From 8e69deaacad4737c0c31b0c6b436edbbe140584d Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期六, 10 十月 2020 15:03:16 +0800
Subject: [PATCH] 定位临近初测成功
---
Src/application/dw_app.c | 659 +++++++++++++++++++++++++++++++++++++----------------------
1 files changed, 415 insertions(+), 244 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index a9679ed..2fe757e 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -47,13 +47,14 @@
#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 850
+#define RESP_RX_TO_FINAL_TX_DLY_UUS 510
+
/* Receive response timeout. See NOTE 5 below. */
#define RESP_RX_TIMEOUT_UUS 600
-#define DELAY_BETWEEN_TWO_FRAME_UUS 240
+#define DELAY_BETWEEN_TWO_FRAME_UUS 400
-#define POLL_RX_TO_RESP_TX_DLY_UUS 420
+#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. */
@@ -74,7 +75,7 @@
DISCPOLL,
GETNEARMSG,
NEARPOLL,
-}tag_state;
+}tag_state=DISCPOLL;
static dwt_config_t config = {
2, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
@@ -91,7 +92,7 @@
static uint8_t tx_sync_msg[14] = {0};
static uint8_t tx_final_msg[60] = {0};
static uint8_t tx_resp_msg[22] = {0};
-static uint8_t tx_near_msg[80] = {0};
+ uint8_t tx_near_msg[80] = {0};
static uint32_t frame_seq_nb = 0;
static uint32_t status_reg = 0;
@@ -169,6 +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
dwt_initialise(DWT_LOADUCODE);//初始化DW1000
Spi_ChangePrescaler(SPIx_PRESCALER_FAST); //设置为快速模式
@@ -188,7 +190,7 @@
void Dw1000_App_Init(void)
{
//g_com_map[DEV_ID] = 0x0b;
- tag_state=DISCPOLL;
+ //tag_state=DISCPOLL;
tx_poll_msg[MESSAGE_TYPE_IDX]=POLL;
tx_resp_msg[MESSAGE_TYPE_IDX]=RESPONSE;
tx_final_msg[MESSAGE_TYPE_IDX]=FINAL;
@@ -236,9 +238,63 @@
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];
+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 motor_state,rec_remotepara_state,rec_remotepara[80];
void Poll(void)
{
uint32_t frame_len;
@@ -249,8 +305,8 @@
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_9, Bit_RESET);
- for(i=0;i<g_com_map[MAX_REPORT_ANC_NUM];i++)
+
+ for(i=0;i<3;i++)
{
/* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
tx_poll_msg[ANC_TYPE_IDX] = i;
@@ -260,7 +316,7 @@
/* 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)
{
@@ -278,21 +334,18 @@
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)
- {
- 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;
+ 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;}
+ }
}
memcpy(&temp_dist, &rx_buffer[DIST_IDX], 4);
@@ -310,7 +363,11 @@
tag_succ_times++;
LED0_BLINK;
- if(temp_dist<mindist)
+ tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
+ tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
+ SetNextPollTime(tyncpoll_time);
+
+ if(temp_dist<mindist&&temp_dist!=0)
{
memcpy(&minid, &rx_buffer[ANCHOR_ID_IDX], 4);
tag_state=GETNEARMSG;
@@ -347,217 +404,12 @@
}
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;
-uint16_t current_count,start_count,end_count;
-void NearPoll(void)
-{
- static u8 mainbase_lost_count=0,flag_finalsend;
- 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;
- 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++;
- while(current_count<end_count||current_count>end_count+15000)
- {
- 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)
- {
- flag_finalsend=0;
- dwt_forcetrxoff();
- dwt_setdelayedtrxtime(final_tx_time);
- result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
- break;
- }
- }
- 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-((350*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
- 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],&rec_nearbaseid,2);
- memcpy(&usart_send[9],&rx_buffer[DIST_IDX],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);
- //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
- LED0_BLINK;
- 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],&rec_nearbaseid,2);
- memcpy(&usart_send[9],&rx_buffer[DIST_IDX],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);
-
- //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);
- current_count=HAL_LPTIM_ReadCounter(&hlptim1);
- }
- 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);
-
-
-}
-
+u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32],mainbase_type;;
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;
@@ -584,32 +436,350 @@
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(&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;
+ //slottime=ceil((nearbase_num+2)*0.3)+1;
tyncpoll_time=tagslotpos*slottime;
tag_state=NEARPOLL;
}
+ }else{
+ tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
}
+}
