From d8dd7c6e256bc607904ef1c1b1a36471c99db873 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期二, 21 十一月 2023 14:58:09 +0800
Subject: [PATCH] 免布线lora，调试差不多，即将加入自动跳频功能，固提交保存
---
Src/application/dw_app.c | 1153 +++++++++++++++++++++++++++++---------------------------
1 files changed, 595 insertions(+), 558 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 271fdc8..1685534 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -29,7 +29,9 @@
#include <stdio.h>
#include "beep.h"
#include "modbus.h"
+#include "CRC.h"
+//#define USART_INTEGRATE_OUTPUT
/*------------------------------------ Marcos ------------------------------------------*/
/* Inter-ranging delay period, in milliseconds. */
#define RNG_DELAY_MS 100
@@ -42,23 +44,23 @@
* 1 uus = 512 / 499.2 祍 and 1 祍 = 499.2 * 128 dtu. */
#define UUS_TO_DWT_TIME 65536
-/* 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
-/* 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
+///* 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
+///* 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
-/* Receive response timeout. See NOTE 5 below. */
-#define RESP_RX_TIMEOUT_UUS 600
+///* Receive response timeout. See NOTE 5 below. */
+//#define RESP_RX_TIMEOUT_UUS 600
-#define DELAY_BETWEEN_TWO_FRAME_UUS 400
+//#define DELAY_BETWEEN_TWO_FRAME_UUS 400
-#define POLL_RX_TO_RESP_TX_DLY_UUS 420
-/* 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. */
-#define FINAL_RX_TIMEOUT_UUS 4300
+////#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. */
+//#define FINAL_RX_TIMEOUT_UUS 4300
#define SPEED_OF_LIGHT 299702547
@@ -69,101 +71,99 @@
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4
+//#define _UWB_4G
-enum enumtagstate
-{
- DISCPOLL,
- GETNEARMSG,
- NEARPOLL,
-}tag_state=GETNEARMSG;
static dwt_config_t config = {
+#ifdef _UWB_4G
2, /* Channel number. */
+#else
+ 5,
+#endif
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. */
+ (65 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
};
-static uint8_t tx_poll_msg[20] = {0};
-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};
+//static uint8_t tx_poll_msg[20] = {0};
+//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};
-static uint32_t frame_seq_nb = 0;
-static uint32_t status_reg = 0;
-static uint8_t rx_buffer[100];
-static uint64_t poll_tx_ts;
-static uint64_t resp_rx_ts;
-static uint64_t final_tx_ts;
-static uint64_t poll_rx_ts;
-static uint64_t resp_tx_ts;
-static uint64_t final_rx_ts;
-static double tof;
-int32_t anchor_dist_last_frm[TAG_NUM_IN_SYS],his_dist[TAG_NUM_IN_SYS]; ;
-uint32_t tag_id = 0;
-uint32_t tag_id_recv = 0;
-uint32_t anc_id_recv = 0;
-uint8_t random_delay_tim = 0;
-double distance, dist_no_bias, dist_cm;
-uint32_t g_UWB_com_interval = 0;
-float dis_after_filter; //当前距离值
-LPFilter_Frac* p_Dis_Filter; //测距用的低通滤波器
