From f953be595ef8c2d17c533405e26093b2049f469a Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期二, 25 十月 2022 16:36:41 +0800
Subject: [PATCH] 1.修改定位通讯标志位，不会和其他系统干扰。 2.2.需要配合定位基站V2.111使用
---
Src/application/dw_app.c | 471 +++++++++++++++++++++++++++++++++++++++++-----------------
1 files changed, 333 insertions(+), 138 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 1511b31..6edc2bf 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -47,10 +47,10 @@
#define POLL_TX_TO_RESP_RX_DLY_UUS 10
/* 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 510
+#define RESP_RX_TO_FINAL_TX_DLY_UUS 1000
/* Receive response timeout. See NOTE 5 below. */
-#define RESP_RX_TIMEOUT_UUS 1000
+#define RESP_RX_TIMEOUT_UUS 4000
#define DELAY_BETWEEN_TWO_FRAME_UUS 240
@@ -70,7 +70,7 @@
#define FINAL_MSG_TS_LEN 4
#define STARTPOLL REGPOLL//#define SWITCHBASE_DIST
-//#define SWITCHBASE_ZHUANDIAN
+#define SWITCHBASE_ZHUANDIAN
#define SWITCHBASE_DIST
enum enumtagstate
{
@@ -83,7 +83,7 @@
static dwt_config_t config = {
2, /* Channel number. */
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. */
@@ -249,7 +249,7 @@
u16 mainbase_id;
int32_t mainbase_dist,base_mindist;
uint8_t trygetnearmsg_times;
-u16 mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM],nearbaseid_list[MAX_NEARBASE_NUM],nearbaseid_list2[MAX_NEARBASE_NUM];
+u16 mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM],nearbaseid_list0[MAX_NEARBASE_NUM],nearbaseid_list[MAX_NEARBASE_NUM],nearbaseid_list2[MAX_NEARBASE_NUM];
u8 FindNearBasePos(u16 baseid)
{
u8 i;
@@ -473,7 +473,7 @@
u8 motor_state,rec_remotepara_state,rec_remotepara[80];
-#define SINGLEPOLL_BASENUM 15
+#define SINGLEPOLL_BASENUM 5
uint16_t singlepoll_baseid[20]={0x8166,0x9804,0x9689,0x9686,0x8279,0x9815,0x9803,0x9814,0x9687,0x9774,0x8278,0x9743,0x9688,0x9771,0x8277};
int32_t singlepoll_basedist[20];
@@ -483,38 +483,43 @@
uint32_t frame_len;
int32_t salvebase_mindist;
int16_t intheight;
-void Poll(void)
+static uint8_t send_buffer[200];
+void DiscPoll(void)
{
uint32_t frame_len;
uint32_t final_tx_time;
u32 start_poll;
- int32_t mindist=999999,minid=-1,temp_dist;
+ int32_t minddist=0x1ffff,minid=-1,temp_dist;
u8 i,j,getsync_flag=0;
+ u16 mindist_ancid,random_delay_tim,tempval;
+
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;
frame_seq_nb++;
- for(singlepoll_i=0;singlepoll_i<SINGLEPOLL_BASENUM;singlepoll_i++)
+ for(uint8_t singlepoll_i=0;singlepoll_i<10;singlepoll_i++)
{
- /* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
- nearbase_num = SINGLEPOLL_BASENUM;
-
- tx_near_msg[BATTARY_IDX] = bat_percent;
- tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2;
- tx_near_msg[SEQUENCE_IDX] = frame_seq_nb;
- tx_near_msg[SEQUENCEH_IDX] = (frame_seq_nb)>>8;
- tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
- memcpy(&tx_near_msg[NEARBASEID_INDEX],&singlepoll_baseid,nearbase_num*2);
- memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&singlepoll_basedist,nearbase_num*4+4);
- intheight+=g_com_map[HEIGHTOFFEST_INDEX];
- memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6],&intheight,2);
- tx_near_msg[MESSAGE_TYPE_IDX] = SPOLL;
-
- tx_near_msg[NEARP_TAGFREQ_INDEX] = tag_frequency;
- tx_near_msg[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;
+
- memcpy(&tx_near_msg[ANCHOR_ID_IDX],&singlepoll_baseid[singlepoll_i],2);
- dwt_writetxdata(28+6*nearbase_num, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
+ /* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
+ nearbase_num = 0;
+
+ // send_buffer[BATTARY_IDX] = bat_percent;
+ //send_buffer[BUTTON_IDX] = !GET_USERKEY|stationary_flag<<1|gotosleep_flag<<2;
