From e182f6082db427bf3c130d2459cabd4f2eb35a3e Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期五, 05 一月 2024 15:18:46 +0800
Subject: [PATCH] 版本v1.0
---
Src/application/dw_app.c | 74 ++++++++++++++++++++++++++++++++-----
1 files changed, 64 insertions(+), 10 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index b9a358d..6489121 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -48,7 +48,7 @@
#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
+#define RESP_RX_TO_FINAL_TX_DLY_UUS 6410
/* Receive response timeout. See NOTE 5 below. */
#define RESP_RX_TIMEOUT_UUS 600
@@ -78,7 +78,7 @@
NEARPOLL,
} tag_state=GETNEARMSG;
static dwt_config_t config = {
- 5, /* Channel number. */
+ 2, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
DWT_PLEN_128, /* Preamble length. */
DWT_PAC8, /* Preamble acquisition chunk size. Used in RX only. */
@@ -383,6 +383,42 @@
sync_anc_id = ancid;
}
}
+#define RESP_MSG_POLL_RX_TS_IDX 26
+#define RESP_MSG_RESP_TX_TS_IDX 30
+#define RESP_MSG_ANC_DISTOFFSET 34
+#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)
+#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)
+int32_t test2;
+float clockOffsetRatio;
+double rtd_init, rtd_resp;
+double distance;
+int32_t twociceju;
+uint32_t anc_pollrx1,anc_resptx1,tag_resprx1;
+int16_t anc_distoffset1;
+void CalculateDists_two(uint32_t resprx,uint8_t* resptx,uint8_t* pollrx,uint8_t * distoffset)
+{
+
+ memcpy(&anc_pollrx1,pollrx,4);
+ memcpy(&anc_resptx1,resptx,4);
+ memcpy(&tag_resprx1,&resprx,4);
+ memcpy(&anc_distoffset1,distoffset,2);
+
+
+ clockOffsetRatio = test2 * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_2 / 1.0e6) ;
+ rtd_init = tag_resprx1 - poll_tx_ts;
+ rtd_resp = anc_resptx1 - anc_pollrx1;
+ tof = ((rtd_init - rtd_resp * (1 - clockOffsetRatio)) / 2.0) * DWT_TIME_UNITS;
+ distance = tof * SPEED_OF_LIGHT;
+ if(distance>-1000&&distance<100000)
+ twociceju= distance*100+anc_distoffset1;
+}
+uint8_t acc_buff1[4100];
+uint16_t changdu;
+uint16_t fp1;
void NearPoll(void)
{
@@ -439,7 +475,7 @@
flag_getresponse=0;
start_count=HAL_LPTIM_ReadCounter(&hlptim1);
recbase_num=0;
- timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
+ timeout=ceil((float)nearbase_num*SLOT_SCALE)+13;
end_count=start_count+(timeout<<5);
if(end_count>=32768)
{
@@ -480,6 +516,9 @@
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();
+ fp1 = dwt_read16bitoffsetreg(0x15, 5);
+ dwt_readaccdata(acc_buff1,4064,0);
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)&&rx_buffer[GROUP_ID_IDX]==group_id) //判断接收到的数据是否是response数据
@@ -495,6 +534,7 @@
nearbase_num=1;
memcpy(&tx_near_msg[ANCHOR_ID_IDX],&rec_nearbaseid,2);
}
+// CalculateDists_two(resp_rx_ts,&rx_buffer[RESP_MSG_RESP_TX_TS_IDX],&rx_buffer[RESP_MSG_POLL_RX_TS_IDX],&rx_buffer[RESP_MSG_ANC_DISTOFFSET]);
if(rec_nearbaseid==nearbaseid_list[0])
{
//////////////////////////////////时间同步
@@ -618,6 +658,20 @@
}
// dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
}
+ CalculateDists_two(resp_rx_ts,&rx_buffer[RESP_MSG_RESP_TX_TS_IDX],&rx_buffer[RESP_MSG_POLL_RX_TS_IDX],&rx_buffer[RESP_MSG_ANC_DISTOFFSET]);
+ usart_send[0] = 0x55;
+ usart_send[1] = 0xAA;
+ usart_send[2] = 1;//正常模式
+ changdu=1+2+2+4+2+10+4064;
+ memcpy(&usart_send[3],&changdu,2);
+ memcpy(&usart_send[5],&dev_id,2);
+ memcpy(&usart_send[7],&twociceju,4);
+ memcpy(&usart_send[11],&fp1,2);
+ USART_puts(usart_send,23);
+ USART_puts(acc_buff1,4064);
+ usart_send[0] = 0x55;
+ usart_send[1] = 0xBB;
+ USART_puts(usart_send,2);
if(mainbase_lost_count>tag_frequency*BASELOST_STOPMOTOR_TIME)
{
motor_state=0;
@@ -682,13 +736,13 @@
}
}
#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);
+// 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++)
--
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