1

zhyinch

2021-11-02 9f2fe230b9f12ce8290bdc4e10a2aab7de40f8b4

 Src/application/dw_app.c

@@ -81,7 +81,7 @@
    SINGLEPOLL,
}tag_state=STARTPOLL;
static dwt_config_t config = {
   5,               /* Channel number. */
   2,               /* Channel number. */
   DWT_PRF_64M,     /* Pulse repetition frequency. */
   DWT_PLEN_64,    /* Preamble length. */
   DWT_PAC8,        /* Preamble acquisition chunk size. Used in RX only. */
@@ -624,21 +624,25 @@
//   mainbase_id=minid;
//   mainbase_id = 0x4;
}

int16_t target_offsettime = 850;
//#define TAGET_OFFSETTIME 940
#define MAX_NEARBASE_ANCNUM 11
u16 rec_maxrangelen,rec_anc_signalpower[MAX_NEARBASE_ANCNUM];
u8 outrange_times;
extern u32 synctimer;
u32 target_time=100;
u8 pd_i;
u32 temptime,delaytime,expect_anctime,error_time;
u32 temptime,delaytime,expect_anctime;
int32_t error_time;
u16 delaycount;
int16_t poll_offsettime=-6900;
int16_t poll_offsettime=-6900,clockoffset;
extern u16 slotpos_intoatl, slotpos;
void NextPollDelay(u32 anchor_time)
{
      tagslotpos = 0;
   //   error_time = anchor_time-expect_anctime;
      //tagslotpos = 0;
      error_time = anchor_time-expect_anctime;
   if(error_time<2000&&error_time>0)
      clockoffset += (target_offsettime-error_time)*0.1;
    for(pd_i=0;pd_i<tag_frequency;pd_i++)
    {
        slotpos_intoatl = pd_i*bigslot_num+tagslotpos;
@@ -646,18 +650,18 @@
        if(anchor_time<temptime-5000)
        { 
               current_slotnum = pd_i;
            delaytime = temptime-anchor_time+poll_offsettime;  
      //            expect_anctime = temptime;
            delaytime = temptime-anchor_time+poll_offsettime+clockoffset;  
                  expect_anctime = temptime;
            return ;
        }
    }
    temptime = (tagslotpos*SLOTTIME_MS+100+10000)*100;
   //   expect_anctime = temptime-1000000;
    delaytime = temptime-anchor_time+poll_offsettime;
      expect_anctime = temptime-1000000;
    delaytime = temptime-anchor_time+poll_offsettime+clockoffset;
   return ;
}
u16 lpcount,poll_startcount,last_lpcount;
u16 waketopolltimeus = 4000;
u16 waketopolltimeus = 3200;
#define BASENUM_COMTIME 244
u32 last_anchor_time;
void SetLPTimer(u32 anchor_time)
@@ -677,22 +681,14 @@
    __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
      last_lpcount = lpcount;
   }
void DelayOneSlot(void)
{
         lpcount+=166;
         if(lpcount>=32768)
      {
      lpcount -=32768;
      }
      __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
}
void NextSlotDelayMs(u16 delayms)

void NextSlotDelayMs(int16_t delayms)
{
   current_slotnum++;
   if(current_slotnum>=tag_frequency)
   {   
      current_slotnum = 0;      
      lpcount = last_lpcount+31457/tag_frequency+1311+5;//(float)(delayms+40)*32.767 ;//(200/tag_frequency+delayms)*4.8*1000/LPTIMER_LSB
      lpcount = last_lpcount+31457/tag_frequency+1311+32.767*delayms;//(float)(delayms+40)*32.767 ;//(200/tag_frequency+delayms)*4.8*1000/LPTIMER_LSB
   }else{
      lpcount = last_lpcount+31457/tag_frequency+32.767*delayms;//(float)(200/tag_frequency*48+delayms*10)*3.3 ;
   }
@@ -714,7 +710,7 @@
{
   u32 start_poll,frame_len;
    u8 nearmsg_i=0;
   DelayOneSlot();
   NextSlotDelayMs(0);
    for(nearmsg_i=0;nearmsg_i<20;nearmsg_i++)
    {
        nearbase_distlist[nearmsg_i] = 0x1ffff;
@@ -770,7 +766,7 @@
//         tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
   }
}

uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
void NearPoll(void)
{
   
@@ -798,11 +794,11 @@
   tx_near_msg[BATTARY_IDX] = bat_percent;
   tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2;
   tx_near_msg[SEQUENCE_IDX] = frame_seq_nb;
    tx_near_msg[SEQUENCEH_IDX] = (frame_seq_nb++)>>8;
  tx_near_msg[SEQUENCEH_IDX] = (frame_seq_nb++)>>8;
   tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
   memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&nearbase_distlist,nearbase_num*4+4);
    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6+4],&rec_anc_signalpower,nearbase_num*2+2);
  memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&nearbase_distlist,nearbase_num*4+4);
  memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6+4],&rec_anc_signalpower,nearbase_num*2+2);

