaytime=tyncpoll_time*1000+g_com_map[COM_INTERVAL]*1000-((ancsync_time-10000)%(g_com_map[COM_INTERVAL]*1000))-5150;
- if(abs(ancsync_time-910000)<1000)
- {
- nextpoll_delaytime+=10000;
- }
- if(nextpoll_delaytime<2000)
- {
- nextpoll_delaytime+=g_com_map[COM_INTERVAL]*1000;
- }
- lastpoll_count= current_count+(nextpoll_delaytime)/LPTIMER_LSB;
- if(lastpoll_count>LPTIMER_1S_COUNT)
- lastpoll_count-=LPTIMER_1S_COUNT;
- __HAL_LPTIM_COMPARE_SET(&hlptim1, lastpoll_count);
-
-// printf("ancsync_time: %u \r\n ",ancsync_time);
-// printf("current_slottimes: %u ",current_slottimes);
-// printf("nextpoll_delaytime: %u ",nextpoll_delaytime);
-// printf("current_count: %u ",current_count);
-// printf("lastpoll_count: %u",lastpoll_count);
-
-
- tag_succ_times++;
-
-
- memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
-// g_Tagdist[anc_id_recv]= hex_dist;
-// g_flag_Taggetdist[anc_id_recv]=0;
- if(!g_com_map[MODBUS_MODE])
- {
- usart_send[2] = 1;//正常模式
- usart_send[3] = 17;//数据段长度
- usart_send[4] = frame_seq_nb;//数据段长度
- memcpy(&usart_send[5],&dev_id,2);
- memcpy(&usart_send[7],&rx_buffer[ANCHOR_ID_IDX],2);
-
- memcpy(&usart_send[9],&hex_dist2,4);
- usart_send[13] = battary;
- usart_send[14] = button;
- checksum = Checksum_u16(&usart_send[2],17);
- memcpy(&usart_send[19],&checksum,2);
- // UART_PushFrame(usart_send,21);
- }
- // memcpy(&Modbus_HoldReg[anc_id_recv*2],&hex_dist,4);
- /* Poll DW1000 until TX frame sent event set. See NOTE 8 below. */
- if(result==0)
- {while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成
- { };
- }
- /* Clear TXFRS event. */
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//清除标志位
-
- /* Increment frame sequence number after transmission of the final message (modulo 256). */
-
- random_delay_tim = 0;
- }
- else
- {
- random_delay_tim = DFT_RAND_DLY_TIM_MS; //如果通讯失败，将间隔时间增加5ms，避开因为多标签同时发送引起的冲突。
- }
- }
- else
- {
- /* Clear RX error events in the DW1000 status register. */
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
- random_delay_tim = DFT_RAND_DLY_TIM_MS;
- }
-// deca_sleep(10);
-}
- dwt_entersleep();
-// if(tag_succ_times<g_com_map[MIN_REPORT_ANC_NUM])
+//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++)
// {
-// //poll_timer +=time32_incr&0x7+3;
+// if(baseid==nearbaseid_list[i])
+// return i;
// }
-//HAL_PWR_EnterSLEEPMode(PWR_MAINREGULATOR_ON, PWR_SLEEPENTRY_WFI);
- /* Execute a delay between ranging exchanges. */
-
-}
+//}
+//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();
+//}
--
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