From c7449ecfb3c2415b93c9945a827bc31a05d4e5b1 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期四, 26 十一月 2020 14:22:21 +0800
Subject: [PATCH] V2.11 增加激活模式
---
Src/application/dw_app.c | 943 ++++++++++++++++++++++++++++++++++++++++------------------
1 files changed, 650 insertions(+), 293 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 62857f9..459877e 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -44,17 +44,17 @@
/* Delay between frames, in UWB microseconds. See NOTE 4 below. */
/* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
-#define POLL_TX_TO_RESP_RX_DLY_UUS 150
+#define POLL_TX_TO_RESP_RX_DLY_UUS 10
/* This is the delay from Frame RX timestamp to TX reply timestamp used for calculating/setting the DW1000's delayed TX function. This includes the
* frame length of approximately 2.66 ms with above configuration. */
-#define RESP_RX_TO_FINAL_TX_DLY_UUS 410
+#define RESP_RX_TO_FINAL_TX_DLY_UUS 510
/* Receive response timeout. See NOTE 5 below. */
-#define RESP_RX_TIMEOUT_UUS 600
+#define RESP_RX_TIMEOUT_UUS 1000
-#define DELAY_BETWEEN_TWO_FRAME_UUS 400
+#define DELAY_BETWEEN_TWO_FRAME_UUS 240
-#define POLL_RX_TO_RESP_TX_DLY_UUS 420
+#define POLL_RX_TO_RESP_TX_DLY_UUS 470
/* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
#define RESP_TX_TO_FINAL_RX_DLY_UUS 200
/* Receive final timeout. See NOTE 5 below. */
@@ -69,21 +69,22 @@
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4
-
+#define STARTPOLL DISCPOLL
enum enumtagstate
{
+ REGPOLL,
DISCPOLL,
GETNEARMSG,
NEARPOLL,
-}tag_state=GETNEARMSG;
+}tag_state=STARTPOLL;
static dwt_config_t config = {
2, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
- DWT_PLEN_128, /* Preamble length. */
+ 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. */
- 0, /* Use non-standard SFD (Boolean) */
+ 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. */
@@ -92,7 +93,7 @@
static uint8_t tx_sync_msg[14] = {0};
static uint8_t tx_final_msg[60] = {0};
static uint8_t tx_resp_msg[22] = {0};
-static uint8_t tx_near_msg[80] = {0};
+ uint8_t tx_near_msg[80] = {0};
static uint32_t frame_seq_nb = 0;
static uint32_t status_reg = 0;
@@ -196,6 +197,10 @@
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);
@@ -284,112 +289,224 @@
}
return max_slotpos-1;
}
+void MODBUS_Poll(void)
+{
+ uint32_t frame_len;
+ uint32_t final_tx_time;
+ u32 start_poll;
+ u8 i,getsync_flag=0;
+ u8 bat_percent;
+ //LED0_ON;
+ //dwt_forcetrxoff();
+ g_Resttimer=0;
+ dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //设置发送后开启接收，并设定延迟时间
+ dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
+ tag_succ_times = 0;
-int32_t mainbase_dist,nearbase_distlist[MAX_NEARBASE_NUM],true_nearbase_distlist[MAX_NEARBASE_NUM],true_exsistbase_list[MAX_NEARBASE_NUM],ancsync_time,nextpoll_delaytime,offsettimeus;
+ if(bat_percent>100)
+ bat_percent=100;
+ tx_poll_msg[BATTARY_IDX] = bat_percent;//Get_Battary();
+// tx_poll_msg[BUTTON_IDX] = !READ_KEY0;
+ tx_poll_msg[SEQUENCE_IDX] = frame_seq_nb++;
+// GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_RESET);
+ for(i=0;i<g_com_map[MAX_REPORT_ANC_NUM];i++)
+ {
+ /* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
+ tx_poll_msg[ANC_TYPE_IDX] = i;
+
+ dwt_writetxdata(sizeof(tx_poll_msg), tx_poll_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+ dwt_writetxfctrl(sizeof(tx_poll_msg), 0);//设置超宽带发送数据长度
+
+ /* Start transmission, indicating that a response is expected so that reception is enabled automatically after the frame is sent and the delay
+ * set by dwt_setrxaftertxdelay() has elapsed. */
+ dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//开启发送，发送完成后等待一段时间开启接收，等待时间在dwt_setrxaftertxdelay中设置
+// start_poll = time32_incr;
+ /* We assume that the transmission is achieved correctly, poll for reception of a frame or error/timeout. See NOTE 8 below. */
+ while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//不断查询芯片状态直到成功接收或者发生错误
+ {
+ IdleTask();
+
+ };
+
+ /* Increment frame sequence number after transmission of the poll message (modulo 256). */
+ if(status_reg==0xffffffff)
+ {
+ NVIC_SystemReset();
+ }
+
+ if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
+ {
+ /* Clear good RX frame event and TX frame sent in the DW1000 status register. */
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚寄存器标志位
+
+ /* A frame has been received, read it into the local buffer. */
+ frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //获得接收到的数据长度
+
+ dwt_readrxdata(rx_buffer, frame_len, 0); //读取接收数据
+
+
+ /* Check that the frame is the expected response from the companion "DS TWR responder" example.
