解决uwb测距 3个以上标签出错的bug。

WXK

2023-03-17 6f05c0c8a8e5b4ccabc20cb75b57bd59ef145bcc

 Src/application/dw_app.c

@@ -71,7 +71,7 @@
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4
static 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. */
@@ -304,7 +304,7 @@
        freqlost_count = 0;
    }
}

u16 rec_nearbaseid,rec_nearbasepos;
void NearPoll(void)
{
   
@@ -340,6 +340,7 @@
   
   tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
   para_update = 0;
    get_newbase = 0;
   flag_finalsend=0;
   flag_rxon=1;
   flag_getresponse=0;
@@ -397,7 +398,7 @@
                     dwt_setrxtimeout(0);//DELAY_BETWEEN_TWO_FRAME_UUS*(nearbase_num+1-recbase_num)+10);//设定接收超时时间，0位没有超时时间
                     dwt_rxenable(0);//打开接收
                     if (rx_buffer[MESSAGE_TYPE_IDX] == MBX_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)&&rx_buffer[GROUP_ID_IDX]==group_id) //判断接收到的数据是否是response数据
                     {   u16 rec_nearbaseid,rec_nearbasepos;
                     {	
                        poll_tx_ts = get_tx_timestamp_u64();                              //获得POLL发送时间T1
                        resp_rx_ts = get_rx_timestamp_u64();                              //获得RESPONSE接收时间T4   
                        recbase_num++;
@@ -548,6 +549,8 @@
         {
                last_lpcount+= HAL_LPTIM_ReadCounter(&hlptim1)%(g_com_map[COM_INTERVAL]*16);
         }
            if(nearbase_num==4)
            {nearbase_num=4;}
            last_nearbase_num = next_nearbase_num;
         for(i=0;i<last_nearbase_num-1;i++)
         {
@@ -571,26 +574,24 @@
         }
         
         report_num=0;
            if(last_nearbase_num>4)
            {
                last_nearbase_num = 5;
            }
   for (i=0;i<last_nearbase_num;i++)
         {
            nearbaseid_list[i]=true_nearbase_idlist[i];
            nearbase_distlist[i]=true_nearbase_distlist[i];
            if(nearbase_distlist[i]!=0x1ffff&&true_exsistbase_list[i]==KEEP_TIMES)
            {
               memcpy(&usart_send[4+6*report_num],&nearbaseid_list[i],2);
               memcpy(&usart_send[6+6*report_num],&nearbase_distlist[i],4);
               report_num++;
            }
         }
            #ifdef USART_INTEGRATE_OUTPUT	
                usart_send[0] = 0x55;     
                usart_send[1] = 0xAA;              
            usart_send[2] = 4;//正常模式
            usart_send[3] = report_num*6+2;//正常模式
            checksum = Checksum_u16(&usart_send[2],report_num*6+2);
            memcpy(&usart_send[4+report_num*6],&checksum,2);
            USART_puts(usart_send,6+report_num*6);
         #endif
//            #ifdef USART_INTEGRATE_OUTPUT	
//                usart_send[0] = 0x55;     
//                usart_send[1] = 0xAA;              
//            usart_send[2] = 4;//正常模式
//            usart_send[3] = report_num*6+2;//正常模式
//            checksum = Checksum_u16(&usart_send[2],report_num*6+2);
//            memcpy(&usart_send[4+report_num*6],&checksum,2);
//            USART_puts(usart_send,6+report_num*6);
//         #endif
            
         for(i=0;i<MAX_NEARBASE_NUM;i++)
         {
@@ -605,7 +606,7 @@
        if(memcmp(&calCRC,&rec_remotepara[5],2)==0)
        {   uint8_t pack_msgtype,pack_index,pack_length;
            pack_msgtype = rec_remotepara[0];
            pack_index = rec_remotepara[1]*2;
            pack_index = rec_remotepara[1];
            pack_length = rec_remotepara[2];
            if(pack_msgtype==2)
            {
@@ -613,7 +614,14 @@
                {
               
               //     motor_keeptime = rec_remotepara[3];
                }else{
                }else if(pack_index == CNT_UPDATE)
                        {
                              if(rec_remotepara[3]==2)
                              {
                                     EnterUWBUpdateMode();
                              }
                        }								
                           else{
                    if(pack_index<200)
                    {
                        memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
@@ -645,6 +653,7 @@
            break;
        }
    }
    delay_us(100);
   g_Resttimer=0;
   NearPoll();
   dwt_entersleep();