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 | 544 +++++++++++++++++++++++++++++++++++------------------
1 files changed, 359 insertions(+), 185 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 08c29a5..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
@@ -69,13 +69,16 @@
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4
-#define STARTPOLL DISCPOLL
+#define STARTPOLL REGPOLL//#define SWITCHBASE_DIST
+#define SWITCHBASE_ZHUANDIAN
+#define SWITCHBASE_DIST
enum enumtagstate
{
REGPOLL,
DISCPOLL,
GETNEARMSG,
NEARPOLL,
+ SINGLEPOLL,
}tag_state=STARTPOLL;
static dwt_config_t config = {
2, /* Channel number. */
@@ -93,7 +96,7 @@
static uint8_t tx_sync_msg[14] = {0};
static uint8_t tx_final_msg[60] = {0};
static uint8_t tx_resp_msg[22] = {0};
- uint8_t tx_near_msg[80] = {0};
+ uint8_t tx_near_msg[180] = {0};
static uint32_t frame_seq_nb = 0;
static uint32_t status_reg = 0;
@@ -244,9 +247,9 @@
u16 ancid_list[TAG_NUM_IN_SYS];
u8 nearbase_num;
u16 mainbase_id;
-int32_t mainbase_dist;
+int32_t mainbase_dist,base_mindist;
uint8_t trygetnearmsg_times;
-u16 nearbaseid_list[MAX_NEARBASE_NUM],mainbase_id,true_nearbase_idlist[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;
@@ -468,25 +471,55 @@
u32 rec_tagpos_binary;
int16_t offset=4700,temptimer;
u8 motor_state,rec_remotepara_state,rec_remotepara[80];
+
+
+#define SINGLEPOLL_BASENUM 15
+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;
+extern float motor_keeptime;
+uint8_t changemainbase_count=0,gotosleep_flag,singlepoll_i;
+uint32_t frame_len;
+int32_t salvebase_mindist;
+int16_t intheight;
void Poll(void)
{
uint32_t frame_len;
uint32_t final_tx_time;
u32 start_poll;
int32_t mindist=999999,minid=-1,temp_dist;
- u8 i,getsync_flag=0;
+ u8 i,j,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;
-
- for(i=0;i<3;i++)
+ frame_seq_nb++;
+ intheight+=g_com_map[HEIGHTOFFEST_INDEX];
+ for(singlepoll_i=0;singlepoll_i<SINGLEPOLL_BASENUM;singlepoll_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
+ nearbase_num = SINGLEPOLL_BASENUM;
+
+ 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],&singlepoll_baseid,nearbase_num*2);
+ memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&singlepoll_basedist,nearbase_num*4+4);
+
+ memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6],&intheight,2);
+ tx_near_msg[MESSAGE_TYPE_IDX] = SPOLL;
+
+ tx_near_msg[NEARP_TAGFREQ_INDEX] = tag_frequency;
+ tx_near_msg[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;
+
+ memcpy(&tx_near_msg[ANCHOR_ID_IDX],&singlepoll_baseid[singlepoll_i],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_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
{
@@ -500,7 +533,7 @@
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
+ if (rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)&&!memcmp(&rx_buffer[ANCHOR_ID_IDX],&singlepoll_baseid[singlepoll_i],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
@@ -519,10 +552,22 @@
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);
}
memcpy(&temp_dist, &rx_buffer[DIST_IDX], 4);
memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
+ singlepoll_basedist[singlepoll_i] = temp_dist;
/* 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
@@ -536,25 +581,15 @@
tag_succ_times++;
LED0_BLINK;
- 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);
+
- if(temp_dist<mindist&&temp_dist!=0)
- {
- memcpy(&minid, &rx_buffer[ANCHOR_ID_IDX], 4);
- tag_state=GETNEARMSG;
- trygetnearmsg_times=5;
- mindist=temp_dist;
- }
+// if(temp_dist<mindist&&temp_dist!=0)
+// {
+// memcpy(&minid, &rx_buffer[ANCHOR_ID_IDX], 4);
+// tag_state=GETNEARMSG;
+// trygetnearmsg_times=10*tag_frequency;
+// mindist=temp_dist;
+// }
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
{ };
@@ -565,43 +600,142 @@
}
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;
}
}
+
if(getsync_flag==0)
{
- tagslotpos--;
+// tagslotpos--;
if(tagslotpos==0||tagslotpos>max_slotpos)
{
tagslotpos=max_slotpos;
}
tyncpoll_time=(tagslotpos-1)*slottime;
}
- mainbase_id=minid;
-// mainbase_id = 0x9804;
+// 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;
-
-
+ 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
{
@@ -622,54 +756,80 @@
// 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;
+// 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 temp1,temp2,dw_systime,mindist_slavebaseid;
uint32_t final_tx_time;
u32 start_poll;
u8 i,j,getsync_flag=0,timeout;
+ // 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;
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);
+ if(nearbase_num>10)
+ {nearbase_num = 10;}
+// 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[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;
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_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;
@@ -677,7 +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;}
@@ -700,11 +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
@@ -724,6 +884,14 @@
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
@@ -732,21 +900,32 @@
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
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;
- 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;
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;
@@ -758,33 +937,39 @@
{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);
+ 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]=temp_dist;
+ 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<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]!=0&&temp_dist!=0)
+ if(temp_dist<salvebase_mindist&&nearbase_switchdistlist[rec_nearbasepos]==1)
{
- mainbase_id = rec_nearbaseid;
- tag_state = GETNEARMSG;
+ 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)
@@ -796,91 +981,40 @@
}
// 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);
- j=0;
- if(exsistbase_list[0]==0)
+ 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)
{
-// 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]--;
-// }
-// }
+ #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 = STARTPOLL;
+ }
+ if(mainbase_lost_count!=0)
+ {
+ if(mainbase_lost_count<=tag_frequency*1)
+ {NextSlotDelayMs(0);
+ }else{
+ NextSlotDelayMs(0);
+ }
+ }
-// 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>3)
-// {
-// 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;
@@ -889,23 +1023,41 @@
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();
+ 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();
+ }
+ }
}
}
+ for(i=0;i<nearbase_num;i++)
+ {
+ 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);
-HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
+//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++;
@@ -914,7 +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);
@@ -925,8 +1079,9 @@
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
+ 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
{
@@ -962,35 +1117,52 @@
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];
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 = NEARPOLL;
}
}
}
-u32 id;
+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);
+ // GetPressAndHeight();
+ // intheight = Height*100;
+ SPIx_CS_GPIO->BSRR = SPIx_CS;
id = dwt_readdevid() ;
while (DWT_DEVICE_ID != id)
{
- Dw1000_Init();
+ // 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
+ }
}
+ error_times = 0;
switch(tag_state)
{
case REGPOLL:
@@ -1004,20 +1176,22 @@
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 = DISCPOLL;
+ tag_state = STARTPOLL;
}
break;
- case NEARPOLL:
- //GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_SET);
+ case NEARPOLL:
NearPoll();
- //GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_RESET);
break;
+ case SINGLEPOLL:
+ Poll();
+ break;
}
+ userkey_state = !GET_USERKEY;
dwt_entersleep();
}
--
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