From ac3eb3210f17aedfed086520c022befb28f7599c Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期三, 19 七月 2023 17:46:10 +0800
Subject: [PATCH] 测试提交
---
Src/application/dw_app.c | 650 ++++++++++++++++++++++++++++++++++++++--------------------
1 files changed, 425 insertions(+), 225 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index b5e145e..23728f9 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -29,12 +29,16 @@
#include <stdio.h>
#include "beep.h"
#include "modbus.h"
+#include "CRC.h"
-#define USART_INTEGRATE_OUTPUT
+//#define USART_INTEGRATE_OUTPUT
/*------------------------------------ Marcos ------------------------------------------*/
+#define FRAME_LEN_MAX (127)
+#define FRAME_LEN_MAX_EX (1023)
+#define DWT_DEVICE_ID (0xDECA0302) //!< DW1000 MP device ID
/* Inter-ranging delay period, in milliseconds. */
#define RNG_DELAY_MS 100
-
+#define PRE_TIMEOUT 5
/* Default antenna delay values for 64 MHz PRF. See NOTE 1 below. */
#define TX_ANT_DLY 0
#define RX_ANT_DLY 32899
@@ -70,31 +74,64 @@
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4
+//#define _UWB_4G
-enum enumtagstate
-{
- DISCPOLL,
- GETNEARMSG,
- NEARPOLL,
-}tag_state=NEARPOLL;
+//static dwt_config_t config = {
+//#ifdef _UWB_4G
+// 2, /* Channel number. */
+//#else
+// 5,
+//#endif
+// DWT_PRF_64M, /* Pulse repetition frequency. */
+// DWT_PLEN_64, /* 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. */
+// (65 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
+//};
+
static dwt_config_t config = {
- 5, /* Channel number. */
- 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. */
+#ifdef _UWB_4G
+ 2, /* Channel number. */
+#else
+ 5,
+#endif
+ DWT_PLEN_128, /* Preamble length. Used in TX only. */
+ 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, /* 0 to use standard 8 symbol SFD, 1 to use non-standard 8 symbol, 2 for non-standard 16 symbol SFD and 3 for 4z 8 symbol SDF type */
+ DWT_BR_6M8, /* Data rate. */
+ DWT_PHRMODE_STD, /* PHY header mode. */
+ DWT_PHRRATE_STD, /* PHY header rate. */
+ (129 + 8 - 8), /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
+ DWT_STS_MODE_OFF, /* STS disabled */
+ DWT_STS_LEN_64,/* STS length see allowed values in Enum dwt_sts_lengths_e */
+ DWT_PDOA_M0 /* PDOA mode off */
};
+dwt_txconfig_t txconfig_options =
+{
+ 0x34, /* PG delay. */
+ 0xfdfdfdfd, /* TX power. */
+ 0x0 /*PG count*/
+};
+
+dwt_txconfig_t txconfig_options_ch9 =
+{
+ 0x34, /* PG delay. */
+ 0xfefefefe, /* TX power. */
+ 0x0 /*PG count*/
+};
+
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[80] = {0};
-
+extern uint8_t module_power,imu_enable,motor_enable;
static uint32_t frame_seq_nb = 0;
static uint32_t status_reg = 0;
static uint8_t rx_buffer[100];
@@ -104,7 +141,6 @@
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;
@@ -164,29 +200,55 @@
*ts += ts_field[i] << (i * 8);
}
}
-
+uint32_t dw3000_id=0;
void Dw1000_Init(void)
{
/* Reset and initialise DW1000.
* 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
+// 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
-
- /* Configure DW1000. See NOTE 6 below. */
- dwt_configure(&config);//配置DW1000
-
-
-
+ Reset_DW1000();//重启DW1000 /* Target specific drive of RSTn line into DW1000 low for a period. */
+ delay_ms(2);
+// dw3000_id=dwt_readdevid() ;
+ while (!dwt_checkidlerc()) /* Need to make sure DW IC is in IDLE_RC before proceeding */
+ { };
+ while (dwt_initialise(DWT_DW_INIT) == DWT_ERROR)
+ {
+// _dbg_printf("INIT FAILED ");
+ //while (1)
+ { };
+ delay_ms(500);
+ }
+
+// /* Configure DW1000. See NOTE 6 below. */
+// dwt_configure(&config);//配置DW1000
+ if(dwt_configure(&config)) /* if the dwt_configure returns DWT_ERROR either the PLL or RX calibration has failed the host should reset the device */
+ {
+// _dbg_printf((unsigned char *)"CONFIG FAILED ");
+ while (1)
+ { };
+ }
+ dw3000_id=dwt_read32bitreg(SYS_STATUS_ID);;
+ /* Configure the TX spectrum parameters (power, PG delay and PG count) */
+ dwt_configuretxrf(&txconfig_options);
/* Apply default antenna delay value. See NOTE 1 below. */
dwt_setrxantennadelay(RX_ANT_DLY); //设置接收天线延迟
dwt_settxantennadelay(TX_ANT_DLY); //设置发射天线延迟
-
- /* Set expected response's delay and timeout. See NOTE 4 and 5 below.
