From b6edb254b755b782652684ac6c79b42ef9259192 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期四, 25 五月 2023 16:50:23 +0800
Subject: [PATCH] V2.14
---
Src/application/dw_app.c | 185 ++++++++++++++++++++++++++++-----------------
1 files changed, 115 insertions(+), 70 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index ef662aa..9f0b150 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -29,7 +29,7 @@
#include <stdio.h>
#include "beep.h"
#include "modbus.h"
-
+#include "CRC.h"
/*------------------------------------ Marcos ------------------------------------------*/
/* Inter-ranging delay period, in milliseconds. */
#define RNG_DELAY_MS 100
@@ -120,7 +120,7 @@
uint16_t current_slotpos = 0;
uint8_t rec_anc_sync_sec,tagpoll_sync_sec,current_sync_sec,flag_tagnewpos;
-
+void GetNearMsg(void);
static uint64_t get_tx_timestamp_u64(void)
{
uint8_t ts_tab[5];
@@ -471,7 +471,7 @@
u8 nearbase_num=0,last_nearbase_num,next_nearbase_num,last_slotnum, para_update,para_len,stationary_flag=0;
u32 rec_tagpos_binary;
int16_t offset=4700,temptimer;
-u8 motor_state,rec_remotepara_state,rec_remotepara[80];
+static u8 motor_state,rec_remotepara_state,rec_remotepara[80];
#define SINGLEPOLL_BASENUM 5
@@ -615,6 +615,7 @@
trygetnearmsg_times = 0;
tag_state = GETNEARMSG;
mainbase_id = mindist_ancid;
+ GetNearMsg();
}
if(getsync_flag==0)
@@ -647,9 +648,9 @@
temptime = (slotpos_intoatl*SLOTTIME_MS+100)*100;
if(anchor_time<temptime-5000)
{
- current_slotnum = pd_i;
+ current_slotnum = pd_i;
delaytime = temptime-anchor_time+poll_offsettime+clockoffset;
- expect_anctime = temptime;
+ expect_anctime = temptime;
return ;
}
}
@@ -667,14 +668,14 @@
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;
+ poll_startcount = lpcount+(waketopolltimeus)/LPTIMER_LSB;
if(poll_startcount>=32768)
{
- poll_startcount -=32768;
+ poll_startcount -=32768;
}
if(lpcount>=32768)
{
- lpcount -=32768;
+ lpcount -=32768;
}
__HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
last_lpcount = lpcount;
@@ -690,11 +691,11 @@
}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(lpcount>=32768)
+ {
+ lpcount -=32768;
+ }
+ poll_startcount = lpcount+(waketopolltimeus)/LPTIMER_LSB;
if(poll_startcount>=32768)
{
poll_startcount -=32768;
@@ -703,7 +704,8 @@
last_lpcount = lpcount;
}
uint16_t rec_tagperiod;
-u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32],mainbase_type;;
+u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32],mainbase_type;
+int8_t notenoughdist_count=0;
void GetNearMsg(void)
{
u32 start_poll,frame_len;
@@ -714,6 +716,7 @@
nearbase_distlist[nearmsg_i] = 0x1ffff;
}
//mainbase_id = 0x9818;
+ notenoughdist_count = -2;
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;
@@ -760,6 +763,8 @@
tagpoll_sync_sec = current_slotpos/200;
tagslotpos = current_slotpos%200;
max_slotpos = rec_tagperiod*20;
+ tag_frequency = 10/rec_tagperiod;
+ bigslot_num = TOTAL_SLOTNUM/tag_frequency;
tag_state=NEARPOLL;
}
}else{
@@ -795,11 +800,14 @@
uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
uint8_t motor_flag;
uint16_t rec_ancpos;
+uint8_t dist_noutenough_count;
+uint8_t ancdist_hist[11];
+uint16_t calCRC;
void NearPoll(void)
{
uint32_t temp1,temp2,dw_systime,mindist_slavebaseid;
- static u8 notenoughdist_count=0;
+
uint32_t final_tx_time;
u32 start_poll;
u8 i,j,getsync_flag=0,timeout,get_newdist,pos_nochange=1;
@@ -819,13 +827,31 @@
recbase_num=0;
// motor_state=0;
- if(motor_state!=0&&motor_state!=3)
- {
- motor_flag = 1;
- }else{
- motor_flag = 0;
- }
-
+
+// for(uint8_t i=0;i<nearbase_num+1;i++)
+// {
+// usart_send[0] = 0x55;
+// usart_send[1] = 0xaa;
+// 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);
+// if(i==0)
+// {
+// memcpy(&usart_send[7],&mainbase_id,2);
+// }else{
+// memcpy(&usart_send[7],&nearbaseid_list[i-1],2);
+// }
