From f152f0dd5cb4aaf867b8976e357291001bb2eebe Mon Sep 17 00:00:00 2001
From: WXK <287788329@qq.com>
Date: 星期一, 21 十月 2024 16:06:24 +0800
Subject: [PATCH] 开发完成，版本V1.0
---
Src/application/dw_app.c | 669 +++++++++++++------------------------------------------
1 files changed, 158 insertions(+), 511 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 339297e..6769a1b 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -30,7 +30,8 @@
#include "beep.h"
#include "modbus.h"
#include "CRC.h"
-
+#include "dw_mbx_anc.h"
+#include "ADC.h"
//#define USART_INTEGRATE_OUTPUT
/*------------------------------------ Marcos ------------------------------------------*/
/* Inter-ranging delay period, in milliseconds. */
@@ -73,21 +74,21 @@
//#define _UWB_4G
-static dwt_config_t config = {
+dwt_config_t config = {
#ifdef _UWB_4G
2, /* Channel number. */
#else
5,
#endif
DWT_PRF_64M, /* Pulse repetition frequency. */
- DWT_PLEN_64, /* Preamble length. */
+ DWT_PLEN_128, /* 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. */
1, /* Use non-standard SFD (Boolean) */
DWT_BR_6M8, /* Data rate. */
DWT_PHRMODE_STD, /* PHY header mode. */
- (65 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
+ (129 + 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};
@@ -182,16 +183,6 @@
/* 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
}
void Dw1000_App_Init(void)
{
@@ -228,490 +219,19 @@
dwt_configuresleep(0x940, 0x7);
dwt_entersleep();
}
-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;
-
-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;
-
-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)
-#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&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>-10&&distance<1000)
- nearbase_distlist[i] = distance*100+anc_distoffset[i];
- range_lost_time=0;
- }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;
-
- };
-
-}
-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,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(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
- 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;
- flag_finalsend=0;
- flag_rxon=1;
- flag_getresponse=0;
- start_count=HAL_LPTIM_ReadCounter(&hlptim1);
- recbase_num=0;
- 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&&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;
-// }
-// }
- 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();
- 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
- 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_nearbaseid==0x9002)
-// {rec_remotepara_state = rx_buffer[MOTORSTATE_INDEX]>>4;}
- 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]);
-
- //////////////////////////////////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];
-
- }
- }
- 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)
+void UWB_Wkup(void)
{
-
- //LED0_ON;
- id = dwt_readdevid() ;
- while (DWT_DEVICE_ID != id)
+
+ SPIx_CS_GPIO->BRR = SPIx_CS;
+ delay_us(600);
+ SPIx_CS_GPIO->BSRR = SPIx_CS;
+ id = dwt_readdevid() ;
+ while (0xDECA0130!=id)
{
u8 iderror_count = 0;
id = dwt_readdevid() ;
@@ -720,24 +240,151 @@
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();
+ }
+}
+#include "radio.h"
+#include "dw_mbx_anc.h"
+u8 lora_start_poll_buff[4] = {LORA_MSGTYPE_RANGEPOLL,'I','N','G'};
+
+uint16_t current_count,target_count;
+typedef enum{ Next_Poll_RANGE,
+ Next_Poll_LORASYNC,
+}nextpoll_enum;
+#define UWB 0
+#define LORA 1
+static uint8_t lora_sendbuffer[40];
+static uint16_t wg_report_id=0xffff;
+uint8_t seq_num;
+static u16 checksum;
+#define SEQNUM_IDX 6 //标签报文序号
+#define BAT_IDX 7 //标签电量
+#define STATE_IDX 8
+#define ANCID_IDX 30 //校验在4*ancnum+ANCID_IDX 位置
+#define LORA5_CHANNEL_FRQ 478
+#define LORA5_CHANNEL_SF 7
+uint8_t poll_state;
+void Lora_Poll(void)
+{
+
+ SwitchLoraSettings(LORA5_CHANNEL_FRQ,LORA5_CHANNEL_SF,22);
+ lora_sendbuffer[MSG_TYPE_IDX] = LORA_MSGTYPE_TAGMSGTOWG_GPS;