+ * As the sequence number field of the frame is not relevant, it is cleared to simplify the validation of the frame. */
+
+ if (rx_buffer[GROUP_ID_IDX] == group_id&&rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,4)) //判断接收到的数据是否是response数据
+ { u16 anc_id_recv,rec_com_interval;
+ /* Retrieve poll transmission and response reception timestamp. */
+ poll_tx_ts = get_tx_timestamp_u64(); //获得POLL发送时间T1
+ resp_rx_ts = get_rx_timestamp_u64(); //获得RESPONSE接收时间T4
+
+ if(getsync_flag==0&&g_com_map[DEV_ROLE])
+ {
+ getsync_flag=1;
+ memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
+ memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
+ tmp_time=tmp_time+450;
+ if(tmp_time>999)
+ {
+ tmp_time-=999;
+ sync_timer++;
+ if(sync_timer>=1010)
+ {sync_timer=0;}
+ }
+ // TIM3->CNT=tmp_time;
+ }
+ // memcpy(&hex_dist2, &rx_buffer[DIST_IDX], 4);
+ memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
+ // memcpy(&rec_com_interval,&rx_buffer[ANCSEND_INTERVAL], 2);
+// if(rec_com_interval>4&&rec_com_interval!=g_com_map[COM_INTERVAL])
+// {
+// g_com_map[COM_INTERVAL]=rec_com_interval;
+// save_com_map_to_flash();
+// // delay_ms(100);
+// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+// }
+
+ /* Compute final message transmission time. See NOTE 9 below. */
+ final_tx_time = (resp_rx_ts + (RESP_RX_TO_FINAL_TX_DLY_UUS * UUS_TO_DWT_TIME)) >> 8;//计算final包发送时间，T5=T4+Treply2
+ dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
+
+ /* Final TX timestamp is the transmission time we programmed plus the TX antenna delay. */
+ final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final包实际发送时间是计算时间加上发送天线delay
+
+ /* Write all timestamps in the final message. See NOTE 10 below. */
+ final_msg_set_ts(&tx_final_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据
+ final_msg_set_ts(&tx_final_msg[FINAL_MSG_RESP_RX_TS_IDX], resp_rx_ts);
+ final_msg_set_ts(&tx_final_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
+
+ /* Write and send final message. See NOTE 7 below. */
+
+ dwt_writetxdata(sizeof(tx_final_msg), tx_final_msg, 0);//将发送数据写入DW1000
+ dwt_writetxfctrl(sizeof(tx_final_msg), 0);//设定发送数据长度
+ result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
+
+ tag_succ_times++;
+
+ LED0_BLINK;
+
+ memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
+// if(hex_dist2!=0xffff)
+// {
+// g_Tagdist[anc_id_recv]= hex_dist2;
+// g_flag_Taggetdist[anc_id_recv]=0;
+//
+// if(!g_com_map[MODBUS_MODE])
+// {
+// hex_dist2 = hex_dist2;
+// usart_send[2] = 1;//正常模式
+// usart_send[3] = 17;//数据段长度
+// usart_send[4] = frame_seq_nb;//数据段长度
+// memcpy(&usart_send[5],&dev_id,2);
+// memcpy(&usart_send[7],&rx_buffer[ANCHOR_ID_IDX],2);
+//
+// memcpy(&usart_send[9],&hex_dist2,4);
+// usart_send[13] = bat_percent;
+// usart_send[14] = button;
+// checksum = Checksum_u16(&usart_send[2],17);
+// memcpy(&usart_send[19],&checksum,2);
+// UART_PushFrame(usart_send,21);
+// }
+// }
+ // memcpy(&Modbus_HoldReg[anc_id_recv*2],&hex_dist,4);
+ /* Poll DW1000 until TX frame sent event set. See NOTE 8 below. */
+ if(result==0)
+ {while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成
+ { };
+ }
+ /* Clear TXFRS event. */
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//清除标志位
+
+ /* Increment frame sequence number after transmission of the final message (modulo 256). */
+
+ random_delay_tim = 0;
+ }
+ else
+ {
+ random_delay_tim = DFT_RAND_DLY_TIM_MS; //如果通讯失败，将间隔时间增加5ms，避开因为多标签同时发送引起的冲突。
+ }
+ }
+ else
+ {
+ /* Clear RX error events in the DW1000 status register. */
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
+ random_delay_tim = DFT_RAND_DLY_TIM_MS;
+ }
+// deca_sleep(10);
+}
+// dwt_entersleep();
+
+
+ /* Execute a delay between ranging exchanges. */
+ delay_ms(30);
+
+}
