初步测试完成

yincheng.zhong

2023-04-24 5c6608fc16627430bcdbaf4917c608e61b7db77c

 Src/application/dw_app.c

@@ -76,9 +76,9 @@
   DISCPOLL,
   GETNEARMSG,
   NEARPOLL,
}tag_state=GETNEARMSG;
}tag_state=NEARPOLL;
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. */
@@ -171,6 +171,16 @@
     * 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
    dwt_configcontinuousframemode(124800);
   dwt_writetxfctrl(13, 0);
   dwt_starttx(DWT_START_TX_IMMEDIATE);
   while(GET_USERKEY)
   {		
         IdleTask();	
   }
   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
@@ -295,7 +305,10 @@
u8 nearbase_num=0,last_nearbase_num,next_nearbase_num,last_slotnum, para_update,para_len,stationary_flag=0;
u32 rec_tagpos_binary;
int16_t offset=2700;
extern int16_t g_commap_antdelay;
u8 motor_state,rec_remotepara_state,rec_remotepara[80];
u8 flag_uwbrange_ok;
int32_t uwb_dist;
void NearPoll(void)
{
   
@@ -324,9 +337,10 @@
   tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
   memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
   tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;   
    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*4],&g_commap_antdelay,2);
   memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);   
   dwt_writetxdata(13+2*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(13+2*nearbase_num, 0);//设置超宽带发送数据长度
   dwt_writetxdata(15+4*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(15+4*nearbase_num, 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
   
   tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
@@ -414,6 +428,9 @@
                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                           nearbase_distlist[rec_nearbasepos]=temp_dist;
                                    if(temp_dist!=0x1ffff)
                                    {flag_uwbrange_ok = 1;
                                    uwb_dist = temp_dist;}
                           if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
                              motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
                           rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;
@@ -564,13 +581,13 @@
            }
         }
            #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);
//                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++)