V1.73

zhyinch

2022-04-26 95f736655c46ec4974e89c7f0ca6a542cdbf3532

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -1,7 +1,12 @@
#include "dw_app.h"
#include "ADC.h"
#include "stm32f10x_it.h"
#define TDFILTER
#include "serial_at_cmd_app.h"
#define STRX(x) #x
#define STR(x) STRX(x)
#define __debug_info__           __FILE__ ":" STR(__LINE__)
//#define TDFILTER
#define DBGMSG_OUTPUT
enum enumtagstate
{
   DISCPOLL,
@@ -44,14 +49,14 @@
uint32_t tag_id = 0;
uint32_t tag_id_recv = 0;
uint32_t anc_id_recv = 0;
uint8_t random_delay_tim = 0;
uint8_t random_delay_tim = 0,dbgmsg_len;
double distance, dist_no_bias, dist_cm;
uint32_t g_UWB_com_interval = 0; 
float dis_after_filter;            //当前距离值
LPFilter_Frac* p_Dis_Filter;      //测距用的低通滤波器
int32_t g_Tagdist[TAG_NUM_IN_SYS];
uint8_t g_flag_Taggetdist[256],flag_tag_distsmooth[TAG_NUM_IN_SYS];

char dbgmsg[100];
static uint64_t get_tx_timestamp_u64(void)
{
    uint8_t ts_tab[5];
@@ -385,7 +390,14 @@
                        flag_rxon=0;
                        dwt_forcetrxoff();
                        dwt_setdelayedtrxtime(final_tx_time);
                        result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送	
                        result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
                                if(result!=DWT_SUCCESS&&g_com_map[MODBUS_ID1]==1)
                                {
                                    #ifdef DBGMSG_OUTPUT
                                    dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
                                    SendDbgMsg(dbgmsg,dbgmsg_len);
                                    #endif       
                                }
                        break;
                     }
                  }
@@ -394,15 +406,17 @@
               };
               if(status_reg==0xffffffff)
               {
                  NVIC_SystemReset();
                  //NVIC_SystemReset();
               }
               if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
                  {
                            rflosttimer = 0;
                     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
                     dwt_setrxtimeout(0);//DELAY_BETWEEN_TWO_FRAME_UUS*(nearbase_num+1-recbase_num)+10);//设定接收超时时间，0位没有超时时间
                     dwt_rxenable(0);//打开接收
                             rflosttimer = 0;
                     if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)&&rx_buffer[GROUP_ID_IDX] == group_id) //判断接收到的数据是否是response数据
                     {   u16 rec_nearbaseid,rec_nearbasepos;
                        int32_t temp_dist;
@@ -534,6 +548,7 @@
                           if(temp_dist!=0x1ffff )
                           {
                              #ifdef USART_SINGLE_OUTPUT
                                        
                              usart_send[2] = 1;//正常模式
                              usart_send[3] = 29;//数据段长度
                              usart_send[4] = frame_seq_nb;//数据段长度
@@ -561,7 +576,15 @@
                  }else{
                  dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
                  if(flag_rxon)
                     {dwt_rxenable(0);	
                     {
                                dwt_rxenable(0);
                                if(g_com_map[MODBUS_ID1]==1)
                                {
                               #ifdef DBGMSG_OUTPUT
                                dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
                                SendDbgMsg(dbgmsg,dbgmsg_len);
                               #endif  
                                }                                    
                     }                        
                  }                     
         }
@@ -744,7 +767,6 @@
            NearPoll();
         break;
   }

   SetNextPollTime(tyncpoll_time);
   g_start_send_flag = 0;      
   GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);   
@@ -925,7 +947,7 @@
               motorstate =0;
            }
         }
      tx_nearresp_msg[GROUP_ID_IDX] = group_id;
            tx_nearresp_msg[GROUP_ID_IDX] = group_id;
         tx_nearresp_msg[MAINBASE_INDEX]=flag_syncbase;
         tx_nearresp_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
         tx_nearresp_msg[MOTORSTATE_INDEX]=motorstate;//(remotesend_state<<4)|motorstate;
@@ -946,12 +968,18 @@
         result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，等待接收

         
         if(result==0)
         if(result==DWT_SUCCESS)
         {
            while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR))&&!g_start_sync_flag)///不断查询芯片状态直到接收成功或者出现错误
         { };
      }else{
         result++;
            if(g_com_map[MODBUS_ID1]==1)
            {
                #ifdef DBGMSG_OUTPUT
                dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
                SendDbgMsg(dbgmsg,dbgmsg_len);
                #endif   
            }                
      }
   
         if (status_reg & SYS_STATUS_RXFCG)//接收成功
@@ -1037,6 +1065,7 @@
                            g_Tagdist[taglist_pos]= 0x2ffff;
                        }
            #ifdef USART_SINGLE_OUTPUT
                        
               usart_send[2] = 1;//正常模式 
               usart_send[3] = 29;//数据段长度
               usart_send[4] = frame_seq_nb2;//数据段长度
@@ -1068,6 +1097,13 @@
         }
         }else{
               //printf("%x/n",status_reg);
                if(g_com_map[MODBUS_ID1]==1)
                {
                 #ifdef DBGMSG_OUTPUT
                dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
                SendDbgMsg(dbgmsg,dbgmsg_len);
                #endif
                }
            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
         }
}
@@ -1098,7 +1134,7 @@
   { u16 tag_recv_interval;
      float temp_tagpos;
   

        rflosttimer = 0;
      dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG);//清除标志位
      frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFL_MASK_1023;//获得接收数据长度
        recpoll_len = frame_len;
@@ -1224,9 +1260,15 @@
            
            break;      
      }   
   }else{
   }
}else{
        #ifdef DBGMSG_OUTPUT
    if((status_reg&SYS_STATUS_ALL_RX_ERR)&&g_com_map[MODBUS_ID1]==1)
    { dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
        SendDbgMsg(dbgmsg,dbgmsg_len);
    }
        #endif
      dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
   }
}
}