V1.55 增加馈线长度，测试通过

zhyinch

2021-09-16 e391e8ff47bd0c6b55fe268ac54414c093ae6246

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -115,6 +115,7 @@
      }
   }
}
extern u16 g_commap_antdelay;
void Dw1000_Init(void)
{
   /* Reset and initialise DW1000.
@@ -131,7 +132,7 @@
   
    /* Apply default antenna delay value. See NOTE 1 below. */
    dwt_setrxantennadelay(RX_ANT_DLY);      //设置接收天线延迟
    dwt_settxantennadelay(TX_ANT_DLY);      //设置发射天线延迟
    dwt_settxantennadelay(g_commap_antdelay);      //设置发射天线延迟

    /* Set expected response's delay and timeout. See NOTE 4 and 5 below.
     * As this example only handles one incoming frame with always the same delay and timeout, those values can be set here once for all. */
@@ -396,7 +397,7 @@
                     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
                     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
                     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;
                        poll_tx_ts = get_tx_timestamp_u64();                              //获得POLL发送时间T1
@@ -836,8 +837,11 @@
            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
         }
}
u16 smallcar_idlist[10]={0x4052,0x4032,0x4055,0x4034,0x4016,0x4010,0x4036,0x4027,0x4024,0x4047};
extern u16 dist_threshold;
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,getrange_success=0;
int32_t filter_dist,filter_speed;
u8 newmeasure;
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase  1 first near_base
{
   u8 motorstate;
@@ -873,6 +877,7 @@
         }else{
            memcpy(&tx_nearresp_msg[DIST_IDX], &tagdist_list[taglist_pos], 4);
         }
            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]=(remotesend_state<<4)|motorstate;
@@ -912,6 +917,7 @@
               uint32_t poll_rx_ts_32, resp_tx_ts_32, final_rx_ts_32;
               double Ra, Rb, Da, Db;
               int64_t tof_dtu;
                    u8 si;
               resp_tx_ts = get_tx_timestamp_u64();//获得response发送时间T3
               final_rx_ts = get_rx_timestamp_u64();//获得final接收时间T6
               final_msg_get_ts(&rx_buffer[FINAL_MSG_POLL_TX_TS_IDX], &poll_tx_ts);//从接收数据中读取T1，T4，T5
@@ -937,17 +943,27 @@
               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]*10;
                    for(si=0;si<10;si++)
                    {
                        if(smallcar_idlist[si]==tag_id_recv)
                        {
                            hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET]*10-(int16_t)g_com_map[NOMOVESLEEP_TIME]*10;
                        }
                    }
               g_flag_Taggetdist[taglist_pos]=0;
                    
               if(hex_dist>-1000&&hex_dist<2000000)
               {
               if(abs(hex_dist-his_dist[taglist_pos])<dist_threshold||misdist_num[taglist_pos]>3)
               {
                  int32_t filter_dist;
						
                        g_Resttimer=0;
                        IWDG_Feed();
                  #ifdef TDFILTER
                  NewTrackingDiffUpdate(taglist_pos, (float)hex_dist);
                  filter_dist=pos_predict[taglist_pos]/10;
                  filter_dist = pos_predict[taglist_pos]/10;
                        filter_speed = vel_predict[taglist_pos]/10;
                        newmeasure = 1;
                  #else
                  filter_dist=hex_dist/10;
                  #endif
@@ -1019,6 +1035,8 @@
      memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
      //将收到的tag_id分别写入各次通讯的包中，为多标签通讯服务，防止一次通讯中接收到不同ID标签的数据
      memcpy(&tag_id_recv,&rx_buffer[TAG_ID_IDX],2);
       if(group_id==rx_buffer[GROUP_ID_IDX])
       {
      switch(rx_buffer[MESSAGE_TYPE_IDX])
      {
//         case POLL:
@@ -1090,8 +1108,6 @@
            #endif
         if(tag_id_recv>=g_com_map[WHITELIST1_START]&&tag_id_recv<=g_com_map[WHITELIST1_END])
         {break;}
            if(group_id!=rx_buffer[GROUP_ID_IDX])
            {break;}
            taglist_pos=CmpTagInList(tag_id_recv);
            if(taglist_pos==taglist_num)
            {
@@ -1136,4 +1152,5 @@
      dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
   }
}
}