From a7480e8f96eb7efe2689fdac2c1d7d0e44e5b5ef Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期一, 24 六月 2024 14:36:26 +0800
Subject: [PATCH] 可以定位，一标签2个基站。
---
Src/application/dw_app.c | 2196 ++++++++++++++++++++++++++++++++++------------------------
1 files changed, 1,274 insertions(+), 922 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index a8c0c45..d7f7159 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -30,143 +30,163 @@
#include "beep.h"
#include "modbus.h"
-/*------------------------------------ Marcos ------------------------------------------*/
-/* Inter-ranging delay period, in milliseconds. */
+///*------------------------------------ Marcos ------------------------------------------*/
+///* Inter-ranging delay period, in milliseconds. */
#define RNG_DELAY_MS 100
-/* Default antenna delay values for 64 MHz PRF. See NOTE 1 below. */
+///* Default antenna delay values for 64 MHz PRF. See NOTE 1 below. */
#define TX_ANT_DLY 0
#define RX_ANT_DLY 32899
-/* UWB microsecond (uus) to device time unit (dtu, around 15.65 ps) conversion factor.
- * 1 uus = 512 / 499.2 祍 and 1 祍 = 499.2 * 128 dtu. */
-#define UUS_TO_DWT_TIME 65536
+///* UWB microsecond (uus) to device time unit (dtu, around 15.65 ps) conversion factor.
+// * 1 uus = 512 / 499.2 祍 and 1 祍 = 499.2 * 128 dtu. */
+//#define UUS_TO_DWT_TIME 65536
-/* Delay between frames, in UWB microseconds. See NOTE 4 below. */
-/* 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 POLL_TX_TO_RESP_RX_DLY_UUS 10
-/* 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 510
+///* Delay between frames, in UWB microseconds. See NOTE 4 below. */
+///* 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 POLL_TX_TO_RESP_RX_DLY_UUS 10
+///* 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 1000
-/* Receive response timeout. See NOTE 5 below. */
-#define RESP_RX_TIMEOUT_UUS 1000
+///* Receive response timeout. See NOTE 5 below. */
+//#define RESP_RX_TIMEOUT_UUS 4000
-#define DELAY_BETWEEN_TWO_FRAME_UUS 240
+//#define DELAY_BETWEEN_TWO_FRAME_UUS 240
-#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. */
-#define FINAL_RX_TIMEOUT_UUS 4300
+//#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. */
+//#define FINAL_RX_TIMEOUT_UUS 4300
-#define SPEED_OF_LIGHT 299702547
+//#define SPEED_OF_LIGHT 299702547
-/* Indexes to access some of the fields in the frames defined above. */
-#define FINAL_MSG_POLL_TX_TS_IDX 10
-#define FINAL_MSG_RESP_RX_TS_IDX 14
-#define FINAL_MSG_FINAL_TX_TS_IDX 18
-#define FINAL_MSG_TS_LEN 4
-
-#define STARTPOLL SINGLEPOLL//#define SWITCHBASE_DIST
+///* Indexes to access some of the fields in the frames defined above. */
+//#define FINAL_MSG_POLL_TX_TS_IDX 10
+//#define FINAL_MSG_RESP_RX_TS_IDX 14
+//#define FINAL_MSG_FINAL_TX_TS_IDX 18
+//#define FINAL_MSG_TS_LEN 4
+//#define SUIJI_SHIJIANPIAN
+//#ifdef SUIJI_SHIJIANPIAN
+//#define STARTPOLL DISCPOLL//#define SWITCHBASE_DIST
+//#else
+//#define STARTPOLL REGPOLL
+//#endif
//#define SWITCHBASE_ZHUANDIAN
-#define SWITCHBASE_DIST
-enum enumtagstate
-{
- REGPOLL,
- DISCPOLL,
- GETNEARMSG,
- NEARPOLL,
- SINGLEPOLL,
-}tag_state=STARTPOLL;
-static dwt_config_t config = {
- 2, /* Channel number. */
+//#define SWITCHBASE_DIST
+//enum enumtagstate
+//{
+// REGPOLL,
+// DISCPOLL,
+// GETNEARMSG,
+// NEARPOLL,
+// SINGLEPOLL,
+//}tag_state=STARTPOLL;
+//#define _UWB_4G
+//static dwt_config_t config = {
+//#ifdef _UWB_4G
+// 2, /* Channel number. */
+//#else
+// 5,
+//#endif
+// DWT_PRF_64M, /* Pulse repetition frequency. */
+// DWT_PLEN_128, /* Preamble length. */
+// DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */
+// 9, /* TX preamble code. Used in TX only. */
+// 9, /* RX preamble code. Used in RX only. */
+// 1, /* Use non-standard SFD (Boolean) */
+// DWT_BR_6M8, /* Data rate. */
+// DWT_PHRMODE_STD, /* PHY header mode. */
+// (129 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
+//};
+dwt_config_t config = {
+ 5, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
- DWT_PLEN_64, /* Preamble length. */
- DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */
+ DWT_PLEN_1024, /* Preamble length. */
+ DWT_PAC32, /* Preamble acquisition chunk size. Used in RX only. */
9, /* TX preamble code. Used in TX only. */
9, /* RX preamble code. Used in RX only. */
1, /* Use non-standard SFD (Boolean) */
- DWT_BR_6M8, /* Data rate. */
+ DWT_BR_110K, /* Data rate. */
DWT_PHRMODE_STD, /* PHY header mode. */
- (129 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
+ (1025 + 64 - 32) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
};
-static uint8_t tx_poll_msg[20] = {0};
-static uint8_t tx_sync_msg[14] = {0};
-static uint8_t tx_final_msg[60] = {0};
-static uint8_t tx_resp_msg[22] = {0};
- uint8_t tx_near_msg[180] = {0};
+//static uint8_t tx_poll_msg[20] = {0};
+//static uint8_t tx_sync_msg[14] = {0};
+//static uint8_t tx_final_msg[60] = {0};
+//static uint8_t tx_resp_msg[22] = {0};
+// uint8_t tx_near_msg[180] = {0};
-static uint32_t frame_seq_nb = 0;
-static uint32_t status_reg = 0;
-static uint8_t rx_buffer[100];
-static uint64_t poll_tx_ts;
-static uint64_t resp_rx_ts;
-static uint64_t final_tx_ts;
-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
+//static uint32_t frame_seq_nb = 0;
+//static uint32_t status_reg = 0;
+//static uint8_t rx_buffer[100];
+//static uint64_t poll_tx_ts;
+//static uint64_t resp_rx_ts;
+//static uint64_t final_tx_ts;
+//static uint64_t poll_rx_ts;
+//static uint64_t resp_tx_ts;