+//static uint32_t frame_seq_nb = 0;
+//static uint32_t status_reg = 0;
+//static uint8_t rx_buffer[100];
+//static uint64_t poll_tx_ts;
+//static uint64_t resp_rx_ts;
+//static uint64_t final_tx_ts;
+//static uint64_t poll_rx_ts;
+//static uint64_t resp_tx_ts;
+//static uint64_t final_rx_ts;
+//int32_t anchor_dist_last_frm[TAG_NUM_IN_SYS],his_dist[TAG_NUM_IN_SYS]; ;
+//uint32_t tag_id = 0;
+//uint32_t tag_id_recv = 0;
+//uint32_t anc_id_recv = 0;
+//uint8_t random_delay_tim = 0;
+//double distance, dist_no_bias, dist_cm;
+//uint32_t g_UWB_com_interval = 0;
+//float dis_after_filter; //当前距离值
+//LPFilter_Frac* p_Dis_Filter; //测距用的低通滤波器
-static uint64_t get_tx_timestamp_u64(void)
-{
- uint8_t ts_tab[5];
- uint64_t ts = 0;
- int i;
- dwt_readtxtimestamp(ts_tab);
- for (i = 4; i >= 0; i--)
- {
- ts <<= 8;
- ts |= ts_tab[i];
- }
- return ts;
-}
+//static uint64_t get_tx_timestamp_u64(void)
+//{
+// uint8_t ts_tab[5];
+// uint64_t ts = 0;
+// int i;
+// dwt_readtxtimestamp(ts_tab);
+// for (i = 4; i >= 0; i--)
+// {
+// ts <<= 8;
+// ts |= ts_tab[i];
+// }
+// return ts;
+//}
-static uint64_t get_rx_timestamp_u64(void)
-{
- uint8_t ts_tab[5];
- uint64_t ts = 0;
- int i;
- dwt_readrxtimestamp(ts_tab);
- for (i = 4; i >= 0; i--)
- {
- ts <<= 8;
- ts |= ts_tab[i];
- }
- return ts;
-}
+//static uint64_t get_rx_timestamp_u64(void)
+//{
+// uint8_t ts_tab[5];
+// uint64_t ts = 0;
+// int i;
+// dwt_readrxtimestamp(ts_tab);
+// for (i = 4; i >= 0; i--)
+// {
+// ts <<= 8;
+// ts |= ts_tab[i];
+// }
+// return ts;
+//}
-static void final_msg_set_ts(uint8_t *ts_field, uint64_t ts)
-{
- int i;
- for (i = 0; i < FINAL_MSG_TS_LEN; i++)
- {
- ts_field[i] = (uint8_t) ts;
- ts >>= 8;
- }
-}
+//static void final_msg_set_ts(uint8_t *ts_field, uint64_t ts)
+//{
+// int i;
+// for (i = 0; i < FINAL_MSG_TS_LEN; i++)
+// {
+// ts_field[i] = (uint8_t) ts;
+// ts >>= 8;
+// }
+//}
-static void final_msg_get_ts(const uint8_t *ts_field, uint32_t *ts)
-{
- int i;
- *ts = 0;
- for (i = 0; i < FINAL_MSG_TS_LEN; i++)
- {
- *ts += ts_field[i] << (i * 8);
- }
-}
-
+//static void final_msg_get_ts(const uint8_t *ts_field, uint32_t *ts)
+//{
+// int i;
+// *ts = 0;
+// for (i = 0; i < FINAL_MSG_TS_LEN; i++)
+// {
+// *ts += ts_field[i] << (i * 8);
+// }
+//}
+uint32_t uwbid=0;
void Dw1000_Init(void)
{
/* Reset and initialise DW1000.
@@ -177,12 +177,16 @@
/* Configure DW1000. See NOTE 6 below. */
dwt_configure(&config);//配置DW1000
+// dwt_setinterrupt( DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);
/* Apply default antenna delay value. See NOTE 1 below. */
dwt_setrxantennadelay(RX_ANT_DLY); //设置接收天线延迟
dwt_settxantennadelay(TX_ANT_DLY); //设置发射天线延迟
-
+
+// dwt_setrxtimeout(1000);//设定接收超时时间，0位没有超时时间
+// dwt_rxenable(0);//打开接收
+// uwbid=dwt_readdevid();
/* Set expected response's delay and timeout. See NOTE 4 and 5 below.
