V2.41 时间片解决，有蓝灯长亮BUG

zhyinch

2021-10-31 d2de620b25574ea7a0c47ef7b00ef5b7c3751e12

 Src/application/dw_app.c

@@ -50,7 +50,7 @@
#define RESP_RX_TO_FINAL_TX_DLY_UUS 510

/* Receive response timeout. See NOTE 5 below. */
#define RESP_RX_TIMEOUT_UUS 1000
#define RESP_RX_TIMEOUT_UUS 4000

#define DELAY_BETWEEN_TWO_FRAME_UUS 240

@@ -69,8 +69,8 @@
#define FINAL_MSG_FINAL_TX_TS_IDX 18
#define FINAL_MSG_TS_LEN 4

#define STARTPOLL  SINGLEPOLL//#define SWITCHBASE_DIST
//#define SWITCHBASE_ZHUANDIAN
#define STARTPOLL  REGPOLL//#define SWITCHBASE_DIST
#define SWITCHBASE_ZHUANDIAN
#define SWITCHBASE_DIST
enum enumtagstate
{
@@ -249,7 +249,7 @@
u16 mainbase_id;
int32_t mainbase_dist,base_mindist;
uint8_t trygetnearmsg_times;
u16 mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM],nearbaseid_list[MAX_NEARBASE_NUM],nearbaseid_list2[MAX_NEARBASE_NUM];
u16 mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM],nearbaseid_list0[MAX_NEARBASE_NUM],nearbaseid_list[MAX_NEARBASE_NUM],nearbaseid_list2[MAX_NEARBASE_NUM];
u8 FindNearBasePos(u16 baseid)
{
   u8 i;
@@ -553,16 +553,16 @@
                                 {sync_timer=0;}
                           }
                                    ancsync_time=((sync_timer)*1000+tmp_time);   
                           last_slotnum=current_slotnum;
                           temptimer = sync_timer-10;
                           if(temptimer<0)
                           {temptimer+=1000;}
                           //current_slotnum=((float)temptimer/(SLOTTIME_MS*bigslot_num))+1;
                           if(current_slotnum==last_slotnum-1)
                           {flag_getresponse=1;}
                           lastsync_timer=sync_timer;
//                           last_slotnum=current_slotnum;
//                           temptimer = sync_timer-10;
//                           if(temptimer<0)
//                           {temptimer+=1000;}
//                           //current_slotnum=((float)temptimer/(SLOTTIME_MS*bigslot_num))+1;
//                           if(current_slotnum==last_slotnum-1)
//                           {flag_getresponse=1;}
//                           lastsync_timer=sync_timer;
                           //offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
                           SetNextPollTime(tagslotpos);
//                           SetNextPollTime(tagslotpos);
      }
         
         memcpy(&temp_dist, &rx_buffer[DIST_IDX], 4);
@@ -624,22 +624,118 @@
//   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;
int32_t error_time;
u16 delaycount;
int16_t poll_offsettime=-6900,clockoffset;
extern u16 slotpos_intoatl, slotpos;
void NextPollDelay(u32 anchor_time)
{
      //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;
        temptime = (slotpos_intoatl*SLOTTIME_MS+100)*100;
        if(anchor_time<temptime-5000)
        { 
               current_slotnum = pd_i;
            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+clockoffset;
   return ;
}
u16 lpcount,poll_startcount,last_lpcount;
u16 waketopolltimeus = 3200;
#define BASENUM_COMTIME 244
u32 last_anchor_time;
void SetLPTimer(u32 anchor_time)
{
    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;
      if(poll_startcount>=32768)
      {
      poll_startcount -=32768;
      }
      if(lpcount>=32768)
      {
      lpcount -=32768;
      }
    __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
      last_lpcount = lpcount;
   }

void NextSlotDelayMs(int16_t delayms)
{
   current_slotnum++;
   if(current_slotnum>=tag_frequency)
   {	
      current_slotnum = 0;		
      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 ;
   }
            if(lpcount>=32768)
            {
            lpcount -=32768;
            }		
            poll_startcount = lpcount+(waketopolltimeus)/LPTIMER_LSB;
      if(poll_startcount>=32768)
      {
      poll_startcount -=32768;
      }
         __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
            last_lpcount = lpcount;
}

u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32],mainbase_type;;
void GetNearMsg(void)
{
   u32 start_poll,frame_len;