+ send_buffer[SEQUENCE_IDX] = frame_seq_nb;
+ send_buffer[SEQUENCEH_IDX] = (frame_seq_nb)>>8;
+ send_buffer[NEARBASENUM_INDEX] = nearbase_num;
+
+// memcpy(&send_buffer[NEARBASEID_INDEX],&singlepoll_baseid,nearbase_num*2);
+// memcpy(&send_buffer[NEARBASEID_INDEX+nearbase_num*2],&singlepoll_basedist,nearbase_num*4+4);
+// intheight+=g_com_map[HEIGHTOFFEST_INDEX];
+ // memcpy(&send_buffer[NEARBASEID_INDEX+nearbase_num*6],&intheight,2);
+ send_buffer[MESSAGE_TYPE_IDX] = DISCOVERPOLL;
+// singlepoll_basedist[singlepoll_i]= 0x1ffff;
+ send_buffer[NEARP_TAGFREQ_INDEX] = tag_frequency;
+ send_buffer[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;
+ send_buffer[ANCHOR_ID_IDX] = singlepoll_i;
+ memcpy(&send_buffer[TAG_ID_IDX],&dev_id,2);
+ dwt_writetxdata(28+6*nearbase_num, send_buffer, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
dwt_writetxfctrl(28+6*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
@@ -532,63 +537,55 @@
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] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)&&!memcmp(&rx_buffer[ANCHOR_ID_IDX],&singlepoll_baseid[singlepoll_i],2)) //判断接收到的数据是否是response数据
+
+ if (rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //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
if(getsync_flag==0)
{
getsync_flag=1;
- memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
- memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
- current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ 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;}
- }
- ancsync_time=((sync_timer)*1000+tmp_time);
- last_slotnum=current_slotnum;
- temptimer = sync_timer-10;
- if(temptimer<0)
- {temptimer+=1000;}
- //current_slotnum=((float)temptimer/(SLOTTIME_MS*bigslot_num))+1;
- if(current_slotnum==last_slotnum-1)
- {flag_getresponse=1;}
- lastsync_timer=sync_timer;
- //offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
- SetNextPollTime(tagslotpos);
+ tmp_time=tmp_time+450;
+ if(tmp_time>999)
+ {
+ tmp_time-=999;
+ sync_timer++;
+ if(sync_timer>=1010)
+ {sync_timer=0;}
+ }
+
+ //offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
+// SetNextPollTime(tagslotpos);
}
-
+ memcpy(&send_buffer[NEARBASEID_INDEX+singlepoll_i*2],&rx_buffer[ANCHOR_ID_IDX],2);
memcpy(&temp_dist, &rx_buffer[DIST_IDX], 4);
- memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
- singlepoll_basedist[singlepoll_i] = temp_dist;
+ memcpy(&send_buffer[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
+ // singlepoll_basedist[singlepoll_i] = temp_dist;
+ // memcpy(&singlepoll_baseid[singlepoll_i], &rx_buffer[ANCHOR_ID_IDX], 2);
+
+ if(temp_dist<minddist)
+ {
+ minddist = temp_dist;
+ memcpy(&mindist_ancid,&rx_buffer[ANCHOR_ID_IDX],2);
+
+ }
+ send_buffer[MESSAGE_TYPE_IDX] = DISCOVERFINAL;
/* Compute final message transmission time. See NOTE 9 below. */
- final_tx_time = (resp_rx_ts + (RESP_RX_TO_FINAL_TX_DLY_UUS * UUS_TO_DWT_TIME)) >> 8;//计算final包发送时间，T5=T4+Treply2
+ final_tx_time = (resp_rx_ts + (600 * UUS_TO_DWT_TIME)) >> 8;//计算final包发送时间，T5=T4+Treply2
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_final_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_final_msg[FINAL_MSG_RESP_RX_TS_IDX], resp_rx_ts);
- final_msg_set_ts(&tx_final_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
- dwt_writetxdata(sizeof(tx_final_msg), tx_final_msg, 0);//将发送数据写入DW1000
- dwt_writetxfctrl(sizeof(tx_final_msg), 0);//设定发送数据长度
+ final_msg_set_ts(&send_buffer[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据
+ final_msg_set_ts(&send_buffer[FINAL_MSG_RESP_RX_TS_IDX], resp_rx_ts);
+ final_msg_set_ts(&send_buffer[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
