V2.53 修改UWB通讯标志位，适配2.56之后的标签。

yincheng.zhong

2023-03-02 0a7ffb3c159918e1df3e0a2ab59c48e00cc48272

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -7,7 +7,7 @@
   NEARPOLL,
}tag_state=GETNEARMSG;
static dwt_config_t config = {
   3,               /* 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. */
@@ -398,7 +398,7 @@
            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚标志位
            frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;//数据长度
            dwt_readrxdata(rx_buffer, frame_len, 0);//读取接收数据
         if (rx_buffer[MESSAGE_TYPE_IDX] == FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)) //判断是否为Final包
         if (rx_buffer[MESSAGE_TYPE_IDX] == DISCOVERFINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)) //判断是否为Final包
            {
               uint32_t poll_tx_ts, resp_rx_ts, final_tx_ts;
               uint32_t poll_rx_ts_32, resp_tx_ts_32, final_rx_ts_32;
@@ -511,7 +511,7 @@
            memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
            memcpy(&tx_nearresp_msg[ANC_SIGNALPOWER],&signalpower_list[taglist_pos],2);
         tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
         tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
         tx_nearresp_msg[MESSAGE_TYPE_IDX]=POS_RESPONSE;
         //tx_nearresp_msg[MOTORSTATE_INDEX]=(remotesend_state<<4)|motorstate;
         waittagconfig_reponse=0;
            finalsend = 0;
@@ -575,7 +575,7 @@
         {
            return 1;
         }
         if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)) //判断是否为Final包
         if (rx_buffer[MESSAGE_TYPE_IDX] == POS_FINAL&&!memcmp(&rx_buffer[TAG_ID_IDX],&tag_id_recv,2)) //判断是否为Final包
            {
               
               resp_tx_ts = get_tx_timestamp_u64();//获得response发送时间T3
@@ -833,11 +833,11 @@
               SyncPoll(sync_seq);
         }
            break;
         case NEAR_MSG:
         case POS_MSG:
            if(anc_id_recv==dev_id)
            {
               rx_buffer[TAGSLOTPOS]=taglist_pos;
               tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
               tx_near_msg[MESSAGE_TYPE_IDX] = POS_MSG;
               memcpy(&tx_near_msg[TAG_ID_IDX],&tag_id_recv,2);
               memcpy(&tx_near_msg[NEARMSG_EMPTYSLOTPOS_INDEX],&tagpos_binary,4);
               ancidlist_num=g_com_map[NEARBASE_NUM];
@@ -887,7 +887,7 @@
         UART_PushFrame(usart_send,24);
      }
      break;
         case NEAR_POLL:		
         case POS_POLL:		
      //   GPIO_WriteBit(GPIOB, GPIO_Pin_10, Bit_SET);   
               
            memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);