+//static uint64_t final_rx_ts;
+//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
-static uint64_t get_tx_timestamp_u64(void)
-{
- uint8_t ts_tab[5];
- uint64_t ts = 0;
- int i;
- dwt_readtxtimestamp(ts_tab);
- for (i = 4; i >= 0; i--)
- {
- ts <<= 8;
- ts |= ts_tab[i];
- }
- return ts;
-}
+//static uint64_t get_tx_timestamp_u64(void)
+//{
+// uint8_t ts_tab[5];
+// uint64_t ts = 0;
+// int i;
+// dwt_readtxtimestamp(ts_tab);
+// for (i = 4; i >= 0; i--)
+// {
+// ts <<= 8;
+// ts |= ts_tab[i];
+// }
+// return ts;
+//}
-static uint64_t get_rx_timestamp_u64(void)
-{
- uint8_t ts_tab[5];
- uint64_t ts = 0;
- int i;
- dwt_readrxtimestamp(ts_tab);
- for (i = 4; i >= 0; i--)
- {
- ts <<= 8;
- ts |= ts_tab[i];
- }
- return ts;
-}
+//static uint64_t get_rx_timestamp_u64(void)
+//{
+// uint8_t ts_tab[5];
+// uint64_t ts = 0;
+// int i;
+// dwt_readrxtimestamp(ts_tab);
+// for (i = 4; i >= 0; i--)
+// {
+// ts <<= 8;
+// ts |= ts_tab[i];
+// }
+// return ts;
+//}
-static void final_msg_set_ts(uint8_t *ts_field, uint64_t ts)
-{
- int i;
- for (i = 0; i < FINAL_MSG_TS_LEN; i++)
- {
- ts_field[i] = (uint8_t) ts;
- ts >>= 8;
- }
-}
+//static void final_msg_set_ts(uint8_t *ts_field, uint64_t ts)
+//{
+// int i;
+// for (i = 0; i < FINAL_MSG_TS_LEN; i++)
+// {
+// ts_field[i] = (uint8_t) ts;
+// ts >>= 8;
+// }
+//}
-static void final_msg_get_ts(const uint8_t *ts_field, uint32_t *ts)
-{
- int i;
- *ts = 0;
- for (i = 0; i < FINAL_MSG_TS_LEN; i++)
- {
- *ts += ts_field[i] << (i * 8);
- }
-}
+//static void final_msg_get_ts(const uint8_t *ts_field, uint32_t *ts)
+//{
+// int i;
+// *ts = 0;
+// for (i = 0; i < FINAL_MSG_TS_LEN; i++)
+// {
+// *ts += ts_field[i] << (i * 8);
+// }
+//}
void Dw1000_Init(void)
{
@@ -191,26 +211,26 @@
* As this example only handles one incoming frame with always the same delay and timeout, those values can be set here once for all. */
//设置接收超时时间
}
-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[GROUP_ID_IDX], &group_id, 1);
- memcpy(&tx_final_msg[GROUP_ID_IDX], &group_id, 1);
- memcpy(&tx_resp_msg[GROUP_ID_IDX], &group_id, 1);
-
- 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);
-}
+//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[GROUP_ID_IDX], &group_id, 1);
+// memcpy(&tx_final_msg[GROUP_ID_IDX], &group_id, 1);
+// memcpy(&tx_resp_msg[GROUP_ID_IDX], &group_id, 1);
+//
+// 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)
{
uint16_t sum = 0;
@@ -220,786 +240,1148 @@
sum = ~sum;
return sum;
}
-
-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();
-}
-extern uint8_t g_start_send_flag;
-
-uint16_t g_Resttimer;
-uint8_t result;
-u8 tag_succ_times=0;
-int32_t hex_dist;
-u16 checksum;
-int8_t tag_delaytime;
-extern uint16_t sync_timer;
-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 mainbase_id;
-int32_t mainbase_dist,base_mindist;
-uint8_t trygetnearmsg_times;
-u16 mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM],nearbaseid_list[MAX_NEARBASE_NUM],nearbaseid_list2[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;
-}
-void MODBUS_Poll(void)
-{
- uint32_t frame_len;
- uint32_t final_tx_time;
- u32 start_poll;
- u8 i,getsync_flag=0;
- u8 bat_percent;
- //LED0_ON;
- //dwt_forcetrxoff();
- 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;
-
- if(bat_percent>100)
- bat_percent=100;
- tx_poll_msg[BATTARY_IDX] = bat_percent;//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;
-
- 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
-
- /* 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. */
- 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
- {
- 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[GROUP_ID_IDX] == group_id&&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
- { u16 anc_id_recv,rec_com_interval;
- /* Retrieve poll transmission and response reception timestamp. */
- 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])
- {
- getsync_flag=1;
- memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
- memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],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;
- }
- // memcpy(&hex_dist2, &rx_buffer[DIST_IDX], 4);
- memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
- // memcpy(&rec_com_interval,&rx_buffer[ANCSEND_INTERVAL], 2);
-// if(rec_com_interval>4&&rec_com_interval!=g_com_map[COM_INTERVAL])
-// {
-// g_com_map[COM_INTERVAL]=rec_com_interval;
-// save_com_map_to_flash();
-// // delay_ms(100);
-// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
-// }
-
- /* 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
- 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++;
-
- LED0_BLINK;
-
- memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
-// if(hex_dist2!=0xffff)
-// {
-// g_Tagdist[anc_id_recv]= hex_dist2;
-// g_flag_Taggetdist[anc_id_recv]=0;
-//
-// if(!g_com_map[MODBUS_MODE])
-// {
-// hex_dist2 = hex_dist2;
-// 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] = bat_percent;
-// 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(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
- {
- random_delay_tim = DFT_RAND_DLY_TIM_MS; //如果通讯失败，将间隔时间增加5ms，避开因为多标签同时发送引起的冲突。
- }
- }
- else
- {
- /* Clear RX error events in the DW1000 status register. */
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
- random_delay_tim = DFT_RAND_DLY_TIM_MS;
- }
-// deca_sleep(10);
-}
-// dwt_entersleep();
-
-
- /* Execute a delay between ranging exchanges. */
- delay_ms(30);
-
-}
