v1.72

zhyinch

2022-04-17 cb5ff916850a3ab91774f6125cc3e73a04e6d754

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -1,6 +1,12 @@
#include "dw_app.h"
#include "ADC.h"
#define TDFILTER
#include "stm32f10x_it.h"
#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,
@@ -43,14 +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];
@@ -318,7 +324,7 @@
u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0,uwbrec_userdata[20],uwbrec_userdatalen;
u16 temp_sync_timer1,temp_sync_timer2;
extern u8 usartrec_userdatalen,heartbeat_timer;
 void NearPoll(void)
void NearPoll(void)
{
   static u8 mainbase_lost_count=0,flag_finalsend,flag_rxon;
   uint32_t temp1,temp2,dw_systime;
@@ -384,7 +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)
                                {
                                    #ifdef DBGMSG_OUTPUT
                                    dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
                                    SendDbgMsg(dbgmsg,dbgmsg_len);
                                    #endif       
                                }
                        break;
                     }
                  }
@@ -424,22 +437,22 @@
                           memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
                           
                           
                           if(g_com_map[DEV_ROLE]!=0)
                           {
                           sync_timer=temp_sync_timer1;
////                           memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);		
//                           if(g_com_map[DEV_ROLE]!=0)
//                           {
//                           sync_timer=temp_sync_timer1;
//////                           memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);		
////									
//                           
									
                              tmp_time=tmp_time+650;
                           if(tmp_time>999)
                           {
                              tmp_time-=999;
                              sync_timer++;
                              if(sync_timer>=1000)
                                 {sync_timer=0;}
                           }
                           TIM3->CNT=tmp_time;
                        }
//                              tmp_time=tmp_time+650;
//                           if(tmp_time>999)
//                           {
//                              tmp_time-=999;
//                              sync_timer++;
//                              if(sync_timer>=1000)
//                                 {sync_timer=0;}
//                           }
//                           TIM3->CNT=tmp_time;
//                        }
                           current_slotnum=temp_sync_timer1/g_com_map[COM_INTERVAL];
//                           if(tagslotpos>max_slotpos)
//                              tagslotpos=tagslotpos%(max_slotpos+1);
@@ -560,7 +573,12 @@
                  }else{
                  dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
                  if(flag_rxon)
                     {dwt_rxenable(0);	
                     {
                                dwt_rxenable(0);
                               #ifdef DBGMSG_OUTPUT
                                dbgmsg_len = sprintf(dbgmsg,"%s status_reg:%x",__debug_info__,status_reg);
                                SendDbgMsg(dbgmsg,dbgmsg_len);
                               #endif                                
                     }                        
                  }                     
         }
@@ -584,9 +602,10 @@
//               temp_adc=Get_ADC_Value();
//               random_value=random_value|((temp_adc&0x01)<<i);
//            }
                pollsendtimer+=time32_incr%11;
            tagslotpos=GetRandomSlotPos(rec_tagpos_binary|tagpos_binary);
            tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
      tag_state=NEARPOLL;		
                tag_state=NEARPOLL;		
         }
      //   tyncpoll_time=0;
         next_nearbase_num=0;
@@ -742,7 +761,6 @@
            NearPoll();
         break;
   }

   SetNextPollTime(tyncpoll_time);
   g_start_send_flag = 0;      
   GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_RESET);   
@@ -923,7 +941,7 @@
               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;
@@ -944,12 +962,15 @@
         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++;
                #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
@@ -1066,6 +1087,10 @@
         }
         }else{
               //printf("%x/n",status_reg);
                 #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);
         }
}
@@ -1222,9 +1247,15 @@
            
            break;      
      }   
   }else{
   }
}else{
        #ifdef DBGMSG_OUTPUT
    if(status_reg&SYS_STATUS_ALL_RX_ERR)
    { 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);
   }
}
}