1

zhyinch

2019-11-23 c23f343e74095a5a90bfa3fd262c201063c90096

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -319,21 +319,21 @@
    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;
   tx_poll_msg[BATTARY_IDX] = Get_Battary();
   tx_poll_msg[BUTTON_IDX] = !READ_KEY0;
   tx_poll_msg[SEQUENCE_IDX] = frame_seq_nb++;
   tx_poll_msg[NEARBASENUM_INDEX] = nearbase_num;
   memcpy(&tx_poll_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
	
   tx_poll_msg[ANC_TYPE_IDX] = i;	
   dwt_writetxdata(sizeof(tx_poll_msg), tx_poll_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
   dwt_writetxfctrl(sizeof(tx_poll_msg), 0);//设置超宽带发送数据长度
   tx_near_msg[BATTARY_IDX] = Get_Battary();
   tx_near_msg[BUTTON_IDX] = !READ_KEY0;
   tx_near_msg[SEQUENCE_IDX] = frame_seq_nb++;
   tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
   memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
   tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;	
   memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);	
   dwt_writetxdata(sizeof(tx_near_msg), tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
   dwt_writetxfctrl(sizeof(tx_near_msg), 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

   neartimout_timer=0;
   recbase_num=0;
   timeout=nearbase_num/4+2;
         while(neartimout_timer<timeout&&recbase_num<nearbase_num)
         while(neartimout_timer<timeout&&recbase_num<nearbase_num+1)
         {
               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
               { 
@@ -351,6 +351,7 @@
                     {   u16 rec_nearbaseid,rec_nearbasepos;
                        poll_tx_ts = get_tx_timestamp_u64();                              //获得POLL发送时间T1
                        resp_rx_ts = get_rx_timestamp_u64();                              //获得RESPONSE接收时间T4   
                        recbase_num++;
                        memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
                        rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
                        if(rec_nearbaseid==mainbase_id)
@@ -376,15 +377,17 @@
                           final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS+DELAY_BETWEEN_TWO_FRAME_UUS*nearbase_num) * 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_final_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据
                           final_msg_set_ts(&tx_final_msg[FINAL_MSG_RESP_RX_TS_IDX], resp_rx_ts);
                           final_msg_set_ts(&tx_final_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
                           dwt_writetxdata(sizeof(tx_final_msg), tx_final_msg, 0);//将发送数据写入DW1000
                           dwt_writetxfctrl(sizeof(tx_final_msg), 0);//设定发送数据长度
                           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
                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_TS_IDX], resp_rx_ts);
                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
                           tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
                           dwt_writetxdata(sizeof(tx_near_msg), tx_near_msg, 0);//将发送数据写入DW1000
                           dwt_writetxfctrl(sizeof(tx_near_msg), 0);//设定发送数据长度
                           result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送         
                        }else{
                           final_msg_set_ts(&tx_final_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+rec_nearbasepos*4], resp_rx_ts);								
                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+rec_nearbasepos*4], resp_rx_ts);								
                           memcpy(&nearbase_distlist[rec_nearbasepos],&rx_buffer[DIST_IDX],4);
                           dwt_writetxdata(sizeof(tx_near_msg), tx_near_msg, 0);//将发送数据写入DW1000
                        }                        
                     }
                  }         
@@ -449,8 +452,10 @@
      if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_MSG&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
      {
         nearbase_num=rx_buffer[NEARBASENUM_INDEX];
         tagslotpos=rx_buffer[TAGSLOTPOS];
         memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
         slottime=ceil((nearbase_num+2)*0.3)+1;
         tyncpoll_time=tagslotpos*slottime;
         tag_state=NEARPOLL;
      }
   }
@@ -509,18 +514,18 @@
         tmp_time=TIM3->CNT;
         memcpy(&tx_resp_msg[ANCTIMEMS],&sync_timer,2);
         memcpy(&tx_resp_msg[ANCTIMEUS],&tmp_time,2);
         memcpy(&tx_resp_msg[TAGSLOTPOS],&taglist_pos,2);

         memcpy(&tx_resp_msg[TAGSLOTPOS],&taglist_pos,1);
			
         poll_rx_ts = get_rx_timestamp_u64();//获得Poll包接收时间T2

         resp_tx_time = (poll_rx_ts + (POLL_RX_TO_RESP_TX_DLY_UUS * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
         dwt_setdelayedtrxtime(resp_tx_time);//设置Response发送时间T3
         dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS);//设置发送完成后开启接收延迟时间
         dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间

         if(tag_id_recv-TAG_ID_START<=TAG_NUM_IN_SYS)
         memcpy(&tx_resp_msg[DIST_IDX], &anchor_dist_last_frm[tag_id_recv-TAG_ID_START], 4);
		
			
         memcpy(&tx_resp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);			
         memcpy(&tx_resp_msg[TAG_ID_IDX],&tag_id_recv,2);
			
         dwt_writetxdata(sizeof(tx_resp_msg), tx_resp_msg, 0);//写入发送数据
         dwt_writetxfctrl(sizeof(tx_resp_msg), 0);//设定发送长度
         result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，等待接收
@@ -581,9 +586,9 @@
void Anchor_RecNearPoll(u8 ancrec_nearbasepos)
{
         tmp_time=TIM3->CNT;
         memcpy(&tx_resp_msg[ANCTIMEMS],&sync_timer,2);
         memcpy(&tx_resp_msg[ANCTIMEUS],&tmp_time,2);
         memcpy(&tx_resp_msg[TAGSLOTPOS],&taglist_pos,2);
         memcpy(&tx_near_msg[ANCTIMEMS],&sync_timer,2);
         memcpy(&tx_near_msg[ANCTIMEUS],&tmp_time,2);
         memcpy(&tx_near_msg[TAGSLOTPOS],&taglist_pos,1);

         poll_rx_ts = get_rx_timestamp_u64();//获得Poll包接收时间T2

@@ -592,10 +597,10 @@
         dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(nearbase_num-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//设置发送完成后开启接收延迟时间
         dwt_setrxtimeout(FINAL_RX_TIMEOUT_UUS);//接收超时时间

         memcpy(&tx_resp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
		
         dwt_writetxdata(sizeof(tx_resp_msg), tx_resp_msg, 0);//写入发送数据
         dwt_writetxfctrl(sizeof(tx_resp_msg), 0);//设定发送长度
         memcpy(&tx_near_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
         tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_RESPONSE;
         dwt_writetxdata(sizeof(tx_near_msg), tx_near_msg, 0);//写入发送数据
         dwt_writetxfctrl(sizeof(tx_near_msg), 0);//设定发送长度
         result = dwt_starttx(DWT_START_TX_DELAYED | DWT_RESPONSE_EXPECTED);//延迟发送，等待接收

         battary = rx_buffer[BATTARY_IDX];
@@ -708,6 +713,8 @@
         case NEAR_MSG:
            if(anc_id_recv==dev_id)
            {
               rx_buffer[TAGSLOTPOS]=taglist_pos;
               tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
               memcpy(&tx_near_msg[TAG_ID_IDX],&tag_id_recv,2);
               tx_near_msg[NEARBASENUM_INDEX]=g_com_map[NEARBASE_NUM];
               memcpy(&tx_near_msg[NEARBASEID_INDEX],&g_com_map[NEARBASE_ID1],g_com_map[NEARBASE_NUM]*2);