    
    if(intheight!=0)
@@ -818,6 +814,7 @@
   dwt_writetxdata(29+8*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(29+8*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);
@@ -827,7 +824,7 @@
         }
      }
   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(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_SET);
//   HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_RESET);
//    for(i=0;i<nearbase_num+1;i++)
//    {
//        nearbase_distlist[i] = 0x1ffff;
@@ -863,11 +860,11 @@
               if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
                  {
                     dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚寄存器标志位
                     dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);//设定接收超时时间，0位没有超时时间
                     dwt_rxenable(0);//打开接收
                     frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK;   //获得接收到的数据长度
                     dwt_readrxdata(rx_buffer, frame_len, 0);   //读取接收数据

                     dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
                     dwt_rxenable(0);//打开接收
                     //HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_SET);
                     if (rx_buffer[MESSAGE_TYPE_IDX] == NEAR_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //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
@@ -887,7 +884,7 @@
                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+nearbase_num*4], 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;
							
                           rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;
                        if(rec_remotepara_state&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2))
                           {
                              para_update = 1;
@@ -922,7 +919,7 @@
                                         }
                                     }
                                 
                           rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;
									
                           
                           mainbase_lost_count=0;
                           flag_finalsend=1;
@@ -943,7 +940,8 @@
                           SetLPTimer(ancsync_time);
                           if(result==0)
                                 {while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成
                                 { };}								
                                 { };}			
//HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_RESET);											
                              break;
                        }else{
                           
@@ -971,6 +969,7 @@

                  }                        
                     }
         //            HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_RESET);
                  }else{
                  dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
                  if(recbase_num!=nearbase_num+1)
@@ -985,8 +984,8 @@
            if(flag_finalsend!=1)
            {flag_finalsend = 2;}
         dwt_forcetrxoff();
dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_RESET);
         dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
//         HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_SET);
         if(mainbase_lost_count==0)
         {
            #ifdef SWITCHBASE_DIST
@@ -1005,7 +1004,7 @@
         #endif
         }else if(mainbase_lost_count>5*tag_frequency)
         {
         //   tag_state = STARTPOLL;
            tag_state = STARTPOLL;
         }   
         if(mainbase_lost_count!=0)
         {
@@ -1018,7 +1017,7 @@

         if(para_update)
         {
         uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
			
            pack_msgtype = rec_remotepara[0];
            pack_index = rec_remotepara[1];
            pack_length = rec_remotepara[2];
@@ -1055,7 +1054,6 @@

}
extern uint8_t module_power,imu_enable,motor_enable;

void Registor_Poll(void)
{
   static u8 regpoll_count=0;
@@ -1069,7 +1067,7 @@
            tagslotpos=TOTAL_SLOTNUM;
      }
      //SetNextPollTime(tagslotpos);
      DelayOneSlot();
      NextSlotDelayMs(-2);
      
      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);      
@@ -1081,7 +1079,7 @@
      memcpy(&tx_near_msg[REGP_VERSION_INDEX],&g_com_map[VERSION],2);   
      memcpy(&tx_near_msg[REGP_IMUTHRES_INDEX],&g_com_map[IMU_THRES],2);
      memcpy(&tx_near_msg[REGP_NOMOVESLEEPTIME_INDEX],&g_com_map[NOMOVESLEEP_TIME],2);
        memcpy(&tx_near_msg[REGP_HEIGHTOFFSET_INDEX],&g_com_map[HEIGHTOFFEST_INDEX],2);
    memcpy(&tx_near_msg[REGP_HEIGHTOFFSET_INDEX],&g_com_map[HEIGHTOFFEST_INDEX],2);
      dwt_writetxdata(23, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
      dwt_writetxfctrl(23, 0);//设置超宽带发送数据长度
      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
@@ -1149,8 +1147,6 @@
   //LED0_ON;
   SPIx_CS_GPIO->BRR = SPIx_CS;
   delay_us(700);
   // GetPressAndHeight();
   // intheight = Height*100;
   SPIx_CS_GPIO->BSRR = SPIx_CS;
   id =  dwt_readdevid() ;
       while (DWT_DEVICE_ID != id) 
@@ -1189,6 +1185,8 @@
         break;
      case NEARPOLL:   
         NearPoll();
         GetPressAndHeight();
         intheight = Height*100;
         break;
        case SINGLEPOLL:
            Poll();