+int32_t mainbase_dist,nearbase_switchdistlist[MAX_NEARBASE_NUM],nearbase_distlist[MAX_NEARBASE_NUM],true_nearbase_distlist[MAX_NEARBASE_NUM],true_exsistbase_list[MAX_NEARBASE_NUM],ancsync_time,nextpoll_delaytime,offsettimeus;
u8 anclost_times=0 , mainbase_lost_count=0;
u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
u8 flag_finalsend,flag_getresponse,flag_rxon;
uint16_t current_count,start_count,end_count,lastsync_timer;
-
-u8 nearbase_num=0,last_nearbase_num,next_nearbase_num,last_slotnum;
+extern u16 bigslot_num;
+u8 nearbase_num=0,last_nearbase_num,next_nearbase_num,last_slotnum, para_update,para_len,stationary_flag=0;
u32 rec_tagpos_binary;
-int16_t offset=2700;
-u8 motor_state,rec_remotepara_state,rec_remotepara[30];
-void NearPoll(void)
+int16_t offset=4700,temptimer;
+u8 motor_state,rec_remotepara_state,rec_remotepara[80];
+void Poll(void)
{
-
- uint32_t temp1,temp2,dw_systime;
uint32_t frame_len;
uint32_t final_tx_time;
u32 start_poll;
- u8 i,j,getsync_flag=0,timeout;
+ int32_t mindist=999999,minid=-1,temp_dist;
+ u8 i,getsync_flag=0;
dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //设置发送后开启接收，并设定延迟时间
dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
tag_succ_times = 0;
- //GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
- if(next_nearbase_num>=MAX_NEARBASE_NUM)
+
+ for(i=0;i<3;i++)
{
- next_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;
-
- tx_near_msg[BATTARY_IDX] = Get_Battary();
- //tx_near_msg[BUTTON_IDX] = !READ_KEY0;
- 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[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
+ /* 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
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
-
- flag_finalsend=0;
- flag_rxon=1;
- flag_getresponse=0;
- start_count=HAL_LPTIM_ReadCounter(&hlptim1);
- recbase_num=0;
- timeout=ceil((float)nearbase_num*0.4)+2;
- end_count=start_count+(timeout<<5);
- if(end_count>=32768)
- {end_count-=32768;}
- mainbase_dist=100000;
- mainbase_lost_count++;
- current_count=HAL_LPTIM_ReadCounter(&hlptim1);
- while(current_count<end_count||current_count>end_count+15000)
+
+ /* 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)
{
- current_count=HAL_LPTIM_ReadCounter(&hlptim1);
- while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//不断查询芯片状态直到成功接收或者发生错误
- {
- if(flag_finalsend)
- {
- dw_systime=dwt_readsystimestamphi32();
- if(dw_systime>temp1&&dw_systime<temp2)
- {
-
- dwt_forcetrxoff();
- flag_rxon=0;
- dwt_setdelayedtrxtime(final_tx_time);
- result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
- flag_finalsend=0;
- break;
- }
- }
- 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);//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)) //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(last_nearbase_num==0)
- {
- get_newbase=1;
- nearbaseid_list[0]=rec_nearbaseid;
- nearbase_num=1;
- memcpy(&tx_near_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
- }
- if(rec_nearbaseid==nearbaseid_list[0])
- {
- //////////////////////////////////时间同步
+ getsync_flag=1;
memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
current_count=HAL_LPTIM_ReadCounter(&hlptim1);
@@ -402,200 +519,80 @@
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;
- memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);
- final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS+DELAY_BETWEEN_TWO_FRAME_UUS*nearbase_num+500) * UUS_TO_DWT_TIME)) >> 8;
- temp1=final_tx_time-((850*UUS_TO_DWT_TIME)>>8);
- temp2=final_tx_time+((100*UUS_TO_DWT_TIME)>>8);
- // dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
- final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final包实际发送时间是计算时间加上发送天线delay
- final_msg_set_ts(&tx_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;
- 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
+ }
+
+ memcpy(&temp_dist, &rx_buffer[DIST_IDX], 4);
+ memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
+ /* Compute final message transmission time. See NOTE 9 below. */
+ final_tx_time = (resp_rx_ts + (RESP_RX_TO_FINAL_TX_DLY_UUS * UUS_TO_DWT_TIME)) >> 8;//计算final包发送时间，T5=T4+Treply2
+ dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
+ final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final包实际发送时间是计算时间加上发送天线delay
+ final_msg_set_ts(&tx_final_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据
+ final_msg_set_ts(&tx_final_msg[FINAL_MSG_RESP_RX_TS_IDX], resp_rx_ts);
+ final_msg_set_ts(&tx_final_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
+ dwt_writetxdata(sizeof(tx_final_msg), tx_final_msg, 0);//将发送数据写入DW1000
+ dwt_writetxfctrl(sizeof(tx_final_msg), 0);//设定发送数据长度
+ result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
+ tag_succ_times++;
+ LED0_BLINK;
+
ancsync_time=((sync_timer)*1000+tmp_time);
last_slotnum=current_slotnum;
- current_slotnum=((float)sync_timer/g_com_map[COM_INTERVAL])+1;
+ temptimer = sync_timer-10;
+ if(temptimer<0)
+ {temptimer+=1000;}
+ current_slotnum=((float)temptimer/(SLOTTIME_MS*bigslot_num))+1;
if(current_slotnum==last_slotnum-1)
{flag_getresponse=1;}
lastsync_timer=sync_timer;
offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
- SetNextPollTime(tyncpoll_time);
- if(rec_remotepara_state&&rec_remotepara_state!=g_com_map[REMOTEPARA_STATE])
- {
- g_com_map[REMOTEPARA_STATE]=rec_remotepara_state;
- 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);
- save_com_map_to_flash();
- delay_ms(100);
- NVIC_SystemReset();
-
- }
-
- // count_offset=sync_count-current_count-143;
- // current_slottimes=(ancsync_time-10000)/(g_com_map[COM_INTERVAL]*1000);
- // nextpoll_delaytime=tyncpoll_time*1000+g_com_map[COM_INTERVAL]*1000-((ancsync_time)%(g_com_map[COM_INTERVAL]*1000))-4300;
-// if(abs(ancsync_time-910000)<1000)
-// {
-// nextpoll_delaytime+=10000;
-// }
-// if(nextpoll_delaytime<2000)
-// {
-// nextpoll_delaytime+=g_com_map[COM_INTERVAL]*1000;
-// }
-// lastpoll_count= current_count+(nextpoll_delaytime)/LPTIMER_LSB;
-// if(lastpoll_count>LPTIMER_1S_COUNT)
-// lastpoll_count-=LPTIMER_1S_COUNT;
-// __HAL_LPTIM_COMPARE_SET(&hlptim1, lastpoll_count);
- /////////////////////////////////////////
-// dwt_setdelayedtrxtime(final_tx_time);
-// result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
- }else{
- rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
-
- if(rec_nearbasepos>=last_nearbase_num) //发现新的基站
- {
- get_newbase=1;
- nearbase_num++;
- nearbaseid_list[rec_nearbasepos] = rec_nearbaseid;
- memcpy(&tx_near_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
- }
-
- 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);
- 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);
- if(flag_rxon)
- {dwt_rxenable(0);
- }
- }
- // dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
- }
-dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
- nearbase_num=recbase_num;
- j=0;
- if(exsistbase_list[0]==0)
+ SetNextPollTime(tagslotpos);
+
+ if(temp_dist<mindist&&temp_dist!=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);
+ memcpy(&minid, &rx_buffer[ANCHOR_ID_IDX], 4);
+ tag_state=GETNEARMSG;
+ trygetnearmsg_times=5;
+ mindist=temp_dist;
}
- // tyncpoll_time=0;
- next_nearbase_num=0;
- for(i=0;i<last_nearbase_num+get_newbase;i++)
- {
- if(exsistbase_list[i]>0)
- {
- 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;
- for(i=0;i<last_nearbase_num-1;i++)
- {
- for(j=0;j<last_nearbase_num-1;j++)
- {
- if(true_nearbase_distlist[j]>true_nearbase_distlist[j+1])
- {
- u32 temp_dist,temp_id,temp_exsis;
- temp_dist=true_nearbase_distlist[j];
- temp_id = true_nearbase_idlist[j];
- temp_exsis=true_exsistbase_list[i];
- true_nearbase_distlist[j]=true_nearbase_distlist[j+1];
