From a5e16e925923fa444276ca51f0e7c0cbbe07a96c Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期六, 27 五月 2023 15:51:54 +0800
Subject: [PATCH] V1.58 香港机场测试，有BUG
---
Src/application/dw_app.c | 164 ++++++++++++++++++++++++++++++++++++------------------
1 files changed, 109 insertions(+), 55 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index cbc0205..7c6eb1f 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -97,7 +97,6 @@
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;
@@ -304,7 +303,56 @@
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)
+{
+ 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)
+{
+ 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]--;
+ clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_5 / 1.0e6) ;
+ 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;
+ }
+
+ }
+}
+float range_lost_time = 0;
+u16 rec_nearbaseid,rec_nearbasepos;
void NearPoll(void)
{
@@ -314,39 +362,45 @@
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(10000);
+ dwt_setrxtimeout(0);
tag_succ_times = 0;
//GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
- if(next_nearbase_num>=MAX_NEARBASE_NUM)
+ if(nearbase_num>=MAX_NEARBASE_NUM)
{
- next_nearbase_num = MAX_NEARBASE_NUM-1;
+ 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;
+// 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;
+ for(uint8_t i=0;i<nearbase_num;i++)
+ {
+ 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+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(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+4;
- end_count=start_count+(timeout<<5);
+ timeout=nearbase_num*SLOT_SCALE+10;
+ end_count=start_count+(timeout<<2);
if(end_count>=32768)
{end_count-=32768;}
mainbase_dist=100000;
@@ -357,7 +411,7 @@
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)
+ if(flag_finalsend&&flag_ancreadpara)
{
dw_systime=dwt_readsystimestamphi32();
if(dw_systime>temp1&&dw_systime<temp2)
@@ -374,9 +428,10 @@
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;
}
@@ -394,10 +449,11 @@
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
- { 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++;
@@ -422,6 +478,9 @@
}
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);
@@ -442,8 +501,7 @@
////////////////////////////
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;
@@ -469,13 +527,13 @@
//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;
+// 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);
// if(rec_remotepara_state==1)
// {
@@ -490,8 +548,9 @@
// }
}else{
rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
-
- if(rec_nearbasepos>=last_nearbase_num) //发现新的基站
+ 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++;
@@ -500,8 +559,7 @@
}
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)
{
@@ -526,24 +584,24 @@
}
// dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
}
- if(mainbase_lost_count>tag_frequency*BASELOST_STOPMOTOR_TIME)
- {motor_state=0; }
+ dwt_forcetrxoff();
dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
- nearbase_num=recbase_num;
- // tyncpoll_time=0;
- next_nearbase_num=0;
+ CalculateDists();
j = 0;
- for(i=0;i<last_nearbase_num+get_newbase;i++)
+ 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];
- exsistbase_list[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);
@@ -571,33 +629,29 @@
}
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++;
- }
+ exsistbase_list[i] = true_exsistbase_list[i];
}
- #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);
+
if(para_update==1)
{
uint16_t calCRC;
@@ -605,7 +659,7 @@
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]*2;
+ pack_index = rec_remotepara[1];
pack_length = rec_remotepara[2];
if(pack_msgtype==2)
{
--
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