版本v2.7，大包字节uwb传输测试成功。

WXK

2023-11-01 eddac77c8fa85acccbf6eeff48b1ff760c70843a

 Src/application/dw_app.c

@@ -80,7 +80,7 @@
   NEARPOLL,
    SINGLEPOLL,
}tag_state=STARTPOLL;
static dwt_config_t config = {
 dwt_config_t config = {
   2,               /* Channel number. */
   DWT_PRF_64M,     /* Pulse repetition frequency. */
   DWT_PLEN_128,    /* Preamble length. */
@@ -89,7 +89,7 @@
   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. */
   DWT_PHRMODE_EXT, /* PHY header mode. */
   (129 + 8 - 8)    /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
};
static uint8_t tx_poll_msg[20] = {0};
@@ -118,7 +118,7 @@
LPFilter_Frac* p_Dis_Filter;      //测距用的低通滤波器



void GetNearMsg(void);
static uint64_t get_tx_timestamp_u64(void)
{
    uint8_t ts_tab[5];
@@ -610,8 +610,9 @@
    if(minddist!=0x1ffff&&minddist!=0)
    {
         trygetnearmsg_times = 0;
            tag_state = GETNEARMSG;
            tag_state = GETNEARMSG;            
            mainbase_id = mindist_ancid;   
            GetNearMsg();
    }
   
   if(getsync_flag==0)
@@ -846,6 +847,11 @@
    
    }
}
extern uint16_t tagid_list[TAG_NUM_IN_SYS];
extern uint16_t taglist_num;
extern int32_t tagdist_list[TAG_NUM_IN_SYS];
uint16_t nearbase_taglist_num;
extern uint8_t uwb_tx[300];
void NearPoll(void)
{
   
@@ -881,24 +887,35 @@
   tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2|motor_flag<<5;
   tx_near_msg[SEQUENCE_IDX] = frame_seq_nb;
    tx_near_msg[SEQUENCEH_IDX] = (frame_seq_nb++)>>8;
   tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
    if(taglist_num>10)
    {taglist_num=10;}
    nearbase_taglist_num=nearbase_num+taglist_num;
   tx_near_msg[NEARBASENUM_INDEX] = nearbase_taglist_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*6+4],&rec_anc_signalpower,nearbase_num*2+2);
    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&tagid_list,taglist_num*2);
    
    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2+taglist_num*2],&nearbase_distlist,nearbase_num*4+4);
    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2+taglist_num*2+nearbase_num*4+4],&tagdist_list,taglist_num*4);
    
    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_taglist_num*12+4],&rec_anc_signalpower,nearbase_taglist_num*2+2);

    
    if(intheight!=0)
    intheight+=g_com_map[HEIGHTOFFEST_INDEX];
    
    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*8+6],&intheight,2);
//    memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*8+6],&intheight,2);
   tx_near_msg[MESSAGE_TYPE_IDX] = POS_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(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
   dwt_writetxdata(29+8*nearbase_taglist_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_taglist_num, 0);//设置超宽带发送数据长度
    
//       dwt_writetxdata(280, uwb_tx, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
//   dwt_writetxfctrl(282, 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)
@@ -923,7 +940,7 @@
   flag_getresponse=0;
   start_count=HAL_LPTIM_ReadCounter(&hlptim1);
   recbase_num=0;
   timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
   timeout=ceil((float)nearbase_taglist_num*SLOT_SCALE)+3;
   end_count=start_count+(timeout<<5);
   if(end_count>=32768)
   {end_count-=32768;}
@@ -1055,18 +1072,18 @@
                                    }
                           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&&nearbase_switchdistlist[rec_nearbasepos]==1)
                              if(temp_dist<salvebase_mindist&&nearbase_switchdistlist[rec_nearbasepos]!=0&&(nearbase_switchdistlist[rec_nearbasepos]==1||temp_dist<nearbase_switchdistlist[rec_nearbasepos]))
                           {
                              salvebase_mindist = temp_dist;
                              mindist_slavebaseid = rec_nearbaseid;
                           }
                           #ifdef SWITCHBASE_ZHUANDIAN
                                       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;
                                        }
//                                       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

                  }                        
@@ -1094,23 +1111,27 @@
            if(salvebase_mindist<mainbase_dist- THRESHOLD_CHANGE_MAINBASE_DIST )
            {
               changemainbase_count++;
               if(changemainbase_count>tag_frequency*2)
               if(changemainbase_count>2)
               {
                              mainbase_id = mindist_slavebaseid;
                              tag_state = GETNEARMSG;
                              trygetnearmsg_times = 0;
                        changemainbase_count = 0;
                        mainbase_id = mindist_slavebaseid;
                        tag_state = GETNEARMSG;                    
                        trygetnearmsg_times = 0;
                        GetNearMsg();
               }
            }else{
               changemainbase_count = 0;
            }
         #endif
         }else if(mainbase_lost_count>5*tag_frequency)
         }else if(mainbase_lost_count>10)
         {
                mainbase_lost_count = 0;
            tag_state = DISCPOLL;
                DiscPoll();
         }   
         if(mainbase_lost_count!=0)
         {
            if(mainbase_lost_count<=tag_frequency*1)
            if(mainbase_lost_count<=5)
            {NextSlotDelayMs(0);
            }else{
               NextSlotDelayMs(0);
@@ -1167,6 +1188,7 @@
                if(nearbaseid_list[i]!=nearbaseid_list2[i])
                {
                    tag_state = GETNEARMSG;
                    GetNearMsg();
                           trygetnearmsg_times = 0;
                           nearbaseid_list0[i]=1;
                }
@@ -1263,27 +1285,27 @@
                     }
}
u32 id,error_times=0;

extern float Height;
void Tag_App(void)//发送模式(TAG标签)
{
   
   //LED0_ON;
   SPIx_CS_GPIO->BRR = SPIx_CS;
   delay_us(700);
   SPIx_CS_GPIO->BSRR = SPIx_CS;
   id =  dwt_readdevid() ;
       while (DWT_DEVICE_ID != id) 
    {
      //   Dw1000_Init();
         id =  dwt_readdevid() ;
        IdleTask();	
        if(error_times++>20)
        {
            printf("DW ID ERROR.\r\n");
            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
        }
    }
//   //LED0_ON;
//   SPIx_CS_GPIO->BRR = SPIx_CS;
//   delay_us(700);
//   SPIx_CS_GPIO->BSRR = SPIx_CS;
//   id =  dwt_readdevid() ;
//       while (DWT_DEVICE_ID != id) 
//    {
//      //   Dw1000_Init();
//         id =  dwt_readdevid() ;
//        IdleTask();	
//        if(error_times++>20)
//        {
//            printf("DW ID ERROR.\r\n");
//            SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader   
//        }
//    }
    Dw1000_Init();
    error_times = 0;
   switch(tag_state)
   {
@@ -1317,5 +1339,10 @@
            break;
   }
     userkey_state = !GET_USERKEY;
   dwt_entersleep();
           dwt_forcetrxoff();
//       Dw1000_Init();
       dwt_setinterrupt(  DWT_INT_RFCG | (DWT_INT_ARFE | DWT_INT_RFSL | DWT_INT_SFDT | DWT_INT_RPHE | DWT_INT_RFCE | DWT_INT_RFTO | DWT_INT_RXPTO), 1);
      dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
        dwt_rxenable(0);
   //dwt_entersleep();
}