1

zhyinch

2021-09-24 3f141eba703463e01e2b5d6489351d3cf50e1100

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -1,6 +1,7 @@
#include "dw_app.h"
#include "ADC.h"
#define TDFILTER
#define CONT_FRAME_PERIOD 124800
enum enumtagstate
{
   DISCPOLL,
@@ -8,7 +9,7 @@
   NEARPOLL,
}tag_state=NEARPOLL;
static dwt_config_t config = {
   2,               /* Channel number. */
   5,               /* Channel number. */
   DWT_PRF_64M,     /* Pulse repetition frequency. */
   DWT_PLEN_128,    /* Preamble length. */
   DWT_PAC8,        /* Preamble acquisition chunk size. Used in RX only. */
@@ -122,7 +123,7 @@
     * performance. */
    Reset_DW1000();//重启DW1000 /* Target specific drive of RSTn line into DW1000 low for a period. */
    dwt_initialise(DWT_LOADUCODE);//初始化DW1000
   Spi_ChangePrescaler(SPIx_PRESCALER_FAST);   //设置为快速模式
   Spi_ChangePrescaler(SPIx_PRESCALER_SLOW);   //设置为快速模式

    /* Configure DW1000. See NOTE 6 below. */
    dwt_configure(&config);//配置DW1000
@@ -345,12 +346,16 @@
    {
        nearbase_distlist[i]=0x1ffff;
    }
      dwt_configcontinuousframemode(CONT_FRAME_PERIOD);
   tx_nearpoll_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;   
   memcpy(&tx_nearpoll_msg[ANCHOR_ID_IDX],&mainbase_id,2);   
   dwt_writetxdata(13+4*nearbase_num, tx_nearpoll_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
   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
	
   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)
    {
    IdleTask();
    }
   flag_finalsend=0;
   flag_rxon=1;
   neartimout_timer=0;
@@ -828,6 +833,7 @@
            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
         }
}
extern u16 dist_threshold;
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,getrange_success=0;
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase  1 first near_base
{
@@ -924,16 +930,17 @@
               /*--------------------------以下为非测距逻辑------------------------*/
               //dist_cm=33000;
               getrange_success = 1;
               g_Resttimer=0;
					
               LED0_BLINK; //每成功一次通讯则闪烁一次
               dis_after_filter=dist_cm;
               hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10;
               g_flag_Taggetdist[taglist_pos]=0;
               if(hex_dist>0&&hex_dist<2000000)
               if(hex_dist>-10000&&hex_dist<2000000)
               {
               if(abs(hex_dist-his_dist[taglist_pos])<10000||misdist_num[taglist_pos]>3)
               if(abs(hex_dist-his_dist[taglist_pos])<dist_threshold||misdist_num[taglist_pos]>3)
               {
                  int32_t filter_dist;
                        g_Resttimer=0;
                  #ifdef TDFILTER
                  NewTrackingDiffUpdate(taglist_pos, (float)hex_dist);
                  filter_dist=pos_predict[taglist_pos]/10;