-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;
+int16_t target_offsettime = 850;
+int32_t error_time;
+u32 temptime,delaytime,expect_anctime;
+int16_t poll_offsettime=-6900,clockoffset;
+extern u16 slotpos_intoatl, slotpos;
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=4700,temptimer;
-u8 motor_state,rec_remotepara_state,rec_remotepara[80];
+u8 pd_i;
+extern u16 tagslotpos;
+void NextPollDelay(u32 anchor_time)
+{
+ //tagslotpos = 0;
+ error_time = anchor_time-expect_anctime;
+ if(error_time<2000&&error_time>0)
+ clockoffset += (target_offsettime-error_time)*0.1;
+ for(pd_i=0; pd_i<tag_frequency; pd_i++)
+ {
+ slotpos_intoatl = pd_i*bigslot_num+tagslotpos;
+ temptime = (slotpos_intoatl*SLOTTIME_MS+100)*100;
+ if(anchor_time<temptime-5000)
+ {
+ current_slotnum = pd_i;
+ delaytime = temptime-anchor_time+poll_offsettime+clockoffset;
+ expect_anctime = temptime;
+ return ;
+ }
+ }
+ temptime = (tagslotpos*SLOTTIME_MS+100+10000)*100;
+ expect_anctime = temptime-1000000;
+ delaytime = temptime-anchor_time+poll_offsettime+clockoffset;
+ return ;
+}
+u16 lpcount,poll_startcount,last_lpcount;
+u16 waketopolltimeus = 3200;
+#define BASENUM_COMTIME 244
+u32 last_anchor_time;
+static u16 current_count;
+void SetLPTimer(u32 anchor_time,u8 nearbase_num)
+{
+
+ NextPollDelay(anchor_time);
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ lpcount = current_count+delaytime/LPTIMER_LSB+(10-nearbase_num)*8;
+ poll_startcount = lpcount+(waketopolltimeus)/LPTIMER_LSB;
+ if(poll_startcount>=32768)
+ {
+ poll_startcount -=32768;
+ }
+ if(lpcount>=32768)
+ {
+ lpcount -=32768;
+ }
+ __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
+ last_lpcount = lpcount;
+}
+void NextSlotDelayMs(int16_t delayms)
+{
+ current_slotnum++;
+ if(current_slotnum>=tag_frequency)
+ {
+ current_slotnum = 0;
+ lpcount = last_lpcount+31457/tag_frequency+1311+32.767*delayms;//(float)(delayms+40)*32.767 ;//(200/tag_frequency+delayms)*4.8*1000/LPTIMER_LSB
+ } else {
+ lpcount = last_lpcount+31457/tag_frequency+32.767*delayms;//(float)(200/tag_frequency*48+delayms*10)*3.3 ;
+ }
+ if(lpcount>=32768)
+ {
+ lpcount -=32768;
+ }
+ poll_startcount = lpcount+(waketopolltimeus)/LPTIMER_LSB;
+ if(poll_startcount>=32768)
+ {
+ poll_startcount -=32768;
+ }
+ __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
+ last_lpcount = lpcount;
+}
+void WaitUntilPollStart(void)
+{
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ while(current_count<poll_startcount||current_count>poll_startcount+16384)
+ {
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ if(current_count<poll_startcount-300)
+ {
+ break;
+ }
+ }
+}
+//u16 tag_time_recv[TAG_NUM_IN_SYS];
+//u8 usart_send[250];
+//u8 battary,button;
+//extern uint8_t g_pairstart;
+//void tag_sleep_configuraion(void)
+//{
+// dwt_configuresleep(0x940, 0x7);
+// dwt_entersleep();
+//}
+//extern uint8_t g_start_send_flag;
+
+//uint16_t g_Resttimer;
+//uint8_t result;
+//u8 tag_succ_times=0;
+//int32_t hex_dist;
+//u16 checksum;
+//int8_t tag_delaytime;
+//extern uint16_t sync_timer;
+//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 mainbase_id;
+//int32_t mainbase_dist,base_mindist;
+//uint8_t trygetnearmsg_times;
+//u16 mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM],nearbaseid_list0[MAX_NEARBASE_NUM],nearbaseid_list[MAX_NEARBASE_NUM],nearbaseid_list2[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;
+//}
+//void MODBUS_Poll(void)
+//{
+// uint32_t frame_len;
+// uint32_t final_tx_time;
+// u32 start_poll;
+// u8 i,getsync_flag=0;
+// u8 bat_percent;
+// //LED0_ON;
+// //dwt_forcetrxoff();
+// 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;
+
+// if(bat_percent>100)
+// bat_percent=100;
+// tx_poll_msg[BATTARY_IDX] = bat_percent;//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;
+//
+// 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
+
+// /* 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. */
+// 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
+// {
+// 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
-#define SINGLEPOLL_BASENUM 15
-uint16_t singlepoll_baseid[20]={0x8166,0x9804,0x9689,0x9686,0x8279,0x9815,0x9803,0x9814,0x9687,0x9774,0x8278,0x9743,0x9688,0x9771,0x8277};
-int32_t singlepoll_basedist[20];
+// /* 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[GROUP_ID_IDX] == group_id&&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
+// { u16 anc_id_recv,rec_com_interval;
+// /* Retrieve poll transmission and response reception timestamp. */
+// 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])
+// {
+// getsync_flag=1;
+// memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
+// memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],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;
+// }
+// // memcpy(&hex_dist2, &rx_buffer[DIST_IDX], 4);
+// memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
+// // memcpy(&rec_com_interval,&rx_buffer[ANCSEND_INTERVAL], 2);
+//// if(rec_com_interval>4&&rec_com_interval!=g_com_map[COM_INTERVAL])
+//// {
+//// g_com_map[COM_INTERVAL]=rec_com_interval;
+//// save_com_map_to_flash();
+//// // delay_ms(100);
+//// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+//// }
+//
+// /* 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
+// 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++;
+//
+// LED0_BLINK;
+//
+// memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
+//// if(hex_dist2!=0xffff)
+//// {
+//// g_Tagdist[anc_id_recv]= hex_dist2;