+ dwt_writetxdata(25,send_buffer, 0);//将发送数据写入DW1000
+ dwt_writetxfctrl(25, 0);//设定发送数据长度
result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
- tag_succ_times++;
- LED0_BLINK;
-
-
-// if(temp_dist<mindist&&temp_dist!=0)
-// {
-// memcpy(&minid, &rx_buffer[ANCHOR_ID_IDX], 4);
-// tag_state=GETNEARMSG;
-// trygetnearmsg_times=10*tag_frequency;
-// mindist=temp_dist;
-// }
+
if(result==0)
{while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成
{ };
@@ -609,36 +606,139 @@
dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
random_delay_tim = DFT_RAND_DLY_TIM_MS;
}
+ // delay_ms(1);
}
+ if(minddist!=0x1ffff&&minddist!=0)
+ {
+ trygetnearmsg_times = 0;
+ tag_state = GETNEARMSG;
+ mainbase_id = mindist_ancid;
+ }
if(getsync_flag==0)
{
// tagslotpos--;
- if(tagslotpos==0||tagslotpos>max_slotpos)
- {
- tagslotpos=max_slotpos;
- }
- tyncpoll_time=(tagslotpos-1)*slottime;
+// if(tagslotpos==0||tagslotpos>max_slotpos)
+// {
+// tagslotpos=max_slotpos;
+// }
+// tyncpoll_time=(tagslotpos-1)*slottime;
}
// mainbase_id=minid;
// mainbase_id = 0x4;
}
+int16_t target_offsettime = 850;
+//#define TAGET_OFFSETTIME 940
+#define MAX_NEARBASE_ANCNUM 11
+u16 rec_maxrangelen,rec_anc_signalpower[MAX_NEARBASE_ANCNUM];
+u8 outrange_times;
+extern u32 synctimer;
+u32 target_time=100;
+u8 pd_i;
+u32 temptime,delaytime,expect_anctime;
+int32_t error_time;
+u16 delaycount;
+int16_t poll_offsettime=-6900,clockoffset;
+extern u16 slotpos_intoatl, slotpos;
+void NextPollDelay(u32 anchor_time)
+{
+ //tagslotpos = 0;
+ error_time = anchor_time-expect_anctime;
+ if(error_time<2000&&error_time>0)
+ clockoffset += (target_offsettime-error_time)*0.1;
+ for(pd_i=0;pd_i<tag_frequency;pd_i++)
+ {
+ slotpos_intoatl = pd_i*bigslot_num+tagslotpos;
+ temptime = (slotpos_intoatl*SLOTTIME_MS+100)*100;
+ if(anchor_time<temptime-5000)
+ {
+ current_slotnum = pd_i;
+ delaytime = temptime-anchor_time+poll_offsettime+clockoffset;
+ expect_anctime = temptime;
+ return ;
+ }
+ }
+ temptime = (tagslotpos*SLOTTIME_MS+100+10000)*100;
+ expect_anctime = temptime-1000000;
+ delaytime = temptime-anchor_time+poll_offsettime+clockoffset;
+ return ;
+}
+u16 lpcount,poll_startcount,last_lpcount;
+u16 waketopolltimeus = 3200;
+#define BASENUM_COMTIME 244
+u32 last_anchor_time;
+void SetLPTimer(u32 anchor_time)
+{
+ NextPollDelay(anchor_time);
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ lpcount = current_count+delaytime/LPTIMER_LSB+(10-nearbase_num)*8;
+ poll_startcount = lpcount+(waketopolltimeus)/LPTIMER_LSB;
+ if(poll_startcount>=32768)
+ {
+ poll_startcount -=32768;
+ }
+ if(lpcount>=32768)
+ {
+ lpcount -=32768;
+ }
+ __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
+ last_lpcount = lpcount;
+ }
+
+void NextSlotDelayMs(int16_t delayms)
+{
+ current_slotnum++;
+ if(current_slotnum>=tag_frequency)
+ {
+ current_slotnum = 0;
+ lpcount = last_lpcount+31457/tag_frequency+1311+32.767*delayms;//(float)(delayms+40)*32.767 ;//(200/tag_frequency+delayms)*4.8*1000/LPTIMER_LSB
+ }else{
+ lpcount = last_lpcount+31457/tag_frequency+32.767*delayms;//(float)(200/tag_frequency*48+delayms*10)*3.3 ;
+ }
+ if(lpcount>=32768)
+ {
+ lpcount -=32768;
+ }
+ poll_startcount = lpcount+(waketopolltimeus)/LPTIMER_LSB;
+ if(poll_startcount>=32768)
+ {
+ poll_startcount -=32768;
+ }
+ __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
+ last_lpcount = lpcount;
+}
+
u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32],mainbase_type;;
void GetNearMsg(void)
{
u32 start_poll,frame_len;
-
-//mainbase_id = 0x9724;
+ u8 nearmsg_i=0;
+ NextSlotDelayMs(0);
+ for(nearmsg_i=0;nearmsg_i<20;nearmsg_i++)
