From aceee9b89a9a012321ef68357e7ddd94684b14b3 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期三, 16 八月 2023 11:11:17 +0800
Subject: [PATCH] 文件重新排版
---
Src/application/dw_app.c | 2000 +++++++++++++++++++++++++++++++++------------------------
1 files changed, 1,154 insertions(+), 846 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index d97279d..044c4bf 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -3,7 +3,7 @@
* @file main.c
* @brief Double-sided two-way ranging (DS TWR) initiator example code
*
- *
+ *
*
* @attention
*
@@ -29,7 +29,7 @@
#include <stdio.h>
#include "beep.h"
#include "modbus.h"
-
+#include "BMP390.h"
/*------------------------------------ Marcos ------------------------------------------*/
/* Inter-ranging delay period, in milliseconds. */
#define RNG_DELAY_MS 100
@@ -69,36 +69,36 @@
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4
-#define STARTPOLL REGPOLL//#define SWITCHBASE_DIST
+#define STARTPOLL DISCPOLL//#define SWITCHBASE_DIST
#define SWITCHBASE_ZHUANDIAN
#define SWITCHBASE_DIST
enum enumtagstate
{
- REGPOLL,
- DISCPOLL,
- GETNEARMSG,
- NEARPOLL,
+ REGPOLL,
+ DISCPOLL,
+ GETNEARMSG,
+ NEARPOLL,
SINGLEPOLL,
-}tag_state=STARTPOLL;
-static dwt_config_t config = {
- 3, /* 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. */
+} tag_state=STARTPOLL;
+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. */
};
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};
+uint8_t tx_near_msg[180] = {0};
-static uint32_t frame_seq_nb = 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;
@@ -107,19 +107,19 @@
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]; ;
+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;
+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
-
-
+void NextSlotDelayMs(int16_t delayms);
+void GetNearMsg(void);
+void Registor_Poll(void);
static uint64_t get_tx_timestamp_u64(void)
{
uint8_t ts_tab[5];
@@ -170,48 +170,48 @@
void Dw1000_Init(void)
{
- /* Reset and initialise DW1000.
+ /* 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
+ 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
+ Spi_ChangePrescaler(SPIx_PRESCALER_FAST); //设置为快速模式
/* Configure DW1000. See NOTE 6 below. */
dwt_configure(&config);//配置DW1000
-
-
+
+
/* 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
+ //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);
-}
-uint16_t Checksum_u16(uint8_t* pdata, uint32_t len)
+ //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;
uint32_t i;
@@ -222,13 +222,13 @@
}
u16 tag_time_recv[TAG_NUM_IN_SYS];
-u8 usart_send[25];
+u8 usart_send[40];
u8 battary,button;
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;
@@ -248,178 +248,180 @@
u8 nearbase_num;
u16 mainbase_id;
int32_t mainbase_dist,base_mindist;
-uint8_t trygetnearmsg_times;
+uint8_t trygetnearmsg_times,try_reg_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 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;
+ 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;
+ 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;
+ 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;
+ 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();
+ 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++;
+ 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
+ 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;
- /* 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
+ 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();
-
- };
+ /* 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
+ /* Increment frame sequence number after transmission of the poll message (modulo 256). */
+ if(status_reg==0xffffffff)
+ {
+ NVIC_SystemReset();
+ }
- /* 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
+ 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
- dwt_readrxdata(rx_buffer, frame_len, 0); //读取接收数据
+ /* 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);
+ /* 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
+// 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
+ /* 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
- /* 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);
+ /* 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 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);
+ /* 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;
+// 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;
@@ -428,37 +430,37 @@
// 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
+ // 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). */
+ /* 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;
- }
+ 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);
+ /* 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;
@@ -474,7 +476,7 @@
#define SINGLEPOLL_BASENUM 5
-uint16_t singlepoll_baseid[20]={0x8166,0x9804,0x9689,0x9686,0x8279,0x9815,0x9803,0x9814,0x9687,0x9774,0x8278,0x9743,0x9688,0x9771,0x8277};
+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;
@@ -484,149 +486,6 @@
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++)
- {
-
-
- /* 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)) //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;}
- }
-
- //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] = FINAL;
- /* 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)
- {
- trygetnearmsg_times = 0;
- tag_state = GETNEARMSG;
- mainbase_id = mindist_ancid;
- }
-
- 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
@@ -642,26 +501,26 @@
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++)
+ //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;
+ {
+ 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;
+ expect_anctime = temptime-1000000;
delaytime = temptime-anchor_time+poll_offsettime+clockoffset;
- return ;
+ return ;
}
u16 lpcount,poll_startcount,last_lpcount;
u16 waketopolltimeus = 3200;
@@ -672,475 +531,871 @@
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;
- }
+ 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;
- }
+ 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;
+ 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;
}
u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32],mainbase_type;;
void GetNearMsg(void)
{
- u32 start_poll,frame_len;
+ u32 start_poll,frame_len;
u8 nearmsg_i=0;
- NextSlotDelayMs(0);
- for(nearmsg_i=0;nearmsg_i<20;nearmsg_i++)
+ NextSlotDelayMs(0);
+ for(nearmsg_i=0; nearmsg_i<MAX_NEARBASE_NUM; nearmsg_i++)
{
nearbase_distlist[nearmsg_i] = 0x1ffff;
}
-//mainbase_id = 0x9818;
- 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
- 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] == 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{
+//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[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];
+
+ 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)
+
+// 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.