+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;
+ }
+ HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
+ last_nearbase_num=next_nearbase_num;
+ nearbase_num=next_nearbase_num;
+ recbase_num=0;
+ motor_state=0;
+
+ 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);
+ 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
+
+ tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
+ para_update = 0;
+ flag_finalsend=0;
+ flag_rxon=1;
+ flag_getresponse=0;
+ start_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ recbase_num=0;
+ timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
+ 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();
+ flag_rxon=0;
+ 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(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])
+ {
+ //////////////////////////////////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;}
+ }
+ // TIM3->CNT=tmp_time;
+// if(tagslotpos>max_slotpos)
+// tagslotpos=tagslotpos%(max_slotpos+1);
+// tyncpoll_time=(tagslotpos-1)*slottime;
+ ////////////////////////////
+ rec_nearbasepos=0;
+ exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
+ memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
+ 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;
+ 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;
+ if(rec_remotepara_state&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2))
+ {
+ para_update = 1;
+ tx_near_msg[TAGCONFIGSUCCESS_INDEX] = 1;
+ para_len = frame_len-22;
+ memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],para_len);
+ }
+
+ 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);
+
+
+ //时间同步
+ ancsync_time=((sync_timer)*1000+tmp_time);
+ last_slotnum=current_slotnum;
+ current_slotnum=((float)sync_timer/g_com_map[COM_INTERVAL])+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);
+
+
+ // 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)%(g_com_map[COM_INTERVAL]*1000))-4300;
+// 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);
+ /////////////////////////////////////////
+// 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);
+
+ 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;
+ memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
+ nearbase_distlist[rec_nearbasepos]=temp_dist;
+
+ if(motor_state<(rx_buffer[MOTORSTATE_INDEX]&0xf)&&(rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
+ {
+ motor_state=rx_buffer[MOTORSTATE_INDEX];
+ }
+ if(rec_remotepara_state&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2))
+ {
+ para_update = 1;
+ tx_near_msg[TAGCONFIGSUCCESS_INDEX] = 1;
+ para_len = frame_len-22;
+ memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],para_len);
+ }
+ 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
+
+
+ //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
+ }
+ }
+ }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_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
+ nearbase_num=recbase_num;
+ 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);
+ }
+ // tyncpoll_time=0;
+ next_nearbase_num=0;
+ for(i=0;i<last_nearbase_num+get_newbase;i++)
+ {
+ if(exsistbase_list[i]>0)
+ {
+ next_nearbase_num++;
+ true_exsistbase_list[j]=exsistbase_list[i];
+ true_nearbase_idlist[j]=nearbaseid_list[i];
+ true_nearbase_distlist[j++]=nearbase_distlist[i];
+ exsistbase_list[i]--;
+ }
+ }
+
+ if(recbase_num<3)
+ {next_nearbase_num=next_nearbase_num;}
+ 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];
+ if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==0xa)
+ {
+ memcpy(&usart_send[4+6*report_num],&nearbaseid_list[i],2);
+ memcpy(&usart_send[6+6*report_num],&nearbase_distlist[i],4);
+ report_num++;
+ }
+ }
+ 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;
+ pack_msgtype = rec_remotepara[0];
+ pack_index = rec_remotepara[1];
+ pack_length = rec_remotepara[2];
+ if(pack_msgtype==2)
+ {
+ 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();
+ }
+ }
+ 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);
+
}
void Tag_App(void)//发送模式(TAG标签)
{
+ u32 id;
//LED0_ON;
- dwt_forcetrxoff();
+ id = dwt_readdevid() ;
+ while (DWT_DEVICE_ID != id)
+ {
+ id = dwt_readdevid() ;
+ }
+
g_Resttimer=0;
+// tag_state=DISCPOLL;
switch(tag_state)
{
case DISCPOLL:
Poll();
break;
case GETNEARMSG:
- // if(trygetnearmsg_times--!=0)
- {GetNearMsg();
- }
-// else{
-// tag_state=DISCPOLL;
-// }
+
+ GetNearMsg();
break;
case NEARPOLL:
@@ -618,4 +788,5 @@
//GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_RESET);
break;
}
+ dwt_entersleep();
}
--
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