From 72933de426977ebfce09505a93d38e88c0315166 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期一, 15 六月 2020 21:28:58 +0800
Subject: [PATCH] 好像是测试没问题
---
Src/application/dw_app.c | 563 ++++++++++++++++++++++++++++++++++---------------------
1 files changed, 349 insertions(+), 214 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 646250a..98c1c9d 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"
@@ -46,15 +47,19 @@
#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 850
+#define RESP_RX_TO_FINAL_TX_DLY_UUS_POLL 1850
/* Receive response timeout. See NOTE 5 below. */
#define RESP_RX_TIMEOUT_UUS 600
+
+#define DELAY_BETWEEN_TWO_FRAME_UUS 240
#define POLL_RX_TO_RESP_TX_DLY_UUS 420
/* 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
@@ -64,29 +69,13 @@
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4
-#define SYNC_SEQ_IDX 5
-#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). */
+enum enumtagstate
+{
+ DISCPOLL,
+ GETNEARMSG,
+ NEARPOLL,
+}tag_state;
static dwt_config_t config = {
2, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
@@ -99,67 +88,34 @@
DWT_PHRMODE_STD, /* PHY header mode. */
(129 + 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[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x23, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 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};
+static 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;
@@ -228,23 +163,6 @@
*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;
- }
- }
- }
-}
void Dw1000_Init(void)
{
@@ -252,7 +170,7 @@
* 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
@@ -272,15 +190,18 @@
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)
{
@@ -292,108 +213,81 @@
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[25];
+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);
}
+extern uint8_t g_start_send_flag;
+
uint16_t g_Resttimer;
uint8_t result;
-uint8_t tag_succ_times=0;
-int32_t hex_dist,hex_dist2;
-uint16_t checksum;
+u8 tag_succ_times=0;
+int32_t hex_dist;
+u16 checksum;
int8_t tag_delaytime;
extern uint16_t sync_timer;
-uint16_t tmp_time;
-uint32_t time32_incr;uint32_t frame_len;
-void Tag_App(void)//发送模式(TAG标签)
+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 nearbaseid_list[10],mainbase_id;
+int32_t mainbase_dist,nearbase_distlist[10];
+uint8_t trygetnearmsg_times;
+void Poll(void)
{
-
- uint32_t final_tx_time;
- uint32_t start_poll,id;
- uint8_t i,getsync_flag=0;
- //LED0_ON;
- //dwt_forcetrxoff();
- while (DWT_DEVICE_ID != id) // MP IC ONLY (i.e. DW1000) FOR THIS CODE
+ uint32_t frame_len;
+ uint32_t final_tx_time,id;
+ u32 start_poll;
+ int32_t mindist=999999,minid=-1,temp_dist;
+ u8 i,getsync_flag=0;
+ id = dwt_readdevid() ; //0XFFFFFF BUG 初始化缺少Spi_ChangePrescaler(SPIx_PRESCALER_SLOW); //设置为快速模式
+ 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] = Get_Battary();
- //tx_poll_msg[BUTTON_IDX] = !READ_KEY0;
- tx_poll_msg[SEQUENCE_IDX] = frame_seq_nb++;
-
+// GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_RESET);
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;
-
+ 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
+ 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 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;
- /* Retrieve poll transmission and response reception timestamp. */
+ if (rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //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
-
- if(getsync_flag==0&&g_com_map[DEV_ROLE])
+ resp_rx_ts = get_rx_timestamp_u64(); //获得RESPONSE接收时间T4
+ if(getsync_flag==0)
{
getsync_flag=1;
memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
+ memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
tmp_time=tmp_time+450;
if(tmp_time>999)
{
@@ -402,61 +296,40 @@
if(sync_timer>=1010)
{sync_timer=0;}
}
- // TIM3->CNT=tmp_time;
+// TIM3->CNT=tmp_time;
+// if(tagslotpos>max_slotpos)
+// tagslotpos=tagslotpos%(max_slotpos+1);
+// tyncpoll_time=(tagslotpos-1)*slottime;
}
- memcpy(&hex_dist2, &rx_buffer[DIST_IDX], 4);
+
+ memcpy(&temp_dist, &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
+ final_tx_time = (resp_rx_ts + (RESP_RX_TO_FINAL_TX_DLY_UUS_POLL * 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
-
- tag_succ_times++;
-
+ result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
+ tag_succ_times++;
LED0_BLINK;
-
- 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(temp_dist<mindist)
+ {
+ memcpy(&minid, &rx_buffer[ANCHOR_ID_IDX], 4);
+ tag_state=GETNEARMSG;
+ trygetnearmsg_times=5;
+ mindist=temp_dist;
+ }
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
@@ -466,21 +339,283 @@
