电池标签L051工程
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yincheng.zhong
2023-05-27 a5e16e925923fa444276ca51f0e7c0cbbe07a96c 
 Src/application/dw_app.c


@@ -73,14 +73,14 @@


static dwt_config_t config = {


   5,               /* Channel number. */


   DWT_PRF_64M,     /* Pulse repetition frequency. */


   DWT_PLEN_64,    /* Preamble length. */


   DWT_PLEN_128,    /* Preamble length. */


   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. */


   1,               /* Use non-standard SFD (Boolean) */


   DWT_BR_6M8,      /* Data rate. */


   DWT_PHRMODE_STD, /* PHY header mode. */


   (65 + 8 - 8)    /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */


   (129 + 8 - 8)    /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */


};


static uint8_t tx_poll_msg[20] = {0};


static uint8_t tx_sync_msg[14] = {0};


@@ -331,10 +331,10 @@


}


void CalculateDists(void)


{


    for(int i=0;i<11;i++)


    for(int i=0;i<MAX_NEARBASE_NUM;i++)


    {


        //rec_anc_signalpower[i] = exsistbase_list[i];


      if(exsistbase_list[i]>0)


      if(exsistbase_list[i]==KEEP_TIMES)


      {




         // exsistbase_list[i]--;


@@ -346,7 +346,7 @@


          if(distance>-10&&distance<1000)


            nearbase_distlist[i] = distance*100+anc_distoffset[i];


      }else{


          nearbase_distlist[i] = 0x1ffff;


         // nearbase_distlist[i] = 0x1ffff;


      }


    


    }


@@ -362,16 +362,16 @@


   u32 start_poll;


   u8 i,j,getsync_flag=0,timeout,flag_ancreadpara=0;


    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(10000);		


    dwt_setrxtimeout(0);		


   tag_succ_times = 0;


      //GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);


   if(next_nearbase_num>=MAX_NEARBASE_NUM)


   if(nearbase_num>=MAX_NEARBASE_NUM)


   {


      next_nearbase_num = MAX_NEARBASE_NUM-1;


      nearbase_num = MAX_NEARBASE_NUM-1;


   }


   HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);


   last_nearbase_num=next_nearbase_num;


   nearbase_num=next_nearbase_num;


//   HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);


//   last_nearbase_num=next_nearbase_num;


//   nearbase_num=next_nearbase_num;


   recbase_num=0;


//   motor_state=0;


    for(uint8_t i=0;i<nearbase_num;i++)


@@ -399,8 +399,8 @@


   flag_getresponse=0;


   start_count=HAL_LPTIM_ReadCounter(&hlptim1);


   recbase_num=0;


   timeout=nearbase_num*SLOT_SCALE+4;


   end_count=start_count+(timeout<<5);


   timeout=nearbase_num*SLOT_SCALE+10;


   end_count=start_count+(timeout<<2);


   if(end_count>=32768)


   {end_count-=32768;}


   mainbase_dist=100000;


@@ -411,7 +411,7 @@


            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)


                  if(flag_finalsend&&flag_ancreadpara)


                  {


                     dw_systime=dwt_readsystimestamphi32();


                     if(dw_systime>temp1&&dw_systime<temp2)


@@ -428,9 +428,10 @@


                                  memcpy(&tx_near_msg[MESSAGE_PARAREPLY_IDX+SENDANCPARA_LEN],&calCRC,2);


                                  dwt_writetxdata(14+SENDANCPARA_LEN, tx_near_msg, 0);//将发送数据写入DW1000


                                  dwt_writetxfctrl(14+SENDANCPARA_LEN, 0);//设定发送数据长度


                                


                        dwt_setdelayedtrxtime(final_tx_time);


                        result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送	


                                }


//                        dwt_setdelayedtrxtime(final_tx_time);


//                        result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送	


                        flag_finalsend=0;


                        break;