+//// g_flag_Taggetdist[anc_id_recv]=0;
+////
+//// if(!g_com_map[MODBUS_MODE])
+//// {
+//// hex_dist2 = hex_dist2;
+//// 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] = bat_percent;
+//// 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(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
+// {
+// random_delay_tim = DFT_RAND_DLY_TIM_MS; //如果通讯失败，将间隔时间增加5ms，避开因为多标签同时发送引起的冲突。
+// }
+// }
+// else
+// {
+// /* Clear RX error events in the DW1000 status register. */
+// dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
+// random_delay_tim = DFT_RAND_DLY_TIM_MS;
+// }
+//// deca_sleep(10);
+//}
+//// dwt_entersleep();
+
+
+// /* Execute a delay between ranging exchanges. */
+// delay_ms(30);
+
+//}
+//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=4700,temptimer;
+//u8 motor_state,rec_remotepara_state,rec_remotepara[80];
+
+
+//#define SINGLEPOLL_BASENUM 5
+//uint16_t singlepoll_baseid[20]={0x8166,0x9804,0x9689,0x9686,0x8279,0x9815,0x9803,0x9814,0x9687,0x9774,0x8278,0x9743,0x9688,0x9771,0x8277};
+//int32_t singlepoll_basedist[20];
extern u8 userkey_state;
-extern float motor_keeptime;
-uint8_t changemainbase_count=0,gotosleep_flag,singlepoll_i;
-uint32_t frame_len;
-int32_t salvebase_mindist;
-int16_t intheight;
-void Poll(void)
-{
- uint32_t frame_len;
- uint32_t final_tx_time;
- u32 start_poll;
- int32_t mindist=999999,minid=-1,temp_dist;
- u8 i,j,getsync_flag=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;
- frame_seq_nb++;
- intheight+=g_com_map[HEIGHTOFFEST_INDEX];
- for(singlepoll_i=0;singlepoll_i<SINGLEPOLL_BASENUM;singlepoll_i++)
- {
- /* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
- nearbase_num = SINGLEPOLL_BASENUM;
-
- tx_near_msg[BATTARY_IDX] = bat_percent;
- tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2;
- tx_near_msg[SEQUENCE_IDX] = frame_seq_nb;
- tx_near_msg[SEQUENCEH_IDX] = (frame_seq_nb)>>8;
- tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
- memcpy(&tx_near_msg[NEARBASEID_INDEX],&singlepoll_baseid,nearbase_num*2);
- memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&singlepoll_basedist,nearbase_num*4+4);
-
- memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6],&intheight,2);
- tx_near_msg[MESSAGE_TYPE_IDX] = SPOLL;
-
- tx_near_msg[NEARP_TAGFREQ_INDEX] = tag_frequency;
- tx_near_msg[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;
+//extern float motor_keeptime;
+//uint8_t changemainbase_count=0,gotosleep_flag,singlepoll_i;
+//uint32_t frame_len;
+//int32_t salvebase_mindist;
+//int16_t intheight;
+//static uint8_t send_buffer[200];
+//void DiscPoll(void)
+//{
+// uint32_t frame_len;
+// uint32_t final_tx_time;
+// u32 start_poll;
+// int32_t minddist=0x1ffff,minid=-1,temp_dist;
+// u8 i,j,getsync_flag=0;
+// u16 mindist_ancid,random_delay_tim,tempval;
+//
+// 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);
+// frame_seq_nb++;
+// for(uint8_t singlepoll_i=0;singlepoll_i<10;singlepoll_i++)
+// {
+//
- memcpy(&tx_near_msg[ANCHOR_ID_IDX],&singlepoll_baseid[singlepoll_i],2);
- dwt_writetxdata(28+6*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(28+6*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
+// /* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
+// nearbase_num = 0;
+//
+// // send_buffer[BATTARY_IDX] = bat_percent;
+// //send_buffer[BUTTON_IDX] = !GET_USERKEY|stationary_flag<<1|gotosleep_flag<<2;
+// send_buffer[SEQUENCE_IDX] = frame_seq_nb;
+// send_buffer[SEQUENCEH_IDX] = (frame_seq_nb)>>8;
+// send_buffer[NEARBASENUM_INDEX] = nearbase_num;
+//
+//// memcpy(&send_buffer[NEARBASEID_INDEX],&singlepoll_baseid,nearbase_num*2);
+//// memcpy(&send_buffer[NEARBASEID_INDEX+nearbase_num*2],&singlepoll_basedist,nearbase_num*4+4);
+//// intheight+=g_com_map[HEIGHTOFFEST_INDEX];
+// // memcpy(&send_buffer[NEARBASEID_INDEX+nearbase_num*6],&intheight,2);
+// send_buffer[MESSAGE_TYPE_IDX] = DISCOVERPOLL;
+//// singlepoll_basedist[singlepoll_i]= 0x1ffff;
+// send_buffer[NEARP_TAGFREQ_INDEX] = tag_frequency;
+// send_buffer[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;
+// send_buffer[ANCHOR_ID_IDX] = singlepoll_i;
+// memcpy(&send_buffer[TAG_ID_IDX],&dev_id,2);
+// dwt_writetxdata(28+6*nearbase_num, send_buffer, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+// dwt_writetxfctrl(28+6*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
-
- /* 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] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)&&!memcmp(&rx_buffer[ANCHOR_ID_IDX],&singlepoll_baseid[singlepoll_i],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)
- {
- getsync_flag=1;
- 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);
- }
-
- memcpy(&temp_dist, &rx_buffer[DIST_IDX], 4);
- memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
- singlepoll_basedist[singlepoll_i] = temp_dist;
- /* 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
- 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_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);
- 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++;
- LED0_BLINK;
-
-
-
-// if(temp_dist<mindist&&temp_dist!=0)
+//
+// /* 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] == 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)
// {
-// memcpy(&minid, &rx_buffer[ANCHOR_ID_IDX], 4);
-// tag_state=GETNEARMSG;
-// trygetnearmsg_times=10*tag_frequency;
-// 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
- random_delay_tim = 0;
- }
- else
- {
