From 72339db484cf16b7261c351e0b600742a453c2f7 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期四, 17 十二月 2020 10:15:59 +0800
Subject: [PATCH] V2.16 就近模式 临近基站切换
---
Src/application/dw_app.c | 270 +++++++++++++++++++++++++++++++++++------------------
1 files changed, 179 insertions(+), 91 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 68993d6..5a3d9c4 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -50,7 +50,7 @@
#define RESP_RX_TO_FINAL_TX_DLY_UUS 510
/* Receive response timeout. See NOTE 5 below. */
-#define RESP_RX_TIMEOUT_UUS 0
+#define RESP_RX_TIMEOUT_UUS 1000
#define DELAY_BETWEEN_TWO_FRAME_UUS 240
@@ -69,13 +69,14 @@
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4
-
+#define STARTPOLL REGPOLL
enum enumtagstate
{
+ REGPOLL,
DISCPOLL,
GETNEARMSG,
NEARPOLL,
-}tag_state=DISCPOLL;
+}tag_state=STARTPOLL;
static dwt_config_t config = {
2, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
@@ -457,15 +458,15 @@
delay_ms(30);
}
-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;
+int32_t mainbase_dist,nearbase_switchdistlist[MAX_NEARBASE_NUM],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;
-
+extern u16 bigslot_num;
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;
+int16_t offset=4700,temptimer;
u8 motor_state,rec_remotepara_state,rec_remotepara[80];
void Poll(void)
{
@@ -535,15 +536,23 @@
tag_succ_times++;
LED0_BLINK;
- tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
- tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
- SetNextPollTime(tyncpoll_time);
+ ancsync_time=((sync_timer)*1000+tmp_time);
+ last_slotnum=current_slotnum;
+ temptimer = sync_timer-10;
+ if(temptimer<0)
+ {temptimer+=1000;}
+ current_slotnum=((float)temptimer/(SLOTTIME_MS*bigslot_num))+1;
+ if(current_slotnum==last_slotnum-1)
+ {flag_getresponse=1;}
+ lastsync_timer=sync_timer;
+ offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
+ SetNextPollTime(tagslotpos);
if(temp_dist<mindist&&temp_dist!=0)
{
memcpy(&minid, &rx_buffer[ANCHOR_ID_IDX], 4);
tag_state=GETNEARMSG;
- trygetnearmsg_times=5;
+ trygetnearmsg_times=10*tag_frequency;
mindist=temp_dist;
}
if(result==0)
@@ -567,7 +576,7 @@
}
if(getsync_flag==0)
{
- tagslotpos--;
+// tagslotpos--;
if(tagslotpos==0||tagslotpos>max_slotpos)
{
tagslotpos=max_slotpos;
@@ -575,7 +584,7 @@
tyncpoll_time=(tagslotpos-1)*slottime;
}
mainbase_id=minid;
- //mainbase_id = 2;
+// mainbase_id = 0x9804;
}
u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32],mainbase_type;;
void GetNearMsg(void)
@@ -610,31 +619,33 @@
{
nearbase_num=rx_buffer[NEARBASENUM_INDEX];
memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
- tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
+ // 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;
- tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;
+ //tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;
tag_state=NEARPOLL;
}
}else{
- tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
+// tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
}
}
-uint8_t changemainbase_count=0;
+extern u8 userkey_state;
+uint8_t changemainbase_count=0,gotosleep_flag;
+uint32_t frame_len;
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;
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;
- //GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
+
if(next_nearbase_num>=MAX_NEARBASE_NUM)
{
next_nearbase_num = MAX_NEARBASE_NUM-1;
@@ -642,17 +653,21 @@
HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
recbase_num=0;
- motor_state=0;
+// motor_state=0;
tx_near_msg[BATTARY_IDX] = bat_percent;
- tx_near_msg[BUTTON_IDX] = !GET_USERKEY|stationary_flag<<1;
+ tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2;