- true_nearbase_idlist[j]=true_nearbase_idlist[j+1];
- true_exsistbase_list[j]=true_exsistbase_list[j+1];
-
- true_nearbase_distlist[j+1]=temp_dist;
- true_nearbase_idlist[j+1]=temp_id;
- true_exsistbase_list[j+1]=temp_exsis;
- }
- }
- }
-
- report_num=0;
- for (i=0;i<last_nearbase_num;i++)
- {
- nearbaseid_list[i]=true_nearbase_idlist[i];
- nearbase_distlist[i]=true_nearbase_distlist[i];
- if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==0xa)
- {
- memcpy(&usart_send[4+6*report_num],&nearbaseid_list[i],2);
- memcpy(&usart_send[6+6*report_num],&nearbase_distlist[i],4);
- report_num++;
- }
- }
- for(i=0;i<MAX_NEARBASE_NUM;i++)
- {
- nearbase_distlist[i]=0x1ffff;
- }
-
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
-HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
-
+ if(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
+ {
+ 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
+ {
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
+ random_delay_tim = DFT_RAND_DLY_TIM_MS;
+ }
}
-u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32];
+ if(getsync_flag==0)
+ {
+// tagslotpos--;
+ if(tagslotpos==0||tagslotpos>max_slotpos)
+ {
+ tagslotpos=max_slotpos;
+ }
+ tyncpoll_time=(tagslotpos-1)*slottime;
+ }
+ mainbase_id=minid;
+// mainbase_id = 0x9804;
+}
+u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32],mainbase_type;;
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[ANCHOR_ID_IDX],&mainbase_id,2);
memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);
tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
@@ -622,39 +619,399 @@
{
nearbase_num=rx_buffer[NEARBASENUM_INDEX];
memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
- tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
+ // 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;
+ //tyncpoll_time=tagslotpos*slottime;
+ //tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;
tag_state=NEARPOLL;
}
}else{
- tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
+// tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
}
}
+extern u8 userkey_state;
+uint8_t changemainbase_count=0,gotosleep_flag;
+uint32_t frame_len;
+void NearPoll(void)
+{
+
+ uint32_t temp1,temp2,dw_systime;
+ uint32_t final_tx_time;
+ u32 start_poll;
+ u8 i,j,getsync_flag=0,timeout;
+ dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //设置发送后开启接收，并设定延迟时间
+ dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
+ tag_succ_times = 0;
+
+ if(next_nearbase_num>=MAX_NEARBASE_NUM)
+ {
+ next_nearbase_num = MAX_NEARBASE_NUM-1;
+ }
+ HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
+
+ recbase_num=0;
+// motor_state=0;
+
+ tx_near_msg[BATTARY_IDX] = bat_percent;
+ tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2;
+ tx_near_msg[SEQUENCE_IDX] = frame_seq_nb++;
+ tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
+ memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
+ tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;
+
+ tx_near_msg[NEARP_TAGFREQ_INDEX] = tag_frequency;
+ tx_near_msg[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;
+
+ memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
+ dwt_writetxdata(21+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(21+2*nearbase_num, 0);//设置超宽带发送数据长度
+ dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//开启发送，发送完成后等待一段时间开启接收，等待时间在dwt_setrxaftertxdelay中设置
+
+ tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
+ para_update = 0;
+ flag_finalsend=0;
+ flag_rxon=1;
+ flag_getresponse=0;
+ start_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ recbase_num=0;
+ timeout=ceil((float)nearbase_num*SLOT_SCALE)+2;
+ end_count=start_count+(timeout<<5);
+ if(end_count>=32768)
+ {end_count-=32768;}
+ mainbase_dist=100000;
+ mainbase_lost_count++;