+// memcpy(&usart_send[9],&nearbase_distlist[i],4);
+// usart_send[13] = battary;
+// usart_send[14] = button;
+// usart_send[15] = rec_anc_signalpower[i]>>8;
+// usart_send[16] = rec_anc_signalpower[i];
+// checksum = Checksum_u16(&usart_send[2],17);
+// memcpy(&usart_send[19],&checksum,2);
+//
+// USART_puts(usart_send,21);
+// }
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;
@@ -835,7 +861,7 @@
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);
-
+ userkey_state = 0;
if(intheight!=0)
intheight+=g_com_map[HEIGHTOFFEST_INDEX];
@@ -849,7 +875,7 @@
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);
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
while(current_count<poll_startcount||current_count>poll_startcount+16384)
{
@@ -952,7 +978,7 @@
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;
+ // userkey_state = !GET_USERKEY;
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
if(temp_dist!=nearbase_distlist[0])
@@ -962,8 +988,7 @@
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);
@@ -979,9 +1004,7 @@
outrange_times = 0;
}
}
-
-
-
+
mainbase_lost_count=0;
flag_finalsend=1;
memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);
@@ -989,7 +1012,7 @@
flag_getresponse=1;
//时间同步
- tmp_time=tmp_time+450;
+ tmp_time=tmp_time+450;
if(tmp_time>999)
{
tmp_time-=999;
@@ -1036,6 +1059,7 @@
mainbase_id = rec_nearbaseid;
tag_state = GETNEARMSG;
trygetnearmsg_times = 0;
+ GetNearMsg();
}
#endif
@@ -1066,9 +1090,10 @@
changemainbase_count++;
if(changemainbase_count>tag_frequency*2)
{
- mainbase_id = mindist_slavebaseid;
- tag_state = GETNEARMSG;
- trygetnearmsg_times = 0;
+ mainbase_id = mindist_slavebaseid;
+ tag_state = GETNEARMSG;
+ trygetnearmsg_times = 0;
+ GetNearMsg();
}
}else{
changemainbase_count = 0;
@@ -1084,45 +1109,53 @@
}
if(mainbase_lost_count!=0)
{
-// if(mainbase_lost_count<=tag_frequency*1)
-// {NextSlotDelayMs(0);
-// }else{
-// NextSlotDelayMs(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)
+ {
+
+ calCRC = CRC_Compute(rec_remotepara,5);
+ if(memcmp(&calCRC,&rec_remotepara[5],2)==0)
+ {
+ pack_msgtype = rec_remotepara[0];
+ pack_index = rec_remotepara[1];
+ pack_length = rec_remotepara[2];
+ if(pack_msgtype==2)
+ {
+ if( pack_index == MOTOR_ONTIME_INDEX)
{
- 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(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)
+ if(get_newdist>=2)
{
notenoughdist_count = 0;
}else{
if(notenoughdist_count++>3)
{
notenoughdist_count = 0;
+ current_slotpos = start_count%max_slotpos; //如果丢失连接超过5次就随机换个时间片
+ tagpoll_sync_sec = current_slotpos/200;
+ tagslotpos = current_slotpos%200;
+ flag_tagnewpos = 0;
// tag_state = DISCPOLL;
}
}
@@ -1131,10 +1164,12 @@
if(nearbaseid_list[i]!=nearbaseid_list2[i])
{
tag_state = GETNEARMSG;
- trygetnearmsg_times = 0;
- nearbaseid_list0[i]=1;
+ trygetnearmsg_times = 0;
+ nearbaseid_list0[i]=1;
+ GetNearMsg();
}
}
+
if(pos_nochange)
{
flag_tagnewpos = 0;
@@ -1144,12 +1179,13 @@
//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;
+ //tag_frequency = REGISTER_FREQUENCY;
bigslot_num = TOTAL_SLOTNUM/tag_frequency;
regpoll_count++;
if(regpoll_count%2)
@@ -1217,17 +1253,17 @@
}
}
}
+extern void FZNearPoll(void);
u32 id,error_times=0;
-
+u8 ttt = 1;
extern float Height;
-void Tag_App(void)//发送模式(TAG标签)
+void UWBWkWp(void)
{
- static uint8_t diccount = 0;
- //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();
@@ -1240,6 +1276,13 @@
}
}
error_times = 0;
+}
+
+void Tag_App(void)//发送模式(TAG标签)
+{
+ static uint8_t diccount = 0,diccount2;
+ //LED0_ON;
+ UWBWkWp();
switch(tag_state)
{
case REGPOLL:
@@ -1283,7 +1326,9 @@
case SINGLEPOLL:
// Poll();
break;
- }
- userkey_state = !GET_USERKEY;
+ }
+ FZNearPoll();
+ dwt_forcetrxoff();
+// userkey_state = !GET_USERKEY;
dwt_entersleep();
}
--
Gitblit v1.9.3