1

WXK

2023-12-27 6a87d5e15c325c041e69ef077546f0822a4ee956

 Src/application/dw_app.c

@@ -113,7 +113,7 @@
uint32_t g_UWB_com_interval = 0; 
float dis_after_filter;            //当前距离值
LPFilter_Frac* p_Dis_Filter;      //测距用的低通滤波器

float range_lost_time = 0;


static uint64_t get_tx_timestamp_u64(void)
@@ -182,6 +182,13 @@
    /* 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_configcontinuousframemode(12480);
//    dwt_writetxdata(13, usart_send, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
//   dwt_writetxfctrl(13, 0);//设置超宽带发送数据长度
//   dwt_starttx(DWT_START_TX_IMMEDIATE);//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(1)
//{}
    /* 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
@@ -355,6 +362,7 @@
          distance = tof * SPEED_OF_LIGHT;
          if(distance>-10&&distance<1000)
            nearbase_distlist[i] = distance*100+anc_distoffset[i];
          range_lost_time=0;
      }else{
         // nearbase_distlist[i] = 0x1ffff;
      }
@@ -391,8 +399,10 @@
               
}
u16 numceshi;
float range_lost_time = 0;
u16 rec_nearbaseid,rec_nearbasepos;
extern  u16 poll_startcount;
u16 Poll_30s_id[200],Poll_30s_dist[200];
u8 Poll_30s_num;
void NearPoll(void)
{
   
@@ -425,7 +435,18 @@
   memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);   
   dwt_writetxdata(13+4*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+4*nearbase_num, 0);//设置超宽带发送数据长度
    current_count=HAL_LPTIM_ReadCounter(&hlptim1);
      while(current_count<poll_startcount||current_count>poll_startcount+16384)
      {
         current_count=HAL_LPTIM_ReadCounter(&hlptim1);
         if(current_count<poll_startcount-300)
         {
            break;
         }
      }
        
   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
    HAL_GPIO_WritePin(GPIOA, GPIO_PIN_15, GPIO_PIN_RESET);
   numceshi++;
   tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
   para_update = 0;
@@ -435,7 +456,7 @@
   flag_getresponse=0;
   start_count=HAL_LPTIM_ReadCounter(&hlptim1);
   recbase_num=0;
   timeout=nearbase_num*SLOT_SCALE+20; //单位0.1ms
   timeout=nearbase_num*SLOT_SCALE+100; //单位0.1ms
   end_count=start_count+(timeout<<2);
   if(end_count>=32768)
   {end_count-=32768;}
@@ -448,31 +469,6 @@
            current_count=HAL_LPTIM_ReadCounter(&hlptim1);
               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
               {
                  if(flag_finalsend&&flag_ancreadpara)
                  {
                     dw_systime=dwt_readsystimestamphi32();
                     if(dw_systime>temp1&&dw_systime<temp2)
                     {
								
                        dwt_forcetrxoff();
                        flag_rxon=0;
                                if(flag_ancreadpara)   //只有在读取参数的时候需要回复
                                {
                                    u16 calCRC;
                                  tx_near_msg[MESSAGE_TYPE_IDX] = MBX_PRAAREPLY;  
                                  memcpy(&tx_near_msg[MESSAGE_PARAREPLY_IDX],g_com_map,SENDANCPARA_LEN);
                                  calCRC = CRC_Compute((uint8_t*)g_com_map,SENDANCPARA_LEN);
                                  memcpy(&tx_near_msg[MESSAGE_PARAREPLY_IDX+SENDANCPARA_LEN],&calCRC,2);
                                  dwt_writetxdata(14+SENDANCPARA_LEN, tx_near_msg, 0);//将发送数据写入DW1000
                                  dwt_writetxfctrl(14+SENDANCPARA_LEN, 0);//设定发送数据长度
                                
                        dwt_setdelayedtrxtime(final_tx_time);
                        result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送	
                                }
                        flag_finalsend=0;
                        break;
                     }
                  }
                     current_count=HAL_LPTIM_ReadCounter(&hlptim1);
                   if(current_count>=end_count&&current_count<end_count+15000)
                        break;
@@ -498,7 +494,10 @@
                        recbase_num++;
                        memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
                                rec_remotepara_state = rx_buffer[MOTORSTATE_INDEX]>>4;
                                TagFreqProcess(rx_buffer[TAGFREQ_IDX]);
                                 freqlost_count = 0;
//                                TagFreqProcess(rx_buffer[TAGFREQ_IDX]);
//                                if(rec_nearbaseid==0x9002)
//                                {rec_remotepara_state = rx_buffer[MOTORSTATE_INDEX]>>4;}
                                if(rec_remotepara_state != 0)
                                {   
                                    para_update = rec_remotepara_state;
@@ -539,25 +538,7 @@
                           if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
                              motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
                           
									
                           mainbase_lost_count=0;
                           flag_finalsend=1;
                           memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);
                           final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS+DELAY_BETWEEN_TWO_FRAME_UUS*nearbase_num+500) * UUS_TO_DWT_TIME)) >> 8;
                           temp1=final_tx_time-((850*UUS_TO_DWT_TIME)>>8);
                           temp2=final_tx_time+((100*UUS_TO_DWT_TIME)>>8);
                        //   dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
                           final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final包实际发送时间是计算时间加上发送天线delay
                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据
                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX], 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]=MBX_FINAL;
                                    tx_near_msg[GROUP_ID_IDX] = group_id;
									
                           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
                           flag_getresponse=1;
                           memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
								
                        }else{
                           rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
                           SetANCTimestap(rec_nearbasepos,&rx_buffer[RESP_MSG_POLL_RX_TS_IDX],&rx_buffer[RESP_MSG_RESP_TX_TS_IDX],resp_rx_ts,&rx_buffer[RESP_MSG_ANC_DISTOFFSET]);
@@ -609,9 +590,9 @@
            }
         }
            nearbase_num = next_nearbase_num;
            if(mainbase_lost_count>1&&exsistbase_list[0] != 0)
            if(mainbase_lost_count>1)//&&exsistbase_list[0] != 0)
         {
                last_lpcount+= HAL_LPTIM_ReadCounter(&hlptim1)%(g_com_map[COM_INTERVAL]*16);
                last_lpcount-= HAL_LPTIM_ReadCounter(&hlptim1)%(g_com_map[COM_INTERVAL]*16);
         }
            last_nearbase_num = next_nearbase_num;
         for(i=0;i<last_nearbase_num-1;i++)
@@ -702,20 +683,20 @@
    }
    delay_us(100);
   g_Resttimer=0;
    if(freqlost_count>FREQ_LOST_TIME)
    {
        if(regpoll_count++>11) //待机状态1分钟上传一次基站状态
        {
            regpoll_count = 0;
            Registor_Poll();
        }
    }else{
        if(regpoll_count++>59)//测距状态1分钟上传一次基站状态
        {
            regpoll_count = 0;
            Registor_Poll();
        }
    }
//    if(freqlost_count>FREQ_LOST_TIME)
//    {
//        if(regpoll_count++>11) //待机状态1分钟上传一次基站状态
//        {
//            regpoll_count = 0;
//            Registor_Poll();
//        }
//    }else{
//        if(regpoll_count++>59)//测距状态1分钟上传一次基站状态
//        {
//            regpoll_count = 0;
//            Registor_Poll();
//        }
//    }
   NearPoll();
   dwt_entersleep();
    bat_percent=Get_VDDVlotage();