//mainbase_id = 0x9724;
    u8 nearmsg_i=0;
   NextSlotDelayMs(0);
    for(nearmsg_i=0;nearmsg_i<20;nearmsg_i++)
    {
        nearbase_distlist[nearmsg_i] = 0x1ffff;
    }
//mainbase_id = 0x9818;
   memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
   memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);
   tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_MSG;
   
    
   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);   
   dwt_writetxdata(12, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
   dwt_writetxfctrl(12, 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);
         if(current_count<poll_startcount-300)
         {
            break;
         }
      }
   dwt_starttx(DWT_START_TX_IMMEDIATE| DWT_RESPONSE_EXPECTED);

      NextSlotDelayMs(0);		
   /* We assume that the transmission is achieved correctly, poll for reception of a frame or error/timeout. See NOTE 8 below. */
   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
   {
@@ -688,6 +784,8 @@
   {
      next_nearbase_num = MAX_NEARBASE_NUM-1;
   }
   if(nearbase_num>10)
   {nearbase_num = 10;}
//   HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);

   recbase_num=0;
@@ -696,25 +794,37 @@
   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*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)
    intheight+=g_com_map[HEIGHTOFFEST_INDEX];
    
    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6+4],&intheight,2);
    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*8+6],&intheight,2);
   tx_near_msg[MESSAGE_TYPE_IDX] = NEAR_POLL;   
   
   tx_near_msg[NEARP_TAGFREQ_INDEX] = tag_frequency;   
   tx_near_msg[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;   

   memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);   
   dwt_writetxdata(28+6*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(28+6*nearbase_num, 0);//设置超宽带发送数据长度
   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);
         if(current_count<poll_startcount-300)
         {
            break;
         }
      }
   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_RESET);
//    for(i=0;i<nearbase_num+1;i++)
//    {
//        nearbase_distlist[i] = 0x1ffff;
@@ -727,7 +837,7 @@
   flag_getresponse=0;
   start_count=HAL_LPTIM_ReadCounter(&hlptim1);
   recbase_num=0;
   timeout=ceil((float)nearbase_num*SLOT_SCALE)+2;
   timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
   end_count=start_count+(timeout<<5);
   if(end_count>=32768)
   {end_count-=32768;}
@@ -750,11 +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
@@ -774,7 +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;
@@ -794,7 +904,22 @@
                                    base_mindist = temp_dist;
                           if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
                              motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
                           rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;
                                    if(frame_len==28)
                                     {
                                         memcpy(&rec_maxrangelen,&rx_buffer[MAXRANGE_DISTANCE],2);
                                         memcpy(&rec_anc_signalpower[0],&rx_buffer[ANC_SIGNALPOWER],2);
                                         if(mainbase_dist>rec_maxrangelen&&mainbase_dist>0&&rec_maxrangelen!=0)
                                         {
                                             if(outrange_times++>OUTRANGE_RESTARTTIMES)
                                             {
                                               // tag_state = STARTPOLL;
                                             }
                                         }else{
                                             outrange_times = 0;
                                         }
                                     }
                                 
									
                           
                           mainbase_lost_count=0;
                           flag_finalsend=1;
@@ -812,40 +937,39 @@
                                 {sync_timer=0;}
                           }
                           ancsync_time=((sync_timer)*1000+tmp_time);   
                           last_slotnum=current_slotnum;
                           current_slotnum=((float)(sync_timer*10 - tagslotpos*SLOTTIME_MS)/(SLOTTIME_MS*bigslot_num))+1;
                           if(current_slotnum==last_slotnum-1)
                           {flag_getresponse=1;}
                           lastsync_timer=sync_timer;
                           offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
                           SetNextPollTime(tagslotpos);
                           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{
                           
                           rec_nearbasepos=FindNearBasePos(rec_nearbaseid);                           
                           exsistbase_list[rec_nearbasepos]=KEEP_TIMES;
                           memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
                                    if(frame_len==28)
                                    memcpy(&rec_anc_signalpower[rec_nearbasepos+1],&rx_buffer[ANC_SIGNALPOWER],2);
                           memcpy(&nearbase_switchdistlist[rec_nearbasepos],&rx_buffer[NR_NEARSWITCH_DISTANCE],2);
                           nearbase_distlist[rec_nearbasepos+1]=temp_dist;   //   nearbase_distlist[1]对应   rec_nearbaseid[0]的距离               
                           final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
                           if(temp_dist<salvebase_mindist)
                           if(temp_dist<salvebase_mindist&&nearbase_switchdistlist[rec_nearbasepos]==1)
                           {
                              salvebase_mindist = temp_dist;
                              mindist_slavebaseid = rec_nearbaseid;
                           }
                           #ifdef SWITCHBASE_ZHUANDIAN
                                        if(temp_dist<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]!=0&&temp_dist>0)
                                        {
                                       if(temp_dist<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]>1&&temp_dist>0)
                             {
                                            mainbase_id = rec_nearbaseid;
                                            tag_state = GETNEARMSG;
                                                                  trygetnearmsg_times = 0;
                                        }
                                    #endif

