From d2de620b25574ea7a0c47ef7b00ef5b7c3751e12 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期日, 31 十月 2021 17:00:00 +0800
Subject: [PATCH] V2.41 时间片解决，有蓝灯长亮BUG
---
Src/application/dw_app.c | 258 +++++++++++++++++++++++++++++++++++++++------------
1 files changed, 198 insertions(+), 60 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index e38a85a..eb43c67 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -50,7 +50,7 @@
#define RESP_RX_TO_FINAL_TX_DLY_UUS 510
/* Receive response timeout. See NOTE 5 below. */
-#define RESP_RX_TIMEOUT_UUS 1000
+#define RESP_RX_TIMEOUT_UUS 4000
#define DELAY_BETWEEN_TWO_FRAME_UUS 240
@@ -70,7 +70,7 @@
#define FINAL_MSG_TS_LEN 4
#define STARTPOLL REGPOLL//#define SWITCHBASE_DIST
-//#define SWITCHBASE_ZHUANDIAN
+#define SWITCHBASE_ZHUANDIAN
#define SWITCHBASE_DIST
enum enumtagstate
{
@@ -249,7 +249,7 @@
u16 mainbase_id;
int32_t mainbase_dist,base_mindist;
uint8_t trygetnearmsg_times;
-u16 mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM],nearbaseid_list[MAX_NEARBASE_NUM],nearbaseid_list2[MAX_NEARBASE_NUM];
+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;
@@ -553,16 +553,16 @@
{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;
+// 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);
+// SetNextPollTime(tagslotpos);
}
memcpy(&temp_dist, &rx_buffer[DIST_IDX], 4);
@@ -624,22 +624,118 @@
// mainbase_id=minid;
// mainbase_id = 0x4;
}
+int16_t target_offsettime = 850;
+//#define TAGET_OFFSETTIME 940
+#define MAX_NEARBASE_ANCNUM 11
+u16 rec_maxrangelen,rec_anc_signalpower[MAX_NEARBASE_ANCNUM];
+u8 outrange_times;
+extern u32 synctimer;
+u32 target_time=100;
+u8 pd_i;
+u32 temptime,delaytime,expect_anctime;
+int32_t error_time;
+u16 delaycount;
+int16_t poll_offsettime=-6900,clockoffset;
+extern u16 slotpos_intoatl, slotpos;
+void NextPollDelay(u32 anchor_time)
+{
+ //tagslotpos = 0;
+ error_time = anchor_time-expect_anctime;
+ if(error_time<2000&&error_time>0)
+ clockoffset += (target_offsettime-error_time)*0.1;
+ for(pd_i=0;pd_i<tag_frequency;pd_i++)
+ {
+ slotpos_intoatl = pd_i*bigslot_num+tagslotpos;
+ temptime = (slotpos_intoatl*SLOTTIME_MS+100)*100;
+ if(anchor_time<temptime-5000)
+ {
+ current_slotnum = pd_i;
+ delaytime = temptime-anchor_time+poll_offsettime+clockoffset;
+ expect_anctime = temptime;
+ return ;
+ }
+ }
+ temptime = (tagslotpos*SLOTTIME_MS+100+10000)*100;
+ expect_anctime = temptime-1000000;
+ delaytime = temptime-anchor_time+poll_offsettime+clockoffset;
+ return ;
+}
+u16 lpcount,poll_startcount,last_lpcount;
+u16 waketopolltimeus = 3200;
+#define BASENUM_COMTIME 244
+u32 last_anchor_time;
+void SetLPTimer(u32 anchor_time)
+{
+ NextPollDelay(anchor_time);
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ lpcount = current_count+delaytime/LPTIMER_LSB+(10-nearbase_num)*8;
+ poll_startcount = lpcount+(waketopolltimeus)/LPTIMER_LSB;
+ if(poll_startcount>=32768)
+ {
+ poll_startcount -=32768;
+ }
+ if(lpcount>=32768)
+ {
+ lpcount -=32768;
+ }
+ __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
+ last_lpcount = lpcount;
+ }
+
+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;
+}
+
u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32],mainbase_type;;
void GetNearMsg(void)
{
u32 start_poll,frame_len;
-
-//mainbase_id = 0x9724;
+ u8 nearmsg_i=0;
+ NextSlotDelayMs(0);
+ for(nearmsg_i=0;nearmsg_i<20;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
{
@@ -688,6 +784,8 @@
{
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;
@@ -696,25 +794,37 @@
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[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*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*6+4],&intheight,2);
+ 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;
memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
- dwt_writetxdata(28+6*nearbase_num, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