- * 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
+
+
+// dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS);
+// dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
+// dwt_setpreambledetecttimeout(PRE_TIMEOUT);
+ /* Next can enable TX/RX states output on GPIOs 5 and 6 to help debug, and also TX/RX LEDs
+ * Note, in real low power applications the LEDs should not be used. */
+ dwt_setlnapamode(DWT_LNA_ENABLE|DWT_PA_ENABLE);
+// dwt_entersleep();
+// dwt_setleds(DWT_LEDS_ENABLE | DWT_LEDS_INIT_BLINK);
+// dw3000_id=dwt_read32bitreg(SYS_STATUS_ID);;
+// _dbg_printf("spi 基站 成功\n");
}
void Dw1000_App_Init(void)
{
@@ -220,8 +282,8 @@
extern uint8_t g_pairstart;
void tag_sleep_configuraion(void)
{
- dwt_configuresleep(0x940, 0x7);
- dwt_entersleep();
+// dwt_configuresleep(0x940, 0x7);
+// dwt_entersleep();
}
extern uint8_t g_start_send_flag;
@@ -295,7 +357,105 @@
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 current_freq,rec_freq;
u8 motor_state,rec_remotepara_state,rec_remotepara[80];
+extern u16 last_lpcount;
+float freqlost_count = 0;
+void TagFreqProcess(u8 freq)
+{
+ if(freq>MAX_ANCFREQ||freq==0)
+ {
+ return;
+ }
+ if(freq==tag_frequency||freq>tag_frequency)
+ {
+ tag_frequency = freq;
+ 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) //写入时间戳信息
+{
+ 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) //计算距离
+{
+ 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]--;
+#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];
+ }else{
+ // nearbase_distlist[i] = 0x1ffff;
+ }
+
+ }
+}
+
+void Registor_Poll(void)
+{
+ static u8 regpoll_count=0;
+ u8 timeout;
+
+ tx_near_msg[MESSAGE_TYPE_IDX] = MBX_REG;
+ tx_near_msg[REGP_TAGSTATE_INDEX] = !GET_USERKEY<<2|imu_enable<<1|motor_enable;
+ tx_near_msg[REGP_FREQUENCY_INDEX] = bat_percent;
+ 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[GROUP_ID],2);
+ memcpy(&tx_near_msg[REGP_NOMOVESLEEPTIME_INDEX],&g_com_map[DIST_OFFSET],2);
+ memcpy(&tx_near_msg[REGP_HEIGHTOFFSET_INDEX],&g_com_map[MAX_REPORT_ANC_NUM],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);//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_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ timeout=50;
+ end_count=start_count+(timeout<<2);
+ while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_TXFRS_BIT_MASK)))//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;
+
+ };
+
+}
+float range_lost_time = 0;
+u16 rec_nearbaseid,rec_nearbasepos;
void NearPoll(void)
{
@@ -303,41 +463,47 @@
uint32_t frame_len;
uint32_t final_tx_time;
u32 start_poll;
- u8 i,j,getsync_flag=0,timeout;
+ 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;
recbase_num=0;
-// motor_state=0;
+ for(uint8_t i=0;i<nearbase_num;i++) //标签距离32位转成16位
+ {
+ 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);
- tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;
+ 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
+// HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8, GPIO_PIN_SET);
+//delay_us(600);
+//HAL_GPIO_WritePin(GPIOA, GPIO_PIN_8, GPIO_PIN_RESET);
+ 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
+ status_reg = dwt_read32bitreg(SYS_STATUS_ID);
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=ceil((float)nearbase_num*SLOT_SCALE)+3;
- end_count=start_count+(timeout<<5);
+ timeout=nearbase_num*SLOT_SCALE+20;
+ end_count=start_count+(timeout<<2);
if(end_count>=32768)
{end_count-=32768;}
mainbase_dist=100000;
@@ -346,9 +512,9 @@
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
+ while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG_BIT_MASK | 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)
@@ -356,8 +522,19 @@
dwt_forcetrxoff();
flag_rxon=0;
+ if(flag_ancreadpara) //只有在读取参数的时候需要回复
+ {
+ u16 calCRC;
+ tx_near_msg[MESSAGE_TYPE_IDX] = MBX_PRAAREPLY;
+ memcpy(&tx_near_msg[MESSAGE_PARAREPLY_IDX],g_com_map,SENDANCPARA_LEN);
+ calCRC = CRC_Compute((uint8_t*)g_com_map,SENDANCPARA_LEN);