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ while(current_count<end_count||current_count>end_count+15000)
+ {
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//不断查询芯片状态直到成功接收或者发生错误
+ {
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ if(current_count>=end_count&¤t_count<end_count+15000)
+ break;
+ };
+ if(status_reg==0xffffffff)
+ {
+ NVIC_SystemReset();
+ }
+ if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
+ {
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚寄存器标志位
+ dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);//设定接收超时时间，0位没有超时时间
+ dwt_rxenable(0);//打开接收
+ frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //获得接收到的数据长度
+ dwt_readrxdata(rx_buffer, frame_len, 0); //读取接收数据
+
+ if (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;
+ 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);
+ mainbase_dist=temp_dist;
+ if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
+ motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
+ rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;
+
+ mainbase_lost_count=0;
+ flag_finalsend=1;
+ memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);
+
+ 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);
+ }
+ flag_getresponse=1;
+ //时间同步
+ tmp_time=tmp_time+450;
+ if(tmp_time>999)
+ {
+ tmp_time-=999;
+ sync_timer++;
+ if(sync_timer>=1000)
+ {sync_timer=0;}
+ }
+ ancsync_time=((sync_timer)*1000+tmp_time);
+ last_slotnum=current_slotnum;
+ current_slotnum=((float)(sync_timer*10)/(SLOTTIME_MS*bigslot_num))+1;
+ if(current_slotnum==last_slotnum-1)
+ {flag_getresponse=1;}
+ lastsync_timer=sync_timer;
+ offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
+ SetNextPollTime(tagslotpos);
+ if(result==0)
+ {while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成
+ { };}
+ break;
+ }else{
+
+ rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
+ exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
+ memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
+ memcpy(&nearbase_switchdistlist[rec_nearbasepos],&rx_buffer[NR_NEARSWITCH_DISTANCE],2);
+ nearbase_distlist[rec_nearbasepos]=temp_dist;
+ final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
+ if(temp_dist<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]!=0&&temp_dist!=0)
+ {
+ mainbase_id = rec_nearbaseid;
+ tag_state = GETNEARMSG;
+ }
+
+ }
+ }
+ }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);
+ }
+ dwt_forcetrxoff();
+dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
+ j=0;
+// if(exsistbase_list[0]==0)
+// {
+// SetNextPollTime(tagslotpos);
+// }
+ // tyncpoll_time=0;
+// next_nearbase_num=0;
+// for(i=0;i<nearbase_num;i++)
+// {
+// if(exsistbase_list[i]>0)
+// {
+// 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;
+// for(i=0;i<last_nearbase_num-1;i++)
+// {
+// for(j=0;j<last_nearbase_num-1;j++)
+// {
+// if(true_nearbase_distlist[j]>true_nearbase_distlist[j+1])
+// {
+// u32 temp_dist,temp_id,temp_exsis;
+// temp_dist=true_nearbase_distlist[j];
+// temp_id = true_nearbase_idlist[j];
+// temp_exsis=true_exsistbase_list[i];
+// true_nearbase_distlist[j]=true_nearbase_distlist[j+1];
+// true_nearbase_idlist[j]=true_nearbase_idlist[j+1];
+// true_exsistbase_list[j]=true_exsistbase_list[j+1];
+//
+// true_nearbase_distlist[j+1]=temp_dist;
+// true_nearbase_idlist[j+1]=temp_id;
+// true_exsistbase_list[j+1]=temp_exsis;
+// }
+// }
+// }
+
+// if(true_nearbase_distlist[0]<mainbase_dist-THRESHOLD_CHANGE_MAINBASE_DIST&&true_exsistbase_list[0])
+// {
+// changemainbase_count++;
+// }else{
+// changemainbase_count = 0;
+// }
+// if(changemainbase_count>3)
+// {
+// mainbase_id = true_nearbase_idlist[0];
+// tag_state = GETNEARMSG;
+// }
+ if(mainbase_lost_count>10)
+ {
+ tag_state = DISCPOLL;
+ }
+// for (i=0;i<nearbase_num;i++)
+// {
+// if(nearbaseid_list[i]==0)
+// {
+// tag_state = GETNEARMSG;