+ {
+ nearbase_distlist[nearmsg_i] = 0x1ffff;
+ }
+//mainbase_id = 0x9818;
memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);
- tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
+ tx_near_msg[MESSAGE_TYPE_IDX] = POS_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
+ 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);
-
+ NextSlotDelayMs(0);
/* 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
{
@@ -652,7 +752,7 @@
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
+ if (rx_buffer[MESSAGE_TYPE_IDX] == POS_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);
@@ -669,51 +769,99 @@
// tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
}
}
+void SendHuiZongData(void)
+{
+ usart_send[2] = 0x0c;//正常模式
+ usart_send[3] = 15+8*(nearbase_num+1);//数据段长度
+ memcpy(&usart_send[4],&dev_id,2);
+ usart_send[6] = frame_seq_nb;
+ usart_send[7] = frame_seq_nb>>8;
+ usart_send[8] = bat_percent;
+ usart_send[9] = tx_near_msg[BUTTON_IDX];
+ memcpy(&usart_send[10],&intheight,2);
+ usart_send[12] = tag_frequency;
+ usart_send[13] = tagslotpos;
+ usart_send[14] = 0;
+ usart_send[15] = 0;
+ usart_send[16] = nearbase_num+1;
+ memcpy(&usart_send[17],&mainbase_id,2);
+ memcpy(&usart_send[19],&nearbaseid_list,2*nearbase_num);
+ memcpy(&usart_send[19+nearbase_num*2],&nearbase_distlist,4*nearbase_num+4);
+ memcpy(&usart_send[19+nearbase_num*6+4],&rec_anc_signalpower,2*nearbase_num+2);
+
+ checksum = Checksum_u16(&usart_send[2],23+8*nearbase_num);
+ memcpy(&usart_send[25+8*nearbase_num],&checksum,2);
+ USART_puts(usart_send,27+8*nearbase_num);
+ //HexToAsciiSendUDP(usart_send,27+8*nearbase_num);
+}
+uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
+uint8_t motor_flag;
void NearPoll(void)
{
uint32_t temp1,temp2,dw_systime,mindist_slavebaseid;
-
+ static u8 notenoughdist_count=0;
uint32_t final_tx_time;
u32 start_poll;
- u8 i,j,getsync_flag=0,timeout;
+ u8 i,j,getsync_flag=0,timeout,get_newdist;
// USART_putc(current_slotnum);
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;
salvebase_mindist=999999;
+ get_newdist = 0;
if(next_nearbase_num>=MAX_NEARBASE_NUM)
{
next_nearbase_num = MAX_NEARBASE_NUM-1;
}
+ if(nearbase_num>10)
+ {nearbase_num = 10;}
// HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
recbase_num=0;
// motor_state=0;
+ if(motor_state!=0&&motor_state!=3)
+ {
+ motor_flag = 1;
+ }else{
+ motor_flag = 0;
+ }
tx_near_msg[BATTARY_IDX] = bat_percent;
- tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2;
+ 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[SEQUENCEH_IDX] = (frame_seq_nb++)>>8;
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*4+4);
+ 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);
+
if(intheight!=0)
intheight+=g_com_map[HEIGHTOFFEST_INDEX];
- memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6+4],&intheight,2);
- tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;
+ 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(28+6*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(28+6*nearbase_num, 0);//设置超宽带发送数据长度
+ 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
+ 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(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_RESET);
// for(i=0;i<nearbase_num+1;i++)
// {
// nearbase_distlist[i] = 0x1ffff;
@@ -726,7 +874,7 @@
flag_getresponse=0;
start_count=HAL_LPTIM_ReadCounter(&hlptim1);
recbase_num=0;
- timeout=ceil((float)nearbase_num*SLOT_SCALE)+2;
+ timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
end_count=start_count+(timeout<<5);
if(end_count>=32768)
{end_count-=32768;}
@@ -749,12 +897,12 @@
