V1.13

WXK

2024-03-26 7c93e39f66f75e445ddb224de1ce70ce6e0b0902

 Src/application/dw_ancapp.c

@@ -180,6 +180,7 @@
u16 basesystimer,uwb_losttimer;
uint8_t remotesend_state,remotesend_index;
uint16_t random_time;
u32 value;
uint8_t Anchor_RecNearPoll(uint8_t ancrec_nearbasepos) //0 mainbase  1 first near_base
{
    uint8_t motorstate;
@@ -195,10 +196,10 @@
    if(rec_nearbase_num == ancrec_nearbasepos)//抢占模式
    {
        random_time = (GetLPTime()%100);
           resp_tx_time = (poll_rx_ts+((random_time+rec_nearbase_num*20 + POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
           resp_tx_time = (poll_rx_ts+((/*value+*/random_time+rec_nearbase_num*20 + POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
  
    }else{
           resp_tx_time = (poll_rx_ts + ((rec_nearbase_num*20+POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
           resp_tx_time = (poll_rx_ts + ((/*value+ */rec_nearbase_num*20+POLL_RX_TO_RESP_TX_DLY_UUS+ancrec_nearbasepos*DELAY_BETWEEN_TWO_FRAME_UUS) * UUS_TO_DWT_TIME)) >> 8;//计算Response发送时间T3。
    }
            dwt_setdelayedtrxtime(resp_tx_time);//设置Response发送时间T3
         //dwt_setrxaftertxdelay(RESP_TX_TO_FINAL_RX_DLY_UUS+(rec_nearbase_num+1-ancrec_nearbasepos)*DELAY_BETWEEN_TWO_FRAME_UUS);//设置发送完成后开启接收延迟时间
@@ -229,19 +230,21 @@
//               result = dwt_starttx(DWT_START_TX_DELAYED);
////               uwb_timeout = 0;
//               if(result == 0)
//               {
             uwb_timeout=lp_time;
               while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_TXFRS | SYS_STATUS_ALL_RX_ERR)))///不断查询芯片状态直到接收成功或者出现错误
               while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & SYS_STATUS_TXFRS ))///不断查询芯片状态直到接收成功或者出现错误
         {

                        current_time=HAL_LPTIM_ReadCounter(&hlptim1);
        if(current_time>end_time+((32768/1000)*3)/*||current_time<end_time+15000*/)
        { 
//        printf("debug2 timec:%d timee:%d\r\n",current_time,end_time);
        break;}
//                        current_time=HAL_LPTIM_ReadCounter(&hlptim1);
//        if(current_time>end_time+((32768/1000)*3)||current_time<end_time+15000)
//        { 
////        printf("debug2 timec:%d timee:%d\r\n",current_time,end_time);
//        break;}
                    if(lp_time-uwb_timeout>2)
                        break;
            };
            dwt_rxenable(0);
//        }
//            dwt_rxenable(0);

}

@@ -357,6 +360,7 @@
                        Lora_tx_ancid[Lora_tx_ancnum]=tag_id_recv;
                        Lora_tx_ancdist[Lora_tx_ancnum]=rec_ancdistlist[i];
                        Lora_tx_anc_electricity[Lora_tx_ancnum]=battary;
//                        printf("接收到uwb测距:%d",Lora_tx_ancdist[0]);
                        Lora_tx_ancnum++;
                        RX_TIMEOUTs_UWB++;
                     }
@@ -411,6 +415,7 @@
                  break;
               }                  
            }
                
               if(i==rec_nearbase_num)
               {
                  seize_anchor=1;   //抢占anchor