- // singlepoll_basedist[singlepoll_i] = 0x1ffff;
- random_delay_tim = DFT_RAND_DLY_TIM_MS; //如果通讯失败，将间隔时间增加5ms，避开因为多标签同时发送引起的冲突。
- }
- }
- else
- {
- // singlepoll_basedist[singlepoll_i] = 0x1ffff;
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
- random_delay_tim = DFT_RAND_DLY_TIM_MS;
- }
-}
-
- if(getsync_flag==0)
- {
-// tagslotpos--;
- if(tagslotpos==0||tagslotpos>max_slotpos)
- {
- tagslotpos=max_slotpos;
- }
- tyncpoll_time=(tagslotpos-1)*slottime;
- }
-// mainbase_id=minid;
-// mainbase_id = 0x4;
-}
-u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32],mainbase_type;;
-void GetNearMsg(void)
-{
- u32 start_poll,frame_len;
+// getsync_flag=1;
+// 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;}
+// }
-//mainbase_id = 0x9724;
- 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];
- 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);
- memcpy(nearbaseid_list2,&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;
- tag_state=NEARPOLL;
- }
- }else{
-// tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
- }
-}
-
-void NearPoll(void)
-{
-
- uint32_t temp1,temp2,dw_systime,mindist_slavebaseid;
-
- uint32_t final_tx_time;
- u32 start_poll;
- u8 i,j,getsync_flag=0,timeout;
- // USART_putc(current_slotnum);
- 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;
- salvebase_mindist=999999;
- 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);
-
- recbase_num=0;
-// motor_state=0;
-
- tx_near_msg[BATTARY_IDX] = bat_percent;
- tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2;
- tx_near_msg[SEQUENCE_IDX] = frame_seq_nb;
- tx_near_msg[SEQUENCEH_IDX] = (frame_seq_nb++)>>8;
- 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],&nearbase_distlist,nearbase_num*4+4);
-
- if(intheight!=0)
- intheight+=g_com_map[HEIGHTOFFEST_INDEX];
-
- memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6+4],&intheight,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(28+6*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(28+6*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+1;i++)
+// //offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
+//// SetNextPollTime(tagslotpos);
+// }
+// memcpy(&send_buffer[NEARBASEID_INDEX+singlepoll_i*2],&rx_buffer[ANCHOR_ID_IDX],2);
+// memcpy(&temp_dist, &rx_buffer[DIST_IDX], 4);
+// memcpy(&send_buffer[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
+// // singlepoll_basedist[singlepoll_i] = temp_dist;
+// // memcpy(&singlepoll_baseid[singlepoll_i], &rx_buffer[ANCHOR_ID_IDX], 2);
+//
+// if(temp_dist<minddist)
+// {
+// minddist = temp_dist;
+// memcpy(&mindist_ancid,&rx_buffer[ANCHOR_ID_IDX],2);
+//
+// }
+// send_buffer[MESSAGE_TYPE_IDX] = DISCOVERFINAL;
+// /* Compute final message transmission time. See NOTE 9 below. */
+// final_tx_time = (resp_rx_ts + (600 * 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_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(&send_buffer[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据
+// final_msg_set_ts(&send_buffer[FINAL_MSG_RESP_RX_TS_IDX], resp_rx_ts);
+// final_msg_set_ts(&send_buffer[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
+// dwt_writetxdata(25,send_buffer, 0);//将发送数据写入DW1000
+// dwt_writetxfctrl(25, 0);//设定发送数据长度
+// 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
+// { };
+// }
+// /* Clear TXFRS event. */
+// dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//清除标志位
+// random_delay_tim = 0;
+// }
+// else
+// {
+// // singlepoll_basedist[singlepoll_i] = 0x1ffff;
+// random_delay_tim = DFT_RAND_DLY_TIM_MS; //如果通讯失败，将间隔时间增加5ms，避开因为多标签同时发送引起的冲突。
+// }
+// }
+// else
+// {
+// // singlepoll_basedist[singlepoll_i] = 0x1ffff;
+// dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
+// random_delay_tim = DFT_RAND_DLY_TIM_MS;
+// }
+// // delay_ms(1);
+//}
+// if(minddist!=0x1ffff&&minddist!=0)
// {
-// nearbase_distlist[i] = 0x1ffff;
+// trygetnearmsg_times = 0;
+// tag_state = GETNEARMSG;
+// mainbase_id = mindist_ancid;
// }
-
- 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)+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
- {
- 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
- dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);//设定接收超时时间，0位没有超时时间
- dwt_rxenable(0);//打开接收
- 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(getsync_flag==0)
+// {
+//// tagslotpos--;
+//// if(tagslotpos==0||tagslotpos>max_slotpos)
+//// {
+//// tagslotpos=max_slotpos;
+//// }
+//// tyncpoll_time=(tagslotpos-1)*slottime;
+// }
+//// mainbase_id=minid;
+//// mainbase_id = 0x4;
+//}
+//int16_t target_offsettime = 850;
+////#define TAGET_OFFSETTIME 940
+//#define MAX_NEARBASE_ANCNUM 11
+//u16 rec_maxrangelen,rec_anc_signalpower[MAX_NEARBASE_ANCNUM];
+//u8 outrange_times;
+//extern u32 synctimer;
+//u32 target_time=100;
+//u8 pd_i;
+//u32 temptime,delaytime,expect_anctime;
+//int32_t error_time;
+//u16 delaycount;
+//int16_t poll_offsettime=-6900,clockoffset;
+//extern u16 slotpos_intoatl, slotpos;
+//void NextPollDelay(u32 anchor_time)
+//{
+// //tagslotpos = 0;
+// error_time = anchor_time-expect_anctime;
+// if(error_time<2000&&error_time>0)
+// clockoffset += (target_offsettime-error_time)*0.1;
+// for(pd_i=0;pd_i<tag_frequency;pd_i++)
+// {
+// slotpos_intoatl = pd_i*bigslot_num+tagslotpos;
+// temptime = (slotpos_intoatl*SLOTTIME_MS+100)*100;
+// if(anchor_time<temptime-5000)
+// {
+// current_slotnum = pd_i;
+// delaytime = temptime-anchor_time+poll_offsettime+clockoffset;
+// expect_anctime = temptime;
