支持电量显示，更改LED顺序

zhyinch

2020-07-11 1706ecf783b4ac0d34dc950df2ad145e51008f6b

 Src/application/dw_app.c

@@ -47,12 +47,12 @@
#define POLL_TX_TO_RESP_RX_DLY_UUS 150
/* This is the delay from Frame RX timestamp to TX reply timestamp used for calculating/setting the DW1000's delayed TX function. This includes the
 * frame length of approximately 2.66 ms with above configuration. */
#define RESP_RX_TO_FINAL_TX_DLY_UUS 1550
#define RESP_RX_TO_FINAL_TX_DLY_UUS 410

/* Receive response timeout. See NOTE 5 below. */
#define RESP_RX_TIMEOUT_UUS 600

#define DELAY_BETWEEN_TWO_FRAME_UUS 600
#define DELAY_BETWEEN_TWO_FRAME_UUS 400

#define POLL_RX_TO_RESP_TX_DLY_UUS 420
/* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
@@ -266,7 +266,7 @@
u8 GetRandomSlotPos(uint32_t emptyslot)
{
   u8 i,temp_value;
   temp_value = GetRandomValue();
   temp_value = HAL_LPTIM_ReadCounter(&hlptim1);//GetRandomValue();
   for(i=temp_value%32;i<max_slotpos;i++)
   {
      if(((emptyslot>>i)&0x1)==0)
@@ -294,6 +294,7 @@
u8 nearbase_num=0,last_nearbase_num,next_nearbase_num,last_slotnum;
u32 rec_tagpos_binary;
int16_t offset=2700;
u8 motor_state,rec_remotepara_state,rec_remotepara[30];
void NearPoll(void)
{
   
@@ -314,9 +315,10 @@
   last_nearbase_num=next_nearbase_num;
   nearbase_num=next_nearbase_num;
   recbase_num=0;
   motor_state=0;
   
   tx_near_msg[BATTARY_IDX] = Get_Battary();
   //tx_near_msg[BUTTON_IDX] = !READ_KEY0;
   tx_near_msg[BATTARY_IDX] = bat_percent;
   tx_near_msg[BUTTON_IDX] = !GET_USERKEY;
   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);
@@ -331,7 +333,7 @@
   flag_getresponse=0;
   start_count=HAL_LPTIM_ReadCounter(&hlptim1);
   recbase_num=0;
   timeout=ceil((float)nearbase_num*0.6)+20;
   timeout=ceil((float)nearbase_num*0.4)+2;
   end_count=start_count+(timeout<<5);
   if(end_count>=32768)
   {end_count-=32768;}
@@ -409,6 +411,9 @@
                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                           nearbase_distlist[rec_nearbasepos]=temp_dist;
                           if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
                              motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
                           rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;
                           
                           mainbase_lost_count=0;
                           flag_finalsend=1;
@@ -427,16 +432,27 @@
                           flag_getresponse=1;
                           memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
                           
                           tyncpoll_time=0;
								
                           //时间同步
                           ancsync_time=((sync_timer)*1000+tmp_time);   
                           last_slotnum=current_slotnum;
                           current_slotnum=round((float)sync_timer/g_com_map[COM_INTERVAL])+1;
                           current_slotnum=((float)sync_timer/g_com_map[COM_INTERVAL])+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);
                           if(rec_remotepara_state&&rec_remotepara_state!=g_com_map[REMOTEPARA_STATE])
                           {
                              g_com_map[REMOTEPARA_STATE]=rec_remotepara_state;
                              memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],REMOTEPARA_LEN);
                              memcpy(&g_com_map[COM_INTERVAL],&rec_remotepara[0],8);
                              memcpy(&g_com_map[POWER],&rec_remotepara[8],10);
                              save_com_map_to_flash();
                              delay_ms(100);
                              NVIC_SystemReset();
									
                           }
                           
                        //   count_offset=sync_count-current_count-143;
                        //   current_slottimes=(ancsync_time-10000)/(g_com_map[COM_INTERVAL]*1000);
@@ -471,6 +487,11 @@
                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                           nearbase_distlist[rec_nearbasepos]=temp_dist;
                           
                           if(motor_state<(rx_buffer[MOTORSTATE_INDEX]&0xf)&&(rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
                           {
                                 motor_state=rx_buffer[MOTORSTATE_INDEX];
                           }
									
                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);                        
                           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
@@ -504,7 +525,7 @@
//            }
            tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
            tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;   
      //      SetNextPollTime(tyncpoll_time);
            SetNextPollTime(tyncpoll_time);
         }
      //   tyncpoll_time=0;
         next_nearbase_num=0;
@@ -604,7 +625,7 @@
         tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
         //tagslotpos=rx_buffer[TAGSLOTPOS];
         memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
         slottime=ceil((nearbase_num+2)*0.3)+1;
         //slottime=ceil((nearbase_num+2)*0.3)+1;
         tyncpoll_time=tagslotpos*slottime;
         tag_state=NEARPOLL;
      }
@@ -641,5 +662,5 @@
         //GPIO_WriteBit(EU_TX_GPIO, EU_RX_PIN, Bit_RESET);
         break;
   }
   dwt_entersleep();
//   dwt_entersleep();
}