XRange_Tag.git - Gitblit

			@@ -50,7 +50,7 @@
			#define RESP_RX_TO_FINAL_TX_DLY_UUS 510

			/* Receive response timeout. See NOTE 5 below. */
			#define RESP_RX_TIMEOUT_UUS 0
			#define RESP_RX_TIMEOUT_UUS 1000

			#define DELAY_BETWEEN_TWO_FRAME_UUS 240

			@@ -72,6 +72,7 @@

			enum enumtagstate
			{
			REGPOLL,
			DISCPOLL,
			GETNEARMSG,
			NEARPOLL,
			@@ -465,7 +466,7 @@
			extern u16 bigslot_num;
			u8 nearbase_num=0,last_nearbase_num,next_nearbase_num,last_slotnum, para_update,para_len,stationary_flag=0;
			u32 rec_tagpos_binary;
			int16_t offset=4700;
			int16_t offset=4700,temptimer;
			u8 motor_state,rec_remotepara_state,rec_remotepara[80];
			void Poll(void)
			{
			@@ -537,12 +538,15 @@

			ancsync_time=((sync_timer)*1000+tmp_time);
			last_slotnum=current_slotnum;
			current_slotnum=((float)sync_timer/(SLOTTIME_MS*bigslot_num))+1;
			temptimer = sync_timer-10;
			if(temptimer<0)
			{temptimer+=1000;}
			current_slotnum=((float)temptimer/(SLOTTIME_MS*bigslot_num))+1;
			if(current_slotnum==last_slotnum-1)
			{flag_getresponse=1;}
			lastsync_timer=sync_timer;
			offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
			SetNextPollTime(tyncpoll_time);
			SetNextPollTime(tagslotpos);

			if(temp_dist<mindist&&temp_dist!=0)
			{
			@@ -657,8 +661,8 @@
			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(13+2*nearbase_num, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
			dwt_writetxfctrl(13+2*nearbase_num, 0);//设置超宽带发送数据长度
			dwt_writetxdata(21+2*nearbase_num, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
			dwt_writetxfctrl(21+2*nearbase_num, 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

			tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
			@@ -747,12 +751,12 @@
			//时间同步
			ancsync_time=((sync_timer)*1000+tmp_time);
			last_slotnum=current_slotnum;
			current_slotnum=((float)sync_timer/(SLOTTIME_MS*bigslot_num))+1;
			// current_slotnum=((float)sync_timer/(SLOTTIME_MS*bigslot_num))+1;
			if(current_slotnum==last_slotnum-1)
			{flag_getresponse=1;}
			lastsync_timer=sync_timer;
			offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
			SetNextPollTime(tyncpoll_time);
			// SetNextPollTime(tagslotpos);

			}else{

			@@ -797,16 +801,7 @@
			j=0;
			if(exsistbase_list[0]==0)
			{
			// u8 temp_adc,random_value;
			// random_value=0;
			// for(i=0;i<8;i++)
			// {
			// temp_adc=Get_ADC_Value();
			// random_value=random_value\|((temp_adc&0x01)<<i);
			// }
			// tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
			// tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
			SetNextPollTime(tyncpoll_time);
			// SetNextPollTime(tagslotpos);
			}
			// tyncpoll_time=0;
			next_nearbase_num=0;
			@@ -905,21 +900,32 @@
			HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);

			}
			extern uint8_t module_power;
			uint16_t tag_slotpos;
			extern uint8_t module_power,imu_enable,motor_enable;

			void Registor_Poll(void)
			{
			static u8 regpoll_count=0;
			tag_frequency = REGISTER_FREQUENCY;
			bigslot_num = TOTAL_SLOTNUM/tag_frequency;
			regpoll_count++;
			if(regpoll_count%2)
			{
			if(tagslotpos--<2)
			tagslotpos=TOTAL_SLOTNUM;
			}
			SetNextPollTime(tagslotpos);
			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);

			tx_near_msg[REGP_TAGSTATE_INDEX] = !GET_USERKEY<<2\|imu_enable<<1\|motor_enable;
			tx_near_msg[MESSAGE_TYPE_IDX] = REG_POLL;
			tx_near_msg[REGP_FREQUENCY_INDEX] = tag_frequency;
			tx_near_msg[REGP_FREQUENCY_INDEX] = 1000/g_com_map[COM_INTERVAL];
			tx_near_msg[REGP_POWER_INDEX] = module_power;
			memcpy(&tx_near_msg[REGP_VERSION_INDEX],&g_com_map[VERSION],2);
			memcpy(&tx_near_msg[REGP_IMUTHRES_INDEX],&g_com_map[IMU_THRES],2);
			memcpy(&tx_near_msg[REGP_NOMOVESLEEPTIME_INDEX],&g_com_map[NOMOVESLEEP_TIME],2);
			dwt_writetxdata(13+2*nearbase_num, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
			dwt_writetxfctrl(13+2*nearbase_num, 0);//设置超宽带发送数据长度
			dwt_writetxdata(21, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
			dwt_writetxfctrl(21, 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
			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
			{
			@@ -941,7 +947,7 @@
			memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
			tag_frequency = rx_buffer[REGR_TAGFREQ_INDEX];
			bigslot_num = TOTAL_SLOTNUM/tag_frequency;
			tag_slotpos = rx_buffer[REGR_TAGSLOTPOS_INDEX];
			tagslotpos = rx_buffer[REGR_TAGSLOTPOS_INDEX];
			//////////////////////////////////时间同步
			memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
			memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
			@@ -957,15 +963,19 @@
			}
			ancsync_time=((sync_timer)*1000+tmp_time);
			last_slotnum=current_slotnum;
			current_slotnum=((float)sync_timer/(SLOTTIME_MS*bigslot_num))+1;
			temptimer = sync_timer-10;
			if(temptimer<0)
			{temptimer+=1000;}
			current_slotnum=((float)temptimer/(SLOTTIME_MS*bigslot_num))+1;
			if(current_slotnum==last_slotnum-1)
			{flag_getresponse=1;}
			lastsync_timer=sync_timer;
			offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
			SetNextPollTime(tyncpoll_time);

			SetNextPollTime(tagslotpos);
			mainbase_id=rec_nearbaseid;
			nearbase_num=rx_buffer[NEARBASENUM_INDEX];
			memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
			tag_state = NEARPOLL;
			}
			}
			}
			@@ -981,9 +991,13 @@
			}
			switch(tag_state)
			{
			case REGPOLL:
			LED_LG_ON;
			Registor_Poll();
			LED_LG_OFF;
			break;
			case DISCPOLL:
			LED_LG_ON;
			//Registor_Poll();
			Poll();
			LED_LG_OFF;
			break;