}
else
{
- /* Clear RX error events in the DW1000 status register. */
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
+ 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])
+ if(getsync_flag==0)
{
- //poll_timer +=time32_incr&0x7+3;
+ tagslotpos--;
+ if(tagslotpos==0||tagslotpos>max_slotpos)
+ {
+ tagslotpos=max_slotpos;
+ }
+ tyncpoll_time=(tagslotpos-1)*slottime;
}
-//HAL_PWR_EnterSLEEPMode(PWR_MAINREGULATOR_ON, PWR_SLEEPENTRY_WFI);
- /* Execute a delay between ranging exchanges. */
-
+ mainbase_id=minid;
}
+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
+void NearAncSelect(void)
+{static u16 last_mainbase_id,change_base_count;
+ int32_t nearbase_mindist=99999, nearbase_minpos;
+ u8 i;
+ for(i=0;i<recbase_num-1;i++)
+ {
+ if(nearbase_mindist>nearbase_distlist[i])
+ {
+ nearbase_mindist=nearbase_distlist[i];
+ nearbase_minpos=i;
+ }
+ }
+ if(nearbase_mindist<mainbase_dist-THRESHOLD_CHANGE_MAINBASE_DIST)
+ {
+ if(last_mainbase_id==nearbaseid_list[nearbase_minpos])
+ {
+ change_base_count++;
+ if(change_base_count>CHANGE_BASE_THRESHOLD)
+ {
+ mainbase_id=last_mainbase_id;
+ tag_state=GETNEARMSG;
+ }
+ }else{
+ change_base_count=0;
+ }
+ last_mainbase_id=nearbaseid_list[nearbase_minpos];
+ }else{
+ change_base_count=0;
+ }
+}
+u8 anclost_times=0 , mainbase_lost_count=0;
+u8 flag_finalsend,flag_getresponse;
+uint16_t current_count,start_count,end_count;
+void NearPoll(void)
+{
+
+ uint32_t temp1,temp2,dw_systime;
+ uint32_t frame_len;
+ uint32_t final_tx_time;
+ u32 start_poll;
+ u8 i,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;
+ tx_near_msg[BATTARY_IDX] = Get_Battary();
+ //tx_near_msg[BUTTON_IDX] = !READ_KEY0;
+ 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;
+ 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_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
+
+ for(i=0;i<nearbase_num;i++)
+ nearbase_distlist[i]=0xffff;
+
+ flag_finalsend=0;
+ flag_getresponse=0;
+ start_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ recbase_num=0;
+ timeout=ceil((float)nearbase_num/4)+2;
+ end_count=start_count+(timeout<<5);
+ 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)
+ {
+ dw_systime=dwt_readsystimestamphi32();
+ if(dw_systime>temp1&&dw_systime<temp2)
+ {
+
+ dwt_forcetrxoff();
+ 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
+ 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)) //判断接收到的数据是否是response数据
+ { u16 rec_nearbaseid,rec_nearbasepos;
+ 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);
+ if(rec_nearbaseid==mainbase_id)
+ {
+ //////////////////////////////////时间同步
+ memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
+ memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
+// 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;
+ ////////////////////////////
+ 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]=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
+ flag_getresponse=1;
+// dwt_setdelayedtrxtime(final_tx_time);
+// result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
+ }else{
+ rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
+ final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4], resp_rx_ts);
+ memcpy(&nearbase_distlist[rec_nearbasepos],&rx_buffer[DIST_IDX],4);
+ 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
+ //dwt_writetxdata(4,&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4], FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4);//将发送数据写入DW1000
+ }
+ }
+ }
+ // dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
+ }
+ if(flag_getresponse==0)
+ {
+ LED_LR_BLINK;
+ }
+ if(mainbase_lost_count>5)
+ {
+ // tag_state=DISCPOLL;
+ }
+ NearAncSelect();
+ if(recbase_num<MIN_ANCHOR_NUM )
+ {
+ anclost_times++;
+ if(anclost_times>3)
+ {
+ tagslotpos=poll_tx_ts%(max_slotpos+1);
+ }
+ }else{
+ anclost_times=0;
+ }
+
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
+
+
+}
+
+void GetNearMsg(void)
+{
+ u32 start_poll,frame_len;
+ memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
+ memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);
+ 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];
+ 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;
+ }
+ }
+}
+
+void Tag_App(void)//发送模式(TAG标签)
+{
+ //LED0_ON;
+ dwt_forcetrxoff();
+ g_Resttimer=0;
+// tag_state=DISCPOLL;
+ switch(tag_state)
+ {
+ case DISCPOLL:
+ Poll();
+ break;
+ case GETNEARMSG:
+ // if(trygetnearmsg_times--!=0)
+ {
+ mainbase_lost_count=0;
+ GetNearMsg();
+ }
+// else{
+// tag_state=DISCPOLL;
+// }
+
+ 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;
+ }
+}
--
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