From d1f86e2717e82d116a0329f33f57435e8f1d4a45 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期三, 15 四月 2020 21:40:05 +0800
Subject: [PATCH] V1.8
---
Src/application/dw_app.c | 82 +++++++++++++++++++++++++++++++---------
1 files changed, 63 insertions(+), 19 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 646250a..57cba0a 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -46,7 +46,7 @@
#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 800
+#define RESP_RX_TO_FINAL_TX_DLY_UUS 850
/* Receive response timeout. See NOTE 5 below. */
#define RESP_RX_TIMEOUT_UUS 600
@@ -65,20 +65,22 @@
#define FINAL_MSG_TS_LEN 4
#define SYNC_SEQ_IDX 5
-
+//common
#define GROUP_ID_IDX 0
#define ANCHOR_ID_IDX 1
#define TAG_ID_IDX 5
#define MESSAGE_TYPE_IDX 9
-#define DIST_IDX 10
+
//Poll
#define ANC_TYPE_IDX 14
#define BATTARY_IDX 15
#define BUTTON_IDX 16
#define SEQUENCE_IDX 17
//respose
+#define DIST_IDX 10
#define ANCTIMEMS 14
#define ANCTIMEUS 16
+#define ANCSEND_INTERVAL 18
#define POLL 0x01
#define RESPONSE 0x02
@@ -104,10 +106,10 @@
static uint8_t tx_poll_msg[20] = {0};
static uint8_t tx_sync_msg[14] = {0};
//static uint8_t rx_resp_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'V', 'E', 'W', 'A', 0x10, 0x02, 0, 0, 0, 0};
-static uint8_t tx_final_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x23, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+static uint8_t tx_final_msg[24] = {0};
//static uint8_t rx_poll_msg[] = {0x00, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x21, 0, 0};
-static uint8_t tx_resp_msg[20] = {0};
+static uint8_t tx_resp_msg[22] = {0};
//static uint8_t rx_final_msg[] = {0x41, 0x88, 0, 0xCA, 0xDE, 'W', 'A', 'V', 'E', 0x23, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
/* Frame sequence number, incremented after each transmission. */
@@ -254,7 +256,7 @@
Reset_DW1000();//重启DW1000 /* Target specific drive of RSTn line into DW1000 low for a period. */
Spi_ChangePrescaler(SPIx_PRESCALER_SLOW); //设置为快速模式
dwt_initialise(DWT_LOADUCODE);//初始化DW1000
- Spi_ChangePrescaler(SPIx_PRESCALER_FAST); //设置为快速模式
+ Spi_ChangePrescaler(SPIx_PRESCALER_FAST); //设置为快速模式
/* Configure DW1000. See NOTE 6 below. */
dwt_configure(&config);//配置DW1000
@@ -276,6 +278,10 @@
tx_resp_msg[MESSAGE_TYPE_IDX]=RESPONSE;
tx_final_msg[MESSAGE_TYPE_IDX]=FINAL;
tx_sync_msg[MESSAGE_TYPE_IDX]=SYNC;
+
+ memcpy(&tx_poll_msg[GROUP_ID_IDX], &group_id, 1);
+ memcpy(&tx_final_msg[GROUP_ID_IDX], &group_id, 1);
+ memcpy(&tx_resp_msg[GROUP_ID_IDX], &group_id, 1);
memcpy(&tx_poll_msg[TAG_ID_IDX], &dev_id, 4);
memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 4);
@@ -319,8 +325,11 @@
uint16_t checksum;
int8_t tag_delaytime;
extern uint16_t sync_timer;
-uint16_t tmp_time;
-uint32_t time32_incr;uint32_t frame_len;
+uint16_t tmp_time,current_slottimes;
+uint32_t time32_incr;
+int32_t ancsync_time;
+uint32_t frame_len;
+int32_t count_offset,nextpoll_delaytime;
void Tag_App(void)//发送模式(TAG标签)
{
@@ -329,7 +338,8 @@
uint8_t i,getsync_flag=0;
//LED0_ON;
//dwt_forcetrxoff();
- while (DWT_DEVICE_ID != id) // MP IC ONLY (i.e. DW1000) FOR THIS CODE
+ id = dwt_readdevid() ;
+ while (DWT_DEVICE_ID != id)
{
id = dwt_readdevid() ;
}
@@ -337,7 +347,7 @@
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;
- tx_poll_msg[BATTARY_IDX] = Get_Battary();
+ tx_poll_msg[BATTARY_IDX] = bat_percent;
//tx_poll_msg[BUTTON_IDX] = !READ_KEY0;
tx_poll_msg[SEQUENCE_IDX] = frame_seq_nb++;
@@ -366,7 +376,7 @@
/* Increment frame sequence number after transmission of the poll message (modulo 256). */
if(status_reg==0xffffffff)
{
- NVIC_SystemReset();
+ // NVIC_SystemReset();
}
if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
@@ -383,8 +393,8 @@
/* Check that the frame is the expected response from the companion "DS TWR responder" example.