+// return ;
+// }
+// }
+// temptime = (tagslotpos*SLOTTIME_MS+100+10000)*100;
+// expect_anctime = temptime-1000000;
+// delaytime = temptime-anchor_time+poll_offsettime+clockoffset;
+// return ;
+//}
+//u16 lpcount,poll_startcount,last_lpcount;
+//u16 waketopolltimeus = 3200;
+//#define BASENUM_COMTIME 244
+//u32 last_anchor_time;
+//void SetLPTimer(u32 anchor_time)
+//{
+// NextPollDelay(anchor_time);
+// current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+// lpcount = current_count+delaytime/LPTIMER_LSB+(10-nearbase_num)*8;
+// poll_startcount = lpcount+(waketopolltimeus)/LPTIMER_LSB;
+// if(poll_startcount>=32768)
+// {
+// poll_startcount -=32768;
+// }
+// if(lpcount>=32768)
+// {
+// lpcount -=32768;
+// }
+// __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
+// last_lpcount = lpcount;
+// }
- 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);
- current_count=HAL_LPTIM_ReadCounter(&hlptim1);
- 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;
-
- 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
- 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;
+//void NextSlotDelayMs(int16_t delayms)
+//{
+// current_slotnum++;
+// if(current_slotnum>=tag_frequency)
+// {
+// current_slotnum = 0;
+// lpcount = last_lpcount+31457/tag_frequency+1311+32.767*delayms;//(float)(delayms+40)*32.767 ;//(200/tag_frequency+delayms)*4.8*1000/LPTIMER_LSB
+// }else{
+// lpcount = last_lpcount+31457/tag_frequency+32.767*delayms;//(float)(200/tag_frequency*48+delayms*10)*3.3 ;
+// }
+// if(lpcount>=32768)
+// {
+// lpcount -=32768;
+// }
+// poll_startcount = lpcount+(waketopolltimeus)/LPTIMER_LSB;
+// if(poll_startcount>=32768)
+// {
+// poll_startcount -=32768;
+// }
+// __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
+// last_lpcount = lpcount;
+//}
- memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
- mainbase_dist=temp_dist;
- nearbase_distlist[0] = temp_dist;
- base_mindist = 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);
-
+//u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32],mainbase_type;;
+//void GetNearMsg(void)
+//{
+// u32 start_poll,frame_len;
+// u8 nearmsg_i=0;
+// NextSlotDelayMs(0);
+// for(nearmsg_i=0;nearmsg_i<MAX_NEARBASE_NUM;nearmsg_i++)
+// {
+// nearbase_distlist[nearmsg_i] = 0x1ffff;
+// }
+////mainbase_id = 0x1;
+// 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] = POS_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
+// current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+// while(current_count<poll_startcount||current_count>poll_startcount+16384)
+// {
+// current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+// if(current_count<poll_startcount-300)
+// {
+// break;
+// }
+// }
+// dwt_starttx(DWT_START_TX_IMMEDIATE| DWT_RESPONSE_EXPECTED);
+// NextSlotDelayMs(0);
+// /* 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] == POS_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);
+// memcpy(nearbaseid_list2,&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;
+// tag_state=NEARPOLL;
+// }
+// }else{
+//// tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
+// }
+//}
+//void SendHuiZongData(void)
+//{
+// usart_send[0] = 0x55;
+// usart_send[1] = 0xaa;
+// usart_send[2] = 0x0c;//正常模式
+// usart_send[3] = 15+8*(nearbase_num+1);//数据段长度
+// memcpy(&usart_send[4],&dev_id,2);
+// usart_send[6] = frame_seq_nb;
+// usart_send[7] = frame_seq_nb>>8;
+// usart_send[8] = bat_percent;
+// usart_send[9] = tx_near_msg[BUTTON_IDX];
- 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*10 - tagslotpos*SLOTTIME_MS)/(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(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+1]=temp_dist; // nearbase_distlist[1]对应 rec_nearbaseid[0]的距离
- final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
- if(temp_dist<salvebase_mindist)
- {
- salvebase_mindist = temp_dist;
- mindist_slavebaseid = rec_nearbaseid;
- }
- #ifdef SWITCHBASE_ZHUANDIAN
- if(temp_dist<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]!=0&&temp_dist>0)
- {
- mainbase_id = rec_nearbaseid;
- tag_state = GETNEARMSG;
- }
- #endif
+// memcpy(&usart_send[10],&intheight,2);
+// usart_send[12] = tag_frequency;
+// usart_send[13] = tagslotpos;
+// usart_send[14] = 0;
+// usart_send[15] = 0;
+// usart_send[16] = nearbase_num+1;
+// memcpy(&usart_send[17],&mainbase_id,2);
+// memcpy(&usart_send[19],&nearbaseid_list,2*nearbase_num);
+// memcpy(&usart_send[19+nearbase_num*2],&nearbase_distlist,4*nearbase_num+4);
+// memcpy(&usart_send[19+nearbase_num*6+4],&rec_anc_signalpower,2*nearbase_num+2);
+//
+// checksum = Checksum_u16(&usart_send[2],23+8*nearbase_num);
+// memcpy(&usart_send[25+8*nearbase_num],&checksum,2);
+// USART_puts(usart_send,27+8*nearbase_num);
+// //HexToAsciiSendUDP(usart_send,27+8*nearbase_num);
+//}
+//#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)
- }
- }
- }else{
- dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
- if(recbase_num!=nearbase_num+1)
- {dwt_rxenable(0); }
- // if(flag_rxon)
-// {
- // dwt_rxenable(0);
-// }
- }
- // dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
- }
- if(flag_finalsend!=1)
- {flag_finalsend = 2;}
- dwt_forcetrxoff();
-dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
+//// Multiplication factors to convert frequency offset in Hertz to PPM crystal offset
+//// NB: also changes sign so a positive value means the local RX clock is running slower than the remote TX device.
