1对4完成

zhyinch

2019-12-24 9a4a74b85489fafa113ea76c31fbbf26feee31b6

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -298,7 +298,7 @@
      }
      tyncpoll_time=(tagslotpos-1)*slottime;
   }
   mainbase_id=minid;
   mainbase_id=0;//minid;
}

u8 FindNearBasePos(u16 baseid)
@@ -343,7 +343,8 @@
}
void NearPoll(void)
{
   static u8 mainbase_lost_count=0;
   static u8 mainbase_lost_count=0,flag_finalsend;
   uint32_t temp1,temp2,dw_systime;
   uint32_t frame_len;
   uint32_t final_tx_time;
   u32 start_poll;
@@ -362,15 +363,25 @@
   dwt_writetxfctrl(24, 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

   flag_finalsend=0;
   neartimout_timer=0;
   recbase_num=0;
   timeout=nearbase_num/4+12;
   mainbase_dist=100000;
   mainbase_lost_count++;
         while(neartimout_timer<timeout&&recbase_num<nearbase_num+1)
         while(neartimout_timer<timeout)
         {
               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(flag_finalsend)
                  {
                     dw_systime=dwt_readsystimestamphi32();
                     if(dw_systime>temp1&&dw_systime<temp2)
                     {
                        flag_finalsend=0;
                        result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送	
                     }
                  }
                   if(neartimout_timer>timeout)
                        break;
               };
@@ -383,7 +394,7 @@
                     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(DELAY_BETWEEN_TWO_FRAME_UUS+120);//设定接收超时时间，0位没有超时时间
                     //dwt_setrxtimeout(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
                     if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
                     {   u16 rec_nearbaseid,rec_nearbasepos;
@@ -411,8 +422,11 @@
                              tyncpoll_time=(tagslotpos-1)*slottime;
                           ////////////////////////////
                           mainbase_lost_count=0;
                           flag_finalsend=1;
                           memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);
                           final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS+DELAY_BETWEEN_TWO_FRAME_UUS*nearbase_num+130) * UUS_TO_DWT_TIME)) >> 8;
                           final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS+DELAY_BETWEEN_TWO_FRAME_UUS*nearbase_num+500) * UUS_TO_DWT_TIME)) >> 8;
                           temp1=final_tx_time-((200*UUS_TO_DWT_TIME)>>8);
                           temp2=final_tx_time+((100*UUS_TO_DWT_TIME)>>8);
                           dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
                           final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final包实际发送时间是计算时间加上发送天线delay
                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据
@@ -421,7 +435,7 @@
                           tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
                           dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//将发送数据写入DW1000
                           dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度
                           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			
                        }else{
                           rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4], resp_rx_ts);                        
@@ -429,12 +443,18 @@
                           dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//将发送数据写入DW1000
                           dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度
                           LED0_BLINK;
                           if(rec_nearbasepos+1==nearbase_num)
                           {
                              result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送	
                              break;
                           }
                           //dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
                        //   result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送         
                           //dwt_writetxdata(4,&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4], FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos+1)*4);//将发送数据写入DW1000
                        }                        
                     }
                  }         
                  dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
         }
         if(mainbase_lost_count>5)
         {
@@ -613,13 +633,13 @@
            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
         }
}

u8 misdist_num;
void Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase  1 first near_base
{
         tmp_time=TIM3->CNT;
         memcpy(&tx_near_msg[ANCTIMEMS],&sync_timer,2);
         memcpy(&tx_near_msg[ANCTIMEUS],&tmp_time,2);
         memcpy(&tx_near_msg[TAGSLOTPOS],&taglist_pos,1);
         memcpy(&tx_near_msg[TAGSLOTPOS],&taglist_pos,2);
         memcpy(&tx_near_msg[TAG_ID_IDX],&tag_id_recv,2);
         poll_rx_ts = get_rx_timestamp_u64();//获得Poll包接收时间T2

@@ -677,10 +697,12 @@
               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];
               if(abs(hex_dist-his_dist[tag_id_recv-TAG_ID_START])<1000)
               if(hex_dist>-1000&&hex_dist<100000)
               {
                  tagdist_list[taglist_pos] = hex_dist;
               }
               if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num>3)
               {
                  misdist_num=0;
               tagdist_list[taglist_pos] = hex_dist;	
               his_dist[taglist_pos]=hex_dist;                  
               usart_send[2] = 1;//正常模式
               usart_send[3] = 17;//数据段长度
@@ -693,7 +715,11 @@
               checksum = Checksum_u16(&usart_send[2],17);
               memcpy(&usart_send[19],&checksum,2);
               UART_PushFrame(usart_send,21);
               }else{
                  misdist_num++;
               }
            }
         }
         }else{
            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
         }