                     }


@@ -500,8 +501,7 @@


                           ////////////////////////////


                           rec_nearbasepos=0;


                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;


                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);


                           nearbase_distlist[rec_nearbasepos]=temp_dist;




                           if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)


                              motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;


                           


@@ -527,13 +527,13 @@


                           


                        


                           //时间同步


                           ancsync_time=((sync_timer)*1000+tmp_time);	


                           last_slotnum=current_slotnum;


                           current_slotnum=((float)sync_timer/g_com_map[COM_INTERVAL])+1;


                           if(current_slotnum==last_slotnum-1)


                           {flag_getresponse=1;}


                           lastsync_timer=sync_timer;


                           offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;


//                           ancsync_time=((sync_timer)*1000+tmp_time);	


//                           last_slotnum=current_slotnum;


//                           current_slotnum=((float)sync_timer/g_com_map[COM_INTERVAL])+1;


//                           if(current_slotnum==last_slotnum-1)


//                           {flag_getresponse=1;}


//                           lastsync_timer=sync_timer;


//                           offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;


//                           SetNextPollTime(tyncpoll_time);


//                           if(rec_remotepara_state==1)


//                           {


@@ -550,7 +550,7 @@


                           rec_nearbasepos=FindNearBasePos(rec_nearbaseid);


                           SetANCTimestap(rec_nearbasepos,&rx_buffer[RESP_MSG_POLL_RX_TS_IDX],&rx_buffer[RESP_MSG_RESP_TX_TS_IDX],resp_rx_ts,&rx_buffer[RESP_MSG_ANC_DISTOFFSET]);




                              if(rec_nearbasepos>=last_nearbase_num)          //发现新的基站


                           if(rec_nearbasepos>=last_nearbase_num)          //发现新的基站


                           {


                              get_newbase=1;


                              nearbase_num++;


@@ -559,8 +559,7 @@


                           }


                           


                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;


                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);


                           nearbase_distlist[rec_nearbasepos]=temp_dist;




                           


                           if(motor_state<(rx_buffer[MOTORSTATE_INDEX]&0xf)&&(rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)


                           {


@@ -585,24 +584,24 @@


                  }         


               //   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_forcetrxoff();


            dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);


            nearbase_num=recbase_num;


      //   tyncpoll_time=0;


         next_nearbase_num=0;


            CalculateDists();


            j = 0;


         for(i=0;i<last_nearbase_num+get_newbase;i++)


            next_nearbase_num = 0;


         for(i=0;i<nearbase_num;i++)


         {


            if(exsistbase_list[i]>0)


            {		


            {	


                    exsistbase_list[i]--;	


               next_nearbase_num++;


               true_exsistbase_list[j]=exsistbase_list[i];


               true_nearbase_idlist[j]=nearbaseid_list[i];         


               true_nearbase_distlist[j++]=nearbase_distlist[i];


               exsistbase_list[i]--;


					


            }


         }


            nearbase_num = next_nearbase_num;


            if(mainbase_lost_count>1&&exsistbase_list[0] != 0)


         {


                last_lpcount+= HAL_LPTIM_ReadCounter(&hlptim1)%(g_com_map[COM_INTERVAL]*16);


@@ -638,6 +637,7 @@


         {


            nearbaseid_list[i]=true_nearbase_idlist[i];


            nearbase_distlist[i]=true_nearbase_distlist[i];


                exsistbase_list[i] = true_exsistbase_list[i];


         }


//            #ifdef USART_INTEGRATE_OUTPUT   


//                usart_send[0] = 0x55;     


@@ -649,13 +649,9 @@


//            USART_puts(usart_send,6+report_num*6);


//         #endif


            


         for(i=0;i<MAX_NEARBASE_NUM;i++)


         {


            nearbase_distlist[i]=0x1ffff;


         }


   dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);


//HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);


            CalculateDists();


            


if(para_update==1)


    {   


        uint16_t calCRC;