v2.8

yincheng.zhong

2023-05-19 cf92a2fedf94d889b1a39e8557221149ea554a3c

 Src/application/dw_ancapp.c

@@ -60,7 +60,8 @@
static uint64_t final_rx_ts;
static uint32_t status_reg = 0;
extern uint8_t tx_near_msg[80];
static uint8_t motor_state,result;
uint8_t motor_state;
static u8 result;
static uint64_t get_tx_timestamp_u64(void)
{
    uint8_t ts_tab[5];
@@ -108,7 +109,7 @@
        *ts += ts_field[i] << (i * 8);
    }
}

u8 send_buffer[100];
#define FZ_NEARBASENUM_INDEX    10
#define FZ_NEARBASEID_INDEX       11
void FZNearPoll(void)
@@ -118,7 +119,7 @@
   uint32_t final_tx_time;
   u32 start_poll;
   u8 i,j,getsync_flag=0,timeout;
    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_setrxaftertxdelay(10);         //设置发送后开启接收，并设定延迟时间
    dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);      
   tag_succ_times = 0;
      //GPIO_WriteBit(GPIOA, GPIO_Pin_10, Bit_SET);
@@ -131,17 +132,19 @@
   nearbase_num=next_nearbase_num;
   recbase_num=0;
   motor_state=0;
   tx_near_msg[GROUP_ID_IDX] = group_id;
   tx_near_msg[BATTARY_IDX] = bat_percent;
    
    memcpy(&send_buffer[TAG_ID_IDX], &dev_id, 2);
   send_buffer[GROUP_ID_IDX] = group_id;
   send_buffer[BATTARY_IDX] = bat_percent;
   //tx_near_msg[BUTTON_IDX] = !GET_USERKEY|stationary_flag<<1;
   tx_near_msg[SEQUENCE_IDX] = frame_seq_nb++;
   tx_near_msg[FZ_NEARBASENUM_INDEX] = nearbase_num;
   memcpy(&tx_near_msg[FZ_NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
   tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;	
   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_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
   send_buffer[SEQUENCE_IDX] = frame_seq_nb++;
   send_buffer[FZ_NEARBASENUM_INDEX] = nearbase_num;
   memcpy(&send_buffer[FZ_NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
   send_buffer[MESSAGE_TYPE_IDX] = NEAR_POLL;	
   memcpy(&send_buffer[ANCHOR_ID_IDX],&mainbase_id,2);	
   dwt_writetxdata(35, send_buffer, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
   dwt_writetxfctrl(35, 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;
   para_update = 0;
@@ -151,9 +154,13 @@

    neartimout_timer = 0;
   recbase_num=0;
    start_count=HAL_LPTIM_ReadCounter(&hlptim1);
   timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;

         while(neartimout_timer<timeout)
    current_count=HAL_LPTIM_ReadCounter(&hlptim1);
    end_count=start_count+(timeout<<5);
   if(end_count>=32768)
   {end_count-=32768;}
         while(current_count<end_count||current_count>end_count+15000)
         {
               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
               {
@@ -172,7 +179,8 @@
                     }
                  }
                     
                   if(neartimout_timer>timeout)
                   current_count=HAL_LPTIM_ReadCounter(&hlptim1);
                   if(current_count>=end_count&&current_count<end_count+15000)
                        break;
               };
               if(status_reg==0xffffffff)