                  }                        
                     }
         //            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)
@@ -860,8 +984,8 @@
            if(flag_finalsend!=1)
            {flag_finalsend = 2;}
         dwt_forcetrxoff();
dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);

         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
@@ -872,15 +996,24 @@
               {
                              mainbase_id = mindist_slavebaseid;
                              tag_state = GETNEARMSG;
                              trygetnearmsg_times = 0;
               }
            }else{
               changemainbase_count = 0;
            }
         #endif
         }else if(mainbase_lost_count>10*tag_frequency)
         }else if(mainbase_lost_count>5*tag_frequency)
         {
            tag_state = STARTPOLL;
         }			
         }	
         if(mainbase_lost_count!=0)
         {
            if(mainbase_lost_count<=tag_frequency*1)
            {NextSlotDelayMs(0);
            }else{
               NextSlotDelayMs(0);
            }
         }	

         if(para_update)
         {
@@ -912,6 +1045,8 @@
                if(nearbaseid_list[i]!=nearbaseid_list2[i])
                {
                    tag_state = GETNEARMSG;
                           trygetnearmsg_times = 0;
                           nearbaseid_list0[i]=1;
                }
         }
   dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
@@ -919,10 +1054,10 @@

}
extern uint8_t module_power,imu_enable,motor_enable;

void Registor_Poll(void)
{
   static u8 regpoll_count=0;
   mainbase_lost_count = 0;
      tag_frequency = REGISTER_FREQUENCY;
      bigslot_num = TOTAL_SLOTNUM/tag_frequency;
      regpoll_count++;
@@ -931,7 +1066,9 @@
         if(tagslotpos--<2)
            tagslotpos=TOTAL_SLOTNUM;
      }
      SetNextPollTime(tagslotpos);
      //SetNextPollTime(tagslotpos);
      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);      

@@ -942,7 +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
@@ -980,16 +1117,17 @@
                              if(sync_timer>=1010)
                                 {sync_timer=0;}
                           }
                           ancsync_time=((sync_timer)*1000+tmp_time);	
                           last_slotnum=current_slotnum;
                           temptimer = sync_timer-10;
                           if(temptimer<0)
                           {temptimer+=1000;}
                           current_slotnum=((float)temptimer/(SLOTTIME_MS*bigslot_num))+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);																			
                           SetLPTimer(ancsync_time);
//                           last_slotnum=current_slotnum;
//                           temptimer = sync_timer-10;
//                           if(temptimer<0)
//                           {temptimer+=1000;}
//                           current_slotnum=((float)temptimer/(SLOTTIME_MS*bigslot_num))+1;
//                           if(current_slotnum==last_slotnum-1)
//                           {flag_getresponse=1;}
//                           lastsync_timer=sync_timer;
//                           offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
//                           SetNextPollTime(tagslotpos);
                           mainbase_id=rec_nearbaseid;
                           nearbase_num=rx_buffer[NEARBASENUM_INDEX];
@@ -1009,8 +1147,8 @@
   //LED0_ON;
   SPIx_CS_GPIO->BRR = SPIx_CS;
   delay_us(700);
    GetPressAndHeight();
    intheight = Height*100;
   // GetPressAndHeight();
   // intheight = Height*100;
   SPIx_CS_GPIO->BSRR = SPIx_CS;
   id =  dwt_readdevid() ;
       while (DWT_DEVICE_ID != id) 
@@ -1038,11 +1176,11 @@
         LED_LG_OFF;
         break;
      case GETNEARMSG:
         trygetnearmsg_times--;	
         LED_LG_ON;		
         trygetnearmsg_times++;	
         LED_LG_ON;
            GetNearMsg();    
      LED_LG_OFF;
      if(trygetnearmsg_times==0)
      if(trygetnearmsg_times>5)
      {
         tag_state = STARTPOLL;
      }