From eddac77c8fa85acccbf6eeff48b1ff760c70843a Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期三, 01 十一月 2023 15:33:01 +0800
Subject: [PATCH] 版本v2.7，大包字节uwb传输测试成功。
---
Src/application/dw_app.c | 111 ++++++++++++++++++++++++++++++++++---------------------
1 files changed, 69 insertions(+), 42 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 5c0f4c3..00d603f 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -80,7 +80,7 @@
NEARPOLL,
SINGLEPOLL,
}tag_state=STARTPOLL;
-static dwt_config_t config = {
+ dwt_config_t config = {
2, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
DWT_PLEN_128, /* Preamble length. */
@@ -89,7 +89,7 @@
9, /* RX preamble code. Used in RX only. */
1, /* Use non-standard SFD (Boolean) */
DWT_BR_6M8, /* Data rate. */
- DWT_PHRMODE_STD, /* PHY header mode. */
+ DWT_PHRMODE_EXT, /* PHY header mode. */
(129 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
};
static uint8_t tx_poll_msg[20] = {0};
@@ -118,7 +118,7 @@
LPFilter_Frac* p_Dis_Filter; //测距用的低通滤波器
-
+void GetNearMsg(void);
static uint64_t get_tx_timestamp_u64(void)
{
uint8_t ts_tab[5];
@@ -610,8 +610,9 @@
if(minddist!=0x1ffff&&minddist!=0)
{
trygetnearmsg_times = 0;
- tag_state = GETNEARMSG;
+ tag_state = GETNEARMSG;
mainbase_id = mindist_ancid;
+ GetNearMsg();
}
if(getsync_flag==0)
@@ -846,6 +847,11 @@
}
}
+extern uint16_t tagid_list[TAG_NUM_IN_SYS];
+extern uint16_t taglist_num;
+extern int32_t tagdist_list[TAG_NUM_IN_SYS];
+uint16_t nearbase_taglist_num;
+extern uint8_t uwb_tx[300];
void NearPoll(void)
{
@@ -881,24 +887,35 @@
tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2|motor_flag<<5;
tx_near_msg[SEQUENCE_IDX] = frame_seq_nb;
tx_near_msg[SEQUENCEH_IDX] = (frame_seq_nb++)>>8;
- tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
+ if(taglist_num>10)
+ {taglist_num=10;}
+ nearbase_taglist_num=nearbase_num+taglist_num;
+ tx_near_msg[NEARBASENUM_INDEX] = nearbase_taglist_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);
+ memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&tagid_list,taglist_num*2);
+
+ memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2+taglist_num*2],&nearbase_distlist,nearbase_num*4+4);
+ memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2+taglist_num*2+nearbase_num*4+4],&tagdist_list,taglist_num*4);
+
+ memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_taglist_num*12+4],&rec_anc_signalpower,nearbase_taglist_num*2+2);
if(intheight!=0)
intheight+=g_com_map[HEIGHTOFFEST_INDEX];
- memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*8+6],&intheight,2);
+// memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*8+6],&intheight,2);
tx_near_msg[MESSAGE_TYPE_IDX] = POS_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(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
+ dwt_writetxdata(29+8*nearbase_taglist_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_taglist_num, 0);//设置超宽带发送数据长度
+
+// dwt_writetxdata(280, uwb_tx, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+// dwt_writetxfctrl(282, 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)
@@ -923,7 +940,7 @@
flag_getresponse=0;
start_count=HAL_LPTIM_ReadCounter(&hlptim1);
recbase_num=0;
- timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
+ timeout=ceil((float)nearbase_taglist_num*SLOT_SCALE)+3;
end_count=start_count+(timeout<<5);
if(end_count>=32768)
{end_count-=32768;}
@@ -1055,18 +1072,18 @@
}
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<salvebase_mindist&&nearbase_switchdistlist[rec_nearbasepos]==1)
+ if(temp_dist<salvebase_mindist&&nearbase_switchdistlist[rec_nearbasepos]!=0&&(nearbase_switchdistlist[rec_nearbasepos]==1||temp_dist<nearbase_switchdistlist[rec_nearbasepos]))
{
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;
- }
+// 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
}
@@ -1094,23 +1111,27 @@
if(salvebase_mindist<mainbase_dist- THRESHOLD_CHANGE_MAINBASE_DIST )
{
changemainbase_count++;
- if(changemainbase_count>tag_frequency*2)
+ if(changemainbase_count>2)
{
- mainbase_id = mindist_slavebaseid;
- tag_state = GETNEARMSG;
- trygetnearmsg_times = 0;
+ changemainbase_count = 0;
+ mainbase_id = mindist_slavebaseid;
+ tag_state = GETNEARMSG;
+ trygetnearmsg_times = 0;
+ GetNearMsg();
}
}else{
changemainbase_count = 0;
}
#endif
- }else if(mainbase_lost_count>5*tag_frequency)
+ }else if(mainbase_lost_count>10)
{
+ mainbase_lost_count = 0;
tag_state = DISCPOLL;
+ DiscPoll();
}
if(mainbase_lost_count!=0)
{
- if(mainbase_lost_count<=tag_frequency*1)
+ if(mainbase_lost_count<=5)
{NextSlotDelayMs(0);
}else{
NextSlotDelayMs(0);
@@ -1167,6 +1188,7 @@
if(nearbaseid_list[i]!=nearbaseid_list2[i])
{
tag_state = GETNEARMSG;
+ GetNearMsg();
trygetnearmsg_times = 0;
nearbaseid_list0[i]=1;
}
@@ -1263,27 +1285,27 @@
}
}
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);
- SPIx_CS_GPIO->BSRR = SPIx_CS;
- id = dwt_readdevid() ;
- while (DWT_DEVICE_ID != id)
- {
- // 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
- }
- }
+// //LED0_ON;
+// SPIx_CS_GPIO->BRR = SPIx_CS;
+// delay_us(700);
+// SPIx_CS_GPIO->BSRR = SPIx_CS;
+// id = dwt_readdevid() ;
+// while (DWT_DEVICE_ID != id)
+// {
+// // 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
+// }
+// }
+ Dw1000_Init();
error_times = 0;
switch(tag_state)
{
@@ -1317,5 +1339,10 @@
break;
}
userkey_state = !GET_USERKEY;
- dwt_entersleep();
+ dwt_forcetrxoff();
+// Dw1000_Init();
+ 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);
+ dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
+ dwt_rxenable(0);
+ //dwt_entersleep();
}
--
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