增加搜索模式减少时间片

yincheng.zhong

2023-08-11 1baabdeaa771233bd719e6eb01dc6828d5c3f9cf

 Src/application/dw_app.c

@@ -29,7 +29,7 @@
#include <stdio.h>
#include "beep.h"
#include "modbus.h"

#include "BMP390.h"
/*------------------------------------ Marcos ------------------------------------------*/
/* Inter-ranging delay period, in milliseconds. */
#define RNG_DELAY_MS 100
@@ -81,7 +81,7 @@
    SINGLEPOLL,
}tag_state=STARTPOLL;
 dwt_config_t config = {
   2,               /* Channel number. */
   5,               /* Channel number. */
   DWT_PRF_64M,     /* Pulse repetition frequency. */
   DWT_PLEN_128,    /* Preamble length. */
   DWT_PAC8,        /* Preamble acquisition chunk size. Used in RX only. */
@@ -117,8 +117,8 @@
float dis_after_filter;            //当前距离值
LPFilter_Frac* p_Dis_Filter;      //测距用的低通滤波器



void NextSlotDelayMs(int16_t delayms);
void GetNearMsg(void);
static uint64_t get_tx_timestamp_u64(void)
{
    uint8_t ts_tab[5];
@@ -185,6 +185,7 @@
    /* 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

    /* 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. */
            //设置接收超时时间
@@ -220,7 +221,7 @@
}

u16 tag_time_recv[TAG_NUM_IN_SYS];
u8 usart_send[25];
u8 usart_send[40];
u8 battary,button;
extern uint8_t g_pairstart;
void tag_sleep_configuraion(void)
@@ -490,7 +491,7 @@
   int32_t minddist=0x1ffff,minid=-1,temp_dist;
   u8 i,j,getsync_flag=0;
    u16 mindist_ancid,random_delay_tim,tempval;
    
    NextSlotDelayMs(-2);
    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);      
   frame_seq_nb++;
@@ -609,8 +610,9 @@
    if(minddist!=0x1ffff&&minddist!=0)
    {
         trygetnearmsg_times = 0;
            tag_state = GETNEARMSG;
            tag_state = GETNEARMSG;            
            mainbase_id = mindist_ancid;   
            GetNearMsg();
    }
   
   if(getsync_flag==0)
@@ -832,12 +834,12 @@
      {

          exsistbase_list[i]--;
          clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_2 / 1.0e6) ;
          rtd_init = tag_resprx[i] - poll_tx_ts;
          clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_5 / 1.0e6) ;
          rtd_init = tag_resprx[i] - poll_tx_ts&0xffffffff;
          rtd_resp = anc_resptx[i] - anc_pollrx[i];
          tof = ((rtd_init - rtd_resp * (1 - clockOffsetRatio)) / 2.0) * DWT_TIME_UNITS;
          distance = tof * SPEED_OF_LIGHT;
          if(distance>-1000&&distance<100000)
          if(distance>-10&&distance<1000)
            nearbase_distlist[i] = distance*100+anc_distoffset[i];
      }else{
          nearbase_distlist[i] = 0x1ffff;
@@ -1054,7 +1056,7 @@
                                    }
                           nearbase_distlist[rec_nearbasepos+1]=temp_dist;   //   nearbase_distlist[1]对应   rec_nearbaseid[0]的距离               
                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
                           if(temp_dist<salvebase_mindist&&nearbase_switchdistlist[rec_nearbasepos]!=0&&(nearbase_switchdistlist[rec_nearbasepos]==1||temp_dist<nearbase_switchdistlist[rec_nearbasepos]))
                              if(temp_dist<salvebase_mindist&&nearbase_switchdistlist[rec_nearbasepos]!=0&&(nearbase_switchdistlist[rec_nearbasepos]==1||temp_dist<nearbase_switchdistlist[rec_nearbasepos]))
                           {
                              salvebase_mindist = temp_dist;
                              mindist_slavebaseid = rec_nearbaseid;
@@ -1095,10 +1097,11 @@
               changemainbase_count++;
               if(changemainbase_count>2)
               {
                                        changemainbase_count = 0;
                              mainbase_id = mindist_slavebaseid;
                              tag_state = GETNEARMSG;
                              trygetnearmsg_times = 0;
                        changemainbase_count = 0;
                        mainbase_id = mindist_slavebaseid;
                        tag_state = GETNEARMSG;                    
                        trygetnearmsg_times = 0;
                        GetNearMsg();
               }
            }else{
               changemainbase_count = 0;
@@ -1108,6 +1111,7 @@
         {
                mainbase_lost_count = 0;
            tag_state = DISCPOLL;
                DiscPoll();
         }   
         if(mainbase_lost_count!=0)
         {
@@ -1168,6 +1172,7 @@
                if(nearbaseid_list[i]!=nearbaseid_list2[i])
                {
                    tag_state = GETNEARMSG;
                    GetNearMsg();
                           trygetnearmsg_times = 0;
                           nearbaseid_list0[i]=1;
                }
@@ -1264,8 +1269,40 @@
                     }
}
u32 id,error_times=0;