+ 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;
}
@@ -370,19 +547,31 @@
{
NVIC_SystemReset();
}
- if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
+ if (status_reg & SYS_STATUS_RXFCG_BIT_MASK)//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_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG_BIT_MASK | SYS_STATUS_TXFRS_BIT_MASK);//清楚寄存器标志位
+ frame_len = dwt_read32bitreg(RX_FINFO_ID) & FRAME_LEN_MAX_EX; //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] == NEAR_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;
+ 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
+ {
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);
+ rec_remotepara_state = rx_buffer[MOTORSTATE_INDEX]>>4;
+ TagFreqProcess(rx_buffer[TAGFREQ_IDX]);
+ if(rec_remotepara_state != 0)
+ {
+ para_update = rec_remotepara_state;
+ memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],7);
+ if(para_update==2)
+ {
+ flag_ancreadpara = 1;
+ }
+ }
if(last_nearbase_num==0)
{
get_newbase=1;
@@ -392,6 +581,9 @@
}
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);
@@ -405,18 +597,12 @@
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;
@@ -429,39 +615,18 @@
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;
+ tx_near_msg[MESSAGE_TYPE_IDX]=MBX_FINAL;
tx_near_msg[GROUP_ID_IDX] = group_id;
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);
-// if(rec_remotepara_state==1)
-// {
-// memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],REMOTEPARA_LEN);
-// memcpy(&g_com_map[COM_INTERVAL],&rec_remotepara[0],8);
-// memcpy(&g_com_map[POWER],&rec_remotepara[8],10);
-// if(g_com_map[COM_INTERVAL]>0&&g_com_map[COM_INTERVAL]<1000&&g_com_map[POWER]<67&&g_com_map[POWER]>0)
-// {save_com_map_to_flash();
-// delay_ms(100);
-// }
-// NVIC_SystemReset();
-// }
}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++;
@@ -470,66 +635,49 @@
}
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];
}
- final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
+ 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);
+ dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG_BIT_MASK| SYS_STATUS_ALL_RX_ERR);
if(flag_rxon)
{dwt_rxenable(0);
}
}
// 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_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++)
+ dwt_forcetrxoff();
+ dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG_BIT_MASK| SYS_STATUS_ALL_RX_ERR);
+ CalculateDists();
+ j = 0;
+ 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]--;
+
}
}
-
- if(recbase_num<3)
- {next_nearbase_num=next_nearbase_num;}
- last_nearbase_num = next_nearbase_num;
+ 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);
+ }
+ last_nearbase_num = next_nearbase_num;
for(i=0;i<last_nearbase_num-1;i++)
{
for(j=0;j<last_nearbase_num-1;j++)
@@ -556,107 +704,159 @@
{
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
- 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);
-
-}
-u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32];
-void GetNearMsg(void)
-{
- u32 start_poll,frame_len;
-if(nearmsg_mainbase)
- {nearmsg_mainbase=0;
- }else{
- nearmsg_mainbase=1;
- }
- memcpy(&tx_near_msg[ANCHOR_ID_IDX],&nearmsg_mainbase,2);
- memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);
- tx_near_msg[GROUP_ID_IDX] = group_id;
- 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);
- //slottime=ceil((nearbase_num+2)*0.3)+1;
- tyncpoll_time=tagslotpos*slottime;
- tag_state=NEARPOLL;
- }
- }else{
- tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
- }
-}
-u32 id;
-void Tag_App(void)//发送模式(TAG标签)
-{
-
- //LED0_ON;
- id = dwt_readdevid() ;
- while (DWT_DEVICE_ID != id)
- {
- id = dwt_readdevid() ;
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS_BIT_MASK |SYS_STATUS_RXFCG_BIT_MASK);
+//HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
+
+if(para_update==1)
+ {
+ uint16_t calCRC;
+ calCRC = CRC_Compute(rec_remotepara,5);
+ 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];
+ pack_length = rec_remotepara[2];