+
+#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]>0)
+ {
+
+ exsistbase_list[i]--;
+ clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_5 / 1.0e6) ;
+ rtd_init = tag_resprx[i] - poll_tx_ts&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 DiscPoll2(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;
+ }
+ nearbase_num = 10;
+ recbase_num=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);
+
+ 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;
+
+ 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
+ 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
+ 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();
+ 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);
+ }
+ 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;
+ 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);
+ 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]!=0&&(nearbase_switchdistlist[rec_nearbasepos]==1||temp_dist<nearbase_switchdistlist[rec_nearbasepos]))
+ {
+ salvebase_mindist = temp_dist;
+ mindist_slavebaseid = rec_nearbaseid;
+ }
+ }
+ }
+ } else {
+ dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
+ if(recbase_num!=nearbase_num+1)
+ {
+ dwt_rxenable(0);
+ }
+ }
+ }
+ dwt_forcetrxoff();
+ dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
+
+ if(mainbase_lost_count==0)
+ {
+#ifdef SWITCHBASE_DIST
+ if(salvebase_mindist<mainbase_dist- THRESHOLD_CHANGE_MAINBASE_DIST )
+ {
+ changemainbase_count++;
+ if(changemainbase_count>2)
+ {
+ changemainbase_count = 0;
+ mainbase_id = mindist_slavebaseid;
+ tag_state = GETNEARMSG;
+ trygetnearmsg_times = 0;
+ GetNearMsg();
+ }
+ } else {
+ changemainbase_count = 0;
+ }
+#endif
+ } else if(mainbase_lost_count>10)
+ {
+ mainbase_lost_count = 0;
+ tag_state = DISCPOLL;
+ DiscPoll();
+ }
+ if(mainbase_lost_count!=0)
+ {
+ if(mainbase_lost_count<=5)
+ { 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();
+ }
+ }
+ }
+ }
+ for(i=0; i<nearbase_num; i++)
+ {
+ if(nearbaseid_list[i]!=nearbaseid_list2[i])
+ {
+ tag_state = GETNEARMSG;
+ GetNearMsg();
+ trygetnearmsg_times = 0;
+ nearbaseid_list0[i]=1;
+ }
+ }
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
+}
void NearPoll(void)
{
-
- uint32_t temp1,temp2,dw_systime,mindist_slavebaseid;
+
+ 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);
+ 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;
+ 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;}
+ 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);
- recbase_num=0;
+ 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);
- memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6+4],&rec_anc_signalpower,nearbase_num*2+2);
+ 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);
+
+
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] = NEAR_POLL;
-
- tx_near_msg[NEARP_TAGFREQ_INDEX] = tag_frequency;
- tx_near_msg[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;
+ intheight+=g_com_map[HEIGHTOFFEST_INDEX];
- 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
+ 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;
+
+ 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
- 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] == 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;
- 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);
- 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==28)
- {
- 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);
- exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
- memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
- if(frame_len==28)
- 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);
- }
- }
-
- 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<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++>3)
+ 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)
{
- notenoughdist_count = 0;
- // tag_state = DISCPOLL;
+ 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]!=0&&(nearbase_switchdistlist[rec_nearbasepos]==1||temp_dist<nearbase_switchdistlist[rec_nearbasepos]))
+ {
+ 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
+
}
}
