V1.21 更改SFD模式

zhyinch

2021-04-19 8f55070fefc9edde12a09fe00e2e8d512e8ddd34

 Src/application/dw_app.c

@@ -83,7 +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. */
@@ -315,7 +315,7 @@
   last_nearbase_num=next_nearbase_num;
   nearbase_num=next_nearbase_num;
   recbase_num=0;
   motor_state=0;
//   motor_state=0;
   
   tx_near_msg[BATTARY_IDX] = bat_percent;
   tx_near_msg[BUTTON_IDX] = !GET_USERKEY|stationary_flag<<1;
@@ -429,13 +429,7 @@
                           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]=NEAR_FINAL;
                           if(rec_remotepara_state&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2))
                           {
                              para_update = 1;
                              tx_near_msg[TAGCONFIGSUCCESS_INDEX] = 1;
                              para_len = frame_len-22;
                              memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],para_len);
                           }

                           
                           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
@@ -452,7 +446,17 @@
                           lastsync_timer=sync_timer;
                           offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
                           SetNextPollTime(tyncpoll_time);

                           if(rec_remotepara_state&&rec_remotepara_state!=g_com_map[REMOTEPARA_STATE])
                           {
                              g_com_map[REMOTEPARA_STATE]=rec_remotepara_state;
                              memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],REMOTEPARA_LEN);
                              memcpy(&g_com_map[COM_INTERVAL],&rec_remotepara[0],8);
                              memcpy(&g_com_map[POWER],&rec_remotepara[8],10);
                              save_com_map_to_flash();
                              delay_ms(100);
                              NVIC_SystemReset();
									
                           }
                           
                        //   count_offset=sync_count-current_count-143;
                        //   current_slottimes=(ancsync_time-10000)/(g_com_map[COM_INTERVAL]*1000);
@@ -516,6 +520,8 @@
                  }         
               //   dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
         }
         if(mainbase_lost_count>tag_frequency*BASELOST_STOPMOTOR_TIME)
         {motor_state=0; }
dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
         nearbase_num=recbase_num;
      j=0;
@@ -653,10 +659,10 @@
         tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
   }
}

u32 id;
void Tag_App(void)//发送模式(TAG标签)
{
   u32 id;
	
   //LED0_ON;
   id =  dwt_readdevid() ;
       while (DWT_DEVICE_ID != id)