- dwt_writetxfctrl(28+6*nearbase_num, 0);//设置超宽带发送数据长度
+ dwt_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;
@@ -727,7 +837,7 @@
flag_getresponse=0;
start_count=HAL_LPTIM_ReadCounter(&hlptim1);
recbase_num=0;
- timeout=ceil((float)nearbase_num*SLOT_SCALE)+2;
+ timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
end_count=start_count+(timeout<<5);
if(end_count>=32768)
{end_count-=32768;}
@@ -750,11 +860,11 @@
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
-
+ 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
@@ -774,7 +884,7 @@
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;
@@ -794,7 +904,22 @@
base_mindist = temp_dist;
if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
- rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;
+ 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;
@@ -812,40 +937,39 @@
{sync_timer=0;}
}
ancsync_time=((sync_timer)*1000+tmp_time);
- last_slotnum=current_slotnum;
- current_slotnum=((float)(sync_timer*10 - tagslotpos*SLOTTIME_MS)/(SLOTTIME_MS*bigslot_num))+1;
- if(current_slotnum==last_slotnum-1)
- {flag_getresponse=1;}
- lastsync_timer=sync_timer;
- offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
- SetNextPollTime(tagslotpos);
+ 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);
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)
+ 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]!=0&&temp_dist>0)
- {
+ 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)
@@ -860,8 +984,8 @@
if(flag_finalsend!=1)
{flag_finalsend = 2;}
dwt_forcetrxoff();
-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);
+ HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_SET);
if(mainbase_lost_count==0)
{
#ifdef SWITCHBASE_DIST
@@ -872,15 +996,24 @@
{
mainbase_id = mindist_slavebaseid;
tag_state = GETNEARMSG;
+ trygetnearmsg_times = 0;
}
}else{
changemainbase_count = 0;
}
#endif
- }else if(mainbase_lost_count>10*tag_frequency)
+ }else if(mainbase_lost_count>5*tag_frequency)
{
tag_state = STARTPOLL;
- }
+ }
+ if(mainbase_lost_count!=0)
+ {
+ if(mainbase_lost_count<=tag_frequency*1)
+ {NextSlotDelayMs(0);
+ }else{
+ NextSlotDelayMs(0);
+ }
+ }
if(para_update)
{
@@ -912,6 +1045,8 @@
if(nearbaseid_list[i]!=nearbaseid_list2[i])
{
tag_state = GETNEARMSG;
+ trygetnearmsg_times = 0;
+ nearbaseid_list0[i]=1;
}
}
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
@@ -919,10 +1054,10 @@
}
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++;
@@ -931,7 +1066,9 @@
if(tagslotpos--<2)
tagslotpos=TOTAL_SLOTNUM;
}
- SetNextPollTime(tagslotpos);
+ //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);
@@ -942,7 +1079,7 @@
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);
+ 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
@@ -980,16 +1117,17 @@
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;
+ ancsync_time=((sync_timer)*1000+tmp_time);
+ SetLPTimer(ancsync_time);
+// last_slotnum=current_slotnum;
+// temptimer = sync_timer-10;
+// if(temptimer<0)
+// {temptimer+=1000;}
+// current_slotnum=((float)temptimer/(SLOTTIME_MS*bigslot_num))+1;
+// if(current_slotnum==last_slotnum-1)
+// {flag_getresponse=1;}
+// lastsync_timer=sync_timer;
+// offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
// SetNextPollTime(tagslotpos);
mainbase_id=rec_nearbaseid;
nearbase_num=rx_buffer[NEARBASENUM_INDEX];
@@ -1009,8 +1147,8 @@
//LED0_ON;
SPIx_CS_GPIO->BRR = SPIx_CS;
delay_us(700);
- GetPressAndHeight();
- intheight = Height*100;
+ // GetPressAndHeight();
+ // intheight = Height*100;
SPIx_CS_GPIO->BSRR = SPIx_CS;
id = dwt_readdevid() ;
while (DWT_DEVICE_ID != id)
@@ -1038,11 +1176,11 @@
LED_LG_OFF;
break;
case GETNEARMSG:
- trygetnearmsg_times--;
- LED_LG_ON;
+ trygetnearmsg_times++;
+ LED_LG_ON;
GetNearMsg();
LED_LG_OFF;
- if(trygetnearmsg_times==0)
+ if(trygetnearmsg_times>5)
{
tag_state = STARTPOLL;
}
--
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