- for(i=0;i<nearbase_num;i++)
- {
- if(nearbaseid_list[i]!=nearbaseid_list2[i])
+ // 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>2)
+ {
+ changemainbase_count = 0;
+ mainbase_id = mindist_slavebaseid;
+ tag_state = GETNEARMSG;
+ trygetnearmsg_times = 0;
+ GetNearMsg();
+ }
+ } else {
+ changemainbase_count = 0;
+ }
+#endif
+ } else if(mainbase_lost_count>10)
+ {
+ mainbase_lost_count = 0;
+ tag_state = DISCPOLL;
+ DiscPoll();
+ }
+ if(mainbase_lost_count!=0)
+ {
+ if(mainbase_lost_count<=5)
+ { 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)
{
- tag_state = GETNEARMSG;
- trygetnearmsg_times = 0;
- nearbaseid_list0[i]=1;
+ 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;
}
- }
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
+ }
+ 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;
+ 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);
+ 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);
- 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);
- SetLPTimer(ancsync_time);
+ 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_POLL2;
+ tx_near_msg[REGP_FREQUENCY_INDEX] = 1000/g_com_map[COM_INTERVAL];
+ tx_near_msg[REGP_POWER_INDEX] = module_power;
+ memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
+ 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)
@@ -1151,69 +1406,122 @@
// 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;
-void Tag_App(void)//发送模式(TAG标签)
-{
-
- //LED0_ON;
- SPIx_CS_GPIO->BRR = SPIx_CS;
- delay_us(700);
- SPIx_CS_GPIO->BSRR = SPIx_CS;
- id = dwt_readdevid() ;
- while (DWT_DEVICE_ID != id)
- {
- // Dw1000_Init();
- id = dwt_readdevid() ;
- IdleTask();
- if(error_times++>20)
- {
- printf("DW ID ERROR.\r\n");
- SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ 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)
+ {
+ trygetnearmsg_times = 0;
+ tag_state = GETNEARMSG;
+ GetNearMsg();
+ }
}
}
+}
+u32 id,error_times=0;
+extern float Height;
+extern float Altitude;
+void QiyaJizhan_Send(void)
+{
+ GetPressAndHeight();
+ intheight =Altitude*100;
+ nearbase_num = 0;
+ mainbase_id = 0x1234;
+ 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];
+
+ 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);
+}
+void Tag_App(void)//发送模式(TAG标签)
+{
+
+// //LED0_ON;
+// SPIx_CS_GPIO->BRR = SPIx_CS;
+// delay_us(700);
+// SPIx_CS_GPIO->BSRR = SPIx_CS;
+// id = dwt_readdevid() ;
+// while (DWT_DEVICE_ID != id)
+// {
+// // Dw1000_Init();
+// id = dwt_readdevid() ;
+// IdleTask();
+// if(error_times++>20)
+// {
+// printf("DW ID ERROR.\r\n");
+// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+// }
+// }
+#ifdef QIYA_JIZHAN
+ QiyaJizhan_Send();
+#else
+ // Dw1000_Init();
+ dwt_forcetrxoff();
error_times = 0;
- switch(tag_state)
- {
- case REGPOLL:
- LED_LG_ON;
- Registor_Poll();
- LED_LG_OFF;
- break;
- case DISCPOLL:
- LED_LG_ON;
- DiscPoll();
- LED_LG_OFF;
- break;
- case GETNEARMSG:
- trygetnearmsg_times++;
- LED_LG_ON;
- GetNearMsg();
- LED_LG_OFF;
- if(trygetnearmsg_times>5)
- {
- tag_state = STARTPOLL;
- }
- break;
- case NEARPOLL:
- NearPoll();
- //GetPressAndHeight();
- //intheight = Height*100;
- break;
- case SINGLEPOLL:
- // Poll();
- break;
- }
- userkey_state = !GET_USERKEY;
- dwt_entersleep();
+ switch(tag_state)
+ {
+ case REGPOLL:
+ LED_LG_ON;
+ Registor_Poll();
+ if(try_reg_times++>5)
+ {
+ tag_state = STARTPOLL;
+ }
+ LED_LG_OFF;
+// GetPressAndHeight();
+ break;
+ case DISCPOLL:
+ LED_LG_ON;
+ DiscPoll2();
+ LED_LG_OFF;
+ break;
+ case GETNEARMSG:
+
+ LED_LG_ON;
+ GetNearMsg();
+ LED_LG_OFF;
+ if(trygetnearmsg_times++>5)
+ {
+ tag_state = STARTPOLL;
+ }
+ break;
+ case NEARPOLL:
+ NearPoll();
+ // GetPressAndHeight();
+ // intheight =Altitude*100;
+ break;
+ case SINGLEPOLL:
+ // Poll();
+ break;
+ }
+ GetPressAndHeight();
+ intheight =Altitude*100;
+ userkey_state = !GET_USERKEY;
+ dwt_forcetrxoff();
+ dwt_setinterrupt( DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);
+ dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
+ dwt_rxenable(0);
+#endif
+ //dwt_entersleep();
}
--
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