From d3baabecd7591fe028b36f23d241191e1a05f986 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期五, 04 六月 2021 11:35:46 +0800
Subject: [PATCH] V1.24 增加小组模式
---
Src/application/dw_app.c | 88 ++++++++++++++++++++++++++++++++++----------
1 files changed, 68 insertions(+), 20 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 8399bff..fac1d3a 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -47,14 +47,14 @@
#define POLL_TX_TO_RESP_RX_DLY_UUS 150
/* 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 1550
+#define RESP_RX_TO_FINAL_TX_DLY_UUS 410
/* Receive response timeout. See NOTE 5 below. */
#define RESP_RX_TIMEOUT_UUS 600
-#define DELAY_BETWEEN_TWO_FRAME_UUS 600
+#define DELAY_BETWEEN_TWO_FRAME_UUS 400
-#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. */
@@ -83,7 +83,7 @@
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 +92,7 @@
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;
@@ -266,7 +266,7 @@
u8 GetRandomSlotPos(uint32_t emptyslot)
{
u8 i,temp_value;
- temp_value = GetRandomValue();
+ temp_value = HAL_LPTIM_ReadCounter(&hlptim1);//GetRandomValue();
for(i=temp_value%32;i<max_slotpos;i++)
{
if(((emptyslot>>i)&0x1)==0)
@@ -291,9 +291,10 @@
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;
+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[80];
void NearPoll(void)
{
@@ -314,9 +315,10 @@
last_nearbase_num=next_nearbase_num;
nearbase_num=next_nearbase_num;
recbase_num=0;
-
- tx_near_msg[BATTARY_IDX] = Get_Battary();
- //tx_near_msg[BUTTON_IDX] = !READ_KEY0;
+// motor_state=0;
+ tx_near_msg[GROUP_ID_IDX] = group_id;
+ tx_near_msg[BATTARY_IDX] = bat_percent;
+ tx_near_msg[BUTTON_IDX] = !GET_USERKEY|stationary_flag<<1;
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);
@@ -326,12 +328,14 @@
dwt_writetxfctrl(13+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*0.6)+20;
+ timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
end_count=start_count+(timeout<<5);
if(end_count>=32768)
{end_count-=32768;}
@@ -372,7 +376,7 @@
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
+ if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)&&rx_buffer[GROUP_ID_IDX]==group_id) //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
@@ -409,6 +413,9 @@
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;
@@ -422,21 +429,34 @@
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;
+ tx_near_msg[GROUP_ID_IDX] = group_id;
+
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);
- tyncpoll_time=0;
+
//时间同步
ancsync_time=((sync_timer)*1000+tmp_time);
last_slotnum=current_slotnum;
- current_slotnum=round((float)sync_timer/g_com_map[COM_INTERVAL])+1;
+ current_slotnum=((float)sync_timer/g_com_map[COM_INTERVAL])+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);
@@ -471,11 +491,21 @@
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];
+ }
+ 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);
+ }
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
@@ -490,6 +520,8 @@
}
// dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
}
+ if(mainbase_lost_count>tag_frequency*BASELOST_STOPMOTOR_TIME)
+ {motor_state=0; }
dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
nearbase_num=recbase_num;
j=0;
@@ -504,7 +536,7 @@
// }
tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
- // SetNextPollTime(tyncpoll_time);
+ SetNextPollTime(tyncpoll_time);
}
// tyncpoll_time=0;
next_nearbase_num=0;
@@ -560,7 +592,22 @@
{
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);
@@ -576,6 +623,7 @@
}
memcpy(&tx_near_msg[ANCHOR_ID_IDX],&nearmsg_mainbase,2);
memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);
+ tx_near_msg[GROUP_ID_IDX] = group_id;
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
@@ -604,7 +652,7 @@
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;
+ //slottime=ceil((nearbase_num+2)*0.3)+1;
tyncpoll_time=tagslotpos*slottime;
tag_state=NEARPOLL;
}
@@ -612,10 +660,10 @@
tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
}
}
-
+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)
--
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