zhyinch
2021-03-03 51e6f405ab9a9c4fc21d0e1bc3220e389a72939b
Ô´Âë/ºËÐİå/Src/application/dw_app.c
@@ -28,7 +28,7 @@
#include <stdio.h>
#include "beep.h"
#include "modbus.h"
//#define DEBUG_OUTPUT
/*------------------------------------ Marcos ------------------------------------------*/
/* Inter-ranging delay period, in milliseconds. */
#define RNG_DELAY_MS 100
@@ -339,7 +339,6 @@
   u8 bat_percent;
   //LED0_ON;
   dwt_forcetrxoff();
   g_Resttimer=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(RESP_RX_TIMEOUT_UUS);      
   tag_succ_times = 0;
@@ -362,6 +361,9 @@
    * set by dwt_setrxaftertxdelay() has elapsed. */
   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
   start_poll = time32_incr;
               #ifdef DEBUG_OUTPUT
        printf("P包发送,基站ID: %d .\r\n",i);
            #endif
   /* 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
   { if(time32_incr - start_poll>20)
@@ -440,16 +442,20 @@
         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
         
             #ifdef DEBUG_OUTPUT
            printf("F包发送,基站ID: %d .\r\n",i);
            #endif
         tag_succ_times++;
         
            LED0_BLINK;
            g_Resttimer=0;
               memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
               if(hex_dist2!=0xffff)
               {   
               g_Tagdist[anc_id_recv]=   hex_dist2;
               g_flag_Taggetdist[anc_id_recv]=0;
               if(!g_com_map[MODBUS_MODE])
               {
               hex_dist2 = hex_dist2;      
@@ -470,7 +476,9 @@
      //         memcpy(&Modbus_HoldReg[anc_id_recv*2],&hex_dist,4);
         /* Poll DW1000 until TX frame sent event set. See NOTE 8 below. */
         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
         {
            while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成
         { };
      }
         /* Clear TXFRS event. */
@@ -487,6 +495,9 @@
   }
   else
   {
          #ifdef DEBUG_OUTPUT
            printf("R包失败错误信息: %x .\r\n",status_reg);
            #endif
      /* Clear RX error events in the DW1000 status register. */
      dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
      random_delay_tim = DFT_RAND_DLY_TIM_MS;
@@ -507,6 +518,7 @@
#define TDFILTER
//#define CHECK_UID
extern uint8_t UID_ERROR;
extern u16 dist_threshold;
u8 misdist_num[TAG_NUM_IN_SYS];
void Anchor_App(void)
{
@@ -522,7 +534,6 @@
   while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_send_flag&&!g_start_sync_flag)//不断查询芯片状态直到接收成功或者出现错误
   { 
      IdleTask();
      g_Resttimer=0;
   };
   if (status_reg & SYS_STATUS_RXFCG)//成功接收
@@ -584,6 +595,9 @@
         frame_seq_nb2 = rx_buffer[SEQUENCE_IDX];
         /* We assume that the transmission is achieved correctly, now poll for reception of expected "final" frame or error/timeout.
          * See NOTE 7 below. */
            #ifdef DEBUG_OUTPUT
            printf("收到POLL包,标签ID: %d .\r\n",tag_id_recv);
            #endif
         if(result==0)
         {
            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接收成功或者出现错误
@@ -643,13 +657,16 @@
//               dist[TAG_ID] = LP(dis, TAG_ID); //LP ä¸ºä½Žé€šæ»¤æ³¢å™¨ï¼Œè®©æ•°æ®æ›´ç¨³å®š
               
               /*--------------------------以下为非测距逻辑------------------------*/
             #ifdef DEBUG_OUTPUT
            printf("收到FINAL包,标签ID: %d .\r\n",tag_id_recv);
            #endif
               LED0_BLINK; //每成功一次通讯则闪烁一次
               g_UWB_com_interval = 0;
               g_Resttimer=0;
               hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10;
               if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS)
               {
               if(abs(hex_dist-his_dist[tag_id_recv-TAG_ID_START])<15000||misdist_num[tag_id_recv-TAG_ID_START]>4)
               if(abs(hex_dist-his_dist[tag_id_recv-TAG_ID_START])<dist_threshold||misdist_num[tag_id_recv-TAG_ID_START]>4)
               {
                  int32_t filter_dist;
                  misdist_num[tag_id_recv-TAG_ID_START]=0;
@@ -695,6 +712,9 @@
            }
         }else{
            /* Clear RX error events in the DW1000 status register. */
            #ifdef DEBUG_OUTPUT
            printf("F包失败错误信息: %x .\r\n",status_reg);
            #endif
            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
         }
      }else if(rx_buffer[MESSAGE_TYPE_IDX] == SYNC)
@@ -710,6 +730,9 @@
   }
   else
   {
         #ifdef DEBUG_OUTPUT
            printf("P包失败错误信息: %x .\r\n",status_reg);
            #endif
      /* Clear RX error events in the DW1000 status register. */
      dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
   }