V2.14

yincheng.zhong

2023-05-25 b6edb254b755b782652684ac6c79b42ef9259192

 Src/application/dw_app.c

@@ -471,7 +471,7 @@
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=4700,temptimer;
u8 motor_state,rec_remotepara_state,rec_remotepara[80];
static u8 motor_state,rec_remotepara_state,rec_remotepara[80];


#define SINGLEPOLL_BASENUM 5
@@ -648,9 +648,9 @@
        temptime = (slotpos_intoatl*SLOTTIME_MS+100)*100;
        if(anchor_time<temptime-5000)
        { 
               current_slotnum = pd_i;
            current_slotnum = pd_i;
            delaytime = temptime-anchor_time+poll_offsettime+clockoffset;  
                  expect_anctime = temptime;
            expect_anctime = temptime;
            return ;
        }
    }
@@ -668,14 +668,14 @@
    NextPollDelay(anchor_time);
    current_count=HAL_LPTIM_ReadCounter(&hlptim1);
    lpcount = current_count+delaytime/LPTIMER_LSB+(10-nearbase_num)*8;
      poll_startcount = lpcount+(waketopolltimeus)/LPTIMER_LSB;
    poll_startcount = lpcount+(waketopolltimeus)/LPTIMER_LSB;
      if(poll_startcount>=32768)
      {
      poll_startcount -=32768;
            poll_startcount -=32768;
      }
      if(lpcount>=32768)
      {
      lpcount -=32768;
            lpcount -=32768;
      }
    __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
      last_lpcount = lpcount;
@@ -691,11 +691,11 @@
   }else{
      lpcount = last_lpcount+31457/tag_frequency+32.767*delayms;//(float)(200/tag_frequency*48+delayms*10)*3.3 ;
   }
            if(lpcount>=32768)
            {
            lpcount -=32768;
            }		
            poll_startcount = lpcount+(waketopolltimeus)/LPTIMER_LSB;
    if(lpcount>=32768)
    {
    lpcount -=32768;
    }		
    poll_startcount = lpcount+(waketopolltimeus)/LPTIMER_LSB;
      if(poll_startcount>=32768)
      {
      poll_startcount -=32768;
@@ -763,6 +763,8 @@
            tagpoll_sync_sec = current_slotpos/200;
            tagslotpos = current_slotpos%200;
            max_slotpos = rec_tagperiod*20;
            tag_frequency = 10/rec_tagperiod;
            bigslot_num = TOTAL_SLOTNUM/tag_frequency;
         tag_state=NEARPOLL;
      }
   }else{
@@ -826,7 +828,30 @@
   recbase_num=0;
//   motor_state=0;

	
//   for(uint8_t i=0;i<nearbase_num+1;i++)
//    {
//        usart_send[0] = 0x55;
//        usart_send[1] = 0xaa;
//        usart_send[2] = 1;//正常模式 
//        usart_send[3] = 17;//数据段长度
//        usart_send[4] = frame_seq_nb;//数据段长度
//        memcpy(&usart_send[5],&dev_id,2);
//        if(i==0)
//        {
//            memcpy(&usart_send[7],&mainbase_id,2);
//        }else{
//            memcpy(&usart_send[7],&nearbaseid_list[i-1],2);			
//        }
//        memcpy(&usart_send[9],&nearbase_distlist[i],4);
//        usart_send[13] = battary;
//        usart_send[14] = button;
//        usart_send[15] = rec_anc_signalpower[i]>>8;
//        usart_send[16] = rec_anc_signalpower[i];
//        checksum = Checksum_u16(&usart_send[2],17);
//        memcpy(&usart_send[19],&checksum,2);
//       
//        USART_puts(usart_send,21);
//    }
   tx_near_msg[BATTARY_IDX] = bat_percent;
   tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2|motor_flag<<5;
   tx_near_msg[SEQUENCE_IDX] = frame_seq_nb;
@@ -836,7 +861,7 @@
    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);
    
    
    userkey_state = 0;
    if(intheight!=0)
    intheight+=g_com_map[HEIGHTOFFEST_INDEX];
    
@@ -850,7 +875,7 @@
   memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);   
   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);
   current_count=HAL_LPTIM_ReadCounter(&hlptim1);
      
      while(current_count<poll_startcount||current_count>poll_startcount+16384)
      {
@@ -953,7 +978,7 @@
                           dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度
                           dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
                           result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送   
                           userkey_state = !GET_USERKEY;
                        //   userkey_state = !GET_USERKEY;

                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                                    if(temp_dist!=nearbase_distlist[0])
@@ -1084,11 +1109,11 @@
         }   
         if(mainbase_lost_count!=0)
         {
//            if(mainbase_lost_count<=tag_frequency*1)
//            {NextSlotDelayMs(0);
//            }else{
//               NextSlotDelayMs(0);
//            }
            if(mainbase_lost_count<=tag_frequency*1)
            {NextSlotDelayMs(0);
            }else{
               NextSlotDelayMs(0);
            }
         }   

         if(para_update)
@@ -1144,6 +1169,7 @@
                    GetNearMsg();
                }
         }

            if(pos_nochange)
            {
                flag_tagnewpos = 0;
@@ -1159,7 +1185,7 @@
{
   static u8 regpoll_count=0;
   mainbase_lost_count = 0;
      tag_frequency = REGISTER_FREQUENCY;
      //tag_frequency = REGISTER_FREQUENCY;
      bigslot_num = TOTAL_SLOTNUM/tag_frequency;
      regpoll_count++;
      if(regpoll_count%2)
@@ -1303,6 +1329,6 @@
   }       
    FZNearPoll();
    dwt_forcetrxoff();
    userkey_state = !GET_USERKEY;
//    userkey_state = !GET_USERKEY;
   dwt_entersleep();
}