- if(mainbase_lost_count==0)
- {
- #ifdef SWITCHBASE_DIST
- if(salvebase_mindist<mainbase_dist- THRESHOLD_CHANGE_MAINBASE_DIST )
- {
- changemainbase_count++;
- if(changemainbase_count>tag_frequency*2)
- {
- mainbase_id = mindist_slavebaseid;
- tag_state = GETNEARMSG;
- }
- }else{
- changemainbase_count = 0;
- }
- #endif
- }else if(mainbase_lost_count>10*tag_frequency)
- {
- tag_state = STARTPOLL;
- }
+//#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)
+//int32_t test2;
+//uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
+//uint8_t motor_flag;
+//uint32_t testtimer[10],testtimer2,anc_pollrx[11],anc_resptx[11],tag_resprx[11];
+//int32_t anc_clockoffset[11];
+//int16_t anc_distoffset[11];
+//extern uint8_t Pah_HRD_flag_fangchai;
+//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;
+//}
+//float clockOffsetRatio;
+//double rtd_init, rtd_resp;
+//double tof,distance;
+//extern int32_t dwt_readcarrierintegrator(void) ;
+//void CalculateDists(void)
+//{
+// for(int i=0;i<11;i++)
+// {
+// rec_anc_signalpower[i] = exsistbase_list[i];
+// if(exsistbase_list[i]==KEEP_TIMES)
+// {
- 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)
- {
- if( pack_index == MOTOR_ONTIME_INDEX)
- {
- if(motor_keeptime==0)
- motor_keeptime = rec_remotepara[3];
- }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();
- }
- }
- }
- }
- for(i=0;i<nearbase_num;i++)
- {
- if(nearbaseid_list[i]!=nearbaseid_list2[i])
- {
- tag_state = GETNEARMSG;
- }
- }
- 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);
+// exsistbase_list[i]--;
+//#ifdef _UWB_4G
+// clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_2 / 1.0e6) ;
+//#else
+// clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_5 / 1.0e6) ;
+//#endif
+// rtd_init = tag_resprx[i] - poll_tx_ts&0xffffffff;
+// 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];
+//// if(nearbase_distlist[i]>4000)
+//// {
+//// nearbase_distlist[i] = 4100;
+//// }
+// }
+// }else{
+// nearbase_distlist[i] = 0x1ffff;
+// }
+//
+// }
+//}
+//void NearPoll(void)
+//{
+//
+// uint32_t temp1,temp2,dw_systime,mindist_slavebaseid;
+// static u8 notenoughdist_count=0;
+// uint32_t final_tx_time;
+// u32 start_poll;
+// u8 i,j,getsync_flag=0,timeout,get_newdist;
+// // USART_putc(current_slotnum);
+// 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;
+// salvebase_mindist=999999;
+// get_newdist = 0;
+// if(next_nearbase_num>=MAX_NEARBASE_NUM)
+// {
+// next_nearbase_num = MAX_NEARBASE_NUM-1;
+// }
+// if(nearbase_num>10)
+// {nearbase_num = 10;}
+//// HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
-}
-extern uint8_t module_power,imu_enable,motor_enable;
+// recbase_num=0;
+//// motor_state=0;
+// if(motor_state!=0&&motor_state!=3)
+// {
+// motor_flag = 1;
+// }else{
+// motor_flag = 0;
+// }
+//
+// tx_near_msg[BATTARY_IDX] = bat_percent;
+// tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2|motor_flag<<5;
+// tx_near_msg[SEQUENCE_IDX] = frame_seq_nb;
+// tx_near_msg[SEQUENCEH_IDX] = (frame_seq_nb++)>>8;
+// 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],&nearbase_distlist,nearbase_num*4+4);
+// memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6+4],&rec_anc_signalpower,nearbase_num*2+2);
-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);
+//
+// if(intheight!=0)
+// intheight+=g_com_map[HEIGHTOFFEST_INDEX];
+//
+// memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*8+6],&intheight,2);
+// tx_near_msg[MESSAGE_TYPE_IDX] = POS_POLL;
+//
+// tx_near_msg[NEARP_TAGFREQ_INDEX] = tag_frequency;
+// tx_near_msg[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;
- 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);
- memcpy(&tx_near_msg[REGP_HEIGHTOFFSET_INDEX],&g_com_map[HEIGHTOFFEST_INDEX],2);
- dwt_writetxdata(23, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
- dwt_writetxfctrl(23, 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);
- memcpy(nearbaseid_list2,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
- if(tagslotpos!=255)
- tag_state = NEARPOLL;
- }
- }
-}
+// memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
+// dwt_writetxdata(29+8*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(29+8*nearbase_num, 0);//设置超宽带发送数据长度
+// current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+//
+// while(current_count<poll_startcount||current_count>poll_startcount+16384)
+// {
+// current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+// if(current_count<poll_startcount-300)
+// {
+// break;
+// }
+// }
+// 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
+//// HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_RESET);
+//// for(i=0;i<nearbase_num+1;i++)
+//// {
+//// nearbase_distlist[i] = 0x1ffff;
+//// }
+//
+// 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
+// {
+// 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
+// test2 = dwt_readcarrierintegrator();
+// dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
+// dwt_rxenable(0);//打开接收
+// //HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_SET);
+// if (rx_buffer[MESSAGE_TYPE_IDX] == POS_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)
+// {
+// 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);
+// current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+// 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]=POS_FINAL;
+// rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;
+// 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
+//// 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);
+// temp_dist = nearbase_distlist[0];
+// if(temp_dist!=nearbase_distlist[0])
+// {
+// get_newdist++;
+// }
+// mainbase_dist=temp_dist;
+// nearbase_distlist[0] = temp_dist;
+// base_mindist = temp_dist;
+// if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
+// motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
+// if(frame_len==38)
+// {
