V2.20 1.增加静止时间判定参数，测距有BUG抖动较大

zhyinch

2021-01-20 1b83e716601b4c7ba981a00be6ecf24a9d549d52

 Src/application/dw_app.c

@@ -69,9 +69,8 @@
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4

#define STARTPOLL  REGPOLL
#define SWITCHBASE_DIST
//#define SWITCHBASE_ZHUANDIAN
#define STARTPOLL  REGPOLL//#define SWITCHBASE_DIST
#define SWITCHBASE_ZHUANDIAN
enum enumtagstate
{
   REGPOLL,
@@ -248,7 +247,7 @@
u16 mainbase_id;
int32_t mainbase_dist;
uint8_t trygetnearmsg_times;
u16 nearbaseid_list[MAX_NEARBASE_NUM],mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM];
u16 mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM],nearbaseid_list[MAX_NEARBASE_NUM],nearbaseid_list2[MAX_NEARBASE_NUM];
u8 FindNearBasePos(u16 baseid)
{
   u8 i;
@@ -624,6 +623,7 @@
      //   tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
         //tagslotpos=rx_buffer[TAGSLOTPOS];
         memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
         memcpy(nearbaseid_list2,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
         //slottime=ceil((nearbase_num+2)*0.3)+1;
         //tyncpoll_time=tagslotpos*slottime;
         //tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;   
@@ -637,10 +637,11 @@
extern float motor_keeptime;
uint8_t changemainbase_count=0,gotosleep_flag;
uint32_t frame_len;
int32_t salvebase_mindist;
void NearPoll(void)
{
   
   uint32_t temp1,temp2,dw_systime,salvebase_mindist=999999,mindist_slavebaseid;
   uint32_t temp1,temp2,dw_systime,mindist_slavebaseid;

   uint32_t final_tx_time;
   u32 start_poll;
@@ -648,7 +649,7 @@
    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;
	
   salvebase_mindist=999999;
   if(next_nearbase_num>=MAX_NEARBASE_NUM)
   {
      next_nearbase_num = MAX_NEARBASE_NUM-1;
@@ -727,6 +728,14 @@
                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+nearbase_num*4], 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;
							
                        if(rec_remotepara_state&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2))
                           {
                              para_update = 1;
                              tx_near_msg[TAGCONFIGSUCCESS_INDEX] = 1;
                              para_len = frame_len-22;
                              memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],para_len);
                           }
                           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
                           dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
@@ -742,14 +751,8 @@
                           mainbase_lost_count=0;
                           flag_finalsend=1;
                           memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);
									
                           if(rec_remotepara_state&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2))
                           {
                              para_update = 1;
                              tx_near_msg[TAGCONFIGSUCCESS_INDEX] = 1;
                              para_len = frame_len-22;
                              memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],para_len);
                           }
		

                           flag_getresponse=1;                        
                           //时间同步
                        tmp_time=tmp_time+450;
@@ -836,7 +839,7 @@
            pack_length = rec_remotepara[2];
            if(pack_msgtype==2)
            {
               if( pack_index == 0x10)
               if( pack_index == MOTOR_ONTIME_INDEX&&motor_keeptime==0)
               {
               motor_keeptime = rec_remotepara[3];
               }else{
@@ -848,6 +851,13 @@
               NVIC_SystemReset();
               }
            }
         }
         for(i=0;i<nearbase_num;i++)
         {
         if(nearbaseid_list[i]!=nearbaseid_list2[i])
         {
            tag_state = GETNEARMSG;
         }
         }
   dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
//HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
@@ -928,6 +938,7 @@
                           mainbase_id=rec_nearbaseid;
                           nearbase_num=rx_buffer[NEARBASENUM_INDEX];
                           memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
                           memcpy(nearbaseid_list2,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
                           if(tagslotpos!=255)
                           tag_state = NEARPOLL;
                        }