+ lora_sendbuffer[MSG_LENGTH] = 30;
+ memcpy(&lora_sendbuffer[SOURCE_ID_IDX],&g_com_map[DEV_ID],2);
+ memcpy(&lora_sendbuffer[DEST_ID_IDX],&wg_report_id,2);
+ lora_sendbuffer[SEQNUM_IDX] = seq_num++;
+ lora_sendbuffer[BAT_IDX] = bat_percent;
+ lora_sendbuffer[STATE_IDX] = 0;
+// memcpy(&lora_sendbuffer[GPS_JINGDU_IDX],&gps_jingdu,8);
+// memcpy(&lora_sendbuffer[GPS_WEIDU_IDX],&gps_jingdu,8);
+// lora_sendbuffer[GPS_STATE_IDX] = gps_state;
+// lora_sendbuffer[GPS_SATEL_NUM_IDX] = gps_satel_num;
+// lora_sendbuffer[GPS_SPOWER_IDX] = gps_signalpower;
+// lora_sendbuffer[GPS_CHAFENLINGQI] = gps_chafenlingqi;
+// lora_sendbuffer[ANCNUM_IDX] = report_ancnum;
+// memcpy(&lora_sendbuffer[ANCID_IDX],report_ancid,report_ancnum*2);
+// memcpy(&lora_sendbuffer[ANCID_IDX+report_ancnum*2],report_ancdist,report_ancnum*2);
+ checksum = Checksum_u16(lora_sendbuffer,4*0+ANCID_IDX);
+ memcpy(&lora_sendbuffer[ANCID_IDX+0*4],&checksum,2);
+ Radio.Send(lora_sendbuffer,ANCID_IDX+0*4+2);
+}
+nextpoll_enum next_poll_state;
+extern uint8_t sync_lost_count;
+extern uint8_t Lorahuifu_flag;
+extern int16_t intheight;
+extern u16 uwbdistance;
+extern float bat_volt;
+extern uint8_t shuzu[3];
+extern uint8_t datashuju[50];
+extern uint8_t datachangdu;
+void Tag_App(void)//发送模式(TAG标签)
+{
+// SyncStateSwitch();
+ if(poll_state==UWB) //读取本次的工作状态 测距还是同步
+ {
+ poll_state=LORA;
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+// g_com_map[LORA_POWER]=22;
+// g_com_map2[LORA_POWER]=22;
+ SwitchLoraSettings(UWB_CHANNEL_FRQ+g_com_map[GROUP_ID],5,g_com_map[LORA_POWER]); //切换lora接收频点
+
+ memcpy(&lora_start_poll_buff[ANC_ID_IDX],&g_com_map[DEV_ID],2);
+ Radio.Send(lora_start_poll_buff, 4);
+ UWB_Wkup();
+ delay_us(700);
+ MBXANCPoll();
dwt_entersleep();
- bat_percent=Get_VDDVlotage();
+// next_poll_state = Next_Poll_LORASYNC;
+ }else{
+ poll_state=UWB;
+ Lora_Poll();
+ if(intheight!=0)
+ {
+// printf("高度值:%d\r\n",intheight);
+ uartsend(6,intheight);
+ memset(datashuju,0,sizeof(datashuju));
+ USART_puts(shuzu, 3);//开始结束都要发
+ datachangdu=sprintf(datashuju,"t2.bco=2024");
+ USART_puts(datashuju, datachangdu);
+ USART_puts(shuzu, 3);
+ }
+ if(uwbdistance!=0)
+ {
+// printf("UWB测距值:%d\r\n",uwbdistance);
+ uartsend(4,uwbdistance);
+ memset(datashuju,0,sizeof(datashuju));
+ USART_puts(shuzu, 3);//开始结束都要发
+ datachangdu=sprintf(datashuju,"t0.bco=2024");
+ USART_puts(datashuju, datachangdu);
+ USART_puts(shuzu, 3);
+ }
+ if(Lorahuifu_flag)
+ {
+ Lorahuifu_flag=0;
+ uartsend(5,0);
+ memset(datashuju,0,sizeof(datashuju));
+ USART_puts(shuzu, 3);//开始结束都要发
+ datachangdu=sprintf(datashuju,"t1.bco=2024");
+ USART_puts(datashuju, datachangdu);
+ USART_puts(shuzu, 3);
+ }
+ memset(datashuju,0,sizeof(datashuju));
+ USART_puts(shuzu, 3);//开始结束都要发
+ datachangdu=sprintf(datashuju,"t7.txt=\"%.2f\"",bat_volt);
+ USART_puts(datashuju, datachangdu);
+ USART_puts(shuzu, 3);
+ if(bat_volt>0)
+ {
+ memset(datashuju,0,sizeof(datashuju));
+ USART_puts(shuzu, 3);//开始结束都要发
+ datachangdu=sprintf(datashuju,"t3.bco=2024");
+ USART_puts(datashuju, datachangdu);
+ USART_puts(shuzu, 3);
+ }
+// LoraSyncRecPoll();
+// if(GetRangeState()) //获取当前测距状态，是否开启。如果开启下次为测距，否为同步
+// {
+// next_poll_state = Next_Poll_RANGE;
+// }else{
+// next_poll_state = Next_Poll_LORASYNC;
+// }
+ }
+// Radio.Sleep();
+// if(next_poll_state == Next_Poll_LORASYNC) //设定下一次的唤醒时间
+// {
+//// if(sync_state==Sync_Lost)
+//// {
+//// target_count = GetLoraSyncCount()-(18000)/LPTIMER_LSB+sync_lost_count*1000;
+//// }else
+// {
+// target_count = GetLoraSyncCount()-(18000)/LPTIMER_LSB; //比上次收到的lora提前17ms唤醒（lora接收大概17ms），如果在同步间隔内，则会快速进入休眠。
+// }
+// if(target_count<0)
+// target_count+=32768;
+// __HAL_LPTIM_COMPARE_SET(&hlptim1, target_count);
+// }else{
+
+// target_count = GetUwbPollCount(); //测距提前2ms唤醒
+// __HAL_LPTIM_COMPARE_SET(&hlptim1, target_count);
+// }
+
}
--
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