* As this example only handles one incoming frame with always the same delay and timeout, those values can be set here once for all. */
//设置接收超时时间
@@ -191,17 +195,17 @@
{
//g_com_map[DEV_ID] = 0x0b;
//tag_state=DISCPOLL;
- tx_poll_msg[MESSAGE_TYPE_IDX]=POLL;
- tx_resp_msg[MESSAGE_TYPE_IDX]=RESPONSE;
- tx_final_msg[MESSAGE_TYPE_IDX]=FINAL;
- tx_sync_msg[MESSAGE_TYPE_IDX]=SYNC;
+// tx_poll_msg[MESSAGE_TYPE_IDX]=POLL;
+// tx_resp_msg[MESSAGE_TYPE_IDX]=RESPONSE;
+// tx_final_msg[MESSAGE_TYPE_IDX]=FINAL;
+// tx_sync_msg[MESSAGE_TYPE_IDX]=SYNC;
- 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);
- memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &dev_id, 2);
- memcpy(&tx_near_msg[ANCHOR_ID_IDX], &dev_id, 2);
- memcpy(&tx_near_msg[TAG_ID_IDX], &dev_id, 2);
+// 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);
+// memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &dev_id, 2);
+// memcpy(&tx_near_msg[ANCHOR_ID_IDX], &dev_id, 2);
+// memcpy(&tx_near_msg[TAG_ID_IDX], &dev_id, 2);
}
uint16_t Checksum_u16(uint8_t* pdata, uint32_t len)
{
@@ -214,7 +218,7 @@
}
u16 tag_time_recv[TAG_NUM_IN_SYS];
-u8 usart_send[25];
+u8 usart_send[100];
u8 battary,button;
extern uint8_t g_pairstart;
void tag_sleep_configuraion(void)
@@ -222,465 +226,498 @@
dwt_configuresleep(0x940, 0x7);
dwt_entersleep();
}
-extern uint8_t g_start_send_flag;
+//extern uint8_t g_start_send_flag;
-uint16_t g_Resttimer;
-uint8_t result;
-u8 tag_succ_times=0;
-int32_t hex_dist;
-u16 checksum;
-int8_t tag_delaytime;
-extern uint16_t sync_timer;
-u16 tmp_time;
-int32_t temp_dist;
-u16 tagslotpos;
+//uint16_t g_Resttimer;
+//uint8_t result;
+//u8 tag_succ_times=0;
+//int32_t hex_dist;
+//u16 checksum;
+//int8_t tag_delaytime;
+//extern uint16_t sync_timer;
+//u16 tmp_time;
+//int32_t temp_dist;
+//u16 tagslotpos;
-u16 anclist_num=0,anclist_pos; //list 总数量和当前位置
-u16 ancid_list[TAG_NUM_IN_SYS];
-u8 nearbase_num;
-u16 mainbase_id;
-int32_t mainbase_dist;
-uint8_t trygetnearmsg_times;
-u16 nearbaseid_list[MAX_NEARBASE_NUM],mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM];
-u8 FindNearBasePos(u16 baseid)
-{
- u8 i;
- for(i=0;i<nearbase_num;i++)
- {
- if(baseid==nearbaseid_list[i])
- return i;
- }
-}
-u8 recbase_num=0;
-#define CHANGE_BASE_THRESHOLD 5
-uint8_t GetRandomValue(void)
-{
- uint8_t random_value=0,temp_adc,i;
- for(i=0;i<8;i++)
- {
- temp_adc=Get_ADC_Value();
- random_value=random_value|((temp_adc&0x01)<<i);
- }
- return random_value;
-}
-u8 GetRandomSlotPos(uint32_t emptyslot)
-{
- u8 i,temp_value;
- temp_value = HAL_LPTIM_ReadCounter(&hlptim1);//GetRandomValue();
- for(i=temp_value%32;i<max_slotpos;i++)
- {
- if(((emptyslot>>i)&0x1)==0)
- {
- return i;
- }
- }
-
- for(i=1;i<max_slotpos;i++)
- {
- if(((emptyslot>>i)&0x1)==0)
- {
- return i;
- }
- }
-return max_slotpos-1;
-}
+//u16 anclist_num=0,anclist_pos; //list 总数量和当前位置
+//u16 ancid_list[TAG_NUM_IN_SYS];
+//u8 nearbase_num;
+//u16 mainbase_id;
+//int32_t mainbase_dist;
+//uint8_t trygetnearmsg_times;
+//u16 nearbaseid_list[MAX_NEARBASE_NUM],mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM];
+//u8 FindNearBasePos(u16 baseid)
+//{
+// u8 i;
+// for(i=0;i<nearbase_num;i++)
+// {
+// if(baseid==nearbaseid_list[i])
+// return i;
+// }
+//}
+//u8 recbase_num=0;
+//#define CHANGE_BASE_THRESHOLD 5
+//uint8_t GetRandomValue(void)
+//{
+// uint8_t random_value=0,temp_adc,i;
+// for(i=0;i<8;i++)
+// {
+// temp_adc=Get_ADC_Value();
+// random_value=random_value|((temp_adc&0x01)<<i);
+// }
+// return random_value;
+//}
+//u8 GetRandomSlotPos(uint32_t emptyslot)
+//{
+// u8 i,temp_value;
+// temp_value = HAL_LPTIM_ReadCounter(&hlptim1);//GetRandomValue();
+// for(i=temp_value%32;i<max_slotpos;i++)
+// {
+// if(((emptyslot>>i)&0x1)==0)
+// {
+// return i;
+// }
+// }
+//
+// for(i=1;i<max_slotpos;i++)
+// {
+// if(((emptyslot>>i)&0x1)==0)
+// {
+// return i;
+// }
+// }
+//return max_slotpos-1;
+//}
-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;