+// memcpy(&rec_maxrangelen,&rx_buffer[MAXRANGE_DISTANCE],2);
+// memcpy(&rec_anc_signalpower[0],&rx_buffer[ANC_SIGNALPOWER],2);
+// if(mainbase_dist>rec_maxrangelen&&mainbase_dist>0&&rec_maxrangelen!=0)
+// {
+// if(outrange_times++>OUTRANGE_RESTARTTIMES)
+// {
+// tag_state = STARTPOLL;
+// }
+// }else{
+// outrange_times = 0;
+// }
+// }
+//
+//
+//
+// mainbase_lost_count=0;
+// flag_finalsend=1;
+//// memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);
+//
+
+// 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);
+// SetLPTimer(ancsync_time);
+//// 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
+//// { };}
+////HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_RESET);
+// break;
+// }else{
+//
+// rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
+// SetANCTimestap(rec_nearbasepos+1,&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]);
+//
+// exsistbase_list[rec_nearbasepos+1]=KEEP_TIMES;
+// //memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
+// temp_dist = nearbase_distlist[rec_nearbasepos+1];
+// if(frame_len==38)
+// memcpy(&rec_anc_signalpower[rec_nearbasepos+1],&rx_buffer[ANC_SIGNALPOWER],2);
+// memcpy(&nearbase_switchdistlist[rec_nearbasepos],&rx_buffer[NR_NEARSWITCH_DISTANCE],2);
+// if(temp_dist!=nearbase_distlist[rec_nearbasepos+1])
+// {
+// get_newdist++;
+// }
+// nearbase_distlist[rec_nearbasepos+1]=temp_dist; // nearbase_distlist[1]对应 rec_nearbaseid[0]的距离
+// final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
+// if(temp_dist<salvebase_mindist&&nearbase_switchdistlist[rec_nearbasepos]==1)
+// {
+// salvebase_mindist = temp_dist;
+// mindist_slavebaseid = rec_nearbaseid;
+// }
+// #ifdef SWITCHBASE_ZHUANDIAN
+// if(temp_dist<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]>1&&temp_dist>0)
+// {
+// mainbase_id = rec_nearbaseid;
+// tag_state = GETNEARMSG;
+// trygetnearmsg_times = 0;
+// }
+// #endif
+
+// }
+// }
+// // HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_RESET);
+// }else{
+// dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
+// if(recbase_num!=nearbase_num+1)
+// {dwt_rxenable(0); }
+// // if(flag_rxon)
+//// {
+// // dwt_rxenable(0);
+//// }
+// }
+// // dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
+// }
+// if(flag_finalsend!=1)
+// {flag_finalsend = 2;}
+// dwt_forcetrxoff();
+// dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
+//// HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_SET);
+// if(mainbase_lost_count==0)
+// {
+// #ifdef SWITCHBASE_DIST
+// if(salvebase_mindist<mainbase_dist- THRESHOLD_CHANGE_MAINBASE_DIST )
+// {
+// changemainbase_count++;
+// if(changemainbase_count>tag_frequency*2)
+// {
+// mainbase_id = mindist_slavebaseid;
+// tag_state = GETNEARMSG;
+// trygetnearmsg_times = 0;
+// }
+// }else{
+// changemainbase_count = 0;
+// }
+// #endif
+// }else if(mainbase_lost_count>5*tag_frequency)
+// {
+// tag_state = DISCPOLL;
+// }
+// if(mainbase_lost_count!=0)
+// {
+// if(mainbase_lost_count<=tag_frequency*1)
+// {NextSlotDelayMs(0);
+// }else{
+// NextSlotDelayMs(0);
+// }
+// }
+//CalculateDists();
+// if(para_update)
+// {
+//
+// pack_msgtype = rec_remotepara[0];
+// pack_index = rec_remotepara[1];
+// pack_length = rec_remotepara[2];
+// if(pack_msgtype==2)
+// {
+// if( pack_index == MOTOR_ONTIME_INDEX)
+// {
+// if(motor_keeptime==0)
+// motor_keeptime = rec_remotepara[3];
+// }else if( pack_index == 2*COM_INTERVAL)
+// {
+// if(memcmp(&g_com_map[COM_INTERVAL],&rec_remotepara[3],2)!=0)
+// {
+// memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
+// save_com_map_to_flash();
+// tag_frequency = 1000/g_com_map[COM_INTERVAL];
+// bigslot_num = TOTAL_SLOTNUM/tag_frequency;
+// }
+// }
+// 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();
+// }
+// }
+// }
+// }
+//// if(get_newdist>=2)
+//// {
+//// notenoughdist_count = 0;
+//// }else{
+//// if(notenoughdist_count++>10)
+//// {
+//// notenoughdist_count = 0;
+//// tag_state = DISCPOLL;
+//// }
+//// }
+// for(i=0;i<nearbase_num;i++)
+// {
+// if(nearbaseid_list[i]!=nearbaseid_list2[i])
+// {
+// tag_state = GETNEARMSG;
+// trygetnearmsg_times = 0;
+// nearbaseid_list0[i]=1;
+// }
+// }
+// SendHuiZongData();
+// 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);
+
+//}
+//extern uint8_t module_power,imu_enable,motor_enable;
+//void Registor_Poll(void)
+//{
+// static u8 regpoll_count=0;
+// mainbase_lost_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);
+// NextSlotDelayMs(-2);
+//
+// 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);
+// send_buffer[REGP_BATTARY_INDEX] = bat_percent;
+//// memcpy(&tx_near_msg[REGP_HEIGHTOFFSET_INDEX],&g_com_map[HEIGHTOFFEST_INDEX],2);
+// dwt_writetxdata(23, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+// dwt_writetxfctrl(23, 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);
+// SetLPTimer(ancsync_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);
+// memcpy(nearbaseid_list2,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
+// if(tagslotpos!=255)
+// tag_state = DISCPOLL;
+// }
+// }
+//}
u32 id,error_times=0;
extern float Height;
@@ -1009,8 +1391,6 @@
//LED0_ON;
SPIx_CS_GPIO->BRR = SPIx_CS;
delay_us(700);
- GetPressAndHeight();
- intheight = Height*100;
SPIx_CS_GPIO->BSRR = SPIx_CS;
id = dwt_readdevid() ;
while (DWT_DEVICE_ID != id)
@@ -1025,35 +1405,7 @@
}
}
error_times = 0;
- switch(tag_state)
- {
- case REGPOLL:
- LED_LG_ON;
- Registor_Poll();
- LED_LG_OFF;
- break;
- case DISCPOLL:
- LED_LG_ON;
- Poll();
- LED_LG_OFF;
- break;
- case GETNEARMSG:
- trygetnearmsg_times--;
- LED_LG_ON;
- GetNearMsg();
- LED_LG_OFF;
- if(trygetnearmsg_times==0)
- {
- tag_state = STARTPOLL;
- }
- break;
- case NEARPOLL:
- NearPoll();
- break;
- case SINGLEPOLL:
- Poll();
- break;
- }
+ SwitchTagState();
userkey_state = !GET_USERKEY;
dwt_entersleep();
}
--
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