extern float Height;
extern float Altitude;
void QiyaJizhan_Send(void)
{
   GetPressAndHeight();
   intheight =Altitude*100;
   nearbase_num = 0;
   mainbase_id = 0x1234;
   usart_send[0] = 0x55;
   usart_send[1] = 0xaa;
   usart_send[2] = 0x0c;//正常模式 
   usart_send[3] = 15+8*(nearbase_num+1);//数据段长度
   memcpy(&usart_send[4],&dev_id,2);
   usart_send[6] = frame_seq_nb;
   usart_send[7] = frame_seq_nb++>>8;
   usart_send[8] = bat_percent;
   usart_send[9] = tx_near_msg[BUTTON_IDX];

   memcpy(&usart_send[10],&intheight,2);
   usart_send[12] = tag_frequency;
   usart_send[13] = tagslotpos;
   usart_send[14] = 0;
   usart_send[15] = 0;
   usart_send[16] = nearbase_num+1;
   memcpy(&usart_send[17],&mainbase_id,2);
   memcpy(&usart_send[19],&nearbaseid_list,2*nearbase_num);
   memcpy(&usart_send[19+nearbase_num*2],&nearbase_distlist,4*nearbase_num+4);
   memcpy(&usart_send[19+nearbase_num*6+4],&rec_anc_signalpower,2*nearbase_num+2);

   checksum = Checksum_u16(&usart_send[2],23+8*nearbase_num);
   memcpy(&usart_send[25+8*nearbase_num],&checksum,2);
   USART_puts(usart_send,27+8*nearbase_num);
   //HexToAsciiSendUDP(usart_send,27+8*nearbase_num);
}
void Tag_App(void)//发送模式(TAG标签)
{
   
@@ -1285,7 +1322,11 @@
//            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
//        }
//    }
    Dw1000_Init();
#ifdef QIYA_JIZHAN
QiyaJizhan_Send();
#else
  // Dw1000_Init();
   dwt_forcetrxoff();
    error_times = 0;
   switch(tag_state)
   {
@@ -1293,6 +1334,7 @@
         LED_LG_ON;      
         Registor_Poll();         
         LED_LG_OFF;
//        GetPressAndHeight();
         break;
      case DISCPOLL:
         LED_LG_ON;      
@@ -1311,17 +1353,20 @@
         break;
      case NEARPOLL:   
         NearPoll();
         //GetPressAndHeight();
         //intheight = Height*100;
      //   GetPressAndHeight();
      //   intheight =Altitude*100;
         break;
        case SINGLEPOLL:
          //  Poll();
            break;
   }
   GetPressAndHeight();
         intheight =Altitude*100;
     userkey_state = !GET_USERKEY;
           dwt_forcetrxoff();
       dwt_setinterrupt(  DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);
      dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
        dwt_rxenable(0);
#endif
   //dwt_entersleep();
}