-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;
+//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;
+//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, 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)
-{
-
- 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;
- 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)
- {
- 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] = 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);
- 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
- 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*0.4)+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)
- {
- 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
- 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;}
- }
- // 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;
- 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
- flag_getresponse=1;
- memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
-
-
- //时间同步
- ancsync_time=((sync_timer)*1000+tmp_time);
- last_slotnum=current_slotnum;
- 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);
+//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 current_freq,rec_freq;
+//u8 motor_state,rec_remotepara_state,rec_remotepara[80];
+//extern u16 last_lpcount;
+//float freqlost_count = 0;
+//void TagFreqProcess(u8 freq)
+//{
+// if(freq>MAX_ANCFREQ||freq==0)
+// {
+// return;
+// }
+// if(freq==tag_frequency||freq>tag_frequency)
+// {
+// tag_frequency = freq;
+// freqlost_count = 0;
+// }
+//}
+//#define FREQ_OFFSET_MULTIPLIER (998.4e6/2.0/1024.0/131072.0)
+//#define FREQ_OFFSET_MULTIPLIER_110KB (998.4e6/2.0/8192.0/131072.0)
-
- // 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);
+//#define HERTZ_TO_PPM_MULTIPLIER_CHAN_1 (-1.0e6/3494.4e6)
+//#define HERTZ_TO_PPM_MULTIPLIER_CHAN_2 (-1.0e6/3993.6e6)
+//#define HERTZ_TO_PPM_MULTIPLIER_CHAN_3 (-1.0e6/4492.8e6)
+//#define HERTZ_TO_PPM_MULTIPLIER_CHAN_5 (-1.0e6/6489.6e6)
+//u16 rec_maxrangelen;//rec_anc_signalpower[MAX_NEARBASE_ANCNUM];
+//float clockOffsetRatio;
+//double rtd_init, rtd_resp;
+//double tof,distance;
+//extern int32_t dwt_readcarrierintegrator(void) ;
+//uint32_t testtimer2,anc_pollrx[MAX_NEARBASE_NUM],anc_resptx[MAX_NEARBASE_NUM],tag_resprx[MAX_NEARBASE_NUM];
+//int32_t anc_clockoffset[MAX_NEARBASE_NUM];
+//int16_t anc_distoffset[MAX_NEARBASE_NUM];
+//int32_t test2;
+//uint16_t u16_nearbase_distlist[MAX_NEARBASE_NUM];
+//uint8_t get_newdist,notenoughdist_count;
+//void SetANCTimestap(uint8_t i,uint8_t* pollrx,uint8_t* resptx,uint32_t resprx,uint8_t* distoffset) //写入时间戳信息
+//{
+// memcpy(&anc_pollrx[i],pollrx,4);
+// memcpy(&anc_resptx[i],resptx,4);
+// memcpy(&tag_resprx[i],&resprx,4);
+// memcpy(&anc_distoffset[i],distoffset,2);
+// anc_clockoffset[i] = test2;
+//}
+//void CalculateDists(void) //计算距离
+//{
+// for(int i=0;i<MAX_NEARBASE_NUM;i++)
+// {
+// //rec_anc_signalpower[i] = exsistbase_list[i];
+// if(exsistbase_list[i]==KEEP_TIMES)
+// {
+
+// // exsistbase_list[i]--;
+//#ifdef _UWB_4G
+// clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_2 / 1.0e6) ;
+//#else
+// clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_5 / 1.0e6) ;
+//#endif
+// rtd_init = tag_resprx[i] - poll_tx_ts;
+// rtd_resp = anc_resptx[i] - anc_pollrx[i];
+// tof = ((rtd_init - rtd_resp * (1 - clockOffsetRatio)) / 2.0) * DWT_TIME_UNITS;
+// distance = tof * SPEED_OF_LIGHT;
+// if(distance>-10&&distance<1000)
+// nearbase_distlist[i] = distance*100+anc_distoffset[i];
+// }else{
+// // nearbase_distlist[i] = 0x1ffff;
+// }
+//
+// }
+//}
+//extern uint8_t module_power,imu_enable,motor_enable;
+//void Registor_Poll(void)
+//{
+// static u8 regpoll_count=0;
+// u8 timeout;
+//
+// tx_near_msg[MESSAGE_TYPE_IDX] = MBX_REG;
+// tx_near_msg[REGP_TAGSTATE_INDEX] = !GET_USERKEY<<2|imu_enable<<1|motor_enable;
+// tx_near_msg[REGP_FREQUENCY_INDEX] = bat_percent;
+// 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[GROUP_ID],2);
