From da6d7e68ec3d303e78e83a1adf17f638a0d49269 Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期二, 26 十二月 2023 15:45:30 +0800
Subject: [PATCH] 1
---
Src/application/dw_app.c | 272 ++++++++++++++++++++++++++++++------------------------
1 files changed, 150 insertions(+), 122 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 646b349..339297e 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -70,8 +70,15 @@
#define FINAL_MSG_RESP_RX_TS_IDX 14
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4
+
+//#define _UWB_4G
+
static dwt_config_t config = {
- 5, /* Channel number. */
+#ifdef _UWB_4G
+ 2, /* Channel number. */
+#else
+ 5,
+#endif
DWT_PRF_64M, /* Pulse repetition frequency. */
DWT_PLEN_64, /* Preamble length. */
DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */
@@ -106,7 +113,7 @@
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
-
+float range_lost_time = 0;
static uint64_t get_tx_timestamp_u64(void)
@@ -175,7 +182,13 @@
/* 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_configcontinuousframemode(12480);
+// dwt_writetxdata(13, usart_send, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+// dwt_writetxfctrl(13, 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
+//while(1)
+//{}
/* 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
@@ -315,12 +328,13 @@
double rtd_init, rtd_resp;
double tof,distance;
extern int32_t dwt_readcarrierintegrator(void) ;
-uint32_t testtimer[10],testtimer2,anc_pollrx[11],anc_resptx[11],tag_resprx[11];
-int32_t anc_clockoffset[11];
-int16_t anc_distoffset[11];
+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)
+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);
@@ -328,64 +342,110 @@
memcpy(&anc_distoffset[i],distoffset,2);
anc_clockoffset[i] = test2;
}
-void CalculateDists(void)
+void CalculateDists(void) //计算距离
{
- for(int i=0;i<11;i++)
+ for(int i=0;i<MAX_NEARBASE_NUM;i++)
{
//rec_anc_signalpower[i] = exsistbase_list[i];
- if(exsistbase_list[i]>0)
+ if(exsistbase_list[i]==KEEP_TIMES)
{
- exsistbase_list[i]--;
- clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_5 / 1.0e6) ;
- rtd_init = tag_resprx[i] - poll_tx_ts;
+ // 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&0xffffffff;
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>-1000&&distance<100000)
+ if(distance>-10&&distance<1000)
nearbase_distlist[i] = distance*100+anc_distoffset[i];
+ range_lost_time=0;
}else{
- nearbase_distlist[i] = 0x1ffff;
+ // nearbase_distlist[i] = 0x1ffff;
}
}
}
-float range_lost_time = 0;
+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;
+
+ };
+
+}
+u16 numceshi;
u16 rec_nearbaseid,rec_nearbasepos;
+extern u16 poll_startcount;
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;
+ u32 start_poll,timeout;
+ u8 i,j,getsync_flag=0,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(10000);
+ dwt_setrxtimeout(0);
tag_succ_times = 0;
//GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
- if(next_nearbase_num>=MAX_NEARBASE_NUM)
+ if(nearbase_num>=MAX_NEARBASE_NUM)
{
- next_nearbase_num = MAX_NEARBASE_NUM-1;
+ 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;
+ 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],&nearbase_distlist,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
+ 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(GPIOA, GPIO_PIN_15, GPIO_PIN_RESET);
+ numceshi++;
tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
para_update = 0;
get_newbase = 0;
@@ -394,42 +454,44 @@
flag_getresponse=0;
start_count=HAL_LPTIM_ReadCounter(&hlptim1);
recbase_num=0;
- timeout=nearbase_num*SLOT_SCALE+4;
- end_count=start_count+(timeout<<5);
+ timeout=nearbase_num*SLOT_SCALE+100; //单位0.1ms
+ 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)
+ // while(1)
{
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;
- if(flag_ancreadpara)
- {
- 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
- }
+// 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
- flag_finalsend=0;
- break;
- }
- }
+// }
+// flag_finalsend=0;
+// break;
+// }
+// }
current_count=HAL_LPTIM_ReadCounter(&hlptim1);
if(current_count>=end_count&¤t_count<end_count+15000)
break;
@@ -444,16 +506,20 @@
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();
+ poll_tx_ts = get_tx_timestamp_u64(); //获得POLL发送时间T1
+ resp_rx_ts = get_rx_timestamp_u64();
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
+// 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]);
+// TagFreqProcess(rx_buffer[TAGFREQ_IDX]);
+// if(rec_nearbaseid==0x9002)
+// {rec_remotepara_state = rx_buffer[MOTORSTATE_INDEX]>>4;}
if(rec_remotepara_state != 0)
{
para_update = rec_remotepara_state;
@@ -488,15 +554,9 @@
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;
@@ -519,33 +579,11 @@
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);
-// if(rec_remotepara_state==1)
-// {
-// 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);
-// if(g_com_map[COM_INTERVAL]>0&&g_com_map[COM_INTERVAL]<1000&&g_com_map[POWER]<67&&g_com_map[POWER]>0)
-// {save_com_map_to_flash();
-// delay_ms(100);
-// }
-// NVIC_SystemReset();
-// }
}else{
rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
- SetANCTimestap(rec_nearbasepos+1,&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]);
+ 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
+ if(rec_nearbasepos>=last_nearbase_num) //发现新的基站
{
get_newbase=1;
nearbase_num++;
@@ -554,8 +592,7 @@
}
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)
{
@@ -565,11 +602,6 @@
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{
@@ -580,30 +612,28 @@
}
// 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_forcetrxoff();
dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
- nearbase_num=recbase_num;
- // tyncpoll_time=0;
- next_nearbase_num=0;
+ CalculateDists();
j = 0;
- for(i=0;i<last_nearbase_num+get_newbase;i++)
+ 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];
- exsistbase_list[i]--;
+
}
}
- if(mainbase_lost_count>1&&exsistbase_list[0] != 0)
+ 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_lpcount-= HAL_LPTIM_ReadCounter(&hlptim1)%(g_com_map[COM_INTERVAL]*16);
}
- if(nearbase_num==4)
- {nearbase_num=4;}
last_nearbase_num = next_nearbase_num;
for(i=0;i<last_nearbase_num-1;i++)
{
@@ -627,32 +657,16 @@
}
report_num=0;
- if(last_nearbase_num>4)
- {
- last_nearbase_num = 5;
- }
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];
}
-// #ifdef USART_INTEGRATE_OUTPUT
-// usart_send[0] = 0x55;
-// usart_send[1] = 0xAA;
-// usart_send[2] = 4;//正常模式
-// usart_send[3] = report_num*6+2;//正常模式
-// checksum = Checksum_u16(&usart_send[2],report_num*6+2);
-// memcpy(&usart_send[4+report_num*6],&checksum,2);
-// USART_puts(usart_send,6+report_num*6);
-// #endif
- 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);
- CalculateDists();
+
if(para_update==1)
{
uint16_t calCRC;
@@ -690,7 +704,7 @@
}
}
}
-
+u8 regpoll_count;
u32 id;
void Tag_App(void)//发送模式(TAG标签)
{
@@ -709,6 +723,20 @@
}
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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