+// }
+//
+// }
+//串口输出距离
+// report_num=0;
+// for (i=0;i<last_nearbase_num;i++)
+// {
+// nearbaseid_list[i]=true_nearbase_idlist[i];
+// nearbase_distlist[i]=true_nearbase_distlist[i];
+// if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==0xa)
+// {
+// memcpy(&usart_send[4+6*report_num],&nearbaseid_list[i],2);
+// memcpy(&usart_send[6+6*report_num],&nearbase_distlist[i],4);
+// report_num++;
+// }
+// }
+// for(i=0;i<MAX_NEARBASE_NUM;i++)
+// {
+// nearbase_distlist[i]=0x1ffff;
+// }
+ if(para_update)
+ {
+ uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
+ pack_msgtype = rec_remotepara[0];
+ pack_index = rec_remotepara[1];
+ pack_length = rec_remotepara[2];
+ if(pack_msgtype==2)
+ {
+ 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();
+ }
+ }
+ 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;
+ tag_frequency = REGISTER_FREQUENCY;
+ bigslot_num = TOTAL_SLOTNUM/tag_frequency;
+ regpoll_count++;
+ if(regpoll_count%2)
+ {
+ if(tagslotpos--<2)
+ tagslotpos=TOTAL_SLOTNUM;
+ }
+ SetNextPollTime(tagslotpos);
+ dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //设置发送后开启接收，并设定延迟时间
+ dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
+
+ 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);
+ dwt_writetxdata(21, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+ dwt_writetxfctrl(21, 0);//设置超宽带发送数据长度
+ dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//开启发送，发送完成后等待一段时间开启接收，等待时间在dwt_setrxaftertxdelay中设置
+ while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//不断查询芯片状态直到成功接收或者发生错误
+ {
+ IdleTask();
+
+ };
+ if(status_reg==0xffffffff)
+ {
+ NVIC_SystemReset();
+ }
+ if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
+ {
+ dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚寄存器标志位
+ frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //获得接收到的数据长度
+ dwt_readrxdata(rx_buffer, frame_len, 0); //读取接收数据
+ if (rx_buffer[MESSAGE_TYPE_IDX] == REG_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
+ { u16 rec_nearbaseid,rec_nearbasepos;
+
+ memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
+ tag_frequency = rx_buffer[REGR_TAGFREQ_INDEX];
+ bigslot_num = TOTAL_SLOTNUM/tag_frequency;
+ tagslotpos = rx_buffer[REGR_TAGSLOTPOS_INDEX];
+ //////////////////////////////////时间同步
+ memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
+ memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+// memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
+ tmp_time=tmp_time+450;
+ if(tmp_time>999)
+ {
+ tmp_time-=999;
+ sync_timer++;
+ if(sync_timer>=1010)
+ {sync_timer=0;}
+ }
+ ancsync_time=((sync_timer)*1000+tmp_time);
+ last_slotnum=current_slotnum;
+ temptimer = sync_timer-10;
+ if(temptimer<0)
+ {temptimer+=1000;}
+ current_slotnum=((float)temptimer/(SLOTTIME_MS*bigslot_num))+1;
+ if(current_slotnum==last_slotnum-1)
+ {flag_getresponse=1;}
+ lastsync_timer=sync_timer;
+ offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
+// SetNextPollTime(tagslotpos);
+ mainbase_id=rec_nearbaseid;
+ nearbase_num=rx_buffer[NEARBASENUM_INDEX];
+ memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
+ tag_state = NEARPOLL;
+ }
+ }
+}
+u32 id;
void Tag_App(void)//发送模式(TAG标签)
{
- u32 id;
+
//LED0_ON;
id = dwt_readdevid() ;
while (DWT_DEVICE_ID != id)
{
+ Dw1000_Init();
id = dwt_readdevid() ;
}
-
- g_Resttimer=0;
-// tag_state=DISCPOLL;
switch(tag_state)
{
+ case REGPOLL:
+ LED_LG_ON;
+ Registor_Poll();
+ LED_LG_OFF;
+ break;
case DISCPOLL:
- // Poll();
+ LED_LG_ON;
+ Poll();
+ LED_LG_OFF;
break;
case GETNEARMSG:
-
- GetNearMsg();
-
+ trygetnearmsg_times--;
+ LED_LG_ON;
+ GetNearMsg();
+ LED_LG_OFF;
+ if(trygetnearmsg_times==0)
+ {
+ tag_state = DISCPOLL;
+ }
break;
case NEARPOLL:
//GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_SET);
--
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