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
- dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);//设定接收超时时间，0位没有超时时间
- dwt_rxenable(0);//打开接收
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_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
+ dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
+ dwt_rxenable(0);//打开接收
+ //HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_SET);
+ if (rx_buffer[MESSAGE_TYPE_IDX] == POS_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
@@ -772,8 +920,8 @@
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+nearbase_num*4], 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;
-
+ tx_near_msg[MESSAGE_TYPE_IDX]=POS_FINAL;
+ rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;
if(rec_remotepara_state&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2))
{
para_update = 1;
@@ -788,12 +936,31 @@
userkey_state = !GET_USERKEY;
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
+ if(temp_dist!=nearbase_distlist[0])
+ {
+ get_newdist++;
+ }
mainbase_dist=temp_dist;
nearbase_distlist[0] = temp_dist;
base_mindist = temp_dist;
if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
- rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;
+ if(frame_len==28)
+ {
+ memcpy(&rec_maxrangelen,&rx_buffer[MAXRANGE_DISTANCE],2);
+ memcpy(&rec_anc_signalpower[0],&rx_buffer[ANC_SIGNALPOWER],2);
+ if(mainbase_dist>rec_maxrangelen&&mainbase_dist>0&&rec_maxrangelen!=0)
+ {
+ if(outrange_times++>OUTRANGE_RESTARTTIMES)
+ {
+ // tag_state = STARTPOLL;
+ }
+ }else{
+ outrange_times = 0;
+ }
+ }
+
+
mainbase_lost_count=0;
flag_finalsend=1;
@@ -811,40 +978,43 @@
{sync_timer=0;}
}
ancsync_time=((sync_timer)*1000+tmp_time);
- last_slotnum=current_slotnum;
- current_slotnum=((float)(sync_timer*10 - tagslotpos*SLOTTIME_MS)/(SLOTTIME_MS*bigslot_num))+1;
- if(current_slotnum==last_slotnum-1)
- {flag_getresponse=1;}
- lastsync_timer=sync_timer;
- offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
- SetNextPollTime(tagslotpos);
+ SetLPTimer(ancsync_time);
if(result==0)
{while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成
- { };}
+ { };}
+//HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_RESET);
break;
}else{
rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
+ if(frame_len==28)
+ memcpy(&rec_anc_signalpower[rec_nearbasepos+1],&rx_buffer[ANC_SIGNALPOWER],2);
memcpy(&nearbase_switchdistlist[rec_nearbasepos],&rx_buffer[NR_NEARSWITCH_DISTANCE],2);
+ if(temp_dist!=nearbase_distlist[rec_nearbasepos+1])
+ {
+ get_newdist++;
+ }
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)
+ if(temp_dist<salvebase_mindist&&nearbase_switchdistlist[rec_nearbasepos]==1)
{
salvebase_mindist = temp_dist;
mindist_slavebaseid = rec_nearbaseid;
}
#ifdef SWITCHBASE_ZHUANDIAN
- if(temp_dist<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]!=0&&temp_dist>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
}
}
+ // HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_RESET);
}else{
dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
if(recbase_num!=nearbase_num+1)
@@ -859,8 +1029,8 @@
if(flag_finalsend!=1)
{flag_finalsend = 2;}
dwt_forcetrxoff();
-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);
+// HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_SET);
if(mainbase_lost_count==0)
{
#ifdef SWITCHBASE_DIST
@@ -871,19 +1041,28 @@
{
mainbase_id = mindist_slavebaseid;
tag_state = GETNEARMSG;
+ trygetnearmsg_times = 0;
}
}else{
changemainbase_count = 0;
}
#endif
- }else if(mainbase_lost_count>10*tag_frequency)
+ }else if(mainbase_lost_count>5*tag_frequency)
{
- tag_state = STARTPOLL;
- }
+ // tag_state = DISCPOLL;