+ if(pack_msgtype==2)
+ {
+ if( pack_index == 1)//MOTOR_ONTIME_INDEX)
+ {
+
+ // motor_keeptime = rec_remotepara[3];
+ }else if(pack_index == CNT_UPDATE)
+ {
+ if(rec_remotepara[3]==2)
+ {
+ EnterUWBUpdateMode();
+ }
+ }
+ 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();
+ }
+ }
+ }
+ }
}
-
- g_Resttimer=0;
-// tag_state=DISCPOLL;
- switch(tag_state)
- {
- case DISCPOLL:
- // Poll();
- break;
- case GETNEARMSG:
-
- GetNearMsg();
-
- break;
- case NEARPOLL:
- //GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_SET);
- NearPoll();
- //GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_RESET);
- break;
- }
- dwt_entersleep();
}
+u8 regpoll_count;
+u32 id;
+ u8 iderror_count = 0;
+float time1=0;
+float time2=0;
+float time3=0;
+uint32_t temp23;
+void Tag_App(void)//发送模式(TAG标签)
+{
+
+ time1=freqlost_count;
+ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_RESET);
+ delay_us(1000);
+ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_SET);
+ delay_ms(2);
+ while(!dwt_checkidlerc()) //check in IDLE_RC before proceeding
+ {
+ }
+ dwt_restoreconfig();
+// id = dwt_readdevid() ;
+// while (DWT_DEVICE_ID != id)
+// {
+//
+// id = dwt_readdevid() ;
+//// if(iderror_count++>100)
+//// {
+//// printf("UWB芯片ID错误");
+//// break;
+//// }
+// iderror_count++;
+// }
+temp23 = dwt_read32bitreg(CHAN_CTRL_ID) ;
+
+// iderror_count=0;
+// delay_us(100);
+// g_Resttimer=0;
+// if(freqlost_count>FREQ_LOST_TIME)
+// {
+// if(regpoll_count++>11) //待机状态1分钟上传一次基站状态
+// {
+// regpoll_count = 0;
+// Registor_Poll();
+// }
+// }else{
+// if(regpoll_count++>59)//测距状态1分钟上传一次基站状态
+// {
+// regpoll_count = 0;
+// Registor_Poll();
+// }
+// }
+ time2=freqlost_count;
+ NearPoll();
+ time3=freqlost_count;
+// dwt_configuresleep(DWT_CONFIG, DWT_PRES_SLEEP | DWT_WAKE_CSN | DWT_WAKE_WUP | DWT_SLP_EN);
+ dwt_entersleep();
+// bat_percent=Get_VDDVlotage();
+}
+
+static uint8_t tx_msg[] = {0xC5, 0, 'D', 'E', 'C', 'A', 'W', 'A', 'V', 'E'};
+/* Index to access to sequence number of the blink frame in the tx_msg array. */
+#define BLINK_FRAME_SN_IDX 1
+
+#define FRAME_LENGTH sizeof(tx_msg)+FCS_LEN//The real length that is going to be transmitted
+
+/* Inter-frame delay period, in milliseconds. */
+#define TX_DELAY_MS 1000
+
+void Tag_App666(void)//发送模式(TAG标签)
+{
+ while (1)
+ {
+ /* Write frame data to DW IC and prepare transmission. See NOTE 3 below. */
+ dwt_writetxdata(FRAME_LENGTH-FCS_LEN, tx_msg, 0); /* Zero offset in TX buffer. Data does not include the CRC */
+ /* In this example since the length of the transmitted frame does not change,
+ * nor the other parameters of the dwt_writetxfctrl function, the
+ * dwt_writetxfctrl call could be outside the main while(1) loop.
+ */
+ dwt_writetxfctrl(FRAME_LENGTH, 0); /* Zero offset in TX buffer, no ranging. */
+
+ /* Start transmission. */
+ dwt_starttx(DWT_START_TX_IMMEDIATE);
+
+ /* Poll DW IC until TX frame sent event set. See NOTE 4 below.
+ * STATUS register is 5 bytes long but, as the event we are looking at is in the first byte of the register, we can use this simplest API
+ * function to access it.*/
+ while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS_BIT_MASK))
+ { };
+
+ //Sleep(200); /* If using LEDs we need to add small delay to see the TX LED blink */
+
+ /* Put DW IC to sleep. Go to IDLE state after wakeup*/
+ dwt_entersleep(DWT_DW_IDLE);
+
+ /* Execute a delay between transmissions. */
+
+ delay_ms(1000);
+ /* Wake DW IC up. See NOTE 5 below. */
+ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_RESET);
+ delay_us(1000);
+ HAL_GPIO_WritePin(GPIOA, GPIO_PIN_4, GPIO_PIN_SET);
+
+ delay_ms(2);
+ while(!dwt_checkidlerc()) //check in IDLE_RC before proceeding
+ {
+ }
+
+ /* Restore the required configurations on wake */
+ dwt_restoreconfig();
+
+ /* Increment the blink frame sequence number (modulo 256). */
+ tx_msg[BLINK_FRAME_SN_IDX]++;
+ }
+}
\ No newline at end of file
--
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