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[NEARP_TAGFREQ_INDEX] = tag_frequency;
+ tx_near_msg[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;
+
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
+ dwt_writetxdata(21+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(21+2*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;
@@ -702,21 +717,19 @@
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;}
- }
- // TIM3->CNT=tmp_time;
-// if(tagslotpos>max_slotpos)
-// tagslotpos=tagslotpos%(max_slotpos+1);
-// tyncpoll_time=(tagslotpos-1)*slottime;
- ////////////////////////////
-
+ dwt_forcetrxoff();
+ final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS) * UUS_TO_DWT_TIME)) >> 8;
+ 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+nearbase_num*4], 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;
+ 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
+ dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
+ result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
+ userkey_state = !GET_USERKEY;
+
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
mainbase_dist=temp_dist;
if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
@@ -734,51 +747,47 @@
para_len = frame_len-22;
memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],para_len);
}
- flag_getresponse=1;
- memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
- final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX], resp_rx_ts);
-
+ flag_getresponse=1;
//时间同步
+ tmp_time=tmp_time+450;
+ if(tmp_time>999)
+ {
+ tmp_time-=999;
+ sync_timer++;
+ if(sync_timer>=1000)
+ {sync_timer=0;}
+ }
ancsync_time=((sync_timer)*1000+tmp_time);
last_slotnum=current_slotnum;
- current_slotnum=((float)sync_timer/g_com_map[COM_INTERVAL])+1;
+ current_slotnum=((float)(sync_timer*10)/(SLOTTIME_MS*bigslot_num))+1;
if(current_slotnum==last_slotnum-1)
{flag_getresponse=1;}
lastsync_timer=sync_timer;
offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
- SetNextPollTime(tyncpoll_time);
-
+ SetNextPollTime(tagslotpos);
+ 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
+ { };}
+ break;
}else{
rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
+ memcpy(&nearbase_switchdistlist[rec_nearbasepos],&rx_buffer[NR_NEARSWITCH_DISTANCE],2);
nearbase_distlist[rec_nearbasepos]=temp_dist;
- final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4], resp_rx_ts);
- if(rec_nearbasepos + 1 == nearbase_num)
- {
- dwt_forcetrxoff();
- final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS) * UUS_TO_DWT_TIME)) >> 8;
- 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_FINAL_TX_TS_IDX], final_tx_ts);
- tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
- 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
- dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
- result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
- 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
- { };}
- break;
- }
+ final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
+// if(temp_dist<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]!=0&&temp_dist>0)
+// {
+// mainbase_id = rec_nearbaseid;
+// tag_state = GETNEARMSG;
+// }
}
}
}else{
dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
- if(recbase_num!=nearbase_num)
+ if(recbase_num!=nearbase_num+1)
{dwt_rxenable(0); }
// if(flag_rxon)
// {
@@ -787,20 +796,12 @@
}
// 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);
j=0;
if(exsistbase_list[0]==0)
{
-// u8 temp_adc,random_value;
-// random_value=0;
-// for(i=0;i<8;i++)
-// {
-// temp_adc=Get_ADC_Value();
-// random_value=random_value|((temp_adc&0x01)<<i);
-// }
-// tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
-// tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
- SetNextPollTime(tyncpoll_time);
+ SetNextPollTime(tagslotpos);
}
// tyncpoll_time=0;
next_nearbase_num=0;
@@ -839,29 +840,30 @@
}
}
}
+
if(true_nearbase_distlist[0]<mainbase_dist-THRESHOLD_CHANGE_MAINBASE_DIST&&true_exsistbase_list[0])
{
changemainbase_count++;
}else{
changemainbase_count = 0;
}
- if(changemainbase_count>3)
+ if(changemainbase_count>2*tag_frequency)
{
mainbase_id = true_nearbase_idlist[0];
tag_state = GETNEARMSG;
}
- if(mainbase_lost_count>3)
+ if(mainbase_lost_count>10*tag_frequency)
{
- tag_state = DISCPOLL;
+ tag_state = STARTPOLL;
}
- for (i=0;i<nearbase_num;i++)
- {
- if(nearbaseid_list[i]==0)
- {
- tag_state = GETNEARMSG;
- }
-
- }
+// for (i=0;i<nearbase_num;i++)
+// {
+// if(nearbaseid_list[i]==0)
+// {
+// tag_state = GETNEARMSG;
+// }
+//
+// }
//串口输出距离
// report_num=0;
// for (i=0;i<last_nearbase_num;i++)
@@ -875,10 +877,10 @@
// report_num++;
// }
// }
- for(i=0;i<MAX_NEARBASE_NUM;i++)
- {
- nearbase_distlist[i]=0x1ffff;
- }
+// for(i=0;i<MAX_NEARBASE_NUM;i++)
+// {
+// nearbase_distlist[i]=0x1ffff;
+// }
if(para_update)
{
uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
@@ -899,6 +901,86 @@
HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
}
+extern uint8_t module_power,imu_enable,motor_enable;
+
+void Registor_Poll(void)
+{
+ static u8 regpoll_count=0;
+ tag_frequency = REGISTER_FREQUENCY;
+ bigslot_num = TOTAL_SLOTNUM/tag_frequency;
+ regpoll_count++;
+ if(regpoll_count%2)
+ {
+ if(tagslotpos--<2)
+ tagslotpos=TOTAL_SLOTNUM;
+ }
+ SetNextPollTime(tagslotpos);
+ 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);
+
+ 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[REGP_FREQUENCY_INDEX] = 1000/g_com_map[COM_INTERVAL];
+ 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[IMU_THRES],2);
+ memcpy(&tx_near_msg[REGP_NOMOVESLEEPTIME_INDEX],&g_com_map[NOMOVESLEEP_TIME],2);
+ dwt_writetxdata(21, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+ dwt_writetxfctrl(21, 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
+ 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
+ {
+ IdleTask();
+
+ };
+ 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] == REG_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
+ { u16 rec_nearbaseid,rec_nearbasepos;
+
+ memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
+ tag_frequency = rx_buffer[REGR_TAGFREQ_INDEX];
+ bigslot_num = TOTAL_SLOTNUM/tag_frequency;
+ tagslotpos = rx_buffer[REGR_TAGSLOTPOS_INDEX];
+ //////////////////////////////////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;}
+ }
+ ancsync_time=((sync_timer)*1000+tmp_time);
+ last_slotnum=current_slotnum;
+ temptimer = sync_timer-10;
+ if(temptimer<0)
+ {temptimer+=1000;}
+ current_slotnum=((float)temptimer/(SLOTTIME_MS*bigslot_num))+1;
+ if(current_slotnum==last_slotnum-1)
+ {flag_getresponse=1;}
+ lastsync_timer=sync_timer;
+ offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
+// SetNextPollTime(tagslotpos);
+ mainbase_id=rec_nearbaseid;
+ nearbase_num=rx_buffer[NEARBASENUM_INDEX];
+ memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
+ if(tagslotpos!=255)
+ tag_state = NEARPOLL;
+ }
+ }
+}
u32 id;
void Tag_App(void)//发送模式(TAG标签)
{
@@ -907,12 +989,18 @@
id = dwt_readdevid() ;
while (DWT_DEVICE_ID != id)
{
+ // Dw1000_Init();
id = dwt_readdevid() ;
}
switch(tag_state)
{
+ case REGPOLL:
+ LED_LG_ON;
+ Registor_Poll();
+ LED_LG_OFF;
+ break;
case DISCPOLL:
- LED_LG_ON;
+ LED_LG_ON;
Poll();
LED_LG_OFF;
break;
@@ -923,7 +1011,7 @@
LED_LG_OFF;
if(trygetnearmsg_times==0)
{
- tag_state = DISCPOLL;
+ tag_state = STARTPOLL;
}
break;
case NEARPOLL:
--
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