+ }
+ if(mainbase_lost_count!=0)
+ {
+ if(mainbase_lost_count<=tag_frequency*1)
+ {NextSlotDelayMs(0);
+ }else{
+ NextSlotDelayMs(0);
+ }
+ }
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];
@@ -891,7 +1070,7 @@
{
if( pack_index == MOTOR_ONTIME_INDEX)
{
- if(motor_keeptime==0)
+ // if(motor_keeptime==0)
motor_keeptime = rec_remotepara[3];
}else{
if(pack_index<200)
@@ -906,22 +1085,35 @@
}
}
}
+ if(get_newdist>2)
+ {
+ notenoughdist_count = 0;
+ }else{
+ if(notenoughdist_count++>3)
+ {
+ notenoughdist_count = 0;
+ // tag_state = DISCPOLL;
+ }
+ }
for(i=0;i<nearbase_num;i++)
{
if(nearbaseid_list[i]!=nearbaseid_list2[i])
{
tag_state = GETNEARMSG;
+ trygetnearmsg_times = 0;
+ nearbaseid_list0[i]=1;
}
}
+ // SendHuiZongData();
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);
}
extern uint8_t module_power,imu_enable,motor_enable;
-
void Registor_Poll(void)
{
static u8 regpoll_count=0;
+ mainbase_lost_count = 0;
tag_frequency = REGISTER_FREQUENCY;
bigslot_num = TOTAL_SLOTNUM/tag_frequency;
regpoll_count++;
@@ -930,7 +1122,9 @@
if(tagslotpos--<2)
tagslotpos=TOTAL_SLOTNUM;
}
- SetNextPollTime(tagslotpos);
+ //SetNextPollTime(tagslotpos);
+ NextSlotDelayMs(-2);
+
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);
@@ -941,7 +1135,7 @@
memcpy(&tx_near_msg[REGP_VERSION_INDEX],&g_com_map[VERSION],2);
memcpy(&tx_near_msg[REGP_IMUTHRES_INDEX],&g_com_map[IMU_THRES],2);
memcpy(&tx_near_msg[REGP_NOMOVESLEEPTIME_INDEX],&g_com_map[NOMOVESLEEP_TIME],2);
- memcpy(&tx_near_msg[REGP_HEIGHTOFFSET_INDEX],&g_com_map[HEIGHTOFFEST_INDEX],2);
+ memcpy(&tx_near_msg[REGP_HEIGHTOFFSET_INDEX],&g_com_map[HEIGHTOFFEST_INDEX],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 | 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
@@ -979,23 +1173,24 @@
if(sync_timer>=1010)
{sync_timer=0;}
}
- ancsync_time=((sync_timer)*1000+tmp_time);
- last_slotnum=current_slotnum;
- temptimer = sync_timer-10;
- if(temptimer<0)
- {temptimer+=1000;}
- current_slotnum=((float)temptimer/(SLOTTIME_MS*bigslot_num))+1;
- if(current_slotnum==last_slotnum-1)
- {flag_getresponse=1;}
- lastsync_timer=sync_timer;
- offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
+ ancsync_time=((sync_timer)*1000+tmp_time);
+ SetLPTimer(ancsync_time);
+// last_slotnum=current_slotnum;
+// temptimer = sync_timer-10;
+// if(temptimer<0)
+// {temptimer+=1000;}
+// current_slotnum=((float)temptimer/(SLOTTIME_MS*bigslot_num))+1;
+// if(current_slotnum==last_slotnum-1)
+// {flag_getresponse=1;}
+// lastsync_timer=sync_timer;
+// offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
// SetNextPollTime(tagslotpos);
mainbase_id=rec_nearbaseid;
nearbase_num=rx_buffer[NEARBASENUM_INDEX];
memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
memcpy(nearbaseid_list2,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
if(tagslotpos!=255)
- tag_state = NEARPOLL;
+ tag_state = DISCPOLL;
}
}
}
@@ -1008,8 +1203,6 @@
//LED0_ON;
SPIx_CS_GPIO->BRR = SPIx_CS;
delay_us(700);
- GetPressAndHeight();
- intheight = Height*100;
SPIx_CS_GPIO->BSRR = SPIx_CS;
id = dwt_readdevid() ;
while (DWT_DEVICE_ID != id)
@@ -1033,24 +1226,26 @@
break;
case DISCPOLL:
LED_LG_ON;
- Poll();
+ DiscPoll();
LED_LG_OFF;
break;
case GETNEARMSG:
- trygetnearmsg_times--;
- LED_LG_ON;
+ trygetnearmsg_times++;
+ LED_LG_ON;
GetNearMsg();
LED_LG_OFF;
- if(trygetnearmsg_times==0)
+ if(trygetnearmsg_times>5)
{
tag_state = STARTPOLL;
}
break;
case NEARPOLL:
NearPoll();
+ //GetPressAndHeight();
+ //intheight = Height*100;
break;
case SINGLEPOLL:
- Poll();
+ // Poll();
break;
}
userkey_state = !GET_USERKEY;
--
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