好像是测试没问题

zhyinch

2020-06-15 72933de426977ebfce09505a93d38e88c0315166

 Src/application/dw_app.c

@@ -48,6 +48,7 @@
/* 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 850
#define RESP_RX_TO_FINAL_TX_DLY_UUS_POLL 1850
/* Receive response timeout. See NOTE 5 below. */
#define RESP_RX_TIMEOUT_UUS 600

@@ -82,7 +83,7 @@
   DWT_PAC8,        /* Preamble acquisition chunk size. Used in RX only. */
   9,               /* TX preamble code. Used in TX only. */
   9,               /* RX preamble code. Used in RX only. */
   0,               /* Use non-standard SFD (Boolean) */
   1,               /* Use non-standard SFD (Boolean) */
   DWT_BR_6M8,      /* Data rate. */
   DWT_PHRMODE_STD, /* PHY header mode. */
   (129 + 8 - 8)    /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
@@ -169,6 +170,7 @@
     * For initialisation, DW1000 clocks must be temporarily set to crystal speed. After initialisation SPI rate can be increased for optimum
     * performance. */
    Reset_DW1000();//重启DW1000 /* Target specific drive of RSTn line into DW1000 low for a period. */
   Spi_ChangePrescaler(SPIx_PRESCALER_SLOW);   //设置为快速模式
    dwt_initialise(DWT_LOADUCODE);//初始化DW1000
   Spi_ChangePrescaler(SPIx_PRESCALER_FAST);   //设置为快速模式

@@ -242,10 +244,15 @@
void Poll(void)
{
   uint32_t frame_len;
   uint32_t final_tx_time;
   uint32_t final_tx_time,id;
   u32 start_poll;
   int32_t mindist=999999,minid=-1,temp_dist;
   u8 i,getsync_flag=0;
   id =  dwt_readdevid() ;  //0XFFFFFF BUG 初始化缺少Spi_ChangePrescaler(SPIx_PRESCALER_SLOW);   //设置为快速模式
       while (DWT_DEVICE_ID != id) 
    {
         id =  dwt_readdevid() ;
    }
    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;
@@ -298,7 +305,7 @@
         memcpy(&temp_dist, &rx_buffer[DIST_IDX], 4);
         memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
         /* Compute final message transmission time. See NOTE 9 below. */
         final_tx_time = (resp_rx_ts + (RESP_RX_TO_FINAL_TX_DLY_UUS * UUS_TO_DWT_TIME)) >> 8;//计算final包发送时间，T5=T4+Treply2
         final_tx_time = (resp_rx_ts + (RESP_RX_TO_FINAL_TX_DLY_UUS_POLL * UUS_TO_DWT_TIME)) >> 8;//计算final包发送时间，T5=T4+Treply2
         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_final_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据
@@ -389,11 +396,12 @@
      change_base_count=0;
   }
}
u8 anclost_times=0;
u8 anclost_times=0 , mainbase_lost_count=0;
u8 flag_finalsend,flag_getresponse;
uint16_t current_count,start_count,end_count;
void NearPoll(void)
{
   static u8 mainbase_lost_count=0,flag_finalsend;
	
   uint32_t temp1,temp2,dw_systime;
   uint32_t frame_len;
   uint32_t final_tx_time;
@@ -417,6 +425,7 @@
   nearbase_distlist[i]=0xffff;
   
   flag_finalsend=0;
   flag_getresponse=0;
   start_count=HAL_LPTIM_ReadCounter(&hlptim1);
   recbase_num=0;
   timeout=ceil((float)nearbase_num/4)+2;
@@ -425,8 +434,10 @@
   {end_count-=32768;}
   mainbase_dist=100000;
   mainbase_lost_count++;
   current_count=HAL_LPTIM_ReadCounter(&hlptim1);
         while(current_count<end_count||current_count>end_count+15000)
         {
            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)
@@ -434,13 +445,15 @@
                     dw_systime=dwt_readsystimestamphi32();
                     if(dw_systime>temp1&&dw_systime<temp2)
                     {
                        flag_finalsend=0;
								
                        dwt_forcetrxoff();
                        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;
               };
@@ -484,7 +497,7 @@
                           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-((350*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
@@ -494,17 +507,8 @@
                           tx_near_msg[MESSAGE_TYPE_IDX]=NEAR_FINAL;
                           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
                              usart_send[2] = 1;//正常模式
                              usart_send[3] = 17;//数据段长度
                              usart_send[4] = frame_seq_nb;//数据段长度
                              memcpy(&usart_send[5],&dev_id,2);
                              memcpy(&usart_send[7],&rec_nearbaseid,2);				
                              memcpy(&usart_send[9],&rx_buffer[DIST_IDX],4);
                              usart_send[13] = battary;
                              usart_send[14] = button;
                              checksum = Checksum_u16(&usart_send[2],17);
                              memcpy(&usart_send[19],&checksum,2);
                              UART_PushFrame(usart_send,21);
                           flag_getresponse=1;
//                           dwt_setdelayedtrxtime(final_tx_time);
                           //result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送         
                        }else{
                           rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
@@ -512,18 +516,8 @@
                           memcpy(&nearbase_distlist[rec_nearbasepos],&rx_buffer[DIST_IDX],4);
                           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
                           LED0_BLINK;
                              usart_send[2] = 1;//正常模式
                              usart_send[3] = 17;//数据段长度
                              usart_send[4] = frame_seq_nb;//数据段长度
                              memcpy(&usart_send[5],&dev_id,2);
                              memcpy(&usart_send[7],&rec_nearbaseid,2);				
                              memcpy(&usart_send[9],&rx_buffer[DIST_IDX],4);
                              usart_send[13] = battary;
                              usart_send[14] = button;
                              checksum = Checksum_u16(&usart_send[2],17);
                              memcpy(&usart_send[19],&checksum,2);
                              UART_PushFrame(usart_send,21);
								


                           //dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
                        //   result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送         
@@ -531,12 +525,15 @@
                        }                        
                     }
                  }         
                  dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
                  current_count=HAL_LPTIM_ReadCounter(&hlptim1);
               //   dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
         }
         if(flag_getresponse==0)
         {
         LED_LR_BLINK;
         }
         if(mainbase_lost_count>5)
         {
            tag_state=DISCPOLL;
         //   tag_state=DISCPOLL;
         }
         NearAncSelect();
         if(recbase_num<MIN_ANCHOR_NUM )
@@ -598,6 +595,7 @@
   //LED0_ON;
   dwt_forcetrxoff();
   g_Resttimer=0;
//   tag_state=DISCPOLL;
   switch(tag_state)
   {
      case DISCPOLL:
@@ -605,7 +603,9 @@
         break;
      case GETNEARMSG:
      //   if(trygetnearmsg_times--!=0)
         {GetNearMsg();
         {
            mainbase_lost_count=0;
            GetNearMsg();
         }
//         else{
//            tag_state=DISCPOLL;