From 6f05c0c8a8e5b4ccabc20cb75b57bd59ef145bcc Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期五, 17 三月 2023 18:32:38 +0800
Subject: [PATCH] 解决uwb测距 3个以上标签出错的bug。
---
Src/application/dw_app.c | 210 +++++++++++++++++++++++++++-------------------------
1 files changed, 110 insertions(+), 100 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 600566f..26abfec 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -29,6 +29,7 @@
#include <stdio.h>
#include "beep.h"
#include "modbus.h"
+#include "CRC.h"
//#define USART_INTEGRATE_OUTPUT
/*------------------------------------ Marcos ------------------------------------------*/
@@ -69,14 +70,6 @@
#define FINAL_MSG_RESP_RX_TS_IDX 14
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4
-
-
-enum enumtagstate
-{
- DISCPOLL,
- GETNEARMSG,
- NEARPOLL,
-}tag_state=NEARPOLL;
static dwt_config_t config = {
5, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
@@ -295,8 +288,23 @@
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;
+ }
+}
+u16 rec_nearbaseid,rec_nearbasepos;
void NearPoll(void)
{
@@ -304,7 +312,7 @@
uint32_t frame_len;
uint32_t final_tx_time;
u32 start_poll;
- u8 i,j,getsync_flag=0,timeout;
+ 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(10000);
tag_succ_times = 0;
@@ -324,7 +332,7 @@
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);
- tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;
+ tx_near_msg[MESSAGE_TYPE_IDX] = MBX_POLL;
memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
dwt_writetxdata(13+2*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+2*nearbase_num, 0);//设置超宽带发送数据长度
@@ -332,6 +340,7 @@
tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
para_update = 0;
+ get_newbase = 0;
flag_finalsend=0;
flag_rxon=1;
flag_getresponse=0;
@@ -357,6 +366,16 @@
dwt_forcetrxoff();
flag_rxon=0;
+ if(flag_ancreadpara)
+ {
+ 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;
@@ -378,12 +397,23 @@
dwt_readrxdata(rx_buffer, frame_len, 0); //读取接收数据
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] == NEAR_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
- { u16 rec_nearbaseid,rec_nearbasepos;
+ 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;
@@ -417,7 +447,7 @@
nearbase_distlist[rec_nearbasepos]=temp_dist;
if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
- rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;
+
mainbase_lost_count=0;
flag_finalsend=1;
@@ -430,7 +460,7 @@
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]=NEAR_FINAL;
+ 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
@@ -478,7 +508,8 @@
{
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);
+ 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
@@ -502,6 +533,7 @@
nearbase_num=recbase_num;
// tyncpoll_time=0;
next_nearbase_num=0;
+ j = 0;
for(i=0;i<last_nearbase_num+get_newbase;i++)
{
if(exsistbase_list[i]>0)
@@ -517,6 +549,8 @@
{
last_lpcount+= HAL_LPTIM_ReadCounter(&hlptim1)%(g_com_map[COM_INTERVAL]*16);
}
+ if(nearbase_num==4)
+ {nearbase_num=4;}
last_nearbase_num = next_nearbase_num;
for(i=0;i<last_nearbase_num-1;i++)
{
@@ -540,112 +574,88 @@
}
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];
- if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==KEEP_TIMES)
- {
- memcpy(&usart_send[4+6*report_num],&nearbaseid_list[i],2);
- memcpy(&usart_send[6+6*report_num],&nearbase_distlist[i],4);
- report_num++;
- }
}
- #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
+// #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
for(i=0;i<MAX_NEARBASE_NUM;i++)
{
nearbase_distlist[i]=0x1ffff;
}
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);
-
+//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 nearmsg_mainbase=0,rec_tagpos_emptylist[32];
-void GetNearMsg(void)
-{
- u32 start_poll,frame_len;
-if(nearmsg_mainbase)
- {nearmsg_mainbase=0;
- }else{
- nearmsg_mainbase=1;
- }
- memcpy(&tx_near_msg[ANCHOR_ID_IDX],&nearmsg_mainbase,2);
- memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);
- tx_near_msg[GROUP_ID_IDX] = group_id;
- tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
-
- 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);
- dwt_writetxdata(12, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
- dwt_writetxfctrl(12, 0);//设置超宽带发送数据长度
- dwt_starttx(DWT_START_TX_IMMEDIATE| DWT_RESPONSE_EXPECTED);
- /* 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
- {
- };
- 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
- if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_MSG&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
- {
- nearbase_num=rx_buffer[NEARBASENUM_INDEX];
- memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
- tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
- //tagslotpos=rx_buffer[TAGSLOTPOS];
- memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
- //slottime=ceil((nearbase_num+2)*0.3)+1;
- tyncpoll_time=tagslotpos*slottime;
- tag_state=NEARPOLL;
- }
- }else{
- tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
- }
-}
u32 id;
void Tag_App(void)//发送模式(TAG标签)
{
//LED0_ON;
id = dwt_readdevid() ;
- while (DWT_DEVICE_ID != id)
+ while (DWT_DEVICE_ID != id)
{
- id = dwt_readdevid() ;
+ 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;
-// tag_state=DISCPOLL;
- switch(tag_state)
- {
- case DISCPOLL:
- // Poll();
- break;
- case GETNEARMSG:
-
- GetNearMsg();
-
- break;
- case NEARPOLL:
- //GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_SET);
- NearPoll();
- //GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_RESET);
- break;
- }
- bat_percent=Get_VDDVlotage();
+ NearPoll();
dwt_entersleep();
+ bat_percent=Get_VDDVlotage();
}
--
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