* As the sequence number field of the frame is not relevant, it is cleared to simplify the validation of the frame. */
- if (rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,4)) //判断接收到的数据是否是response数据
- { uint16_t anc_id_recv;
+ if (rx_buffer[GROUP_ID_IDX] == group_id&&rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,4)) //判断接收到的数据是否是response数据
+ { uint16_t anc_id_recv,current_count,rec_com_interval;
/* Retrieve poll transmission and response reception timestamp. */
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
@@ -402,10 +412,20 @@
if(sync_timer>=1010)
{sync_timer=0;}
}
+
+
// TIM3->CNT=tmp_time;
}
memcpy(&hex_dist2, &rx_buffer[DIST_IDX], 4);
memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
+ memcpy(&rec_com_interval,&rx_buffer[ANCSEND_INTERVAL], 2);
+ if(rec_com_interval>4&&rec_com_interval!=g_com_map[COM_INTERVAL])
+ {
+ g_com_map[COM_INTERVAL]=rec_com_interval;
+ save_com_map_to_flash();
+ delay_ms(100);
+ SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
+ }
/* 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
dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
@@ -423,10 +443,34 @@
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
result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
+
+ ancsync_time=((sync_timer+0)*1000+tmp_time);
+ current_count=HAL_LPTIM_ReadCounter(&hlptim1);
+ // count_offset=sync_count-current_count-143;
+ // current_slottimes=(ancsync_time-10000)/(g_com_map[COM_INTERVAL]*1000);
+ nextpoll_delaytime=tyncpoll_time*1000+g_com_map[COM_INTERVAL]*1000-((ancsync_time-10000)%(g_com_map[COM_INTERVAL]*1000))-5150;
+ if(abs(ancsync_time-910000)<1000)
+ {
+ nextpoll_delaytime+=10000;
+ }
+ if(nextpoll_delaytime<2000)
+ {
+ nextpoll_delaytime+=g_com_map[COM_INTERVAL]*1000;
+ }
+ lastpoll_count= current_count+(nextpoll_delaytime)/LPTIMER_LSB;
+ if(lastpoll_count>LPTIMER_1S_COUNT)
+ lastpoll_count-=LPTIMER_1S_COUNT;
+ __HAL_LPTIM_COMPARE_SET(&hlptim1, lastpoll_count);
+
+// printf("ancsync_time: %u \r\n ",ancsync_time);
+// printf("current_slottimes: %u ",current_slottimes);
+// printf("nextpoll_delaytime: %u ",nextpoll_delaytime);
+// printf("current_count: %u ",current_count);
+// printf("lastpoll_count: %u",lastpoll_count);
+
tag_succ_times++;
- LED0_BLINK;
memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
// g_Tagdist[anc_id_recv]= hex_dist;
@@ -444,7 +488,7 @@
usart_send[14] = button;
checksum = Checksum_u16(&usart_send[2],17);
memcpy(&usart_send[19],&checksum,2);
- UART_PushFrame(usart_send,21);
+ // UART_PushFrame(usart_send,21);
}
// memcpy(&Modbus_HoldReg[anc_id_recv*2],&hex_dist,4);
/* Poll DW1000 until TX frame sent event set. See NOTE 8 below. */
@@ -473,10 +517,10 @@
// deca_sleep(10);
}
dwt_entersleep();
- if(tag_succ_times<g_com_map[MIN_REPORT_ANC_NUM])
- {
- //poll_timer +=time32_incr&0x7+3;
- }
+// if(tag_succ_times<g_com_map[MIN_REPORT_ANC_NUM])
+// {
+// //poll_timer +=time32_incr&0x7+3;
+// }
//HAL_PWR_EnterSLEEPMode(PWR_MAINREGULATOR_ON, PWR_SLEEPENTRY_WFI);
/* Execute a delay between ranging exchanges. */
--
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