+// memcpy(&tx_near_msg[REGP_NOMOVESLEEPTIME_INDEX],&g_com_map[DIST_OFFSET],2);
+// memcpy(&tx_near_msg[REGP_HEIGHTOFFSET_INDEX],&g_com_map[MAX_REPORT_ANC_NUM],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);//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_count=HAL_LPTIM_ReadCounter(&hlptim1);
+// timeout=50;
+// end_count=start_count+(timeout<<2);
+// while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_TXFRS)))//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;
+//
+// };
+//
+//}
+//float range_lost_time = 0;
+//u16 rec_nearbaseid,rec_nearbasepos;
+//void NearPoll(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,flag_ancreadpara=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(0);
+// tag_succ_times = 0;
+// //GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
+// if(nearbase_num>=MAX_NEARBASE_NUM)
+// {
+// nearbase_num = MAX_NEARBASE_NUM-1;
+// }
+// recbase_num=0;
+// for(uint8_t i=0;i<nearbase_num;i++) //标签距离32位转成16位
+// {
+// u16_nearbase_distlist[i] = nearbase_distlist[i];
+// }
+// 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);
+// memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&u16_nearbase_distlist,nearbase_num*2);
+// tx_near_msg[MESSAGE_TYPE_IDX] = MBX_POLL;
+// memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
+// dwt_writetxdata(13+4*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+4*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;
+// get_newbase = 0;
+// flag_finalsend=0;
+// flag_rxon=1;
+// flag_getresponse=0;
+// start_count=HAL_LPTIM_ReadCounter(&hlptim1);
+// recbase_num=0;
+// timeout=nearbase_num*SLOT_SCALE+10;
+// end_count=start_count+(timeout<<2);
+// 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
+// {
+// if(flag_finalsend&&flag_ancreadpara)
+// {
+// dw_systime=dwt_readsystimestamphi32();
+// if(dw_systime>temp1&&dw_systime<temp2)
+// {
+//
+// dwt_forcetrxoff();
+// flag_rxon=0;
+// if(flag_ancreadpara) //只有在读取参数的时候需要回复
+// {
+// u16 calCRC;
+// tx_near_msg[MESSAGE_TYPE_IDX] = MBX_PRAAREPLY;
+// memcpy(&tx_near_msg[MESSAGE_PARAREPLY_IDX],g_com_map,SENDANCPARA_LEN);
+// calCRC = CRC_Compute((uint8_t*)g_com_map,SENDANCPARA_LEN);
+// memcpy(&tx_near_msg[MESSAGE_PARAREPLY_IDX+SENDANCPARA_LEN],&calCRC,2);
+// dwt_writetxdata(14+SENDANCPARA_LEN, tx_near_msg, 0);//将发送数据写入DW1000
+// dwt_writetxfctrl(14+SENDANCPARA_LEN, 0);//设定发送数据长度
+//
+// 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];
- }
- 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
-
+// }
+// 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
+// test2 = dwt_readcarrierintegrator();
+// 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] == MBX_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
+// {
+// 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);
+// rec_remotepara_state = rx_buffer[MOTORSTATE_INDEX]>>4;
+// TagFreqProcess(rx_buffer[TAGFREQ_IDX]);
+// if(rec_remotepara_state != 0)
+// {
+// para_update = rec_remotepara_state;
+// memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],7);
+// if(para_update==2)
+// {
+// flag_ancreadpara = 1;
+// }
+// }
+// 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])
+// {
+// exsistbase_list[0]=KEEP_TIMES;
+// SetANCTimestap(0,&rx_buffer[RESP_MSG_POLL_RX_TS_IDX],&rx_buffer[RESP_MSG_RESP_TX_TS_IDX],resp_rx_ts,&rx_buffer[RESP_MSG_ANC_DISTOFFSET]);
- //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)
- {
-// 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);
+// //////////////////////////////////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;}
+// }
+// rec_nearbasepos=0;
+// exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
+
+// if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
+// motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
+//
+//
+// 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]=MBX_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);
+// }else{
+// rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
+// SetANCTimestap(rec_nearbasepos,&rx_buffer[RESP_MSG_POLL_RX_TS_IDX],&rx_buffer[RESP_MSG_RESP_TX_TS_IDX],resp_rx_ts,&rx_buffer[RESP_MSG_ANC_DISTOFFSET]);
+
+// 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;
+
+//
+// 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
+// }
+// }
+// }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_forcetrxoff();
+// dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
+// CalculateDists();
+// j = 0;
+// next_nearbase_num = 0;
+// for(i=0;i<nearbase_num;i++)
+// {
+// if(exsistbase_list[i]>0)
+// {
+// exsistbase_list[i]--;
+// next_nearbase_num++;
+// true_exsistbase_list[j]=exsistbase_list[i];
+// true_nearbase_idlist[j]=nearbaseid_list[i];
+// true_nearbase_distlist[j++]=nearbase_distlist[i];
+//
// }
- tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
- tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
- SetNextPollTime(tyncpoll_time);
- }
- // 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;
- }
- 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);
-
-}
-u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32];
-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[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
- dwt_starttx(DWT_START_TX_IMMEDIATE| DWT_RESPONSE_EXPECTED);
-
- /* 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] == NEAR_MSG&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
- {
- nearbase_num=rx_buffer[NEARBASENUM_INDEX];
- memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
- 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;
- tag_state=NEARPOLL;
- }
- }else{
- tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
- }
-}
-
-void Tag_App(void)//发送模式(TAG标签)
-{
- u32 id;
- //LED0_ON;
- id = dwt_readdevid() ;
- while (DWT_DEVICE_ID != id)
- {
- id = dwt_readdevid() ;
- }
-
- g_Resttimer=0;
-// tag_state=DISCPOLL;
- switch(tag_state)
- {
- case DISCPOLL:
- // Poll();
- break;
- case GETNEARMSG:
-
- GetNearMsg();
-
- break;
- case NEARPOLL:
- //GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_SET);
- NearPoll();
- //GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_RESET);
- break;
- }
- dwt_entersleep();
-}
+// }
+// nearbase_num = next_nearbase_num;
+// if(mainbase_lost_count>1&&exsistbase_list[0] != 0)
+// {
+// last_lpcount+= HAL_LPTIM_ReadCounter(&hlptim1)%(g_com_map[COM_INTERVAL]*16);
+// }
+// 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];
+// exsistbase_list[i] = true_exsistbase_list[i];
+// }
+//
+// 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(para_update==1)
+// {
+// uint16_t calCRC;
+// calCRC = CRC_Compute(rec_remotepara,5);
+// if(memcmp(&calCRC,&rec_remotepara[5],2)==0)
+// { uint8_t pack_msgtype,pack_index,pack_length;
+// pack_msgtype = rec_remotepara[0];
+// pack_index = rec_remotepara[1];
+// pack_length = rec_remotepara[2];
+// if(pack_msgtype==2)
+// {
+// if( pack_index == 1)//MOTOR_ONTIME_INDEX)
+// {
+//
+// // motor_keeptime = rec_remotepara[3];
+// }else if(pack_index == CNT_UPDATE)
+// {
+// if(rec_remotepara[3]==2)
+// {
+// EnterUWBUpdateMode();
+// }
+// }
+// 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();
+// }
+// }
+// }
+// }
+// }
+//}
+//u8 regpoll_count;
+//u32 id;
+//void Tag_App(void)//发送模式(TAG标签)
+//{
+//
+// //LED0_ON;
+// id = dwt_readdevid() ;
+// while (DWT_DEVICE_ID != id)
+// {
+// u8 iderror_count = 0;
+// id = dwt_readdevid() ;
+// if(iderror_count++>100)
+// {
+// printf("UWB芯片ID错误");
+// break;
+// }
+// }
+// delay_us(100);
+// g_Resttimer=0;
+// if(freqlost_count>FREQ_LOST_TIME)
+// {
+// if(regpoll_count++>11) //待机状态1分钟上传一次基站状态
+// {
+// regpoll_count = 0;
+// Registor_Poll();
+// }
+// }else{
+// if(regpoll_count++>59)//测距状态1分钟上传一次基站状态
+// {
+// regpoll_count = 0;
+// Registor_Poll();
+// }
+// }
+// NearPoll();
+// dwt_entersleep();
+// bat_percent=Get_VDDVlotage();
+//}
--
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